ing...

.gitignore

@@ -1,5 +1,6 @@
 obj
 bin
+.vscode
 *.user
 *.v12
 *.suo

AGVEmulator/AGVEmulator.csproj

@@ -0,0 +1,139 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+    <ProjectGuid>{9312AB43-72F6-4365-A266-E767215FA7F5}</ProjectGuid>
+    <OutputType>WinExe</OutputType>
+    <RootNamespace>AGVEmulator</RootNamespace>
+    <AssemblyName>AGVEmulator</AssemblyName>
+    <TargetFrameworkVersion>v4.8</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+    <Deterministic>true</Deterministic>
+    <TargetFrameworkProfile />
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <PlatformTarget>x86</PlatformTarget>
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+    <Prefer32Bit>false</Prefer32Bit>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
+    <PlatformTarget>AnyCPU</PlatformTarget>
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+    <Prefer32Bit>false</Prefer32Bit>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="arControl.Net4">
+      <HintPath>..\arControl.Net4.dll</HintPath>
+    </Reference>
+    <Reference Include="arFrameControl">
+      <HintPath>..\arFrameControl.dll</HintPath>
+    </Reference>
+    <Reference Include="ArLog.Net4">
+      <HintPath>..\ArLog.Net4.dll</HintPath>
+    </Reference>
+    <Reference Include="ArSetting.Net4">
+      <HintPath>..\ArSetting.Net4.dll</HintPath>
+    </Reference>
+    <Reference Include="System" />
+    <Reference Include="System.Core" />
+    <Reference Include="System.Xml.Linq" />
+    <Reference Include="System.Data.DataSetExtensions" />
+    <Reference Include="Microsoft.CSharp" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Deployment" />
+    <Reference Include="System.Drawing" />
+    <Reference Include="System.Windows.Forms" />
+    <Reference Include="System.Xml" />
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="DevAGV.cs" />
+    <Compile Include="DevBMS.cs" />
+    <Compile Include="DevXBE.cs" />
+    <Compile Include="fMain.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="fMain.Designer.cs">
+      <DependentUpon>fMain.cs</DependentUpon>
+    </Compile>
+    <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>
+    <Compile Include="UC\SerialConn.Designer.cs">
+      <DependentUpon>SerialConn.cs</DependentUpon>
+    </Compile>
+    <Compile Include="UC\AgvViewer.cs">
+      <SubType>Component</SubType>
+    </Compile>
+    <Compile Include="UC\AgvViewer.Designer.cs">
+      <DependentUpon>AgvViewer.cs</DependentUpon>
+    </Compile>
+    <EmbeddedResource Include="fMain.resx">
+      <DependentUpon>fMain.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="Properties\Resources.resx">
+      <Generator>ResXFileCodeGenerator</Generator>
+      <LastGenOutput>Resources.Designer.cs</LastGenOutput>
+      <SubType>Designer</SubType>
+    </EmbeddedResource>
+    <Compile Include="Properties\Resources.Designer.cs">
+      <AutoGen>True</AutoGen>
+      <DependentUpon>Resources.resx</DependentUpon>
+      <DesignTime>True</DesignTime>
+    </Compile>
+    <EmbeddedResource Include="UC\SerialConn.resx">
+      <DependentUpon>SerialConn.cs</DependentUpon>
+    </EmbeddedResource>
+    <None Include="app.config" />
+    <None Include="Sample\packetFD.bin">
+      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+    </None>
+    <None Include="Sample\packetFC.bin">
+      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+    </None>
+    <None Include="Properties\Settings.settings">
+      <Generator>SettingsSingleFileGenerator</Generator>
+      <LastGenOutput>Settings.Designer.cs</LastGenOutput>
+    </None>
+    <Compile Include="Properties\Settings.Designer.cs">
+      <AutoGen>True</AutoGen>
+      <DependentUpon>Settings.settings</DependentUpon>
+      <DesignTimeSharedInput>True</DesignTimeSharedInput>
+    </Compile>
+  </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\Cs_HMI\AGVLogic\AGVNavigationCore\AGVNavigationCore.csproj">
+      <Project>{c5f7a8b2-8d3e-4a1b-9c6e-7f4d5e2a9b1c}</Project>
+      <Name>AGVNavigationCore</Name>
+    </ProjectReference>
+    <ProjectReference Include="..\Cs_HMI\SubProject\EnigProtocol\enigprotocol\ENIGProtocol.csproj">
+      <Project>{9365803b-933d-4237-93c7-b502c855a71c}</Project>
+      <Name>ENIGProtocol</Name>
+    </ProjectReference>
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+</Project>

AGVEmulator/DevAGV.cs

@@ -0,0 +1,587 @@
+using arCtl;
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+
+namespace AGVEmulator
+{
+    class DevAGV : AR.Dev.RS232
+    {
+        //######### private variable
+        byte runtime = 0;
+
+        //######### public variable
+        public UInt16 system0 = 0;
+        public UInt16 system1 = 0;
+        public UInt16 error = 0;
+        public byte signal = 0;
+        public char sts_bunki = 'S';
+        public char sts_speed = 'L';
+        public char sts_dir = 'F';
+        public char sts_sensor = '1';
+
+
+        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 enum eerror
+        {
+            Emergency = 0,
+            Overcurrent,
+            Charger_run_error,
+            Charger_pos_error,
+            line_out_error = 4,
+
+            /// <summary>
+            /// 기동시 자석 감지 에러
+            /// </summary>
+            runerror_by_no_magent_line,
+            /// <summary>
+            /// 호출제어기 통신 오류
+            /// </summary>
+            controller_comm_error = 11,
+            /// <summary>
+            /// 도착경보기 통신 오류
+            /// </summary>
+            arrive_ctl_comm_error,
+
+            /// <summary>
+            /// 자동문제어기 통신 오류
+            /// </summary>
+            door_ctl_comm_error,
+
+            /// <summary>
+            /// 자동충전기 통신 오류
+            /// </summary>
+            charger_comm_error,
+
+            /// <summary>
+            /// 교차로 제어기 통신 오류
+            /// </summary>
+            cross_ctrl_comm_error,
+        }
+        public enum esignal
+        {
+            front_gate_out = 0,
+            rear_sensor_out,
+            mark_sensor_1,
+            mark_sensor_2,
+            front_left_sensor,
+            front_right_sensor,
+            front_center_sensor,
+            charger_align_sensor,
+        }
+        public enum esystemflag0
+        {
+            Memory_RW_State = 5,
+            EXT_IO_Conn_State,
+            RFID_Conn_State,
+            M5E_Module_Run_State = 8,
+            Front_Ultrasonic_Conn_State,
+            Front_Untrasonic_Sensor_State,
+            Side_Ultrasonic_Conn_State,
+            Side_Ultrasonic_Sensor_State = 12,
+            Front_Guide_Sensor_State,
+            Rear_Guide_Sensor_State,
+            Battery_Level_Check
+        }
+        public enum esystemflag1
+        {
+            Side_Detect_Ignore = 3,
+            Melody_check,
+            Mark2_check,
+            Mark1_check,
+            gateout_check,
+            Battery_charging = 8,
+            re_Start,
+
+            /// <summary>
+            /// 전방 감지 무시
+            /// </summary>
+            front_detect_ignore,
+
+            /// <summary>
+            /// 전방장애물감지상태
+            /// </summary>
+            front_detect_check,
+
+            /// <summary>
+            /// 전방감지 후 정지 상태
+            /// </summary>
+            stop_by_front_detect = 12,
+            /// <summary>
+            /// 교차로 진입 후 정지 상태
+            /// </summary>
+            stop_by_cross_in,
+            agv_stop,
+            agv_run
+        }
+
+        public enum evaluetype
+        {
+            system0,
+            system1,
+            error,
+            signal,
+        }
+        public enum estsvaluetype
+        {
+            bunki,
+            speed,
+            direction,
+            sensor
+        }
+        public class ValueChangedArgs : EventArgs
+        {
+            public int Idx { get; set; }
+            public bool Value { get; set; }
+            public evaluetype vtype { get; set; }
+            public ValueChangedArgs(int idx, bool val, evaluetype isOut)
+            {
+                this.Idx = idx;
+                this.Value = val;
+                this.vtype = isOut;
+            }
+        }
+        public class StsValueChangedArgs : EventArgs
+        {
+            public char Value { get; set; }
+            public estsvaluetype vtype { get; set; }
+            public StsValueChangedArgs(estsvaluetype vType, char val)
+            {
+                this.Value = val;
+                this.vtype = vType;
+            }
+        }
+
+        public class RequestStatusDataArgs : EventArgs
+        {
+            public UInt16 system0 { get; set; } = 0;
+            public UInt16 system1 { get; set; } = 0;
+            public char speed { get; set; } = 'L';
+            public char direction { get; set; } = 'F';
+            public char bunki { get; set; } = 'S';
+
+            public byte signal { get; set; } = 0;
+            public float volt { get; set; } = 0f;
+            public UInt16 error { get; set; } = 0;
+            public char sensor { get; set; } = '0';
+            public RequestStatusDataArgs()
+            {
+
+            }
+        }
+        public event EventHandler<RequestStatusDataArgs> RequestStatusData;
+        public event EventHandler<ValueChangedArgs> ValueChanged;
+        public event EventHandler<StsValueChangedArgs> StsValueChanged;
+
+        public class commandargs : EventArgs
+        {
+            public string Command { get; set; }
+            public commandargs(string cmd)
+            {
+                this.Command = cmd;
+            }
+        }
+        public event EventHandler<commandargs> Command;
+        public class FrameData
+        {
+            public string Checksum { get; set; }
+            public byte stx { get; set; }
+            public byte etx { get; set; }
+            public string cmd { get; set; }
+            public string data { get; set; }
+            public FrameData(byte[] data)
+            {
+                this.stx = data[0];
+                this.etx = data[data.Length - 1];
+                this.Checksum = System.Text.Encoding.Default.GetString(data, data.Length - 3, 2);
+                this.data = System.Text.Encoding.Default.GetString(data, 1, data.Length - 4);
+                this.cmd = this.data.Substring(0, 3);
+                this.data = this.data.Substring(3);
+            }
+        }
+
+
+        #region SetAGV/SetSTS/SetBIT/GetBIT
+        Boolean GetBit(ref UInt16 _value, int idx)
+        {
+            var offset = (UInt16)(1 << idx);
+            return (_value & offset) != 0;
+        }
+
+        Boolean GetBit(ref byte _value, int idx)
+        {
+            var offset = (byte)(1 << idx);
+            return (_value & offset) != 0;
+        }
+
+        bool SetBit(ref UInt16 _value, int idx, Boolean value)
+        {
+            var oldvalue = GetBit(ref _value, idx);
+            if (value)
+            {
+                var offset = (UInt16)(1 << idx);
+                _value = (UInt16)(_value | offset);
+            }
+            else
+            {
+                var offset = (UInt16)(~(1 << idx));
+                _value = (UInt16)(_value & offset);
+            }
+            return oldvalue != value;
+        }
+        bool SetBit(ref byte _value, int idx, Boolean value)
+        {
+            var oldvalue = GetBit(ref _value, idx);
+            if (value)
+            {
+                var offset = (byte)(1 << idx);
+                _value = (byte)(_value | offset);
+            }
+            else
+            {
+                var offset = (byte)(~(1 << idx));
+                _value = (byte)(_value & offset);
+            }
+            return oldvalue != value;
+        }
+        public bool GetAGV(DevAGV.esystemflag1 flag)
+        {
+            var idx = (int)flag;
+            return GetBit(ref system1, idx);
+        }
+        public void SetAGV(DevAGV.esystemflag0 flag, bool value)
+        {
+            var idx = (int)flag;
+            if (SetBit(ref system0, idx, value))
+                ValueChanged?.Invoke(this, new ValueChangedArgs(idx, value, evaluetype.system0));
+        }
+        public void SetAGV(DevAGV.esystemflag1 flag, bool value)
+        {
+            var idx = (int)flag;
+            if (SetBit(ref system1, idx, value))
+                ValueChanged?.Invoke(this, new ValueChangedArgs(idx, value, evaluetype.system1));
+        }
+        public void SetAGV(DevAGV.eerror flag, bool value)
+        {
+            var idx = (int)flag;
+            if (SetBit(ref error, idx, value))
+                ValueChanged?.Invoke(this, new ValueChangedArgs(idx, value, evaluetype.error));
+        }
+        public void SetAGV(DevAGV.esignal flag, bool value)
+        {
+            var idx = (int)flag;
+            if (SetBit(ref signal, idx, value))
+                ValueChanged?.Invoke(this, new ValueChangedArgs(idx, value, evaluetype.signal));
+        }
+
+        public void SetSTS(estsvaluetype target, char value)
+        {
+            //bool changed = false;
+            switch (target)
+            {
+                case estsvaluetype.sensor:
+                    //changed = this.sts_sensor.Equals(value);
+                    sts_sensor = value;
+                    break;
+                case estsvaluetype.direction:
+                    //changed = this.sts_dir.Equals(value);
+                    sts_dir = value;
+                    break;
+                case estsvaluetype.speed:
+                    //changed = this.sts_speed.Equals(value);
+                    sts_speed = value;
+                    break;
+                case estsvaluetype.bunki:
+                    //changed = this.sts_bunki.Equals(value);
+                    sts_bunki = value;
+                    break;
+            }
+            //if(changed)
+            {
+                StsValueChanged?.Invoke(this, new StsValueChangedArgs(target, value));
+            }
+        }
+        #endregion
+
+        public override bool ProcessRecvData(byte[] data)
+        {
+            //dd로 시작하고 34개의 데이터
+            //STS258FFFF40000000LSF0000003A
+            //02 53 54 53 32 35 38 46 46 46 46 34 30 30 30 30 30 30 30 4C 53 46 30 30 30 30 30 30 33 41 03
+            var frame = new FrameData(data);
+
+            switch (frame.cmd)
+            {
+                case "CRN": //기동명령
+                    //sts_dir = frame.data[0];
+                    SetSTS(estsvaluetype.direction, frame.data[0]);
+                    SetAGV(esystemflag1.agv_stop, false);
+                    SetAGV(esystemflag1.agv_run, true);
+                    break;
+                case "CST": //중지명령
+                    //(바로 중지한다)
+                    if (frame.data.StartsWith("M"))
+                    {
+                        Command?.Invoke(this, new commandargs("stopmark"));
+                    }
+                    else
+                    {
+                        SetAGV(esystemflag1.agv_run, false);
+                        SetAGV(esystemflag1.agv_stop, true);
+                    }
+
+                    break;
+                case "CBR": //분기명령
+                    //FSL
+                    SetSTS(estsvaluetype.direction, frame.data[0]);
+                    SetSTS(estsvaluetype.bunki, frame.data[1]);
+                    SetSTS(estsvaluetype.speed, frame.data[2]);
+                    SetSTS(estsvaluetype.sensor, frame.data[3]);
+                    break;
+                case "CRT"://수동제어
+                    sts_dir = frame.data[0];
+                    sts_bunki = frame.data[1];
+                    sts_speed = frame.data[2];
+                    sts_sensor = frame.data[3];
+                    SetAGV(esystemflag1.agv_stop, false);
+                    SetAGV(esystemflag1.agv_run, true);
+                    break;
+                case "ACK": //응답ok
+                    RaiseMessage(MessageType.Normal, $">> {frame.cmd} DATA={frame.data}");
+                    break;
+                case "SFR": //reset
+                    SetAGV(DevAGV.eerror.Emergency, false);
+                    SetAGV(DevAGV.eerror.line_out_error, false);
+                    SetAGV(DevAGV.eerror.Overcurrent, false);
+                    SetAGV(DevAGV.esystemflag1.agv_run, false);
+                    SetAGV(DevAGV.esystemflag1.agv_stop, true);
+                    break;
+                case "CBT"://충전작업
+                    SetAGV(DevAGV.esystemflag1.Battery_charging, true);
+                    var id = frame.data.Substring(2, 2);
+                    var cmd = frame.data[4];
+                    var delaytime = int.Parse(frame.data.Substring(5));
+                    if (cmd == 'I') SetAGV(DevAGV.esystemflag1.Battery_charging, true);
+                    else SetAGV(esystemflag1.Battery_charging, false);
+                    break;
+                case "SSH":
+                case "SSM":
+                case "SSL":
+                case "SSS":
+                case "SHS":
+                case "SLS":
+                case "SPK":
+                case "SPM":
+                case "SPL":
+                case "SPS":
+                case "SIK":
+                case "SIM":
+                case "SIH":
+                case "SIL":
+                case "SIS":
+                case "SDK":
+                case "SDW":
+                case "SDL":
+                case "SDS":
+                case "SRS":
+                case "SCK":
+                case "SSK":
+                case "STT":
+                case "SSI":
+                case "SMD":
+                case "SSC":
+                case "SPN":
+                case "SPH":
+                case "SCH":
+                case "SDH":
+                case "SDM":
+                case "SLB":
+                case "SGS":
+                    SendCmd("ACK", frame.cmd);
+                    break;
+                default:
+                    RaiseMessage(MessageType.Normal, $"미처리명령 {frame.cmd} DATA={frame.data}");
+                    break;
+            }
+
+
+
+            return true;
+        }
+        public void SendCmd(string cmd, string value)
+        {
+
+            var barr = new List<byte>();
+            barr.Add(0x02);
+            barr.AddRange(System.Text.Encoding.Default.GetBytes(cmd));
+            barr.AddRange(System.Text.Encoding.Default.GetBytes(value));
+            barr.Add((byte)'*');
+            barr.Add((byte)'*');
+            barr.Add(0x03);
+            var cmdstr = System.Text.Encoding.Default.GetString(barr.ToArray());
+            RaiseMessage(MessageType.Normal, "Tx:" + barr.ToArray().HexString());
+            WriteData(barr.ToArray());
+        }
+
+        public void SendTag(string tagno)
+        {
+            tagno = tagno.PadLeft(6, '0');
+            if (tagno.Length > 6) tagno = tagno.Substring(0, 6);
+            var barr = new List<byte>();
+            barr.Add(0x02);
+            barr.Add((byte)'T');
+            barr.Add((byte)'A');
+            barr.Add((byte)'G');
+            barr.AddRange(System.Text.Encoding.Default.GetBytes(tagno));
+            barr.Add((byte)'*');
+            barr.Add((byte)'*');
+            barr.Add(0x03);
+            var cmdstr = System.Text.Encoding.Default.GetString(barr.ToArray());
+            RaiseMessage(MessageType.Normal, "Tx:" + barr.ToArray().HexString());
+            WriteData(barr.ToArray());
+        }
+
+        public override void AutoSendData()
+        {
+            //if (_device.DtrEnable == false) return;
+            //STS258FFFF40000000LSF0000003A
+            //02 53 54 53 32 35 38 46 46 46 46 34 30 30 30 30 30 30 30 4C 53 46 30 30 30 30 30 30 33 41 03
+            var sample = "02 53 54 53 32 35 38 46 46 46 46 34 30 30 30 30 30 30 30 4C 53 46 30 30 30 30 30 30 33 41 03";
+            var barr = sample.Split(' ').ToList().Select(t => Convert.ToByte(t, 16)).ToArray();
+
+            //if (RequestStatusData != null)
+            //{
+            //var p = new RequestStatusDataArgs();
+            //RequestStatusData.Invoke(this, p);
+
+            var voltstr = "255";// ((int)(p.volt * 10f)).ToString().PadRight(3, '0');
+            var bufarr = System.Text.Encoding.Default.GetBytes(voltstr);
+            Array.Copy(bufarr, 0, barr, 4, bufarr.Length);
+
+            bufarr = System.Text.Encoding.Default.GetBytes(system0.ToString("X2").PadLeft(4, '0'));
+
+            Array.Copy(bufarr, 0, barr, 7, bufarr.Length);
+
+            bufarr = System.Text.Encoding.Default.GetBytes(system1.ToString("X2").PadLeft(4, '0'));
+            Array.Copy(bufarr, 0, barr, 11, bufarr.Length);
+
+            bufarr = System.Text.Encoding.Default.GetBytes(error.ToString("X2").PadLeft(4, '0'));
+            Array.Copy(bufarr, 0, barr, 15, bufarr.Length);
+
+            
+            barr[19] = (byte)this.sts_speed;
+            barr[20] = (byte)this.sts_bunki;
+            barr[21] = (byte)this.sts_dir;
+            barr[22] = (byte)this.sts_sensor;
+            //bufarr = System.Text.Encoding.Default.GetBytes(p.sensor.ToString().PadLeft(2, '0'));
+            //Array.Copy(bufarr, 0, barr, 22, bufarr.Length);
+            bufarr = System.Text.Encoding.Default.GetBytes(signal.ToString("X2").PadLeft(2, '0'));
+            Array.Copy(bufarr, 0, barr, 23, bufarr.Length);
+            //barr[22] = (byte)'5';
+
+            barr[barr.Length - 3] = (byte)'*';
+            barr[barr.Length - 2] = (byte)'*';
+
+            //}
+
+            var cmdstr = System.Text.Encoding.Default.GetString(barr);
+            RaiseMessage(MessageType.Normal, "Tx:" + barr.ToArray().HexString());
+            WriteData(barr.ToArray());
+        }
+
+
+        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 (b == 0x02) //stx
+                {
+                    tempBuffer.Clear();
+                    tempBuffer.Add(b);
+                }
+
+                else if (b == 0x03) //etx
+                {
+                    tempBuffer.Add(b);
+                    retval = true;
+                }
+                else
+                {
+                    //데이터길이가 만족한 상태
+                    tempBuffer.Add(b);
+                    var maxlen = 100;
+                    if (tempBuffer.Count > maxlen)
+                    {
+                        RaiseMessage(MessageType.Error, $"buffer over({maxlen})");
+                        tempBuffer.Clear();
+                    }
+                }
+
+
+            }
+            remainBuffer = remain.ToArray();
+            return retval;
+        }
+    }
+}

AGVEmulator/DevXBE.cs

@@ -0,0 +1,93 @@
+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(byte id, uint tag)
+        {
+            var idSTR = id.ToString("X2");
+            var tagSTR = tag.ToString("0000");
+            var dataStr = $"{idSTR}{tagSTR}";
+            Send(ENIGProtocol.AGVCommandHE.Goto, dataStr);
+        }
+        public void SendCurrentPos(byte id, uint tag)
+        {
+            var idSTR = id.ToString("X2");
+            var tagSTR = tag.ToString("0000");
+            var dataStr = $"{idSTR}{tagSTR}";
+            Send(ENIGProtocol.AGVCommandHE.SetCurrent, dataStr);
+        }
+        private void Send(ENIGProtocol.AGVCommandHE 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}");
+            }
+        }
+
+
+    }
+}

AGVEmulator/Program.cs

@@ -0,0 +1,34 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Windows.Forms;
+
+namespace AGVEmulator
+{
+    static class Program
+    {
+        /// <summary>
+        /// 해당 애플리케이션의 주 진입점입니다.
+        /// </summary>
+        [STAThread]
+        static void Main()
+        {
+            Application.EnableVisualStyles();
+            Application.SetCompatibleTextRenderingDefault(false);
+            Application.Run(new fMain());
+        }
+    }
+    public static class methodext
+    {
+        public static string HexString(this byte[] buf)
+        {
+            var sb = new System.Text.StringBuilder();
+            foreach (var b in buf)
+            {
+                sb.Append(" " + b.ToString("X2"));
+            }
+            return sb.ToString();
+        }
+    }
+
+}

AGVEmulator/Properties/AssemblyInfo.cs

@@ -0,0 +1,36 @@
+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// 어셈블리에 대한 일반 정보는 다음 특성 집합을 통해 
+// 제어됩니다. 어셈블리와 관련된 정보를 수정하려면
+// 이러한 특성 값을 변경하세요.
+[assembly: AssemblyTitle("AGVEmulator")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("AGVEmulator")]
+[assembly: AssemblyCopyright("Copyright ©  2022")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// ComVisible을 false로 설정하면 이 어셈블리의 형식이 COM 구성 요소에 
+// 표시되지 않습니다. COM에서 이 어셈블리의 형식에 액세스하려면
+// 해당 형식에 대해 ComVisible 특성을 true로 설정하세요.
+[assembly: ComVisible(false)]
+
+// 이 프로젝트가 COM에 노출되는 경우 다음 GUID는 typelib의 ID를 나타냅니다.
+[assembly: Guid("9312ab43-72f6-FF65-a266-e767215fa7f5")]
+
+// 어셈블리의 버전 정보는 다음 네 가지 값으로 구성됩니다.
+//
+//      주 버전
+//      부 버전 
+//      빌드 번호
+//      수정 버전
+//
+// 모든 값을 지정하거나 아래와 같이 '*'를 사용하여 빌드 번호 및 수정 번호를
+// 기본값으로 할 수 있습니다.
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("1.0.0.1")]
+[assembly: AssemblyFileVersion("1.0.0.1")]

AGVEmulator/Properties/Resources.Designer.cs

@@ -0,0 +1,63 @@
+//------------------------------------------------------------------------------
+// <auto-generated>
+//     이 코드는 도구를 사용하여 생성되었습니다.
+//     런타임 버전:4.0.30319.42000
+//
+//     파일 내용을 변경하면 잘못된 동작이 발생할 수 있으며, 코드를 다시 생성하면
+//     이러한 변경 내용이 손실됩니다.
+// </auto-generated>
+//------------------------------------------------------------------------------
+
+namespace AGVEmulator.Properties {
+    using System;
+    
+    
+    /// <summary>
+    ///   지역화된 문자열 등을 찾기 위한 강력한 형식의 리소스 클래스입니다.
+    /// </summary>
+    // 이 클래스는 ResGen 또는 Visual Studio와 같은 도구를 통해 StronglyTypedResourceBuilder
+    // 클래스에서 자동으로 생성되었습니다.
+    // 멤버를 추가하거나 제거하려면 .ResX 파일을 편집한 다음 /str 옵션을 사용하여 ResGen을
+    // 다시 실행하거나 VS 프로젝트를 다시 빌드하십시오.
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "17.0.0.0")]
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
+    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
+    internal class Resources {
+        
+        private static global::System.Resources.ResourceManager resourceMan;
+        
+        private static global::System.Globalization.CultureInfo resourceCulture;
+        
+        [global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")]
+        internal Resources() {
+        }
+        
+        /// <summary>
+        ///   이 클래스에서 사용하는 캐시된 ResourceManager 인스턴스를 반환합니다.
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Resources.ResourceManager ResourceManager {
+            get {
+                if (object.ReferenceEquals(resourceMan, null)) {
+                    global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("AGVEmulator.Properties.Resources", typeof(Resources).Assembly);
+                    resourceMan = temp;
+                }
+                return resourceMan;
+            }
+        }
+        
+        /// <summary>
+        ///   이 강력한 형식의 리소스 클래스를 사용하여 모든 리소스 조회에 대해 현재 스레드의 CurrentUICulture 속성을
+        ///   재정의합니다.
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Globalization.CultureInfo Culture {
+            get {
+                return resourceCulture;
+            }
+            set {
+                resourceCulture = value;
+            }
+        }
+    }
+}

AGVEmulator/Properties/Resources.resx

@@ -0,0 +1,117 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+</root>

AGVEmulator/Properties/Settings.Designer.cs

@@ -0,0 +1,26 @@
+//------------------------------------------------------------------------------
+// <auto-generated>
+//     이 코드는 도구를 사용하여 생성되었습니다.
+//     런타임 버전:4.0.30319.42000
+//
+//     파일 내용을 변경하면 잘못된 동작이 발생할 수 있으며, 코드를 다시 생성하면
+//     이러한 변경 내용이 손실됩니다.
+// </auto-generated>
+//------------------------------------------------------------------------------
+
+namespace AGVEmulator.Properties {
+    
+    
+    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "17.4.0.0")]
+    internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase {
+        
+        private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
+        
+        public static Settings Default {
+            get {
+                return defaultInstance;
+            }
+        }
+    }
+}

AGVEmulator/Properties/Settings.settings

@@ -0,0 +1,7 @@
+<?xml version='1.0' encoding='utf-8'?>
+<SettingsFile xmlns="http://schemas.microsoft.com/VisualStudio/2004/01/settings" CurrentProfile="(Default)">
+  <Profiles>
+    <Profile Name="(Default)" />
+  </Profiles>
+  <Settings />
+</SettingsFile>

AGVEmulator/RS232.cs

@@ -0,0 +1,485 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Linq;
+using System.Text;
+using System.Threading;
+
+namespace AR.Dev
+{
+    public abstract partial class RS232 : IDisposable
+    {
+        protected System.IO.Ports.SerialPort _device;
+        protected ManualResetEvent _mre;
+        protected byte[] LastReceiveBuffer;
+
+        protected List<byte> tempBuffer = new List<byte>();
+        protected Boolean findSTX = false;
+
+
+        public int WriteError = 0;
+        public string WriteErrorMessage = string.Empty;
+        public int WaitTimeout { get; set; } = 1000;
+        public int MinRecvLength { get; set; } = 1;
+        /// <summary>
+        /// 포트이름
+        /// </summary>
+        [Description("시리얼 포트 이름")]
+        [Category("설정"), DisplayName("Port Name")]
+        public string PortName
+        {
+            get
+            {
+                if (_device == null) return string.Empty;
+                else return _device.PortName;
+            }
+            set
+            {
+                if (this.IsOpen)
+                {
+                    Message?.Invoke(this, new MessageEventArgs("포트가 열려있어 포트이름을 변경할 수 없습니다", true));
+                }
+                else if (String.IsNullOrEmpty(value) == false)
+                    _device.PortName = value;
+                else
+                {
+                    Message?.Invoke(this, new MessageEventArgs("No PortName", true));
+                }
+            }
+        }
+
+        public int BaudRate
+        {
+            get
+            {
+                if (_device == null) return 0;
+                else return _device.BaudRate;
+            }
+            set
+            {
+                if (this.IsOpen)
+                {
+                    Message?.Invoke(this, new MessageEventArgs("포트가 열려있어 BaudRate(를) 변경할 수 없습니다", true));
+                }
+                else if (value != 0)
+                    _device.BaudRate = value;
+                else Message?.Invoke(this, new MessageEventArgs("No baud rate", true));
+            }
+        }
+
+        public string errorMessage { get; set; }
+        public DateTime LastConnTime { get; set; }
+        public DateTime LastConnTryTime { get; set; }
+        public DateTime lastSendTime;
+        /// <summary>
+        /// 메세지 수신시 사용하는 내부버퍼
+        /// </summary>
+        protected List<byte> _buffer = new List<byte>();
+
+        /// <summary>
+        /// 최종 전송 메세지
+        /// </summary>
+        public byte[] lastSendBuffer;
+        public byte[] LastRecvData;
+        public string LastRecvString
+        {
+            get
+            {
+                if (LastRecvData == null) return String.Empty;
+                else return System.Text.Encoding.Default.GetString(LastRecvData);
+            }
+        }
+        /// <summary>
+        /// 마지막으로 데이터를 받은 시간
+        /// </summary>
+        public DateTime lastRecvTime;
+
+        public RS232()
+        {
+            _device = new System.IO.Ports.SerialPort();
+            this.BaudRate = 9600;
+
+            _device.DataReceived += barcode_DataReceived;
+            _device.ErrorReceived += this.barcode_ErrorReceived;
+            _device.WriteTimeout = 1000;
+            _device.ReadTimeout = 1000;
+            _device.DtrEnable = false;
+            _device.RtsEnable = false;
+            _device.ReadBufferSize = 8192;
+            _device.WriteBufferSize = 8192;
+
+            errorMessage = string.Empty;
+            lastRecvTime = DateTime.Parse("1982-11-23");
+            LastConnTime = DateTime.Parse("1982-11-23");
+            LastConnTryTime = DateTime.Parse("1982-11-23");
+            lastRecvTime = DateTime.Parse("1982-11-23");
+            this._mre = new ManualResetEvent(true);
+        }
+
+        ~RS232()
+        {
+            Dispose(false);
+        }
+
+
+        // Flag: Has Dispose already been called?
+        bool disposed = false;
+
+        // Public implementation of Dispose pattern callable by consumers.
+        public void Dispose()
+        {
+            Dispose(true);
+            GC.SuppressFinalize(this);
+        }
+
+        // Protected implementation of Dispose pattern.
+        protected virtual void Dispose(bool disposing)
+        {
+            if (disposed)
+                return;
+
+            if (disposing)
+            {
+                // Free any other managed objects here.
+                //
+            }
+
+            _device.DataReceived -= barcode_DataReceived;
+            _device.ErrorReceived -= this.barcode_ErrorReceived;
+
+            // Free any unmanaged objects here.
+            //
+            disposed = true;
+        }
+
+        public Boolean Open()
+        {
+            try
+            {
+                _device.Open();
+                Message?.Invoke(this, new MessageEventArgs(MessageType.Normal, $"port open:{_device.IsOpen}"));
+                return IsOpen;
+            }
+            catch (Exception ex)
+            {
+                errorMessage = ex.Message;
+                Message.Invoke(this, new MessageEventArgs(ex.Message, true));
+                return false;
+            }
+        }
+        public string GetHexString(Byte[] input)
+        {
+            System.Text.StringBuilder sb = new System.Text.StringBuilder();
+            foreach (byte b in input)
+                sb.Append(" " + b.ToString("X2"));
+            return sb.ToString();
+        }
+
+        /// <summary>
+        /// 포트가 열려있는지 확인
+        /// </summary>
+        [Description("현재 시리얼포트가 열려있는지 확인합니다")]
+        [Category("정보"), DisplayName("Port Open")]
+        public Boolean IsOpen
+        {
+            get
+            {
+                if (_device == null) return false;
+                return _device.IsOpen;
+            }
+        }
+
+        public virtual void Close(Boolean PortClose = true)
+        {
+            if (_device != null && _device.IsOpen)
+            {
+                _device.DiscardInBuffer();
+                _device.DiscardOutBuffer();
+                if (PortClose) _device.Close(); //dispose에서는 포트를 직접 클리어하지 않게 해뒀다.
+            }
+        }
+
+        public Boolean RaiseRecvData()
+        {
+            return RaiseRecvData(LastReceiveBuffer.ToArray());
+        }
+        /// <summary>
+        /// 수신받은 메세지를 발생 시킵니다
+        /// </summary>
+        /// <param name="data"></param>
+        /// <returns></returns>
+        public virtual Boolean RaiseRecvData(byte[] Data)
+        {
+            //181206 - 최종수신 메세지 기록
+            lastRecvTime = DateTime.Now;
+            LastRecvData = Data;
+
+            try
+            {
+                Message?.Invoke(this, new MessageEventArgs(Data, true));    //recvmessage
+                if (ProcessRecvData(Data) == false)
+                {
+                    //Message?.Invoke(this, new MessageEventArgs(Data, true));    //recvmessage
+                    Message?.Invoke(this, new MessageEventArgs(this.errorMessage, true));   //errormessage
+                    return false;
+                }
+                else
+                {
+
+                    return true;
+                }
+            }
+            catch (Exception ex)
+            {
+                this.errorMessage = ex.Message;
+                this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
+                return false;
+            }
+        }
+
+        /// <summary>
+        /// 수신받은 자료를 처리한다
+        /// </summary>
+        /// <param name="data"></param>
+        /// <returns></returns>
+        public abstract bool ProcessRecvData(byte[] data);
+
+        #region "Internal Events"
+
+        void barcode_ErrorReceived(object sender, System.IO.Ports.SerialErrorReceivedEventArgs e)
+        {
+            Message?.Invoke(this, new MessageEventArgs(e.ToString(), true));
+        }
+
+        void barcode_DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e)
+        {
+
+            try
+            {
+                int ReadCount = _device.BytesToRead;
+
+                byte[] buffer = new byte[ReadCount];
+                _device.Read(buffer, 0, buffer.Length);
+
+                System.Text.StringBuilder LogMsg = new StringBuilder();
+
+                byte[] remainBuffer;
+            Repeat:
+                if (CustomParser(buffer, out remainBuffer))
+                {
+                    //parser ok
+                    LastReceiveBuffer = tempBuffer.ToArray();
+                    RaiseRecvData();
+                    tempBuffer.Clear();
+                    if (remainBuffer != null && remainBuffer.Length > 0)
+                    {
+                        //버퍼를 변경해서 다시 전송을 해준다.
+                        buffer = new byte[remainBuffer.Length];
+                        Array.Copy(remainBuffer, buffer, buffer.Length);
+                        goto Repeat; //남은 버퍼가 있다면 진행을 해준다.
+                    }
+                }
+
+            }
+            catch (Exception ex)
+            {
+                if (IsOpen)
+                {
+                    //_device.DiscardInBuffer();
+                    //_device.DiscardOutBuffer();
+                }
+                errorMessage = ex.Message;
+                this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
+            }
+
+        }
+
+
+        #endregion
+
+        #region "External Events"
+
+
+        /// <summary>
+        /// 오류 및 기타 일반 메세지
+        /// </summary>
+        public event EventHandler<MessageEventArgs> Message;
+
+        public void RaiseMessage(bool iserr, string message)
+        {
+            Message?.Invoke(this, new MessageEventArgs(message, iserr));
+        }
+        #endregion
+
+        #region "Event Args"
+
+        /// <summary>
+        /// 데이터를 수신할떄 사용함(RAW 포함)
+        /// </summary>
+        public class ReceiveDataEventArgs : EventArgs
+        {
+            private byte[] _buffer = null;
+
+            /// <summary>
+            /// 바이트배열의 버퍼값
+            /// </summary>
+            public byte[] Value { get { return _buffer; } }
+
+            /// <summary>
+            /// 버퍼(바이트배열)의 데이터를 문자로 반환합니다.
+            /// </summary>
+            public string StrValue
+            {
+                get
+                {
+                    //return string.Empty; 
+
+                    if (_buffer == null || _buffer.Length < 1) return string.Empty;
+                    else return System.Text.Encoding.Default.GetString(_buffer);
+                }
+            }
+            public ReceiveDataEventArgs(byte[] buffer)
+            {
+                _buffer = buffer;
+            }
+        }
+
+        /// <summary>
+        /// 메세지를 강제 발생
+        /// </summary>
+        /// <param name="mt"></param>
+        /// <param name="message"></param>
+        protected virtual void RaiseMessage(MessageType mt, string message)
+        {
+            this.Message?.Invoke(this, new MessageEventArgs(mt, message));
+        }
+        public enum MessageType
+        {
+            Normal,
+            Error,
+            Send,
+            Recv,
+        }
+
+        public class MessageEventArgs : EventArgs
+        {
+            public MessageType MsgType { get; set; }
+            private string _message = string.Empty;
+
+            /// <summary>
+            /// Recv,Send,Normal,Error 모두 지원
+            /// </summary>
+            public string Message { get { return _message; } }
+
+            private byte[] _data = null;
+
+            /// <summary>
+            /// Recv,Send에서만 값이 존재 합니다
+            /// </summary>
+            public byte[] Data { get { return _data; } }
+            public MessageEventArgs(string Message, bool isError = false)
+            {
+                if (isError) MsgType = MessageType.Error;
+                else MsgType = MessageType.Normal;
+                _message = Message;
+            }
+            public MessageEventArgs(MessageType msgtype, string Message)
+            {
+                MsgType = msgtype;
+                _message = Message;
+                _data = System.Text.Encoding.Default.GetBytes(Message);
+            }
+
+            public MessageEventArgs(byte[] buffer, bool isRecv = true)
+            {
+                if (isRecv) MsgType = MessageType.Recv;
+                else MsgType = MessageType.Send;
+                _data = new byte[buffer.Length];
+                Array.Copy(buffer, _data, Data.Length);
+                _message = System.Text.Encoding.Default.GetString(_data);
+            }
+
+        }
+
+        #endregion
+
+
+        public virtual void AutoSendData()
+        {
+
+        }
+
+        protected abstract bool CustomParser(byte[] buf, out byte[] remainBuffer);
+
+        /// <summary>
+        /// 데이터수신시간이 설정값보다 x 2.5를 초과하면 false 가 반환됨
+        /// </summary>
+        public Boolean IsValid
+        {
+            get
+            {
+                if (IsOpen == false) return false;
+                if (lastRecvTime.Year == 1982) return false;
+                var ts = DateTime.Now - lastRecvTime;
+                if (ts.TotalSeconds > 5) return false;
+                return true;
+            }
+        }
+        public bool WriteData(string cmd)
+        {
+            return WriteData(System.Text.Encoding.Default.GetBytes(cmd));
+        }
+        /// <summary>
+        /// 포트에 쓰기(barcode_DataReceived 이벤트로 메세지수신)
+        /// </summary>
+        public Boolean WriteData(byte[] data, bool useLog = true)
+        {
+            Boolean bRet = false;
+
+            //171205 : 타임아웃시간추가
+            if (!_mre.WaitOne(WaitTimeout))
+            {
+                errorMessage = $"WriteData:MRE:WaitOne:TimeOut {WaitTimeout}ms";
+                this.Message?.Invoke(this, new MessageEventArgs(errorMessage, true));
+                return false;
+            }
+
+            _mre.Reset();
+
+            //Array.Resize(ref data, data.Length + 2);
+
+            try
+            {
+                lastSendTime = DateTime.Now;
+                if (lastSendBuffer == null) lastSendBuffer = new byte[data.Length]; //171113
+                else Array.Resize(ref lastSendBuffer, data.Length);
+                Array.Copy(data, lastSendBuffer, data.Length);
+
+                for (int i = 0; i < data.Length; i++)
+                    _device.Write(data, i, 1);
+
+                //_device.Write(data, 0, data.Length);
+
+                //171113
+                if (useLog) this.Message?.Invoke(this, new MessageEventArgs(data, false));
+
+                bRet = true;
+                WriteError = 0;
+                WriteErrorMessage = string.Empty;
+            }
+            catch (Exception ex)
+            {
+                // this.isinit = false;
+                this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
+                bRet = false;
+                WriteError += 1; //연속쓰기오류횟수
+                WriteErrorMessage = ex.Message;
+            }
+            finally
+            {
+                _mre.Set();
+            }
+            return bRet;
+        }
+    }
+}

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 fMain
+    {
+        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);
+            }
+        }
+    }
+}

AGVEmulator/RunCode/_BMS.cs

@@ -0,0 +1,63 @@
+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 fMain
+    {
+        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;
+            e.Temp1 = this.Temp1;
+            e.Temp2 = this.Temp2;
+
+        }
+
+    }
+}

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 fMain
+    {
+
+        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
+                }
+            }
+        }
+    }
+}

AGVEmulator/UC/AgvViewer.Designer.cs

@@ -0,0 +1,37 @@
+
+namespace AGVEmulator.UC
+{
+    partial class AgvViewer
+    {
+        /// <summary>
+        /// 필수 디자이너 변수입니다.
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary>
+        /// 사용 중인 모든 리소스를 정리합니다.
+        /// </summary>
+        /// <param name="disposing">관리되는 리소스를 삭제해야 하면 true이고, 그렇지 않으면 false입니다.</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region 구성 요소 디자이너에서 생성한 코드
+
+        /// <summary>
+        /// 디자이너 지원에 필요한 메서드입니다. 
+        /// 이 메서드의 내용을 코드 편집기로 수정하지 마세요.
+        /// </summary>
+        private void InitializeComponent()
+        {
+            components = new System.ComponentModel.Container();
+        }
+
+        #endregion
+    }
+}

AGVEmulator/UC/AgvViewer.cs

@@ -0,0 +1,272 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace AGVEmulator.UC
+{
+    public partial class AgvViewer : Control
+    {
+
+        public AgvViewer()
+        {
+            InitializeComponent();
+
+            // Set Optimized Double Buffer to reduce flickering
+            this.SetStyle(ControlStyles.UserPaint, true);
+            this.SetStyle(ControlStyles.AllPaintingInWmPaint, true);
+            this.SetStyle(ControlStyles.OptimizedDoubleBuffer, true);
+
+            // Redraw when resized
+            this.SetStyle(ControlStyles.ResizeRedraw, true);
+        }
+
+        public class TagArgs : EventArgs
+        {
+            public string Data { get; set; }
+            public bool Active { get; set; }
+            public TagArgs(string tag,bool act)
+            {
+                this.Data = tag;
+                this.Active = act;
+            }
+        }
+        public event EventHandler<TagArgs> TagTouched;
+        public event EventHandler<TagArgs> MarkTouched;
+        public event EventHandler<TagArgs> Command;
+
+        public bool StopbyMark { get; set; }
+        public float mpos = 100;
+        public float posmax = 1200;
+        public float posmin = 0;
+        public float mspd = 10;
+        public System.Diagnostics.Stopwatch wat = new System.Diagnostics.Stopwatch();
+        public Font FontTag { get; set; }
+        public Font FontMrk { get; set; }
+        public int dir = 1;
+
+        public class ptdata
+        {
+            public float pos { get; set; } = 0f;
+            public string data { get; set; } = string.Empty;
+            public Boolean active { get; set; } = false;
+        }
+        public ptdata[] listMRK { get; set; }
+        public ptdata[] listTAG { get; set; }
+
+        public string lasttag { get; set; } = string.Empty;
+        public string lasttagdir { get; set; } = string.Empty;
+        public string lastmark { get; set; } = string.Empty;
+        public string lastmarkdir { get; set; } = string.Empty;
+
+        protected override void OnPaint(PaintEventArgs pe)
+        {
+            pe.Graphics.Clear(this.BackColor);
+            var r = new Rectangle(DisplayRectangle.Left + Padding.Left,
+                DisplayRectangle.Top + Padding.Top,
+                DisplayRectangle.Width - Padding.Right - Padding.Left - 1,
+                DisplayRectangle.Height - Padding.Top - Padding.Bottom - 1);
+
+
+            // pe.Graphics.FillRectangle(new SolidBrush(this.BackColor), DisplayRectangle);
+            pe.Graphics.DrawRectangle(Pens.Black, r);
+
+
+            var ptwidth = 25;
+            var ptheight = 35;
+            if (listMRK != null && listMRK.Any() && FontMrk != null)
+            {
+                foreach (var item in listMRK)
+                {
+                    var x = r.Left + ((item.pos * 1f) / posmax) * r.Width;
+                    var rr = new RectangleF(x - ptwidth, r.Top + r.Height / 2f - ptheight / 2f, ptwidth * 2, ptheight);
+                    pe.Graphics.DrawLine(Pens.Gray, x, r.Top, x, r.Bottom);
+                    pe.Graphics.FillRectangle(new SolidBrush(Color.FromArgb(120, Color.Gold)), rr);
+                    pe.Graphics.DrawRectangle(Pens.DimGray, rr.Left, rr.Top, rr.Width, rr.Height);
+                    pe.Graphics.DrawString(item.data, FontMrk, Brushes.Gray, rr, new StringFormat
+                    {
+                        Alignment = StringAlignment.Center,
+                        LineAlignment = StringAlignment.Center,
+                    });
+
+                }
+            }
+
+            ptwidth = 15;
+            if (listTAG != null && listTAG.Any() && FontTag != null)
+            {
+                var lst = listTAG.Where(t => t.data.EndsWith("1"));
+                foreach (var item in lst)
+                {
+                    var x = r.Left + ((item.pos * 1f) / posmax) * r.Width;
+                    var rr = new RectangleF(x - ptwidth, r.Top + 5, ptwidth * 2, 15);
+                    pe.Graphics.DrawLine(Pens.Orange, x, r.Top, x, rr.Top);
+                    pe.Graphics.FillRectangle(Brushes.Orange, rr);
+                    pe.Graphics.DrawRectangle(Pens.DimGray, rr.Left, rr.Top, rr.Width, rr.Height);
+                    pe.Graphics.DrawString(item.data, FontTag, Brushes.Black, rr, new StringFormat
+                    {
+                        Alignment = StringAlignment.Center,
+                        LineAlignment = StringAlignment.Center,
+                    });
+                }
+
+                lst = listTAG.Where(t => t.data.EndsWith("0"));
+                foreach (var item in lst)
+                {
+                    var x = r.Left + ((item.pos * 1f) / posmax) * r.Width;
+                    var rr = new RectangleF(x - ptwidth, r.Bottom - 20, ptwidth * 2, 15);
+                    pe.Graphics.DrawLine(Pens.Orange, x, rr.Bottom, x, r.Bottom);
+                    pe.Graphics.FillRectangle(Brushes.Orange, rr);
+                    pe.Graphics.DrawRectangle(Pens.DimGray, rr.Left, rr.Top, rr.Width, rr.Height);
+                    pe.Graphics.DrawString(item.data, FontTag, Brushes.Black, rr, new StringFormat
+                    {
+                        Alignment = StringAlignment.Center,
+                        LineAlignment = StringAlignment.Center,
+                    });
+                }
+            }
+
+            var posX = r.Left + (mpos / posmax) * r.Width;
+            var posY = r.Top + r.Height / 2f;
+            var boxw = r.Width * 0.030f;
+            var boxh = r.Height * 0.15f;
+            var box = new RectangleF(posX - boxw, posY - boxh, boxw * 2, boxh * 2);
+            var box2 = new RectangleF(box.Left - 5, box.Top + 3, 10, box.Height - 6);
+            for (int i = 0; i < posmax; i += 100)
+            {
+                var x = r.Left + ((i * 1f) / posmax) * r.Width;
+                pe.Graphics.DrawLine(Pens.Black, x, r.Bottom - 3, x, r.Bottom);
+                if (i > 0)
+                    pe.Graphics.DrawString($"{i / 10f}m", this.Font, Brushes.Black, x - 12, r.Bottom - 15);
+            }
+            pe.Graphics.FillRectangle(Brushes.LightSkyBlue, box);
+            pe.Graphics.DrawRectangle(Pens.Black, box.Left, box.Top, box.Width, box.Height);
+            pe.Graphics.DrawLine(new Pen(Color.Black, 4), posX, box.Top - 5, posX, box.Bottom + 5);
+
+            pe.Graphics.FillRectangle(Brushes.Gold, box2);
+            pe.Graphics.DrawRectangle(Pens.Black, box2.Left, box2.Top, box2.Width, box2.Height);
+            //pe.Graphics.DrawString((mpos / 10f).ToString("N1") + "m", this.Font, Brushes.Black, box, new StringFormat
+            //{
+            //    Alignment = StringAlignment.Center,
+            //    LineAlignment = StringAlignment.Center,
+            //});
+
+            if (StopbyMark)
+                pe.Graphics.DrawString("!MRK-STP!", this.Font, Brushes.Blue, r.Left+2, r.Top+2);
+
+            if (wat.IsRunning)
+            {
+                var newpos = mspd * (wat.ElapsedMilliseconds / 1000f);
+                if (dir < 0) //forward
+                {
+                    if (mpos - newpos < 0)
+                        mpos = posmax;
+                    else mpos -= newpos;
+
+                    //내위치주변에 마커가 있는지 본다
+                    var mlist = listMRK.Where(t => t.pos <= mpos && (mpos - t.pos) < 10);
+                    var mrk = mlist.FirstOrDefault();
+                    if (mrk != null)
+                    {
+                        //대상마커가있다
+                        if (lastmark.Equals(mrk.data) == false || lastmarkdir.Equals("F") == false)
+                        {
+                            lastmark = mrk.data;
+                            lastmarkdir = "F";
+                            mrk.active = true;
+                            MarkTouched?.Invoke(this, new TagArgs(mrk.data,true));
+                            if(StopbyMark)
+                            {
+                                Command?.Invoke(this, new TagArgs("stop",true));
+                                StopbyMark = false;
+                            }
+                        }
+                    }
+                    else
+                    {
+                        if (string.IsNullOrEmpty(lastmark) == false)
+                        {
+                            foreach(var item in listMRK.Where(t=>t.active))
+                            {
+                                item.active = false;
+                                MarkTouched?.Invoke(this, new TagArgs(item.data,false));
+                            }
+                        }
+                    }
+
+                    //주변태그확인
+                    var tlist = listTAG.Where(t => t.pos <= mpos && (mpos - t.pos) < 10);
+                    var tag = tlist.FirstOrDefault();
+                    if (tag != null)
+                    {
+                        //대상마커가있다
+                        if (lasttag.Equals(tag.data) == false || lasttagdir.Equals("F") == false)
+                        {
+                            lasttag = tag.data;
+                            lasttagdir = "F";
+                            TagTouched?.Invoke(this, new TagArgs(tag.data, true));
+                        }
+                    }
+                }
+                else //backward
+                {
+                    if (mpos + newpos > posmax)
+                        mpos = 0;
+                    else mpos += newpos;
+
+                    //내위치주변에 마커가 있는지 본다
+                    var mlist = listMRK.Where(t => t.pos >= mpos && (t.pos - mpos) < 10);
+                    var mrk = mlist.FirstOrDefault();
+                    if (mrk != null)
+                    {
+                        //대상마커가있다
+                        if (lastmark.Equals(mrk.data) == false || lastmarkdir.Equals("B") == false)
+                        {
+                            lastmark = mrk.data;
+                            lastmarkdir = "B";
+                            mrk.active = true;
+                            MarkTouched?.Invoke(this, new TagArgs(mrk.data, true));
+                            if (StopbyMark)
+                            {
+                                Command?.Invoke(this, new TagArgs("stop", true));
+                                StopbyMark = false;
+                            }
+                        }
+                    }
+                    else
+                    {
+                        if (string.IsNullOrEmpty(lastmark) == false)
+                        {
+                            foreach (var item in listMRK.Where(t => t.active))
+                            {
+                                item.active = false;
+                                MarkTouched?.Invoke(this, new TagArgs(item.data, false));
+                            }
+                        }
+                    }
+
+                    //주변태그확인
+                    var tlist = listTAG.Where(t => t.pos >= mpos && (t.pos - mpos) < 10);
+                    var tag = tlist.FirstOrDefault();
+                    if (tag != null)
+                    {
+                        //대상마커가있다
+                        if (lasttag.Equals(tag.data) == false || lasttagdir.Equals("B") == false)
+                        {
+                            lasttag = tag.data;
+                            lasttagdir = "B";
+                            TagTouched?.Invoke(this, new TagArgs(tag.data, true));
+                        }
+                    }
+                }
+
+                wat.Restart();
+            }
+        }
+    }
+}

AGVEmulator/UC/SerialConn.Designer.cs

@@ -0,0 +1,162 @@
+
+namespace AGVEmulator
+{
+    partial class SerialConn
+    {
+        /// <summary> 
+        /// 필수 디자이너 변수입니다.
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary> 
+        /// 사용 중인 모든 리소스를 정리합니다.
+        /// </summary>
+        /// <param name="disposing">관리되는 리소스를 삭제해야 하면 true이고, 그렇지 않으면 false입니다.</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region 구성 요소 디자이너에서 생성한 코드
+
+        /// <summary> 
+        /// 디자이너 지원에 필요한 메서드입니다. 
+        /// 이 메서드의 내용을 코드 편집기로 수정하지 마세요.
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.cmbBaud = new System.Windows.Forms.ComboBox();
+            this.cmbPOrt = new System.Windows.Forms.ComboBox();
+            this.panel1 = new System.Windows.Forms.Panel();
+            this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
+            this.lbrx = new System.Windows.Forms.Label();
+            this.lbtx = new System.Windows.Forms.Label();
+            this.button1 = new System.Windows.Forms.Button();
+            this.panel1.SuspendLayout();
+            this.tableLayoutPanel1.SuspendLayout();
+            this.SuspendLayout();
+            // 
+            // cmbBaud
+            // 
+            this.cmbBaud.Dock = System.Windows.Forms.DockStyle.Top;
+            this.cmbBaud.Font = new System.Drawing.Font("굴림", 15F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.cmbBaud.FormattingEnabled = true;
+            this.cmbBaud.Items.AddRange(new object[] {
+            "9600",
+            "12800",
+            "25600",
+            "38400",
+            "512000"});
+            this.cmbBaud.Location = new System.Drawing.Point(0, 28);
+            this.cmbBaud.Name = "cmbBaud";
+            this.cmbBaud.Size = new System.Drawing.Size(134, 28);
+            this.cmbBaud.TabIndex = 0;
+            this.cmbBaud.Text = "9600";
+            // 
+            // cmbPOrt
+            // 
+            this.cmbPOrt.Dock = System.Windows.Forms.DockStyle.Top;
+            this.cmbPOrt.Font = new System.Drawing.Font("굴림", 15F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.cmbPOrt.FormattingEnabled = true;
+            this.cmbPOrt.Location = new System.Drawing.Point(0, 0);
+            this.cmbPOrt.Name = "cmbPOrt";
+            this.cmbPOrt.Size = new System.Drawing.Size(134, 28);
+            this.cmbPOrt.TabIndex = 1;
+            // 
+            // panel1
+            // 
+            this.panel1.Controls.Add(this.tableLayoutPanel1);
+            this.panel1.Controls.Add(this.cmbBaud);
+            this.panel1.Controls.Add(this.cmbPOrt);
+            this.panel1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.panel1.Location = new System.Drawing.Point(0, 0);
+            this.panel1.Name = "panel1";
+            this.panel1.Size = new System.Drawing.Size(134, 96);
+            this.panel1.TabIndex = 2;
+            // 
+            // tableLayoutPanel1
+            // 
+            this.tableLayoutPanel1.ColumnCount = 2;
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel1.Controls.Add(this.lbrx, 0, 0);
+            this.tableLayoutPanel1.Controls.Add(this.lbtx, 1, 0);
+            this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.tableLayoutPanel1.Location = new System.Drawing.Point(0, 56);
+            this.tableLayoutPanel1.Name = "tableLayoutPanel1";
+            this.tableLayoutPanel1.RowCount = 1;
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(134, 40);
+            this.tableLayoutPanel1.TabIndex = 4;
+            // 
+            // lbrx
+            // 
+            this.lbrx.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+            this.lbrx.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.lbrx.Font = new System.Drawing.Font("Microsoft Sans Serif", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.lbrx.Location = new System.Drawing.Point(0, 0);
+            this.lbrx.Margin = new System.Windows.Forms.Padding(0);
+            this.lbrx.Name = "lbrx";
+            this.lbrx.Size = new System.Drawing.Size(67, 40);
+            this.lbrx.TabIndex = 2;
+            this.lbrx.Text = "RX";
+            this.lbrx.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // lbtx
+            // 
+            this.lbtx.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+            this.lbtx.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.lbtx.Font = new System.Drawing.Font("Microsoft Sans Serif", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.lbtx.Location = new System.Drawing.Point(67, 0);
+            this.lbtx.Margin = new System.Windows.Forms.Padding(0);
+            this.lbtx.Name = "lbtx";
+            this.lbtx.Size = new System.Drawing.Size(67, 40);
+            this.lbtx.TabIndex = 3;
+            this.lbtx.Text = "TX";
+            this.lbtx.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // button1
+            // 
+            this.button1.Dock = System.Windows.Forms.DockStyle.Right;
+            this.button1.FlatAppearance.BorderColor = System.Drawing.Color.DodgerBlue;
+            this.button1.FlatAppearance.BorderSize = 3;
+            this.button1.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.button1.Font = new System.Drawing.Font("맑은 고딕", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.button1.Location = new System.Drawing.Point(134, 0);
+            this.button1.Margin = new System.Windows.Forms.Padding(0);
+            this.button1.Name = "button1";
+            this.button1.Size = new System.Drawing.Size(82, 96);
+            this.button1.TabIndex = 3;
+            this.button1.Text = "연결";
+            this.button1.UseVisualStyleBackColor = true;
+            this.button1.Click += new System.EventHandler(this.button1_Click);
+            // 
+            // SerialConn
+            // 
+            this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.Controls.Add(this.panel1);
+            this.Controls.Add(this.button1);
+            this.Name = "SerialConn";
+            this.Size = new System.Drawing.Size(216, 96);
+            this.panel1.ResumeLayout(false);
+            this.tableLayoutPanel1.ResumeLayout(false);
+            this.ResumeLayout(false);
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.ComboBox cmbBaud;
+        private System.Windows.Forms.ComboBox cmbPOrt;
+        private System.Windows.Forms.Panel panel1;
+        private System.Windows.Forms.Button button1;
+        private System.Windows.Forms.Label lbtx;
+        private System.Windows.Forms.Label lbrx;
+        private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1;
+    }
+}

AGVEmulator/UC/SerialConn.cs

@@ -0,0 +1,130 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Windows.Forms;
+
+namespace AGVEmulator
+{
+    public partial class SerialConn : UserControl
+    {
+        public AR.Dev.RS232 dev { get; set; }
+        public SerialConn()
+        {
+            InitializeComponent();
+        }
+
+        void AttachEvent()
+        {
+            dev.Message += Dev_Message;
+        }
+        void DetachEvent()
+        {
+            dev.Message -= Dev_Message;
+        }
+        private void Dev_Message(object sender, AR.Dev.RS232.MessageEventArgs e)
+        {
+            if (e.MsgType == AR.Dev.RS232.MessageType.Recv)
+                ToggleRX();
+            else if (e.MsgType == AR.Dev.RS232.MessageType.Send)
+                ToggleTX();
+        }
+
+        public void SetPortList(string[] list)
+        {
+            cmbPOrt.Items.Clear();
+            foreach (var item in list)
+                cmbPOrt.Items.Add(item);
+        }
+        public string PortName
+        {
+            get
+            {
+                return cmbPOrt.Text;
+            }
+            set { this.cmbPOrt.Text = value; }
+        }
+        public int BaudRate
+        {
+            get
+            {
+                return int.Parse(cmbBaud.Text);
+            }
+            set
+            {
+                cmbBaud.Text = value.ToString();
+            }
+        }
+        public void ToggleTX()
+        {
+            if (lbtx.BackColor == Color.DeepSkyBlue)
+                lbtx.BackColor = Color.White;
+            else lbtx.BackColor = Color.DeepSkyBlue;
+        }
+        public void ToggleRX()
+        {
+            if (lbrx.BackColor == Color.Lime)
+                lbrx.BackColor = Color.White;
+            else lbrx.BackColor = Color.Lime;
+        }
+        public void Disconnect()
+        {
+            if (this.dev.IsOpen)
+            {
+                DetachEvent();
+                dev.Close();
+            }
+            if (dev.IsOpen)
+                button1.BackColor = Color.Lime;
+            else button1.BackColor = Color.Tomato;
+        }
+        public void Connect()
+        {
+            if (this.dev.IsOpen)
+            {
+                DetachEvent();
+                dev.Close();
+            }
+            else
+            {
+                this.dev.PortName = cmbPOrt.Text;
+                this.dev.BaudRate = int.Parse(cmbBaud.Text);
+                AttachEvent();
+                try
+                {
+                    dev.Open();
+                }
+                catch (Exception ex)
+                {
+                    button1.BackColor = Color.Red;
+                }
+            }
+
+            if (dev.IsOpen)
+                button1.BackColor = Color.Lime;
+            else button1.BackColor = Color.Tomato; 
+        }
+
+        private void button1_Click(object sender, EventArgs e)
+        {
+            if (this.dev == null)
+            {
+                MessageBox.Show("시리얼 개체가 연결되지 않았습니다");
+                return;
+            }
+            if(int.TryParse(cmbBaud.Text,out int baud)==false)
+            {
+                MessageBox.Show("Baudrate 값이 올바르지 않습니다");
+                return;
+            }
+            Connect();
+
+
+
+
+        }
+    }
+}

AGVEmulator/UC/SerialConn.resx

@@ -0,0 +1,120 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+</root>

AGVEmulator/app.config

@@ -0,0 +1,3 @@
+<?xml version="1.0" encoding="utf-8"?>
+<configuration>
+<startup><supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.8"/></startup></configuration>

AGVEmulator/devBMS.cs

@@ -0,0 +1,243 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+namespace AGVEmulator
+{
+    class DevBMS : AR.Dev.RS232
+    {
+        public class RequestBatteryDataArgs : EventArgs
+        {
+
+            public float Volt { get; set; }
+            public float Remain { get; set; }
+            public int CurA { get; set; }
+            public int MaxA { get; set; }
+            public UInt16 Temp1 { get; set; }
+            public UInt16 Temp2 { get; set; }
+            public RequestBatteryDataArgs()
+            {
+                this.Volt = 25;
+                this.Remain = 79f;
+                this.CurA = 40;
+                this.MaxA = 80;
+                Temp1 = 0;
+                Temp2 = 0;
+            }
+        }
+        public class RequestVoltageDataArgs : EventArgs
+        {
+            public UInt16[] cellVolt { get; set; }
+            public RequestVoltageDataArgs()
+            {
+
+                cellVolt = new UInt16[] { 0, 0, 0, 0, 0, 0, 0, 0 };
+            }
+        }
+
+        public event EventHandler<RequestBatteryDataArgs> RequestBatteryData;
+        public event EventHandler<RequestVoltageDataArgs> RequestVoltageData;
+        public override bool ProcessRecvData(byte[] data)
+        {
+            //dd로 시작하고 34개의 데이터(명령이 0D로 끝나면 34이고, 77로 끝나면 34보다크다)
+            var sample000D = "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 sampleFC77 = "DD 03 00 1B 0A 6E 0D DD 04 00 10 0D 0A 0D 09 0D 0C 0D 09 0D 0A 0D 09 0D 09 0D 0C FF 38 77 DD 04 00 10 0D 0A 0D 09 0D 0C 0D 09 0D 0A 0D 09 0D 09 0D 0C FF 38 77";
+            var sampleFD77 = "DD 03 00 1B 0A 6E 00 00 1F 4A 29 04 00 4E 2C D7 00 00 00 00 00 00 28 4C 03 08 02 0B 9F 0B A9 FB A7 77 DD 03 00 1B 0A 6E 00 00 1F 4A 29 04 00 4E 2C D7 00 00 00 00 00 00 28 4C 03 08 02 0B 9F 0B AA FB A6 77";
+
+            //basic
+            var basicinfosmaple = "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";
+            var basic_payload = basicinfosmaple.Split(' ').ToList().Select(t => Convert.ToByte(t, 16)).ToArray();     //old
+
+
+
+            var barr0D = sample000D.Split(' ').ToList().Select(t => Convert.ToByte(t, 16)).ToArray();     //old
+            var barrFC77 = sampleFC77.Split(' ').ToList().Select(t => Convert.ToByte(t, 16)).ToArray();   //setting
+            var barrFD77 = sampleFD77.Split(' ').ToList().Select(t => Convert.ToByte(t, 16)).ToArray();   //normal
+
+            if (data.First() != 0xDD || data.Last() != 0x77)
+            {                
+                RaiseMessage(MessageType.Error, $"stx,etx error data={data.HexString()}");
+                return false;
+            }
+            var sts = data[1];
+            var cmd = data[2];
+
+            RaiseMessage(MessageType.Normal, "Rx:" + data.HexString());
+            byte sendOld = 0;
+
+            if (cmd == 0x03) //get basic info
+            {
+                if (RequestBatteryData != null)
+                {
+                    var p = new RequestBatteryDataArgs();
+                    RequestBatteryData.Invoke(this, p);
+
+                    //전압
+                    var Volt = (UInt16)(p.Volt * 100);
+                    var arr_volt = BitConverter.GetBytes(Volt).Reverse().ToArray();
+                    Array.Copy(arr_volt, 0, basic_payload, 0, arr_volt.Length);
+
+                    //잔량A
+                    var CurA = (UInt16)p.CurA;
+                    var arr_cura = BitConverter.GetBytes(CurA).Reverse().ToArray();
+                    Array.Copy(arr_cura, 0, basic_payload, 4, arr_cura.Length);
+
+
+                    //최대A
+                    var MaxA = (UInt16)p.MaxA;
+                    var arr_maxa = BitConverter.GetBytes(MaxA).Reverse().ToArray();
+                    Array.Copy(arr_maxa, 0, basic_payload, 6, arr_maxa.Length);
+
+                    //%
+                    var perc = (byte)(int)p.Remain;
+                    Array.Copy(new byte[] { perc }, 0, basic_payload, 19, 1);
+
+                    //temp1
+                    var temp1 = BitConverter.GetBytes((UInt16)(p.Temp1 + 2731)).Reverse().ToArray();
+                    Array.Copy(temp1, 0, basic_payload, 23,2);
+
+                    //temp2
+                    var temp2 = BitConverter.GetBytes((UInt16)(p.Temp2 + 2731)).Reverse().ToArray();
+                    Array.Copy(temp2, 0, basic_payload, 25, 2);
+
+                    var datalen = (byte)basic_payload.Length;
+                    var payload_cs = new List<byte>();
+                    payload_cs.Add(datalen);
+                    payload_cs.AddRange(basic_payload);
+                    var chks = MakeCheckSum(payload_cs);
+
+                    var buffer = new List<byte>();
+                    buffer.Add(0xdd);
+                    buffer.Add(cmd);
+                    buffer.Add(0x00);
+                    buffer.Add(datalen);
+                    buffer.AddRange(basic_payload);
+                    buffer.AddRange(chks);
+                    buffer.Add(0x77);
+
+
+                    ////makechecksum
+                    //UInt16 chksum = 0;
+                    //for (int i = 3; i <= 19; i++)
+                    //{
+                    //    chksum += barrFD77[i];
+                    //}
+                    //chksum = (UInt16)(0xFFFF - chksum + 1);
+                    //Array.Copy(BitConverter.GetBytes(chksum).Reverse().ToArray(), 0, barrFD77, 20, 2);
+
+
+                    RaiseMessage(MessageType.Normal, $"Volt:{p.Volt}v,Remain:{p.Remain}%,temp1:{p.Temp1/10f},Temp2:{p.Temp2/10f}");
+
+                    var sendstr = System.Text.Encoding.Default.GetString(barr0D);
+                    RaiseMessage(MessageType.Normal, "Tx:" + barr0D.HexString());
+                    WriteData(buffer.ToArray());
+                }
+            }
+            else if (cmd == 0x04) //get cellvoltage
+            {
+                if (RequestVoltageData != null)
+                {
+                    var p = new RequestVoltageDataArgs();
+                    RequestVoltageData.Invoke(this, p);
+
+                    //var sig = data.Skip(data.Length - 2).Take(1).First();
+
+                    //cellvolt 240201
+                    var payload = new byte[8 * 2];
+                    for (int i = 0; i < 8; i++)
+                    {
+                        var volt = p.cellVolt[i];
+                        var arr_cellvolt = BitConverter.GetBytes(volt).Reverse().ToArray();
+                        Array.Copy(arr_cellvolt, 0, payload, (i * 2), arr_cellvolt.Length);
+                    }
+
+                    //makechecksum
+                    var datalen = (byte)payload.Length;
+                    var payload_cs = new List<byte>();
+                    payload_cs.Add(datalen);
+                    payload_cs.AddRange(payload);
+                    var chksum = MakeCheckSum(payload_cs);
+
+                    var buffer = new List<byte>();
+                    buffer.Add(0xDD);
+                    buffer.Add(cmd);
+                    buffer.Add(0x00);
+                    buffer.Add(datalen);
+                    buffer.AddRange(payload);
+                    buffer.AddRange(chksum);
+                    buffer.Add(0x77);
+                    WriteData(buffer.ToArray());
+                    RaiseMessage(MessageType.Normal, "Tx:" + buffer.ToArray().HexString());
+
+
+                }
+
+            }
+
+
+
+
+            return true;
+        }
+        public byte[] MakeCheckSum(IEnumerable<byte> payload)
+        {
+            UInt16 retval = 0;
+            var payloadsum = payload.Sum(t => t);
+            retval = (UInt16)(payloadsum);
+            retval = (UInt16)(0xFFFF - retval);
+            retval += 1;
+
+            return BitConverter.GetBytes(retval).Reverse().ToArray();
+        }
+        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 (b == 0xDD) //stx
+                {
+                    tempBuffer.Clear();
+                    tempBuffer.Add(b);
+                }
+                else if (b == 0x0D || b == 0x77) //etx
+                {
+                    //과거데이터 34개이다 (DD A5 03 00 FF FD 77 0D)
+                    //대쉬보드상태일때(DD A5 03 00 FF FD 77)
+                    //설정상태일때-셀전압표시(DD A5 04 00 FF FC 77)
+
+                    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;
+        }
+    }
+}

AGVEmulator/fMain.cs

@@ -0,0 +1,943 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Globalization;
+using System.IO;
+using System.Linq;
+using System.Security.Cryptography.X509Certificates;
+using System.Text;
+using System.Windows.Forms;
+using System.Windows.Forms.VisualStyles;
+using static AGVEmulator.DevAGV;
+using AGVNavigationCore.Controls;
+using AGVNavigationCore.Models;
+
+namespace AGVEmulator
+{
+    public partial class fMain : Form
+    {
+        arUtil.Log logAGV, logBMS, logCAL;
+        DevBMS BMS;
+        DevAGV AGV;
+        DevXBE XBE;
+
+        // Map Control
+        private UnifiedAGVCanvas _agvCanvas;
+        private List<MapNode> _mapNodes;
+        private VirtualAGV _visualAgv;
+
+        // Emulator State
+        private MapNode _targetNode = null;
+        private bool _isTurning = false;
+        private double _targetAngle = 0;
+        private PointF _currentPosF; // For smooth movement
+
+        float BMS_MaxA = 80f;
+        float BMS_Remain = 79f;
+        float BMS_CurA = 70f;
+        float BMS_Volt = 25.4f;
+
+        UInt16[] cellvolt = new UInt16[] { 0, 0, 0, 0, 0, 0, 0, 0 };
+
+
+        public fMain()
+        {
+            InitializeComponent();
+            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";
+            logAGV.FileNameFormat = "{yyyyMMdd}_AGV";
+            logBMS.FileNameFormat = "{yyyyMMdd}_BMS";
+            logCAL.FileNameFormat = "{yyyyMMdd}_CAL";
+
+            // logPLC.RaiseMsg += (s1, e1, d1) => { this.rtPLC.AddMsg(s1, e1, d1); };
+            logAGV.RaiseMsg += (s1, e1, d1) =>
+            {
+                if (d1.StartsWith("Tx"))
+                    this.rtAGV.AddMsg(s1, e1, d1);
+                else
+                    this.rtAGVPro.AddMsg(s1, e1, d1);
+            };
+            logBMS.RaiseMsg += (s1, e1, d1) => { this.rtBMS.AddMsg(s1, e1, d1); };
+            logCAL.RaiseMsg += (s1, e1, d1) => { this.rtCAL.AddMsg(s1, e1, d1); };
+
+
+            var logcolor = new arCtl.sLogMessageColor[] {
+                 new arCtl.sLogMessageColor("NORM", Color.White),
+                 new arCtl.sLogMessageColor("INF", Color.SkyBlue),
+                 new arCtl.sLogMessageColor("WARN", Color.Tomato),
+                 new arCtl.sLogMessageColor("ERR", Color.Red),
+                 new arCtl.sLogMessageColor("RX", Color.Lime),
+                 new arCtl.sLogMessageColor("TX", Color.Orange),
+            };
+
+            //rtPLC.ColorList = logcolor;
+            rtAGV.ColorList = logcolor;
+            rtBMS.ColorList = logcolor;
+            rtCAL.ColorList = logcolor;
+            rtAGVPro.ColorList = logcolor;
+
+            this.FormClosed += Form1_FormClosed;
+
+            BMS = new DevBMS();
+            AGV = new DevAGV();
+            XBE = new DevXBE();
+            this.serAGV.dev = AGV;
+            this.serBMS.dev = BMS;
+            this.serCAL.dev = XBE;
+
+            BMS.Message += BMS_Message;
+            AGV.Message += AGV_Message;
+            XBE.Message += CAL_Message;
+
+            BMS.RequestBatteryData += Bms_RequestBatteryData;
+            BMS.RequestVoltageData += BMS_RequestVoltageData;
+            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;
+            trackBar1_Scroll(null, null);
+            trbT2_Scroll(null, null);
+            trbT1_Scroll(null, null);
+            timer1.Start();
+
+            //plc inout 이름 설정
+            List<string> titles = new List<string>();
+            List<bool> values = new List<bool>();
+
+
+
+
+            var arrs = Enum.GetNames(typeof(DevAGV.esystemflag0));
+            foreach (var item in arrs)
+            {
+                var data = (DevAGV.esystemflag0)Enum.Parse(typeof(DevAGV.esystemflag0), item);
+
+                var chk = new CheckBox();
+                chk.Text = $"[{(int)data:00}] {item}";
+                chk.AutoSize = true;
+                chk.Visible = true;
+                chk.Tag = (int)data;
+                chk.Dock = DockStyle.Top;
+                chk.CheckedChanged += Chk_CheckedChanged;
+                this.panel6.Controls.Add(chk);
+                chk.Checked = true; //기본값 rue
+            }
+            arrs = Enum.GetNames(typeof(DevAGV.esystemflag1));
+            foreach (var item in arrs)
+            {
+                var data = (DevAGV.esystemflag1)Enum.Parse(typeof(DevAGV.esystemflag1), item);
+
+                var chk = new CheckBox();
+                chk.Text = $"[{(int)data:00}] {item}";
+                chk.AutoSize = true;
+                chk.Visible = true;
+                chk.Tag = (int)data;
+                chk.Dock = DockStyle.Top;
+                chk.CheckedChanged += Chk_CheckedChanged;
+                this.panel7.Controls.Add(chk);
+            }
+            arrs = Enum.GetNames(typeof(DevAGV.esignal));
+            foreach (var item in arrs)
+            {
+                var data = (DevAGV.esignal)Enum.Parse(typeof(DevAGV.esignal), item);
+
+                var chk = new CheckBox();
+                chk.Text = $"[{(int)data:00}] {item}";
+                chk.AutoSize = true;
+                chk.Visible = true;
+                chk.Tag = (int)data;
+                chk.Dock = DockStyle.Top;
+                chk.CheckedChanged += Chk_CheckedChanged;
+                this.panel8.Controls.Add(chk);
+            }
+            arrs = Enum.GetNames(typeof(DevAGV.eerror));
+            foreach (var item in arrs)
+            {
+                var data = (DevAGV.eerror)Enum.Parse(typeof(DevAGV.eerror), item);
+
+                var chk = new CheckBox();
+                chk.Text = $"[{(int)data:00}] {item}";
+                chk.AutoSize = true;
+                chk.Visible = true;
+                chk.Tag = (int)data;
+                chk.Dock = DockStyle.Top;
+                chk.CheckedChanged += Chk_CheckedChanged;
+                this.panel9.Controls.Add(chk);
+            }
+
+            //기본 중지상태로 변환
+            AGV.SetAGV(DevAGV.esystemflag1.agv_stop, true);
+
+            foreach (RadioButton rad in groupBox5.Controls)
+            {
+                rad.CheckedChanged += (s1, e1) =>
+                {
+                    if (rad.Checked)
+                    {
+                        AGV.sts_dir = rad.Text[0];
+                    }
+                };
+            }
+            foreach (RadioButton rad in groupBox2.Controls)
+            {
+                rad.CheckedChanged += (s1, e1) =>
+                {
+                    if (rad.Checked)
+                    {
+                        AGV.sts_bunki = rad.Text[0];
+                    }
+                };
+            }
+            foreach (RadioButton rad in groupBox4.Controls)
+            {
+                rad.CheckedChanged += (s1, e1) =>
+                {
+                    if (rad.Checked)
+                    {
+                        AGV.sts_speed = rad.Text[0];
+                    }
+                };
+            }
+            foreach (RadioButton rad in groupBox8.Controls)
+            {
+                rad.CheckedChanged += (s1, e1) =>
+                {
+                    if (rad.Checked)
+                    {
+                        AGV.sts_sensor = rad.Text[0];
+                    }
+                };
+            }
+
+            MakeViewer();
+            InitializeMapControl();
+
+
+            agvViewer1.TagTouched += AgvViewer1_TagTouched;
+            agvViewer1.MarkTouched += AgvViewer1_MarkTouched;
+            agvViewer1.Command += AgvViewer1_Command;
+        }
+
+        void MakeViewer()
+        {
+            //태그목록
+            List<UC.AgvViewer.ptdata> listTAG = new List<UC.AgvViewer.ptdata>();
+            //var strtag = new string[] {
+            //    "9000", "9001", //not
+            //    "9010", "9011",
+            //    //"9020", "9021",
+            //    "9030", "9031",
+            //   // "9040", "9041",
+            //    "9050", "9051",
+            //   // "9060", "9061",
+            //    "9070", "9071",
+            //    "9080", "9081",
+            //    "9090", "9091"};
+
+            //foreach(var tag in strtag)
+            //{
+            //    listTAG.Add(new UC.AgvViewer.ptdata { 
+            //         active=false,
+            //          data = tag,
+            //           pos = 
+            //    });
+            //}
+            //agvViewer1.listTAG = listTAG.ToArray();
+
+            //마크지점
+            List<UC.AgvViewer.ptdata> listMRK = new List<UC.AgvViewer.ptdata>();
+            var strmark = new string[] { "NOT", "QC", "CHG", "{0}", "#1", "{1}", "#2", "{2}", "#3", "{3}", "#4", "POT" };
+            var pos = 50;
+            var tagstart = 9000;
+            foreach (var item in strmark)
+            {
+                listMRK.Add(new UC.AgvViewer.ptdata
+                {
+                    pos = pos,
+                    data = item,
+                });
+
+
+                if (item.Equals("CHG"))
+                {
+                    pos += 100;
+                    continue;
+                }
+                else if (item.Equals("{0}")) tagstart = 9350;
+                else if (item.Equals("{1}")) tagstart = 9450;
+                else if (item.Equals("{2}")) tagstart = 9550;
+                else if (item.Equals("{3}")) tagstart = 9650;
+                else if (item.Equals("#1")) tagstart = 9400;
+                else if (item.Equals("#2")) tagstart = 9500;
+                else if (item.Equals("#3")) tagstart = 9600;
+                else if (item.Equals("#4")) tagstart = 9700;
+
+
+                //지정위치 좌우에 태그를 심는다
+                listTAG.Add(new UC.AgvViewer.ptdata
+                {
+                    pos = pos - 20,
+                    data = tagstart.ToString(),
+                });
+
+                if (item.Equals("NOT") == false && item.Equals("POT") == false && item.StartsWith("{") == false)
+                    tagstart += 1;
+
+
+                listTAG.Add(new UC.AgvViewer.ptdata
+                {
+                    pos = pos + 20,
+                    data = tagstart.ToString(),
+                });
+
+
+                pos += 100;
+
+                if (item.Equals("NOT") == false && item.Equals("POT") == false && item.StartsWith("{") == false)
+                    tagstart += 99;
+                else
+                    tagstart += 100;
+
+
+                if (item.Equals("NOT"))
+                    tagstart = 9300;
+
+                //else
+                //{
+                //    pos += 100;
+                //    tagstart += 10;
+                //}
+
+            }
+            agvViewer1.listMRK = listMRK.ToArray();
+            agvViewer1.listTAG = listTAG.ToArray();
+            agvViewer1.Invalidate();
+
+        }
+        private void AgvViewer1_Command(object sender, UC.AgvViewer.TagArgs e)
+        {
+            if (e.Data == "stop")
+            {
+                AGV.SetAGV(esystemflag1.agv_run, false);
+                AGV.SetAGV(esystemflag1.agv_stop, true);
+                logAGV.Add("시뮬로부터 자동 중지");
+            }
+        }
+
+        private void AgvViewer1_MarkTouched(object sender, UC.AgvViewer.TagArgs e)
+        {
+            // throw new NotImplementedException();
+            AGV.SetAGV(esignal.mark_sensor_1, e.Active);
+            logAGV.Add($"mark {e.Data} touch:{e.Active}");
+        }
+
+        private void AgvViewer1_TagTouched(object sender, UC.AgvViewer.TagArgs e)
+        {
+            logAGV.Add($"tag touch:{e.Data}");
+            numericUpDown1.Text = e.Data;// decimal.Parse(e.Data);
+            button18.PerformClick();
+
+            UpdateVisualAgvPosition(e.Data);
+        }
+
+        void InitializeMapControl()
+        {
+            _agvCanvas = new UnifiedAGVCanvas();
+            _agvCanvas.Dock = DockStyle.Fill;
+            _agvCanvas.Mode = UnifiedAGVCanvas.CanvasMode.Emulator; // Enable Emulator Mode
+            _agvCanvas.NodeRightClicked += _agvCanvas_NodeRightClicked;
+            this.tabPage4.Controls.Add(_agvCanvas);
+
+            // Load Map
+            // Try to find map file in standard location
+            string mapDir = Path.GetFullPath(Path.Combine(Application.StartupPath, @"..\..\..\..\Cs_HMI\Data"));
+            string mapPath = Path.Combine(mapDir, "NewMap.agvmap");
+
+            if (!File.Exists(mapPath))
+            {
+                if (Directory.Exists(mapDir))
+                {
+                    var files = Directory.GetFiles(mapDir, "*.agvmap");
+                    if (files.Length > 0) mapPath = files[0];
+                }
+            }
+
+            if (File.Exists(mapPath))
+            {
+                try
+                {
+                    var mapresult = MapLoader.LoadMapFromFile(mapPath);
+                    _mapNodes = mapresult.Nodes;
+                    _agvCanvas.Nodes = _mapNodes;
+                    _agvCanvas.FitToNodes();
+
+                    // Initialize Visual AGV
+                    if (_mapNodes.Count > 0)
+                    {
+                        _visualAgv = new VirtualAGV("AGV01", _mapNodes[0].Position);
+                        _agvCanvas.AGVList = new List<IAGV> { _visualAgv };
+                    }
+                }
+                catch (Exception ex)
+                {
+                    logAGV.Add($"Map Load Error: {ex.Message}");
+                }
+            }
+        }
+
+        void UpdateVisualAgvPosition(string tag)
+        {
+            if (_visualAgv == null || _mapNodes == null) return;
+
+            // Find node by tag
+            // Assuming NodeId might be the tag or contain it
+            var node = _mapNodes.FirstOrDefault(n => n.NodeId == tag || n.NodeId.EndsWith(tag));
+
+            // If not found, try to parse tag as int and match
+            if (node == null && int.TryParse(tag, out int tagNum))
+            {
+                node = _mapNodes.FirstOrDefault(n => n.NodeId == tagNum.ToString());
+            }
+
+            if (node != null)
+            {
+                _visualAgv.SetPosition(node, (AGV.sts_dir == 'F' ? AgvDirection.Forward : AgvDirection.Backward));
+                UpdateVisualAGV();
+            }
+        }
+
+
+
+
+        char GetGroupItemCheckbox(GroupBox grp)
+        {
+            foreach (var ctl in grp.Controls)
+            {
+                if (ctl is RadioButton)
+                {
+                    var rad = ctl as RadioButton;
+                    if (rad.Checked) return rad.Text[0];
+                }
+            }
+            return '0';
+        }
+
+
+
+
+        int PLC_LeftPosition = 0;
+        int PLC_RightPosition = 0;
+        int PLC_LeftDir = 0;
+        int PLC_RightDir = 0;
+
+
+        public void SetBit(ref UInt16 _value, int idx, Boolean value)
+        {
+            if (value)
+            {
+                var offset = (UInt16)(1 << idx);
+                _value = (UInt16)(_value | offset);
+            }
+            else
+            {
+                var offset = (UInt16)(~(1 << idx));
+                _value = (UInt16)(_value & offset);
+            }
+        }
+        public void SetBit(ref byte _value, int idx, Boolean value)
+        {
+            if (value)
+            {
+                var offset = (byte)(1 << idx);
+                _value = (byte)(_value | offset);
+            }
+            else
+            {
+                var offset = (byte)(~(1 << idx));
+                _value = (byte)(_value & offset);
+            }
+        }
+
+        void aaplycheckboxbit(ref UInt16 v, Panel p)
+        {
+            foreach (CheckBox chk in p.Controls)
+            {
+                var idx = int.Parse(chk.Tag.ToString());
+                SetBit(ref v, idx, chk.Checked);
+            }
+        }
+        void aaplycheckboxbit(ref byte v, Panel p)
+        {
+            foreach (CheckBox chk in p.Controls)
+            {
+                var idx = int.Parse(chk.Tag.ToString());
+                SetBit(ref v, idx, chk.Checked);
+            }
+        }
+
+
+
+
+
+        private void button5_Click(object sender, EventArgs e)
+        {
+            AGV.WriteData("ACK");
+        }
+
+        private void button4_Click(object sender, EventArgs e)
+        {
+            AGV.WriteData("NAK");
+        }
+
+
+
+        private void trackBar1_Scroll(object sender, EventArgs e)
+        {
+            BMS_MaxA = float.Parse(label4.Text);
+            BMS_CurA = (float)(trackBar1.Value / 100f);
+            BMS_Remain = 100f * (BMS_CurA / BMS_MaxA);// (trackBar1.Value / 10f);
+            var minvolt = 20.2f;
+            var maxvolt = 26.8f;
+            //   BMS_CurA = (BMS_MaxA * (BMS_Remain / 100f));
+            label3.Text = BMS_CurA.ToString("N0"); //curr amp
+            label5.Text = $"{BMS_Remain:N2}%";
+            BMS_Volt = minvolt + ((maxvolt - minvolt) * (BMS_CurA / BMS_MaxA));
+            label6.Text = $"{BMS_Volt:N2}v";
+        }
+
+        private void timer1_Tick(object sender, EventArgs e)
+        {
+            timer1.Stop();
+            sbAGV.ForeColor = AGV.IsOpen ? Color.ForestGreen : Color.Red;
+            // sbPLC.ForeColor = PLC.IsOpen ? Color.ForestGreen : Color.Red;
+            sbBMS.ForeColor = BMS.IsOpen ? Color.ForestGreen : Color.Red;
+            sbCAL.ForeColor = XBE.IsOpen ? Color.ForestGreen : Color.Red;
+
+            //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 (XBE != null && XBE.IsOpen) XBE.AutoSendData();  //자동전송해야함
+
+            if (chkSimulation.Checked && AGV.GetAGV(esystemflag1.agv_run))
+            {
+                if (radioButton15.Checked)
+                {
+                    agvViewer1.dir = 1;
+                }
+                else
+                {
+                    agvViewer1.dir = -1;
+                }
+                if (radioButton12.Checked) agvViewer1.mspd = 7;
+                else if (radioButton11.Checked) agvViewer1.mspd = 20;
+                else agvViewer1.mspd = 40;
+                agvViewer1.Invalidate();
+
+                UpdateEmulatorLogic();
+            }
+
+
+            timer1.Start();
+        }
+
+
+
+
+
+private void UpdateVisualAGV()
+        {
+            if (_visualAgv != null)
+            {
+                _agvCanvas.UpdateAGVPosition(_visualAgv.AgvId, _visualAgv.CurrentPosition);
+                // Update direction if needed, though UnifiedAGVCanvas uses Enum
+                // _agvCanvas.UpdateAGVDirection(_visualAgv.AgvId, _visualAgv.CurrentDirection);
+                _agvCanvas.Invalidate();
+            }
+        }
+
+        private void UpdateEmulatorLogic()
+        {
+            if (_visualAgv == null || _mapNodes == null) return;
+
+            // Initialize float position if needed
+            if (_currentPosF.IsEmpty) _currentPosF = _visualAgv.CurrentPosition;
+
+            // Movement Logic
+            double speed = (agvViewer1.mspd > 0 ? agvViewer1.mspd : 10) * 0.2; // Scale speed
+
+            if (_isTurning)
+            {
+                // Turn Logic: 90 deg in 5 sec = 18 deg/sec
+                // Timer is likely 100ms? (Default WinForms timer) -> 1.8 deg/tick
+                double turnSpeed = 1.8;
+
+                double diff = _targetAngle - _visualAgv.Angle;
+                // Normalize diff to -180 to 180
+                while (diff > 180) diff -= 360;
+                while (diff <= -180) diff += 360;
+
+                if (Math.Abs(diff) < turnSpeed)
+                {
+                    _visualAgv.Angle = _targetAngle;
+                    _isTurning = false;
+                }
+                else
+                {
+                    _visualAgv.Angle += Math.Sign(diff) * turnSpeed;
+                }
+            }
+            else
+            {
+                // Move Forward
+                double rad = _visualAgv.Angle * Math.PI / 180.0;
+                _currentPosF.X += (float)(speed * Math.Cos(rad));
+                _currentPosF.Y += (float)(speed * Math.Sin(rad));
+
+                _visualAgv.CurrentPosition = Point.Round(_currentPosF);
+
+                // Check for Nodes (RFID Trigger)
+                foreach (var node in _mapNodes)
+                {
+                    double dist = Math.Sqrt(Math.Pow(node.Position.X - _visualAgv.CurrentPosition.X, 2) + Math.Pow(node.Position.Y - _visualAgv.CurrentPosition.Y, 2));
+                    if (dist < 15) // Hit Node
+                    {
+                        // Send Tag
+                        if (node.NodeId != numericUpDown1.Text)
+                        {
+                             if (int.TryParse(node.NodeId, out int tag))
+                             {
+                                 AGV.SendTag(node.NodeId);
+                                 numericUpDown1.Text = node.NodeId;
+
+                                 // Snap to node
+                                 _currentPosF = node.Position;
+                                 _visualAgv.CurrentPosition = node.Position;
+
+                                 // Decide Next Move (Turn/Straight)
+                                 DecideNextMove(node);
+                             }
+                        }
+                    }
+                }
+            }
+
+            UpdateVisualAGV();
+        }
+
+        private void DecideNextMove(MapNode currentNode)
+        {
+            // Simple logic: 
+            // If AGV.sts_bunki == 'L', turn -90
+            // If AGV.sts_bunki == 'R', turn +90
+            // Else keep straight
+
+            if (AGV.sts_bunki == 'L')
+            {
+                _targetAngle = _visualAgv.Angle - 90;
+                _isTurning = true;
+            }
+            else if (AGV.sts_bunki == 'R')
+            {
+                _targetAngle = _visualAgv.Angle + 90;
+                _isTurning = true;
+            }
+
+            // Normalize Target Angle
+            while (_targetAngle >= 360) _targetAngle -= 360;
+            while (_targetAngle < 0) _targetAngle += 360;
+        }
+
+        private void _agvCanvas_NodeRightClicked(object sender, MapNode e)
+        {
+            if (e != null && _visualAgv != null)
+            {
+                _visualAgv.CurrentPosition = e.Position;
+                _currentPosF = e.Position;
+
+                if (int.TryParse(e.NodeId, out int tag))
+                {
+                    numericUpDown1.Text = tag.ToString();
+                }
+                UpdateVisualAGV();
+
+
+        private void button14_Click(object sender, EventArgs e)
+        {
+            //agv 정지
+            //비상정지 에러 플래그 
+            AGV.SetAGV(DevAGV.eerror.Emergency, true);
+            AGV.SetAGV(DevAGV.esystemflag1.agv_run, false);
+            AGV.SetAGV(DevAGV.esystemflag1.agv_stop, true);
+        }
+
+
+
+        private void button16_Click(object sender, EventArgs e)
+        {
+            AGV.SetAGV(DevAGV.esystemflag1.stop_by_front_detect, true);
+        }
+
+        private void button15_Click(object sender, EventArgs e)
+        {
+            AGV.SetAGV(DevAGV.esystemflag1.stop_by_front_detect, false);
+        }
+
+        private void button17_Click(object sender, EventArgs e)
+        {
+            //agv 정지
+            //비상정지 에러 플래그 
+            AGV.SetAGV(DevAGV.eerror.Emergency, false);
+            AGV.SetAGV(DevAGV.eerror.line_out_error, false);
+            AGV.SetAGV(DevAGV.eerror.Overcurrent, false);
+            AGV.SetAGV(DevAGV.esystemflag1.agv_run, false);
+            AGV.SetAGV(DevAGV.esystemflag1.agv_stop, true);
+        }
+
+
+
+        private void Chk_CheckedChanged(object sender, EventArgs e)
+        {
+            var chk = sender as CheckBox;
+            var idx = int.Parse(chk.Tag.ToString());
+
+            switch (chk.Parent.Tag.ToString().ToLower())
+            {
+                case "s0":
+                    var v0 = (DevAGV.esystemflag0)idx;
+                    AGV.SetAGV(v0, chk.Checked);
+                    break;
+                case "s1":
+                    var v1 = (DevAGV.esystemflag1)idx;
+                    AGV.SetAGV(v1, chk.Checked);
+                    break;
+                case "er":
+                    var v2 = (DevAGV.eerror)idx;
+                    AGV.SetAGV(v2, chk.Checked);
+                    break;
+                case "sg":
+                    var v3 = (DevAGV.esignal)idx;
+                    AGV.SetAGV(v3, chk.Checked);
+                    break;
+            }
+
+            chk.BackColor = chk.Checked ? Color.Lime : SystemColors.Window;
+        }
+
+        private void button18_Click(object sender, EventArgs e)
+        {
+            if (int.TryParse(numericUpDown1.Text, out int tagno))
+            {
+                AGV.SendTag(tagno.ToString());
+                numericUpDown1.SelectAll();
+                numericUpDown1.Focus();
+            }
+        }
+
+        private void agvViewer1_MouseDown(object sender, MouseEventArgs e)
+        {
+            if (e.Button == MouseButtons.Left)
+            {
+                agvViewer1.StopbyMark = !agvViewer1.StopbyMark;
+            }
+            else if (e.Button == MouseButtons.Right)
+            {
+                MakeViewer();
+            }
+        }
+
+        private void button6_Click(object sender, EventArgs e)
+        {
+            var target = (byte)nudIDAgv.Value;
+            var tagno = (uint)nudTagNo.Value;
+            this.XBE.SendGotoTag(target, tagno);
+        }
+
+        private void button1_Click(object sender, EventArgs e)
+        {
+            var target = (byte)nudIDAgv.Value;
+            var tagno = (uint)numericUpDown2.Value;
+            this.XBE.SendCurrentPos(target, tagno);
+        }
+
+        UInt16 Temp1, Temp2;
+        private void trbT1_Scroll(object sender, EventArgs e)
+        {
+            //값에 /10해서 표시한다.
+            Temp1 = (UInt16)trbT1.Value;
+            label10.Text = $"{Temp1 / 10f}º";
+
+        }
+
+        private void numericUpDown1_KeyDown(object sender, KeyEventArgs e)
+        {
+            if (e.KeyCode == Keys.Enter)
+                button18.PerformClick();
+        }
+
+        private void toolStripButton3_Click(object sender, EventArgs e)
+        {
+            var file = @"C:\Data\Amkor\AGV4\route\NewMap.agvmap";
+            LoadMapFile(file);
+        }
+        private string _currentMapFilePath;
+        private void LoadMapFile(string filePath)
+        {
+            try
+            {
+                var result = MapLoader.LoadMapFromFile(filePath);
+
+                if (result.Success)
+                {
+                    Console.WriteLine($"Map File Load : {filePath}");
+
+                    _mapNodes = result.Nodes;
+                    _currentMapFilePath = filePath;
+
+                    // RFID 자동 할당 제거 - 에디터에서 설정한 값 그대로 사용
+
+                    // 시뮬레이터 캔버스에 맵 설정
+                    this._agvCanvas.Nodes = _mapNodes;
+
+                    // 맵 설정 적용 (배경색, 그리드 표시)
+                    if (result.Settings != null)
+                    {
+                        _agvCanvas.BackColor = System.Drawing.Color.FromArgb(result.Settings.BackgroundColorArgb);
+                        _agvCanvas.ShowGrid = result.Settings.ShowGrid;
+                    }
+
+                    // 맵에 맞춤
+                    _agvCanvas.FitToNodes();
+                }
+                else
+                {
+                    throw new InvalidOperationException($"맵 파일 로드 실패: {result.ErrorMessage}");
+                }
+            }
+            catch (Exception ex)
+            {
+                throw new InvalidOperationException($"맵 파일 로드 실패: {ex.Message}", ex);
+            }
+        }
+
+        private void toolStripButton4_Click(object sender, EventArgs e)
+        {
+            // Change rotation (180 degrees)
+            if (_visualAgv != null)
+            {
+                _visualAgv.Angle = (_visualAgv.Angle + 180) % 360;
+                UpdateVisualAGV();
+            }
+        }
+
+        private void toolStripButton5_Click(object sender, EventArgs e)
+        {
+            // Set AGV Position by RFID
+            string input = "";
+            using (Form form = new Form())
+            {
+                form.Text = "Set AGV Position";
+                form.Size = new Size(300, 150);
+                Label lbl = new Label() { Left = 20, Top = 20, Text = "Enter RFID (Node ID):", AutoSize = true };
+                TextBox txt = new TextBox() { Left = 20, Top = 45, Width = 240 };
+                Button btn = new Button() { Text = "OK", Left = 180, Width = 80, Top = 75, DialogResult = DialogResult.OK };
+                form.Controls.Add(lbl);
+                form.Controls.Add(txt);
+                form.Controls.Add(btn);
+                form.AcceptButton = btn;
+                form.StartPosition = FormStartPosition.CenterParent;
+
+                if (form.ShowDialog() == DialogResult.OK)
+                {
+                    input = txt.Text;
+                }
+            }
+
+            if (!string.IsNullOrEmpty(input) && _mapNodes != null && _visualAgv != null)
+            {
+                var node = _mapNodes.FirstOrDefault(n => n.NodeId == input);
+                if (node != null)
+                {
+                    _visualAgv.CurrentPosition = node.Position;
+                    _currentPosF = node.Position;
+                    numericUpDown1.Text = node.NodeId;
+
+                    // Auto-orient: Prefer Right (0) or Up (270)
+                    var neighbors = _mapNodes.Where(n => n != node &&
+                        Math.Sqrt(Math.Pow(n.Position.X - node.Position.X, 2) + Math.Pow(n.Position.Y - node.Position.Y, 2)) < 150)
+                        .ToList();
+
+                    if (neighbors.Any())
+                    {
+                        var rightNeighbor = neighbors.FirstOrDefault(n => n.Position.X > node.Position.X && Math.Abs(n.Position.Y - node.Position.Y) < 50);
+                        if (rightNeighbor != null)
+                        {
+                            _visualAgv.Angle = 0;
+                        }
+                        else
+                        {
+                            var upNeighbor = neighbors.FirstOrDefault(n => n.Position.Y < node.Position.Y && Math.Abs(n.Position.X - node.Position.X) < 50);
+                            if (upNeighbor != null)
+                            {
+                                _visualAgv.Angle = 270;
+                            }
+                            else
+                            {
+                                var first = neighbors.First();
+                                double angle = Math.Atan2(first.Position.Y - node.Position.Y, first.Position.X - node.Position.X) * 180 / Math.PI;
+                                if (angle < 0) angle += 360;
+                                _visualAgv.Angle = angle;
+                            }
+                        }
+                    }
+
+                    UpdateVisualAGV();
+                }
+                else
+                {
+                    MessageBox.Show($"Node '{input}' not found.", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
+                }
+            }
+        }
+        private void trbT2_Scroll(object sender, EventArgs e)
+        {
+            Temp2 = (UInt16)trbT2.Value;
+            label11.Text = $"{Temp2 / 10f}º";
+        }
+
+        private void toolStripButton1_Click(object sender, EventArgs e)
+        {
+            serAGV.Connect();
+            serBMS.Connect();
+            serCAL.Connect();
+        }
+
+        private void toolStripButton2_Click(object sender, EventArgs e)
+        {
+            serAGV.Disconnect();
+            serBMS.Disconnect();
+            serCAL.Disconnect();
+        }
+
+
+    }
+}
+
+

AGVEmulator/fMain.resx

@@ -0,0 +1,205 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 17</value>
+  </metadata>
+  <metadata name="toolStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>104, 17</value>
+  </metadata>
+  <assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
+  <data name="toolStripButton1.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+    <value>
+        iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAIFSURBVDhPpZLtS1NhGMbPPxJmmlYSgqHiKzGU1EDxg4iK
+        YKyG2WBogqMYJQOtCEVRFBGdTBCJfRnkS4VaaWNT5sqx1BUxRXxDHYxAJLvkusEeBaPAB+5z4Jzn+t3X
+        /aLhnEfjo8m+dCoa+7/C3O2Hqe0zDC+8KG+cRZHZhdzaaWTVTCLDMIY0vfM04Nfh77/G/sEhwpEDbO3t
+        I7TxE8urEVy99fT/AL5gWDLrTB/hnF4XsW0khCu5ln8DmJliT2AXrcNBsU1gj/MH4nMeKwBrPktM28xM
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+        6Q3g8s06BeCoKF4MRURoH1+BY2oNCbeb0TIclIYxOhzf8frTOuo7FxCbbVIAzpni0iceEc8vhzEwGkJD
+        lx83ymxifejdKjRNk/8PWnyIyTQqAJek0jqHwfEVscu31baIu8+90sTE4nY025dQ2/5FIPpnXlzKuK8A
+        HBUzHot52djqQ6HZhfR7IwK4mKpHtvEDMqvfCiQ6zaAAXM8x94aIWTNrLLG4kVUzgaTSPlzLtyJOZxbb
+        1wtfyg4Q+AfA3aZlButjSfxGcUJBk4g5tuP3haQKRKXcUQDOmbvNTpPOJeFFjordZmbWTNvMTHFUcpUC
+        nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
+</value>
+  </data>
+  <data name="toolStripButton2.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+    <value>
+        iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAIFSURBVDhPpZLtS1NhGMbPPxJmmlYSgqHiKzGU1EDxg4iK
+        YKyG2WBogqMYJQOtCEVRFBGdTBCJfRnkS4VaaWNT5sqx1BUxRXxDHYxAJLvkusEeBaPAB+5z4Jzn+t3X
+        /aLhnEfjo8m+dCoa+7/C3O2Hqe0zDC+8KG+cRZHZhdzaaWTVTCLDMIY0vfM04Nfh77/G/sEhwpEDbO3t
+        I7TxE8urEVy99fT/AL5gWDLrTB/hnF4XsW0khCu5ln8DmJliT2AXrcNBsU1gj/MH4nMeKwBrPktM28xM
+        cX79DFKrHHD5d9D26hvicx4pABt2lpg10zYzU0zr7+e3xXGcrkEB2O2TNec9nJFwB3alZn5jZorfeDZh
+        6Q3g8s06BeCoKF4MRURoH1+BY2oNCbeb0TIclIYxOhzf8frTOuo7FxCbbVIAzpni0iceEc8vhzEwGkJD
+        lx83ymxifejdKjRNk/8PWnyIyTQqAJek0jqHwfEVscu31baIu8+90sTE4nY025dQ2/5FIPpnXlzKuK8A
+        HBUzHot52djqQ6HZhfR7IwK4mKpHtvEDMqvfCiQ6zaAAXM8x94aIWTNrLLG4kVUzgaTSPlzLtyJOZxbb
+        1wtfyg4Q+AfA3aZlButjSfxGcUJBk4g5tuP3haQKRKXcUQDOmbvNTpPOJeFFjordZmbWTNvMTHFUcpUC
+        nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
+</value>
+  </data>
+  <data name="toolStripButton3.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+    <value>
+        iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAIFSURBVDhPpZLtS1NhGMbPPxJmmlYSgqHiKzGU1EDxg4iK
+        YKyG2WBogqMYJQOtCEVRFBGdTBCJfRnkS4VaaWNT5sqx1BUxRXxDHYxAJLvkusEeBaPAB+5z4Jzn+t3X
+        /aLhnEfjo8m+dCoa+7/C3O2Hqe0zDC+8KG+cRZHZhdzaaWTVTCLDMIY0vfM04Nfh77/G/sEhwpEDbO3t
+        I7TxE8urEVy99fT/AL5gWDLrTB/hnF4XsW0khCu5ln8DmJliT2AXrcNBsU1gj/MH4nMeKwBrPktM28xM
+        cX79DFKrHHD5d9D26hvicx4pABt2lpg10zYzU0zr7+e3xXGcrkEB2O2TNec9nJFwB3alZn5jZorfeDZh
+        6Q3g8s06BeCoKF4MRURoH1+BY2oNCbeb0TIclIYxOhzf8frTOuo7FxCbbVIAzpni0iceEc8vhzEwGkJD
+        lx83ymxifejdKjRNk/8PWnyIyTQqAJek0jqHwfEVscu31baIu8+90sTE4nY025dQ2/5FIPpnXlzKuK8A
+        HBUzHot52djqQ6HZhfR7IwK4mKpHtvEDMqvfCiQ6zaAAXM8x94aIWTNrLLG4kVUzgaTSPlzLtyJOZxbb
+        1wtfyg4Q+AfA3aZlButjSfxGcUJBk4g5tuP3haQKRKXcUQDOmbvNTpPOJeFFjordZmbWTNvMTHFUcpUC
+        nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
+</value>
+  </data>
+  <data name="toolStripButton4.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+    <value>
+        iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAIFSURBVDhPpZLtS1NhGMbPPxJmmlYSgqHiKzGU1EDxg4iK
+        YKyG2WBogqMYJQOtCEVRFBGdTBCJfRnkS4VaaWNT5sqx1BUxRXxDHYxAJLvkusEeBaPAB+5z4Jzn+t3X
+        /aLhnEfjo8m+dCoa+7/C3O2Hqe0zDC+8KG+cRZHZhdzaaWTVTCLDMIY0vfM04Nfh77/G/sEhwpEDbO3t
+        I7TxE8urEVy99fT/AL5gWDLrTB/hnF4XsW0khCu5ln8DmJliT2AXrcNBsU1gj/MH4nMeKwBrPktM28xM
+        cX79DFKrHHD5d9D26hvicx4pABt2lpg10zYzU0zr7+e3xXGcrkEB2O2TNec9nJFwB3alZn5jZorfeDZh
+        6Q3g8s06BeCoKF4MRURoH1+BY2oNCbeb0TIclIYxOhzf8frTOuo7FxCbbVIAzpni0iceEc8vhzEwGkJD
+        lx83ymxifejdKjRNk/8PWnyIyTQqAJek0jqHwfEVscu31baIu8+90sTE4nY025dQ2/5FIPpnXlzKuK8A
+        HBUzHot52djqQ6HZhfR7IwK4mKpHtvEDMqvfCiQ6zaAAXM8x94aIWTNrLLG4kVUzgaTSPlzLtyJOZxbb
+        1wtfyg4Q+AfA3aZlButjSfxGcUJBk4g5tuP3haQKRKXcUQDOmbvNTpPOJeFFjordZmbWTNvMTHFUcpUC
+        nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
+</value>
+  </data>
+  <data name="toolStripButton5.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+    <value>
+        iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAIFSURBVDhPpZLtS1NhGMbPPxJmmlYSgqHiKzGU1EDxg4iK
+        YKyG2WBogqMYJQOtCEVRFBGdTBCJfRnkS4VaaWNT5sqx1BUxRXxDHYxAJLvkusEeBaPAB+5z4Jzn+t3X
+        /aLhnEfjo8m+dCoa+7/C3O2Hqe0zDC+8KG+cRZHZhdzaaWTVTCLDMIY0vfM04Nfh77/G/sEhwpEDbO3t
+        I7TxE8urEVy99fT/AL5gWDLrTB/hnF4XsW0khCu5ln8DmJliT2AXrcNBsU1gj/MH4nMeKwBrPktM28xM
+        cX79DFKrHHD5d9D26hvicx4pABt2lpg10zYzU0zr7+e3xXGcrkEB2O2TNec9nJFwB3alZn5jZorfeDZh
+        6Q3g8s06BeCoKF4MRURoH1+BY2oNCbeb0TIclIYxOhzf8frTOuo7FxCbbVIAzpni0iceEc8vhzEwGkJD
+        lx83ymxifejdKjRNk/8PWnyIyTQqAJek0jqHwfEVscu31baIu8+90sTE4nY025dQ2/5FIPpnXlzKuK8A
+        HBUzHot52djqQ6HZhfR7IwK4mKpHtvEDMqvfCiQ6zaAAXM8x94aIWTNrLLG4kVUzgaTSPlzLtyJOZxbb
+        1wtfyg4Q+AfA3aZlButjSfxGcUJBk4g5tuP3haQKRKXcUQDOmbvNTpPOJeFFjordZmbWTNvMTHFUcpUC
+        nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
+</value>
+  </data>
+  <metadata name="statusStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>210, 17</value>
+  </metadata>
+</root>

Cs_HMI/AGVCSharp.sln

@@ -36,6 +36,10 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVMapEditor", "AGVLogic\AG
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVSimulator", "AGVLogic\AGVSimulator\AGVSimulator.csproj", "{B2C3D4E5-0000-0000-0000-000000000000}"
 EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "arCommUtil", "SubProject\commutil\arCommUtil.csproj", "{14E8C9A5-013E-49BA-B435-FFFFFF7DD623}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Supertonic.Netfx48", "SubProject\SuperTonic\Supertonic.Netfx48.csproj", "{19675E19-EB91-493E-88C3-32B3C094B749}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -166,6 +170,30 @@ Global
 		{B2C3D4E5-0000-0000-0000-000000000000}.Release|x64.Build.0 = Release|Any CPU
 		{B2C3D4E5-0000-0000-0000-000000000000}.Release|x86.ActiveCfg = Release|Any CPU
 		{B2C3D4E5-0000-0000-0000-000000000000}.Release|x86.Build.0 = Release|Any CPU
+		{14E8C9A5-013E-49BA-B435-FFFFFF7DD623}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{14E8C9A5-013E-49BA-B435-FFFFFF7DD623}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{14E8C9A5-013E-49BA-B435-FFFFFF7DD623}.Debug|x64.ActiveCfg = Debug|Any CPU
+		{14E8C9A5-013E-49BA-B435-FFFFFF7DD623}.Debug|x64.Build.0 = Debug|Any CPU
+		{14E8C9A5-013E-49BA-B435-FFFFFF7DD623}.Debug|x86.ActiveCfg = Debug|x86
+		{14E8C9A5-013E-49BA-B435-FFFFFF7DD623}.Debug|x86.Build.0 = Debug|x86
+		{14E8C9A5-013E-49BA-B435-FFFFFF7DD623}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{14E8C9A5-013E-49BA-B435-FFFFFF7DD623}.Release|Any CPU.Build.0 = Release|Any CPU
+		{14E8C9A5-013E-49BA-B435-FFFFFF7DD623}.Release|x64.ActiveCfg = Release|Any CPU
+		{14E8C9A5-013E-49BA-B435-FFFFFF7DD623}.Release|x64.Build.0 = Release|Any CPU
+		{14E8C9A5-013E-49BA-B435-FFFFFF7DD623}.Release|x86.ActiveCfg = Release|x86
+		{14E8C9A5-013E-49BA-B435-FFFFFF7DD623}.Release|x86.Build.0 = Release|x86
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Debug|x64.ActiveCfg = Debug|x64
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Debug|x64.Build.0 = Debug|x64
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Debug|x86.ActiveCfg = Debug|Win32
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Debug|x86.Build.0 = Debug|Win32
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Release|Any CPU.Build.0 = Release|Any CPU
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Release|x64.ActiveCfg = Release|x64
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Release|x64.Build.0 = Release|x64
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Release|x86.ActiveCfg = Release|Win32
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Release|x86.Build.0 = Release|Win32
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -178,6 +206,8 @@ Global
 		{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C} = {E5C75D32-5AD6-44DD-8F27-E32023206EBB}
 		{A1B2C3D4-E5F6-7890-ABCD-EF1234567890} = {E5C75D32-5AD6-44DD-8F27-E32023206EBB}
 		{B2C3D4E5-0000-0000-0000-000000000000} = {E5C75D32-5AD6-44DD-8F27-E32023206EBB}
+		{14E8C9A5-013E-49BA-B435-FFFFFF7DD623} = {C423C39A-44E7-4F09-B2F7-7943975FF948}
+		{19675E19-EB91-493E-88C3-32B3C094B749} = {C423C39A-44E7-4F09-B2F7-7943975FF948}
 	EndGlobalSection
 	GlobalSection(ExtensibilityGlobals) = postSolution
 		SolutionGuid = {B5B1FD72-356F-4840-83E8-B070AC21C8D9}

Cs_HMI/AGVLogic/AGVMapEditor/AGVMapEditor.csproj

@@ -62,7 +62,6 @@
     <Compile Include="Models\ImagePathEditor.cs" />
     <Compile Include="Models\MapImage.cs" />
     <Compile Include="Models\MapLabel.cs" />
-    <Compile Include="Models\NodePropertyWrapper.cs" />
     <Compile Include="Forms\MainForm.cs">
       <SubType>Form</SubType>
     </Compile>

Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.Designer.cs

@@ -64,6 +64,9 @@ namespace AGVMapEditor.Forms
             this.toolStripSeparator3 = new System.Windows.Forms.ToolStripSeparator();
             this.btnSave = new System.Windows.Forms.ToolStripButton();
             this.btnSaveAs = new System.Windows.Forms.ToolStripButton();
+            this.toolStripSeparator2 = new System.Windows.Forms.ToolStripSeparator();
+            this.toolStripButton1 = new System.Windows.Forms.ToolStripDropDownButton();
+            this.allTurnLeftRightCrossOnToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.statusStrip1.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.splitContainer1)).BeginInit();
             this.splitContainer1.Panel1.SuspendLayout();
@@ -351,7 +354,9 @@ namespace AGVMapEditor.Forms
             this.btnClose,
             this.toolStripSeparator3,
             this.btnSave,
-            this.btnSaveAs});
+            this.btnSaveAs,
+            this.toolStripSeparator2,
+            this.toolStripButton1});
             this.toolStrip2.Location = new System.Drawing.Point(0, 0);
             this.toolStrip2.Name = "toolStrip2";
             this.toolStrip2.Size = new System.Drawing.Size(1200, 25);
@@ -417,6 +422,28 @@ namespace AGVMapEditor.Forms
             this.btnSaveAs.ToolTipText = "다른 이름으로 저장";
             this.btnSaveAs.Click += new System.EventHandler(this.btnSaveAs_Click);
             // 
+            // toolStripSeparator2
+            // 
+            this.toolStripSeparator2.Name = "toolStripSeparator2";
+            this.toolStripSeparator2.Size = new System.Drawing.Size(6, 25);
+            // 
+            // toolStripButton1
+            // 
+            this.toolStripButton1.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
+            this.allTurnLeftRightCrossOnToolStripMenuItem});
+            this.toolStripButton1.Image = ((System.Drawing.Image)(resources.GetObject("toolStripButton1.Image")));
+            this.toolStripButton1.ImageTransparentColor = System.Drawing.Color.Magenta;
+            this.toolStripButton1.Name = "toolStripButton1";
+            this.toolStripButton1.Size = new System.Drawing.Size(68, 22);
+            this.toolStripButton1.Text = "Debig";
+            // 
+            // allTurnLeftRightCrossOnToolStripMenuItem
+            // 
+            this.allTurnLeftRightCrossOnToolStripMenuItem.Name = "allTurnLeftRightCrossOnToolStripMenuItem";
+            this.allTurnLeftRightCrossOnToolStripMenuItem.Size = new System.Drawing.Size(223, 22);
+            this.allTurnLeftRightCrossOnToolStripMenuItem.Text = "All TurnLeft/Right/Cross On";
+            this.allTurnLeftRightCrossOnToolStripMenuItem.Click += new System.EventHandler(this.allTurnLeftRightCrossOnToolStripMenuItem_Click);
+            // 
             // MainForm
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
@@ -490,5 +517,8 @@ namespace AGVMapEditor.Forms
         private System.Windows.Forms.ToolStripButton btnAddImage;
         private System.Windows.Forms.ToolStripSeparator toolStripSeparator1;
         private System.Windows.Forms.Panel panel1;
+        private System.Windows.Forms.ToolStripSeparator toolStripSeparator2;
+        private System.Windows.Forms.ToolStripDropDownButton toolStripButton1;
+        private System.Windows.Forms.ToolStripMenuItem allTurnLeftRightCrossOnToolStripMenuItem;
     }
 }

Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.cs

@@ -221,8 +221,8 @@ namespace AGVMapEditor.Forms
                 toolStripStatusLabel1.Text = $"{nodes.Count}개 노드 선택됨 - PropertyGrid에서 공통 속성 일괄 변경 가능";
 
                 // 다중 선택 PropertyWrapper 표시
-                var multiWrapper = new MultiNodePropertyWrapper(nodes);
-                _propertyGrid.SelectedObject = multiWrapper;
+                //var multiWrapper = new MultiNodePropertyWrapper(nodes);
+                _propertyGrid.SelectedObjects = nodes.ToArray();// multiWrapper;
                 _propertyGrid.Focus();
             }
         }
@@ -833,11 +833,10 @@ namespace AGVMapEditor.Forms
                             foreColor = Color.Black;
                             backColor = Color.White;
                             break;
-                        case NodeType.Rotation:
-                            foreColor = Color.DarkOrange;
-                            backColor = Color.LightYellow;
-                            break;
-                        case NodeType.Docking:
+                        case NodeType.Loader:
+                        case NodeType.UnLoader:
+                        case NodeType.Clearner:
+                        case NodeType.Buffer:
                             foreColor = Color.DarkGreen;
                             backColor = Color.LightGreen;
                             break;
@@ -975,9 +974,7 @@ namespace AGVMapEditor.Forms
                 return;
             }
 
-            // 노드 래퍼 객체 생성 (타입에 따라 다른 래퍼 사용)
-            var nodeWrapper = NodePropertyWrapperFactory.CreateWrapper(_selectedNode, _mapNodes);
-            _propertyGrid.SelectedObject = nodeWrapper;
+            _propertyGrid.SelectedObject = _selectedNode;
             _propertyGrid.Focus();
 
             // 이미지 노드인 경우 편집 버튼 활성화
@@ -989,8 +986,7 @@ namespace AGVMapEditor.Forms
         /// </summary>
         private void ShowCanvasProperties()
         {
-            var canvasWrapper = new CanvasPropertyWrapper(_mapCanvas);
-            _propertyGrid.SelectedObject = canvasWrapper;
+            _propertyGrid.SelectedObject = _mapCanvas;
             DisableImageEditButton();
         }
 
@@ -1124,7 +1120,9 @@ namespace AGVMapEditor.Forms
             UpdateTitle();
 
             // 🔥 다중 선택 여부 확인 및 선택된 노드들 저장
-            bool isMultiSelect = _propertyGrid.SelectedObject is MultiNodePropertyWrapper;
+            bool isMultiSelect = _propertyGrid.SelectedObjects is MapNode[]; // _propertyGrid.SelectedObject is MapNode[];
+            
+            //var a = _propertyGrid.SelectedObject;
             List<MapNode> selectedNodes = null;
             if (isMultiSelect)
             {
@@ -1146,9 +1144,9 @@ namespace AGVMapEditor.Forms
             // 🔥 다중 선택인 경우 MultiNodePropertyWrapper를 다시 생성하여 바인딩
             if (isMultiSelect && selectedNodes != null && selectedNodes.Count > 0)
             {
-                System.Diagnostics.Debug.WriteLine($"[PropertyGrid] MultiNodePropertyWrapper 재생성: {selectedNodes.Count}개");
-                var multiWrapper = new MultiNodePropertyWrapper(selectedNodes);
-                _propertyGrid.SelectedObject = multiWrapper;
+               // System.Diagnostics.Debug.WriteLine($"[PropertyGrid] MultiNodePropertyWrapper 재생성: {selectedNodes.Count}개");
+                //var multiWrapper = new MultiNodePropertyWrapper(selectedNodes);
+                _propertyGrid.SelectedObjects = selectedNodes.ToArray();// multiWrapper;
             }
 
             // PropertyGrid 새로고침
@@ -1180,18 +1178,18 @@ namespace AGVMapEditor.Forms
             var selectedObject = _propertyGrid.SelectedObject;
 
             // 다양한 PropertyWrapper 타입 처리
-            if (selectedObject is NodePropertyWrapper nodeWrapper)
-            {
-                currentNodeId = nodeWrapper.WrappedNode?.NodeId;
-            }
-            else if (selectedObject is LabelNodePropertyWrapper labelWrapper)
-            {
-                currentNodeId = labelWrapper.WrappedNode?.NodeId;
-            }
-            else if (selectedObject is ImageNodePropertyWrapper imageWrapper)
-            {
-                currentNodeId = imageWrapper.WrappedNode?.NodeId;
-            }
+            //if (selectedObject is NodePropertyWrapper nodeWrapper)
+            //{
+            //    currentNodeId = nodeWrapper.WrappedNode?.NodeId;
+            //}
+            //else if (selectedObject is LabelNodePropertyWrapper labelWrapper)
+            //{
+            //    currentNodeId = labelWrapper.WrappedNode?.NodeId;
+            //}
+            //else if (selectedObject is ImageNodePropertyWrapper imageWrapper)
+            //{
+            //    currentNodeId = imageWrapper.WrappedNode?.NodeId;
+            //}
 
             int duplicateCount = 0;
             foreach (var node in _mapNodes)
@@ -1370,5 +1368,46 @@ namespace AGVMapEditor.Forms
 
         #endregion
 
+        private void allTurnLeftRightCrossOnToolStripMenuItem_Click(object sender, EventArgs e)
+        {
+            //모든노드의 trun left/right/ cross 속성을 true로 변경합니다
+            if (_mapNodes == null || _mapNodes.Count == 0)
+            {
+                MessageBox.Show("맵에 노드가 없습니다.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
+                return;
+            }
+
+            var result = MessageBox.Show(
+                $"모든 노드({_mapNodes.Count}개)의 회전/교차 속성을 활성화하시겠습니까?\n\n" +
+                "• CanTurnLeft = true\n" +
+                "• CanTurnRight = true\n" +
+                "• DisableCross = false",
+                "일괄 속성 변경",
+                MessageBoxButtons.YesNo,
+                MessageBoxIcon.Question);
+
+            if (result == DialogResult.Yes)
+            {
+                foreach (var node in _mapNodes)
+                {
+                    node.CanTurnLeft = true;
+                    node.CanTurnRight = true;
+                    node.DisableCross =false;
+                    node.ModifiedDate = DateTime.Now;
+                }
+
+                _hasChanges = true;
+                UpdateTitle();
+                RefreshMapCanvas();
+                
+                MessageBox.Show(
+                    $"{_mapNodes.Count}개 노드의 회전/교차 속성이 모두 활성화되었습니다.",
+                    "완료",
+                    MessageBoxButtons.OK,
+                    MessageBoxIcon.Information);
+
+                UpdateStatusBar($"모든 노드의 회전/교차 속성 활성화 완료");
+            }
+        }
     }
 }

Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.resx

@@ -120,22 +120,40 @@
   <metadata name="statusStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>132, 17</value>
   </metadata>
+  <metadata name="toolStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>249, 17</value>
+  </metadata>
+  <assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
+  <data name="btNodeRemove.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+    <value>
+        iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAIFSURBVDhPpZLtS1NhGMbPPxJmmlYSgqHiKzGU1EDxg4iK
+        YKyG2WBogqMYJQOtCEVRFBGdTBCJfRnkS4VaaWNT5sqx1BUxRXxDHYxAJLvkusEeBaPAB+5z4Jzn+t3X
+        /aLhnEfjo8m+dCoa+7/C3O2Hqe0zDC+8KG+cRZHZhdzaaWTVTCLDMIY0vfM04Nfh77/G/sEhwpEDbO3t
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+        6Q3g8s06BeCoKF4MRURoH1+BY2oNCbeb0TIclIYxOhzf8frTOuo7FxCbbVIAzpni0iceEc8vhzEwGkJD
+        lx83ymxifejdKjRNk/8PWnyIyTQqAJek0jqHwfEVscu31baIu8+90sTE4nY025dQ2/5FIPpnXlzKuK8A
+        HBUzHot52djqQ6HZhfR7IwK4mKpHtvEDMqvfCiQ6zaAAXM8x94aIWTNrLLG4kVUzgaTSPlzLtyJOZxbb
+        1wtfyg4Q+AfA3aZlButjSfxGcUJBk4g5tuP3haQKRKXcUQDOmbvNTpPOJeFFjordZmbWTNvMTHFUcpUC
+        nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
+</value>
+  </data>
   <metadata name="toolStrip3.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>462, 17</value>
   </metadata>
-  <assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <data name="btnSelect.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
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   </data>
   <data name="btnMove.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
@@ -156,75 +174,75 @@
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   <data name="btnConnect.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
@@ -245,16 +263,16 @@
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   <data name="btnToggleGrid.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
@@ -269,39 +287,18 @@
   <data name="btnFitMap.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
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-  <metadata name="toolStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
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 </root>

Cs_HMI/AGVLogic/AGVMapEditor/Models/NodePropertyWrapper.cs

@@ -1,825 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.ComponentModel;
-using System.Drawing;
-using System.Drawing.Design;
-using AGVNavigationCore.Models;
-using AGVNavigationCore.Controls;
-
-namespace AGVMapEditor.Models
-{
-    /// <summary>
-    /// 노드 타입에 따른 PropertyWrapper 팩토리
-    /// </summary>
-    public static class NodePropertyWrapperFactory
-    {
-        public static object CreateWrapper(MapNode node, List<MapNode> mapNodes)
-        {
-            switch (node.Type)
-            {
-                case NodeType.Label:
-                    return new LabelNodePropertyWrapper(node, mapNodes);
-                case NodeType.Image:
-                    return new ImageNodePropertyWrapper(node, mapNodes);
-                default:
-                    return new NodePropertyWrapper(node, mapNodes);
-            }
-        }
-    }
-
-    /// <summary>
-    /// 라벨 노드 전용 PropertyWrapper
-    /// </summary>
-    public class LabelNodePropertyWrapper
-    {
-        private MapNode _node;
-        private List<MapNode> _mapNodes;
-
-        public LabelNodePropertyWrapper(MapNode node, List<MapNode> mapNodes)
-        {
-            _node = node;
-            _mapNodes = mapNodes;
-        }
-
-        /// <summary>
-        /// 래핑된 MapNode 인스턴스 접근
-        /// </summary>
-        public MapNode WrappedNode => _node;
-
-        [Category("기본 정보")]
-        [DisplayName("노드 ID")]
-        [Description("노드의 고유 식별자")]
-        [ReadOnly(true)]
-        public string NodeId
-        {
-            get => _node.NodeId;
-        }
-
-        [Category("기본 정보")]
-        [DisplayName("노드 타입")]
-        [Description("노드의 타입")]
-        [ReadOnly(true)]
-        public NodeType Type
-        {
-            get => _node.Type;
-        }
-
-        [Category("라벨")]
-        [DisplayName("텍스트")]
-        [Description("표시할 텍스트")]
-        public string LabelText
-        {
-            get => _node.LabelText;
-            set
-            {
-                _node.LabelText = value ?? "";
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("라벨")]
-        [DisplayName("폰트 패밀리")]
-        [Description("폰트 패밀리")]
-        public string FontFamily
-        {
-            get => _node.FontFamily;
-            set
-            {
-                _node.FontFamily = value ?? "Arial";
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("라벨")]
-        [DisplayName("폰트 크기")]
-        [Description("폰트 크기")]
-        public float FontSize
-        {
-            get => _node.FontSize;
-            set
-            {
-                _node.FontSize = Math.Max(6, Math.Min(72, value));
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("라벨")]
-        [DisplayName("폰트 스타일")]
-        [Description("폰트 스타일")]
-        public FontStyle FontStyle
-        {
-            get => _node.FontStyle;
-            set
-            {
-                _node.FontStyle = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("라벨")]
-        [DisplayName("전경색")]
-        [Description("텍스트 색상")]
-        public Color ForeColor
-        {
-            get => _node.ForeColor;
-            set
-            {
-                _node.ForeColor = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("라벨")]
-        [DisplayName("배경색")]
-        [Description("배경 색상")]
-        public Color BackColor
-        {
-            get => _node.BackColor;
-            set
-            {
-                _node.BackColor = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("라벨")]
-        [DisplayName("배경 표시")]
-        [Description("배경을 표시할지 여부")]
-        public bool ShowBackground
-        {
-            get => _node.ShowBackground;
-            set
-            {
-                _node.ShowBackground = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("라벨")]
-        [DisplayName("패딩")]
-        [Description("텍스트 주변 여백 (픽셀 단위)")]
-        public int Padding
-        {
-            get => _node.Padding;
-            set
-            {
-                _node.Padding = Math.Max(0, Math.Min(50, value));
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("위치")]
-        [DisplayName("X 좌표")]
-        [Description("맵에서의 X 좌표")]
-        public int PositionX
-        {
-            get => _node.Position.X;
-            set
-            {
-                _node.Position = new Point(value, _node.Position.Y);
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("위치")]
-        [DisplayName("Y 좌표")]
-        [Description("맵에서의 Y 좌표")]
-        public int PositionY
-        {
-            get => _node.Position.Y;
-            set
-            {
-                _node.Position = new Point(_node.Position.X, value);
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("정보")]
-        [DisplayName("생성 일시")]
-        [Description("노드가 생성된 일시")]
-        [ReadOnly(true)]
-        public DateTime CreatedDate
-        {
-            get => _node.CreatedDate;
-        }
-
-        [Category("정보")]
-        [DisplayName("수정 일시")]
-        [Description("노드가 마지막으로 수정된 일시")]
-        [ReadOnly(true)]
-        public DateTime ModifiedDate
-        {
-            get => _node.ModifiedDate;
-        }
-    }
-
-    /// <summary>
-    /// 이미지 노드 전용 PropertyWrapper
-    /// </summary>
-    public class ImageNodePropertyWrapper
-    {
-        private MapNode _node;
-        private List<MapNode> _mapNodes;
-
-        public ImageNodePropertyWrapper(MapNode node, List<MapNode> mapNodes)
-        {
-            _node = node;
-            _mapNodes = mapNodes;
-        }
-
-        /// <summary>
-        /// 래핑된 MapNode 인스턴스 접근
-        /// </summary>
-        public MapNode WrappedNode => _node;
-
-        [Category("기본 정보")]
-        [DisplayName("노드 ID")]
-        [Description("노드의 고유 식별자")]
-        [ReadOnly(true)]
-        public string NodeId
-        {
-            get => _node.NodeId;
-        }
-
-        [Category("기본 정보")]
-        [DisplayName("노드 타입")]
-        [Description("노드의 타입")]
-        [ReadOnly(true)]
-        public NodeType Type
-        {
-            get => _node.Type;
-        }
-
-        [Category("이미지")]
-        [DisplayName("이미지 경로")]
-        [Description("이미지 파일 경로 (... 버튼으로 파일 선택)")]
-        [Editor(typeof(ImagePathEditor), typeof(UITypeEditor))]
-        public string ImagePath
-        {
-            get => _node.ImagePath;
-            set
-            {
-                if (string.IsNullOrEmpty(value))
-                {
-                    _node.ImagePath = "";
-                    return;
-                }
-
-                // 파일이 존재하면 Base64로 변환하여 저장
-                if (System.IO.File.Exists(value))
-                {
-                    _node.ConvertImageToBase64(value);
-                    _node.LoadImage(); // 이미지 다시 로드
-                }
-                else
-                {
-                    _node.ImagePath = value;
-                }
-
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("이미지")]
-        [DisplayName("가로 배율")]
-        [Description("가로 배율 (1.0 = 원본 크기)")]
-        public float ScaleWidth
-        {
-            get => _node.Scale.Width;
-            set
-            {
-                _node.Scale = new SizeF(Math.Max(0.1f, Math.Min(5.0f, value)), _node.Scale.Height);
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("이미지")]
-        [DisplayName("세로 배율")]
-        [Description("세로 배율 (1.0 = 원본 크기)")]
-        public float ScaleHeight
-        {
-            get => _node.Scale.Height;
-            set
-            {
-                _node.Scale = new SizeF(_node.Scale.Width, Math.Max(0.1f, Math.Min(5.0f, value)));
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("이미지")]
-        [DisplayName("투명도")]
-        [Description("투명도 (0.0 = 투명, 1.0 = 불투명)")]
-        public float Opacity
-        {
-            get => _node.Opacity;
-            set
-            {
-                _node.Opacity = Math.Max(0.0f, Math.Min(1.0f, value));
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("이미지")]
-        [DisplayName("회전각도")]
-        [Description("회전 각도 (도 단위)")]
-        public float Rotation
-        {
-            get => _node.Rotation;
-            set
-            {
-                _node.Rotation = value % 360;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("위치")]
-        [DisplayName("X 좌표")]
-        [Description("맵에서의 X 좌표")]
-        public int PositionX
-        {
-            get => _node.Position.X;
-            set
-            {
-                _node.Position = new Point(value, _node.Position.Y);
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("위치")]
-        [DisplayName("Y 좌표")]
-        [Description("맵에서의 Y 좌표")]
-        public int PositionY
-        {
-            get => _node.Position.Y;
-            set
-            {
-                _node.Position = new Point(_node.Position.X, value);
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("정보")]
-        [DisplayName("생성 일시")]
-        [Description("노드가 생성된 일시")]
-        [ReadOnly(true)]
-        public DateTime CreatedDate
-        {
-            get => _node.CreatedDate;
-        }
-
-        [Category("정보")]
-        [DisplayName("수정 일시")]
-        [Description("노드가 마지막으로 수정된 일시")]
-        [ReadOnly(true)]
-        public DateTime ModifiedDate
-        {
-            get => _node.ModifiedDate;
-        }
-    }
-    /// <summary>
-    /// PropertyGrid에서 사용할 노드 속성 래퍼 클래스
-    /// </summary>
-    public class NodePropertyWrapper
-    {
-        private MapNode _node;
-        private List<MapNode> _mapNodes;
-
-        public NodePropertyWrapper(MapNode node, List<MapNode> mapNodes)
-        {
-            _node = node;
-            _mapNodes = mapNodes;
-        }
-
-        /// <summary>
-        /// 래핑된 MapNode 인스턴스 접근
-        /// </summary>
-        public MapNode WrappedNode => _node;
-
-        [Category("기본 정보")]
-        [DisplayName("노드 ID")]
-        [Description("노드의 고유 식별자")]
-        [ReadOnly(true)]
-        public string NodeId
-        {
-            get => _node.NodeId;
-            set => _node.NodeId = value;
-        }
-
-        [Category("기본 정보")]
-        [DisplayName("노드 이름")]
-        [Description("노드의 표시 이름")]
-        public string Name
-        {
-            get => _node.Name;
-            set
-            {
-                _node.Name = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-
-
-        [Category("기본 정보")]
-        [DisplayName("노드 타입")]
-        [Description("노드의 타입 (Normal, Rotation, Docking, Charging)")]
-        public NodeType Type
-        {
-            get => _node.Type;
-            set
-            {
-                _node.Type = value;
-                _node.CanRotate = value == NodeType.Rotation;
-                _node.SetDefaultColorByType(value);
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("기본 정보")]
-        [DisplayName("도킹 방향")]
-        [Description("도킹이 필요한 노드의 경우 AGV 진입 방향 (DontCare: 방향 무관, Forward: 전진 도킹, Backward: 후진 도킹)")]
-        public DockingDirection DockDirection
-        {
-            get => _node.DockDirection;
-            set
-            {
-                _node.DockDirection = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-
-    
-
-
-        [Category("위치")]
-        [DisplayName("X 좌표")]
-        [Description("맵에서의 X 좌표")]
-        public int PositionX
-        {
-            get => _node.Position.X;
-            set
-            {
-                _node.Position = new Point(value, _node.Position.Y);
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("위치")]
-        [DisplayName("Y 좌표")]
-        [Description("맵에서의 Y 좌표")]
-        public int PositionY
-        {
-            get => _node.Position.Y;
-            set
-            {
-                _node.Position = new Point(_node.Position.X, value);
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-
-
-        [Category("고급")]
-        [DisplayName("회전 가능")]
-        [Description("이 노드에서 AGV가 회전할 수 있는지 여부")]
-        public bool CanRotate
-        {
-            get => _node.CanRotate;
-            set
-            {
-                _node.CanRotate = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("고급")]
-        [DisplayName("RFID")]
-        [Description("RFID ID")]
-        public string RFID
-        {
-            get => _node.RfidId;
-            set
-            {
-                _node.RfidId = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-
-
-
-        [Category("고급")]
-        [DisplayName("활성화")]
-        [Description("노드 활성화 여부")]
-        public bool IsActive
-        {
-            get => _node.IsActive;
-            set
-            {
-                _node.IsActive = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("표시")]
-        [DisplayName("노드 배경색")]
-        [Description("노드 배경 색상")]
-        public Color DisplayColor
-        {
-            get => _node.DisplayColor;
-            set
-            {
-                _node.DisplayColor = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("표시")]
-        [DisplayName("글자 색상")]
-        [Description("노드 텍스트 색상 (NodeId, Name 등)")]
-        public Color ForeColor
-        {
-            get => _node.ForeColor;
-            set
-            {
-                _node.ForeColor = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("표시")]
-        [DisplayName("글자 크기")]
-        [Description("노드 텍스트 크기 (픽셀)")]
-        public float TextFontSize
-        {
-            get => _node.TextFontSize;
-            set
-            {
-                _node.TextFontSize = Math.Max(5.0f, Math.Min(20.0f, value));
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("표시")]
-        [DisplayName("글자 굵게")]
-        [Description("노드 텍스트 볼드 표시")]
-        public bool TextFontBold
-        {
-            get => _node.TextFontBold;
-            set
-            {
-                _node.TextFontBold = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("표시")]
-        [DisplayName("이름 말풍선 배경색")]
-        [Description("노드 이름 말풍선(하단 표시) 배경색")]
-        public Color NameBubbleBackColor
-        {
-            get => _node.NameBubbleBackColor;
-            set
-            {
-                _node.NameBubbleBackColor = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("표시")]
-        [DisplayName("이름 말풍선 글자색")]
-        [Description("노드 이름 말풍선(하단 표시) 글자색")]
-        public Color NameBubbleForeColor
-        {
-            get => _node.NameBubbleForeColor;
-            set
-            {
-                _node.NameBubbleForeColor = value;
-                _node.ModifiedDate = DateTime.Now;
-            }
-        }
-
-        [Category("정보")]
-        [DisplayName("생성 일시")]
-        [Description("노드가 생성된 일시")]
-        [ReadOnly(true)]
-        public DateTime CreatedDate
-        {
-            get => _node.CreatedDate;
-        }
-
-        [Category("정보")]
-        [DisplayName("수정 일시")]
-        [Description("노드가 마지막으로 수정된 일시")]
-        [ReadOnly(true)]
-        public DateTime ModifiedDate
-        {
-            get => _node.ModifiedDate;
-        }
-    }
-
-    /// <summary>
-    /// 다중 노드 선택 시 공통 속성 편집용 래퍼
-    /// </summary>
-    public class MultiNodePropertyWrapper
-    {
-        private List<MapNode> _nodes;
-
-        public MultiNodePropertyWrapper(List<MapNode> nodes)
-        {
-            _nodes = nodes ?? new List<MapNode>();
-        }
-
-        [Category("다중 선택")]
-        [DisplayName("선택된 노드 수")]
-        [Description("현재 선택된 노드의 개수")]
-        [ReadOnly(true)]
-        public int SelectedCount => _nodes.Count;
-
-        [Category("표시")]
-        [DisplayName("노드 배경색")]
-        [Description("선택된 모든 노드의 배경색을 일괄 변경")]
-        public Color DisplayColor
-        {
-            get => _nodes.Count > 0 ? _nodes[0].DisplayColor : Color.Blue;
-            set
-            {
-                foreach (var node in _nodes)
-                {
-                    node.DisplayColor = value;
-                    node.ModifiedDate = DateTime.Now;
-                }
-            }
-        }
-
-        [Category("표시")]
-        [DisplayName("글자 색상")]
-        [Description("선택된 모든 노드의 글자 색상을 일괄 변경")]
-        public Color ForeColor
-        {
-            get => _nodes.Count > 0 ? _nodes[0].ForeColor : Color.Black;
-            set
-            {
-                foreach (var node in _nodes)
-                {
-                    node.ForeColor = value;
-                    node.ModifiedDate = DateTime.Now;
-                }
-            }
-        }
-
-        [Category("표시")]
-        [DisplayName("글자 크기")]
-        [Description("선택된 모든 노드의 글자 크기를 일괄 변경 (5~20 픽셀)")]
-        public float TextFontSize
-        {
-            get => _nodes.Count > 0 ? _nodes[0].TextFontSize : 7.0f;
-            set
-            {
-                var validValue = Math.Max(5.0f, Math.Min(20.0f, value));
-                System.Diagnostics.Debug.WriteLine($"[MultiNode] TextFontSize 변경 시작: {validValue}, 노드 수: {_nodes.Count}");
-
-                foreach (var node in _nodes)
-                {
-                    System.Diagnostics.Debug.WriteLine($"  - 노드 {node.NodeId}: {node.TextFontSize} → {validValue}");
-                    node.TextFontSize = validValue;
-                    node.ModifiedDate = DateTime.Now;
-                    System.Diagnostics.Debug.WriteLine($"  - 변경 후: {node.TextFontSize}");
-                }
-
-                System.Diagnostics.Debug.WriteLine($"[MultiNode] TextFontSize 변경 완료");
-            }
-        }
-
-        [Category("표시")]
-        [DisplayName("글자 굵게")]
-        [Description("선택된 모든 노드의 글자 굵기를 일괄 변경")]
-        public bool TextFontBold
-        {
-            get
-            {
-                var result = _nodes.Count > 0 ? _nodes[0].TextFontBold : true;
-                System.Diagnostics.Debug.WriteLine($"[MultiNode] TextFontBold GET: {result}");
-                return result;
-            }
-            set
-            {
-                System.Diagnostics.Debug.WriteLine($"[MultiNode] TextFontBold 변경 시작: {value}, 노드 수: {_nodes.Count}");
-
-                foreach (var node in _nodes)
-                {
-                    System.Diagnostics.Debug.WriteLine($"  - 노드 {node.NodeId}: {node.TextFontBold} → {value}");
-                    node.TextFontBold = value;
-                    node.ModifiedDate = DateTime.Now;
-                    System.Diagnostics.Debug.WriteLine($"  - 변경 후: {node.TextFontBold}");
-                }
-
-                System.Diagnostics.Debug.WriteLine($"[MultiNode] TextFontBold 변경 완료");
-            }
-        }
-
-        [Category("표시")]
-        [DisplayName("이름 말풍선 배경색")]
-        [Description("선택된 모든 노드의 이름 말풍선(하단 표시) 배경색을 일괄 변경")]
-        public Color NameBubbleBackColor
-        {
-            get => _nodes.Count > 0 ? _nodes[0].NameBubbleBackColor : Color.Gold;
-            set
-            {
-                foreach (var node in _nodes)
-                {
-                    node.NameBubbleBackColor = value;
-                    node.ModifiedDate = DateTime.Now;
-                }
-            }
-        }
-
-        [Category("표시")]
-        [DisplayName("이름 말풍선 글자색")]
-        [Description("선택된 모든 노드의 이름 말풍선(하단 표시) 글자색을 일괄 변경")]
-        public Color NameBubbleForeColor
-        {
-            get => _nodes.Count > 0 ? _nodes[0].NameBubbleForeColor : Color.Black;
-            set
-            {
-                foreach (var node in _nodes)
-                {
-                    node.NameBubbleForeColor = value;
-                    node.ModifiedDate = DateTime.Now;
-                }
-            }
-        }
-
-        [Category("고급")]
-        [DisplayName("활성화")]
-        [Description("선택된 모든 노드의 활성화 상태를 일괄 변경")]
-        public bool IsActive
-        {
-            get => _nodes.Count > 0 ? _nodes[0].IsActive : true;
-            set
-            {
-                foreach (var node in _nodes)
-                {
-                    node.IsActive = value;
-                    node.ModifiedDate = DateTime.Now;
-                }
-            }
-        }
-
-        [Category("정보")]
-        [DisplayName("안내")]
-        [Description("다중 선택 시 공통 속성만 변경할 수 있습니다")]
-        [ReadOnly(true)]
-        public string HelpText => "위 속성을 변경하면 선택된 모든 노드에 일괄 적용됩니다.";
-    }
-
-    /// <summary>
-    /// 캔버스 속성 래퍼 (배경색 등 캔버스 전체 속성 편집)
-    /// </summary>
-    public class CanvasPropertyWrapper
-    {
-        private UnifiedAGVCanvas _canvas;
-
-        public CanvasPropertyWrapper(UnifiedAGVCanvas canvas)
-        {
-            _canvas = canvas;
-        }
-
-        [Category("배경")]
-        [DisplayName("배경색")]
-        [Description("맵 캔버스 배경색")]
-        public Color BackgroundColor
-        {
-            get => _canvas.BackColor;
-            set
-            {
-                _canvas.BackColor = value;
-                _canvas.Invalidate();
-            }
-        }
-
-        [Category("그리드")]
-        [DisplayName("그리드 표시")]
-        [Description("그리드 표시 여부")]
-        public bool ShowGrid
-        {
-            get => _canvas.ShowGrid;
-            set
-            {
-                _canvas.ShowGrid = value;
-                _canvas.Invalidate();
-            }
-        }
-
-        [Category("정보")]
-        [DisplayName("설명")]
-        [Description("맵 캔버스 전체 속성")]
-        [ReadOnly(true)]
-        public string Description
-        {
-            get => "빈 공간을 클릭하면 캔버스 전체 속성을 편집할 수 있습니다.";
-        }
-    }
-
-}

Cs_HMI/AGVLogic/AGVNavigationCore/AGVNavigationCore.csproj

@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" encoding="utf-8"?>
 <Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
   <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
   <PropertyGroup>
@@ -73,6 +73,7 @@
       <DependentUpon>UnifiedAGVCanvas.cs</DependentUpon>
       <SubType>UserControl</SubType>
     </Compile>
+    <Compile Include="Models\AGVCommand.cs" />
     <Compile Include="Models\Enums.cs" />
     <Compile Include="Models\IMovableAGV.cs" />
     <Compile Include="Models\VirtualAGV.cs" />

Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Events.cs

@@ -83,6 +83,75 @@ namespace AGVNavigationCore.Controls
             // UI 정보 그리기 (변환 없이)
             if (_showGrid)
                 DrawUIInfo(g);
+
+            // 동기화 화면 그리기 (변환 없이, 최상위)
+            if (_canvasMode == CanvasMode.Sync)
+            {
+                DrawSyncScreen(g);
+            }
+        }
+
+        private void DrawSyncScreen(Graphics g)
+        {
+            // 반투명 검은색 배경
+            using (var brush = new SolidBrush(Color.FromArgb(200, 0, 0, 0)))
+            {
+                g.FillRectangle(brush, this.ClientRectangle);
+            }
+
+            // 중앙에 메시지 표시
+            var center = new Point(Width / 2, Height / 2);
+
+            // 메시지 폰트
+            using (var fontTitle = new Font("Malgun Gothic", 24, FontStyle.Bold))
+            using (var fontDetail = new Font("Malgun Gothic", 14))
+            using (var brushText = new SolidBrush(Color.White))
+            {
+                // 메인 메시지
+                var sizeTitle = g.MeasureString(_syncMessage, fontTitle);
+                g.DrawString(_syncMessage, fontTitle, brushText,
+                    center.X - sizeTitle.Width / 2,
+                    center.Y - sizeTitle.Height / 2 - 60);
+
+                // 진행률 바 배경
+                int barWidth = 500;
+                int barHeight = 30;
+                int barX = center.X - barWidth / 2;
+                int barY = center.Y + 10;
+
+                using (var brushBarBg = new SolidBrush(Color.FromArgb(64, 64, 64)))
+                {
+                    g.FillRectangle(brushBarBg, barX, barY, barWidth, barHeight);
+                }
+                g.DrawRectangle(Pens.Gray, barX, barY, barWidth, barHeight);
+
+                // 진행률 바 채우기
+                if (_syncProgress > 0)
+                {
+                    using (var brushProgress = new SolidBrush(Color.LimeGreen))
+                    {
+                        int fillWidth = (int)((barWidth - 4) * _syncProgress);
+                        if (fillWidth > 0)
+                            g.FillRectangle(brushProgress, barX + 2, barY + 2, fillWidth, barHeight - 4);
+                    }
+                }
+
+                // 진행률 텍스트
+                string progressText = $"{(_syncProgress * 100):F0}%";
+                var sizeProgress = g.MeasureString(progressText, fontDetail);
+                g.DrawString(progressText, fontDetail, brushText,
+                    center.X - sizeProgress.Width / 2,
+                    barY + 5);
+
+                // 상세 메시지
+                if (!string.IsNullOrEmpty(_syncDetail))
+                {
+                    var sizeDetail = g.MeasureString(_syncDetail, fontDetail);
+                    g.DrawString(_syncDetail, fontDetail, brushText,
+                        center.X - sizeDetail.Width / 2,
+                        barY + barHeight + 20);
+                }
+            }
         }
 
         private void DrawGrid(Graphics g)
@@ -416,10 +485,10 @@ namespace AGVNavigationCore.Controls
                 case NodeType.Normal:
                     ghostBrush = new SolidBrush(Color.FromArgb(120, 100, 149, 237)); // 반투명 파란색
                     break;
-                case NodeType.Rotation:
-                    ghostBrush = new SolidBrush(Color.FromArgb(120, 255, 165, 0)); // 반투명 주황색
-                    break;
-                case NodeType.Docking:
+                case NodeType.Loader:
+                case NodeType.UnLoader:
+                case NodeType.Clearner:
+                case NodeType.Buffer:
                     ghostBrush = new SolidBrush(Color.FromArgb(120, 50, 205, 50)); // 반투명 초록색
                     break;
                 case NodeType.Charging:
@@ -439,7 +508,10 @@ namespace AGVNavigationCore.Controls
                 case NodeType.Image:
                     DrawImageGhost(g);
                     break;
-                case NodeType.Docking:
+                case NodeType.Loader:
+                case NodeType.UnLoader:
+                case NodeType.Clearner:
+                case NodeType.Buffer:
                     DrawPentagonGhost(g, ghostBrush);
                     break;
                 case NodeType.Charging:
@@ -646,7 +718,10 @@ namespace AGVNavigationCore.Controls
 
             switch (node.Type)
             {
-                case NodeType.Docking:
+                case NodeType.Loader:
+                case NodeType.UnLoader:
+                case NodeType.Clearner:
+                case NodeType.Buffer:
                     DrawPentagonNodeShape(g, node, brush);
                     break;
                 case NodeType.Charging:
@@ -723,6 +798,13 @@ namespace AGVNavigationCore.Controls
             {
                 DrawDuplicateRfidMarker(g, node);
             }
+
+            // CanCross 가능 노드 표시 (교차지점으로 사용 가능)
+            if (node.DisableCross==true)
+            {
+                var crossRect = new Rectangle(rect.X - 3, rect.Y - 3, rect.Width + 6, rect.Height + 6);
+                g.DrawEllipse(new Pen(Color.DeepSkyBlue, 3), crossRect);
+            }
         }
 
         private void DrawPentagonNodeShape(Graphics g, MapNode node, Brush brush)
@@ -826,6 +908,21 @@ namespace AGVNavigationCore.Controls
             {
                 DrawDuplicateRfidMarker(g, node);
             }
+
+            // CanCross 가능 노드 표시 (교차지점으로 사용 가능)
+            if (node.DisableCross==false)
+            {
+                var crossPoints = new Point[5];
+                for (int i = 0; i < 5; i++)
+                {
+                    var angle = (Math.PI * 2 * i / 5) - Math.PI / 2;
+                    crossPoints[i] = new Point(
+                        (int)(center.X + (radius + 4) * Math.Cos(angle)),
+                        (int)(center.Y + (radius + 4) * Math.Sin(angle))
+                    );
+                }
+                g.DrawPolygon(new Pen(Color.Gold, 3), crossPoints);
+            }
         }
 
         private void DrawTriangleNodeShape(Graphics g, MapNode node, Brush brush)
@@ -929,6 +1026,21 @@ namespace AGVNavigationCore.Controls
             {
                 DrawDuplicateRfidMarker(g, node);
             }
+
+            // CanCross 가능 노드 표시 (교차지점으로 사용 가능)
+            if (node.DisableCross==false)
+            {
+                var crossPoints = new Point[3];
+                for (int i = 0; i < 3; i++)
+                {
+                    var angle = (Math.PI * 2 * i / 3) - Math.PI / 2;
+                    crossPoints[i] = new Point(
+                        (int)(center.X + (radius + 4) * Math.Cos(angle)),
+                        (int)(center.Y + (radius + 4) * Math.Sin(angle))
+                    );
+                }
+                g.DrawPolygon(new Pen(Color.Gold, 3), crossPoints);
+            }
         }
 
         private void DrawNodeLabel(Graphics g, MapNode node)
@@ -1663,6 +1775,11 @@ namespace AGVNavigationCore.Controls
         /// </summary>
         private Color GetAGVCenterColor(AGVState state)
         {
+            // Stop-Mark 상태 (Error 상태와 유사하게 처리하거나 별도 처리)
+            // 여기서는 AGVState에 StopMark가 없으므로, 외부에서 상태를 Error로 설정하거나
+            // 별도의 플래그를 확인해야 함. 하지만 IAGV 인터페이스에는 플래그가 없음.
+            // 따라서 fMain에서 상태를 Error로 설정하는 것을 권장.
+            
             switch (state)
             {
                 case AGVState.Moving: return Color.White;
@@ -1682,7 +1799,7 @@ namespace AGVNavigationCore.Controls
             {
                 case AGVState.Moving: return Color.DarkGreen;
                 case AGVState.Charging: return Color.DarkBlue;
-                case AGVState.Error: return Color.DarkRed;
+                case AGVState.Error: return Color.DarkRed; // Stop-Mark 시 Error 상태 사용
                 case AGVState.Docking: return Color.DarkOrange;
                 default: return Color.DarkGray;
             }

Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Mouse.cs

@@ -17,6 +17,16 @@ namespace AGVNavigationCore.Controls
             var worldPoint = ScreenToWorld(e.Location);
             var hitNode = GetNodeAt(worldPoint);
 
+            // 에뮬레이터 모드 처리
+            if (_canvasMode == CanvasMode.Emulator)
+            {
+                if (e.Button == MouseButtons.Right && hitNode != null)
+                {
+                    NodeRightClicked?.Invoke(this, hitNode);
+                }
+                return;
+            }
+
             // 🔥 어떤 모드에서든 노드/빈 공간 클릭 시 선택 이벤트 발생 (속성창 업데이트)
             bool ctrlPressed = (ModifierKeys & Keys.Control) == Keys.Control;
 
@@ -108,8 +118,10 @@ namespace AGVNavigationCore.Controls
                 switch (hitNode.Type)
                 {
                     case NodeType.Normal:
-                    case NodeType.Rotation:
-                    case NodeType.Docking:
+                    case NodeType.Loader:
+                    case NodeType.UnLoader:
+                    case NodeType.Clearner:
+                    case NodeType.Buffer:
                     case NodeType.Charging:
                         HandleNormalNodeDoubleClick(hitNode);
                         break;
@@ -429,7 +441,10 @@ namespace AGVNavigationCore.Controls
         {
             switch (node.Type)
             {
-                case NodeType.Docking:
+                case NodeType.Loader:
+                case NodeType.UnLoader:
+                case NodeType.Clearner:
+                case NodeType.Buffer:
                     return IsPointInPentagon(point, node);
                 case NodeType.Charging:
                     return IsPointInTriangle(point, node);

Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs

@@ -35,7 +35,9 @@ namespace AGVNavigationCore.Controls
         /// </summary>
         public enum CanvasMode
         {
-            Edit        // 편집 가능 (맵 에디터)
+            Edit,       // 편집 가능 (맵 에디터)
+            Sync,       // 동기화 모드 (장비 설정 동기화)
+            Emulator    // 에뮬레이터 모드
         }
 
         /// <summary>
@@ -116,6 +118,11 @@ namespace AGVNavigationCore.Controls
         // RFID 중복 검사
         private HashSet<string> _duplicateRfidNodes = new HashSet<string>();
 
+        // 동기화 모드 관련
+        private string _syncMessage = "동기화 중...";
+        private float _syncProgress = 0.0f;
+        private string _syncDetail = "";
+
         // 브러쉬 및 펜
         private Brush _normalNodeBrush;
         private Brush _rotationNodeBrush;
@@ -140,6 +147,9 @@ namespace AGVNavigationCore.Controls
         // 컨텍스트 메뉴
         private ContextMenuStrip _contextMenu;
 
+        // 이벤트
+        public event EventHandler<MapNode> NodeRightClicked;
+
         #endregion
 
         #region Events
@@ -157,6 +167,7 @@ namespace AGVNavigationCore.Controls
 
         #region Properties
 
+        public string PredictMessage { get; set; } = "";
         public string MapFileName { get; set; } = "";
 
         /// <summary>
@@ -546,6 +557,40 @@ namespace AGVNavigationCore.Controls
             }
         }
 
+        /// <summary>
+        /// 동기화 상태 설정
+        /// </summary>
+        /// <param name="message">메인 메시지</param>
+        /// <param name="progress">진행률 (0.0 ~ 1.0)</param>
+        /// <param name="detail">상세 메시지</param>
+        public void SetSyncStatus(string message, float progress, string detail = "")
+        {
+            _syncMessage = message;
+            _syncProgress = Math.Max(0.0f, Math.Min(1.0f, progress));
+            _syncDetail = detail;
+
+            if (_canvasMode != CanvasMode.Sync)
+            {
+                _canvasMode = CanvasMode.Sync;
+                UpdateModeUI();
+            }
+
+            Invalidate();
+        }
+
+        /// <summary>
+        /// 동기화 모드 종료
+        /// </summary>
+        public void ExitSyncMode()
+        {
+            if (_canvasMode == CanvasMode.Sync)
+            {
+                _canvasMode = CanvasMode.Edit; // 기본 모드로 복귀 (또는 이전 모드)
+                UpdateModeUI();
+                Invalidate();
+            }
+        }
+
         #endregion
 
         #region Cleanup

Cs_HMI/AGVLogic/AGVNavigationCore/Models/AGVCommand.cs

@@ -0,0 +1,54 @@
+namespace AGVNavigationCore.Models
+{
+    /// <summary>
+    /// AGV 제어 명령 클래스 (실제 AGV 제어용)
+    /// Predict() 메서드가 반환하는 다음 동작 명령
+    /// </summary>
+    public class AGVCommand
+    {
+        /// <summary>모터 명령 (정지/전진/후진)</summary>
+        public MotorCommand Motor { get; set; }
+
+        /// <summary>마그넷 위치 (직진/왼쪽/오른쪽)</summary>
+        public MagnetPosition Magnet { get; set; }
+
+        /// <summary>속도 레벨 (저속/중속/고속)</summary>
+        public SpeedLevel Speed { get; set; }
+
+        /// <summary>명령 이유 메세지- (디버깅/로깅용)</summary>
+        public string Message { get; set; }
+
+        /// <summary>명령 이유- (디버깅/로깅용)</summary>
+        public eAGVCommandReason Reason { get; set; }
+
+        /// <summary>
+        /// 생성자
+        /// </summary>
+        public AGVCommand(MotorCommand motor, MagnetPosition magnet, SpeedLevel speed, eAGVCommandReason reason, string reasonmessage = "")
+        {
+            Motor = motor;
+            Magnet = magnet;
+            Speed = speed;
+            Reason = reason;
+            Message = reasonmessage;
+        }
+
+        /// <summary>
+        /// 기본 생성자
+        /// </summary>
+        public AGVCommand()
+        {
+            Motor = MotorCommand.Stop;
+            Magnet = MagnetPosition.S;
+            Speed = SpeedLevel.L;
+            Message = "";
+            Reason = eAGVCommandReason.Normal;
+        }
+
+        public override string ToString()
+        {
+            return $"Motor:{Motor}, Magnet:{Magnet}, Speed:{Speed},Reason:{Reason}" +
+                   (string.IsNullOrEmpty(Message) ? "" : $" ({Message})");
+        }
+    }
+}

Cs_HMI/AGVLogic/AGVNavigationCore/Models/Enums.cs

@@ -2,7 +2,7 @@ using System;
 
 namespace AGVNavigationCore.Models
 {
- 
+
 
     /// <summary>
     /// 노드 타입 열거형
@@ -11,10 +11,20 @@ namespace AGVNavigationCore.Models
     {
         /// <summary>일반 경로 노드</summary>
         Normal,
-        /// <summary>회전 가능 지점</summary>
-        Rotation,
-        /// <summary>도킹 스테이션</summary>
-        Docking,
+        /// <summary>로더</summary>
+        Loader,
+        /// <summary>
+        /// 언로더
+        /// </summary>
+        UnLoader,
+        /// <summary>
+        /// 클리너
+        /// </summary>
+        Clearner,
+        /// <summary>
+        /// 버퍼
+        /// </summary>
+        Buffer,
         /// <summary>충전 스테이션</summary>
         Charging,
         /// <summary>라벨 (UI 요소)</summary>
@@ -58,6 +68,10 @@ namespace AGVNavigationCore.Models
     /// </summary>
     public enum StationType
     {
+        /// <summary>
+        /// 일반노드
+        /// </summary>
+        Node,
         /// <summary>로더</summary>
         Loader,
         /// <summary>클리너</summary>
@@ -70,6 +84,24 @@ namespace AGVNavigationCore.Models
         Charger
     }
 
+    /// <summary>
+    /// AGV턴상태
+    /// </summary>
+    public enum AGVTurn
+    {
+        None=0,
+
+        /// <summary>
+        /// left turn 90"
+        /// </summary>
+        L90,
+        /// <summary>
+        /// right turn 90"
+        /// </summary>
+        R90
+    }
+
+
     /// <summary>
     /// 모터 명령 열거형 (실제 AGV 제어용)
     /// </summary>
@@ -109,50 +141,42 @@ namespace AGVNavigationCore.Models
         H
     }
 
-    /// <summary>
-    /// AGV 제어 명령 클래스 (실제 AGV 제어용)
-    /// Predict() 메서드가 반환하는 다음 동작 명령
-    /// </summary>
-    public class AGVCommand
-    {
-        /// <summary>모터 명령 (정지/전진/후진)</summary>
-        public MotorCommand Motor { get; set; }
-
-        /// <summary>마그넷 위치 (직진/왼쪽/오른쪽)</summary>
-        public MagnetPosition Magnet { get; set; }
-
-        /// <summary>속도 레벨 (저속/중속/고속)</summary>
-        public SpeedLevel Speed { get; set; }
-
-        /// <summary>명령 이유 (디버깅/로깅용)</summary>
-        public string Reason { get; set; }
+    public enum eAGVCommandReason
+    { 
+        /// <summary>
+        /// 초기 미지정
+        /// </summary>
+        Normal,
 
         /// <summary>
-        /// 생성자
+        /// 위치 미확정
         /// </summary>
-        public AGVCommand(MotorCommand motor, MagnetPosition magnet, SpeedLevel speed, string reason = "")
-        {
-            Motor = motor;
-            Magnet = magnet;
-            Speed = speed;
-            Reason = reason;
-        }
+        UnknownPosition,
 
         /// <summary>
-        /// 기본 생성자
+        /// 대상경로없음
         /// </summary>
-        public AGVCommand()
-        {
-            Motor = MotorCommand.Stop;
-            Magnet = MagnetPosition.S;
-            Speed = SpeedLevel.L;
-            Reason = "";
-        }
+        NoTarget,
+
+        /// <summary>
+        /// 경로없음
+        /// </summary>
+        NoPath,
+
+        /// <summary>
+        /// 경로이탈
+        /// </summary>
+        PathOut,
+
+        /// <summary>
+        /// 마크스탑을 해야한다
+        /// </summary>
+        MarkStop,
+
+        /// <summary>
+        /// 완료
+        /// </summary>
+        Complete,
 
-        public override string ToString()
-        {
-            return $"Motor:{Motor}, Magnet:{Magnet}, Speed:{Speed}" +
-                   (string.IsNullOrEmpty(Reason) ? "" : $" ({Reason})");
-        }
     }
 }

Cs_HMI/AGVLogic/AGVNavigationCore/Models/IMovableAGV.cs

@@ -140,7 +140,7 @@ namespace AGVNavigationCore.Models
         /// <summary>
         /// 현재 노드 ID 조회
         /// </summary>
-        string GetCurrentNodeId();
+        MapNode GetCurrentNode();
 
         /// <summary>
         /// AGV 상태 정보 문자열 조회

Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapLoader.cs

@@ -226,7 +226,10 @@ namespace AGVNavigationCore.Models
                         case NodeType.Charging:
                             node.DockDirection = DockingDirection.Forward;
                             break;
-                        case NodeType.Docking:
+                        case NodeType.Loader:
+                        case NodeType.UnLoader:
+                        case NodeType.Clearner:
+                        case NodeType.Buffer:
                             node.DockDirection = DockingDirection.Backward;
                             break;
                         default:

Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapNode.cs

@@ -34,6 +34,19 @@ namespace AGVNavigationCore.Models
         /// </summary>
         public NodeType Type { get; set; } = NodeType.Normal;
 
+        public bool CanDocking
+        {
+            get
+            {
+                if (Type == NodeType.Buffer) return true;
+                if (Type == NodeType.Loader) return true;
+                if (Type == NodeType.UnLoader) return true;
+                if (Type == NodeType.Clearner) return true;
+                if (Type == NodeType.Charging) return true;
+                return false;
+            }
+        }
+
         /// <summary>
         /// 도킹 방향 (도킹/충전 노드인 경우에만 Forward/Backward, 일반 노드는 DontCare)
         /// </summary>
@@ -53,18 +66,38 @@ namespace AGVNavigationCore.Models
         /// <summary>
         /// 회전 가능 여부 (180도 회전 가능한 지점)
         /// </summary>
-        public bool CanRotate { get; set; } = false;
+        public bool CanTurnLeft { get; set; } = true;
+
+        /// <summary>
+        /// 회전 가능 여부 (180도 회전 가능한 지점)
+        /// </summary>
+        public bool CanTurnRight { get; set; } = true;
+
+        /// <summary>
+        /// 교차로로 이용가능한지
+        /// </summary>
+        public bool DisableCross
+        {
+            get
+            {
+                if (Type != NodeType.Normal) return true;
+                return _disablecross;
+            }
+            set { _disablecross = value; }
+        }
+
+        private bool _disablecross = false;
 
         /// <summary>
         /// 장비 ID (도킹/충전 스테이션인 경우)
         /// 예: "LOADER1", "CLEANER1", "BUFFER1", "CHARGER1"
         /// </summary>
-        public string StationId { get; set; } = string.Empty;
+        public string NodeAlias { get; set; } = string.Empty;
 
         /// <summary>
         /// 장비 타입 (도킹/충전 스테이션인 경우)
         /// </summary>
-        public StationType? StationType { get; set; } = null;
+       // public StationType? StationType { get; set; } = null;
 
         /// <summary>
         /// 노드 생성 일자
@@ -224,7 +257,7 @@ namespace AGVNavigationCore.Models
             Type = type;
             CreatedDate = DateTime.Now;
             ModifiedDate = DateTime.Now;
-            
+
             // 타입별 기본 색상 설정
             SetDefaultColorByType(type);
         }
@@ -240,10 +273,10 @@ namespace AGVNavigationCore.Models
                 case NodeType.Normal:
                     DisplayColor = Color.Blue;
                     break;
-                case NodeType.Rotation:
-                    DisplayColor = Color.Orange;
-                    break;
-                case NodeType.Docking:
+                case NodeType.UnLoader:
+                case NodeType.Clearner:
+                case NodeType.Buffer:
+                case NodeType.Loader:
                     DisplayColor = Color.Green;
                     break;
                 case NodeType.Charging:
@@ -283,21 +316,20 @@ namespace AGVNavigationCore.Models
             }
         }
 
-        /// <summary>
-        /// 도킹 스테이션 설정
-        /// </summary>
-        /// <param name="stationId">장비 ID</param>
-        /// <param name="stationType">장비 타입</param>
-        /// <param name="dockDirection">도킹 방향</param>
-        public void SetDockingStation(string stationId, StationType stationType, DockingDirection dockDirection)
-        {
-            Type = NodeType.Docking;
-            StationId = stationId;
-            StationType = stationType;
-            DockDirection = dockDirection;
-            SetDefaultColorByType(NodeType.Docking);
-            ModifiedDate = DateTime.Now;
-        }
+        ///// <summary>
+        ///// 도킹 스테이션 설정
+        ///// </summary>
+        ///// <param name="stationId">장비 ID</param>
+        ///// <param name="stationType">장비 타입</param>
+        ///// <param name="dockDirection">도킹 방향</param>
+        //public void SetDockingStation(string stationId, StationType stationType, DockingDirection dockDirection)
+        //{
+        //    Type = NodeType.Docking;
+        //    NodeAlias = stationId;
+        //    DockDirection = dockDirection;
+        //    SetDefaultColorByType(NodeType.Docking);
+        //    ModifiedDate = DateTime.Now;
+        //}
 
         /// <summary>
         /// 충전 스테이션 설정
@@ -306,8 +338,7 @@ namespace AGVNavigationCore.Models
         public void SetChargingStation(string stationId)
         {
             Type = NodeType.Charging;
-            StationId = stationId;
-            StationType = Models.StationType.Charger;
+            NodeAlias = stationId;
             DockDirection = DockingDirection.Forward; // 충전기는 항상 전진 도킹
             SetDefaultColorByType(NodeType.Charging);
             ModifiedDate = DateTime.Now;
@@ -329,17 +360,17 @@ namespace AGVNavigationCore.Models
             get
             {
                 var displayText = NodeId;
-                
+
                 if (!string.IsNullOrEmpty(Name))
                 {
                     displayText += $" - {Name}";
                 }
-                
+
                 if (!string.IsNullOrEmpty(RfidId))
                 {
                     displayText += $" - [{RfidId}]";
                 }
-                
+
                 return displayText;
             }
         }
@@ -358,9 +389,12 @@ namespace AGVNavigationCore.Models
                 Type = Type,
                 DockDirection = DockDirection,
                 ConnectedNodes = new List<string>(ConnectedNodes),
-                CanRotate = CanRotate,
-                StationId = StationId,
-                StationType = StationType,
+
+                CanTurnLeft = CanTurnLeft,
+                CanTurnRight = CanTurnRight,
+                DisableCross = DisableCross,
+
+                NodeAlias = NodeAlias,
                 CreatedDate = CreatedDate,
                 ModifiedDate = ModifiedDate,
                 IsActive = IsActive,
@@ -475,7 +509,7 @@ namespace AGVNavigationCore.Models
         public Size GetDisplaySize()
         {
             if (Type != NodeType.Image || LoadedImage == null) return Size.Empty;
-            
+
             return new Size(
                 (int)(LoadedImage.Width * Scale.Width),
                 (int)(LoadedImage.Height * Scale.Height)

Cs_HMI/AGVLogic/AGVNavigationCore/Models/VirtualAGV.cs

@@ -43,6 +43,8 @@ namespace AGVNavigationCore.Models
         /// </summary>
         public event EventHandler<string> ErrorOccurred;
 
+
+
         #endregion
 
         #region Fields
@@ -61,12 +63,12 @@ namespace AGVNavigationCore.Models
         private int _currentNodeIndex;
         private MapNode _currentNode;
         private MapNode _prevNode;
+        private AGVTurn _turn;
 
         // 이동 관련
         private DateTime _lastUpdateTime;
         private Point _moveStartPosition;
         private Point _moveTargetPosition;
-        private float _moveProgress;
 
         // 도킹 관련
         private DockingDirection _dockingDirection;
@@ -79,17 +81,25 @@ namespace AGVNavigationCore.Models
         private List<string> _detectedRfids = new List<string>();  // 감지된 RFID 목록
         private bool _isPositionConfirmed = false;  // 위치 확정 여부 (RFID 2개 이상 감지)
 
+        // 에뮬레이터용 추가 속성
+        public double Angle { get; set; } = 0; // 0 = Right, 90 = Down, 180 = Left, 270 = Up (Standard Math)
+        // But AGV Direction: Forward usually means "Front of AGV".
+        // Let's assume Angle is the orientation of the AGV in degrees.
+        
+        public bool IsStopMarkOn { get; set; } = false;
+
         #endregion
 
         #region Properties
 
+        public bool Turn180 { get; set; } = false;
+
         /// <summary>
         /// 대상 이동시 모터 방향
         /// </summary>
         public AgvDirection PrevDirection => _prevDirection;
 
 
-
         /// <summary>
         /// AGV ID
         /// </summary>
@@ -158,6 +168,11 @@ namespace AGVNavigationCore.Models
         /// </summary>
         public MapNode PrevNode => _prevNode;
 
+        /// <summary>
+        /// Turn 상태값
+        /// </summary>
+        public AGVTurn Turn { get; set; }
+
         /// <summary>
         /// 도킹 방향
         /// </summary>
@@ -209,6 +224,8 @@ namespace AGVNavigationCore.Models
             _currentPosition = position;
         }
 
+
+
         /// <summary>
         /// 감지된 RFID 설정 (실제 RFID 센서에서)
         /// </summary>
@@ -251,6 +268,19 @@ namespace AGVNavigationCore.Models
             }
         }
 
+        /// <summary>
+        /// 현재 노드id의 개체를 IsPass 로 설정합니다
+        /// </summary>
+        public bool SetCurrentNodeMarkStop()
+        {
+            if (_currentNode == null) return false;
+            var 미완료된처음노드 = _currentPath.DetailedPath.Where(t => t.IsPass == false).OrderBy(t => t.seq).FirstOrDefault();
+            if (미완료된처음노드 ==  null) return false;
+            미완료된처음노드.IsPass = true;
+            Console.WriteLine($"미완료된처음노드를 true러치합니다");
+            return true;
+        }
+
         /// <summary>
         /// 다음 동작 예측 (실제 AGV 제어용)
         /// AGV가 지속적으로 호출하여 현재 상태와 예측 상태를 일치시킴
@@ -265,7 +295,8 @@ namespace AGVNavigationCore.Models
                 return new AGVCommand(
                     MotorCommand.Forward,
                     MagnetPosition.S,  // 직진
-                    SpeedLevel.L,      // 저속
+                    SpeedLevel.L,      // 저속                
+                    eAGVCommandReason.UnknownPosition,
                     $"위치 미확정 (RFID {_detectedRfids.Count}/2) - 전진하여 RFID 탐색"
                 );
             }
@@ -277,6 +308,7 @@ namespace AGVNavigationCore.Models
                     MotorCommand.Stop,
                     MagnetPosition.S,
                     SpeedLevel.L,
+                     eAGVCommandReason.NoPath,
                     $"위치 확정 완료 (목적지 미설정) - 현재:{_currentNode?.NodeId ?? "알수없음"}"
                 );
             }
@@ -285,12 +317,32 @@ namespace AGVNavigationCore.Models
             var lastNode = _currentPath.DetailedPath.Last();
             if (_currentPath.DetailedPath.Where(t => t.seq < lastNode.seq && t.IsPass == false).Any() == false)
             {
-                return new AGVCommand(
-                    MotorCommand.Stop,
-                    MagnetPosition.S,
-                    SpeedLevel.L,
-                    $"목적지 도착 - 최종:{_currentNode?.NodeId ?? "알수없음"}"
-                );
+                // 마지막 노드에 도착했는지 확인 (현재 노드가 마지막 노드와 같은지)
+                if (_currentNode != null && _currentNode.NodeId == lastNode.NodeId)
+                {
+                    if (lastNode.IsPass) //이미완료되었다.
+                    {
+                        return new AGVCommand(
+                        MotorCommand.Stop,
+                        MagnetPosition.S,
+                        SpeedLevel.L,
+                         eAGVCommandReason.Complete,
+                        $"목적지 도착 - 최종:{_currentNode?.NodeId ?? "알수없음"}"
+                        );
+                    }
+                    else
+                    {
+                        //마지막노드는 일혔지만 완료되지 않았다. 마크스탑필요
+                        return new AGVCommand(
+                         MotorCommand.Stop,
+                         MagnetPosition.S,
+                         SpeedLevel.L,
+                          eAGVCommandReason.MarkStop,
+                         $"목적지 도착 전(MarkStop) - 최종:{_currentNode?.NodeId ?? "알수없음"}"
+                         );
+                    }
+
+                }
             }
 
             // 4. 경로이탈
@@ -301,120 +353,14 @@ namespace AGVNavigationCore.Models
                     MotorCommand.Stop,
                     MagnetPosition.S,
                     SpeedLevel.L,
+                     eAGVCommandReason.PathOut,
                     $"(재탐색요청)경로이탈 현재위치:{_currentNode.NodeId}"
                 );
             }
 
-            // 5. 방향체크
-            //if(CurrentDirection != TargetNode.MotorDirection)
-            //{
-            //    return new AGVCommand(
-            //         MotorCommand.Stop,
-            //         MagnetPosition.S,
-            //         SpeedLevel.L,
-            //         $"(재탐색요청)모터방향 불일치 현재위치:{_currentNode.NodeId}"
-            //     );
-            //}
-
-
-            //this.CurrentNodeId
-
             return GetCommandFromPath(CurrentNodeId, "경로 실행 시작");
 
-            // 4. 위치 확정 + 경로 실행 중 → 현재 상태에 따른 명령 예측
-            switch (_currentState)
-            {
-                case AGVState.Idle:
-                    // 🔥 경로가 있다면 이동 시작 (경로 실행 대기 중)
-                    if (_currentPath != null && _remainingNodes != null && _remainingNodes.Count > 0)
-                    {
-                        // DetailedPath에서 다음 노드 정보 가져오기
-                        return GetCommandFromPath(_remainingNodes[0], "경로 실행 시작");
-                    }
 
-                    // 경로가 없으면 대기
-                    return new AGVCommand(
-                        MotorCommand.Stop,
-                        MagnetPosition.S,
-                        SpeedLevel.L,
-                        "대기 중 (경로 없음)"
-                    );
-
-                case AGVState.Moving:
-                    {
-                        // 이동 중 - DetailedPath에서 현재/다음 노드 정보 가져오기
-                        if (_currentPath != null && _remainingNodes != null && _remainingNodes.Count > 0)
-                        {
-                            return GetCommandFromPath(_remainingNodes[0], "이동 중");
-                        }
-
-                        // 경로 정보가 없으면 기본 명령 (fallback)
-                        var motorCmd = _currentDirection == AgvDirection.Forward
-                            ? MotorCommand.Forward
-                            : MotorCommand.Backward;
-
-                        return new AGVCommand(
-                            motorCmd,
-                            MagnetPosition.S,
-                            SpeedLevel.M,
-                            $"이동 중 (DetailedPath 없음)"
-                        );
-                    }
-
-                case AGVState.Rotating:
-                    // 회전 중 - 정지 상태에서 마그넷만 조정
-                    MagnetPosition magnetPos = MagnetPosition.S;
-                    if (_currentDirection == AgvDirection.Left)
-                        magnetPos = MagnetPosition.L;
-                    else if (_currentDirection == AgvDirection.Right)
-                        magnetPos = MagnetPosition.R;
-
-                    return new AGVCommand(
-                        MotorCommand.Stop,  // 회전은 정지 상태에서
-                        magnetPos,
-                        SpeedLevel.L,
-                        $"회전 중 ({_currentDirection})"
-                    );
-
-                case AGVState.Docking:
-                    {
-                        // 도킹 중 - 저속으로 전진 또는 후진
-                        var dockingMotor = _dockingDirection == DockingDirection.Forward
-                            ? MotorCommand.Forward
-                            : MotorCommand.Backward;
-
-                        return new AGVCommand(
-                            dockingMotor,
-                            MagnetPosition.S,
-                            SpeedLevel.L,  // 도킹은 항상 저속
-                            $"도킹 중 ({_dockingDirection})"
-                        );
-                    }
-
-                case AGVState.Charging:
-                    return new AGVCommand(
-                        MotorCommand.Stop,
-                        MagnetPosition.S,
-                        SpeedLevel.L,
-                        "충전 중"
-                    );
-
-                case AGVState.Error:
-                    return new AGVCommand(
-                        MotorCommand.Stop,
-                        MagnetPosition.S,
-                        SpeedLevel.L,
-                        "오류 발생"
-                    );
-
-                default:
-                    return new AGVCommand(
-                        MotorCommand.Stop,
-                        MagnetPosition.S,
-                        SpeedLevel.L,
-                        "알 수 없는 상태"
-                    );
-            }
         }
 
         #endregion
@@ -434,7 +380,7 @@ namespace AGVNavigationCore.Models
         /// <summary>
         /// 현재 노드 ID 조회
         /// </summary>
-        public string GetCurrentNodeId() => _currentNode?.NodeId;
+        public MapNode GetCurrentNode() => _currentNode;
 
         /// <summary>
         /// AGV 정보 조회
@@ -494,6 +440,27 @@ namespace AGVNavigationCore.Models
             OnError("긴급 정지가 실행되었습니다.");
         }
 
+        /// <summary>
+        /// 일시 정지 (경로 유지)
+        /// </summary>
+        public void Pause()
+        {
+            _isMoving = false;
+            _currentSpeed = 0;
+        }
+
+        /// <summary>
+        /// 이동 재개
+        /// </summary>
+        public void Resume()
+        {
+            if (_currentPath != null && _remainingNodes != null && _remainingNodes.Count > 0)
+            {
+                _isMoving = true;
+                SetState(AGVState.Moving);
+            }
+        }
+
         #endregion
 
         #region Public Methods - 프레임 업데이트 (외부에서 정기적으로 호출)
@@ -527,10 +494,10 @@ namespace AGVNavigationCore.Models
             _prevPosition = targetPosition;
             _moveStartPosition = _currentPosition;
             _moveTargetPosition = targetPosition;
-            _moveProgress = 0;
 
             SetState(AGVState.Moving);
             _isMoving = true;
+            Turn = AGVTurn.None;
         }
 
         /// <summary>
@@ -620,7 +587,6 @@ namespace AGVNavigationCore.Models
                 if (item != null)
                 {
                     //item.IsPass = true;
-
                     //이전노드는 모두 지나친걸로 한다
                     CurrentPath.DetailedPath.Where(t => t.seq < item.seq).ToList().ForEach(t => t.IsPass = true);
                 }
@@ -644,6 +610,19 @@ namespace AGVNavigationCore.Models
 
         #endregion
 
+
+
+        /// <summary>
+        /// 노드 ID를 RFID 값으로 변환 (NodeResolver 사용)
+        /// </summary>
+        public string GetRfidByNodeId(List<MapNode> _mapNodes, string nodeId)
+        {
+            var node = _mapNodes?.FirstOrDefault(n => n.NodeId == nodeId);
+            return node?.HasRfid() == true ? node.RfidId : nodeId;
+        }
+
+
+
         #region Private Methods
 
         /// <summary>
@@ -662,6 +641,7 @@ namespace AGVNavigationCore.Models
                     defaultMotor,
                     MagnetPosition.S,
                     SpeedLevel.M,
+                     eAGVCommandReason.NoPath,
                     $"{actionDescription} (DetailedPath 없음)"
                 );
             }
@@ -681,6 +661,7 @@ namespace AGVNavigationCore.Models
                     defaultMotor,
                     MagnetPosition.S,
                     SpeedLevel.M,
+                      eAGVCommandReason.NoTarget,
                     $"{actionDescription} (노드 {targetNodeId} 정보 없음)"
                 );
             }
@@ -725,6 +706,7 @@ namespace AGVNavigationCore.Models
                 motorCmd,
                 magnetPos,
                 speed,
+                 eAGVCommandReason.Normal,
                 $"{actionDescription} → {targetNodeId} (Motor:{motorCmd}, Magnet:{magnetPos})"
             );
         }
@@ -796,6 +778,29 @@ namespace AGVNavigationCore.Models
             BatteryLevel = Math.Max(0, BatteryLevel);
         }
 
+        public MapNode StartNode { get; set; } = null;
+
+        private MapNode _targetnode = null;
+
+        /// <summary>
+        /// 목적지를 설정합니다. 목적지가 변경되면 경로계산정보가 삭제 됩니다.
+        /// </summary>
+        public MapNode TargetNode
+        {
+            get
+            {
+                return _targetnode;
+            }
+            set
+            {
+                if (_targetnode != value)
+                {
+                    _currentPath = null;
+                    _targetnode = value;
+                }
+            }
+        }
+
         private void ProcessNextNode()
         {
             if (_remainingNodes == null || _currentNodeIndex >= _remainingNodes.Count - 1)
@@ -865,7 +870,10 @@ namespace AGVNavigationCore.Models
             {
                 case NodeType.Charging:
                     return DockingDirection.Forward;
-                case NodeType.Docking:
+                case NodeType.Loader:
+                case NodeType.UnLoader:
+                case NodeType.Clearner:
+                case NodeType.Buffer:
                     return DockingDirection.Backward;
                 default:
                     return DockingDirection.Forward;
@@ -880,8 +888,6 @@ namespace AGVNavigationCore.Models
 
         #endregion
 
-
-
         #region Cleanup
 
         /// <summary>

Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Core/AStarPathfinder.cs

@@ -101,7 +101,7 @@ namespace AGVNavigationCore.PathFinding.Core
         /// <param name="startNodeId">시작 노드 ID</param>
         /// <param name="endNodeId">목적지 노드 ID</param>
         /// <returns>경로 계산 결과</returns>
-        public AGVPathResult FindPath(string startNodeId, string endNodeId)
+        public AGVPathResult FindPathAStar(string startNodeId, string endNodeId)
         {
             var stopwatch = System.Diagnostics.Stopwatch.StartNew();
 
@@ -126,7 +126,6 @@ namespace AGVNavigationCore.PathFinding.Core
 
                 var startNode = _nodeMap[startNodeId];
                 var endNode = _nodeMap[endNodeId];
-
                 var openSet = new List<PathNode>();
                 var closedSet = new HashSet<string>();
                 var exploredCount = 0;
@@ -199,7 +198,7 @@ namespace AGVNavigationCore.PathFinding.Core
                 // 경유지가 없으면 기본 FindPath 호출
                 if (waypointNodeIds == null || waypointNodeIds.Length == 0)
                 {
-                    return FindPath(startNodeId, endNodeId);
+                    return FindPathAStar(startNodeId, endNodeId);
                 }
 
                 // 경유지 유효성 검증
@@ -220,7 +219,7 @@ namespace AGVNavigationCore.PathFinding.Core
                 // 경유지가 없으면 기본 경로 계산
                 if (validWaypoints.Count == 0)
                 {
-                    return FindPath(startNodeId, endNodeId);
+                    return FindPathAStar(startNodeId, endNodeId);
                 }
 
                 // 첫 번째 경유지가 시작노드와 같은지 검사
@@ -267,7 +266,7 @@ namespace AGVNavigationCore.PathFinding.Core
                     string waypoint = validWaypoints[i];
 
                     // 현재 위치에서 경유지까지의 경로 계산
-                    var segmentResult = FindPath(currentStart, waypoint);
+                    var segmentResult = FindPathAStar(currentStart, waypoint);
 
                     if (!segmentResult.Success)
                     {
@@ -295,7 +294,7 @@ namespace AGVNavigationCore.PathFinding.Core
                 }
 
                 // 2단계: 마지막 경유지에서 최종 목적지까지의 경로 계산
-                var finalSegmentResult = FindPath(currentStart, endNodeId);
+                var finalSegmentResult = FindPathAStar(currentStart, endNodeId);
 
                 if (!finalSegmentResult.Success)
                 {
@@ -442,7 +441,7 @@ namespace AGVNavigationCore.PathFinding.Core
             AGVPathResult bestResult = null;
             foreach (var targetId in targetNodeIds)
             {
-                var result = FindPath(startNodeId, targetId);
+                var result = FindPathAStar(startNodeId, targetId);
                 if (result.Success && (bestResult == null || result.TotalDistance < bestResult.TotalDistance))
                 {
                     bestResult = result;

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

@@ -22,8 +22,6 @@ namespace AGVNavigationCore.PathFinding.Planning
         private readonly JunctionAnalyzer _junctionAnalyzer;
         private readonly DirectionChangePlanner _directionChangePlanner;
 
-
-
         public AGVPathfinder(List<MapNode> mapNodes)
         {
             _mapNodes = mapNodes ?? new List<MapNode>();
@@ -49,8 +47,9 @@ namespace AGVNavigationCore.PathFinding.Planning
                 n.IsActive &&
                 n.IsNavigationNode() &&
                 n.ConnectedNodes != null &&
+                n.DisableCross == false &&
                 n.ConnectedNodes.Count >= 3 &&
-                n.ConnectedMapNodes.Where(t => t.Type == NodeType.Docking || t.Type == NodeType.Charging).Any() == false &&
+                n.ConnectedMapNodes.Where(t => t.CanDocking).Any() == false &&
                 n.NodeId != startNode.NodeId
             ).ToList();
 
@@ -99,9 +98,10 @@ namespace AGVNavigationCore.PathFinding.Planning
                 if (pathNode != null &&
                     pathNode.IsActive &&
                     pathNode.IsNavigationNode() &&
+                    pathNode.DisableCross == false &&
                     pathNode.ConnectedNodes != null &&
                     pathNode.ConnectedNodes.Count >= 3 &&
-                    pathNode.ConnectedMapNodes.Where(t => t.Type == NodeType.Docking || t.Type == NodeType.Charging).Any() == false)
+                    pathNode.ConnectedMapNodes.Where(t => t.CanDocking).Any() == false)
                 {
                     if (pathNode.NodeId.Equals(StartNode.NodeId) == false)
                         return pathNode;
@@ -122,12 +122,12 @@ namespace AGVNavigationCore.PathFinding.Planning
             if (prevNode == null)
                 return AGVPathResult.CreateFailure("이전위치 노드가 null입니다.", 0, 0);
             if (startNode.NodeId == targetNode.NodeId && targetNode.DockDirection.MatchAGVDirection(prevDirection))
-                return AGVPathResult.CreateSuccess(new List<MapNode> { startNode,startNode }, new List<AgvDirection>(), 0, 0);
+                return AGVPathResult.CreateSuccess(new List<MapNode> { startNode, startNode }, new List<AgvDirection>(), 0, 0);
 
             var ReverseDirection = (currentDirection == AgvDirection.Forward ? AgvDirection.Backward : AgvDirection.Forward);
 
             //1.목적지까지의 최단거리 경로를 찾는다.
-            var pathResult = _basicPathfinder.FindPath(startNode.NodeId, targetNode.NodeId);
+            var pathResult = _basicPathfinder.FindPathAStar(startNode.NodeId, targetNode.NodeId);
             pathResult.PrevNode = prevNode;
             pathResult.PrevDirection = prevDirection;
             if (!pathResult.Success || pathResult.Path == null || pathResult.Path.Count == 0)
@@ -221,7 +221,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                 //진행방향으로 이동했을때 나오는 노드를 사용한다.
                 if (nextNodeForward != null)
                 {
-                    var Path0 = _basicPathfinder.FindPath(startNode.NodeId, nextNodeForward.NodeId);
+                    var Path0 = _basicPathfinder.FindPathAStar(startNode.NodeId, nextNodeForward.NodeId);
                     Path0.PrevNode = prevNode;
                     Path0.PrevDirection = prevDirection;
                     MakeDetailData(Path0, prevDirection);
@@ -267,7 +267,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             //경유지를 포함하여 경로를 다시 계산한다.
 
             //1.시작위치 - 교차로(여기까지는 현재 방향으로 그대로 이동을 한다)
-            var path1 = _basicPathfinder.FindPath(startNode.NodeId, JunctionInPath.NodeId);
+            var path1 = _basicPathfinder.FindPathAStar(startNode.NodeId, JunctionInPath.NodeId);
             path1.PrevNode = prevNode;
             path1.PrevDirection = prevDirection;
 
@@ -295,7 +295,7 @@ namespace AGVNavigationCore.PathFinding.Planning
 
 
             //2.교차로 - 종료위치
-            var path2 = _basicPathfinder.FindPath(JunctionInPath.NodeId, targetNode.NodeId);
+            var path2 = _basicPathfinder.FindPathAStar(JunctionInPath.NodeId, targetNode.NodeId);
             path2.PrevNode = prevNode;
             path2.PrevDirection = prevDirection;
 
@@ -332,7 +332,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             //if (tempNode != null)
             {
                 // 교차로 → 대체노드 경로 계산
-                var pathToTemp = _basicPathfinder.FindPath(JunctionInPath.NodeId, tempNode.NodeId);
+                var pathToTemp = _basicPathfinder.FindPathAStar(JunctionInPath.NodeId, tempNode.NodeId);
                 pathToTemp.PrevNode = JunctionInPath;
                 pathToTemp.PrevDirection = (ReverseCheck ? ReverseDirection : currentDirection);
                 if (!pathToTemp.Success)
@@ -348,7 +348,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                 combinedResult = _basicPathfinder.CombineResults(combinedResult, pathToTemp);
 
                 // 대체노드 → 교차로 경로 계산 (역방향)
-                var pathFromTemp = _basicPathfinder.FindPath(tempNode.NodeId, JunctionInPath.NodeId);
+                var pathFromTemp = _basicPathfinder.FindPathAStar(tempNode.NodeId, JunctionInPath.NodeId);
                 pathFromTemp.PrevNode = JunctionInPath;
                 pathFromTemp.PrevDirection = (ReverseCheck ? ReverseDirection : currentDirection);
                 if (!pathFromTemp.Success)
@@ -362,7 +362,7 @@ namespace AGVNavigationCore.PathFinding.Planning
 
                 //현재까지 노드에서 목적지까지의 방향이 일치하면 그대로 사용한다.
                 bool temp3ok = false;
-                var TempCheck3 = _basicPathfinder.FindPath(combinedResult.Path.Last().NodeId, targetNode.NodeId);
+                var TempCheck3 = _basicPathfinder.FindPathAStar(combinedResult.Path.Last().NodeId, targetNode.NodeId);
                 if (TempCheck3.Path.First().NodeId.Equals(combinedResult.Path.Last().NodeId))
                 {
                     if (targetNode.DockDirection == DockingDirection.Forward && combinedResult.DetailedPath.Last().MotorDirection == AgvDirection.Forward)
@@ -385,7 +385,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                combinedResult.Path[combinedResult.Path.Count - 2].NodeId,
                path2.Path[1].NodeId);
 
-                    var pathToTemp2 = _basicPathfinder.FindPath(JunctionInPath.NodeId, tempNode2.NodeId);
+                    var pathToTemp2 = _basicPathfinder.FindPathAStar(JunctionInPath.NodeId, tempNode2.NodeId);
                     if (ReverseCheck) MakeDetailData(pathToTemp2, currentDirection);
                     else MakeDetailData(pathToTemp2, ReverseDirection);
 
@@ -400,7 +400,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                             combinedResult.DetailedPath[combinedResult.DetailedPath.Count - 1].MotorDirection = currentDirection;
                     }
 
-                    var pathToTemp3 = _basicPathfinder.FindPath(tempNode2.NodeId, JunctionInPath.NodeId);
+                    var pathToTemp3 = _basicPathfinder.FindPathAStar(tempNode2.NodeId, JunctionInPath.NodeId);
                     if (ReverseCheck) MakeDetailData(pathToTemp3, ReverseDirection);
                     else MakeDetailData(pathToTemp3, currentDirection);
 
@@ -438,7 +438,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                     string nextNodeId = (i + 1 < path1.Path.Count) ? path1.Path[i + 1].NodeId : null;
 
                     // 노드 정보 생성 (현재 방향 유지)
-                    var nodeInfo = new NodeMotorInfo(i+1,
+                    var nodeInfo = new NodeMotorInfo(i + 1,
                         nodeId, RfidId,
                         currentDirection,
                         nextNodeId,

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

@@ -73,7 +73,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             // 방향이 같으면 직접 경로 계산
             if (currentDirection == requiredDirection)
             {
-                var directPath = _pathfinder.FindPath(startNodeId, targetNodeId);
+                var directPath = _pathfinder.FindPathAStar(startNodeId, targetNodeId);
                 if (directPath.Success)
                 {
                     return DirectionChangePlan.CreateSuccess(
@@ -85,7 +85,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             }
 
             // 방향 전환이 필요한 경우 - 먼저 간단한 직접 경로 확인
-            var directPath2 = _pathfinder.FindPath(startNodeId, targetNodeId);
+            var directPath2 = _pathfinder.FindPathAStar(startNodeId, targetNodeId);
             if (directPath2.Success)
             {
                 // 직접 경로에 갈림길이 포함된 경우 그 갈림길에서 방향 전환
@@ -160,7 +160,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             }
 
             // 2. 직진 경로상의 갈림길들도 검색 (단, 되돌아가기 방지)
-            var directPath = _pathfinder.FindPath(startNodeId, targetNodeId);
+            var directPath = _pathfinder.FindPathAStar(startNodeId, targetNodeId);
             if (directPath.Success)
             {
                 foreach (var node in directPath.Path.Skip(2)) // 시작점과 다음 노드는 제외
@@ -261,7 +261,7 @@ namespace AGVNavigationCore.PathFinding.Planning
 
             foreach (var junction in junctions)
             {
-                var path = _pathfinder.FindPath(startNodeId, junction);
+                var path = _pathfinder.FindPathAStar(startNodeId, junction);
                 double distance = path.Success ? path.TotalDistance : double.MaxValue;
                 distances.Add((junction, distance));
             }
@@ -313,12 +313,12 @@ namespace AGVNavigationCore.PathFinding.Planning
             var fullPath = new List<MapNode>();
 
             // 1. 시작점에서 갈림길까지의 경로
-            var toJunctionPath = _pathfinder.FindPath(startNodeId, junctionNodeId);
+            var toJunctionPath = _pathfinder.FindPathAStar(startNodeId, junctionNodeId);
             if (!toJunctionPath.Success)
                 return fullPath;
 
             // 2. 인근 갈림길을 통한 우회인지, 직진 경로상 갈림길인지 판단
-            var directPath = _pathfinder.FindPath(startNodeId, targetNodeId);
+            var directPath = _pathfinder.FindPathAStar(startNodeId, targetNodeId);
             bool isNearbyDetour = !directPath.Success || !directPath.Path.Any(n => n.NodeId == junctionNodeId);
 
             if (isNearbyDetour)
@@ -341,7 +341,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             var fullPath = new List<MapNode>();
 
             // 1. 시작점에서 갈림길까지 직진 (현재 방향 유지)
-            var toJunctionPath = _pathfinder.FindPath(startNodeId, junctionNodeId);
+            var toJunctionPath = _pathfinder.FindPathAStar(startNodeId, junctionNodeId);
             if (!toJunctionPath.Success)
                 return fullPath;
 
@@ -349,7 +349,7 @@ namespace AGVNavigationCore.PathFinding.Planning
 
             // 2. 갈림길에서 방향 전환 후 목적지로
             // 이때 마그넷 센서를 이용해 목적지 방향으로 진입
-            var fromJunctionPath = _pathfinder.FindPath(junctionNodeId, targetNodeId);
+            var fromJunctionPath = _pathfinder.FindPathAStar(junctionNodeId, targetNodeId);
             if (fromJunctionPath.Success && fromJunctionPath.Path.Count > 1)
             {
                 fullPath.AddRange(fromJunctionPath.Path.Skip(1)); // 중복 노드 제거
@@ -366,7 +366,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             var fullPath = new List<MapNode>();
 
             // 1. 시작점에서 갈림길까지의 경로
-            var toJunctionPath = _pathfinder.FindPath(startNodeId, junctionNodeId);
+            var toJunctionPath = _pathfinder.FindPathAStar(startNodeId, junctionNodeId);
             if (!toJunctionPath.Success)
                 return fullPath;
 
@@ -387,7 +387,7 @@ namespace AGVNavigationCore.PathFinding.Planning
 
             // 3. 갈림길에서 목표점까지의 경로
             string lastNode = fullPath.LastOrDefault()?.NodeId ?? junctionNodeId;
-            var fromJunctionPath = _pathfinder.FindPath(lastNode, targetNodeId);
+            var fromJunctionPath = _pathfinder.FindPathAStar(lastNode, targetNodeId);
             if (fromJunctionPath.Success && fromJunctionPath.Path.Count > 1)
             {
                 fullPath.AddRange(fromJunctionPath.Path.Skip(1));
@@ -609,7 +609,7 @@ namespace AGVNavigationCore.PathFinding.Planning
         private bool CanReachTargetViaJunction(string junctionNodeId, string targetNodeId)
         {
             // 갈림길에서 목적지까지의 경로가 존재하는지 확인
-            var pathToTarget = _pathfinder.FindPath(junctionNodeId, targetNodeId);
+            var pathToTarget = _pathfinder.FindPathAStar(junctionNodeId, targetNodeId);
             return pathToTarget.Success;
         }
 

Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DirectionalPathfinderTest.cs

@@ -153,7 +153,7 @@ namespace AGVNavigationCore.Utils
             Console.WriteLine($"이름: {node.Name}");
             Console.WriteLine($"위치: {node.Position}");
             Console.WriteLine($"타입: {GetNodeTypeName(node.Type)}");
-            Console.WriteLine($"회전 가능: {node.CanRotate}");
+            Console.WriteLine($"TurnLeft/Right/교차로 : {(node.CanTurnLeft ? "O":"X")}/{(node.CanTurnRight ? "O" : "X")}/{(node.DisableCross ? "X" : "O")}");
             Console.WriteLine($"활성: {node.IsActive}");
             Console.WriteLine($"연결된 노드:");
 

Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.cs

@@ -15,6 +15,8 @@ using Newtonsoft.Json;
 using AGVNavigationCore.PathFinding.Planning;
 using AGVNavigationCore.PathFinding.Core;
 using AGVSimulator.Models;
+using System.IO.Ports;
+using System.Text;
 
 namespace AGVSimulator.Forms
 {
@@ -25,6 +27,86 @@ namespace AGVSimulator.Forms
     {
         #region Fields
 
+        // Emulator Fields
+        private SerialPort _emulatorPort;
+        private ComboBox _portCombo;
+        private Button _connectButton;
+        private bool _isEmulatorConnected = false;
+
+        // Emulator State Fields
+        private UInt16 _emu_system0 = 0;
+        private UInt16 _emu_system1 = 0;
+        private UInt16 _emu_error = 0;
+        private byte _emu_signal = 0;
+        private char _emu_sts_bunki = 'S';
+        private char _emu_sts_speed = 'L';
+        private char _emu_sts_dir = 'F';
+        private char _emu_sts_sensor = '1';
+        private string _lastSentNodeId = null;
+
+        public enum esystemflag0
+        {
+            Memory_RW_State = 5,
+            EXT_IO_Conn_State,
+            RFID_Conn_State,
+            M5E_Module_Run_State = 8,
+            Front_Ultrasonic_Conn_State,
+            Front_Untrasonic_Sensor_State,
+            Side_Ultrasonic_Conn_State,
+            Side_Ultrasonic_Sensor_State = 12,
+            Front_Guide_Sensor_State,
+            Rear_Guide_Sensor_State,
+            Battery_Level_Check
+        }
+        public enum esystemflag1
+        {
+            Side_Detect_Ignore = 3,
+            Melody_check,
+            Mark2_check,
+            Mark1_check,
+            gateout_check,
+            Battery_charging = 8,
+            re_Start,
+            front_detect_ignore,
+            front_detect_check,
+            stop_by_front_detect = 12,
+            stop_by_cross_in,
+            agv_stop,
+            agv_run
+        }
+        public enum eerror
+        {
+            Emergency = 0,
+            Overcurrent,
+            Charger_run_error,
+            Charger_pos_error,
+            line_out_error = 4,
+            runerror_by_no_magent_line,
+            controller_comm_error = 11,
+            arrive_ctl_comm_error,
+            door_ctl_comm_error,
+            charger_comm_error,
+            cross_ctrl_comm_error,
+        }
+        public enum esignal
+        {
+            front_gate_out = 0,
+            rear_sensor_out,
+            mark_sensor_1,
+            mark_sensor_2,
+            front_left_sensor,
+            front_right_sensor,
+            front_center_sensor,
+            charger_align_sensor,
+        }
+        public enum estsvaluetype
+        {
+            bunki,
+            speed,
+            direction,
+            sensor
+        }
+
         private UnifiedAGVCanvas _simulatorCanvas;
         private List<MapNode> _mapNodes;
         private AGVPathfinder _advancedPathfinder;
@@ -92,6 +174,9 @@ namespace AGVSimulator.Forms
             // 방향 콤보박스 초기화
             InitializeDirectionCombo();
 
+            // 에뮬레이터 UI 초기화
+            InitializeEmulatorUI();
+
             // 초기 상태 설정
             UpdateUI();
 
@@ -338,6 +423,19 @@ namespace AGVSimulator.Forms
                     advancedResult.DockingValidation = DockingValidator.ValidateDockingDirection(advancedResult, _mapNodes);
                 }
 
+                //마지막대상이 버퍼라면 시퀀스처리를 해야한다
+                if(targetNode.Type == NodeType.Buffer)
+                {
+                    var lastDetailPath = advancedResult.DetailedPath.Last();
+                    if(lastDetailPath.NodeId == targetNode.NodeId)  //마지막노드 재확인
+                    {
+                        //버퍼에 도킹할때에는 마지막 노드에서 멈추고 시퀀스를 적용해야한다
+                        advancedResult.DetailedPath = advancedResult.DetailedPath.Take(advancedResult.DetailedPath.Count - 1).ToList();
+                        Console.WriteLine("최종위치가 버퍼이므로 마지막 RFID에서 멈추도록 합니다");
+                    }
+                }
+
+
                 _simulatorCanvas.CurrentPath = advancedResult;
                 _pathLengthLabel.Text = $"경로 길이: {advancedResult.TotalDistance:F1}";
                 _statusLabel.Text = $"경로 계산 완료 ({advancedResult.CalculationTimeMs}ms)";
@@ -703,12 +801,32 @@ namespace AGVSimulator.Forms
                 foreach (var agv in _agvList)
                 {
                     agv.Update(100);  // 100ms 간격으로 업데이트
+
+                    // Emulator Tag Logic
+                    if (_isEmulatorConnected && agv == _agvList.FirstOrDefault())
+                    {
+                        if (agv.CurrentNodeId != null && agv.CurrentNodeId != _lastSentNodeId)
+                        {
+                            var rfid = GetRfidByNodeId(agv.CurrentNodeId);
+                            if (!string.IsNullOrEmpty(rfid))
+                            {
+                                SendTag(rfid);
+                                _lastSentNodeId = agv.CurrentNodeId;
+                            }
+                        }
+                    }
                 }
             }
 
             // UI 업데이트
             UpdateUI();
             _simulatorCanvas.Invalidate();  // 화면 다시 그리기
+
+            // 에뮬레이터 상태 전송
+            if (_isEmulatorConnected)
+            {
+                SendEmulatorStatus();
+            }
         }
 
         #endregion
@@ -1443,7 +1561,7 @@ namespace AGVSimulator.Forms
 
             // 도킹 타겟 노드 찾기
             var dockingTargets = _mapNodes.Where(n =>
-                n.Type == NodeType.Charging || n.Type == NodeType.Docking).ToList();
+                n.Type == NodeType.Charging || n.Type == NodeType.Loader || n.Type == NodeType.UnLoader || n.Type == NodeType.Clearner || n.Type == NodeType.Buffer).ToList();
 
             if (dockingTargets.Count == 0)
             {
@@ -1790,7 +1908,7 @@ namespace AGVSimulator.Forms
                          $"모터: {command.Motor}\n" +
                          $"마그넷: {command.Magnet}\n" +
                          $"속도: {command.Speed}\n" +
-                         $"이유: {command.Reason}\n\n" +
+                         $"이유: {command.Message}\n\n" +
                          $"---\n" +
                          $"현재 상태: {agv.CurrentState}\n" +
                          $"현재 방향: {agv.CurrentDirection}\n" +
@@ -1811,7 +1929,7 @@ namespace AGVSimulator.Forms
             // 첫 번째 AGV의 다음 행동 예측
             var agv = _agvList[0];
             var command = agv.Predict();
-            this.lbPredict.Text = $"Motor:{command.Motor},Magnet:{command.Magnet},Speed:{command.Speed} : {command.Reason}";
+            this.lbPredict.Text = $"Motor:{command.Motor},Magnet:{command.Magnet},Speed:{command.Speed} : {command.Message}";
         }
     
 
@@ -1992,6 +2110,412 @@ namespace AGVSimulator.Forms
                               MessageBoxButtons.OK, MessageBoxIcon.Error);
             }
         }
+
+        #region Emulator Logic
+
+        private void InitializeEmulatorUI()
+        {
+            // 에뮬레이터 제어 패널 생성
+            var emulatorPanel = new GroupBox();
+            emulatorPanel.Text = "AGV Emulator (RS232)";
+            emulatorPanel.Height = 60;
+            emulatorPanel.Dock = DockStyle.Top;
+
+            var layout = new FlowLayoutPanel();
+            layout.Dock = DockStyle.Fill;
+            layout.Padding = new Padding(5);
+            layout.AutoSize = true;
+
+            // 포트 선택 콤보박스
+            _portCombo = new ComboBox();
+            _portCombo.Width = 100;
+            _portCombo.DropDownStyle = ComboBoxStyle.DropDownList;
+            _portCombo.DropDown += (s, e) => {
+                _portCombo.Items.Clear();
+                _portCombo.Items.AddRange(SerialPort.GetPortNames());
+            };
+            _portCombo.Items.AddRange(SerialPort.GetPortNames());
+            if (_portCombo.Items.Count > 0) _portCombo.SelectedIndex = 0;
+
+            // 연결 버튼
+            _connectButton = new Button();
+            _connectButton.Text = "Connect";
+            _connectButton.Click += OnConnectEmulator_Click;
+
+            layout.Controls.Add(new Label { Text = "Port:", AutoSize = true, Margin = new Padding(3, 8, 3, 3) });
+            layout.Controls.Add(_portCombo);
+            layout.Controls.Add(_connectButton);
+
+            emulatorPanel.Controls.Add(layout);
+
+            // 폼의 최상단에 추가
+            this.Controls.Add(emulatorPanel);
+            emulatorPanel.BringToFront();
+        }
+
+        private void OnConnectEmulator_Click(object sender, EventArgs e)
+        {
+            if (_isEmulatorConnected)
+            {
+                DisconnectEmulator();
+            }
+            else
+            {
+                if (_portCombo.SelectedItem == null)
+                {
+                    MessageBox.Show("포트를 선택해주세요.");
+                    return;
+                }
+                ConnectEmulator(_portCombo.SelectedItem.ToString());
+            }
+        }
+
+        private void ConnectEmulator(string portName)
+        {
+            try
+            {
+                _emulatorPort = new SerialPort(portName, 115200, Parity.None, 8, StopBits.One);
+                _emulatorPort.DataReceived += OnEmulatorDataReceived;
+                _emulatorPort.Open();
+                _isEmulatorConnected = true;
+                _connectButton.Text = "Disconnect";
+                _portCombo.Enabled = false;
+                MessageBox.Show($"에뮬레이터 시작: {portName}");
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show($"연결 실패: {ex.Message}");
+            }
+        }
+
+        private void DisconnectEmulator()
+        {
+            try
+            {
+                if (_emulatorPort != null && _emulatorPort.IsOpen)
+                {
+                    _emulatorPort.Close();
+                }
+                _isEmulatorConnected = false;
+                _connectButton.Text = "Connect";
+                _portCombo.Enabled = true;
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show($"해제 실패: {ex.Message}");
+            }
+        }
+
+        private StringBuilder _recvBuffer = new StringBuilder();
+
+        private void OnEmulatorDataReceived(object sender, SerialDataReceivedEventArgs e)
+        {
+            try
+            {
+                string data = _emulatorPort.ReadExisting();
+                _recvBuffer.Append(data);
+
+                string buffer = _recvBuffer.ToString();
+                int stxIndex = buffer.IndexOf((char)0x02);
+                
+                while (stxIndex >= 0)
+                {
+                    int etxIndex = buffer.IndexOf((char)0x03, stxIndex);
+                    if (etxIndex > stxIndex)
+                    {
+                        string packet = buffer.Substring(stxIndex + 1, etxIndex - stxIndex - 1);
+                        ProcessEmulatorPacket(packet);
+
+                        // 처리된 패킷 제거
+                        buffer = buffer.Substring(etxIndex + 1);
+                        stxIndex = buffer.IndexOf((char)0x02);
+                    }
+                    else
+                    {
+                        break; // ETX 아직 안옴
+                    }
+                }
+                
+                _recvBuffer.Clear();
+                _recvBuffer.Append(buffer);
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine($"Emulator Recv Error: {ex.Message}");
+            }
+        }
+
+        #region Emulator Helpers
+        private bool GetBit(ref UInt16 _value, int idx)
+        {
+            var offset = (UInt16)(1 << idx);
+            return (_value & offset) != 0;
+        }
+
+        private bool SetBit(ref UInt16 _value, int idx, bool value)
+        {
+            var oldvalue = GetBit(ref _value, idx);
+            if (value)
+            {
+                var offset = (UInt16)(1 << idx);
+                _value = (UInt16)(_value | offset);
+            }
+            else
+            {
+                var offset = (UInt16)(~(1 << idx));
+                _value = (UInt16)(_value & offset);
+            }
+            return oldvalue != value;
+        }
+
+        private bool SetBit(ref byte _value, int idx, bool value)
+        {
+            var offset = (byte)(1 << idx);
+            if (value) _value |= offset;
+            else _value &= (byte)~offset;
+            return true;
+        }
+
+        private void SetAGV(esystemflag0 flag, bool value)
+        {
+            SetBit(ref _emu_system0, (int)flag, value);
+        }
+        private void SetAGV(esystemflag1 flag, bool value)
+        {
+            SetBit(ref _emu_system1, (int)flag, value);
+        }
+        private void SetAGV(eerror flag, bool value)
+        {
+            SetBit(ref _emu_error, (int)flag, value);
+        }
+        private void SetAGV(esignal flag, bool value)
+        {
+            SetBit(ref _emu_signal, (int)flag, value);
+        }
+        private void SetSTS(estsvaluetype target, char value)
+        {
+            switch (target)
+            {
+                case estsvaluetype.sensor: _emu_sts_sensor = value; break;
+                case estsvaluetype.direction: _emu_sts_dir = value; break;
+                case estsvaluetype.speed: _emu_sts_speed = value; break;
+                case estsvaluetype.bunki: _emu_sts_bunki = value; break;
+            }
+        }
+        #endregion
+
+        private void ProcessEmulatorPacket(string packet)
+        {
+            // Packet: CMD(3) + DATA(...) + Checksum(2)
+            // But here packet is substring between STX and ETX.
+            // Example: STS...Checksum
+            
+            if (packet.Length < 3) return;
+            string cmd = packet.Substring(0, 3);
+            string data = "";
+            if (packet.Length > 5) // CMD + Checksum(2)
+            {
+                data = packet.Substring(3, packet.Length - 5);
+            }
+
+            // AGV 제어 (첫 번째 AGV 대상)
+            var agv = _agvList.FirstOrDefault();
+            
+            this.Invoke(new Action(() => {
+                switch (cmd)
+                {
+                    case "CRN": // 기동명령
+                        if (data.Length > 0) SetSTS(estsvaluetype.direction, data[0]);
+                        SetAGV(esystemflag1.agv_stop, false);
+                        SetAGV(esystemflag1.agv_run, true);
+                        if (agv != null) agv.Resume();
+                        break;
+
+                    case "CST": // 중지명령
+                        if (data.StartsWith("M"))
+                        {
+                            // Mark Stop
+                            // TODO: Implement Mark Stop logic in VirtualAGV if needed
+                            // For now, just log it
+                            Console.WriteLine("Mark Stop Command Received");
+                        }
+                        else
+                        {
+                            SetAGV(esystemflag1.agv_run, false);
+                            SetAGV(esystemflag1.agv_stop, true);
+                            if (agv != null) agv.Pause();
+                        }
+                        break;
+
+                    case "CBR": // 분기명령
+                        // FSL1
+                        if (data.Length >= 4)
+                        {
+                            SetSTS(estsvaluetype.direction, data[0]);
+                            SetSTS(estsvaluetype.bunki, data[1]);
+                            SetSTS(estsvaluetype.speed, data[2]);
+                            SetSTS(estsvaluetype.sensor, data[3]);
+                        }
+                        break;
+
+                    case "CRT": // 수동제어
+                        if (data.Length >= 4)
+                        {
+                            _emu_sts_dir = data[0];
+                            _emu_sts_bunki = data[1];
+                            _emu_sts_speed = data[2];
+                            _emu_sts_sensor = data[3];
+                            SetAGV(esystemflag1.agv_stop, false);
+                            SetAGV(esystemflag1.agv_run, true);
+                            if (agv != null) agv.Resume();
+                        }
+                        break;
+
+                    case "SFR": // Reset
+                        SetAGV(eerror.Emergency, false);
+                        SetAGV(eerror.line_out_error, false);
+                        SetAGV(eerror.Overcurrent, false);
+                        SetAGV(esystemflag1.agv_run, false);
+                        SetAGV(esystemflag1.agv_stop, true);
+                        if (agv != null) agv.Pause();
+                        break;
+
+                    case "CBT": // 충전
+                        SetAGV(esystemflag1.Battery_charging, true);
+                        if (data.Length >= 5)
+                        {
+                            var cmdChar = data[4];
+                            if (cmdChar == 'I') SetAGV(esystemflag1.Battery_charging, true);
+                            else SetAGV(esystemflag1.Battery_charging, false);
+                        }
+                        break;
+                    
+                    case "ACK":
+                        // Log ACK
+                        break;
+
+                    default:
+                        // Send ACK for other commands
+                        SendCmd("ACK", cmd);
+                        break;
+                }
+            }));
+        }
+
+        private void SendCmd(string cmd, string value)
+        {
+            if (_emulatorPort == null || !_emulatorPort.IsOpen) return;
+
+            var barr = new List<byte>();
+            barr.Add(0x02);
+            barr.AddRange(System.Text.Encoding.Default.GetBytes(cmd));
+            barr.AddRange(System.Text.Encoding.Default.GetBytes(value));
+            barr.Add((byte)'*');
+            barr.Add((byte)'*');
+            barr.Add(0x03);
+            
+            try
+            {
+                _emulatorPort.Write(barr.ToArray(), 0, barr.Count);
+            }
+            catch { }
+        }
+
+        public void SendTag(string tagno)
+        {
+            if (_emulatorPort == null || !_emulatorPort.IsOpen) return;
+
+            tagno = tagno.PadLeft(6, '0');
+            if (tagno.Length > 6) tagno = tagno.Substring(0, 6);
+            
+            var barr = new List<byte>();
+            barr.Add(0x02);
+            barr.Add((byte)'T');
+            barr.Add((byte)'A');
+            barr.Add((byte)'G');
+            barr.AddRange(System.Text.Encoding.Default.GetBytes(tagno));
+            barr.Add((byte)'*');
+            barr.Add((byte)'*');
+            barr.Add(0x03);
+            
+            try
+            {
+                _emulatorPort.Write(barr.ToArray(), 0, barr.Count);
+            }
+            catch { }
+        }
+
+        private void SendEmulatorStatus()
+        {
+            if (_emulatorPort == null || !_emulatorPort.IsOpen) return;
+
+            var agv = _agvList.FirstOrDefault();
+            
+            // Sync state from VirtualAGV
+            if (agv != null)
+            {
+                // Update Battery
+                // Update Position/Tag?
+            }
+
+            // STS Packet Construction
+            // STS(3) + Volt(3) + Sys0(4) + Sys1(4) + Err(4) + Spd(1) + Bunki(1) + Dir(1) + Sensor(1) + Signal(2) + Checksum(2)
+            
+            // Default buffer
+            var sample = "02 53 54 53 32 35 38 46 46 46 46 34 30 30 30 30 30 30 30 4C 53 46 30 30 30 30 30 30 33 41 03";
+            var barr = sample.Split(' ').Select(t => Convert.ToByte(t, 16)).ToArray();
+
+            // Volt (255 for now)
+            var voltstr = "255";
+            var bufarr = System.Text.Encoding.Default.GetBytes(voltstr);
+            Array.Copy(bufarr, 0, barr, 4, bufarr.Length);
+
+            // System0
+            bufarr = System.Text.Encoding.Default.GetBytes(_emu_system0.ToString("X2").PadLeft(4, '0'));
+            Array.Copy(bufarr, 0, barr, 7, bufarr.Length);
+
+            // System1
+            bufarr = System.Text.Encoding.Default.GetBytes(_emu_system1.ToString("X2").PadLeft(4, '0'));
+            Array.Copy(bufarr, 0, barr, 11, bufarr.Length);
+
+            // Error
+            bufarr = System.Text.Encoding.Default.GetBytes(_emu_error.ToString("X2").PadLeft(4, '0'));
+            Array.Copy(bufarr, 0, barr, 15, bufarr.Length);
+
+            // Status Chars
+            barr[19] = (byte)_emu_sts_speed;
+            barr[20] = (byte)_emu_sts_bunki;
+            barr[21] = (byte)_emu_sts_dir;
+            barr[22] = (byte)_emu_sts_sensor;
+
+            // Signal
+            bufarr = System.Text.Encoding.Default.GetBytes(_emu_signal.ToString("X2").PadLeft(2, '0'));
+            Array.Copy(bufarr, 0, barr, 23, bufarr.Length);
+
+            // Checksum (**)
+            barr[barr.Length - 3] = (byte)'*';
+            barr[barr.Length - 2] = (byte)'*';
+
+            try
+            {
+                _emulatorPort.Write(barr, 0, barr.Length);
+            }
+            catch { }
+        }
+
+        private string CalculateChecksum(string data)
+        {
+            int sum = 0;
+            foreach (char c in data) sum += c;
+            
+            // 16진수 변환 후 뒤 2자리
+            string hex = sum.ToString("X");
+            if (hex.Length >= 2) return hex.Substring(hex.Length - 2);
+            return hex.PadLeft(2, '0');
+        }
+
+        #endregion
+
     }
 
     /// <summary>

Cs_HMI/Data/NewMap.agvmap

@@ -5,15 +5,17 @@
       "Name": "UNLOADER",
       "Position": "65, 229",
       "Type": 2,
+      "CanDocking": true,
       "DockDirection": 2,
       "ConnectedNodes": [
         "N002"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-11T08:34:44.9548285+09:00",
-      "ModifiedDate": "2025-12-08T11:54:03.1730939+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Red",
       "RfidId": "0001",
@@ -42,16 +44,18 @@
       "Name": "N002",
       "Position": "190, 230",
       "Type": 0,
+      "CanDocking": false,
       "DockDirection": 0,
       "ConnectedNodes": [
         "N003",
         "N001"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-11T08:34:48.2957516+09:00",
-      "ModifiedDate": "2025-12-08T11:54:05.9083675+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0002",
@@ -80,16 +84,18 @@
       "Name": "N003",
       "Position": "296, 266",
       "Type": 0,
+      "CanDocking": false,
       "DockDirection": 0,
       "ConnectedNodes": [
         "N004",
         "N002"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-11T08:34:49.2226656+09:00",
-      "ModifiedDate": "2025-12-08T11:54:07.7966472+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0003",
@@ -118,6 +124,7 @@
       "Name": "N004",
       "Position": "388, 330",
       "Type": 0,
+      "CanDocking": false,
       "DockDirection": 0,
       "ConnectedNodes": [
         "N022",
@@ -125,11 +132,12 @@
         "N011",
         "N003"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-11T08:34:50.1681027+09:00",
-      "ModifiedDate": "2025-12-08T11:54:09.4014966+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0004",
@@ -158,16 +166,18 @@
       "Name": "N006",
       "Position": "530, 220",
       "Type": 0,
+      "CanDocking": false,
       "DockDirection": 0,
       "ConnectedNodes": [
         "N007",
         "N022"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-11T08:34:51.1111368+09:00",
-      "ModifiedDate": "2025-12-08T11:54:49.3718611+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0013",
@@ -196,16 +206,18 @@
       "Name": "N007",
       "Position": "589, 184",
       "Type": 0,
+      "CanDocking": false,
       "DockDirection": 0,
       "ConnectedNodes": [
         "N019",
         "N006"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-11T08:34:51.9266982+09:00",
-      "ModifiedDate": "2025-12-08T11:54:51.4185821+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0014",
@@ -234,16 +246,18 @@
       "Name": "N008",
       "Position": "282, 452",
       "Type": 0,
+      "CanDocking": false,
       "DockDirection": 0,
       "ConnectedNodes": [
         "N009",
         "N031"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-11T08:34:53.9595825+09:00",
-      "ModifiedDate": "2025-12-08T11:54:13.626916+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0009",
@@ -272,16 +286,18 @@
       "Name": "N009",
       "Position": "183, 465",
       "Type": 0,
+      "CanDocking": false,
       "DockDirection": 0,
       "ConnectedNodes": [
         "N010",
         "N008"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-11T08:34:54.5035702+09:00",
-      "ModifiedDate": "2025-12-08T11:54:15.2395639+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0010",
@@ -309,16 +325,18 @@
       "NodeId": "N010",
       "Name": "TOPS",
       "Position": "52, 466",
-      "Type": 2,
+      "Type": 3,
+      "CanDocking": true,
       "DockDirection": 2,
       "ConnectedNodes": [
         "N009"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-11T08:34:55.0563237+09:00",
-      "ModifiedDate": "2025-12-08T11:54:17.075895+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Red",
       "RfidId": "0011",
@@ -347,17 +365,19 @@
       "Name": "N011",
       "Position": "481, 399",
       "Type": 0,
+      "CanDocking": false,
       "DockDirection": 0,
       "ConnectedNodes": [
         "N012",
         "N015",
         "N004"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-11T08:34:55.8875335+09:00",
-      "ModifiedDate": "2025-12-08T11:54:30.5451017+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0005",
@@ -386,16 +406,18 @@
       "Name": "N012",
       "Position": "559, 464",
       "Type": 0,
+      "CanDocking": false,
       "DockDirection": 0,
       "ConnectedNodes": [
         "N013",
         "N011"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-11T08:34:56.3678144+09:00",
-      "ModifiedDate": "2025-12-08T11:54:32.3566504+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0006",
@@ -424,16 +446,18 @@
       "Name": "N013",
       "Position": "640, 513",
       "Type": 0,
+      "CanDocking": false,
       "DockDirection": 0,
       "ConnectedNodes": [
         "N014",
         "N012"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-11T08:34:56.8390845+09:00",
-      "ModifiedDate": "2025-12-08T11:54:34.1608589+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0007",
@@ -461,16 +485,18 @@
       "NodeId": "N014",
       "Name": "LOADER",
       "Position": "728, 573",
-      "Type": 2,
+      "Type": 1,
+      "CanDocking": true,
       "DockDirection": 2,
       "ConnectedNodes": [
         "N013"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-11T08:34:57.2549726+09:00",
-      "ModifiedDate": "2025-12-08T11:54:36.2103863+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Red",
       "RfidId": "0008",
@@ -498,16 +524,18 @@
       "NodeId": "N019",
       "Name": "CHARGER #2",
       "Position": "679, 199",
-      "Type": 3,
+      "Type": 5,
+      "CanDocking": true,
       "DockDirection": 1,
       "ConnectedNodes": [
         "N007"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-11T08:35:56.5359098+09:00",
-      "ModifiedDate": "2025-12-08T11:54:53.4706808+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Magenta",
       "RfidId": "0015",
@@ -536,17 +564,19 @@
       "Name": "N022",
       "Position": "461, 267",
       "Type": 0,
+      "CanDocking": false,
       "DockDirection": 0,
       "ConnectedNodes": [
         "N023",
         "N004",
         "N006"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-11T08:36:48.0311551+09:00",
-      "ModifiedDate": "2025-12-08T11:54:47.1279261+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0012",
@@ -575,16 +605,18 @@
       "Name": "N023",
       "Position": "418, 206",
       "Type": 0,
+      "CanDocking": false,
       "DockDirection": 0,
       "ConnectedNodes": [
         "N024",
         "N022"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-11T09:41:36.8738794+09:00",
-      "ModifiedDate": "2025-12-08T11:55:02.2993636+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0016",
@@ -613,16 +645,18 @@
       "Name": "N024",
       "Position": "476, 141",
       "Type": 0,
+      "CanDocking": false,
       "DockDirection": 0,
       "ConnectedNodes": [
         "N025",
         "N023"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-11T09:41:37.4551853+09:00",
-      "ModifiedDate": "2025-12-08T11:55:00.0899323+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0017",
@@ -651,16 +685,18 @@
       "Name": "N025",
       "Position": "548, 99",
       "Type": 0,
+      "CanDocking": false,
       "DockDirection": 0,
       "ConnectedNodes": [
         "N026",
         "N024"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-11T09:41:38.0142374+09:00",
-      "ModifiedDate": "2025-12-08T11:54:57.8459375+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0018",
@@ -688,16 +724,18 @@
       "NodeId": "N026",
       "Name": "CHARGER #1",
       "Position": "670, 88",
-      "Type": 3,
+      "Type": 5,
+      "CanDocking": true,
       "DockDirection": 1,
       "ConnectedNodes": [
         "N025"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-11T09:41:38.5834487+09:00",
-      "ModifiedDate": "2025-12-08T11:54:55.6038784+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Magenta",
       "RfidId": "0019",
@@ -725,14 +763,16 @@
       "NodeId": "LBL001",
       "Name": "Amkor Technology Korea",
       "Position": "183, 103",
-      "Type": 4,
-      "DockDirection": 0,
+      "Type": 6,
+      "CanDocking": false,
+      "DockDirection": 2,
       "ConnectedNodes": [],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-11T11:08:22.4048927+09:00",
-      "ModifiedDate": "2025-10-30T17:14:35.0184087+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Purple",
       "RfidId": "",
@@ -760,14 +800,16 @@
       "NodeId": "IMG001",
       "Name": "logo",
       "Position": "633, 310",
-      "Type": 5,
-      "DockDirection": 0,
+      "Type": 7,
+      "CanDocking": false,
+      "DockDirection": 1,
       "ConnectedNodes": [],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-11T11:08:44.7897541+09:00",
-      "ModifiedDate": "2025-10-23T12:21:16.7786615+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Brown",
       "RfidId": "",
@@ -796,16 +838,18 @@
       "Name": "",
       "Position": "448, 476",
       "Type": 0,
+      "CanDocking": false,
       "DockDirection": 0,
       "ConnectedNodes": [
         "N016",
         "N011"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-12T17:22:47.8065756+09:00",
-      "ModifiedDate": "2025-12-08T11:54:28.0157957+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0037",
@@ -834,16 +878,18 @@
       "Name": "",
       "Position": "425, 524",
       "Type": 0,
+      "CanDocking": false,
       "DockDirection": 0,
       "ConnectedNodes": [
         "N017",
         "N015"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-12T17:22:48.6628848+09:00",
-      "ModifiedDate": "2025-12-08T11:54:26.4584771+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0036",
@@ -872,16 +918,18 @@
       "Name": "",
       "Position": "389, 559",
       "Type": 0,
+      "CanDocking": false,
       "DockDirection": 0,
       "ConnectedNodes": [
         "N018",
         "N016"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-12T17:22:49.8138877+09:00",
-      "ModifiedDate": "2025-12-08T11:54:24.9652264+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0035",
@@ -910,17 +958,19 @@
       "Name": "",
       "Position": "315, 562",
       "Type": 0,
+      "CanDocking": false,
       "DockDirection": 0,
       "ConnectedNodes": [
         "N030",
         "N017",
         "N005"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-12T17:22:50.6790623+09:00",
-      "ModifiedDate": "2025-12-08T11:54:23.246666+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0034",
@@ -949,17 +999,19 @@
       "Name": "",
       "Position": "227, 560",
       "Type": 0,
+      "CanDocking": false,
       "DockDirection": 0,
       "ConnectedNodes": [
         "N020",
         "N029",
         "N018"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-12T17:22:51.5267199+09:00",
-      "ModifiedDate": "2025-12-08T11:54:21.6078399+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0033",
@@ -988,17 +1040,19 @@
       "Name": "",
       "Position": "142, 557",
       "Type": 0,
+      "CanDocking": false,
       "DockDirection": 0,
       "ConnectedNodes": [
         "N021",
         "N028",
         "N005"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-12T17:22:52.3666114+09:00",
-      "ModifiedDate": "2025-12-08T11:54:20.2707567+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0032",
@@ -1027,16 +1081,18 @@
       "Name": "",
       "Position": "60, 559",
       "Type": 0,
+      "CanDocking": false,
       "DockDirection": 0,
       "ConnectedNodes": [
         "N027",
         "N020"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-12T17:22:53.0958619+09:00",
-      "ModifiedDate": "2025-12-08T11:54:18.362104+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0031",
@@ -1064,16 +1120,18 @@
       "NodeId": "N027",
       "Name": "BUF1",
       "Position": "61, 645",
-      "Type": 2,
+      "Type": 4,
+      "CanDocking": true,
       "DockDirection": 2,
       "ConnectedNodes": [
         "N021"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-12T17:22:54.7345704+09:00",
-      "ModifiedDate": "2025-12-08T11:54:43.1573737+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Green",
       "RfidId": "0041",
@@ -1101,16 +1159,18 @@
       "NodeId": "N028",
       "Name": "BUF2",
       "Position": "141, 643",
-      "Type": 2,
+      "Type": 4,
+      "CanDocking": true,
       "DockDirection": 2,
       "ConnectedNodes": [
         "N020"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-12T17:22:55.5263512+09:00",
-      "ModifiedDate": "2025-12-08T11:54:41.5219283+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Green",
       "RfidId": "0040",
@@ -1138,16 +1198,18 @@
       "NodeId": "N029",
       "Name": "BUF3",
       "Position": "229, 638",
-      "Type": 2,
+      "Type": 4,
+      "CanDocking": true,
       "DockDirection": 2,
       "ConnectedNodes": [
         "N005"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-12T17:22:56.6623294+09:00",
-      "ModifiedDate": "2025-12-08T11:54:39.9945926+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Green",
       "RfidId": "0039",
@@ -1175,16 +1237,18 @@
       "NodeId": "N030",
       "Name": "BUF4",
       "Position": "316, 638",
-      "Type": 2,
+      "Type": 4,
+      "CanDocking": true,
       "DockDirection": 2,
       "ConnectedNodes": [
         "N018"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": true,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-12T17:22:57.5510908+09:00",
-      "ModifiedDate": "2025-12-08T11:54:38.3326835+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Green",
       "RfidId": "0038",
@@ -1213,16 +1277,18 @@
       "Name": "",
       "Position": "337, 397",
       "Type": 0,
+      "CanDocking": false,
       "DockDirection": 0,
       "ConnectedNodes": [
         "N004",
         "N008"
       ],
-      "CanRotate": false,
-      "StationId": "",
-      "StationType": null,
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
+      "NodeAlias": "",
       "CreatedDate": "2025-09-15T11:18:40.5366059+09:00",
-      "ModifiedDate": "2025-12-08T11:54:12.0214781+09:00",
+      "ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
       "IsActive": true,
       "DisplayColor": "Cyan",
       "RfidId": "0030",
@@ -1251,6 +1317,6 @@
     "BackgroundColorArgb": -14671840,
     "ShowGrid": false
   },
-  "CreatedDate": "2025-12-08T11:55:04.9060276+09:00",
+  "CreatedDate": "2025-12-09T17:00:29.7458276+09:00",
   "Version": "1.1"
 }

Cs_HMI/Project/AGV4.csproj

@@ -99,7 +99,7 @@
     <GenerateSerializationAssemblies>Auto</GenerateSerializationAssemblies>
   </PropertyGroup>
   <ItemGroup>
-    <Reference Include="arCommUtil, Version=1.0.0.0, Culture=neutral, processorArchitecture=MSIL">
+    <Reference Include="arCommUtil, Version=25.11.25.2000, Culture=neutral, processorArchitecture=MSIL">
       <SpecificVersion>False</SpecificVersion>
       <HintPath>..\DLL\arCommUtil.dll</HintPath>
     </Reference>
@@ -284,6 +284,33 @@
     <Compile Include="Properties\AssemblyInfo.cs" />
     <Compile Include="PUB.cs" />
     <Compile Include="CSetting.cs" />
+    <Compile Include="StateMachine\Step\_SM_RUN_CLEANER_IN.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="StateMachine\Step\_SM_RUN_CLEANER_OUT.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="StateMachine\Step\_SM_RUN_LOADER_IN.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="StateMachine\Step\_SM_RUN_LOADER_OUT.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="StateMachine\Step\_SM_RUN_UNLOADER_IN.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="StateMachine\Step\_SM_RUN_UNLOADER_OUT.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="StateMachine\Step\_Util.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="StateMachine\Step\_SM_RUN_BUFFER_IN.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="StateMachine\Step\_SM_RUN_BUFFER_OUT.cs">
+      <SubType>Form</SubType>
+    </Compile>
     <Compile Include="StateMachine\Step\_SM_RUN_CHGOFF.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -305,12 +332,6 @@
     <Compile Include="StateMachine\Step\_SM_RUN_GOHOME.cs">
       <SubType>Form</SubType>
     </Compile>
-    <Compile Include="StateMachine\Step\_SM_RUN_GOUP.cs">
-      <SubType>Form</SubType>
-    </Compile>
-    <Compile Include="StateMachine\Step\_SM_RUN_GODOWN.cs">
-      <SubType>Form</SubType>
-    </Compile>
     <Compile Include="StateMachine\Step\_SM_RUN_SYNC.cs">
       <SubType>Form</SubType>
     </Compile>

Cs_HMI/Project/CSetting.cs

@@ -246,23 +246,18 @@ namespace Project
 
         public bool AutoModeOffAndClearPosition { get; set; }
 
+
+        [Browsable(false)]
+        public UInt16 GDSValue { get; set; }
+
+
         [Browsable(false)]
         public string musicfile { get; set; }
 
-        /// <summary>
-        /// FVI로 가능 방향이 Backward 인가?
-        /// Forward 방향이라면 false 를 한다
-        /// </summary>
-        [Browsable(false)]
-        public Boolean AGV_Direction_FVI_Backward { get; set; }
+    
         [Browsable(false)]
         public Boolean Enable_Speak { get; set; }
 
-        //public Boolean Disable_BMS { get; set; }
-        //public Boolean Log_BMS_Tx { get; set; }
-        //public Boolean Log_BMS_Rx { get; set; }
-        //public double ChargeLimitLow { get; set; }
-        //public double ChargeLimitHigh { get; set; }
 
         [Browsable(false)]
         public string AGV_PANID { get; set; }
@@ -328,7 +323,12 @@ namespace Project
         public Single interval_xbe { get; set; }
         [Browsable(false)]
         public int interval_bms { get; set; }
-        public int doorSoundTerm { get; set; }
+
+        /// <summary>
+        /// 스피커출력 간격
+        /// </summary>
+        [DisplayName("Speak Term")]
+        public int alarmSoundTerm { get; set; }
 
         [Browsable(false)]
         public int musicvol { get; set; }
@@ -336,6 +336,16 @@ namespace Project
         public bool Enable_Music { get; set; }
         #endregion
 
+        #region "Node Mapping"
+
+        [Category("Node Mapping"),DisplayName("Charger")]
+        public string NodeMAP_RFID_Charger { get; set; }
+
+        [Category("Node Mapping"), DisplayName("Home")]
+        public string NodeMAP_RFID_Home { get; set; }
+
+        #endregion  
+
         [Browsable(false)]
         public string LastMapFile { get; set; }
 
@@ -366,6 +376,7 @@ namespace Project
             if (StatusInterval < 10) StatusInterval = 300; //5분간격
             if (XBE_ID < 1) XBE_ID = 0xFF; //0은 acs 이므로 쓰지못하게한다.
             if (SAD == 0) SAD = 999;
+            if (GDSValue == 0) GDSValue = 1000;
             if (TAGF1A == 0)
             {
                 TAGNOT = 9000;
@@ -418,7 +429,7 @@ namespace Project
 
             //충전은 10분간격으로 재시도 한다
             if (ChargeRetryTerm == 0) ChargeRetryTerm = 600;
-            if (doorSoundTerm == 0) doorSoundTerm = 15; //기본 15초
+            if (alarmSoundTerm == 0) alarmSoundTerm = 15; //기본 15초
             if (ChargeSearchTime == 0) ChargeSearchTime = 25;
             //최대 충전진행 시간(기본 1시간)
             if (ChargeMaxTime == 0) ChargeMaxTime = 3600;

Cs_HMI/Project/Class/CResult.cs

@@ -67,8 +67,7 @@ namespace Project
         /// </summary>
         private ePosition _targetPos = ePosition.NONE;
 
-        public event EventHandler TargetPosSet;
-
+      
         public string result_message = "";
         public double result_progressmax = 0;
         public double result_progressvalue = 0;
@@ -91,8 +90,6 @@ namespace Project
             set
             {
                 _targetPos = value;
-                TargetPosSet?.Invoke(this, null);
-             
                 PUB.log.Add(string.Format("대상위치설정:{0}", value));
             }
         }

Cs_HMI/Project/Class/Lang.cs

@@ -51,8 +51,7 @@ namespace Project
         public static string AGV연결실패 { get { return string.Format("AGV {0}", 연결실패); } }
         public static string 예측값이계산되지않아이동을중단합니다 = "이동 예측이 동작하지 않습니다. 개발부서에 문의 하세요";
         public static string 목적지이동이완료되었습니다 = "목적지 이동 이 완료 되었습니다";
-        public static string 홈검색을시작합니다 = "홈검색을시작합니다";
-
+        public static string FindCurrentPisition = "현재 위치를 검색 합니다";
 
         public static string 상차 = "상차";
         public static string 하차 = "하차";
@@ -70,8 +69,8 @@ namespace Project
         public static string 커버를올립니다 = "커버를 올립니다";
      
         public static string 홈위치로이동합니다 = "홈 위치로 이동 합니다";
-        public static string 하차작업이완료되었습니다 = "하차 작업이 완료 되었습니다";
-        public static string 상차작업이완료되었습니다 = "상차 작업이 완료 되었습니다";
+        public static string 버퍼도킹이완료되었습니다 = "버퍼 도킹이 완료 되었습니다";
+        public static string 버퍼도킹해제완료 = "버퍼 도킹이 해제 되었습니다";
         public static string 커버업대기상태가아닙니다 = "커버 업 대기 상태가 아닙니다";
         public static string QC이동버튼은상하차에서만사용가능합니다 = "QC이동 버튼은 상,하차 에서만 사용 가능합니다";
         public static string QA이동버튼은상하차에서만사용가능합니다 = "QA이동 버튼은 상,하차 에서만 사용 가능합니다";

Cs_HMI/Project/Device/Xbee.cs

@@ -154,6 +154,17 @@ namespace Project.Device
             Send(packet);
         }
 
+        public bool BufferInReady { get; set; }
+        public bool BufferInComplete { get; set; }
+        public bool BufferOutComplete { get; set; }
+        public bool BufferReadyError { get; set; }
+
+        public bool LoaderInComplete { get; set; }
+        public bool LoaderOutComplete { get; set; }
+        public bool UnloaderInComplete { get; set; }
+        public bool UnloaderOutComplete { get; set; }
+        public bool CleanerInComplete { get; set; }
+        public bool CleanerOutComplete { get; set; }
 
 
         /// <summary>

Cs_HMI/Project/PUB.cs

@@ -94,7 +94,14 @@ namespace Project
             else return false;
         }
 
-        public static void Speak(string m, Boolean force = false, bool addlog = true)
+        /// <summary>
+        /// 스피커를 통한 음성을 출력합니다
+        /// 출력되는 음성은 기본로그에도 자동 포함됩니다
+        /// </summary>
+        /// <param name="m"></param>
+        /// <param name="force"></param>
+        /// <param name="addlog">로그에도 출력 합니다</param>
+        public static void Speak(string m, Boolean force = false, bool addlog = true,string logcate="")
         {
             if (force == false && PUB.setting.Enable_Speak == false)
             {
@@ -105,7 +112,11 @@ namespace Project
                 voice.SpeakAsyncCancelAll();
             if (voice.State == SynthesizerState.Ready)
                 voice.SpeakAsync(m);
-            if (addlog) PUB.log.Add("SPEAK", m);
+            if (addlog)
+            {
+                if (logcate.isEmpty()) logcate = "SPEAK";
+                PUB.log.Add(logcate, m);
+            }
         }
 
         /// <summary>
@@ -118,7 +129,7 @@ namespace Project
             if (VAR.BOOL[eVarBool.FLAG_AUTORUN] &&
                 VAR.BOOL[eVarBool.FLAG_CHARGEONM] == false &&
                 PUB.BMS.Current_Level > PUB.setting.ChargeEmergencyLevel &&
-                PUB.sm.RunStep != StateMachine.ERunStep.GOUP &&
+                PUB.sm.RunStep != StateMachine.ERunStep.BUFFER_OUT &&
                 VAR.BOOL[eVarBool.WAIT_COVER_DOWN] == false &&
                 VAR.BOOL[eVarBool.WAIT_COVER_UP] == false)
             {
@@ -150,7 +161,7 @@ namespace Project
         public static AR.Log log, logagv, logplc, logbms, logxbee;
 
         public static Boolean bPlayMusic = false;
-    
+
 
         /// <summary>
         /// 사용자 인풋 감지 시간
@@ -382,6 +393,9 @@ namespace Project
                     return Lang.AGV연결실패;
                 case eECode.PLCCONN:
                     return Lang.PLC통신실패;
+                case eECode.MESSAGE_ERROR:
+                    if (values.Length > 0) return values[0].ToString();
+                    return "Message Error";
 
                 default:
                     return err.ToString();
@@ -582,7 +596,33 @@ namespace Project
         }
 
         #region VirtualAGV 실제 데이터 동기화
-
+        public static MapNode FindByNodeID(string nodeidx)
+        {
+            if (_mapNodes == null || _mapNodes.Any() == false) return null;
+            if (nodeidx.isEmpty()) return null;
+            return _mapNodes.Where(t => t.NodeId.Equals(nodeidx)).FirstOrDefault();
+        }
+        public static MapNode FindByRFID(string rfidValue)
+        {
+            if (_mapNodes == null || _mapNodes.Any() == false) return null;
+            if (rfidValue.isEmpty()) return null;
+            return _mapNodes.Where(t => t.RfidId.Equals(rfidValue)).FirstOrDefault();
+        }
+        public static List<MapNode> FindByNodeAlias(string alias)
+        {
+            if (_mapNodes == null || _mapNodes.Any() == false) return null;
+            if (alias.isEmpty()) return null;
+            var lst = _mapNodes.Where(t => t.NodeAlias.Equals(alias));
+            if (lst.Any() == false) return null;
+            return lst.ToList();
+        }
+        public static List<MapNode> FindByNodeType(AGVNavigationCore.Models.MapNode type)
+        {
+            if (_mapNodes == null || _mapNodes.Any() == false) return null;
+            var lst = _mapNodes.Where(t => t.Type.Equals(type));
+            if (lst.Any() == false) return null;
+            return lst.ToList();
+        }
         /// <summary>
         /// RFID 읽기 시 해당 노드 위치로 AGV 업데이트
         /// </summary>

Cs_HMI/Project/StateMachine/Step/_SM_RUN.cs

@@ -84,7 +84,7 @@ namespace Project
             if (PUB.AGV.system1.stop_by_front_detect == true)
             {
                 var tsSpeak = DateTime.Now - LastSpeakTime;
-                if (tsSpeak.TotalSeconds >= PUB.setting.doorSoundTerm)
+                if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
                 {
                     PUB.Speak(Lang.전방에물체가감지되었습니다);
                     LastSpeakTime = DateTime.Now;
@@ -92,14 +92,86 @@ namespace Project
                 return;
             }
 
+            //선로이탈감지
+            if (PUB.AGV.error.runerror_by_no_magent_line == true)
+            {
+                var tsSpeak = DateTime.Now - LastSpeakTime;
+                if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
+                {
+                    PUB.Speak(Lang.선로를이탈했습니다);
+                    LastSpeakTime = DateTime.Now;
+                }
+                return;
+            }
+
+            //현재위치를 모르는 상태라면 이동하여 현재 위치를 찾는다
+            if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return;
+
             //나머지 상황체크
             switch (PUB.sm.RunStep)
             {
+                case ERunStep.GOHOME:
+                    if (_SM_RUN_GOHOME(runStepisFirst, PUB.sm.GetRunSteptime) == true)
+                    {
+                        PUB.log.Add($"홈 이동이 완료되어 준비상태로 전환합니다");
+                        PUB.sm.SetNewRunStep(ERunStep.READY);
+                    }
+                    break;
                 case ERunStep.GOTO: //목적지까지 이동하는 경우
-                    _SM_RUN_GOTO(runStepisFirst, PUB.sm.GetRunSteptime);
+                    if (_SM_RUN_GOTO(runStepisFirst, PUB.sm.GetRunSteptime) == true)
+                    {
+                        //목적지가 BUFFER라면 버퍼투입대기위치까지 완료했다는 시그널을 보낸다.                        
+                        var target = PUB._virtualAGV.TargetNode;
+                        PUB.log.Add($"목적지({target.RfidId}) 도착완료 타입:{target.Type}, 출발지:{PUB._virtualAGV.StartNode.RfidId}");
+                        if (target.Type == AGVNavigationCore.Models.NodeType.Buffer)
+                        {
+
+                            //현재위치가 마지막경로의 NODEID와 일치해야한다
+                            var lastPath = PUB._virtualAGV.CurrentPath.DetailedPath.LastOrDefault();
+                            if (lastPath.NodeId.Equals(PUB._virtualAGV.CurrentNodeId))
+                            {
+                                //버퍼진입전 노드에 도착완료했따
+                                PUB.XBE.BufferInReady = true;
+                                PUB.XBE.BufferReadyError = false;
+                            }
+                            else
+                            {
+                                //마지막위치가 아닌 다른 위치에 있으니 버퍼 작업을 할 수없다
+                                PUB.log.AddAT("목적지 버퍼이동완료 했지만 마지막 노드가 아닙니다");
+                                PUB.XBE.BufferInReady = false;
+                                PUB.XBE.BufferReadyError = true;
+                            }
+                            PUB.XBE.BufferInComplete = false;
+                            PUB.XBE.BufferOutComplete = false;
+                        }
+
+                        else if (target.Type == AGVNavigationCore.Models.NodeType.Charging)
+                        {
+
+                        }
+                        else if (target.Type == AGVNavigationCore.Models.NodeType.Loader)
+                        {
+
+                        }
+                        else if (target.Type == AGVNavigationCore.Models.NodeType.Clearner)
+                        {
+
+                        }
+                        else if (target.Type == AGVNavigationCore.Models.NodeType.UnLoader)
+                        {
+
+                        }
+                        else
+                        {
+                            //목적지다 다른 형태이다
+
+                        }
+                        PUB._virtualAGV.Turn = AGVNavigationCore.Models.AGVTurn.None;
+                        PUB.sm.SetNewRunStep(ERunStep.READY);
+                    }
                     break;
 
-                case ERunStep.MARKSTROPB:   //후진방향으로 마크스탑
+                case ERunStep.MARKSTOPB:   //후진방향으로 마크스탑
                 case ERunStep.MARKSTOPF:    //전진방향으로 마크스탑
 
                     //이동중이지 않다면 먼저 이동을 진행한다
@@ -172,423 +244,137 @@ namespace Project
                                 PUB.Result.TargetPos = ePosition.QC;
                             }
                             PUB.Result.CurrentPosCW = "1";
-                            PUB.sm.SetNewRunStep(ERunStep.GOHOME);
-                            PUB.log.AddAT("충전 해제로 홈으로 이동");
-                        }
-                    }
-                    break;
-                case ERunStep.GOUP: //상차이동
-                    if (_SM_RUN_GOUP(runStepisFirst, PUB.sm.GetRunSteptime))
-                    {
-                        PUB.Speak(Lang.상차작업이완료되었습니다);
-
-                        //230601
-                        // if (PUB.Result != null && PUB.sm != null)
-                        //   EEMStatus.AddEEDBSQL(PUB.sm.Step, PUB.sm.RunStep.ToString(), PUB.Result.TargetPos.ToString());
-
-                        //QA를 제외한 경우에는 기본 QC로 이동한다
-                        if (PUB.Result.NextPos == ePosition.QA)
-                            PUB.Result.TargetPos = ePosition.QA;
-                        else
-                            PUB.Result.TargetPos = ePosition.QC;
-
-
-                        PUB.sm.SetNewRunStep(ERunStep.GODOWN); //하차작업으로 전환
-                        return;
-                    }
-                    break;
-
-                case ERunStep.GODOWN: //하차이동
-                    if (_SM_RUN_GODOWN(runStepisFirst, PUB.sm.GetRunSteptime))
-                    {
-                        PUB.Speak(Lang.하차작업이완료되었습니다);
-                        VAR.TIME.Update(eVarTime.ChargeTry);
-                        PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);// (Device.PLC.ZMotDirection.Down); //하차작업이 완료되면 커버를 내려서 바로 작업할 수 있게 한다.
-
-                        //230601
-                        //if (PUB.Result != null && PUB.sm != null)
-                        //    EEMStatus.AddEEDBSQL(PUB.sm.Step, PUB.sm.RunStep.ToString(), PUB.Result.TargetPos.ToString());
-
-                        //하차가 완료되면 충전대기시간을 30초 남겨두고 없데이트한다
-                        //충전이 필요할 경우 바로 될수있도록 220118
-                        VAR.TIME[eVarTime.ChargeTry] = DateTime.Now.AddSeconds(-1 * PUB.setting.ChargeRetryTerm + 30);
-
-                        if (PUB.Result.CurrentPos == ePosition.QC)
-                        {
-                            PUB.Speak(Lang.대기상태로전환합니다);
                             PUB.sm.SetNewRunStep(ERunStep.READY);
+                            PUB.log.AddAT("충전 해제로 대기상태로 전환 합니다");
                         }
-                        else
-                        {
-                            //홈 이동 명령처리
-                            PUB.sm.ClearRunStep();
-                            PUB.Result.TargetPos = ePosition.QC;
-                            PUB.sm.SetNewRunStep(ERunStep.GOHOME);
-                            PUB.Speak(Lang.홈위치로이동합니다);
-                        }
+                    }
+                    break;
+                case ERunStep.LOADER_OUT: //로더아웃
+                    if (_SM_RUN_LOADER_OUT(runStepisFirst, PUB.sm.GetRunSteptime))
+                    {
+                        PUB.Speak(Lang.버퍼도킹해제완료);
+
+                        //도킹완료상태를 업데이트한다. 
+                        PUB.XBE.LoaderInComplete = false;
+                        PUB.XBE.LoaderOutComplete = true;
+
+                        //대기상태로 전환
+                        PUB.sm.SetNewRunStep(ERunStep.READY);
                         return;
                     }
                     break;
 
-                case ERunStep.GOHOME:
-                    if (runStepisFirst)
+                case ERunStep.LOADER_IN: //로더도킹
+                    if (_SM_RUN_LOADER_IN(runStepisFirst, PUB.sm.GetRunSteptime))
                     {
-                        PUB.Speak(Lang.홈검색을시작합니다);
-                    }
-                    else if (_SM_RUN_GOHOME(runStepisFirst, PUB.sm.GetRunSteptime))
-                    {
-                        //230601
-                        // if (PUB.Result != null && PUB.sm != null)
-                        //    EEMStatus.AddEEDBSQL(PUB.sm.Step, PUB.sm.RunStep.ToString(), PUB.Result.TargetPos.ToString());
+                        PUB.Speak(Lang.버퍼도킹이완료되었습니다);
 
-                        PUB.Speak(Lang.홈이동완료대기상태로전환합니다);
-                        VAR.TIME.Update(eVarTime.ChargeTry);
-                        PUB.sm.SetNewRunStep(ERunStep.READY); //대기상태로 전환한다
+                        //도킹완료상태를 업데이트한다. 
+                        PUB.XBE.LoaderInComplete = true;
+
+                        //로더아웃으로 자동 진행 합니다
+                        PUB.sm.ClearRunStep();
+                        PUB.sm.SetNewRunStep(ERunStep.LOADER_OUT);
                         return;
                     }
                     break;
+
+                case ERunStep.UNLOADER_OUT: //언로더아웃
+                    if (_SM_RUN_UNLOADER_OUT(runStepisFirst, PUB.sm.GetRunSteptime))
+                    {
+                        PUB.Speak(Lang.버퍼도킹해제완료);
+
+                        //도킹완료상태를 업데이트한다. 
+                        PUB.XBE.UnloaderInComplete = false;
+                        PUB.XBE.UnloaderOutComplete = true;
+
+                        //대기상태로 전환
+                        PUB.sm.SetNewRunStep(ERunStep.READY);
+                        return;
+                    }
+                    break;
+
+                case ERunStep.UNLOADER_IN: //언로더도킹
+                    if (_SM_RUN_UNLOADER_IN(runStepisFirst, PUB.sm.GetRunSteptime))
+                    {
+                        PUB.Speak(Lang.버퍼도킹이완료되었습니다);
+
+                        //도킹완료상태를 업데이트한다. 
+                        PUB.XBE.UnloaderInComplete = true;
+
+                        //언로더아웃으로 자동 진행 합니다
+                        PUB.sm.ClearRunStep();
+                        PUB.sm.SetNewRunStep(ERunStep.UNLOADER_OUT);
+                        return;
+                    }
+                    break;
+
+                case ERunStep.CLEANER_OUT: //클리너아웃
+                    if (_SM_RUN_CLEANER_OUT(runStepisFirst, PUB.sm.GetRunSteptime))
+                    {
+                        PUB.Speak(Lang.버퍼도킹해제완료);
+
+                        //도킹완료상태를 업데이트한다. 
+                        PUB.XBE.CleanerInComplete = false;
+                        PUB.XBE.CleanerOutComplete = true;
+
+                        //대기상태로 전환
+                        PUB.sm.SetNewRunStep(ERunStep.READY);
+                        return;
+                    }
+                    break;
+
+                case ERunStep.CLEANER_IN: //클리너도킹
+                    if (_SM_RUN_CLEANER_IN(runStepisFirst, PUB.sm.GetRunSteptime))
+                    {
+                        PUB.Speak(Lang.버퍼도킹이완료되었습니다);
+
+                        //도킹완료상태를 업데이트한다. 
+                        PUB.XBE.CleanerInComplete = true;
+
+                        //클리너아웃으로 자동 진행 합니다
+                        PUB.sm.ClearRunStep();
+                        PUB.sm.SetNewRunStep(ERunStep.CLEANER_OUT);
+                        return;
+                    }
+                    break;
+
+                case ERunStep.BUFFER_OUT: //버퍼아웃
+                    if (_SM_RUN_BUFFER_OUT(runStepisFirst, PUB.sm.GetRunSteptime))
+                    {
+                        PUB.Speak(Lang.버퍼도킹해제완료);
+
+                        //도킹완료상태를 업데이트한다. 
+                        PUB.XBE.BufferInComplete = false;
+                        PUB.XBE.BufferOutComplete = true;
+
+                        //대기상태로 전환
+                        PUB.sm.SetNewRunStep(ERunStep.READY);
+                        return;
+                    }
+                    break;
+
+                case ERunStep.BUFFER_IN: //버퍼도킹
+                    if (_SM_RUN_BUFFER_IN(runStepisFirst, PUB.sm.GetRunSteptime))
+                    {
+                        PUB.Speak(Lang.버퍼도킹이완료되었습니다);
+
+                        //도킹완료상태를 업데이트한다. 
+                        PUB.XBE.BufferInComplete = true;
+
+                        //버퍼아웃으로 자동 진행 합니다
+                        PUB.sm.ClearRunStep();
+                        PUB.sm.SetNewRunStep(ERunStep.BUFFER_OUT);
+                        return;
+                    }
+                    break;
+
+
             }
 
 
 
         }
 
-        bool CheckStopCondition()
-        {
-            return true;
-        }
-
-
-        void CheckAGVMoveTo(eGoDir dir)
-        {
-            //계속내려간다
-            if (dir == eGoDir.Down)
-            {
-                var tsCmd = DateTime.Now - LastCommandTime;
-                if (tsCmd.TotalMilliseconds >= 1999)
-                {
-                    //현재 동작중인상태에서 방향이 맞지 않다면 일단 움직임을 멈춘다
-                    if (PUB.AGV.system1.agv_run)
-                    {
-                        if (PUB.AGV.data.Direction == 'B')
-                        {
-                            PUB.log.Add($"방향이 맞지 않아 정지 합니다({dir})");
-                            PUB.AGV.AGVMoveStop("CheckAGVMoveTo");
-                        }
-                        else if (PUB.AGV.data.Speed == 'S')
-                        {
-                            PUB.log.Add($"마크정지를 해제하기 위해 장비를 멈춥니다");
-                        }
-                    }
-                    else
-                    {
-                        //움직이지 않으므로 전진하도록 한다
-                        PUB.log.Add($"AGV 기동 방향(DOWN):{dir}");
-                        PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
-                    }
-                    LastCommandTime = DateTime.Now;
-                }
-            }
-            else
-            {
-                var tsCmd = DateTime.Now - LastCommandTime;
-                if (tsCmd.TotalMilliseconds >= 1999)
-                {
-                    if (PUB.AGV.system1.agv_run)
-                    {
-                        if (PUB.AGV.data.Direction == 'F')
-                        {
-                            PUB.log.Add($"방향이 맞지 않아 정지 합니다({dir})");
-                            PUB.AGV.AGVMoveStop("CheckAGVMoveTo");
-                        }
-                        else if (PUB.AGV.data.Speed == 'S')
-                        {
-                            PUB.log.Add($"마크정지를 해제하기 위해 장비를 멈춥니다");
-                        }
-                    }
-                    else
-                    {
-                        PUB.log.Add($"AGV 기동 방향(UP):{dir}");
-                        PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
-                    }
-                    LastCommandTime = DateTime.Now;
-                }
-            }
-        }
-
-        void CheckAGVStopbyMARK(string sender)
-        {
-            //계속내려간다
-            var tsCmd = DateTime.Now - LastCommandTime;
-            if (VAR.BOOL[eVarBool.NEXTSTOP_MARK] == false || tsCmd.TotalMilliseconds >= 1500)
-            {
-                PUB.AGV.AGVMoveStop("CheckAGVStopbyMARK", arDev.Narumi.eStopOpt.MarkStop);
-                LastCommandTime = DateTime.Now;
-                PUB.log.Add($"[{sender}] MARK신호에 멈춤 설정");
-            }
-        }
-
-        Boolean UpdateMotionPositionForMark(string sender)
-        {
-            //이머전시상태에서는 처리하지 않는다.
-            if (VAR.BOOL[eVarBool.EMERGENCY]) return false;
-
-            //DOWN 작업
-            // if (goDIR == eGoDir.Down)
-            {
-                //1. 현재위치 > 대상위치
-                if (PUB.Result.CurrentPos > PUB.Result.TargetPos)
-                {
-                    //계속내려간다
-                    if (PUB.setting.AGV_Direction_FVI_Backward)
-                        CheckAGVMoveTo(eGoDir.Down);
-                    else
-                        CheckAGVMoveTo(eGoDir.Up);
-                }
-                //2. 현재위치 < 대상위치
-                else if (PUB.Result.CurrentPos < PUB.Result.TargetPos)
-                {
-                    //올라가야한다
-                    if (PUB.setting.AGV_Direction_FVI_Backward)
-                        CheckAGVMoveTo(eGoDir.Up);
-                    else
-                        CheckAGVMoveTo(eGoDir.Down);
-                }
-                //3. 현재위치 = 대상위치
-                else
-                {
-                    //현재위치가 확정되었는가?
-                    var actpos = ctlPos1.GetPositionActive(PUB.Result.CurrentPos);
-                    if (actpos == false && PUB.AGV.system1.agv_stop == true)
-                    {
-                        //위치확정이되지 않았다면 AGV멈춤시에 기동하게 한다.
-                        var lastcom = DateTime.Now - LastCommandTime;
-                        if (lastcom.TotalSeconds > 3)
-                        {
-                            if (PUB.Result.CurrentPosCW == "1")
-                            {
-                                if (PUB.setting.AGV_Direction_FVI_Backward)
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
-                                else
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
-                            }
-
-                            else
-                            {
-                                if (PUB.setting.AGV_Direction_FVI_Backward)
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
-                                else
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
-                            }
-
-
-                            LastCommandTime = DateTime.Now;
-                            PUB.logagv.Add($"AGV가 멈춰있다 동작을 재개 합니다");
-                        }
-                    }
-                    else
-                    {
-                        //마크센서가 들어와잇고, 위치가 act 되어있다면 해당 위치에 있는 것이다
-                        if (PUB.AGV.error.Emergency == false &&
-                            PUB.AGV.system1.agv_stop &&
-                            PUB.AGV.signal.mark_sensor && actpos &&
-                           PUB.Result.CurrentPos == PUB.Result.TargetPos)
-                        {
-                            //PUB.AGV.AGVMoveStop();
-                            return true;
-                        }
-
-                        if (PUB.AGV.system1.agv_stop == true && PUB.AGV.system1.agv_run == false)
-                        {
-                            PUB.log.Add($"멈춰있으므로 이동을 시작 합니다");
-                            if (PUB.Result.CurrentPosCW == "1")
-                            {
-                                if (PUB.setting.AGV_Direction_FVI_Backward)
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
-                                else
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
-                            }
-                            else
-                            {
-                                if (PUB.setting.AGV_Direction_FVI_Backward)
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
-                                else
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
-                            }
-
-                        }
-
-                        //AGV는 아래로 FVI방향으로 내려가고 있다
-                        if (VAR.BOOL[eVarBool.AGVDIR_UP] == false)
-                        {
-                            if (PUB.Result.CurrentPosCW == "0")
-                            {
-                                //장비가 마크센서에의해 멈췃다면 완료이다
-                                if (PUB.AGV.error.Emergency == false && PUB.AGV.signal.mark_sensor)
-                                {
-                                    PUB.AGV.AGVMoveStop("UPdateMotionPositionForMark");
-                                    return true;
-                                }
-                                else CheckAGVStopbyMARK(sender);
-                            }
-                            else if (PUB.Result.CurrentPosCW == "1")
-                            {
-                                //내려가는 작업이고  AGV는 올라가고 있는데 RFID는 위졲이 감지되었다면 아래로 내려가야한다
-                                CheckAGVMoveTo(eGoDir.Up);
-                            }
-                            else
-                            {
-                                PUB.Result.CurrentPosCW = "1";
-                                CheckAGVMoveTo(eGoDir.Up);
-                            }
-                        }
-                        //AGV는 Qc방향으로 올라가고 있다
-                        else
-                        {
-                            if (PUB.Result.CurrentPosCW == "1")
-                            {
-                                //네려가는 방향에서 내려가는 위치가 인식되었다면 마크에서 멈춰야 한다
-                                if (PUB.AGV.error.Emergency == false && PUB.AGV.signal.mark_sensor)
-                                {
-                                    PUB.AGV.AGVMoveStop("UPdateMotionPositionForMark");
-                                    return true;
-                                }
-                                else CheckAGVStopbyMARK(sender);
-                            }
-                            else if (PUB.Result.CurrentPosCW == "0")
-                            {
-                                //내려가는 작업이고  AGV는 올라가고 있는데 RFID는 위졲이 감지되었다면 아래로 내려가야한다
-                                CheckAGVMoveTo(eGoDir.Down);
-                            }
-                            else
-                            {
-                                PUB.Result.CurrentPosCW = "0";
-                                CheckAGVMoveTo(eGoDir.Down);
-                            }
-                        }
-                    }
-
-
-                }
-            }
-            //UP 작업
-            //else
-            //{
-            //    //1. 현재위치 > 대상위치
-            //    if (PUB.Result.CurrentPos > PUB.Result.TargetPos)
-            //    {
-            //        //계속내려간다
-            //        CheckAGVMoveTo(eGoDir.Down);
-            //    }
-            //    //2. 현재위치 < 대상위치
-            //    else if (PUB.Result.CurrentPos < PUB.Result.TargetPos)
-            //    {
-            //        //올라가야한다
-            //        CheckAGVMoveTo(eGoDir.Up);
-            //    }
-            //    //3. 현재위치 = 대상위치
-            //    else
-            //    {
-            //        //AGV는 위로가고 있다
-            //        if (VAR.BOOL[eVarBool.AGVDIR_UP] == true)
-            //        {
-            //            if (PUB.Result.CurrentPosCW == "0")
-            //            {
-            //                //장비가 마크센서에의해 멈췃다면 완료이다
-            //                if (PUB.AGV.system1.agv_stop && PUB.AGV.system1.stop_by_front_detect == false && PUB.AGV.error.Emergency == false && PUB.AGV.signal.mark_sensor)
-            //                {
-            //                    return true;
-            //                }
-            //                else CheckAGVStopbyMARK();
-            //            }
-            //            else if (PUB.Result.CurrentPosCW == "1")
-            //            {
-            //                //내려가는 작업이고  AGV는 올라가고 있는데 RFID는 위졲이 감지되었다면 아래로 내려가야한다
-            //                CheckAGVMoveTo(eGoDir.Down);
-            //            }
-            //        }
-            //        //AGV는 내려가고 있다
-            //        else if (VAR.BOOL[eVarBool.AGVDIR_UP] == false)
-            //        {
-            //            if (PUB.Result.CurrentPosCW == "1")
-            //            {
-            //                //네려가는 방향에서 내려가는 위치가 인식되었다면 마크에서 멈춰야 한다
-            //                if (PUB.AGV.system1.agv_stop && PUB.AGV.system1.stop_by_front_detect == false && PUB.AGV.error.Emergency == false && PUB.AGV.signal.mark_sensor)
-            //                {
-            //                    return true;
-            //                }
-            //                else CheckAGVStopbyMARK();
-            //            }
-            //            else if (PUB.Result.CurrentPosCW == "0")
-            //            {
-            //                //내려가는 작업이고  AGV는 올라가고 있는데 RFID는 위졲이 감지되었다면 아래로 내려가야한다
-            //                CheckAGVMoveTo(eGoDir.Up);
-            //            }
-            //        }
-            //    }
-            //}
-
-
-
-
-
-
-            return false;
-        }
-        Boolean UpdateMotionPositionForCharger(string sender)
-        {
-            if (VAR.BOOL[eVarBool.AGVDIR_UP] == false)// PUB.flag.get(EFlag.FLAG_DIR_BW) == true)
-            {
-                //충전기 검색은 항상 뒤로 검색한다
-                var tsCmd = DateTime.Now - tm_gocharge_command;
-                if (tsCmd.TotalMilliseconds >= 1999 &&
-                    PUB.AGV.error.Emergency == false &&
-                    PUB.AGV.system1.agv_run == false)
-                {
-                    //PUB.PLC.Move(Device.PLC.Rundirection.Backward, "UpdateMotionPosition(" + sender + ")");
-                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);//
-                    tm_gocharge_command = DateTime.Now;
-                }
-            }
-            else
-            {
-                //CCW (역방향 )
-                //if (Pub.Result.RFIDPos < ePosition.CHARGE || Pub.Result.RFIDPos > ePosition.QC)
-                //{
-                //    //정상적이라면 RFID값은 QC + 혹은  QC - 에 있어야 하므로 항상 차저보다 높이 있다
-                //    //그렇지 않다면 초기화해서 QC검색부터 다시 실행하게 한다
-                //    //여기는 비정상 위치 값이다.
-                //    Pub.sm.SetStepSeq(1);
-                //}
-                //else 
-                //{
-                //현재위치가 충전위치이고, 움직이지 않았다면 완료된 경우라 할수 있따
-                if (PUB.Result.CurrentPos == ePosition.CHARGE &&
-                      PUB.AGV.signal.mark_sensor == true)
-                {
-                    PUB.log.AddI("충전위치 검색 완료");
-                    return true;
-                }
-                else
-                {
-                    //이동중이지 않다면 항상 이동을 해줘야한다
-                    var tsCmd = DateTime.Now - LastCommandTime;
-                    if (tsCmd.TotalMilliseconds >= 1999 &&
-                        PUB.AGV.error.Emergency == false &&
-                        PUB.AGV.system1.agv_run == false)
-                    {
-                        //PUB.PLC.Move(Device.PLC.Rundirection.Backward, "UpdateMotionPosition #1(" + sender + ")");
-                        PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);//
-                        LastCommandTime = DateTime.Now;
-                    }
-                }
-                //}
-            }
-
-            return false;
-        }
-
-
-
     }//cvass
 }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_IN.cs

@@ -0,0 +1,237 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using Project.StateMachine;
+using COMM;
+using AR;
+
+namespace Project
+{
+    public partial class fMain
+    {
+        /// <summary>
+        /// 버퍼도킹
+        /// </summary>
+        /// <param name="isFirst"></param>
+        /// <param name="stepTime"></param>
+        /// <returns></returns>
+        public Boolean _SM_RUN_BUFFER_IN(bool isFirst, TimeSpan stepTime)
+        {
+            var funcname = "_SM_RUN_BUFFER_IN";
+            var idx = 1;
+
+            //충전 상태가 OFF되어야 동작하게한다
+            if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
+
+            //라이더멈춤이 설정되어있다면 음성으로 알려준다
+            if (CheckLiderStop() == false) return false;
+
+            //현재 위치가 결정되어있는지 체크한다
+            if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false;
+
+            /*
+             * 버퍼IN시퀀스
+             * 1. 회전이 진행되지 않았다면 회전을 진행한다.
+             * 2. LIFT DOWN
+             * 3. 후진-저속-마크다운 실행
+            */
+
+
+            if (PUB.sm.RunStepSeq == idx++)
+            {
+                PUB.log.Add("버퍼도킹시작");
+                PUB.Speak(Lang.하차작업을시작합니다);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //모션 전후진 제어
+                if (PUB._virtualAGV.Turn != AGVNavigationCore.Models.AGVTurn.L90)
+                {
+                    //동작중이면 동작을 멈춘다
+                    if (PUB.AGV.system1.agv_run == true)
+                    {
+                        var ts = VAR.TIME.RUN(eVarTime.LastStopCommandTime);
+                        if (ts.TotalSeconds > 3)
+                        {
+                            PUB.AGV.AGVMoveStop(funcname);
+                            VAR.TIME.Update(eVarTime.LastStopCommandTime);
+                        }
+                    }
+                    else PUB.sm.UpdateRunStepSeq(); //agv가 멈춰있으므로 턴을 진행해야 한다
+                }
+                else PUB.sm.UpdateRunStepSeq();    //이미완료된상태이므로 다음으로 진행한다.
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                if (PUB._virtualAGV.Turn != AGVNavigationCore.Models.AGVTurn.L90)
+                {
+                    VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                    PUB.AGV.AGVMoveLeft180Turn();
+                    PUB.log.Add("AGV Left Turn");
+                    PUB.sm.UpdateRunStepSeq();
+                }
+                else PUB.sm.UpdateRunStepSeq();    //이미완료된상태이므로 다음으로 진행한다.
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                if (PUB._virtualAGV.Turn != AGVNavigationCore.Models.AGVTurn.L90)
+                {
+                    //5초이내에 턴이동 상태가 확인되어야 한다.
+                    if (PUB.AGV.system1.agv_run == false)
+                    {
+                        var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                        if (ts.TotalSeconds > 5)
+                        {
+                            //5초동안 AGV까 움직이지 않았다면 오류 처리한다.
+                            PUB.AGV.AGVMoveStop("5초이내 턴 감지 안됨");
+                            PUB.log.AddE("5초이내 턴 감지 안됨");
+                            PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                            return false;
+                        }
+                        return false;
+                    }
+                }
+                PUB.sm.UpdateRunStepSeq();    //이미완료된상태이므로 다음으로 진행한다.
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //턴이완료되었느닞 확인한다.
+                if (PUB._virtualAGV.Turn != AGVNavigationCore.Models.AGVTurn.L90)
+                {
+                    //10초 이상 가동하고 있다면 문제이다 
+                    if (PUB.AGV.system1.agv_run == true)
+                    {
+                        var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                        if (ts.TotalSeconds > 15)
+                        {
+                            PUB.AGV.AGVMoveStop("15초이내 턴 이 완료되지 않음");
+                            PUB.log.AddE("5초이내 턴 완료 확인 안됨");
+                            PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                            return false;
+                        }
+                        return false;
+                    }
+                    else PUB._virtualAGV.Turn = AGVNavigationCore.Models.AGVTurn.L90;
+                }
+                PUB.sm.UpdateRunStepSeq();    //이미완료된상태이므로 다음으로 진행한다.
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //리프트를 내린다.
+                PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //리프트다운센서를 확인한다.
+                var liftdown = true;
+                if (liftdown == false)
+                {
+                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                    if (ts.TotalSeconds > 10)
+                    {
+                        PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.STP);
+                        PUB.log.AddE("리프트 하강이 확인되지 않습니다(10초)");
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                        return false;
+                    }
+                }
+                PUB.log.Add("리프트 하강 완료");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //마크스탑셋팅
+                PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //저속이동
+                var moveset = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                {
+                    Bunki = arDev.Narumi.eBunki.Strate,
+                    Direction = arDev.Narumi.eMoveDir.Backward,
+                    PBSSensor = 0,
+                    Speed = arDev.Narumi.eMoveSpd.Low,
+                });
+                if (moveset == false)
+                {
+                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                    if (ts.TotalSeconds > 10)
+                    {
+                        PUB.AGV.AGVMoveStop(funcname);
+                        PUB.log.AddE("AGV속도설정이 완료되지 않았습니다");
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                        return false;
+                    }
+                }
+                PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
+                PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //마크스탑신호가 3초이내로 들어와야 한다
+                if (VAR.BOOL[eVarBool.NEXTSTOP_MARK] == false)
+                {
+                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                    if (ts.TotalSeconds > 3)
+                    {
+                        PUB.AGV.AGVMoveStop(funcname);
+                        PUB.log.AddE("MARK STOP신호가 확인되지 않습니다");
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                        return false;
+                    }
+                }
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //AGV가 멈출때까지 기다린다.
+                if (PUB.AGV.system1.agv_run == true)
+                {
+                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                    if (ts.TotalSeconds > 10)
+                    {
+                        PUB.AGV.AGVMoveStop(funcname);
+                        PUB.log.AddE("AGV가 멈추지 않아 강제종료 합니다");
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                        return false;
+                    }
+                    return false;
+                }
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //완료되었다. (ACS에 보내야함)
+                PUB.log.Add("버퍼투입완료");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+
+            PUB.AddEEDB($"버퍼투입완료({PUB.Result.TargetPos})");
+            return true;
+        }
+    }
+}

Cs_HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_OUT.cs

@@ -0,0 +1,113 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using Project.StateMachine;
+using COMM;
+using AR;
+
+namespace Project
+{
+    public partial class fMain
+    {
+
+        public Boolean _SM_RUN_BUFFER_OUT(bool isFirst, TimeSpan stepTime)
+        {
+
+            //충전 상태가 OFF되어야 동작하게한다
+            if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
+
+            //라이더멈춤이 설정되어있다면 음성으로 알려준다
+            if (CheckLiderStop() == false) return false;
+
+            //현재 위치가 결정되어있는지 체크한다
+            if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false;
+
+            var idx = 1;
+            if (PUB.sm.RunStepSeq == idx++)
+            {
+                //빈 상태로 아웃해야한다.
+                PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                {
+                    Bunki = arDev.Narumi.eBunki.Strate,
+                    Direction = arDev.Narumi.eMoveDir.Forward,
+                    PBSSensor = 0,
+                    Speed = arDev.Narumi.eMoveSpd.Low,
+                });
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //전진이동
+                PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //마크스탑
+                PUB.AGV.AGVMoveStop("buffer out", arDev.Narumi.eStopOpt.MarkStop);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //이동확인
+                if (PUB.AGV.system1.agv_run == false)
+                {
+                    return false;
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //멈춤확인
+                if (PUB.AGV.system1.agv_run == true)
+                {
+                    return false;
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //우측으로 180도 턴
+                PUB.AGV.AGVMoveRight180Turn();
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //이동확인
+                if (PUB.AGV.system1.agv_run == false)
+                {
+                    return false;
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //멈춤확인
+                if (PUB.AGV.system1.agv_run == true)
+                {
+                    return false;
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                PUB.log.Add("BufferOut Complete");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+
+            PUB.AddEEDB($"bufferout 완료({PUB.Result.TargetPos})");
+            return true;
+        }
+    }
+}

Cs_HMI/Project/StateMachine/Step/_SM_RUN_CHGOFF.cs

@@ -14,6 +14,8 @@ namespace Project
 
         public Boolean _SM_RUN_CHGOFF(bool isFirst, TimeSpan stepTime)
         {
+          
+
             //충전중인지 확인한다.
             if (VAR.BOOL[eVarBool.FLAG_CHARGEONA] == true || PUB.AGV.system1.Battery_charging == true)
             {
@@ -25,7 +27,7 @@ namespace Project
                         PUB.Speak(Lang.충전을해제합니다);
                     }
                 }
-
+                
                 //AGV는 충전을 해제한 상태이다
                 if (PUB.AGV.system1.Battery_charging == false)
                 {
@@ -47,6 +49,17 @@ namespace Project
                         PUB.AGV.AGVCharge(PUB.setting.ChargerID, false);
                         VAR.TIME.Update(eVarTime.SendChargeOff);
                     }
+
+
+                    // 1분 타임아웃 체크
+                    if (stepTime.TotalMinutes >= 1)
+                    {
+                        PUB.XBE.errorMessage = $"충전해제가 실패되었습니다(1분)";
+                        PUB.log.AddE(PUB.XBE.errorMessage);
+                        PUB.sm.SetNewStep(eSMStep.IDLE);
+                        return false;
+                    }
+
                 }
                 return false;
             }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_CLEANER_IN.cs

@@ -0,0 +1,155 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using Project.StateMachine;
+using COMM;
+using AR;
+
+namespace Project
+{
+    public partial class fMain
+    {
+        /// <summary>
+        /// 클리너 진입
+        /// </summary>
+        public Boolean _SM_RUN_CLEANER_IN(bool isFirst, TimeSpan stepTime)
+        {
+            var funcname = "_SM_RUN_CLEANER_IN";
+            var idx = 1;
+
+            //충전 상태가 OFF되어야 동작하게한다
+            if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
+
+            //라이더멈춤이 설정되어있다면 음성으로 알려준다
+            if (CheckLiderStop() == false) return false;
+
+            //현재 위치가 결정되어있는지 체크한다
+            if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false;
+
+            /*
+             * 클리너 IN 시퀀스 (버퍼 복사 - 턴 제거)
+             * 1. LIFT DOWN
+             * 2. 후진-저속-마크다운 실행
+            */
+
+            if (PUB.sm.RunStepSeq == idx++)
+            {
+                PUB.log.Add("클리너진입시작");
+                PUB.Speak("클리너 작업을 시작합니다");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //리프트를 내린다.
+                PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //리프트다운센서를 확인한다.
+                var liftdown = true;
+                if (liftdown == false)
+                {
+                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                    if (ts.TotalSeconds > 10)
+                    {
+                        PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.STP);
+                        PUB.log.AddE("리프트 하강이 확인되지 않습니다(10초)");
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                        return false;
+                    }
+                }
+                PUB.log.Add("리프트 하강 완료");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //마크스탑셋팅
+                PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //저속이동
+                var moveset = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                {
+                    Bunki = arDev.Narumi.eBunki.Strate,
+                    Direction = arDev.Narumi.eMoveDir.Backward,
+                    PBSSensor = 0,
+                    Speed = arDev.Narumi.eMoveSpd.Low,
+                });
+                if (moveset == false)
+                {
+                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                    if (ts.TotalSeconds > 10)
+                    {
+                        PUB.AGV.AGVMoveStop(funcname);
+                        PUB.log.AddE("AGV속도설정이 완료되지 않았습니다");
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                        return false;
+                    }
+                }
+                PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
+                PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //마크스탑신호가 3초이내로 들어와야 한다
+                if (VAR.BOOL[eVarBool.NEXTSTOP_MARK] == false)
+                {
+                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                    if (ts.TotalSeconds > 3)
+                    {
+                        PUB.AGV.AGVMoveStop(funcname);
+                        PUB.log.AddE("MARK STOP신호가 확인되지 않습니다");
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                        return false;
+                    }
+                }
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //AGV가 멈출때까지 기다린다.
+                if (PUB.AGV.system1.agv_run == true)
+                {
+                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                    if (ts.TotalSeconds > 10)
+                    {
+                        PUB.AGV.AGVMoveStop(funcname);
+                        PUB.log.AddE("AGV가 멈추지 않아 강제종료 합니다");
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                        return false;
+                    }
+                    return false;
+                }
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //완료되었다.
+                PUB.log.Add("클리너진입완료");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+
+            PUB.AddEEDB($"클리너진입완료({PUB.Result.TargetPos})");
+            return true;
+        }
+    }
+}

Cs_HMI/Project/StateMachine/Step/_SM_RUN_CLEANER_OUT.cs

@@ -0,0 +1,80 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using Project.StateMachine;
+using COMM;
+using AR;
+
+namespace Project
+{
+    public partial class fMain
+    {
+        /// <summary>
+        /// 클리너 배출
+        /// </summary>
+        public Boolean _SM_RUN_CLEANER_OUT(bool isFirst, TimeSpan stepTime)
+        {
+            //충전 상태가 OFF되어야 동작하게한다
+            if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
+
+            //라이더멈춤이 설정되어있다면 음성으로 알려준다
+            if (CheckLiderStop() == false) return false;
+
+            //현재 위치가 결정되어있는지 체크한다
+            if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false;
+
+            var idx = 1;
+            if (PUB.sm.RunStepSeq == idx++)
+            {
+                //빈 상태로 아웃해야한다.
+                PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                {
+                    Bunki = arDev.Narumi.eBunki.Strate,
+                    Direction = arDev.Narumi.eMoveDir.Forward,
+                    PBSSensor = 0,
+                    Speed = arDev.Narumi.eMoveSpd.Low,
+                });
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //전진이동
+                PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //마크스탑
+                PUB.AGV.AGVMoveStop("cleaner out", arDev.Narumi.eStopOpt.MarkStop);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //이동확인
+                if (PUB.AGV.system1.agv_run == false)
+                {
+                    return false;
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //멈춤확인
+                if (PUB.AGV.system1.agv_run == true)
+                {
+                    return false;
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            
+            return true;
+        }
+    }
+}

Cs_HMI/Project/StateMachine/Step/_SM_RUN_GOCHARGE.cs

@@ -38,7 +38,7 @@ namespace Project
             if (PUB.AGV.system1.stop_by_front_detect == true)
             {
                 var tsSpeak = DateTime.Now - LastSpeakTime;
-                if (tsSpeak.TotalSeconds >= PUB.setting.doorSoundTerm)
+                if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
                 {
                     PUB.Speak(Lang.전방에물체가감지되었습니다);
                     LastSpeakTime = DateTime.Now;
@@ -63,8 +63,16 @@ namespace Project
             var idx = 1;
             if (PUB.sm.RunStepSeq == idx++)
             {
-                PUB.Speak(Lang.충전을위해홈위치로이동합니다);
-                PUB.Result.TargetPos = ePosition.QC;
+                var targetnode = PUB.FindByRFID(PUB.setting.NodeMAP_RFID_Charger);
+                if(targetnode == null)
+                {
+                    PUB.log.AddE($"충전기 노드가 설정되지 않았습니다");
+                    PUB.sm.SetNewRunStep(ERunStep.READY);
+                    return false;
+                }
+
+                //충전기로 대상을 설정한다
+                PUB._virtualAGV.TargetNode = targetnode;
                 VAR.TIME.Update(eVarTime.ChargeSearch);
                 PUB.sm.UpdateRunStepSeq();
                 PUB.log.Add($"충전:대상위치 QC 시작");
@@ -73,7 +81,7 @@ namespace Project
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 //모션 전후진 제어
-                if (UpdateMotionPositionForMark("GOCHARGE #1") == true)
+                if ( UpdateMotionPositionForCharger("GOCHARGE #1") == true)
                 {
                     PUB.log.Add($"충전:충전기 검색 전 QC위치 확인 완료");
                     PUB.sm.UpdateRunStepSeq();
@@ -200,9 +208,6 @@ namespace Project
                 PUB.Result.CurrentPos = ePosition.CHARGE; //현재위치를 충전기로 한다
                 PUB.Result.TargetPos = ePosition.CHARGE;
                 PUB.Result.CurrentPosCW = "1";
-                ctlPos1.SetPosition(ePosition.CHARGE);
-                ctlPos1.SetPositionActive(ePosition.CHARGE);
-                ctlPos1.Invalidate();
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_GODOWN.cs

@@ -1,223 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Drawing;
-using System.Linq;
-using System.Text;
-using Project.StateMachine;
-using COMM;
-using AR;
-
-namespace Project
-{
-    public partial class fMain
-    {
-        public Boolean _SM_RUN_GODOWN(bool isFirst, TimeSpan stepTime)
-        {
-            if (runStepisFirst)
-            {
-                //PUB.flag.set(EFlag.FLAG_NEXTSTOP_ALIGN, false);
-                VAR.BOOL[eVarBool.FLAG_NEXTSTOP_ALIGN] = false;//
-                //VAR.BOOL[eVarBool.FLAG_NEXTSTOP_MARK] = false;//);
-            }
-
-            //HW 연결오류
-            if (PUB.AGV.IsOpen == false)
-            {
-                PUB.Result.SetResultMessage(eResult.Hardware, eECode.AGVCONN, eNextStep.ERROR);
-                return false;
-            }
-            
-
-            //충전 상태가 OFF되어야 동작하게한다
-            if (_SM_RUN_CHGOFF(isFirst, stepTime) == false)
-                return false;
-
-            //라이더멈춤이 설정되어있다면 음성으로 알려준다 200409
-            if (PUB.AGV.system1.stop_by_front_detect == true)
-            {
-                var tsSpeak = DateTime.Now - LastSpeakTime;
-                if (tsSpeak.TotalSeconds >= PUB.setting.doorSoundTerm)
-                {
-                    PUB.Speak(Lang.전방에물체가감지되었습니다);
-                    LastSpeakTime = DateTime.Now;
-                }
-                return false;
-            }
-
-
-            //현재 위치가 결정되어있는지 체크한다
-            if (_SM_RUN_POSCHK(isFirst, stepTime) == false)
-                return false;
-
-            if (PUB.sm.RunStepSeq == 1)
-            {
-                //하차는 무조건 대상이 QC가 된다
-                if (PUB.Result.TargetPos == ePosition.NONE)
-                    PUB.Result.TargetPos = ePosition.QC;
-
-                //if (PUB.Result.TargetPos == ePosition.QA &&
-                //    PUB.Result.CurrentPos == ePosition.QC &&
-                //    (PUB.PLC.IsLimitDn()))
-                //{
-                //    PUB.Speak("안전 커버를 올리고 다시 시도하세요", true);
-                //    PUB.sm.ClearRunStep();
-                //    PUB.sm.SetNewRunStep(ERunStep.READY);
-                //}
-                PUB.AddEEDB($"하차작업시작({PUB.Result.TargetPos})");
-                PUB.Speak(Lang.하차작업을시작합니다);
-                PUB.sm.UpdateRunStepSeq();
-                return false;
-            }
-            else if (PUB.sm.RunStepSeq == 2)
-            {
-                //모션 전후진 제어
-                if (UpdateMotionPositionForMark("GODOWN"))
-                    PUB.sm.UpdateRunStepSeq();
-                return false;
-            }
-            else if (PUB.sm.RunStepSeq == 3)
-            {
-                //위치 확정이 완료될때까지 대기
-                if (PUB.Result.CurrentPos == PUB.Result.TargetPos)
-                {
-                    //PUB.PLC.Move(Device.PLC.Rundirection.Stop, "GODOWN:위치확정");
-                    PUB.AGV.AGVMoveStop("sm_run_godown");
-                    PUB.sm.UpdateRunStepSeq();
-                }
-                else if (PUB.AGV.system1.agv_run == false)
-                {
-                    //움직이지않으면 방향을 다시 조정한다
-                    PUB.sm.SetStepSeq(2);
-                }
-
-                return false;
-            }
-            else if (PUB.sm.RunStepSeq == 4)
-            {
-                //대상까지 모두 완료되었다.(완전히 정차할때까지 기다린다)
-                if (PUB.AGV.system1.agv_run == false)
-                {
-                    PUB.log.Add("이동 정지 확인");
-                    PUB.sm.UpdateRunStepSeq();
-                }
-
-                return false;
-            }
-            else if (PUB.sm.RunStepSeq == 5)
-            {
-                //하차수량증가
-                if (PUB.Result.TargetPos == ePosition.QA)
-                    PUB.counter.CountQA += 1;
-                else
-                    PUB.counter.CountQC += 1;
-                PUB.counter.Save();
-
-                PUB.sm.UpdateRunStepSeq();
-                return false;
-            }
-            else if (PUB.sm.RunStepSeq == 6)
-            {
-                //커버를 자동으로 내려준다
-                CoverControlTime = DateTime.Now;
-                UpdateProgressStatus(stepTime.TotalSeconds, 5, Lang.안전커버를내립니다);
-                VAR.BOOL[eVarBool.WAIT_COVER_DOWN] = true;
-                PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);//
-                PUB.sm.UpdateRunStepSeq();
-                return false;
-            }
-            else if (PUB.sm.RunStepSeq == 7)
-            {
-                //커버 내림이 완료될때까지 기다린다
-                //if (PUB.PLC.IsLimitDn() == true)
-                //{
-                //    VAR.BOOL[eVarBool.WAIT_COVER_DOWN] = false;
-                //    PUB.sm.UpdateRunStepSeq();
-                //}
-                //else
-                {
-                    //경과시간이 10초가 지나면 5초마다 음성을 출력한다
-                    var tsCover = DateTime.Now - CoverControlTime;
-                    if (tsCover.TotalSeconds >= 7)
-                    {
-                        PUB.Speak(Lang.안전커버를내려주세요);
-                        CoverControlTime = DateTime.Now;
-                    }
-                }
-
-                return false;
-            }
-            else if (PUB.sm.RunStepSeq == 8)
-            {
-                //IO업데이트 간격 전송
-                UpdateProgressStatus(stepTime.TotalSeconds, 5, Lang.안전커버를올려주세요);
-                //PUB.Speak(Lang.안전커버를올리면하차가완료됩니다);
-                VAR.BOOL[eVarBool.WAIT_COVER_UP] = true;
-                CoverControlTime = DateTime.Now;
-                PUB.sm.UpdateRunStepSeq();
-                return false;
-            }
-            else if (PUB.sm.RunStepSeq == 9)
-            {
-                //커버 올림이 완료될때까지 기다린다
-                if (VAR.BOOL[eVarBool.FLAG_LIMITHIGH] == true)
-                {
-                    VAR.BOOL[eVarBool.WAIT_COVER_UP] = false;
-                    VAR.BOOL[eVarBool.ITEMON] = false;
-                    PUB.sm.UpdateRunStepSeq();
-                }
-                else
-                {
-                    //경과시간이 10초가 지나면 5초마다 음성을 출력한다
-                    var tsCover = DateTime.Now - CoverControlTime;
-                    if (tsCover.TotalSeconds >= PUB.setting.doorSoundTerm)
-                    {
-                        PUB.Speak(Lang.안전커버를올려주세요);
-                        CoverControlTime = DateTime.Now;
-
-                        ////한쪽이 올라가 있는 상태에..
-                        //if (PUB.PLC.GetValueI(arDev.FakePLC.DIName.PINI_LIMIT_LU) == true)
-                        //{
-                        //    //모터는 올리는 방향일때에...
-                        //    if (PUB.PLC.GetValueO(arDev.FakePLC.DOName.PINO_GUIDEMOTOR_LDIR) == true)
-                        //    {
-                        //        //모터가 멈춰있을때에..
-                        //        if (PUB.PLC.GetValueO(arDev.FakePLC.DOName.PINO_GUIDEMOTOR_LRUN) == false)
-                        //        {
-                        //            //자동으로 올려준다 (센서가 간혹 인식이 안되어서 .대기하는 경우가 잇음)
-
-                        //            //왼쪽이 올라가 있지 않은 경우
-                        //            if (PUB.PLC.GetValueI(arDev.FakePLC.DIName.PINI_LIMIT_LU) == false)
-                        //                PUB.PLC.ZMot_Left(arDev.FakePLC.ZMotDirection.Up);
-                        //        }
-                        //    }
-                        //}
-                        //if (PUB.PLC.GetValueI(arDev.FakePLC.DIName.PINI_LIMIT_RU) == true)
-                        //{
-                        //    //모터는 올리는 방향일때에...
-                        //    if (PUB.PLC.GetValueO(arDev.FakePLC.DOName.PINO_GUIDEMOTOR_RDIR) == true)
-                        //    {
-                        //        //모터가 멈춰있을때에..
-                        //        if (PUB.PLC.GetValueO(arDev.FakePLC.DOName.PINO_GUIDEMOTOR_RRUN) == false)
-                        //        {
-                        //            //자동으로 올려준다 (센서가 간혹 인식이 안되어서 .대기하는 경우가 잇음)
-
-                        //            //왼쪽이 올라가 있지 않은 경우
-                        //            if (PUB.PLC.GetValueI(arDev.FakePLC.DIName.PINI_LIMIT_RU) == false)
-                        //                PUB.PLC.ZMot_Right(arDev.FakePLC.ZMotDirection.Up);
-                        //        }
-                        //    }
-                        //}
-
-
-                    }
-                }
-
-                return false;
-            }
-
-            PUB.AddEEDB($"하차작업완료({PUB.Result.TargetPos})");
-            EEMStatus.AddStatusCount(1, PUB.Result.TargetPos.ToString());  //230620
-            return true;
-        }
-    }
-}

Cs_HMI/Project/StateMachine/Step/_SM_RUN_GOHOME.cs

@@ -13,27 +13,18 @@ namespace Project
     {
         public Boolean _SM_RUN_GOHOME(bool isFirst, TimeSpan stepTime)
         {
+            var funcName = "_SM_RUN_GOHOME";
             if (runStepisFirst)
             {
-                //  PUB.flag.set(EFlag.FLAG_NEXTSTOP_ALIGN, false);
-
-                //VAR.BOOL[eVarBool.FLAG_NEXTSTOP_MARK] = false;//);
                 VAR.BOOL[eVarBool.FLAG_NEXTSTOP_ALIGN] = false;//);
             }
 
-            //220629
-            //         if(PUB.flag.get(EFlag.FLAG_GO_CHAGER_TEMP))
-            //{
-            //             PUB.flag.set(EFlag.FLAG_GO_CHAGER_TEMP, false);
-            //}
-
             //HW 연결오류
             if (PUB.AGV.IsOpen == false)
             {
                 PUB.Result.SetResultMessage(eResult.Hardware, eECode.AGVCONN, eNextStep.ERROR);
                 return false;
             }
-          
 
             //충전 상태가 OFF되어야 동작하게한다
             if (_SM_RUN_CHGOFF(isFirst, stepTime) == false)
@@ -43,7 +34,7 @@ namespace Project
             if (PUB.AGV.system1.stop_by_front_detect == true)
             {
                 var tsSpeak = DateTime.Now - LastSpeakTime;
-                if (tsSpeak.TotalSeconds >= PUB.setting.doorSoundTerm)
+                if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
                 {
                     PUB.Speak(Lang.전방에물체가감지되었습니다);
                     LastSpeakTime = DateTime.Now;
@@ -51,27 +42,29 @@ namespace Project
                 return false;
             }
 
-            //현재 위치가 결정되어있는지 체크한다
-            if (_SM_RUN_POSCHK(isFirst, stepTime) == false)
-                return false;
-
             var idx = 1;
             if (PUB.sm.RunStepSeq == idx++)
             {
                 PUB.Speak(Lang.홈으로이동합니다);
 
-                //홈은 무조건 QC위치로 간다
-                PUB.AddEEDB($"홈검색시작({PUB.Result.TargetPos})");
-                PUB.Result.TargetPos = ePosition.QC;
+                var homenode = PUB.FindByRFID(PUB.setting.NodeMAP_RFID_Home);
+                if (homenode == null)
+                {
+                    PUB.log.Add($"홈위치의 노드맵핑(환경설정)이 없습니다");
+                    PUB.sm.SetNewRunStep(ERunStep.READY);
+                    return false;
+                }
+                PUB._virtualAGV.TargetNode = homenode;
+                PUB.AddEEDB($"홈검색시작({homenode.RfidId})");
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 //모션 전후진 제어
-                if (UpdateMotionPositionForMark("GOHOME"))
+                if (UpdateMotionPositionForMark(funcName))
                 {
-                    PUB.AGV.AGVMoveStop("SM_RUN_GOHOME");
+                    PUB.AGV.AGVMoveStop(funcName);
                     PUB.sm.UpdateRunStepSeq();
                 }
                 return false;
@@ -79,7 +72,7 @@ namespace Project
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 //QC까지 모두 완료되었다.(완전히 정차할때까지 기다린다)
-                PUB.Speak(Lang.홈검색완료, true);  
+                PUB.Speak(Lang.홈검색완료, true);
                 PUB.AddEEDB($"홈검색완료({PUB.Result.TargetPos})");
                 PUB.sm.UpdateRunStepSeq();
                 return false;

Cs_HMI/Project/StateMachine/Step/_SM_RUN_GOTO.cs

@@ -29,6 +29,8 @@ namespace Project
                 VAR.TIME.Update(eVarTime.CheckGotoTargetSet);
             }
 
+            //PUB._virtualAGV.
+
             //목적지가 설정되었는지 체크한다.
           //Z  if (PUB.mapctl.Manager.agv.TargetRFID.IsEmpty)
           //  {

Cs_HMI/Project/StateMachine/Step/_SM_RUN_GOUP.cs

@@ -1,269 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Drawing;
-using System.Linq;
-using System.Text;
-using Project.StateMachine;
-using COMM;
-using AR;
-
-namespace Project
-{
-    public partial class fMain
-    {
-
-        public Boolean _SM_RUN_GOUP(bool isFirst, TimeSpan stepTime)
-        {
-            if (runStepisFirst)
-            {
-                //   VAR.BOOL[eVarBool.FLAG_NEXTSTOP_MARK] = false;//);
-                VAR.BOOL[eVarBool.FLAG_NEXTSTOP_ALIGN] = false;
-            }
-
-            //HW 연결오류
-            if (PUB.AGV.IsOpen == false)
-            {
-                PUB.Result.SetResultMessage(eResult.Hardware, eECode.AGVCONN, eNextStep.ERROR);
-                return false;
-            }
-
-            //충전 상태가 OFF되어야 동작하게한다
-            if (_SM_RUN_CHGOFF(isFirst, stepTime) == false)
-                return false;
-
-            //라이더멈춤이 설정되어있다면 음성으로 알려준다 200409
-            if (PUB.AGV.system1.stop_by_front_detect == true)
-            {
-                var tsSpeak = DateTime.Now - LastSpeakTime;
-                if (tsSpeak.TotalSeconds >= PUB.setting.doorSoundTerm)
-                {
-                    PUB.Speak(Lang.전방에물체가감지되었습니다);
-                    LastSpeakTime = DateTime.Now;
-                }
-                return false;
-            }
-
-            //현재 위치가 결정되어있는지 체크한다
-            if (_SM_RUN_POSCHK(isFirst, stepTime) == false)
-                return false;
-
-            var idx = 1;
-            if (PUB.sm.RunStepSeq == idx++)
-            {
-                //상차 가능 조건 확인
-                if (PUB.Result.TargetPos == ePosition.NONE)
-                {
-                    PUB.Result.SetResultMessage(eResult.Hardware, eECode.NOTALLOWUP, eNextStep.ERROR);
-                }
-                else
-                {
-                    PUB.AddEEDB($"상차작업시작({PUB.Result.TargetPos})");
-                    PUB.Speak(Lang.상차작업을시작합니다);
-                    PUB.sm.UpdateRunStepSeq();
-                }
-                return false;
-            }
-            else if (PUB.sm.RunStepSeq == idx++)
-            {
-                //모션 전후진 제어
-                if (UpdateMotionPositionForMark("GOUP"))
-                    PUB.sm.UpdateRunStepSeq();
-
-                return false;
-            }
-            else if (PUB.sm.RunStepSeq == idx++)
-            {
-                //장비멈춤확인
-                if (PUB.AGV.system1.agv_run == true)
-                {
-                    var ts = DateTime.Now - LastCommandTime;
-                    if (ts.TotalMilliseconds > 2000)
-                    {
-                        PUB.AGV.AGVMoveStop("SM_RUN_GOUP");// PUB.PLC.Move(Device.PLC.Rundirection.Stop, "GOUP:위치확정");
-                        LastCommandTime = DateTime.Now;
-                    }
-                }
-                else
-                {
-                    //움직이지 않고 있다면 다시 이동을 시켜준다.
-                    PUB.log.Add("이동 정지 확인");
-                    PUB.sm.UpdateRunStepSeq();
-                }
-                return false;
-            }
-            else if (PUB.sm.RunStepSeq == idx++)
-            {
-                if (PUB.AGV.system1.agv_run == true)
-                {
-                    var ts = DateTime.Now - LastCommandTime;
-                    if (ts.TotalMilliseconds > 2000)
-                    {
-                        PUB.AGV.AGVMoveStop("SM_RUN_GOUP");// PUB.PLC.Move(Device.PLC.Rundirection.Stop, "GOUP:위치확정");
-                        LastCommandTime = DateTime.Now;
-                    }
-                }
-
-                //커버를 자동으로 내려준다
-                CoverControlTime = DateTime.Now;
-                UpdateProgressStatus(stepTime.TotalSeconds, 5, Lang.안전커버를내립니다);
-                PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);
-                VAR.BOOL[eVarBool.WAIT_COVER_DOWN] = true;
-                PUB.sm.UpdateRunStepSeq();
-                return false;
-            }
-            else if (PUB.sm.RunStepSeq == idx++)
-            {
-                if (PUB.AGV.system1.agv_run == true)
-                {
-                    var ts = DateTime.Now - LastCommandTime;
-                    if (ts.TotalMilliseconds > 2000)
-                    {
-                        PUB.AGV.AGVMoveStop("SM_RUN_GOUP");// PUB.PLC.Move(Device.PLC.Rundirection.Stop, "GOUP:위치확정");
-                        LastCommandTime = DateTime.Now;
-                    }
-                }
-
-
-                //커버 내림이 완료될때까지 기다린다
-                if (true)
-                {
-                    VAR.BOOL[eVarBool.WAIT_COVER_DOWN] = false;
-                    PUB.Result.NextPos = ePosition.NONE;
-                    PUB.sm.UpdateRunStepSeq();
-                }
-                else
-                {
-                    
-
-                    //경과시간이 10초가 지나면 5초마다 음성을 출력한다
-                    var tsCover = DateTime.Now - CoverControlTime;
-                    if (tsCover.TotalSeconds >= 7)
-                    {
-                        PUB.Speak(Lang.안전커버를내려주세요);
-                        CoverControlTime = DateTime.Now;
-                    }
-                }
-                return false;
-            }
-            else if (PUB.sm.RunStepSeq == idx++)
-            {
-                if (PUB.AGV.system1.agv_run == true)
-                {
-                    var ts = DateTime.Now - LastCommandTime;
-                    if (ts.TotalMilliseconds > 2000)
-                    {
-                        PUB.AGV.AGVMoveStop("SM_RUN_GOUP");// PUB.PLC.Move(Device.PLC.Rundirection.Stop, "GOUP:위치확정");
-                        LastCommandTime = DateTime.Now;
-                    }
-                    return false;
-                }
-
-
-                //상차는 여기서 수량확인한다
-                if (PUB.Result.TargetPos == ePosition.F1)
-                    PUB.counter.CountUp1 += 1;
-                else if (PUB.Result.TargetPos == ePosition.F2)
-                    PUB.counter.CountUp2 += 1;
-                else if (PUB.Result.TargetPos == ePosition.F3)
-                    PUB.counter.CountUp3 += 1;
-                else if (PUB.Result.TargetPos == ePosition.F4)
-                    PUB.counter.CountUp4 += 1;
-                //else if (PUB.Result.TargetPos == ePosition.QA)
-                //    PUB.counter.CountQA += 1;
-                PUB.counter.Save();
-                PUB.sm.UpdateRunStepSeq();
-                return false;
-            }
-            else if (PUB.sm.RunStepSeq == idx++)
-            {
-
-                //IO업데이트 간격 전송
-                UpdateProgressStatus(stepTime.TotalSeconds, 5, Lang.안전커버를올려주세요);
-                PUB.Speak(Lang.안전커버를올리면상차가완료됩니다);
-                PUB.sm.UpdateRunStepSeq();
-                VAR.BOOL[eVarBool.WAIT_COVER_UP] = true;
-                PUB.Result.NextPos = ePosition.NONE;
-                CoverControlTime = DateTime.Now;
-                return false;
-            }
-
-            else if (PUB.sm.RunStepSeq == idx++)
-            {
-                if (PUB.AGV.system1.agv_run == true)
-                {
-                    var ts = DateTime.Now - LastCommandTime;
-                    if (ts.TotalMilliseconds > 2000)
-                    {
-                        PUB.AGV.AGVMoveStop("SM_RUN_GOUP");// PUB.PLC.Move(Device.PLC.Rundirection.Stop, "GOUP:위치확정");
-                        LastCommandTime = DateTime.Now;
-                    }
-                }
-
-
-                //커버 올림이 완료될때까지 기다린다
-                if (VAR.BOOL[eVarBool.FLAG_LIMITHIGH] == true)
-                {
-                    VAR.BOOL[eVarBool.WAIT_COVER_UP] = false;
-                    VAR.BOOL[eVarBool.ITEMON] = true;
-                    PUB.sm.UpdateRunStepSeq();
-                }
-                else
-                {
-                    //경과시간이 10초가 지나면 5초마다 음성을 출력한다
-                    var tsCover = DateTime.Now - CoverControlTime;
-                    if (tsCover.TotalSeconds >= PUB.setting.doorSoundTerm)
-                    {
-                        PUB.Speak(Lang.안전커버를올려주세요);
-                        CoverControlTime = DateTime.Now;
-
-                        ////한쪽이 올라가 있는 상태에..
-                        //if (PUB.PLC.GetValueI(arDev.FakePLC.DIName.PINI_LIMIT_LU) == true)
-                        //{
-                        //    //모터는 올리는 방향일때에...
-                        //    if (PUB.PLC.GetValueO(arDev.FakePLC.DOName.PINO_GUIDEMOTOR_LDIR) == true)
-                        //    {
-                        //        //모터가 멈춰있을때에..
-                        //        if (PUB.PLC.GetValueO(arDev.FakePLC.DOName.PINO_GUIDEMOTOR_LRUN) == false)
-                        //        {
-                        //            //자동으로 올려준다 (센서가 간혹 인식이 안되어서 .대기하는 경우가 잇음)
-
-                        //            //왼쪽이 올라가 있지 않은 경우
-                        //            if (PUB.PLC.GetValueI(arDev.FakePLC.DIName.PINI_LIMIT_LU) == false)
-                        //                PUB.PLC.ZMot_Left(arDev.FakePLC.ZMotDirection.Up);
-
-                        //            //오른쪽이 올라가 있지 않은 경우
-                        //            if (PUB.PLC.GetValueI(arDev.FakePLC.DIName.PINI_LIMIT_RU) == false)
-                        //                PUB.PLC.ZMot_Right(arDev.FakePLC.ZMotDirection.Up);
-                        //        }
-                        //    }
-                        //}
-                        //if (PUB.PLC.GetValueI(arDev.FakePLC.DIName.PINI_LIMIT_RU) == true)
-                        //{
-                        //    //모터는 올리는 방향일때에...
-                        //    if (PUB.PLC.GetValueO(arDev.FakePLC.DOName.PINO_GUIDEMOTOR_RDIR) == true)
-                        //    {
-                        //        //모터가 멈춰있을때에..
-                        //        if (PUB.PLC.GetValueO(arDev.FakePLC.DOName.PINO_GUIDEMOTOR_RRUN) == false)
-                        //        {
-                        //            //자동으로 올려준다 (센서가 간혹 인식이 안되어서 .대기하는 경우가 잇음)
-
-                        //            //왼쪽이 올라가 있지 않은 경우
-                        //            if (PUB.PLC.GetValueI(arDev.FakePLC.DIName.PINI_LIMIT_LU) == false)
-                        //                PUB.PLC.ZMot_Left(arDev.FakePLC.ZMotDirection.Up);
-
-                        //            //오른쪽이 올라가 있지 않은 경우
-                        //            if (PUB.PLC.GetValueI(arDev.FakePLC.DIName.PINI_LIMIT_RU) == false)
-                        //                PUB.PLC.ZMot_Right(arDev.FakePLC.ZMotDirection.Up);
-                        //        }
-                        //    }
-                        //}
-                    }
-                }
-                return false;
-            }
-
-            PUB.AddEEDB($"상차작업완료({PUB.Result.TargetPos})");
-            return true;
-        }
-    }
-}

Cs_HMI/Project/StateMachine/Step/_SM_RUN_LOADER_IN.cs

@@ -0,0 +1,155 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using Project.StateMachine;
+using COMM;
+using AR;
+
+namespace Project
+{
+    public partial class fMain
+    {
+        /// <summary>
+        /// 로더 진입
+        /// </summary>
+        public Boolean _SM_RUN_LOADER_IN(bool isFirst, TimeSpan stepTime)
+        {
+            var funcname = "_SM_RUN_LOADER_IN";
+            var idx = 1;
+
+            //충전 상태가 OFF되어야 동작하게한다
+            if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
+
+            //라이더멈춤이 설정되어있다면 음성으로 알려준다
+            if (CheckLiderStop() == false) return false;
+
+            //현재 위치가 결정되어있는지 체크한다
+            if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false;
+
+            /*
+             * 로더 IN 시퀀스 (버퍼 복사 - 턴 제거)
+             * 1. LIFT DOWN
+             * 2. 후진-저속-마크다운 실행
+            */
+
+            if (PUB.sm.RunStepSeq == idx++)
+            {
+                PUB.log.Add("로더진입시작");
+                PUB.Speak("로더 작업을 시작합니다"); // Lang resource might not exist, using string
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //리프트를 내린다.
+                PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //리프트다운센서를 확인한다.
+                var liftdown = true; // 센서 확인 로직이 주석처리되어 있거나 하드코딩되어 있었음 (버퍼 코드 참조)
+                if (liftdown == false)
+                {
+                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                    if (ts.TotalSeconds > 10)
+                    {
+                        PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.STP);
+                        PUB.log.AddE("리프트 하강이 확인되지 않습니다(10초)");
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                        return false;
+                    }
+                }
+                PUB.log.Add("리프트 하강 완료");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //마크스탑셋팅
+                PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //저속이동
+                var moveset = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                {
+                    Bunki = arDev.Narumi.eBunki.Strate,
+                    Direction = arDev.Narumi.eMoveDir.Backward,
+                    PBSSensor = 0,
+                    Speed = arDev.Narumi.eMoveSpd.Low,
+                });
+                if (moveset == false)
+                {
+                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                    if (ts.TotalSeconds > 10)
+                    {
+                        PUB.AGV.AGVMoveStop(funcname);
+                        PUB.log.AddE("AGV속도설정이 완료되지 않았습니다");
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                        return false;
+                    }
+                }
+                PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
+                PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //마크스탑신호가 3초이내로 들어와야 한다
+                if (VAR.BOOL[eVarBool.NEXTSTOP_MARK] == false)
+                {
+                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                    if (ts.TotalSeconds > 3)
+                    {
+                        PUB.AGV.AGVMoveStop(funcname);
+                        PUB.log.AddE("MARK STOP신호가 확인되지 않습니다");
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                        return false;
+                    }
+                }
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //AGV가 멈출때까지 기다린다.
+                if (PUB.AGV.system1.agv_run == true)
+                {
+                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                    if (ts.TotalSeconds > 10)
+                    {
+                        PUB.AGV.AGVMoveStop(funcname);
+                        PUB.log.AddE("AGV가 멈추지 않아 강제종료 합니다");
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                        return false;
+                    }
+                    return false;
+                }
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //완료되었다.
+                PUB.log.Add("로더진입완료");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+
+            PUB.AddEEDB($"로더진입완료({PUB.Result.TargetPos})");
+            return true;
+        }
+    }
+}

Cs_HMI/Project/StateMachine/Step/_SM_RUN_LOADER_OUT.cs

@@ -0,0 +1,82 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using Project.StateMachine;
+using COMM;
+using AR;
+
+namespace Project
+{
+    public partial class fMain
+    {
+        /// <summary>
+        /// 로더 배출
+        /// </summary>
+        public Boolean _SM_RUN_LOADER_OUT(bool isFirst, TimeSpan stepTime)
+        {
+
+            //충전 상태가 OFF되어야 동작하게한다
+            if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
+
+            //라이더멈춤이 설정되어있다면 음성으로 알려준다
+            if (CheckLiderStop() == false) return false;
+
+            //현재 위치가 결정되어있는지 체크한다
+            if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false;
+
+            var idx = 1;
+            if (PUB.sm.RunStepSeq == idx++)
+            {
+                //빈 상태로 아웃해야한다.
+                PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                {
+                    Bunki = arDev.Narumi.eBunki.Strate,
+                    Direction = arDev.Narumi.eMoveDir.Forward,
+                    PBSSensor = 0,
+                    Speed = arDev.Narumi.eMoveSpd.Low,
+                });
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //전진이동
+                PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //마크스탑
+                PUB.AGV.AGVMoveStop("loader out", arDev.Narumi.eStopOpt.MarkStop);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //이동확인
+                if (PUB.AGV.system1.agv_run == false)
+                {
+                    return false;
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //멈춤확인
+                if (PUB.AGV.system1.agv_run == true)
+                {
+                    return false;
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            // 턴 제거됨
+            
+            return true;
+        }
+    }
+}

Cs_HMI/Project/StateMachine/Step/_SM_RUN_POSCHK.cs

@@ -3,6 +3,8 @@ using System.Collections.Generic;
 using System.Drawing;
 using System.Linq;
 using System.Text;
+using AR;
+using COMM;
 
 namespace Project
 {
@@ -10,45 +12,30 @@ namespace Project
     {
         public Boolean _SM_RUN_POSCHK(bool isFirst, TimeSpan stepTime)
         {
-            //현재 위치가 찾아지지 않았다면. 먼저 위치를 찾는다. 위로 이동시켜서 찾는다.
-            if (PUB.Result.CurrentPos == ePosition.NONE)
+            //현재위치가 설정되어있는지 확인한다, 현재위치값이 있는 경우 True 를 반환
+            var currentnode = PUB.FindByNodeID(PUB._virtualAGV.CurrentNodeId);
+            if (currentnode != null) return true;
+
+            //이동을 하지 않고있다면 전진을 진행한다
+            if (PUB.AGV.system1.agv_run == false)
             {
-                if (isFirst)
+                var ts = VAR.TIME.RUN(eVarTime.LastRunCommandTime);
+                if (ts.TotalSeconds > 5)
                 {
-                    PUB.Speak( Lang.현재위치를검색합니다);
-                }
-
-                if (PUB.AGV.system1.agv_run)
-                {
-                    //방향을 체크한다
-                    var basedir = PUB.setting.AGV_Direction_FVI_Backward ? 'F' : 'B';
-                    if (PUB.AGV.data.Direction == basedir)
+                    PUB.log.Add($"현재위치를 몰라 전진 이동 합니다");
+                    PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                     {
-                        var ts = DateTime.Now - LastCommandTime;
-                        if (ts.TotalMilliseconds >= 1999)
-                        {
-                            PUB.AGV.AGVMoveStop("SM_RUN_POSCHK",arDev.Narumi.eStopOpt.Stop);
-                            LastCommandTime = DateTime.Now;
-                        }
-                    }
+                        Bunki = arDev.Narumi.eBunki.Strate,
+                        Direction = arDev.Narumi.eMoveDir.Forward,
+                        PBSSensor = 1,
+                        Speed = arDev.Narumi.eMoveSpd.Low,
+                    });
+                    PUB.AGV.AGVMoveRun();
+                    VAR.TIME.Update(eVarTime.LastRunCommandTime);
                 }
-                else if (PUB.AGV.system1.agv_run == false)
-                {
-                    //전진이동한다
-                    var ts = DateTime.Now - LastCommandTime;
-                    if (ts.TotalMilliseconds >= 1999)
-                    {
-                        if (PUB.setting.AGV_Direction_FVI_Backward)
-                            PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);//
-                        else
-                            PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);//
-                        LastCommandTime = DateTime.Now;
-                    }
-                }
-
-                return false;
             }
-            else return true;
+            VAR.STR[eVarString.StatusMessage] = "현재 위치를 알 수 없습니다";
+            return false;
         }
     }
 }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_READY.cs

@@ -58,74 +58,6 @@ namespace Project
                 VAR.STR[eVarString.ChargeCheckMsg] = "수동 충전";
             }
 
-            //현재위치를 모르는 상태라면 이동하여 현재 위치를 찾는다
-            else if (PUB.Result.CurrentPos == ePosition.NONE)
-            {
-                if (PUB.AGV.system1.agv_run == false &&
-                    PUB.AGV.error.Emergency == false &&
-                    PUB.AGV.error.runerror_by_no_magent_line == false)
-                {
-                    //현재위치를 검색해야함
-                    PUB.sm.ClearRunStep();
-                    PUB.sm.SetNewRunStep(ERunStep.GOHOME);
-                    PUB.sm.SetNewStep(eSMStep.RUN);
-                    PUB.AddEEDB($"READY상태에서 현재위치를 몰라 홈으로 이동");
-                }
-                VAR.STR[eVarString.ChargeCheckMsg] = "현재 위치 모름";
-            }
-            //else if (PUB.setting.Enable_AutoCharge == true  )
-            //{
-            //    if(bAutoChageOn)
-            //    {
-            //        VAR.BOOL[eVarBool.CHARGE_READY] = true;
-            //        if (PUB.BMS.Current_Level < PUB.setting.ChargeStartLevel)
-            //        {
-            //            //레벨에 의한 자동 충전간격은 
-            //            var ts = VAR.TIME.RUN(eVarTime.ChargeTry);
-            //            if (ts.TotalSeconds >= PUB.setting.ChargeRetryTerm)
-            //            {
-            //                VAR.I32[eVarInt32.ChargeWaitSec] = 0;
-            //                VAR.BOOL[eVarBool.CHARGE_WAIT] = false;
-            //                PUB.log.Add($"자동충전레벨시작 {PUB.BMS.Current_Level}/{PUB.setting.ChargeStartLevel}");
-            //                PUB.sm.ClearRunStep();
-            //                PUB.sm.SetNewRunStep(ERunStep.GOCHARGE);
-            //                PUB.sm.SetNewStep(eSMStep.RUN);
-            //                PUB.AddEEDB($"자동충전레벨시작 {PUB.BMS.Current_Level}/{PUB.setting.ChargeStartLevel}");
-            //            }
-            //            else
-            //            {
-            //                VAR.I32[eVarInt32.ChargeWaitSec] = (int)(PUB.setting.ChargeRetryTerm - ts.TotalSeconds);
-            //                VAR.BOOL[eVarBool.CHARGE_WAIT] = true;
-            //            }
-            //            VAR.STR[eVarString.ChargeCheckMsg] = "배터리 충전 레벨 필요";
-            //        }
-            //        else
-            //        {
-            //            //아직 레벨이 높다
-            //            VAR.BOOL[eVarBool.CHARGE_READY] = false;
-            //            VAR.I32[eVarInt32.ChargeWaitSec] = 0;
-            //            VAR.BOOL[eVarBool.CHARGE_WAIT] = false;
-            //            VAR.STR[eVarString.ChargeCheckMsg] = "배터리 레벨상 충전 불필요";
-            //        }
-            //    }
-            //    else
-            //    {
-            //        VAR.BOOL[eVarBool.CHARGE_READY] = false;
-            //        VAR.I32[eVarInt32.ChargeWaitSec] = 0;
-            //        VAR.BOOL[eVarBool.CHARGE_WAIT] = false;
-            //        VAR.STR[eVarString.ChargeCheckMsg] = "충전 불가 조건";
-            //        //충전조건이 맞지 않는다
-            //    }
-            //}
-            //else
-            //{
-            //    VAR.BOOL[eVarBool.CHARGE_READY] = false;
-            //    VAR.I32[eVarInt32.ChargeWaitSec] = 0;
-            //    VAR.BOOL[eVarBool.CHARGE_WAIT] = false;
-            //    //자동충전이 해제된 상태이므로 처리하지 않는다
-            //    VAR.STR[eVarString.ChargeCheckMsg] = "자동 충전 해제 됨";
-            //}
-
             //대기모드에서는 움직이지 않게 한다
             if(PUB.AGV.system1.agv_run)
             {

Cs_HMI/Project/StateMachine/Step/_SM_RUN_RESET.cs

@@ -83,11 +83,6 @@ namespace Project
                 PUB.Result.TargetPos = ePosition.NONE;
                 PUB.Result.CurrentPos = ePosition.NONE;
                 PUB.Result.CurrentPosCW = "0";
-                ctlPos1.SetPositionDeActive();
-                ctlPos1.SetPosition(ePosition.NONE);
-                ctlPos1.SetDirection("0");
-                ctlPos1.Invalidate();
-
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_SYNC.cs

@@ -79,6 +79,10 @@ namespace Project
                 synlist.Add("STT", PUB.setting.STT.ToString("0000"));
                 //synlist.Add("SBN", PUB.setting.ChargerID.ToString("0000"));
 
+                synlist.Add("SGS", PUB.setting.GDSValue.ToString("0000"));
+                VAR.I32[eVarInt32.SyncItemCount] = synlist.Count;
+                
+
                 PUB.AddEEDB($"SYNC시작({PUB.Result.TargetPos})");
 
                 synidx = 0;
@@ -97,12 +101,19 @@ namespace Project
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                //통신 확인되었으므로 스피드를 전송한다.
+                //통신 확인되었으므로 설정값들을 
                 if (synidx < synlist.Count)
                 {
                     var item = synlist.ElementAt(synidx);
                     UpdateProgressStatus(stepTime.TotalSeconds, 5, $"SYNC :{item.Key}");
                     PUB.AGV.AGVCommand(item.Key, item.Value);
+
+                    // 캔버스에 동기화 상태 표시
+                    if (PUB._mapCanvas != null)
+                    {
+                        float progress = (float)synidx / VAR.I32[eVarInt32.SyncItemCount];
+                        PUB._mapCanvas.SetSyncStatus("장비 설정 동기화 중...", progress, $"항목: {item.Key} ({synidx + 1}/{synlist.Count})");
+                    }
                 }
                 LastCommandTime = DateTime.Now;
                 PUB.sm.UpdateRunStepSeq();
@@ -139,6 +150,11 @@ namespace Project
             {
                 PUB.AddEEDB($"SYNC완료({PUB.Result.TargetPos})");
                 UpdateProgressStatus(stepTime.TotalSeconds, 5, "SYNC : 완료");
+                
+                // 동기화 완료 시 캔버스 모드 복귀
+                if (PUB._mapCanvas != null)
+                    PUB._mapCanvas.SetSyncStatus("동기화 완료!", 1.0f, "잠시 후 메인 화면으로 이동합니다.");
+                
                 LastCommandTime = DateTime.Now;
                 PUB.sm.UpdateRunStepSeq();
                 return false;

Cs_HMI/Project/StateMachine/Step/_SM_RUN_UNLOADER_IN.cs

@@ -0,0 +1,155 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using Project.StateMachine;
+using COMM;
+using AR;
+
+namespace Project
+{
+    public partial class fMain
+    {
+        /// <summary>
+        /// 언로더 진입
+        /// </summary>
+        public Boolean _SM_RUN_UNLOADER_IN(bool isFirst, TimeSpan stepTime)
+        {
+            var funcname = "_SM_RUN_UNLOADER_IN";
+            var idx = 1;
+
+            //충전 상태가 OFF되어야 동작하게한다
+            if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
+
+            //라이더멈춤이 설정되어있다면 음성으로 알려준다
+            if (CheckLiderStop() == false) return false;
+
+            //현재 위치가 결정되어있는지 체크한다
+            if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false;
+
+            /*
+             * 언로더 IN 시퀀스 (버퍼 복사 - 턴 제거)
+             * 1. LIFT DOWN
+             * 2. 후진-저속-마크다운 실행
+            */
+
+            if (PUB.sm.RunStepSeq == idx++)
+            {
+                PUB.log.Add("언로더진입시작");
+                PUB.Speak("언로더 작업을 시작합니다");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //리프트를 내린다.
+                PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //리프트다운센서를 확인한다.
+                var liftdown = true;
+                if (liftdown == false)
+                {
+                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                    if (ts.TotalSeconds > 10)
+                    {
+                        PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.STP);
+                        PUB.log.AddE("리프트 하강이 확인되지 않습니다(10초)");
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                        return false;
+                    }
+                }
+                PUB.log.Add("리프트 하강 완료");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //마크스탑셋팅
+                PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //저속이동
+                var moveset = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                {
+                    Bunki = arDev.Narumi.eBunki.Strate,
+                    Direction = arDev.Narumi.eMoveDir.Backward,
+                    PBSSensor = 0,
+                    Speed = arDev.Narumi.eMoveSpd.Low,
+                });
+                if (moveset == false)
+                {
+                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                    if (ts.TotalSeconds > 10)
+                    {
+                        PUB.AGV.AGVMoveStop(funcname);
+                        PUB.log.AddE("AGV속도설정이 완료되지 않았습니다");
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                        return false;
+                    }
+                }
+                PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
+                PUB.AGV.AGVMoveStop(funcname, arDev.Narumi.eStopOpt.MarkStop);
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //마크스탑신호가 3초이내로 들어와야 한다
+                if (VAR.BOOL[eVarBool.NEXTSTOP_MARK] == false)
+                {
+                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                    if (ts.TotalSeconds > 3)
+                    {
+                        PUB.AGV.AGVMoveStop(funcname);
+                        PUB.log.AddE("MARK STOP신호가 확인되지 않습니다");
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                        return false;
+                    }
+                }
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //AGV가 멈출때까지 기다린다.
+                if (PUB.AGV.system1.agv_run == true)
+                {
+                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                    if (ts.TotalSeconds > 10)
+                    {
+                        PUB.AGV.AGVMoveStop(funcname);
+                        PUB.log.AddE("AGV가 멈추지 않아 강제종료 합니다");
+                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
+                        return false;
+                    }
+                    return false;
+                }
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //완료되었다.
+                PUB.log.Add("언로더진입완료");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+
+            PUB.AddEEDB($"언로더진입완료({PUB.Result.TargetPos})");
+            return true;
+        }
+    }
+}

Cs_HMI/Project/StateMachine/Step/_SM_RUN_UNLOADER_OUT.cs

@@ -0,0 +1,81 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using Project.StateMachine;
+using COMM;
+using AR;
+
+namespace Project
+{
+    public partial class fMain
+    {
+        /// <summary>
+        /// 언로더 배출
+        /// </summary>
+        public Boolean _SM_RUN_UNLOADER_OUT(bool isFirst, TimeSpan stepTime)
+        {
+
+            //충전 상태가 OFF되어야 동작하게한다
+            if (_SM_RUN_CHGOFF(isFirst, stepTime) == false) return false;
+
+            //라이더멈춤이 설정되어있다면 음성으로 알려준다
+            if (CheckLiderStop() == false) return false;
+
+            //현재 위치가 결정되어있는지 체크한다
+            if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return false; 
+
+            var idx = 1;
+            if (PUB.sm.RunStepSeq == idx++)
+            {
+                //빈 상태로 아웃해야한다.
+                PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                {
+                    Bunki = arDev.Narumi.eBunki.Strate,
+                    Direction = arDev.Narumi.eMoveDir.Forward,
+                    PBSSensor = 0,
+                    Speed = arDev.Narumi.eMoveSpd.Low,
+                });
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //전진이동
+                PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //마크스탑
+                PUB.AGV.AGVMoveStop("unloader out", arDev.Narumi.eStopOpt.MarkStop);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //이동확인
+                if (PUB.AGV.system1.agv_run == false)
+                {
+                    return false;
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //멈춤확인
+                if (PUB.AGV.system1.agv_run == true)
+                {
+                    return false;
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            
+            return true;
+        }
+    }
+}

Cs_HMI/Project/StateMachine/Step/_Util.cs

@@ -0,0 +1,248 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using Project.StateMachine;
+using COMM;
+using AR;
+
+namespace Project
+{
+    public partial class fMain
+    {
+
+        bool CheckStopCondition()
+        {
+            return true;
+        }
+
+        /// <summary>
+        /// 라이더멈춤이 설정되어있다면 음성으로 알려준다
+        /// </summary>
+        /// <returns></returns>
+        public bool CheckLiderStop()
+        {
+            
+            if (PUB.AGV.system1.stop_by_front_detect == true)
+            {
+                var tsSpeak = DateTime.Now - LastSpeakTime;
+                if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
+                {
+                    PUB.Speak(Lang.전방에물체가감지되었습니다);
+                    LastSpeakTime = DateTime.Now;
+                }
+                return false;
+            }
+            return true;
+        }
+
+        /// <summary>
+        /// 설정된 목적지까지 이동을 완료 한 후 True를 반환합니다.
+        /// 목적지 : PUB._virtualAGV.TargetNode
+        /// 
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <returns></returns>
+        Boolean UpdateMotionPositionForMark(string sender)
+        {
+            //현재위치를 모르는 상태라면 이동하여 현재 위치를 찾는다
+            if (_SM_RUN_POSCHK(false, new TimeSpan()) == false) return false;
+
+            //현재위치노드 오류
+            var currentNode = PUB.FindByNodeID(PUB._virtualAGV.CurrentNodeId);
+            if (currentNode == null)
+            {
+                PUB.log.AddE($"현재위치노드가 없습니다");
+                PUB.sm.SetNewRunStep(ERunStep.READY);
+                return false;
+            }
+
+            //시작노드값이 없다면 현재위치를 노드로 결정한다
+            if (PUB._virtualAGV.StartNode == null)
+                PUB._virtualAGV.StartNode = PUB.FindByNodeID(PUB._virtualAGV.CurrentNodeId);
+
+            //시작노드가없다면 오류
+            if (PUB._virtualAGV.StartNode == null)
+            {
+                PUB.log.AddE($"경로시작노드가 없습니다");
+                PUB.sm.SetNewRunStep(ERunStep.READY);
+                return false;
+            }
+
+            //대상노드가 없다면 오류
+            if (PUB._virtualAGV.TargetNode == null)
+            {
+                PUB.log.AddE($"경로종료노드가 없습니다");
+                PUB.sm.SetNewRunStep(ERunStep.READY);
+                return false;
+            }
+
+            //경로 생성(경로정보가 없거나 현재노드가 경로에 없는경우)
+            if (PUB._virtualAGV.CurrentPath == null ||
+                PUB._virtualAGV.CurrentPath.DetailedPath.Any() == false ||
+                PUB._virtualAGV.CurrentPath.DetailedPath.Where(t => t.NodeId.Equals(currentNode.NodeId)).Any() == false)
+            {
+                if (PUB.AGV.system1.agv_run)
+                {
+                    PUB.log.Add($"경로 재생성으로 인해 구동을 멈춥니다");
+                    PUB.AGV.AGVMoveStop("경로재생성");
+                }
+
+                var PathResult = CalcPath(PUB._virtualAGV.StartNode, PUB._virtualAGV.TargetNode);
+                if (PathResult.result == null)
+                {
+                    PUB.log.AddE($"경로가 계산되지 않았습니다");
+                    PUB.sm.SetNewRunStep(ERunStep.READY);
+                    return false;
+                }
+
+                PUB.log.AddI($"경로생성 {PUB._virtualAGV.StartNode.RfidId} -> {PUB._virtualAGV.TargetNode.RfidId}");
+            }
+
+            //predict 를 이용하여 다음 이동을 모두 확인한다.
+            var nextAction = PUB._virtualAGV.Predict();
+
+            var message = $"[다음 행동 예측]\n\n" +
+                         $"모터: {nextAction.Motor}\n" +
+                         $"마그넷: {nextAction.Magnet}\n" +
+                         $"속도: {nextAction.Speed}\n" +
+                         $"이유: {nextAction.Message}\n\n" +
+                         $"---\n" +
+                         $"현재 상태: {PUB._virtualAGV.CurrentState}\n" +
+                         $"현재 방향: {PUB._virtualAGV.CurrentDirection}\n" +
+                         $"위치 확정: {PUB._virtualAGV.IsPositionConfirmed} (RFID {PUB._virtualAGV.DetectedRfidCount}개)\n" +
+                         $"현재 노드: {PUB._virtualAGV.CurrentNodeId ?? "없음"}";
+
+            //모터에서 정지를 요청했다
+            if (nextAction.Motor == AGVNavigationCore.Models.MotorCommand.Stop)
+            {
+                if (PUB.AGV.system1.agv_run)
+                {
+                    // 완료(Complete) 상태라면 MarkStop 전송
+                    if (nextAction.Reason == AGVNavigationCore.Models.eAGVCommandReason.MarkStop)
+                    {
+                        PUB.log.Add("다음행동예측에서 MARK STOP이 확인되었습니다");
+                        PUB.AGV.AGVMoveStop(nextAction.Message, arDev.Narumi.eStopOpt.MarkStop);
+                    }
+                    else
+                    {
+                        PUB.log.Add("다음행동예측에서 장비 멈춤이 확인되었습니다");
+                        PUB.AGV.AGVMoveStop(nextAction.Message);
+                    }
+                }
+
+                // 목적지 도착 여부 확인
+                // 현재 노드가 타겟 노드와 같고, 위치가 확정된 상태라면 도착으로 간주
+                // 단, AGV가 실제로 멈췄는지 확인 (agv_run == false)
+                if (PUB._virtualAGV.IsPositionConfirmed &&
+                    PUB._virtualAGV.CurrentNodeId == PUB._virtualAGV.TargetNode.NodeId)
+                {
+                    if (PUB.AGV.system1.agv_run == false)
+                    {
+                        return true;
+                    }
+                }
+
+                return false;
+            }
+            else
+            {
+                // 이동 명령 변환 (AGVNavigationCore -> arDev.Narumi)
+                var bunki = arDev.Narumi.eBunki.Strate;
+                if (nextAction.Magnet == AGVNavigationCore.Models.MagnetPosition.L) bunki = arDev.Narumi.eBunki.Left;
+                else if (nextAction.Magnet == AGVNavigationCore.Models.MagnetPosition.R) bunki = arDev.Narumi.eBunki.Right;
+
+                var dir = arDev.Narumi.eMoveDir.Forward;
+                if (nextAction.Motor == AGVNavigationCore.Models.MotorCommand.Backward) dir = arDev.Narumi.eMoveDir.Backward;
+
+                var spd = arDev.Narumi.eMoveSpd.Low;
+                if (nextAction.Speed == AGVNavigationCore.Models.SpeedLevel.M) spd = arDev.Narumi.eMoveSpd.Mid;
+                else if (nextAction.Speed == AGVNavigationCore.Models.SpeedLevel.H) spd = arDev.Narumi.eMoveSpd.High;
+
+                // 명령 설정
+                // 현재 상태와 다를 때만 전송 (불필요한 통신 부하 방지)
+                if (PUB.AGV.data.Sts != bunki.ToString()[0] ||
+                    PUB.AGV.data.Direction != dir.ToString()[0] ||
+                    PUB.AGV.data.Speed != spd.ToString()[0])
+                {
+                    PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                    {
+                        Bunki = bunki,
+                        Direction = dir,
+                        PBSSensor = 1,
+                        Speed = spd,
+                    });
+                    PUB.log.Add($"Predict Run Setting = bunki:{bunki},dir:{dir},pbs:1,spd:{spd}");
+                }
+
+                // AGV가 정지 상태라면 구동 시작
+                if (PUB.AGV.system1.agv_run == false)
+                {
+                    var runOpt = (dir == arDev.Narumi.eMoveDir.Forward) ? arDev.Narumi.eRunOpt.Forward : arDev.Narumi.eRunOpt.Backward;
+                    PUB.AGV.AGVMoveRun(runOpt);
+                }
+
+                return false;
+            }
+
+        }
+
+        /// <summary>
+        /// 충전기검색시퀀스
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <returns></returns>
+        Boolean UpdateMotionPositionForCharger(string sender)
+        {
+            if (VAR.BOOL[eVarBool.AGVDIR_BACK] == false)// PUB.flag.get(EFlag.FLAG_DIR_BW) == true)
+            {
+                //충전기 검색은 항상 앞으로 검색한다
+                var tsCmd = DateTime.Now - tm_gocharge_command;
+                if (tsCmd.TotalMilliseconds >= 1999 &&
+                    PUB.AGV.error.Emergency == false &&
+                    PUB.AGV.system1.agv_run == false)
+                {
+                    PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                    {
+                        Bunki = arDev.Narumi.eBunki.Strate,
+                        Direction = arDev.Narumi.eMoveDir.Forward,
+                        PBSSensor = 1,
+                        Speed = arDev.Narumi.eMoveSpd.Low,
+                    });
+                    PUB.AGV.AGVMoveRun();//
+                    tm_gocharge_command = DateTime.Now;
+                }
+            }
+            else
+            {
+                //현재위치가 충전위치이고, 움직이지 않았다면 완료된 경우라 할수 있따
+                if (PUB._virtualAGV.CurrentNodeId.Equals(PUB.setting.NodeMAP_RFID_Charger) &&
+                      VAR.BOOL[eVarBool.MARK_SENSOR] == true)
+                {
+                    PUB.log.AddI("충전위치 검색 완료");
+                    return true;
+                }
+                else
+                {
+                    //이동중이지 않다면 항상 이동을 해줘야한다
+                    var tsCmd = DateTime.Now - LastCommandTime;
+                    if (tsCmd.TotalMilliseconds >= 1999 &&
+                        PUB.AGV.error.Emergency == false &&
+                        PUB.AGV.system1.agv_run == false)
+                    {
+                        //PUB.PLC.Move(Device.PLC.Rundirection.Backward, "UpdateMotionPosition #1(" + sender + ")");
+                        PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);//
+                        LastCommandTime = DateTime.Now;
+                    }
+                }
+                //}
+            }
+
+            return false;
+        }
+
+
+
+    }//cvass
+}

Cs_HMI/Project/StateMachine/_AGV.cs

@@ -49,82 +49,48 @@ namespace Project
                     case arDev.Narumi.DataType.STS:
                         {
                             //마크센서 확인
-                            var chg_mark1 = PUB.AGV.signal.GetChanged(arDev.Narumi.Signal.eflag.mark_sensor_1);
-                            var chg_mark2 = PUB.AGV.signal.GetChanged(arDev.Narumi.Signal.eflag.mark_sensor_1);
-                            var chg_run = PUB.AGV.system1.GetChanged(arDev.Narumi.SystemFlag1.eflag.agv_run);
-                            var chg_stop = PUB.AGV.system1.GetChanged(arDev.Narumi.SystemFlag1.eflag.agv_stop);
+                            var agv_err = PUB.AGV.error.Value;
+                            var agv_emg = PUB.AGV.error.Emergency;
+                            var agv_chg = PUB.AGV.system1.Battery_charging;
+                            var agv_stp = PUB.AGV.system1.agv_stop;
+                            var agv_run = PUB.AGV.system1.agv_run;
+                            var agv_mrk = PUB.AGV.signal.mark_sensor;
+
+
                             //if (chg_run && PUB.AGV.system1.agv_run) PUB.Speak("이동을 시작 합니다");
-                            VAR.BOOL[eVarBool.AGVDIR_UP] = PUB.AGV.data.Direction == 'B';
-                            VAR.BOOL[eVarBool.AGV_ERROR] = PUB.AGV.error.Value > 0;
-                            VAR.BOOL[eVarBool.EMERGENCY] = PUB.AGV.error.Emergency;
+                            VAR.BOOL[eVarBool.AGVDIR_BACK] = PUB.AGV.data.Direction == 'B';
 
-                            ////모터방향 입력
-                            //if (PUB.AGV.data.Direction == 'B')
-                            //    PUB.mapctl.Manager.agv.Current_Motor_Direction = AGVControl.AgvDir.Backward;
-                            //else
-                            //    PUB.mapctl.Manager.agv.Current_Motor_Direction = AGVControl.AgvDir.Forward;
-
-                            ////현재 속도
-                            //if (PUB.AGV.data.Speed == 'H')
-                            //    PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.High;
-                            //else if (PUB.AGV.data.Speed == 'M')
-                            //    PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.Middle;
-                            //else if (PUB.AGV.data.Speed == 'L')
-                            //    PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.Low;
-                            //else if (PUB.AGV.data.Speed == 'S')
-                            //    PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.MarkStop;
-
-                            ////이동방향
-                            //if (PUB.AGV.data.Sts == 'S')
-                            //    PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Straight;
-                            //else if (PUB.AGV.data.Sts == 'L')
-                            //    PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Left;
-                            //else if (PUB.AGV.data.Sts == 'R')
-                            //    PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Right;
-
-
-                            //PUB.mapctl.Manager.agv.IsMoving = PUB.AGV.system1.agv_run;
-                            //PUB.mapctl.Manager.agv.IsMarkCheck = PUB.AGV.system1.Mark1_check || PUB.AGV.system1.Mark2_check;
-
-                            if (PUB.AGV.signal.mark_sensor == false)
+                            if (VAR.BOOL[eVarBool.AGV_ERROR] != (agv_err > 0))
                             {
-                                if (VAR.BOOL[eVarBool.MARK_SENSOROFF] == false)
-                                {
-                                    VAR.BOOL[eVarBool.MARK_SENSOROFF] = true;
-                                    VAR.TIME[eVarTime.MarkSensorOff] = DateTime.Now;
-                                    PUB.log.Add($"마크센서off를 설정");
-                                }
+                                VAR.BOOL[eVarBool.AGV_ERROR] = (agv_err > 0);
+                                PUB.logagv.Add($"new AGV_ERROR ({PUB.AGV.error.Value})");
                             }
-                            else
+                            if (VAR.BOOL[eVarBool.EMERGENCY] != agv_emg)
                             {
-                                if (VAR.BOOL[eVarBool.MARK_SENSOROFF] == true)
-                                {
-                                    VAR.BOOL[eVarBool.MARK_SENSOROFF] = false;
-                                    VAR.TIME[eVarTime.MarkSensorOff] = DateTime.Now;
-                                    PUB.log.Add($"마크센서off를 해제");
-                                }
+                                VAR.BOOL[eVarBool.EMERGENCY] = agv_emg;
+                                PUB.logagv.Add($"new EMERGENCY ({VAR.BOOL[eVarBool.EMERGENCY]})");
                             }
 
 
                             //차징상태변경
-                            if (_charging != PUB.AGV.system1.Battery_charging)
+                            if (_charging != agv_chg)
                             {
-                                if (PUB.AGV.system1.Battery_charging)
+                                if (agv_chg)
                                 {
                                     VAR.TIME[eVarTime.ChargeStart] = DateTime.Now;
                                     PUB.logagv.Add($"충전시작:{VAR.TIME[eVarTime.ChargeStart]}");
                                 }
-                                _charging = PUB.AGV.system1.Battery_charging;
+                                _charging = agv_chg;
                             }
 
                             //배터리충전상태
-                            if (VAR.BOOL[eVarBool.FLAG_CHARGEONA] != PUB.AGV.system1.Battery_charging)
+                            if (VAR.BOOL[eVarBool.FLAG_CHARGEONA] != agv_chg)
                             {
-                                PUB.log.Add($"충전상태전환 {PUB.AGV.system1.Battery_charging}");
-                                VAR.BOOL[eVarBool.FLAG_CHARGEONA] = PUB.AGV.system1.Battery_charging;
+                                PUB.log.Add($"충전상태전환 {agv_chg}");
+                                VAR.BOOL[eVarBool.FLAG_CHARGEONA] = agv_chg;
                             }
                             //자동충전해제시 곧바로 수동 충전되는 경우가 있어 자동 상태를 BMS에 넣는다 230118
-                            PUB.BMS.AutoCharge = PUB.AGV.system1.Battery_charging;
+                            PUB.BMS.AutoCharge = agv_chg;
 
                             if (PUB.AGV.error.Charger_pos_error != VAR.BOOL[eVarBool.CHG_POSERR])
                             {
@@ -135,41 +101,41 @@ namespace Project
                                 VAR.BOOL[eVarBool.CHG_POSERR] = PUB.AGV.error.Charger_pos_error;
                             }
 
-                            if (VAR.BOOL[eVarBool.MARK_SENSOROFF] == true && PUB.AGV.signal.mark_sensor == false)
+                            //나르미가  멈췄다면  다음  마크  이동  기능이 OFF 된다
+                            if (agv_stp)
                             {
-                                //현재 활성화된 위치를 꺼준다
-                                if (this.ctlPos1.GetPositionActive(PUB.Result.CurrentPos))
+                                if (VAR.BOOL[eVarBool.NEXTSTOP_MARK])
                                 {
-                                    var ts = VAR.TIME.RUN(eVarTime.MarkSensorOff);
-                                    if (ts.TotalSeconds >= 2)
-                                    {
-                                        ctlPos1.SetPositionDeActive();
-                                        PUB.log.Add($"현재 활성위치를 해제 함");
-                                    }
+                                    VAR.BOOL[eVarBool.NEXTSTOP_MARK] = false;
+                                    PUB.logagv.Add($"NEXTSTOP_MARK 변경({VAR.BOOL[eVarBool.NEXTSTOP_MARK]})");
                                 }
-
                             }
 
-                            //나르미가  멈췄다면  다음  마크  이동  기능이 OFF 된다
-                            if (PUB.AGV.system1.agv_stop)
-                                VAR.BOOL[eVarBool.NEXTSTOP_MARK] = false;
-
+                            //마크센서 상태가 변경이 되었다면
                             if (VAR.BOOL[eVarBool.MARK_SENSOR] != PUB.AGV.signal.mark_sensor)
                             {
-                                if (PUB.AGV.signal.mark_sensor)
-                                {
-                                    //현재위치를 확정한다
-                                    var curact = ctlPos1.GetPositionActive(PUB.Result.CurrentPos);
-                                    if (curact == false)
-                                    {
-                                        PUB.log.Add($"마크센서로인해 현재위치 설정완료:{PUB.Result.CurrentPos}");
-                                        ctlPos1.SetPositionActive(PUB.Result.CurrentPos);
-                                        ctlPos1.SetDirection("");
-                                        ctlPos1.Invalidate();
-                                    }
-                                }
+                                PUB.logagv.Add($"MARK_SENSOR 변경({PUB.AGV.signal.mark_sensor})");
                                 VAR.BOOL[eVarBool.MARK_SENSOR] = PUB.AGV.signal.mark_sensor;
+
+                                //AGV가 멈췄고 마크센서가 ON되었다면 마지막 RFID 위치가 확정된경우이다
+                                if (agv_stp && VAR.BOOL[eVarBool.MARK_SENSOR])
+                                {
+                                    PUB.log.Add("마크스탑이 확인되어 최종위치를 PASS 처리 합니다");
+                                    var curnode = PUB._virtualAGV.SetCurrentNodeMarkStop();
+                                    if (curnode == true)
+                                    {
+                                        PUB.log.Add($"마크스탑으로 해당노드의 이동을 확정합니다");
+                                    }
+                                    else PUB.log.AddAT($"마크스탑이 확인되었으나 현재 노드가없어 PASS를 설정하지 못함");
+                                }
                             }
+                            if (VAR.BOOL[eVarBool.MARK_SENSOROFF] != VAR.BOOL[eVarBool.MARK_SENSOR])
+                            {
+                                VAR.BOOL[eVarBool.MARK_SENSOROFF] = !VAR.BOOL[eVarBool.MARK_SENSOR];
+                                VAR.TIME[eVarTime.MarkSensorOff] = DateTime.Now;
+                                PUB.log.Add($"MARK_SENSOROFF 변경({VAR.BOOL[eVarBool.MARK_SENSOROFF]})");
+                            }
+
                         }
                         break;
                     case arDev.Narumi.DataType.TAG:
@@ -239,8 +205,23 @@ namespace Project
                 }
 
                 //이 후 상황을 예측한다
-                var command = PUB._virtualAGV.Predict();
-                var preditMSG = $"Motor:{command.Motor},Magnet:{command.Magnet},Speed:{command.Speed} : {command.Reason}";
+                if (PUB._mapCanvas != null)
+                {
+                    var nextAction = PUB._virtualAGV.Predict();
+                    var message = $"[다음 행동 예측]\n\n" +
+                     $"모터: {nextAction.Motor}\n" +
+                     $"마그넷: {nextAction.Magnet}\n" +
+                     $"속도: {nextAction.Speed}\n" +
+                     $"이유: {nextAction.Message}\n\n" +
+                     $"---\n" +
+                     $"현재 상태: {PUB._virtualAGV.CurrentState}\n" +
+                     $"현재 방향: {PUB._virtualAGV.CurrentDirection}\n" +
+                     $"위치 확정: {PUB._virtualAGV.IsPositionConfirmed} (RFID {PUB._virtualAGV.DetectedRfidCount}개)\n" +
+                     $"현재 노드: {PUB._virtualAGV.CurrentNodeId ?? "없음"}";
+
+                    PUB._mapCanvas.PredictMessage = message;
+                }
+
             }
             catch (Exception ex)
             {

Cs_HMI/Project/StateMachine/_Loop.cs

@@ -156,6 +156,15 @@ namespace Project
 
                         // 장치 관리 태스크 시작 (IDLE 진입 시 한 번만)
                         StartDeviceManagementTask();
+
+                        // 동기화 모드 종료 (혹시 남아있을 경우)
+                        if (PUB._mapCanvas != null)
+                        {
+                            this.Invoke(new Action(() => {
+                                PUB._mapCanvas.ExitSyncMode();
+                            }));
+                        }
+                            
                     }
 
                     //자동소거기능
@@ -179,6 +188,12 @@ namespace Project
                     break;
 
                 case eSMStep.SYNC:
+                    if(e.isFirst)
+                    {
+                        // 동기화 완료 시 캔버스 모드 복귀
+                        if (PUB._mapCanvas != null)
+                            PUB._mapCanvas.SetSyncStatus("설정 동기화", 0f, "환경설정 값으로 AGV컨트롤러를 설정 합니다");
+                    }
                     if (_SM_RUN_SYNC(runStepisFirst, PUB.sm.GetRunSteptime))
                     {
                         var b1 = PUB.XBE.IsOpen;

Cs_HMI/Project/StateMachine/_TMDisplay.cs

@@ -241,6 +241,7 @@ namespace Project
             var bCharge =
                 (PUB.sm.RunStep == ERunStep.GOCHARGE || PUB.sm.RunStep == ERunStep.CHARGECHECK || VAR.BOOL[eVarBool.FLAG_CHARGEONA] == true);
 
+            //가동, 목적지가 충전기라면 홈 이동이다
             var bHome = PUB.sm.Step == eSMStep.RUN && (PUB.sm.RunStep == ERunStep.GOHOME);
             //var bChargeM = PUB.flag.get(EFlag.FLAG_CHARGEONM);
             var bAuto = VAR.BOOL[eVarBool.FLAG_AUTORUN];
@@ -368,7 +369,7 @@ namespace Project
             }
 
             IOState.setTitle(inputrow, inputcol, "RUN"); IOState.setValue(inputrow, inputcol++, (PUB.AGV.system1.agv_run ? 1 : 0));
-            IOState.setTitle(inputrow, inputcol, "MARK"); IOState.setValue(inputrow, inputcol++, (PUB.AGV.signal.mark_sensor ? 1 : (VAR.BOOL[eVarBool.NEXTSTOP_MARK] ? 2 : 0)));
+            IOState.setTitle(inputrow, inputcol, "MARK"); IOState.setValue(inputrow, inputcol++, (VAR.BOOL[eVarBool.MARK_SENSOR] ? 1 : (VAR.BOOL[eVarBool.NEXTSTOP_MARK] ? 2 : 0)));
             IOState.setTitle(inputrow, inputcol, "CHG"); IOState.setValue(inputrow, inputcol++, (PUB.AGV.system1.Battery_charging ? 1 : 0));
             IOState.setTitle(inputrow, inputcol, "ITM"); IOState.setValue(inputrow, inputcol++, (VAR.BOOL[eVarBool.ITEMON] ? 1 : 0));
             IOState.Invalidate();
@@ -697,7 +698,7 @@ namespace Project
                             }
                             else
                             {
-                                if (PUB.sm.RunStep == ERunStep.GODOWN)
+                                if (PUB.sm.RunStep == ERunStep.BUFFER_IN)
                                 {
                                     if (PUB.sm.RunStepSeq == 1)
                                     {
@@ -705,7 +706,7 @@ namespace Project
                                     }
                                     else UpdateStatusMessage(String.Format("하차 이동 중 ({0})", PUB.Result.TargetPos), Color.Lime, Color.Black);
                                 }
-                                else if (PUB.sm.RunStep == ERunStep.GOUP)
+                                else if (PUB.sm.RunStep == ERunStep.BUFFER_OUT)
                                 {
                                     if (PUB.sm.RunStepSeq == 1)
                                     {
@@ -713,6 +714,30 @@ namespace Project
                                     }
                                     else UpdateStatusMessage(String.Format("상차 이동 중 ({0})", PUB.Result.TargetPos), Color.Lime, Color.Black);
                                 }
+                                else if (PUB.sm.RunStep == ERunStep.LOADER_IN)
+                                {
+                                     UpdateStatusMessage(String.Format("로더 진입 중 ({0})", PUB.Result.TargetPos), Color.Lime, Color.Black);
+                                }
+                                else if (PUB.sm.RunStep == ERunStep.LOADER_OUT)
+                                {
+                                     UpdateStatusMessage(String.Format("로더 배출 중 ({0})", PUB.Result.TargetPos), Color.Lime, Color.Black);
+                                }
+                                else if (PUB.sm.RunStep == ERunStep.UNLOADER_IN)
+                                {
+                                     UpdateStatusMessage(String.Format("언로더 진입 중 ({0})", PUB.Result.TargetPos), Color.Lime, Color.Black);
+                                }
+                                else if (PUB.sm.RunStep == ERunStep.UNLOADER_OUT)
+                                {
+                                     UpdateStatusMessage(String.Format("언로더 배출 중 ({0})", PUB.Result.TargetPos), Color.Lime, Color.Black);
+                                }
+                                else if (PUB.sm.RunStep == ERunStep.CLEANER_IN)
+                                {
+                                     UpdateStatusMessage(String.Format("클리너 진입 중 ({0})", PUB.Result.TargetPos), Color.Lime, Color.Black);
+                                }
+                                else if (PUB.sm.RunStep == ERunStep.CLEANER_OUT)
+                                {
+                                     UpdateStatusMessage(String.Format("클리너 배출 중 ({0})", PUB.Result.TargetPos), Color.Lime, Color.Black);
+                                }
                                 else if (PUB.sm.RunStep == ERunStep.GOCHARGE)
                                 {
                                     if (PUB.Result.result_message.isEmpty() == true)

Cs_HMI/Project/StateMachine/_Xbee.cs

@@ -53,7 +53,8 @@ namespace Project
                                 PUB.log.AddE($"[{logPrefix}-SetCurrent] 노드정보를 찾을 수 없습니다 RFID:{currTag}");
                                 PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, $"{currTag}");
                                 return;
-                            }else
+                            }
+                            else
                             {
                                 PUB.log.AddI($"XBEE:현재위치설정:[{node.RfidId}]{node.NodeId}");
                             }
@@ -69,6 +70,17 @@ namespace Project
                         {
                             var currTag = System.Text.Encoding.Default.GetString(data, 1, data.Length - 1);
                             var targetNode = PUB._mapNodes.FirstOrDefault(t => t.RfidId == currTag);
+
+
+                            //자동상태가아니라면 처리하지 않는다.
+                            if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == false)
+                            {
+                                PUB.log.AddE($"[{logPrefix}-Goto] 자동실행상태가 아닙니다");
+                                PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.ManualMode, $"{currTag}");
+                            }
+
+                            //목적지
+                            PUB._virtualAGV.TargetNode = targetNode;
                             if (targetNode == null)
                             {
                                 PUB.log.AddE($"[{logPrefix}-Goto] 노드정보를 찾을 수 없습니다 RFID:{currTag}");
@@ -76,24 +88,37 @@ namespace Project
                                 return;
                             }
 
+                            ///출발지
                             var startNode = PUB._mapNodes.FirstOrDefault(t => t.RfidId == PUB._virtualAGV.CurrentNodeId);
+                            PUB._virtualAGV.StartNode = startNode;
                             if (startNode == null)
                             {
-                                PUB.log.AddE($"[{logPrefix}-Goto] 노드정보를 찾을 수 없습니다 RFID:{PUB._virtualAGV.CurrentNodeId}");
-                                PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, $"{PUB._virtualAGV.CurrentNodeId}");
-                                return;
+                                PUB.log.AddE($"[{logPrefix}-Goto] 시작노드가 없습니다(현재위치 없음) NodeID:{PUB._virtualAGV.CurrentNodeId}");
                             }
 
-                            var rltGoto = CalcPath(startNode, targetNode);
-                            if (rltGoto.result == false)
+                            if (startNode != null)
                             {
-                                PUB.log.AddE($"[{logPrefix}-Goto] {rltGoto.message}");
-                                PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.Goto, rltGoto.message);
-                                return;
+                                //시작위치가 존재한다면 경로를 예측한다.
+                                var rltGoto = CalcPath(startNode, targetNode);
+                                if (rltGoto.result == null)
+                                {
+                                    PUB.log.AddE($"[{logPrefix}-Goto] 경로예측실패 {rltGoto.message}");
+                                }
+                                else
+                                {
+                                    //경로예측을 화면에 표시해준다.
+                                    PUB._virtualAGV.SetPath(rltGoto.result);
+                                    var pathWithRfid = rltGoto.result.GetSimplePath().Select(nodeId => PUB._virtualAGV.GetRfidByNodeId(PUB._mapNodes, nodeId)).ToList();
+                                    PUB.log.Add($"경로예측결과:{pathWithRfid}");
+                                }
                             }
 
+                            //대상이동으로 처리한다.
+                            PUB.sm.SetNewRunStep(StateMachine.ERunStep.GOTO);
+
                             //Move to 
                             PUB.log.Add($"[{logPrefix}-Goto] {startNode.RfidId} -> {targetNode.RfidId}");
+
                         }
                         else PUB.log.AddE($"[{logPrefix}-Goto] TagString Lenght Errorr:{data.Length}");
                         break;
@@ -135,7 +160,7 @@ namespace Project
                         var bunkidata = new arDev.Narumi.BunkiData();
 
                         //speed;
-                        if (AutSpeed == 1) bunkidata.Speed = arDev.Narumi.eMoveSpd.Middle;
+                        if (AutSpeed == 1) bunkidata.Speed = arDev.Narumi.eMoveSpd.Mid;
                         else if (AutSpeed == 2) bunkidata.Speed = arDev.Narumi.eMoveSpd.High;
                         else bunkidata.Speed = arDev.Narumi.eMoveSpd.Low;
 
@@ -164,7 +189,7 @@ namespace Project
                         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;
-                        
+
                         PUB.log.Add($"[{logPrefix}-LiftControl] {LCmd}");
                         PUB.AGV.LiftControl(LCmd);  //리프트제어
                         break;
@@ -173,13 +198,13 @@ namespace Project
                         var chargeAction = data[1] == 1; //0= off, 1=on 
 
                         //충전시퀀스가 진행되지 않았다면 진행한다
-                        if(PUB.sm.RunStep == StateMachine.ERunStep.GOCHARGE && PUB.sm.RunStepNew != StateMachine.ERunStep.GOCHARGE)
+                        if (PUB.sm.RunStep == StateMachine.ERunStep.GOCHARGE && PUB.sm.RunStepNew != StateMachine.ERunStep.GOCHARGE)
                         {
                             PUB.sm.SetNewRunStep(StateMachine.ERunStep.GOCHARGE);
                             PUB.log.AddI($"충전을 시작합니다");
                         }
                         break;
-                        
+
                 }
             }
         }
@@ -191,12 +216,12 @@ namespace Project
         }
 
         AGVNavigationCore.PathFinding.Planning.AGVPathfinder _advancedPathfinder = null;
-        (bool result, string message) CalcPath(MapNode startNode, MapNode targetNode)
+        (AGVNavigationCore.PathFinding.Core.AGVPathResult result, string message) CalcPath(MapNode startNode, MapNode targetNode)
         {
             var _mapNodes = PUB._mapNodes;
             // 시작 RFID가 없으면 AGV 현재 위치로 설정
             if (startNode == null || targetNode == null)
-                return (false, "시작 RFID와 목표 RFID를 선택해주세요.");
+                return (null, "시작 RFID와 목표 RFID를 선택해주세요.");
 
             //경로계산기확인
             if (_advancedPathfinder == null)
@@ -216,6 +241,7 @@ namespace Project
             var _simulatorCanvas = PUB._mapCanvas;
 
             _simulatorCanvas.FitToNodes();
+            string Message = string.Empty;
             if (advancedResult.Success)
             {
                 // 도킹 검증이 없는 경우 추가 검증 수행
@@ -234,14 +260,17 @@ namespace Project
 
                 // 고급 경로 디버깅 정보 표시
                 //UpdateAdvancedPathDebugInfo(advancedResult);
-                return (true, string.Empty);
+
             }
             else
             {
                 // 경로 실패시 디버깅 정보 초기화
                 //_pathDebugLabel.Text = $"경로: 실패 - {advancedResult.ErrorMessage}";
-                return (false, $"경로를 찾을 수 없습니다:\n{advancedResult.ErrorMessage}");
+                advancedResult = null;
+                Message = $"경로를 찾을 수 없습니다:\n{advancedResult.ErrorMessage}";
             }
+
+            return (advancedResult, Message);
         }
 
 

Cs_HMI/Project/ViewForm/fAgv.cs

@@ -138,7 +138,10 @@ namespace Project.ViewForm
 
         private void button9_Click(object sender, EventArgs e)
         {
-            PUB.AGV.TurnGDSCenterScope(); 
+            var inputbox = AR.UTIL.InputBox("input value", "1000");
+            if (inputbox.Item1 == false) return;
+            if (UInt16.TryParse(inputbox.Item2, out UInt16 value) == false) return;
+            PUB.AGV.TurnGDSCenterScope(value); 
             if (PUB.sm.Step == StateMachine.eSMStep.RUN)
                 PUB.sm.SetNewStep(StateMachine.eSMStep.IDLE);
         }

Cs_HMI/Project/ViewForm/fManual.Designer.cs

@@ -41,46 +41,45 @@
             this.btErrReset = new System.Windows.Forms.Button();
             this.timer1 = new System.Windows.Forms.Timer(this.components);
             this.panel2 = new System.Windows.Forms.Panel();
-            this.groupBox3 = new System.Windows.Forms.GroupBox();
-            this.btBack180 = new System.Windows.Forms.Button();
-            this.panel1 = new System.Windows.Forms.Panel();
             this.btRight180 = new System.Windows.Forms.Button();
-            this.panel10 = new System.Windows.Forms.Panel();
             this.btLeft180 = new System.Windows.Forms.Button();
             this.button1 = new System.Windows.Forms.Button();
             this.groupBox1 = new System.Windows.Forms.GroupBox();
-            this.radpbs2 = new AGVControl.MyRadioButton();
             this.panel9 = new System.Windows.Forms.Panel();
-            this.radpbs1 = new AGVControl.MyRadioButton();
             this.panel3 = new System.Windows.Forms.Panel();
-            this.radpbs0 = new AGVControl.MyRadioButton();
             this.grpSpeed = new System.Windows.Forms.GroupBox();
-            this.radspdh = new AGVControl.MyRadioButton();
             this.panel8 = new System.Windows.Forms.Panel();
-            this.radspdm = new AGVControl.MyRadioButton();
             this.panel4 = new System.Windows.Forms.Panel();
-            this.radspdl = new AGVControl.MyRadioButton();
             this.grpBunki = new System.Windows.Forms.GroupBox();
-            this.radright = new AGVControl.MyRadioButton();
             this.panel7 = new System.Windows.Forms.Panel();
-            this.radstrai = new AGVControl.MyRadioButton();
             this.panel5 = new System.Windows.Forms.Panel();
-            this.radleft = new AGVControl.MyRadioButton();
             this.groupBox2 = new System.Windows.Forms.GroupBox();
             this.arLabel1 = new arCtl.arLabel();
             this.panel12 = new System.Windows.Forms.Panel();
-            this.radbackward = new AGVControl.MyRadioButton();
             this.panel6 = new System.Windows.Forms.Panel();
-            this.radforward = new AGVControl.MyRadioButton();
             this.label1 = new System.Windows.Forms.Label();
+            this.radpbs2 = new AGVControl.MyRadioButton();
+            this.radpbs1 = new AGVControl.MyRadioButton();
+            this.radpbs0 = new AGVControl.MyRadioButton();
+            this.radspdh = new AGVControl.MyRadioButton();
+            this.radspdm = new AGVControl.MyRadioButton();
+            this.radspdl = new AGVControl.MyRadioButton();
+            this.radright = new AGVControl.MyRadioButton();
+            this.radstrai = new AGVControl.MyRadioButton();
+            this.radleft = new AGVControl.MyRadioButton();
+            this.radbackward = new AGVControl.MyRadioButton();
+            this.radforward = new AGVControl.MyRadioButton();
             this.guideSensor1 = new Narumi.UC.GuideSensor();
+            this.btBack180 = new System.Windows.Forms.Button();
+            this.tableLayoutPanel2 = new System.Windows.Forms.TableLayoutPanel();
+            this.button2 = new System.Windows.Forms.Button();
             this.tableLayoutPanel1.SuspendLayout();
             this.panel2.SuspendLayout();
-            this.groupBox3.SuspendLayout();
             this.groupBox1.SuspendLayout();
             this.grpSpeed.SuspendLayout();
             this.grpBunki.SuspendLayout();
             this.groupBox2.SuspendLayout();
+            this.tableLayoutPanel2.SuspendLayout();
             this.SuspendLayout();
             // 
             // tableLayoutPanel1
@@ -105,7 +104,7 @@
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
-            this.tableLayoutPanel1.Size = new System.Drawing.Size(604, 555);
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(604, 594);
             this.tableLayoutPanel1.TabIndex = 7;
             // 
             // btStart
@@ -125,7 +124,7 @@
             this.btStart.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.btStart.GradientRepeatBG = false;
             this.btStart.isButton = true;
-            this.btStart.Location = new System.Drawing.Point(204, 188);
+            this.btStart.Location = new System.Drawing.Point(204, 201);
             this.btStart.MouseDownColor = System.Drawing.Color.Yellow;
             this.btStart.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
             this.btStart.msg = new string[] {
@@ -147,7 +146,7 @@
             this.btStart.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btStart.SignColor = System.Drawing.Color.Yellow;
             this.btStart.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btStart.Size = new System.Drawing.Size(195, 179);
+            this.btStart.Size = new System.Drawing.Size(195, 192);
             this.btStart.TabIndex = 6;
             this.btStart.Text = "RUN";
             this.btStart.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -172,7 +171,7 @@
             this.btRight.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.btRight.GradientRepeatBG = false;
             this.btRight.isButton = true;
-            this.btRight.Location = new System.Drawing.Point(405, 188);
+            this.btRight.Location = new System.Drawing.Point(405, 201);
             this.btRight.MouseDownColor = System.Drawing.Color.Yellow;
             this.btRight.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
             this.btRight.msg = null;
@@ -192,7 +191,7 @@
             this.btRight.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btRight.SignColor = System.Drawing.Color.Yellow;
             this.btRight.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btRight.Size = new System.Drawing.Size(196, 179);
+            this.btRight.Size = new System.Drawing.Size(196, 192);
             this.btRight.TabIndex = 0;
             this.btRight.Text = "좌회전";
             this.btRight.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -238,7 +237,7 @@
             this.btBack.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btBack.SignColor = System.Drawing.Color.Yellow;
             this.btBack.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btBack.Size = new System.Drawing.Size(195, 179);
+            this.btBack.Size = new System.Drawing.Size(195, 192);
             this.btBack.TabIndex = 0;
             this.btBack.Text = "후진";
             this.btBack.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -263,7 +262,7 @@
             this.btForward.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.btForward.GradientRepeatBG = false;
             this.btForward.isButton = true;
-            this.btForward.Location = new System.Drawing.Point(204, 373);
+            this.btForward.Location = new System.Drawing.Point(204, 399);
             this.btForward.MouseDownColor = System.Drawing.Color.Yellow;
             this.btForward.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
             this.btForward.msg = null;
@@ -283,7 +282,7 @@
             this.btForward.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btForward.SignColor = System.Drawing.Color.Yellow;
             this.btForward.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btForward.Size = new System.Drawing.Size(195, 179);
+            this.btForward.Size = new System.Drawing.Size(195, 192);
             this.btForward.TabIndex = 0;
             this.btForward.Text = "전진";
             this.btForward.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -308,7 +307,7 @@
             this.btLeft.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.btLeft.GradientRepeatBG = false;
             this.btLeft.isButton = true;
-            this.btLeft.Location = new System.Drawing.Point(3, 188);
+            this.btLeft.Location = new System.Drawing.Point(3, 201);
             this.btLeft.MouseDownColor = System.Drawing.Color.Yellow;
             this.btLeft.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
             this.btLeft.msg = null;
@@ -328,7 +327,7 @@
             this.btLeft.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btLeft.SignColor = System.Drawing.Color.Yellow;
             this.btLeft.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btLeft.Size = new System.Drawing.Size(195, 179);
+            this.btLeft.Size = new System.Drawing.Size(195, 192);
             this.btLeft.TabIndex = 0;
             this.btLeft.Text = "우회전";
             this.btLeft.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -342,7 +341,7 @@
             this.btMarkStop.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
             this.btMarkStop.Location = new System.Drawing.Point(3, 3);
             this.btMarkStop.Name = "btMarkStop";
-            this.btMarkStop.Size = new System.Drawing.Size(195, 179);
+            this.btMarkStop.Size = new System.Drawing.Size(195, 192);
             this.btMarkStop.TabIndex = 7;
             this.btMarkStop.Text = "마크정지";
             this.btMarkStop.UseVisualStyleBackColor = true;
@@ -352,9 +351,9 @@
             // 
             this.btchargeOff.Dock = System.Windows.Forms.DockStyle.Fill;
             this.btchargeOff.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.btchargeOff.Location = new System.Drawing.Point(405, 373);
+            this.btchargeOff.Location = new System.Drawing.Point(405, 399);
             this.btchargeOff.Name = "btchargeOff";
-            this.btchargeOff.Size = new System.Drawing.Size(196, 179);
+            this.btchargeOff.Size = new System.Drawing.Size(196, 192);
             this.btchargeOff.TabIndex = 8;
             this.btchargeOff.Text = "충전해제";
             this.btchargeOff.UseVisualStyleBackColor = true;
@@ -364,9 +363,9 @@
             // 
             this.btChargeOn.Dock = System.Windows.Forms.DockStyle.Fill;
             this.btChargeOn.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.btChargeOn.Location = new System.Drawing.Point(3, 373);
+            this.btChargeOn.Location = new System.Drawing.Point(3, 399);
             this.btChargeOn.Name = "btChargeOn";
-            this.btChargeOn.Size = new System.Drawing.Size(195, 179);
+            this.btChargeOn.Size = new System.Drawing.Size(195, 192);
             this.btChargeOn.TabIndex = 9;
             this.btChargeOn.Text = "충전";
             this.btChargeOn.UseVisualStyleBackColor = true;
@@ -378,7 +377,7 @@
             this.btErrReset.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
             this.btErrReset.Location = new System.Drawing.Point(405, 3);
             this.btErrReset.Name = "btErrReset";
-            this.btErrReset.Size = new System.Drawing.Size(196, 179);
+            this.btErrReset.Size = new System.Drawing.Size(196, 192);
             this.btErrReset.TabIndex = 10;
             this.btErrReset.Text = "오류소거";
             this.btErrReset.UseVisualStyleBackColor = true;
@@ -391,7 +390,7 @@
             // 
             // panel2
             // 
-            this.panel2.Controls.Add(this.groupBox3);
+            this.panel2.Controls.Add(this.tableLayoutPanel2);
             this.panel2.Controls.Add(this.button1);
             this.panel2.Controls.Add(this.groupBox1);
             this.panel2.Controls.Add(this.grpSpeed);
@@ -400,79 +399,33 @@
             this.panel2.Dock = System.Windows.Forms.DockStyle.Fill;
             this.panel2.Location = new System.Drawing.Point(607, 21);
             this.panel2.Name = "panel2";
-            this.panel2.Size = new System.Drawing.Size(404, 517);
+            this.panel2.Size = new System.Drawing.Size(404, 556);
             this.panel2.TabIndex = 9;
             this.panel2.Paint += new System.Windows.Forms.PaintEventHandler(this.panel2_Paint);
             // 
-            // groupBox3
-            // 
-            this.groupBox3.Controls.Add(this.btBack180);
-            this.groupBox3.Controls.Add(this.panel1);
-            this.groupBox3.Controls.Add(this.btRight180);
-            this.groupBox3.Controls.Add(this.panel10);
-            this.groupBox3.Controls.Add(this.btLeft180);
-            this.groupBox3.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.groupBox3.Location = new System.Drawing.Point(0, 450);
-            this.groupBox3.Name = "groupBox3";
-            this.groupBox3.Padding = new System.Windows.Forms.Padding(10, 5, 5, 10);
-            this.groupBox3.Size = new System.Drawing.Size(404, 67);
-            this.groupBox3.TabIndex = 11;
-            this.groupBox3.TabStop = false;
-            // 
-            // btBack180
-            // 
-            this.btBack180.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.btBack180.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.btBack180.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.btBack180.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold);
-            this.btBack180.ForeColor = System.Drawing.Color.Black;
-            this.btBack180.Location = new System.Drawing.Point(270, 19);
-            this.btBack180.Name = "btBack180";
-            this.btBack180.Size = new System.Drawing.Size(129, 38);
-            this.btBack180.TabIndex = 15;
-            this.btBack180.Text = "백후 180도 회전";
-            this.btBack180.UseVisualStyleBackColor = false;
-            this.btBack180.Click += new System.EventHandler(this.btBack180_Click);
-            // 
-            // panel1
-            // 
-            this.panel1.Dock = System.Windows.Forms.DockStyle.Left;
-            this.panel1.Location = new System.Drawing.Point(261, 19);
-            this.panel1.Name = "panel1";
-            this.panel1.Size = new System.Drawing.Size(9, 38);
-            this.panel1.TabIndex = 14;
-            // 
             // btRight180
             // 
             this.btRight180.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.btRight180.Dock = System.Windows.Forms.DockStyle.Left;
+            this.btRight180.Dock = System.Windows.Forms.DockStyle.Fill;
             this.btRight180.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold);
             this.btRight180.ForeColor = System.Drawing.Color.Black;
-            this.btRight180.Location = new System.Drawing.Point(140, 19);
+            this.btRight180.Location = new System.Drawing.Point(3, 62);
             this.btRight180.Name = "btRight180";
-            this.btRight180.Size = new System.Drawing.Size(121, 38);
+            this.btRight180.Size = new System.Drawing.Size(196, 53);
             this.btRight180.TabIndex = 6;
             this.btRight180.Text = "180도 우회전";
             this.btRight180.UseVisualStyleBackColor = false;
             this.btRight180.Click += new System.EventHandler(this.btRight180_Click);
             // 
-            // panel10
-            // 
-            this.panel10.Dock = System.Windows.Forms.DockStyle.Left;
-            this.panel10.Location = new System.Drawing.Point(131, 19);
-            this.panel10.Name = "panel10";
-            this.panel10.Size = new System.Drawing.Size(9, 38);
-            this.panel10.TabIndex = 12;
-            // 
             // btLeft180
             // 
             this.btLeft180.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.btLeft180.Dock = System.Windows.Forms.DockStyle.Left;
+            this.btLeft180.Dock = System.Windows.Forms.DockStyle.Fill;
             this.btLeft180.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold);
             this.btLeft180.ForeColor = System.Drawing.Color.Black;
-            this.btLeft180.Location = new System.Drawing.Point(10, 19);
+            this.btLeft180.Location = new System.Drawing.Point(3, 3);
             this.btLeft180.Name = "btLeft180";
-            this.btLeft180.Size = new System.Drawing.Size(121, 38);
+            this.btLeft180.Size = new System.Drawing.Size(196, 53);
             this.btLeft180.TabIndex = 7;
             this.btLeft180.Text = "180도 좌회전";
             this.btLeft180.UseVisualStyleBackColor = false;
@@ -484,7 +437,7 @@
             this.button1.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
             this.button1.Location = new System.Drawing.Point(0, 380);
             this.button1.Name = "button1";
-            this.button1.Size = new System.Drawing.Size(404, 70);
+            this.button1.Size = new System.Drawing.Size(404, 58);
             this.button1.TabIndex = 10;
             this.button1.Text = "설정 적용";
             this.button1.UseVisualStyleBackColor = true;
@@ -506,25 +459,6 @@
             this.groupBox1.TabStop = false;
             this.groupBox1.Text = "근접센서(PBS)";
             // 
-            // radpbs2
-            // 
-            this.radpbs2.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radpbs2.Bordercolor = System.Drawing.Color.DimGray;
-            this.radpbs2.BorderRadius = 7;
-            this.radpbs2.BorderSize = 2;
-            this.radpbs2.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radpbs2.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radpbs2.CheckWidth = 30;
-            this.radpbs2.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radpbs2.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radpbs2.Location = new System.Drawing.Point(278, 19);
-            this.radpbs2.Name = "radpbs2";
-            this.radpbs2.Size = new System.Drawing.Size(119, 66);
-            this.radpbs2.TabIndex = 10;
-            this.radpbs2.Text = "On(2)";
-            this.radpbs2.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radpbs2.UseVisualStyleBackColor = false;
-            // 
             // panel9
             // 
             this.panel9.Dock = System.Windows.Forms.DockStyle.Left;
@@ -533,28 +467,6 @@
             this.panel9.Size = new System.Drawing.Size(15, 66);
             this.panel9.TabIndex = 12;
             // 
-            // radpbs1
-            // 
-            this.radpbs1.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radpbs1.Bordercolor = System.Drawing.Color.DimGray;
-            this.radpbs1.BorderRadius = 7;
-            this.radpbs1.BorderSize = 2;
-            this.radpbs1.Checked = true;
-            this.radpbs1.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radpbs1.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radpbs1.CheckWidth = 30;
-            this.radpbs1.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radpbs1.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radpbs1.ForeColor = System.Drawing.Color.Blue;
-            this.radpbs1.Location = new System.Drawing.Point(144, 19);
-            this.radpbs1.Name = "radpbs1";
-            this.radpbs1.Size = new System.Drawing.Size(119, 66);
-            this.radpbs1.TabIndex = 9;
-            this.radpbs1.TabStop = true;
-            this.radpbs1.Text = "On(1)";
-            this.radpbs1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radpbs1.UseVisualStyleBackColor = false;
-            // 
             // panel3
             // 
             this.panel3.Dock = System.Windows.Forms.DockStyle.Left;
@@ -563,25 +475,6 @@
             this.panel3.Size = new System.Drawing.Size(15, 66);
             this.panel3.TabIndex = 11;
             // 
-            // radpbs0
-            // 
-            this.radpbs0.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radpbs0.Bordercolor = System.Drawing.Color.DimGray;
-            this.radpbs0.BorderRadius = 7;
-            this.radpbs0.BorderSize = 2;
-            this.radpbs0.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radpbs0.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radpbs0.CheckWidth = 30;
-            this.radpbs0.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radpbs0.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radpbs0.Location = new System.Drawing.Point(10, 19);
-            this.radpbs0.Name = "radpbs0";
-            this.radpbs0.Size = new System.Drawing.Size(119, 66);
-            this.radpbs0.TabIndex = 8;
-            this.radpbs0.Text = "Off(0)";
-            this.radpbs0.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radpbs0.UseVisualStyleBackColor = false;
-            // 
             // grpSpeed
             // 
             this.grpSpeed.Controls.Add(this.radspdh);
@@ -598,25 +491,6 @@
             this.grpSpeed.TabStop = false;
             this.grpSpeed.Text = "속도";
             // 
-            // radspdh
-            // 
-            this.radspdh.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radspdh.Bordercolor = System.Drawing.Color.DimGray;
-            this.radspdh.BorderRadius = 7;
-            this.radspdh.BorderSize = 2;
-            this.radspdh.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radspdh.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radspdh.CheckWidth = 30;
-            this.radspdh.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radspdh.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radspdh.Location = new System.Drawing.Point(278, 19);
-            this.radspdh.Name = "radspdh";
-            this.radspdh.Size = new System.Drawing.Size(119, 66);
-            this.radspdh.TabIndex = 2;
-            this.radspdh.Text = "고속";
-            this.radspdh.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radspdh.UseVisualStyleBackColor = false;
-            // 
             // panel8
             // 
             this.panel8.Dock = System.Windows.Forms.DockStyle.Left;
@@ -625,28 +499,6 @@
             this.panel8.Size = new System.Drawing.Size(15, 66);
             this.panel8.TabIndex = 13;
             // 
-            // radspdm
-            // 
-            this.radspdm.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radspdm.Bordercolor = System.Drawing.Color.DimGray;
-            this.radspdm.BorderRadius = 7;
-            this.radspdm.BorderSize = 2;
-            this.radspdm.Checked = true;
-            this.radspdm.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radspdm.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radspdm.CheckWidth = 30;
-            this.radspdm.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radspdm.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radspdm.ForeColor = System.Drawing.Color.Blue;
-            this.radspdm.Location = new System.Drawing.Point(144, 19);
-            this.radspdm.Name = "radspdm";
-            this.radspdm.Size = new System.Drawing.Size(119, 66);
-            this.radspdm.TabIndex = 1;
-            this.radspdm.TabStop = true;
-            this.radspdm.Text = "중속";
-            this.radspdm.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radspdm.UseVisualStyleBackColor = false;
-            // 
             // panel4
             // 
             this.panel4.Dock = System.Windows.Forms.DockStyle.Left;
@@ -655,25 +507,6 @@
             this.panel4.Size = new System.Drawing.Size(15, 66);
             this.panel4.TabIndex = 12;
             // 
-            // radspdl
-            // 
-            this.radspdl.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radspdl.Bordercolor = System.Drawing.Color.DimGray;
-            this.radspdl.BorderRadius = 7;
-            this.radspdl.BorderSize = 2;
-            this.radspdl.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radspdl.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radspdl.CheckWidth = 30;
-            this.radspdl.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radspdl.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radspdl.Location = new System.Drawing.Point(10, 19);
-            this.radspdl.Name = "radspdl";
-            this.radspdl.Size = new System.Drawing.Size(119, 66);
-            this.radspdl.TabIndex = 0;
-            this.radspdl.Text = "저속";
-            this.radspdl.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radspdl.UseVisualStyleBackColor = false;
-            // 
             // grpBunki
             // 
             this.grpBunki.Controls.Add(this.radright);
@@ -690,25 +523,6 @@
             this.grpBunki.TabStop = false;
             this.grpBunki.Text = "분기";
             // 
-            // radright
-            // 
-            this.radright.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radright.Bordercolor = System.Drawing.Color.DimGray;
-            this.radright.BorderRadius = 7;
-            this.radright.BorderSize = 2;
-            this.radright.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radright.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radright.CheckWidth = 30;
-            this.radright.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radright.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radright.Location = new System.Drawing.Point(278, 19);
-            this.radright.Name = "radright";
-            this.radright.Size = new System.Drawing.Size(119, 66);
-            this.radright.TabIndex = 4;
-            this.radright.Text = "우측";
-            this.radright.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radright.UseVisualStyleBackColor = false;
-            // 
             // panel7
             // 
             this.panel7.Dock = System.Windows.Forms.DockStyle.Left;
@@ -717,28 +531,6 @@
             this.panel7.Size = new System.Drawing.Size(15, 66);
             this.panel7.TabIndex = 13;
             // 
-            // radstrai
-            // 
-            this.radstrai.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radstrai.Bordercolor = System.Drawing.Color.DimGray;
-            this.radstrai.BorderRadius = 7;
-            this.radstrai.BorderSize = 2;
-            this.radstrai.Checked = true;
-            this.radstrai.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radstrai.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radstrai.CheckWidth = 30;
-            this.radstrai.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radstrai.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radstrai.ForeColor = System.Drawing.Color.Blue;
-            this.radstrai.Location = new System.Drawing.Point(144, 19);
-            this.radstrai.Name = "radstrai";
-            this.radstrai.Size = new System.Drawing.Size(119, 66);
-            this.radstrai.TabIndex = 3;
-            this.radstrai.TabStop = true;
-            this.radstrai.Text = "직진";
-            this.radstrai.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radstrai.UseVisualStyleBackColor = false;
-            // 
             // panel5
             // 
             this.panel5.Dock = System.Windows.Forms.DockStyle.Left;
@@ -747,25 +539,6 @@
             this.panel5.Size = new System.Drawing.Size(15, 66);
             this.panel5.TabIndex = 12;
             // 
-            // radleft
-            // 
-            this.radleft.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radleft.Bordercolor = System.Drawing.Color.DimGray;
-            this.radleft.BorderRadius = 7;
-            this.radleft.BorderSize = 2;
-            this.radleft.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radleft.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radleft.CheckWidth = 30;
-            this.radleft.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radleft.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radleft.Location = new System.Drawing.Point(10, 19);
-            this.radleft.Name = "radleft";
-            this.radleft.Size = new System.Drawing.Size(119, 66);
-            this.radleft.TabIndex = 5;
-            this.radleft.Text = "좌측";
-            this.radleft.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radleft.UseVisualStyleBackColor = false;
-            // 
             // groupBox2
             // 
             this.groupBox2.Controls.Add(this.arLabel1);
@@ -837,6 +610,208 @@
             this.panel12.Size = new System.Drawing.Size(15, 66);
             this.panel12.TabIndex = 14;
             // 
+            // panel6
+            // 
+            this.panel6.Dock = System.Windows.Forms.DockStyle.Left;
+            this.panel6.Location = new System.Drawing.Point(129, 19);
+            this.panel6.Name = "panel6";
+            this.panel6.Size = new System.Drawing.Size(15, 66);
+            this.panel6.TabIndex = 12;
+            // 
+            // label1
+            // 
+            this.label1.BackColor = System.Drawing.Color.Blue;
+            this.label1.Dock = System.Windows.Forms.DockStyle.Bottom;
+            this.label1.Font = new System.Drawing.Font("맑은 고딕", 11F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.label1.ForeColor = System.Drawing.Color.White;
+            this.label1.Location = new System.Drawing.Point(607, 577);
+            this.label1.Name = "label1";
+            this.label1.Padding = new System.Windows.Forms.Padding(0, 3, 0, 3);
+            this.label1.Size = new System.Drawing.Size(404, 38);
+            this.label1.TabIndex = 9;
+            this.label1.Text = "----------";
+            this.label1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // radpbs2
+            // 
+            this.radpbs2.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radpbs2.Bordercolor = System.Drawing.Color.DimGray;
+            this.radpbs2.BorderRadius = 7;
+            this.radpbs2.BorderSize = 2;
+            this.radpbs2.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radpbs2.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radpbs2.CheckWidth = 30;
+            this.radpbs2.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radpbs2.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radpbs2.Location = new System.Drawing.Point(278, 19);
+            this.radpbs2.Name = "radpbs2";
+            this.radpbs2.Size = new System.Drawing.Size(119, 66);
+            this.radpbs2.TabIndex = 10;
+            this.radpbs2.Text = "On(2)";
+            this.radpbs2.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radpbs2.UseVisualStyleBackColor = false;
+            // 
+            // radpbs1
+            // 
+            this.radpbs1.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radpbs1.Bordercolor = System.Drawing.Color.DimGray;
+            this.radpbs1.BorderRadius = 7;
+            this.radpbs1.BorderSize = 2;
+            this.radpbs1.Checked = true;
+            this.radpbs1.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radpbs1.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radpbs1.CheckWidth = 30;
+            this.radpbs1.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radpbs1.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radpbs1.ForeColor = System.Drawing.Color.Blue;
+            this.radpbs1.Location = new System.Drawing.Point(144, 19);
+            this.radpbs1.Name = "radpbs1";
+            this.radpbs1.Size = new System.Drawing.Size(119, 66);
+            this.radpbs1.TabIndex = 9;
+            this.radpbs1.TabStop = true;
+            this.radpbs1.Text = "On(1)";
+            this.radpbs1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radpbs1.UseVisualStyleBackColor = false;
+            // 
+            // radpbs0
+            // 
+            this.radpbs0.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radpbs0.Bordercolor = System.Drawing.Color.DimGray;
+            this.radpbs0.BorderRadius = 7;
+            this.radpbs0.BorderSize = 2;
+            this.radpbs0.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radpbs0.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radpbs0.CheckWidth = 30;
+            this.radpbs0.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radpbs0.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radpbs0.Location = new System.Drawing.Point(10, 19);
+            this.radpbs0.Name = "radpbs0";
+            this.radpbs0.Size = new System.Drawing.Size(119, 66);
+            this.radpbs0.TabIndex = 8;
+            this.radpbs0.Text = "Off(0)";
+            this.radpbs0.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radpbs0.UseVisualStyleBackColor = false;
+            // 
+            // radspdh
+            // 
+            this.radspdh.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radspdh.Bordercolor = System.Drawing.Color.DimGray;
+            this.radspdh.BorderRadius = 7;
+            this.radspdh.BorderSize = 2;
+            this.radspdh.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radspdh.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radspdh.CheckWidth = 30;
+            this.radspdh.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radspdh.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radspdh.Location = new System.Drawing.Point(278, 19);
+            this.radspdh.Name = "radspdh";
+            this.radspdh.Size = new System.Drawing.Size(119, 66);
+            this.radspdh.TabIndex = 2;
+            this.radspdh.Text = "고속";
+            this.radspdh.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radspdh.UseVisualStyleBackColor = false;
+            // 
+            // radspdm
+            // 
+            this.radspdm.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radspdm.Bordercolor = System.Drawing.Color.DimGray;
+            this.radspdm.BorderRadius = 7;
+            this.radspdm.BorderSize = 2;
+            this.radspdm.Checked = true;
+            this.radspdm.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radspdm.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radspdm.CheckWidth = 30;
+            this.radspdm.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radspdm.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radspdm.ForeColor = System.Drawing.Color.Blue;
+            this.radspdm.Location = new System.Drawing.Point(144, 19);
+            this.radspdm.Name = "radspdm";
+            this.radspdm.Size = new System.Drawing.Size(119, 66);
+            this.radspdm.TabIndex = 1;
+            this.radspdm.TabStop = true;
+            this.radspdm.Text = "중속";
+            this.radspdm.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radspdm.UseVisualStyleBackColor = false;
+            // 
+            // radspdl
+            // 
+            this.radspdl.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radspdl.Bordercolor = System.Drawing.Color.DimGray;
+            this.radspdl.BorderRadius = 7;
+            this.radspdl.BorderSize = 2;
+            this.radspdl.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radspdl.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radspdl.CheckWidth = 30;
+            this.radspdl.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radspdl.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radspdl.Location = new System.Drawing.Point(10, 19);
+            this.radspdl.Name = "radspdl";
+            this.radspdl.Size = new System.Drawing.Size(119, 66);
+            this.radspdl.TabIndex = 0;
+            this.radspdl.Text = "저속";
+            this.radspdl.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radspdl.UseVisualStyleBackColor = false;
+            // 
+            // radright
+            // 
+            this.radright.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radright.Bordercolor = System.Drawing.Color.DimGray;
+            this.radright.BorderRadius = 7;
+            this.radright.BorderSize = 2;
+            this.radright.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radright.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radright.CheckWidth = 30;
+            this.radright.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radright.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radright.Location = new System.Drawing.Point(278, 19);
+            this.radright.Name = "radright";
+            this.radright.Size = new System.Drawing.Size(119, 66);
+            this.radright.TabIndex = 4;
+            this.radright.Text = "우측";
+            this.radright.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radright.UseVisualStyleBackColor = false;
+            // 
+            // radstrai
+            // 
+            this.radstrai.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radstrai.Bordercolor = System.Drawing.Color.DimGray;
+            this.radstrai.BorderRadius = 7;
+            this.radstrai.BorderSize = 2;
+            this.radstrai.Checked = true;
+            this.radstrai.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radstrai.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radstrai.CheckWidth = 30;
+            this.radstrai.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radstrai.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radstrai.ForeColor = System.Drawing.Color.Blue;
+            this.radstrai.Location = new System.Drawing.Point(144, 19);
+            this.radstrai.Name = "radstrai";
+            this.radstrai.Size = new System.Drawing.Size(119, 66);
+            this.radstrai.TabIndex = 3;
+            this.radstrai.TabStop = true;
+            this.radstrai.Text = "직진";
+            this.radstrai.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radstrai.UseVisualStyleBackColor = false;
+            // 
+            // radleft
+            // 
+            this.radleft.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radleft.Bordercolor = System.Drawing.Color.DimGray;
+            this.radleft.BorderRadius = 7;
+            this.radleft.BorderSize = 2;
+            this.radleft.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radleft.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radleft.CheckWidth = 30;
+            this.radleft.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radleft.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radleft.Location = new System.Drawing.Point(10, 19);
+            this.radleft.Name = "radleft";
+            this.radleft.Size = new System.Drawing.Size(119, 66);
+            this.radleft.TabIndex = 5;
+            this.radleft.Text = "좌측";
+            this.radleft.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radleft.UseVisualStyleBackColor = false;
+            // 
             // radbackward
             // 
             this.radbackward.BackColor = System.Drawing.Color.WhiteSmoke;
@@ -856,14 +831,6 @@
             this.radbackward.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             this.radbackward.UseVisualStyleBackColor = false;
             // 
-            // panel6
-            // 
-            this.panel6.Dock = System.Windows.Forms.DockStyle.Left;
-            this.panel6.Location = new System.Drawing.Point(129, 19);
-            this.panel6.Name = "panel6";
-            this.panel6.Size = new System.Drawing.Size(15, 66);
-            this.panel6.TabIndex = 12;
-            // 
             // radforward
             // 
             this.radforward.BackColor = System.Drawing.Color.WhiteSmoke;
@@ -886,20 +853,6 @@
             this.radforward.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             this.radforward.UseVisualStyleBackColor = false;
             // 
-            // label1
-            // 
-            this.label1.BackColor = System.Drawing.Color.Blue;
-            this.label1.Dock = System.Windows.Forms.DockStyle.Bottom;
-            this.label1.Font = new System.Drawing.Font("맑은 고딕", 11F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.label1.ForeColor = System.Drawing.Color.White;
-            this.label1.Location = new System.Drawing.Point(607, 538);
-            this.label1.Name = "label1";
-            this.label1.Padding = new System.Windows.Forms.Padding(0, 3, 0, 3);
-            this.label1.Size = new System.Drawing.Size(404, 38);
-            this.label1.TabIndex = 9;
-            this.label1.Text = "----------";
-            this.label1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            // 
             // guideSensor1
             // 
             this.guideSensor1.Dock = System.Windows.Forms.DockStyle.Top;
@@ -912,11 +865,59 @@
             this.guideSensor1.TabIndex = 8;
             this.guideSensor1.Text = "guideSensor1";
             // 
+            // btBack180
+            // 
+            this.btBack180.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.btBack180.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.btBack180.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.btBack180.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold);
+            this.btBack180.ForeColor = System.Drawing.Color.Black;
+            this.btBack180.Location = new System.Drawing.Point(205, 3);
+            this.btBack180.Name = "btBack180";
+            this.btBack180.Size = new System.Drawing.Size(196, 53);
+            this.btBack180.TabIndex = 15;
+            this.btBack180.Text = "백후 180도 회전 (Left)";
+            this.btBack180.UseVisualStyleBackColor = false;
+            this.btBack180.Click += new System.EventHandler(this.btBack180_Click);
+            // 
+            // tableLayoutPanel2
+            // 
+            this.tableLayoutPanel2.ColumnCount = 2;
+            this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel2.Controls.Add(this.btBack180, 1, 0);
+            this.tableLayoutPanel2.Controls.Add(this.btLeft180, 0, 0);
+            this.tableLayoutPanel2.Controls.Add(this.btRight180, 0, 1);
+            this.tableLayoutPanel2.Controls.Add(this.button2, 1, 1);
+            this.tableLayoutPanel2.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.tableLayoutPanel2.Location = new System.Drawing.Point(0, 438);
+            this.tableLayoutPanel2.Name = "tableLayoutPanel2";
+            this.tableLayoutPanel2.RowCount = 2;
+            this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel2.Size = new System.Drawing.Size(404, 118);
+            this.tableLayoutPanel2.TabIndex = 12;
+            // 
+            // button2
+            // 
+            this.button2.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.button2.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.button2.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.button2.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold);
+            this.button2.ForeColor = System.Drawing.Color.Black;
+            this.button2.Location = new System.Drawing.Point(205, 62);
+            this.button2.Name = "button2";
+            this.button2.Size = new System.Drawing.Size(196, 53);
+            this.button2.TabIndex = 15;
+            this.button2.Text = "백후 180도 회전(Right)";
+            this.button2.UseVisualStyleBackColor = false;
+            this.button2.Click += new System.EventHandler(this.button2_Click);
+            // 
             // fManual
             // 
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
             this.BackColor = System.Drawing.Color.SlateGray;
-            this.ClientSize = new System.Drawing.Size(1014, 579);
+            this.ClientSize = new System.Drawing.Size(1014, 618);
             this.Controls.Add(this.panel2);
             this.Controls.Add(this.label1);
             this.Controls.Add(this.tableLayoutPanel1);
@@ -929,11 +930,11 @@
             this.VisibleChanged += new System.EventHandler(this.fManual_VisibleChanged);
             this.tableLayoutPanel1.ResumeLayout(false);
             this.panel2.ResumeLayout(false);
-            this.groupBox3.ResumeLayout(false);
             this.groupBox1.ResumeLayout(false);
             this.grpSpeed.ResumeLayout(false);
             this.grpBunki.ResumeLayout(false);
             this.groupBox2.ResumeLayout(false);
+            this.tableLayoutPanel2.ResumeLayout(false);
             this.ResumeLayout(false);
 
         }
@@ -979,11 +980,10 @@
         private System.Windows.Forms.Button button1;
         private arCtl.arLabel arLabel1;
         private System.Windows.Forms.Panel panel12;
-        private System.Windows.Forms.GroupBox groupBox3;
-        private System.Windows.Forms.Button btBack180;
-        private System.Windows.Forms.Panel panel1;
         private System.Windows.Forms.Button btRight180;
-        private System.Windows.Forms.Panel panel10;
         private System.Windows.Forms.Button btLeft180;
+        private System.Windows.Forms.Button btBack180;
+        private System.Windows.Forms.TableLayoutPanel tableLayoutPanel2;
+        private System.Windows.Forms.Button button2;
     }
 }

Cs_HMI/Project/ViewForm/fManual.cs

@@ -291,7 +291,7 @@ namespace Project.ViewForm
 
             if (radspdh.Checked) p.Speed = arDev.Narumi.eMoveSpd.High;
             else if (radspdl.Checked) p.Speed = arDev.Narumi.eMoveSpd.Low;
-            else p.Speed = arDev.Narumi.eMoveSpd.Middle;
+            else p.Speed = arDev.Narumi.eMoveSpd.Mid;
 
             if (radpbs1.Checked) p.PBSSensor = 2;
             else if (radpbs2.Checked) p.PBSSensor = 2;
@@ -307,7 +307,7 @@ namespace Project.ViewForm
 
         private void btChargeOn_Click(object sender, EventArgs e)
         {
-            if (PUB.AGV.signal.mark_sensor == false)
+            if (VAR.BOOL[eVarBool.MARK_SENSOR] == false)
             {
                 UTIL.MsgE("마크센서가 확인되지 않아 충전을 시작할 수 없습니다");
                 return;
@@ -331,7 +331,7 @@ namespace Project.ViewForm
 
         }
 
-   
+
 
         private void arLabel1_Click_1(object sender, EventArgs e)
         {
@@ -368,7 +368,12 @@ namespace Project.ViewForm
         private void btBack180_Click(object sender, EventArgs e)
         {
             //[STX]		C	T	B	0	0	0	0	9	9	[ETX]
-            PUB.AGV.AGVMoveBack180Turn();
+            PUB.AGV.AGVMoveBack180Turn(true);
+        }
+
+        private void button2_Click(object sender, EventArgs e)
+        {
+            PUB.AGV.AGVMoveBack180Turn(false);
         }
     }
 }

Cs_HMI/Project/fMain.Designer.cs

@@ -44,22 +44,6 @@ namespace Project
             arFrame.Control.ColorListItem colorListItem9 = new arFrame.Control.ColorListItem();
             arFrame.Control.ColorListItem colorListItem10 = new arFrame.Control.ColorListItem();
             arFrame.Control.ColorListItem colorListItem11 = new arFrame.Control.ColorListItem();
-            Project.CtlPos.item item1 = new Project.CtlPos.item();
-            Project.CtlPos.item item2 = new Project.CtlPos.item();
-            Project.CtlPos.item item3 = new Project.CtlPos.item();
-            Project.CtlPos.item item4 = new Project.CtlPos.item();
-            Project.CtlPos.item item5 = new Project.CtlPos.item();
-            Project.CtlPos.item item6 = new Project.CtlPos.item();
-            Project.CtlPos.item item7 = new Project.CtlPos.item();
-            Project.CtlPos.item item8 = new Project.CtlPos.item();
-            Project.CtlPos.item item9 = new Project.CtlPos.item();
-            Project.CtlPos.item item10 = new Project.CtlPos.item();
-            Project.CtlPos.item item11 = new Project.CtlPos.item();
-            Project.CtlPos.item item12 = new Project.CtlPos.item();
-            Project.CtlPos.item item13 = new Project.CtlPos.item();
-            Project.CtlPos.item item14 = new Project.CtlPos.item();
-            Project.CtlPos.item item15 = new Project.CtlPos.item();
-            Project.CtlPos.item item16 = new Project.CtlPos.item();
             this.tmDisplay = new System.Windows.Forms.Timer(this.components);
             this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
             this.MenuLift = new System.Windows.Forms.Button();
@@ -125,7 +109,6 @@ namespace Project
             this.lbIDLE = new arCtl.arLabel();
             this.lbStStep = new arCtl.arLabel();
             this.panTopMenu = new System.Windows.Forms.Panel();
-            this.lbBat = new AGVControl.BatteryLevelGauge();
             this.pictureBox1 = new System.Windows.Forms.PictureBox();
             this.cmDebug = new System.Windows.Forms.ContextMenuStrip(this.components);
             this.mapFileToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
@@ -138,12 +121,12 @@ namespace Project
             this.debugtestToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.pandBottomDIO = new System.Windows.Forms.Panel();
             this.panel9 = new System.Windows.Forms.Panel();
-            this.IOState = new arFrame.Control.GridView();
-            this.SSInfo = new arFrame.Control.GridView();
             this.panDlg = new System.Windows.Forms.Panel();
             this.arPanel2 = new arCtl.arPanel();
             this.arPanel1 = new arCtl.arPanel();
-            this.ctlPos1 = new Project.CtlPos();
+            this.IOState = new arFrame.Control.GridView();
+            this.SSInfo = new arFrame.Control.GridView();
+            this.lbBat = new AGVControl.BatteryLevelGauge();
             this.panRight.SuspendLayout();
             this.tableLayoutPanel1.SuspendLayout();
             this.panel4.SuspendLayout();
@@ -299,7 +282,7 @@ namespace Project
             this.btAutoRun.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.btAutoRun.GradientRepeatBG = false;
             this.btAutoRun.isButton = true;
-            this.btAutoRun.Location = new System.Drawing.Point(0, 288);
+            this.btAutoRun.Location = new System.Drawing.Point(0, 360);
             this.btAutoRun.Margin = new System.Windows.Forms.Padding(0);
             this.btAutoRun.MouseDownColor = System.Drawing.Color.Empty;
             this.btAutoRun.MouseOverColor = System.Drawing.Color.Empty;
@@ -320,7 +303,7 @@ namespace Project
             this.btAutoRun.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btAutoRun.SignColor = System.Drawing.Color.Yellow;
             this.btAutoRun.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btAutoRun.Size = new System.Drawing.Size(259, 145);
+            this.btAutoRun.Size = new System.Drawing.Size(259, 180);
             this.btAutoRun.TabIndex = 22;
             this.btAutoRun.Text = "수동";
             this.btAutoRun.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -367,7 +350,7 @@ namespace Project
             this.btChargeA.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btChargeA.SignColor = System.Drawing.Color.Yellow;
             this.btChargeA.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btChargeA.Size = new System.Drawing.Size(143, 144);
+            this.btChargeA.Size = new System.Drawing.Size(143, 180);
             this.btChargeA.TabIndex = 141;
             this.btChargeA.Text = "자동충전";
             this.btChargeA.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -393,7 +376,7 @@ namespace Project
             this.lbTime.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
             this.lbTime.GradientRepeatBG = false;
             this.lbTime.isButton = false;
-            this.lbTime.Location = new System.Drawing.Point(5, 574);
+            this.lbTime.Location = new System.Drawing.Point(5, 681);
             this.lbTime.Margin = new System.Windows.Forms.Padding(0);
             this.lbTime.MouseDownColor = System.Drawing.Color.Yellow;
             this.lbTime.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
@@ -979,10 +962,10 @@ namespace Project
             this.panRight.Controls.Add(this.panel3);
             this.panRight.Controls.Add(this.panel1);
             this.panRight.Dock = System.Windows.Forms.DockStyle.Right;
-            this.panRight.Location = new System.Drawing.Point(1015, 146);
+            this.panRight.Location = new System.Drawing.Point(1015, 58);
             this.panRight.Name = "panRight";
             this.panRight.Padding = new System.Windows.Forms.Padding(5, 0, 0, 0);
-            this.panRight.Size = new System.Drawing.Size(264, 599);
+            this.panRight.Size = new System.Drawing.Size(264, 706);
             this.panRight.TabIndex = 131;
             // 
             // tableLayoutPanel1
@@ -1001,7 +984,7 @@ namespace Project
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
-            this.tableLayoutPanel1.Size = new System.Drawing.Size(259, 433);
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(259, 540);
             this.tableLayoutPanel1.TabIndex = 0;
             // 
             // btHome
@@ -1043,7 +1026,7 @@ namespace Project
             this.btHome.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btHome.SignColor = System.Drawing.Color.Yellow;
             this.btHome.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btHome.Size = new System.Drawing.Size(116, 288);
+            this.btHome.Size = new System.Drawing.Size(116, 360);
             this.btHome.TabIndex = 141;
             this.btHome.Text = "홈";
             this.btHome.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1068,7 +1051,7 @@ namespace Project
             this.btChargeM.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.btChargeM.GradientRepeatBG = false;
             this.btChargeM.isButton = true;
-            this.btChargeM.Location = new System.Drawing.Point(116, 144);
+            this.btChargeM.Location = new System.Drawing.Point(116, 180);
             this.btChargeM.Margin = new System.Windows.Forms.Padding(0);
             this.btChargeM.MouseDownColor = System.Drawing.Color.Yellow;
             this.btChargeM.MouseOverColor = System.Drawing.Color.Lime;
@@ -1089,7 +1072,7 @@ namespace Project
             this.btChargeM.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btChargeM.SignColor = System.Drawing.Color.Yellow;
             this.btChargeM.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btChargeM.Size = new System.Drawing.Size(143, 144);
+            this.btChargeM.Size = new System.Drawing.Size(143, 180);
             this.btChargeM.TabIndex = 141;
             this.btChargeM.Text = "수동충전";
             this.btChargeM.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1130,13 +1113,13 @@ namespace Project
             this.lbCntQA.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
             this.lbCntQA.Cursor = System.Windows.Forms.Cursors.Arrow;
             this.lbCntQA.Dock = System.Windows.Forms.DockStyle.Left;
-            this.lbCntQA.Font = new System.Drawing.Font("Consolas", 25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lbCntQA.Font = new System.Drawing.Font("Consolas", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
             this.lbCntQA.ForeColor = System.Drawing.Color.Gray;
             this.lbCntQA.GradientEnable = true;
             this.lbCntQA.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.lbCntQA.GradientRepeatBG = false;
             this.lbCntQA.isButton = false;
-            this.lbCntQA.Location = new System.Drawing.Point(161, 0);
+            this.lbCntQA.Location = new System.Drawing.Point(180, 0);
             this.lbCntQA.Margin = new System.Windows.Forms.Padding(0);
             this.lbCntQA.MouseDownColor = System.Drawing.Color.Yellow;
             this.lbCntQA.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
@@ -1157,7 +1140,7 @@ namespace Project
             this.lbCntQA.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.lbCntQA.SignColor = System.Drawing.Color.Yellow;
             this.lbCntQA.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.lbCntQA.Size = new System.Drawing.Size(93, 49);
+            this.lbCntQA.Size = new System.Drawing.Size(78, 49);
             this.lbCntQA.TabIndex = 6;
             this.lbCntQA.Text = "0000";
             this.lbCntQA.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1175,13 +1158,13 @@ namespace Project
             this.arLabel4.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
             this.arLabel4.Cursor = System.Windows.Forms.Cursors.Arrow;
             this.arLabel4.Dock = System.Windows.Forms.DockStyle.Left;
-            this.arLabel4.Font = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.arLabel4.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(255)))), ((int)(((byte)(255)))));
+            this.arLabel4.Font = new System.Drawing.Font("Bahnschrift Condensed", 9F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.arLabel4.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(255)))), ((int)(((byte)(192)))));
             this.arLabel4.GradientEnable = true;
             this.arLabel4.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.arLabel4.GradientRepeatBG = false;
             this.arLabel4.isButton = false;
-            this.arLabel4.Location = new System.Drawing.Point(127, 0);
+            this.arLabel4.Location = new System.Drawing.Point(129, 0);
             this.arLabel4.Margin = new System.Windows.Forms.Padding(0);
             this.arLabel4.MouseDownColor = System.Drawing.Color.Yellow;
             this.arLabel4.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
@@ -1201,10 +1184,10 @@ namespace Project
             this.arLabel4.Sign = "";
             this.arLabel4.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.arLabel4.SignColor = System.Drawing.Color.Yellow;
-            this.arLabel4.SignFont = new System.Drawing.Font("Consolas", 15F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
-            this.arLabel4.Size = new System.Drawing.Size(34, 49);
+            this.arLabel4.SignFont = new System.Drawing.Font("Consolas", 12F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
+            this.arLabel4.Size = new System.Drawing.Size(51, 49);
             this.arLabel4.TabIndex = 5;
-            this.arLabel4.Text = "QA";
+            this.arLabel4.Text = "CHARGER";
             this.arLabel4.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             this.arLabel4.TextShadow = true;
             this.arLabel4.TextVisible = true;
@@ -1220,13 +1203,13 @@ namespace Project
             this.lbCntQC.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
             this.lbCntQC.Cursor = System.Windows.Forms.Cursors.Arrow;
             this.lbCntQC.Dock = System.Windows.Forms.DockStyle.Left;
-            this.lbCntQC.Font = new System.Drawing.Font("Consolas", 25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lbCntQC.Font = new System.Drawing.Font("Consolas", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
             this.lbCntQC.ForeColor = System.Drawing.Color.Gray;
             this.lbCntQC.GradientEnable = true;
             this.lbCntQC.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.lbCntQC.GradientRepeatBG = false;
             this.lbCntQC.isButton = false;
-            this.lbCntQC.Location = new System.Drawing.Point(34, 0);
+            this.lbCntQC.Location = new System.Drawing.Point(51, 0);
             this.lbCntQC.Margin = new System.Windows.Forms.Padding(0);
             this.lbCntQC.MouseDownColor = System.Drawing.Color.Yellow;
             this.lbCntQC.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
@@ -1247,7 +1230,7 @@ namespace Project
             this.lbCntQC.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.lbCntQC.SignColor = System.Drawing.Color.Yellow;
             this.lbCntQC.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.lbCntQC.Size = new System.Drawing.Size(93, 49);
+            this.lbCntQC.Size = new System.Drawing.Size(78, 49);
             this.lbCntQC.TabIndex = 4;
             this.lbCntQC.Text = "0000";
             this.lbCntQC.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1265,7 +1248,7 @@ namespace Project
             this.arLabel9.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
             this.arLabel9.Cursor = System.Windows.Forms.Cursors.Arrow;
             this.arLabel9.Dock = System.Windows.Forms.DockStyle.Left;
-            this.arLabel9.Font = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.arLabel9.Font = new System.Drawing.Font("Bahnschrift Condensed", 9F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
             this.arLabel9.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(255)))), ((int)(((byte)(255)))));
             this.arLabel9.GradientEnable = true;
             this.arLabel9.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
@@ -1291,10 +1274,10 @@ namespace Project
             this.arLabel9.Sign = "";
             this.arLabel9.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.arLabel9.SignColor = System.Drawing.Color.Yellow;
-            this.arLabel9.SignFont = new System.Drawing.Font("Consolas", 15F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
-            this.arLabel9.Size = new System.Drawing.Size(34, 49);
+            this.arLabel9.SignFont = new System.Drawing.Font("Consolas", 12F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
+            this.arLabel9.Size = new System.Drawing.Size(51, 49);
             this.arLabel9.TabIndex = 4;
-            this.arLabel9.Text = "QC";
+            this.arLabel9.Text = "UNLOADER";
             this.arLabel9.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             this.arLabel9.TextShadow = true;
             this.arLabel9.TextVisible = true;
@@ -1323,13 +1306,13 @@ namespace Project
             this.lbCntDN.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
             this.lbCntDN.Cursor = System.Windows.Forms.Cursors.Arrow;
             this.lbCntDN.Dock = System.Windows.Forms.DockStyle.Left;
-            this.lbCntDN.Font = new System.Drawing.Font("Consolas", 25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lbCntDN.Font = new System.Drawing.Font("Consolas", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
             this.lbCntDN.ForeColor = System.Drawing.Color.Gray;
             this.lbCntDN.GradientEnable = true;
             this.lbCntDN.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.lbCntDN.GradientRepeatBG = false;
             this.lbCntDN.isButton = false;
-            this.lbCntDN.Location = new System.Drawing.Point(161, 0);
+            this.lbCntDN.Location = new System.Drawing.Point(180, 0);
             this.lbCntDN.Margin = new System.Windows.Forms.Padding(0);
             this.lbCntDN.MouseDownColor = System.Drawing.Color.Yellow;
             this.lbCntDN.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
@@ -1350,7 +1333,7 @@ namespace Project
             this.lbCntDN.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.lbCntDN.SignColor = System.Drawing.Color.Yellow;
             this.lbCntDN.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.lbCntDN.Size = new System.Drawing.Size(93, 49);
+            this.lbCntDN.Size = new System.Drawing.Size(78, 49);
             this.lbCntDN.TabIndex = 4;
             this.lbCntDN.Text = "0000";
             this.lbCntDN.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1369,13 +1352,13 @@ namespace Project
             this.arLabel7.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
             this.arLabel7.Cursor = System.Windows.Forms.Cursors.Arrow;
             this.arLabel7.Dock = System.Windows.Forms.DockStyle.Left;
-            this.arLabel7.Font = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.arLabel7.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(255)))), ((int)(((byte)(255)))));
+            this.arLabel7.Font = new System.Drawing.Font("Bahnschrift Condensed", 9F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.arLabel7.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(192)))), ((int)(((byte)(255)))));
             this.arLabel7.GradientEnable = true;
             this.arLabel7.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.arLabel7.GradientRepeatBG = false;
             this.arLabel7.isButton = false;
-            this.arLabel7.Location = new System.Drawing.Point(127, 0);
+            this.arLabel7.Location = new System.Drawing.Point(129, 0);
             this.arLabel7.Margin = new System.Windows.Forms.Padding(0);
             this.arLabel7.MouseDownColor = System.Drawing.Color.Yellow;
             this.arLabel7.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
@@ -1395,10 +1378,10 @@ namespace Project
             this.arLabel7.Sign = "";
             this.arLabel7.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.arLabel7.SignColor = System.Drawing.Color.Yellow;
-            this.arLabel7.SignFont = new System.Drawing.Font("Consolas", 15F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
-            this.arLabel7.Size = new System.Drawing.Size(34, 49);
+            this.arLabel7.SignFont = new System.Drawing.Font("Consolas", 12F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
+            this.arLabel7.Size = new System.Drawing.Size(51, 49);
             this.arLabel7.TabIndex = 4;
-            this.arLabel7.Text = "DN";
+            this.arLabel7.Text = "CLEANNER";
             this.arLabel7.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             this.arLabel7.TextShadow = true;
             this.arLabel7.TextVisible = true;
@@ -1414,13 +1397,13 @@ namespace Project
             this.lbCNtUP.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
             this.lbCNtUP.Cursor = System.Windows.Forms.Cursors.Arrow;
             this.lbCNtUP.Dock = System.Windows.Forms.DockStyle.Left;
-            this.lbCNtUP.Font = new System.Drawing.Font("Consolas", 25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lbCNtUP.Font = new System.Drawing.Font("Consolas", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
             this.lbCNtUP.ForeColor = System.Drawing.Color.Gray;
             this.lbCNtUP.GradientEnable = true;
             this.lbCNtUP.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.lbCNtUP.GradientRepeatBG = false;
             this.lbCNtUP.isButton = false;
-            this.lbCNtUP.Location = new System.Drawing.Point(34, 0);
+            this.lbCNtUP.Location = new System.Drawing.Point(51, 0);
             this.lbCNtUP.Margin = new System.Windows.Forms.Padding(0);
             this.lbCNtUP.MouseDownColor = System.Drawing.Color.Yellow;
             this.lbCNtUP.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
@@ -1441,7 +1424,7 @@ namespace Project
             this.lbCNtUP.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.lbCNtUP.SignColor = System.Drawing.Color.Yellow;
             this.lbCNtUP.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.lbCNtUP.Size = new System.Drawing.Size(93, 49);
+            this.lbCNtUP.Size = new System.Drawing.Size(78, 49);
             this.lbCNtUP.TabIndex = 4;
             this.lbCNtUP.Text = "0000";
             this.lbCNtUP.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1460,7 +1443,7 @@ namespace Project
             this.arLabel8.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
             this.arLabel8.Cursor = System.Windows.Forms.Cursors.Arrow;
             this.arLabel8.Dock = System.Windows.Forms.DockStyle.Left;
-            this.arLabel8.Font = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.arLabel8.Font = new System.Drawing.Font("Bahnschrift Condensed", 9F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
             this.arLabel8.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(192)))), ((int)(((byte)(255)))));
             this.arLabel8.GradientEnable = true;
             this.arLabel8.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
@@ -1486,10 +1469,10 @@ namespace Project
             this.arLabel8.Sign = "";
             this.arLabel8.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.arLabel8.SignColor = System.Drawing.Color.Yellow;
-            this.arLabel8.SignFont = new System.Drawing.Font("Consolas", 15F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
-            this.arLabel8.Size = new System.Drawing.Size(34, 49);
+            this.arLabel8.SignFont = new System.Drawing.Font("Consolas", 12F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
+            this.arLabel8.Size = new System.Drawing.Size(51, 49);
             this.arLabel8.TabIndex = 4;
-            this.arLabel8.Text = "UP";
+            this.arLabel8.Text = "LOADER";
             this.arLabel8.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             this.arLabel8.TextShadow = true;
             this.arLabel8.TextVisible = true;
@@ -1498,7 +1481,7 @@ namespace Project
             // 
             this.panel5.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(18)))), ((int)(((byte)(18)))), ((int)(((byte)(18)))));
             this.panel5.Dock = System.Windows.Forms.DockStyle.Bottom;
-            this.panel5.Location = new System.Drawing.Point(5, 569);
+            this.panel5.Location = new System.Drawing.Point(5, 676);
             this.panel5.Name = "panel5";
             this.panel5.Size = new System.Drawing.Size(259, 5);
             this.panel5.TabIndex = 142;
@@ -1639,26 +1622,6 @@ namespace Project
             this.panTopMenu.Size = new System.Drawing.Size(1278, 50);
             this.panTopMenu.TabIndex = 134;
             // 
-            // lbBat
-            // 
-            this.lbBat.BorderColor = System.Drawing.Color.DimGray;
-            this.lbBat.CurA = 0F;
-            this.lbBat.Dock = System.Windows.Forms.DockStyle.Right;
-            this.lbBat.Font = new System.Drawing.Font("Microsoft Sans Serif", 11.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.lbBat.ForeColor = System.Drawing.Color.Gray;
-            this.lbBat.IsOpen = true;
-            this.lbBat.Location = new System.Drawing.Point(830, 0);
-            this.lbBat.MaxA = 0F;
-            this.lbBat.Name = "lbBat";
-            this.lbBat.Padding = new System.Windows.Forms.Padding(0, 12, 0, 12);
-            this.lbBat.sign = "%";
-            this.lbBat.Size = new System.Drawing.Size(48, 50);
-            this.lbBat.TabIndex = 23;
-            this.lbBat.Text = "12";
-            this.lbBat.VLevel = 50F;
-            this.lbBat.Volt = 0F;
-            this.lbBat.Click += new System.EventHandler(this.lbBat_Click);
-            // 
             // pictureBox1
             // 
             this.pictureBox1.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(40)))), ((int)(((byte)(40)))), ((int)(((byte)(40)))));
@@ -1752,7 +1715,7 @@ namespace Project
             // 
             this.pandBottomDIO.Controls.Add(this.panel9);
             this.pandBottomDIO.Dock = System.Windows.Forms.DockStyle.Bottom;
-            this.pandBottomDIO.Location = new System.Drawing.Point(1, 745);
+            this.pandBottomDIO.Location = new System.Drawing.Point(1, 764);
             this.pandBottomDIO.Margin = new System.Windows.Forms.Padding(0);
             this.pandBottomDIO.Name = "pandBottomDIO";
             this.pandBottomDIO.Size = new System.Drawing.Size(1278, 35);
@@ -1769,6 +1732,70 @@ namespace Project
             this.panel9.Size = new System.Drawing.Size(1278, 35);
             this.panel9.TabIndex = 0;
             // 
+            // panDlg
+            // 
+            this.panDlg.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(0)))), ((int)(((byte)(0)))), ((int)(((byte)(64)))));
+            this.panDlg.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.panDlg.Location = new System.Drawing.Point(1, 58);
+            this.panDlg.Margin = new System.Windows.Forms.Padding(0);
+            this.panDlg.Name = "panDlg";
+            this.panDlg.Size = new System.Drawing.Size(1014, 706);
+            this.panDlg.TabIndex = 146;
+            // 
+            // arPanel2
+            // 
+            this.arPanel2.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(5)))), ((int)(((byte)(5)))), ((int)(((byte)(5)))));
+            this.arPanel2.BackColor2 = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(20)))));
+            this.arPanel2.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(25)))), ((int)(((byte)(25)))), ((int)(((byte)(25)))));
+            this.arPanel2.BorderSize = new System.Windows.Forms.Padding(0, 0, 0, 5);
+            this.arPanel2.Dock = System.Windows.Forms.DockStyle.Top;
+            this.arPanel2.Font = new System.Drawing.Font("Consolas", 10F, System.Drawing.FontStyle.Italic);
+            this.arPanel2.ForeColor = System.Drawing.Color.Khaki;
+            this.arPanel2.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
+            this.arPanel2.GradientRepeatBG = false;
+            this.arPanel2.Location = new System.Drawing.Point(1, 55);
+            this.arPanel2.Name = "arPanel2";
+            this.arPanel2.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
+            this.arPanel2.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
+            this.arPanel2.ProgressMax = 100F;
+            this.arPanel2.ProgressMin = 0F;
+            this.arPanel2.ProgressPadding = new System.Windows.Forms.Padding(0);
+            this.arPanel2.ProgressValue = 0F;
+            this.arPanel2.ShadowColor = System.Drawing.Color.Black;
+            this.arPanel2.ShowBorder = true;
+            this.arPanel2.Size = new System.Drawing.Size(1278, 3);
+            this.arPanel2.TabIndex = 145;
+            this.arPanel2.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.arPanel2.TextShadow = false;
+            this.arPanel2.UseProgressBar = false;
+            // 
+            // arPanel1
+            // 
+            this.arPanel1.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(5)))), ((int)(((byte)(5)))), ((int)(((byte)(5)))));
+            this.arPanel1.BackColor2 = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(20)))));
+            this.arPanel1.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(25)))), ((int)(((byte)(25)))), ((int)(((byte)(25)))));
+            this.arPanel1.BorderSize = new System.Windows.Forms.Padding(0, 0, 0, 5);
+            this.arPanel1.Dock = System.Windows.Forms.DockStyle.Top;
+            this.arPanel1.Font = new System.Drawing.Font("Consolas", 10F, System.Drawing.FontStyle.Italic);
+            this.arPanel1.ForeColor = System.Drawing.Color.Khaki;
+            this.arPanel1.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
+            this.arPanel1.GradientRepeatBG = false;
+            this.arPanel1.Location = new System.Drawing.Point(1, 51);
+            this.arPanel1.Name = "arPanel1";
+            this.arPanel1.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
+            this.arPanel1.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
+            this.arPanel1.ProgressMax = 100F;
+            this.arPanel1.ProgressMin = 0F;
+            this.arPanel1.ProgressPadding = new System.Windows.Forms.Padding(0);
+            this.arPanel1.ProgressValue = 0F;
+            this.arPanel1.ShadowColor = System.Drawing.Color.Black;
+            this.arPanel1.ShowBorder = true;
+            this.arPanel1.Size = new System.Drawing.Size(1278, 4);
+            this.arPanel1.TabIndex = 135;
+            this.arPanel1.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.arPanel1.TextShadow = false;
+            this.arPanel1.UseProgressBar = false;
+            // 
             // IOState
             // 
             this.IOState.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(50)))), ((int)(((byte)(50)))), ((int)(((byte)(50)))));
@@ -1921,291 +1948,35 @@ namespace Project
         ((ushort)(0))};
             this.SSInfo.Click += new System.EventHandler(this.SSInfo_Click);
             // 
-            // panDlg
+            // lbBat
             // 
-            this.panDlg.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(0)))), ((int)(((byte)(0)))), ((int)(((byte)(64)))));
-            this.panDlg.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.panDlg.Location = new System.Drawing.Point(1, 146);
-            this.panDlg.Margin = new System.Windows.Forms.Padding(0);
-            this.panDlg.Name = "panDlg";
-            this.panDlg.Size = new System.Drawing.Size(1014, 599);
-            this.panDlg.TabIndex = 146;
-            // 
-            // arPanel2
-            // 
-            this.arPanel2.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(5)))), ((int)(((byte)(5)))), ((int)(((byte)(5)))));
-            this.arPanel2.BackColor2 = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(20)))));
-            this.arPanel2.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(25)))), ((int)(((byte)(25)))), ((int)(((byte)(25)))));
-            this.arPanel2.BorderSize = new System.Windows.Forms.Padding(0, 0, 0, 5);
-            this.arPanel2.Dock = System.Windows.Forms.DockStyle.Top;
-            this.arPanel2.Font = new System.Drawing.Font("Consolas", 10F, System.Drawing.FontStyle.Italic);
-            this.arPanel2.ForeColor = System.Drawing.Color.Khaki;
-            this.arPanel2.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
-            this.arPanel2.GradientRepeatBG = false;
-            this.arPanel2.Location = new System.Drawing.Point(1, 143);
-            this.arPanel2.Name = "arPanel2";
-            this.arPanel2.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
-            this.arPanel2.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
-            this.arPanel2.ProgressMax = 100F;
-            this.arPanel2.ProgressMin = 0F;
-            this.arPanel2.ProgressPadding = new System.Windows.Forms.Padding(0);
-            this.arPanel2.ProgressValue = 0F;
-            this.arPanel2.ShadowColor = System.Drawing.Color.Black;
-            this.arPanel2.ShowBorder = true;
-            this.arPanel2.Size = new System.Drawing.Size(1278, 3);
-            this.arPanel2.TabIndex = 145;
-            this.arPanel2.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
-            this.arPanel2.TextShadow = false;
-            this.arPanel2.UseProgressBar = false;
-            // 
-            // arPanel1
-            // 
-            this.arPanel1.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(5)))), ((int)(((byte)(5)))), ((int)(((byte)(5)))));
-            this.arPanel1.BackColor2 = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(20)))));
-            this.arPanel1.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(25)))), ((int)(((byte)(25)))), ((int)(((byte)(25)))));
-            this.arPanel1.BorderSize = new System.Windows.Forms.Padding(0, 0, 0, 5);
-            this.arPanel1.Dock = System.Windows.Forms.DockStyle.Top;
-            this.arPanel1.Font = new System.Drawing.Font("Consolas", 10F, System.Drawing.FontStyle.Italic);
-            this.arPanel1.ForeColor = System.Drawing.Color.Khaki;
-            this.arPanel1.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
-            this.arPanel1.GradientRepeatBG = false;
-            this.arPanel1.Location = new System.Drawing.Point(1, 51);
-            this.arPanel1.Name = "arPanel1";
-            this.arPanel1.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
-            this.arPanel1.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
-            this.arPanel1.ProgressMax = 100F;
-            this.arPanel1.ProgressMin = 0F;
-            this.arPanel1.ProgressPadding = new System.Windows.Forms.Padding(0);
-            this.arPanel1.ProgressValue = 0F;
-            this.arPanel1.ShadowColor = System.Drawing.Color.Black;
-            this.arPanel1.ShowBorder = true;
-            this.arPanel1.Size = new System.Drawing.Size(1278, 4);
-            this.arPanel1.TabIndex = 135;
-            this.arPanel1.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
-            this.arPanel1.TextShadow = false;
-            this.arPanel1.UseProgressBar = false;
-            // 
-            // ctlPos1
-            // 
-            this.ctlPos1.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(32)))), ((int)(((byte)(32)))), ((int)(((byte)(32)))));
-            this.ctlPos1.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(40)))), ((int)(((byte)(40)))), ((int)(((byte)(40)))));
-            this.ctlPos1.Dock = System.Windows.Forms.DockStyle.Top;
-            this.ctlPos1.Font = new System.Drawing.Font("맑은 고딕", 30F, System.Drawing.FontStyle.Bold);
-            this.ctlPos1.ForeColor = System.Drawing.Color.White;
-            this.ctlPos1.ItemGap = 5;
-            item1.Active = true;
-            item1.Direction = '1';
-            item1.Enable_Direction = true;
-            item1.Focus = false;
-            item1.fullrect = new System.Drawing.Rectangle(8, 8, 10, 75);
-            item1.ItemType = Project.CtlPos.itemtype.NLimit;
-            item1.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item1.Position = Project.ePosition.NOT;
-            item1.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item1.Target = false;
-            item1.Title = "N";
-            item2.Active = false;
-            item2.Direction = '1';
-            item2.Enable_Direction = true;
-            item2.Focus = false;
-            item2.fullrect = new System.Drawing.Rectangle(23, 8, 138, 58);
-            item2.ItemType = Project.CtlPos.itemtype.Item;
-            item2.leftrect = new System.Drawing.Rectangle(23, 70, 67, 13);
-            item2.Position = Project.ePosition.QA;
-            item2.rightrect = new System.Drawing.Rectangle(94, 70, 67, 13);
-            item2.Target = false;
-            item2.Title = "QC";
-            item3.Active = false;
-            item3.Direction = '0';
-            item3.Enable_Direction = true;
-            item3.Focus = false;
-            item3.fullrect = new System.Drawing.Rectangle(166, 8, 10, 75);
-            item3.ItemType = Project.CtlPos.itemtype.Spacer;
-            item3.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item3.Position = Project.ePosition.QA_QC;
-            item3.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item3.Target = false;
-            item3.Title = null;
-            item4.Active = false;
-            item4.Direction = '1';
-            item4.Enable_Direction = true;
-            item4.Focus = false;
-            item4.fullrect = new System.Drawing.Rectangle(181, 8, 138, 58);
-            item4.ItemType = Project.CtlPos.itemtype.Item;
-            item4.leftrect = new System.Drawing.Rectangle(181, 70, 67, 13);
-            item4.Position = Project.ePosition.QC;
-            item4.rightrect = new System.Drawing.Rectangle(252, 70, 67, 13);
-            item4.Target = true;
-            item4.Title = "QA";
-            item5.Active = true;
-            item5.Direction = '0';
-            item5.Enable_Direction = false;
-            item5.Focus = true;
-            item5.fullrect = new System.Drawing.Rectangle(324, 8, 138, 75);
-            item5.ItemType = Project.CtlPos.itemtype.Item;
-            item5.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item5.Position = Project.ePosition.CHARGE;
-            item5.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item5.Target = false;
-            item5.Title = "BAT";
-            item6.Active = false;
-            item6.Direction = '0';
-            item6.Enable_Direction = true;
-            item6.Focus = false;
-            item6.fullrect = new System.Drawing.Rectangle(467, 8, 10, 75);
-            item6.ItemType = Project.CtlPos.itemtype.Spacer;
-            item6.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item6.Position = Project.ePosition.QC_F1;
-            item6.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item6.Target = false;
-            item6.Title = null;
-            item7.Active = false;
-            item7.Direction = '2';
-            item7.Enable_Direction = true;
-            item7.Focus = false;
-            item7.fullrect = new System.Drawing.Rectangle(482, 8, 138, 58);
-            item7.ItemType = Project.CtlPos.itemtype.Item;
-            item7.leftrect = new System.Drawing.Rectangle(482, 70, 67, 13);
-            item7.Position = Project.ePosition.F1;
-            item7.rightrect = new System.Drawing.Rectangle(553, 70, 67, 13);
-            item7.Target = false;
-            item7.Title = "#1";
-            item8.Active = false;
-            item8.Direction = '0';
-            item8.Enable_Direction = true;
-            item8.Focus = false;
-            item8.fullrect = new System.Drawing.Rectangle(625, 8, 10, 75);
-            item8.ItemType = Project.CtlPos.itemtype.Spacer;
-            item8.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item8.Position = Project.ePosition.F1_F2;
-            item8.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item8.Target = false;
-            item8.Title = null;
-            item9.Active = false;
-            item9.Direction = '0';
-            item9.Enable_Direction = true;
-            item9.Focus = false;
-            item9.fullrect = new System.Drawing.Rectangle(640, 8, 138, 58);
-            item9.ItemType = Project.CtlPos.itemtype.Item;
-            item9.leftrect = new System.Drawing.Rectangle(640, 70, 67, 13);
-            item9.Position = Project.ePosition.F2;
-            item9.rightrect = new System.Drawing.Rectangle(711, 70, 67, 13);
-            item9.Target = false;
-            item9.Title = "#2";
-            item10.Active = false;
-            item10.Direction = '0';
-            item10.Enable_Direction = true;
-            item10.Focus = false;
-            item10.fullrect = new System.Drawing.Rectangle(783, 8, 10, 75);
-            item10.ItemType = Project.CtlPos.itemtype.Spacer;
-            item10.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item10.Position = Project.ePosition.F2_F3;
-            item10.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item10.Target = false;
-            item10.Title = null;
-            item11.Active = false;
-            item11.Direction = '1';
-            item11.Enable_Direction = true;
-            item11.Focus = false;
-            item11.fullrect = new System.Drawing.Rectangle(798, 8, 138, 58);
-            item11.ItemType = Project.CtlPos.itemtype.Item;
-            item11.leftrect = new System.Drawing.Rectangle(798, 70, 67, 13);
-            item11.Position = Project.ePosition.F3;
-            item11.rightrect = new System.Drawing.Rectangle(869, 70, 67, 13);
-            item11.Target = false;
-            item11.Title = "#3";
-            item12.Active = false;
-            item12.Direction = '0';
-            item12.Enable_Direction = true;
-            item12.Focus = false;
-            item12.fullrect = new System.Drawing.Rectangle(941, 8, 10, 75);
-            item12.ItemType = Project.CtlPos.itemtype.Spacer;
-            item12.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item12.Position = Project.ePosition.F3_F4;
-            item12.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item12.Target = false;
-            item12.Title = null;
-            item13.Active = false;
-            item13.Direction = '2';
-            item13.Enable_Direction = true;
-            item13.Focus = false;
-            item13.fullrect = new System.Drawing.Rectangle(956, 8, 138, 58);
-            item13.ItemType = Project.CtlPos.itemtype.Item;
-            item13.leftrect = new System.Drawing.Rectangle(956, 70, 67, 13);
-            item13.Position = Project.ePosition.F4;
-            item13.rightrect = new System.Drawing.Rectangle(1027, 70, 67, 13);
-            item13.Target = false;
-            item13.Title = "#4";
-            item14.Active = false;
-            item14.Direction = '0';
-            item14.Enable_Direction = true;
-            item14.Focus = false;
-            item14.fullrect = new System.Drawing.Rectangle(1099, 8, 10, 75);
-            item14.ItemType = Project.CtlPos.itemtype.Spacer;
-            item14.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item14.Position = Project.ePosition.F4_F5;
-            item14.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item14.Target = false;
-            item14.Title = null;
-            item15.Active = false;
-            item15.Direction = '2';
-            item15.Enable_Direction = true;
-            item15.Focus = false;
-            item15.fullrect = new System.Drawing.Rectangle(1114, 8, 138, 58);
-            item15.ItemType = Project.CtlPos.itemtype.Item;
-            item15.leftrect = new System.Drawing.Rectangle(1114, 70, 67, 13);
-            item15.Position = Project.ePosition.F5;
-            item15.rightrect = new System.Drawing.Rectangle(1185, 70, 67, 13);
-            item15.Target = false;
-            item15.Title = "#5";
-            item16.Active = true;
-            item16.Direction = '1';
-            item16.Enable_Direction = true;
-            item16.Focus = false;
-            item16.fullrect = new System.Drawing.Rectangle(1257, 8, 10, 75);
-            item16.ItemType = Project.CtlPos.itemtype.PLimit;
-            item16.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item16.Position = Project.ePosition.POT;
-            item16.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item16.Target = false;
-            item16.Title = "P";
-            this.ctlPos1.Items = new Project.CtlPos.item[] {
-        item1,
-        item2,
-        item3,
-        item4,
-        item5,
-        item6,
-        item7,
-        item8,
-        item9,
-        item10,
-        item11,
-        item12,
-        item13,
-        item14,
-        item15,
-        item16};
-            this.ctlPos1.Location = new System.Drawing.Point(1, 55);
-            this.ctlPos1.MinimumSize = new System.Drawing.Size(100, 30);
-            this.ctlPos1.msg = null;
-            this.ctlPos1.Name = "ctlPos1";
-            this.ctlPos1.Padding = new System.Windows.Forms.Padding(8);
-            this.ctlPos1.Size = new System.Drawing.Size(1278, 88);
-            this.ctlPos1.TabIndex = 0;
-            this.ctlPos1.Text = "ctlPos1";
-            this.ctlPos1.Visible = false;
+            this.lbBat.BorderColor = System.Drawing.Color.DimGray;
+            this.lbBat.CurA = 0F;
+            this.lbBat.Dock = System.Windows.Forms.DockStyle.Right;
+            this.lbBat.Font = new System.Drawing.Font("Microsoft Sans Serif", 11.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lbBat.ForeColor = System.Drawing.Color.Gray;
+            this.lbBat.IsOpen = true;
+            this.lbBat.Location = new System.Drawing.Point(830, 0);
+            this.lbBat.MaxA = 0F;
+            this.lbBat.Name = "lbBat";
+            this.lbBat.Padding = new System.Windows.Forms.Padding(0, 12, 0, 12);
+            this.lbBat.sign = "%";
+            this.lbBat.Size = new System.Drawing.Size(48, 50);
+            this.lbBat.TabIndex = 23;
+            this.lbBat.Text = "12";
+            this.lbBat.VLevel = 50F;
+            this.lbBat.Volt = 0F;
+            this.lbBat.Click += new System.EventHandler(this.lbBat_Click);
             // 
             // fMain
             // 
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
             this.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(15)))), ((int)(((byte)(15)))), ((int)(((byte)(15)))));
-            this.ClientSize = new System.Drawing.Size(1280, 781);
+            this.ClientSize = new System.Drawing.Size(1280, 800);
             this.Controls.Add(this.panDlg);
             this.Controls.Add(this.panRight);
             this.Controls.Add(this.arPanel2);
             this.Controls.Add(this.pandBottomDIO);
-            this.Controls.Add(this.ctlPos1);
             this.Controls.Add(this.arPanel1);
             this.Controls.Add(this.panTopMenu);
             this.DoubleBuffered = true;
@@ -2297,7 +2068,6 @@ namespace Project
         private System.Windows.Forms.Button MenuAuto;
         private System.Windows.Forms.Panel panDlg;
         private System.Windows.Forms.Button MenuLog;
-        private CtlPos ctlPos1;
         private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1;
         private arCtl.arLabel btHome;
         private arCtl.arLabel btTopMenu_Volume;

Cs_HMI/Project/fMain.cs

@@ -39,6 +39,7 @@ namespace Project
             InitializeComponent();
             VAR.Init(128);
             PUB.initCore();
+            UTIL.MessgeBoxLegacyMode = false;
             this.KeyDown += (s1, e1) =>
             {
                 if (e1.KeyCode == Keys.Escape) this.Close();
@@ -65,7 +66,6 @@ namespace Project
             this.panTopMenu.MouseDown += LbTitle_MouseDown;
             this.panTopMenu.DoubleClick += LbTitle_DoubleClick;
 
-            this.ctlPos1.ItemClick += CtlPos1_ItemClick;
             this.MouseMove += (s1, e1) => { if (DateTime.Now > PUB.LastInputTime) PUB.LastInputTime = DateTime.Now; };
             this.FormClosing += __Closing;
 
@@ -100,19 +100,6 @@ namespace Project
                 }
         }
 
-        /// <summary>
-        /// 상단 위치 표시기의 대상 위치값을 표시 합니다
-        /// </summary>
-        /// <param name="sender"></param>
-        /// <param name="e"></param>
-        private void Display_Position_TargetPosSet(object sender, EventArgs e)
-        {
-            //대상위치가 설정되었다x
-            this.ctlPos1.SetTargetPosition(PUB.Result.TargetPos);
-            this.ctlPos1.Invalidate();
-        }
-
-
         private void __Closing(object sender, FormClosingEventArgs e)
         {
             // 장치 관리 태스크는 _STEP_CLOSING_START에서 종료됨
@@ -175,50 +162,31 @@ namespace Project
         private void __Load(object sender, EventArgs e)
         {
             this.Text = Application.ProductName + " ver " + Application.ProductVersion;
-            //this.lbTitle.Text = this.Text;
-            PUB.init(); //public initialize
-            if (PUB.setting.FullScreen) this.WindowState = FormWindowState.Maximized;
-            //  PUB.log.RaiseMsg += log_RaiseMsg;
+            PUB.init();
+            if (PUB.setting.FullScreen)
+            {
+                this.FormBorderStyle = FormBorderStyle.None;
+                this.WindowState = FormWindowState.Maximized;
+            }
             this.Show();
-
-            PUB.Result.TargetPosSet += Display_Position_TargetPosSet;
-
-            this.ctlPos1.ClearData();
-            this.ctlPos1.Invalidate();
-
-            //lbDM1.Text = "";
-            //sbBatteryLv.Text = "";
-            btHome.Text = "홈";
-            btChargeA.Text = "자동충전";
-            VAR.STR[eVarString.SWVersion] = Application.ProductVersion;
             Application.DoEvents();
 
-            //setting dio events
+            VAR.STR[eVarString.SWVersion] = Application.ProductVersion;
+
+            //SETTING H/W
             this.IOState.ItemClick += gridView2_ItemClick;
-            //PUB.flag.ValueChanged += Flag_ValueChagned;
             VAR.BOOL.PropertyChanged += BOOL_PropertyChanged;
 
-
-            /////모터용 pLC
-            //PUB.PLC = new arDev.FakePLC();
-            //PUB.PLC.ValueChanged += PLC_DioChanged;
-            //PUB.PLC.FlagChanged += PLC_FlagChanged;
-            //PUB.PLC.Message += PLC_Message;
-
             //지그비통신
             PUB.XBE = new Device.Xbee();
             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);
-
             //AGV
             PUB.AGV = new arDev.Narumi();
             PUB.AGV.Message += AGV_Message;
             PUB.AGV.DataReceive += AGV_DataReceive;
 
-
             //배터리관리시스템
             PUB.BMS = new arDev.BMS();
             PUB.BMS.BMSDataReceive += Bms_BMSDataReceive;
@@ -243,17 +211,17 @@ namespace Project
             PUB.sm.SetMsgOptOff(); //모든 메세지출력을 해제한다. (이벤트는 동작함)
 
             PUB.log.Add("State Machine Start");
-            
+
             try
             {
                 PUB.sm = new StateMachine.StateMachine();
                 PUB.log.Add("StateMachine", $"객체 생성 완료 - Type: {PUB.sm.GetType().FullName}");
-                
+
                 // StateMachine 객체의 속성 확인
                 var smType = PUB.sm.GetType();
                 var properties = smType.GetProperties(System.Reflection.BindingFlags.Public | System.Reflection.BindingFlags.Instance);
                 PUB.log.Add("StateMachine", $"Public Properties: {properties.Length}개");
-                
+
                 var methods = smType.GetMethods(System.Reflection.BindingFlags.Public | System.Reflection.BindingFlags.Instance | System.Reflection.BindingFlags.DeclaredOnly);
                 PUB.log.Add("StateMachine", $"Public Methods: {methods.Length}개");
             }
@@ -263,22 +231,14 @@ namespace Project
                 PUB.log.AddE($"StackTrace: {ex.StackTrace}");
                 throw;
             }
-            
+
             PUB.sm.StepChanged += sm_StepChanged;
-            PUB.log.Add("StateMachine", "StepChanged 이벤트 등록 완료");
-            
             PUB.sm.Message += sm_Message;
-            PUB.log.Add("StateMachine", "Message 이벤트 등록 완료");
-            
             PUB.sm.Running += sm_Running;
-            PUB.log.Add("StateMachine", "Running 이벤트 등록 완료");
-            
             PUB.sm.SPS += sm_SPS;
-            PUB.log.Add("StateMachine", "SPS 이벤트 등록 완료");
-            
             PUB.sm.Start();
-            PUB.log.Add("StateMachine", $"Start() 호출 완료 - IsThreadRun:{PUB.sm.IsThreadRun}");
-            
+            PUB.log.Add("StateMachine", "SM 이벤트 등록 완료");
+
             // 스레드 시작 대기 (최대 3초)
             for (int i = 0; i < 30; i++)
             {
@@ -289,15 +249,15 @@ namespace Project
                     break;
                 }
             }
-            
+
             if (!PUB.sm.IsThreadRun)
             {
-                PUB.log.AddE( "경고: 3초 대기 후에도 스레드가 시작되지 않음!");
+                PUB.log.AddE("경고: 3초 대기 후에도 스레드가 시작되지 않음!");
                 System.Windows.Forms.MessageBox.Show(
                     "상태머신 스레드가 시작되지 않았습니다.\n" +
                     "로그 파일을 확인하세요.",
-                    "오류", 
-                    System.Windows.Forms.MessageBoxButtons.OK, 
+                    "오류",
+                    System.Windows.Forms.MessageBoxButtons.OK,
                     System.Windows.Forms.MessageBoxIcon.Error);
             }
 
@@ -306,10 +266,8 @@ namespace Project
             PUB.log.Add("Display", "Display Timer 시작 완료");
 
             this.btDebug.Visible = System.Diagnostics.Debugger.IsAttached || PUB.setting.UseDebugMode;
-
             PUB.log.Add("Program Start");
 
-
             //수량표시
             PUB.counter.PropertyChanged += (s1, e1) => Update_Count();
             Update_Count();
@@ -321,11 +279,8 @@ namespace Project
                 MenuLog.PerformClick();
 
             PUB.AddEEDB("프로그램 시작");
-
         }
 
-
-
         #region "Mouse Form Move"
 
         private Boolean fMove = false;
@@ -416,6 +371,11 @@ namespace Project
 
         void func_sw_start(bool Prompt = false)
         {
+            if (PUB.sm.Step == eSMStep.SYNC)
+            {
+                UTIL.MsgE("초기화 중에는 사용할 수 없습니다\n초기화가 완료 된 후 시도하세요");
+                return;
+            }
             if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == false)    //자동상태가 아니라면
             {
                 PUB.AGV.AGVErrorReset();
@@ -423,17 +383,17 @@ namespace Project
                 {
                     if (UTIL.MsgQ("AGV상태를 자동으로 전환 할까요?") != DialogResult.Yes) return;
                 }
+
                 //충전상태확인
                 if (PUB.CheckManualChargeMode() == false) return;
                 PUB.popup.needClose = true;
-                PUB.sm.bPause = false;
+                //PUB.sm.bPause = false;
+                //PUB.sm.ClearRunStep();
+                //PUB.sm.SetNewRunStep(ERunStep.READY);
                 PUB.sm.SetNewStep(eSMStep.RUN);
+                PUB.Speak(Lang.자동전환, addlog: false);
 
-                if (PUB.Result.CurrentPos == ePosition.NONE || PUB.Result.TargetPos == ePosition.NONE)
-                {
-                    PUB.sm.SetNewRunStep(ERunStep.GOHOME);
-                }
-                PUB.Speak(Lang.자동전환);
+                PUB.log.Add($"자동전환 이전스텝:{PUB.sm.RunStep},IDX:{PUB.sm.RunStepSeq}]");
             }
             else
             {
@@ -487,159 +447,6 @@ namespace Project
         }
 
 
-        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");
-                return;
-            }
-            if (VAR.BOOL[eVarBool.EMERGENCY] == true)
-            {
-                var dlgE = UTIL.MsgQ("비상정지 상태입니다.\n오류를 먼저 소거하고 실행 할까요?");
-                if (dlgE == DialogResult.Yes) PUB.AGV.AGVErrorReset();
-                else return;
-            }
-            //위치표시 컨트롤에서 아이템을 클릭했다
-            var dlg = new Dialog.fJobSelect();
-            PUB.log.Add("사용자 임의 위치 클릭 : " + e.Item.Title);
-            switch (e.Item.Position)
-            {
-                case ePosition.QA:
-
-                    //아이템을 가지고 있었으니 하차를 해야한다
-                    if (VAR.BOOL[eVarBool.ITEMON])
-                    {
-                        dlg.setMessage("작업 실행\n" +
-                            "(QA) 위치로 하차를 진행 할까요?\n" +
-                            "대상위치 : QA\n" +
-                            "현재위치 : " + PUB.Result.CurrentPos.ToString());
-                        if (dlg.ShowDialog() == DialogResult.Yes)
-                        {
-                            //아이템이 있으면 하차이고 없으면 상차이다
-                            PUB.sm.ClearRunStep();
-                            PUB.Result.TargetPos = ePosition.QA;
-                            PUB.sm.SetNewRunStep(ERunStep.GODOWN);
-                            PUB.sm.SetNewStep(eSMStep.RUN);
-                        }
-                    }
-                    else
-                    {
-                        dlg.setMessage("작업 실행\n" +
-                            "(QA) 위치로 이동을 실행 할까요?\n" +
-                            "대상위치 : QA\n" +
-                            "현재위치 : " + PUB.Result.CurrentPos.ToString());
-
-                        if (dlg.ShowDialog() == DialogResult.Yes)
-                        {
-
-                            //아이템이 있으면 하차이고 없으면 상차이다
-                            PUB.sm.ClearRunStep();
-                            PUB.Result.TargetPos = ePosition.QA;
-                            PUB.sm.SetNewRunStep(ERunStep.GOHOME);
-                            PUB.sm.SetNewStep(eSMStep.RUN);
-                        }
-                    }
-
-                    break;
-                case ePosition.QC:
-
-                    //아이템을 가지고 있었으니 하차를 해야한다
-                    if (VAR.BOOL[eVarBool.ITEMON])
-                    {
-                        dlg.setMessage("작업 실행\n" +
-                            "홈(QC) 위치로 하차를 진행 할까요?\n" +
-                            "대상위치 : QC\n" +
-                            "현재위치 : " + PUB.Result.CurrentPos.ToString());
-                        if (dlg.ShowDialog() == DialogResult.Yes)
-                        {
-                            //아이템이 있으면 하차이고 없으면 상차이다
-                            PUB.sm.ClearRunStep();
-                            PUB.Result.TargetPos = ePosition.QC;
-                            PUB.sm.SetNewRunStep(ERunStep.GODOWN);
-                            PUB.sm.SetNewStep(eSMStep.RUN);
-                        }
-                    }
-                    else
-                    {
-                        dlg.setMessage("작업 실행\n" +
-                            "홈(QC) 위치로 이동을 실행 할까요?\n" +
-                            "대상위치 : QC\n" +
-                            "현재위치 : " + PUB.Result.CurrentPos.ToString());
-
-                        if (dlg.ShowDialog() == DialogResult.Yes)
-                        {
-
-                            //아이템이 있으면 하차이고 없으면 상차이다
-                            PUB.sm.ClearRunStep();
-                            PUB.Result.TargetPos = ePosition.QC;
-                            PUB.sm.SetNewRunStep(ERunStep.GOHOME);
-                            PUB.sm.SetNewStep(eSMStep.RUN);
-                        }
-                    }
-
-                    break;
-                case ePosition.F1:  //FVI영역은 모두 상차이동
-                    dlg.setMessage("작업 실행\n" +
-                       "(상차) 작업을 실행 할까요?\n" +
-                       "대상위치 : FVI-1\n" +
-                       "현재위치 : " + PUB.Result.CurrentPos.ToString());
-                    if (dlg.ShowDialog() == DialogResult.Yes)
-                    {
-                        PUB.Result.TargetPos = ePosition.F1;
-                        PUB.sm.SetNewRunStep(ERunStep.GOUP);
-                        PUB.sm.SetNewStep(eSMStep.RUN);
-                    }
-
-                    break;
-                case ePosition.F2:
-                    dlg.setMessage("작업 실행\n" +
-                        "(상차) 작업을 실행 할까요?\n" +
-                        "대상위치 : FVI-2\n" +
-                        "현재위치 : " + PUB.Result.CurrentPos.ToString());
-                    if (dlg.ShowDialog() == DialogResult.Yes)
-                    {
-
-                        PUB.Result.TargetPos = ePosition.F2;
-                        PUB.sm.SetNewRunStep(ERunStep.GOUP);
-                        PUB.sm.SetNewStep(eSMStep.RUN);
-                    }
-
-                    break;
-                case ePosition.F3:
-                    dlg.setMessage("작업 실행\n" +
-                        "(상차) 작업을 실행 할까요?\n" +
-                        "대상위치 : FVI-3\n" +
-                        "현재위치 : " + PUB.Result.CurrentPos.ToString());
-                    if (dlg.ShowDialog() == DialogResult.Yes)
-                    {
-
-                        PUB.Result.TargetPos = ePosition.F3;
-                        PUB.sm.SetNewRunStep(ERunStep.GOUP);
-                        PUB.sm.SetNewStep(eSMStep.RUN);
-                        //VAR.BOOL[eVarBool.FLAG_AUTORUN] = true;
-                    }
-
-                    break;
-                case ePosition.F4:
-                    dlg.setMessage("작업 실행\n" +
-                        "(상차) 작업을 실행 할까요?\n" +
-                        "대상위치 : FVI-4\n" +
-                        "현재위치 : " + PUB.Result.CurrentPos.ToString());
-                    if (dlg.ShowDialog() == DialogResult.Yes)
-                    {
-
-                        PUB.Result.TargetPos = ePosition.F4;
-                        PUB.sm.SetNewRunStep(ERunStep.GOUP);
-                        PUB.sm.SetNewStep(eSMStep.RUN);
-                    }
-
-                    break;
-
-            }
-            if (dlg != null) dlg.Dispose();
-        }
-
         private void demoRunToolStripMenuItem_Click(object sender, EventArgs e)
         {
             PUB.Result.JobEndTime = DateTime.Now;
@@ -808,7 +615,10 @@ namespace Project
                 if (dlg == DialogResult.Yes)
                 {
                     PUB.sm.ClearRunStep();
-                    PUB.sm.SetNewRunStep(ERunStep.GOHOME);
+                    //대상노드를 충전기로하고 
+                    PUB._virtualAGV.StartNode = null;
+                    PUB._virtualAGV.TargetNode = null;
+                    PUB.sm.SetNewRunStep(ERunStep.GOTO);
                     PUB.sm.SetNewStep(eSMStep.RUN);
                     PUB.log.Add("사용자 충전 해제");
                 }
@@ -847,26 +657,23 @@ namespace Project
         }
         private void brHome_Click(object sender, EventArgs e)
         {
-            var bCharge = PUB.sm.Step == eSMStep.RUN &&
-              (PUB.sm.RunStep == ERunStep.GOHOME);
-
             if (PUB.CheckManualChargeMode() == false) return;
 
-            if (bCharge == true)
+            var bHome = PUB.sm.Step == eSMStep.RUN && (PUB.sm.RunStep == ERunStep.GOHOME);
+            if (bHome == true)
             {
-                var dlg = UTIL.MsgQ("홈(QC) 이동을 취소 할까요?");
+                var dlg = UTIL.MsgQ("홈 이동을 취소 할까요?");
                 if (dlg == DialogResult.Yes)
                 {
                     PUB.sm.ClearRunStep();
                     PUB.sm.SetNewStep(eSMStep.IDLE);
                     PUB.AGV.AGVMoveStop("user home cancle", arDev.Narumi.eStopOpt.Stop);
-                    //PUB.AGV.AddCommand(arDev.Narumi.eAgvCmd.MoveStop);//.Move(Device.PLC.Rundirection.Stop, "사용자 홈 이동 취소");
                     PUB.log.Add("사용자 홈 이동 취소");
                 }
             }
             else
             {
-                var dlg = UTIL.MsgQ("홈(QC) 이동을 실행 할까요?");
+                var dlg = UTIL.MsgQ("홈 이동을 실행 할까요?");
                 if (dlg == DialogResult.Yes)
                 {
                     PUB.sm.ClearRunStep();
@@ -875,7 +682,6 @@ namespace Project
                     PUB.log.Add("사용자 홈 이동 실행");
                 }
             }
-
         }
 
 
@@ -967,7 +773,7 @@ namespace Project
         private void loadToolStripMenuItem_Click(object sender, EventArgs e)
         {
             //load
-            
+
             var od = new OpenFileDialog
             {
                 Filter = "AGV Map Files (*.agvmap)|*.agvmap|All Files (*.*)|*.*",
@@ -996,6 +802,7 @@ namespace Project
             {
                 var _mapCanvas = PUB._mapCanvas;
                 PUB._mapNodes = result.Nodes;
+                PUB.log.Add($"Set _mapNodes");
 
                 // 맵 캔버스에 데이터 설정
                 _mapCanvas.Nodes = result.Nodes;
@@ -1084,11 +891,11 @@ namespace Project
                 sb.AppendLine($"Current Step: {PUB.sm.Step}");
                 sb.AppendLine($"Current RunStep: {PUB.sm.RunStep}");
                 sb.AppendLine();
-                
+
                 var process = System.Diagnostics.Process.GetCurrentProcess();
                 sb.AppendLine($"총 스레드 수: {process.Threads.Count}");
                 sb.AppendLine();
-                
+
                 foreach (System.Diagnostics.ProcessThread thread in process.Threads)
                 {
                     sb.AppendLine($"Thread {thread.Id}:");
@@ -1100,11 +907,11 @@ namespace Project
                     }
                     sb.AppendLine();
                 }
-                
+
                 var dump = sb.ToString();
                 PUB.log.Add("THREAD_DUMP", dump);
                 Console.WriteLine(dump);
-                
+
                 MessageBox.Show(
                     $"스레드 덤프 완료\n로그 파일에 저장되었습니다.\n\n" +
                     //$"마지막 sm_Running: {(DateTime.Now - lastSmRunningTime).TotalSeconds:F1}초 전\n" +

Cs_HMI/Project/fSetup.Designer.cs

@@ -39,6 +39,10 @@
             this.btAutoCharge = new arCtl.arLabel();
             this.btSpeaker = new arCtl.arLabel();
             this.tabPage1 = new System.Windows.Forms.TabPage();
+            this.button8 = new System.Windows.Forms.Button();
+            this.vcGDS = new AGVControl.ValueSelect();
+            this.label7 = new System.Windows.Forms.Label();
+            this.vcXBID = new AGVControl.ValueSelect();
             this.tbagvchannel = new System.Windows.Forms.TextBox();
             this.tbagvpanid = new System.Windows.Forms.TextBox();
             this.tbagvaddr = new System.Windows.Forms.TextBox();
@@ -171,7 +175,6 @@
             this.tbMCID = new System.Windows.Forms.TextBox();
             this.label4 = new System.Windows.Forms.Label();
             this.chkDetectManualCharge = new System.Windows.Forms.CheckBox();
-            this.chkAGVDirBack = new System.Windows.Forms.CheckBox();
             this.chkFullScreen = new System.Windows.Forms.CheckBox();
             this.nudMusicVol = new System.Windows.Forms.NumericUpDown();
             this.label22 = new System.Windows.Forms.Label();
@@ -202,8 +205,6 @@
             this.bt1 = new arCtl.arLabel();
             this.bt0 = new arCtl.arLabel();
             this.btSave = new arCtl.arLabel();
-            this.label7 = new System.Windows.Forms.Label();
-            this.vcXBID = new AGVControl.ValueSelect();
             this.tabControl1.SuspendLayout();
             this.tabPage6.SuspendLayout();
             this.panel1.SuspendLayout();
@@ -249,7 +250,7 @@
             this.tabControl1.Multiline = true;
             this.tabControl1.Name = "tabControl1";
             this.tabControl1.SelectedIndex = 0;
-            this.tabControl1.Size = new System.Drawing.Size(1270, 598);
+            this.tabControl1.Size = new System.Drawing.Size(1270, 578);
             this.tabControl1.TabIndex = 14;
             // 
             // tabPage6
@@ -257,7 +258,7 @@
             this.tabPage6.Controls.Add(this.panel1);
             this.tabPage6.Location = new System.Drawing.Point(4, 4);
             this.tabPage6.Name = "tabPage6";
-            this.tabPage6.Size = new System.Drawing.Size(1244, 590);
+            this.tabPage6.Size = new System.Drawing.Size(1244, 570);
             this.tabPage6.TabIndex = 6;
             this.tabPage6.Text = "일반";
             this.tabPage6.UseVisualStyleBackColor = true;
@@ -274,19 +275,21 @@
             // 
             // tableLayoutPanel1
             // 
+            this.tableLayoutPanel1.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
+            | System.Windows.Forms.AnchorStyles.Left) 
+            | System.Windows.Forms.AnchorStyles.Right)));
             this.tableLayoutPanel1.ColumnCount = 2;
             this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
             this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.tableLayoutPanel1.Controls.Add(this.btMusic, 0, 1);
             this.tableLayoutPanel1.Controls.Add(this.btAutoCharge, 1, 0);
             this.tableLayoutPanel1.Controls.Add(this.btSpeaker, 0, 0);
-            this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.tableLayoutPanel1.Location = new System.Drawing.Point(3, 0);
+            this.tableLayoutPanel1.Controls.Add(this.btMusic, 0, 1);
+            this.tableLayoutPanel1.Location = new System.Drawing.Point(17, 17);
             this.tableLayoutPanel1.Name = "tableLayoutPanel1";
             this.tableLayoutPanel1.RowCount = 2;
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.tableLayoutPanel1.Size = new System.Drawing.Size(1238, 648);
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(1227, 550);
             this.tableLayoutPanel1.TabIndex = 24;
             // 
             // btMusic
@@ -306,7 +309,7 @@
             this.btMusic.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
             this.btMusic.GradientRepeatBG = false;
             this.btMusic.isButton = true;
-            this.btMusic.Location = new System.Drawing.Point(3, 327);
+            this.btMusic.Location = new System.Drawing.Point(3, 278);
             this.btMusic.MouseDownColor = System.Drawing.Color.Yellow;
             this.btMusic.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
             this.btMusic.msg = null;
@@ -326,7 +329,7 @@
             this.btMusic.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btMusic.SignColor = System.Drawing.Color.Yellow;
             this.btMusic.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btMusic.Size = new System.Drawing.Size(613, 318);
+            this.btMusic.Size = new System.Drawing.Size(607, 269);
             this.btMusic.TabIndex = 23;
             this.btMusic.Tag = "2";
             this.btMusic.Text = "배경음악";
@@ -352,7 +355,7 @@
             this.btAutoCharge.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
             this.btAutoCharge.GradientRepeatBG = false;
             this.btAutoCharge.isButton = true;
-            this.btAutoCharge.Location = new System.Drawing.Point(622, 3);
+            this.btAutoCharge.Location = new System.Drawing.Point(616, 3);
             this.btAutoCharge.MouseDownColor = System.Drawing.Color.Yellow;
             this.btAutoCharge.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
             this.btAutoCharge.msg = null;
@@ -372,7 +375,7 @@
             this.btAutoCharge.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btAutoCharge.SignColor = System.Drawing.Color.Yellow;
             this.btAutoCharge.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btAutoCharge.Size = new System.Drawing.Size(613, 318);
+            this.btAutoCharge.Size = new System.Drawing.Size(608, 269);
             this.btAutoCharge.TabIndex = 20;
             this.btAutoCharge.Tag = "1";
             this.btAutoCharge.Text = "자동충전";
@@ -418,7 +421,7 @@
             this.btSpeaker.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btSpeaker.SignColor = System.Drawing.Color.Yellow;
             this.btSpeaker.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btSpeaker.Size = new System.Drawing.Size(613, 318);
+            this.btSpeaker.Size = new System.Drawing.Size(607, 269);
             this.btSpeaker.TabIndex = 11;
             this.btSpeaker.Tag = "0";
             this.btSpeaker.Text = "음성지원";
@@ -430,6 +433,8 @@
             // tabPage1
             // 
             this.tabPage1.BackColor = System.Drawing.Color.Navy;
+            this.tabPage1.Controls.Add(this.button8);
+            this.tabPage1.Controls.Add(this.vcGDS);
             this.tabPage1.Controls.Add(this.label7);
             this.tabPage1.Controls.Add(this.vcXBID);
             this.tabPage1.Controls.Add(this.tbagvchannel);
@@ -477,10 +482,81 @@
             this.tabPage1.Location = new System.Drawing.Point(4, 4);
             this.tabPage1.Name = "tabPage1";
             this.tabPage1.Padding = new System.Windows.Forms.Padding(3);
-            this.tabPage1.Size = new System.Drawing.Size(1244, 590);
+            this.tabPage1.Size = new System.Drawing.Size(1244, 570);
             this.tabPage1.TabIndex = 0;
             this.tabPage1.Text = "AGV";
             // 
+            // button8
+            // 
+            this.button8.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
+            this.button8.Font = new System.Drawing.Font("궁서체", 15.75F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.button8.Location = new System.Drawing.Point(480, 509);
+            this.button8.Name = "button8";
+            this.button8.Size = new System.Drawing.Size(147, 54);
+            this.button8.TabIndex = 82;
+            this.button8.Tag = "SCH";
+            this.button8.Text = "TurnGDS";
+            this.button8.UseVisualStyleBackColor = true;
+            this.button8.Click += new System.EventHandler(this.button8_Click);
+            // 
+            // vcGDS
+            // 
+            this.vcGDS.BackColorButton = System.Drawing.Color.White;
+            this.vcGDS.ButtonWidth = "30";
+            this.vcGDS.ColorBorder = System.Drawing.Color.White;
+            this.vcGDS.DecimalPosition = ((ushort)(0));
+            this.vcGDS.Font = new System.Drawing.Font("맑은 고딕", 26.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.vcGDS.FontSideButton = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.vcGDS.ForeColor = System.Drawing.Color.White;
+            this.vcGDS.ForeColorButton = System.Drawing.Color.Black;
+            this.vcGDS.Location = new System.Drawing.Point(633, 509);
+            this.vcGDS.MaxValue = 9999D;
+            this.vcGDS.MinValue = 0D;
+            this.vcGDS.Name = "vcGDS";
+            this.vcGDS.NullDisplay = "--";
+            this.vcGDS.SideButtonClickValue = 1D;
+            this.vcGDS.Size = new System.Drawing.Size(164, 54);
+            this.vcGDS.TabIndex = 80;
+            this.vcGDS.Tag = "SDH";
+            this.vcGDS.Text = "1000";
+            this.vcGDS.Value = 1000D;
+            this.vcGDS.ButtonClick += new System.EventHandler<AGVControl.ValueSelect.ButtonClickEventArgs>(this.vcChargeLow_ButtonClick);
+            // 
+            // label7
+            // 
+            this.label7.AutoSize = true;
+            this.label7.Font = new System.Drawing.Font("궁서체", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.label7.ForeColor = System.Drawing.Color.WhiteSmoke;
+            this.label7.Location = new System.Drawing.Point(162, 524);
+            this.label7.Name = "label7";
+            this.label7.Size = new System.Drawing.Size(101, 24);
+            this.label7.TabIndex = 79;
+            this.label7.Text = "Xbee ID";
+            this.label7.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            // 
+            // vcXBID
+            // 
+            this.vcXBID.BackColorButton = System.Drawing.Color.White;
+            this.vcXBID.ButtonWidth = "30";
+            this.vcXBID.ColorBorder = System.Drawing.Color.White;
+            this.vcXBID.DecimalPosition = ((ushort)(0));
+            this.vcXBID.Font = new System.Drawing.Font("맑은 고딕", 26.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.vcXBID.FontSideButton = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.vcXBID.ForeColor = System.Drawing.Color.White;
+            this.vcXBID.ForeColorButton = System.Drawing.Color.Black;
+            this.vcXBID.Location = new System.Drawing.Point(269, 509);
+            this.vcXBID.MaxValue = 9999D;
+            this.vcXBID.MinValue = 0D;
+            this.vcXBID.Name = "vcXBID";
+            this.vcXBID.NullDisplay = "--";
+            this.vcXBID.SideButtonClickValue = 1D;
+            this.vcXBID.Size = new System.Drawing.Size(164, 54);
+            this.vcXBID.TabIndex = 78;
+            this.vcXBID.Tag = "SDH";
+            this.vcXBID.Text = "30";
+            this.vcXBID.Value = 30D;
+            this.vcXBID.ButtonClick += new System.EventHandler<AGVControl.ValueSelect.ButtonClickEventArgs>(this.vcChargeLow_ButtonClick);
+            // 
             // tbagvchannel
             // 
             this.tbagvchannel.Font = new System.Drawing.Font("맑은 고딕", 26.25F, System.Drawing.FontStyle.Bold);
@@ -1565,7 +1641,7 @@
             this.label44.AutoSize = true;
             this.label44.Font = new System.Drawing.Font("궁서체", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
             this.label44.ForeColor = System.Drawing.Color.WhiteSmoke;
-            this.label44.Location = new System.Drawing.Point(473, 546);
+            this.label44.Location = new System.Drawing.Point(1152, 201);
             this.label44.Name = "label44";
             this.label44.Size = new System.Drawing.Size(49, 24);
             this.label44.TabIndex = 64;
@@ -1576,7 +1652,7 @@
             this.label29.AutoSize = true;
             this.label29.Font = new System.Drawing.Font("궁서체", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
             this.label29.ForeColor = System.Drawing.Color.SkyBlue;
-            this.label29.Location = new System.Drawing.Point(51, 546);
+            this.label29.Location = new System.Drawing.Point(730, 201);
             this.label29.Name = "label29";
             this.label29.Size = new System.Drawing.Size(211, 24);
             this.label29.TabIndex = 62;
@@ -1631,7 +1707,7 @@
             this.label28.AutoSize = true;
             this.label28.Font = new System.Drawing.Font("궁서체", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
             this.label28.ForeColor = System.Drawing.Color.SkyBlue;
-            this.label28.Location = new System.Drawing.Point(138, 503);
+            this.label28.Location = new System.Drawing.Point(817, 158);
             this.label28.Name = "label28";
             this.label28.Size = new System.Drawing.Size(124, 24);
             this.label28.TabIndex = 29;
@@ -1838,7 +1914,7 @@
             this.vcChargeWaitSec.FontSideButton = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
             this.vcChargeWaitSec.ForeColor = System.Drawing.Color.WhiteSmoke;
             this.vcChargeWaitSec.ForeColorButton = System.Drawing.Color.Black;
-            this.vcChargeWaitSec.Location = new System.Drawing.Point(270, 540);
+            this.vcChargeWaitSec.Location = new System.Drawing.Point(949, 195);
             this.vcChargeWaitSec.MaxValue = 999999D;
             this.vcChargeWaitSec.MinValue = 0D;
             this.vcChargeWaitSec.Name = "vcChargeWaitSec";
@@ -1862,7 +1938,7 @@
             this.tbChargerID.FontSideButton = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
             this.tbChargerID.ForeColor = System.Drawing.Color.WhiteSmoke;
             this.tbChargerID.ForeColorButton = System.Drawing.Color.Black;
-            this.tbChargerID.Location = new System.Drawing.Point(270, 497);
+            this.tbChargerID.Location = new System.Drawing.Point(949, 152);
             this.tbChargerID.MaxValue = 999999D;
             this.tbChargerID.MinValue = 0D;
             this.tbChargerID.Name = "tbChargerID";
@@ -2654,7 +2730,6 @@
             this.groupBox3.Controls.Add(this.propertyGrid1);
             this.groupBox3.Controls.Add(this.groupBox1);
             this.groupBox3.Controls.Add(this.chkDetectManualCharge);
-            this.groupBox3.Controls.Add(this.chkAGVDirBack);
             this.groupBox3.Controls.Add(this.chkFullScreen);
             this.groupBox3.Controls.Add(this.nudMusicVol);
             this.groupBox3.Controls.Add(this.label22);
@@ -2690,7 +2765,7 @@
             this.propertyGrid1.Font = new System.Drawing.Font("맑은 고딕", 11.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
             this.propertyGrid1.Location = new System.Drawing.Point(678, 109);
             this.propertyGrid1.Name = "propertyGrid1";
-            this.propertyGrid1.Size = new System.Drawing.Size(538, 448);
+            this.propertyGrid1.Size = new System.Drawing.Size(538, 426);
             this.propertyGrid1.TabIndex = 11;
             // 
             // groupBox1
@@ -2731,18 +2806,6 @@
             this.chkDetectManualCharge.Text = "수동 충전 감지";
             this.chkDetectManualCharge.UseVisualStyleBackColor = true;
             // 
-            // chkAGVDirBack
-            // 
-            this.chkAGVDirBack.AutoSize = true;
-            this.chkAGVDirBack.Font = new System.Drawing.Font("궁서체", 20F, System.Drawing.FontStyle.Bold);
-            this.chkAGVDirBack.ForeColor = System.Drawing.Color.Red;
-            this.chkAGVDirBack.Location = new System.Drawing.Point(27, 72);
-            this.chkAGVDirBack.Name = "chkAGVDirBack";
-            this.chkAGVDirBack.Size = new System.Drawing.Size(619, 31);
-            this.chkAGVDirBack.TabIndex = 8;
-            this.chkAGVDirBack.Text = "FVI 이동시 Backward 방향으로 이동 합니다";
-            this.chkAGVDirBack.UseVisualStyleBackColor = true;
-            // 
             // chkFullScreen
             // 
             this.chkFullScreen.AutoSize = true;
@@ -3299,13 +3362,13 @@
             this.btSave.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
             this.btSave.Cursor = System.Windows.Forms.Cursors.Hand;
             this.btSave.Dock = System.Windows.Forms.DockStyle.Bottom;
-            this.btSave.Font = new System.Drawing.Font("궁서체", 21.75F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.btSave.Font = new System.Drawing.Font("궁서체", 30F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
             this.btSave.ForeColor = System.Drawing.Color.White;
             this.btSave.GradientEnable = true;
             this.btSave.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.btSave.GradientRepeatBG = false;
             this.btSave.isButton = true;
-            this.btSave.Location = new System.Drawing.Point(5, 740);
+            this.btSave.Location = new System.Drawing.Point(5, 720);
             this.btSave.MouseDownColor = System.Drawing.Color.Yellow;
             this.btSave.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
             this.btSave.msg = null;
@@ -3325,7 +3388,7 @@
             this.btSave.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btSave.SignColor = System.Drawing.Color.Yellow;
             this.btSave.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btSave.Size = new System.Drawing.Size(1270, 55);
+            this.btSave.Size = new System.Drawing.Size(1270, 75);
             this.btSave.TabIndex = 8;
             this.btSave.Text = "저장";
             this.btSave.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -3333,41 +3396,6 @@
             this.btSave.TextVisible = true;
             this.btSave.Click += new System.EventHandler(this.btSave_Click);
             // 
-            // label7
-            // 
-            this.label7.AutoSize = true;
-            this.label7.Font = new System.Drawing.Font("궁서체", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.label7.ForeColor = System.Drawing.Color.WhiteSmoke;
-            this.label7.Location = new System.Drawing.Point(162, 524);
-            this.label7.Name = "label7";
-            this.label7.Size = new System.Drawing.Size(101, 24);
-            this.label7.TabIndex = 79;
-            this.label7.Text = "Xbee ID";
-            this.label7.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
-            // 
-            // vcXBID
-            // 
-            this.vcXBID.BackColorButton = System.Drawing.Color.White;
-            this.vcXBID.ButtonWidth = "30";
-            this.vcXBID.ColorBorder = System.Drawing.Color.White;
-            this.vcXBID.DecimalPosition = ((ushort)(0));
-            this.vcXBID.Font = new System.Drawing.Font("맑은 고딕", 26.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.vcXBID.FontSideButton = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.vcXBID.ForeColor = System.Drawing.Color.White;
-            this.vcXBID.ForeColorButton = System.Drawing.Color.Black;
-            this.vcXBID.Location = new System.Drawing.Point(269, 509);
-            this.vcXBID.MaxValue = 9999D;
-            this.vcXBID.MinValue = 0D;
-            this.vcXBID.Name = "vcXBID";
-            this.vcXBID.NullDisplay = "--";
-            this.vcXBID.SideButtonClickValue = 1D;
-            this.vcXBID.Size = new System.Drawing.Size(164, 54);
-            this.vcXBID.TabIndex = 78;
-            this.vcXBID.Tag = "SDH";
-            this.vcXBID.Text = "30";
-            this.vcXBID.Value = 30D;
-            this.vcXBID.ButtonClick += new System.EventHandler<AGVControl.ValueSelect.ButtonClickEventArgs>(this.vcChargeLow_ButtonClick);
-            // 
             // fSetup
             // 
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
@@ -3529,7 +3557,6 @@
         private AGVControl.ValueSelect vcChargeStartLevel;
         private AGVControl.ValueSelect vcChargeMaxLevel;
         private System.Windows.Forms.GroupBox groupBox3;
-        private System.Windows.Forms.CheckBox chkAGVDirBack;
         private System.Windows.Forms.CheckBox chkFullScreen;
         private System.Windows.Forms.NumericUpDown nudMusicVol;
         private System.Windows.Forms.Label label22;
@@ -3588,5 +3615,7 @@
         private System.Windows.Forms.CheckBox chkClearPos;
         private System.Windows.Forms.Label label7;
         private AGVControl.ValueSelect vcXBID;
+        private AGVControl.ValueSelect vcGDS;
+        private System.Windows.Forms.Button button8;
     }
 }

Cs_HMI/Project/fSetup.cs

@@ -77,6 +77,7 @@ namespace Project
             vcSTT.Value = PUB.setting.STT;
             vcSAD.Value = PUB.setting.SAD;
             vcXBID.Value = PUB.setting.XBE_ID;
+            vcGDS.Value = PUB.setting.GDSValue;
 
             tbagvaddr.Text = PUB.setting.AGV_ADDRESS;
             tbagvpanid.Text = PUB.setting.AGV_PANID;
@@ -115,10 +116,7 @@ namespace Project
             SetColorValue(btSpeaker, PUB.setting.Enable_Speak);
             SetColorValue(btAutoCharge, PUB.setting.Enable_AutoCharge);
             SetColorValue(btMusic, PUB.setting.Enable_Music);
-
-            nudDoorSoundTerm.Value = PUB.setting.doorSoundTerm;
-            chkAGVDirBack.Checked = PUB.setting.AGV_Direction_FVI_Backward;
-
+            nudDoorSoundTerm.Value = PUB.setting.alarmSoundTerm;
             chkClear1.Checked = PUB.setting.datetime_Check_1;
             chkClear2.Checked = PUB.setting.datetime_Check_2;
             cleartime1.Value = DateTime.Parse("1982-11-23 " + PUB.setting.datetime_Reset_1 + ":00");
@@ -262,6 +260,7 @@ namespace Project
             PUB.setting.STT = (int)vcSTT.Value;
             PUB.setting.SAD = (int)vcSAD.Value;
             PUB.setting.XBE_ID = (byte)vcXBID.Value;
+            PUB.setting.GDSValue = (UInt16)vcGDS.Value;
 
             //속도 저/중/고
             PUB.setting.SPD_L = (int)vcSpeedL.Value;
@@ -297,7 +296,6 @@ namespace Project
             PUB.setting.ChargeMaxTime = (int)vcChargeMaxTime.Value;
             //Pub.setting.ChargeIdleInterval = (int)nudChargeIdleInterval.Value;
             PUB.setting.ChargeRetryTerm = (int)vcChargeRetryTerm.Value;
-            PUB.setting.AGV_Direction_FVI_Backward = chkAGVDirBack.Checked;
 
             //초기화시간
             PUB.setting.datetime_Check_1 = chkClear1.Checked;
@@ -338,8 +336,8 @@ namespace Project
             PUB.SetVolume((int)nudMusicVol.Value);
             PUB.setting.ChargeSearchTime = (int)vcChargeSearchTime.Value;
 
-            PUB.setting.doorSoundTerm = (int)nudDoorSoundTerm.Value;
-            if (PUB.setting.doorSoundTerm < 1) PUB.setting.doorSoundTerm = 15; //기본값 15초
+            PUB.setting.alarmSoundTerm = (int)nudDoorSoundTerm.Value;
+            if (PUB.setting.alarmSoundTerm < 1) PUB.setting.alarmSoundTerm = 15; //기본값 15초
 
             ////핀설정
             //var baL = new System.Collections.BitArray(new byte[] { PUB.setting.PinReverse_DI_Low });
@@ -673,5 +671,13 @@ namespace Project
             if (rlt.Item2.isEmpty()) return;
             tb.Text = rlt.Item2;
         }
+
+        private void button8_Click(object sender, EventArgs e)
+        {
+            var value = (ushort)vcGDS.Value;
+            var rlt = PUB.AGV.TurnGDSCenterScope(value);
+            if (rlt == false) UTIL.MsgE("Error");
+            else UTIL.MsgI("OK");
+        }
     }
 }

Cs_HMI/README.md

@@ -1,4 +1,74 @@
-# CLAUDE.md
+# ENIG AGV Control System Documentation
+
+## 개요
+이 문서는 ENIG AGV (Automated Guided Vehicle) 제어 소프트웨어의 동작 및 기능에 대한 기술 문서입니다. 본 시스템은 C# 기반의 상태 머신(State Machine) 아키텍처를 사용하여 AGV의 주행, 충전, 자재 이송 등의 작업을 제어합니다.
+
+> **참고**: 현재 기능 개발이 진행 중이며, 일부 시퀀스는 변경될 수 있습니다.
+
+## 핵심 기능 (Core Functionality)
+
+### 1. 대기 및 준비 (IDLE / READY)
+- **상태 파일**: `_SM_RUN_READY.cs`
+- **기능**:
+  - AGV가 작업을 수행하지 않을 때의 기본 상태입니다.
+  - **자동 충전 모니터링**: 배터리 레벨을 지속적으로 확인하여 설정된 임계값 이하로 떨어지거나, 유휴 시간이 길어지면 자동으로 충전 시퀀스로 전환합니다.
+  - **충전 완료 체크**: 충전 중일 경우 최대 충전 시간 또는 목표 전압에 도달하면 충전을 중단하고 대기 상태로 복귀합니다.
+  - **정차 유지**: 대기 모드에서 AGV가 움직이지 않도록 지속적으로 정지 명령을 수행합니다.
+
+### 2. 목적지 이동 (GOTO)
+- **상태 파일**: `_SM_RUN_GOTO.cs`
+- **기능**:
+  - 지정된 RFID 태그(노드)로 이동하는 주행 로직입니다.
+  - **경로 예측 (Prediction)**: 현재 위치에서 목적지까지의 경로를 계산하고, 필요한 회전(Turn)이나 분기 동작을 결정합니다.
+  - **속도 제어**: 직선 구간, 코너, 정지 전 감속 등 상황에 맞춰 속도(High, Mid, Low)를 조절합니다.
+  - **장애물 감지**: 주행 중 전방 장애물이 감지되면 즉시 정지하거나 감속합니다.
+
+### 3. 충전 시퀀스 (CHARGE)
+- **상태 파일**: `_SM_RUN_GOCHARGE.cs`, `_SM_RUN_GOCHARGECHECK.cs`
+- **기능**:
+  - **충전기 이동**: 충전 스테이션의 RFID 위치를 찾아 이동합니다.
+  - **정밀 도킹**: 충전기 앞에서 정밀하게 위치를 조정하여 도킹합니다.
+  - **충전 시작/종료**: BMS(Battery Management System)와 통신하여 충전을 시작하고 상태를 모니터링합니다.
+
+## 특수 시퀀스 (Special Sequences)
+
+버퍼(Buffer) 스테이션에서의 자재 로딩/언로딩을 위한 특수 동작 시퀀스입니다.
+
+### 1. 버퍼 진입 (BUFFER IN)
+- **상태 파일**: `_SM_RUN_BUFFER_IN.cs`
+- **동작 순서**:
+  1. **진입 전 확인**: 하드웨어 상태 및 위치 확인.
+  2. **회전 (Turn)**: 버퍼 진입을 위해 필요한 각도로 회전 (주로 180도 턴).
+  3. **리프트 다운 (Lift Down)**: 자재 적재를 위해 리프트를 하강 (코드상 확인 필요).
+  4. **후진 진입**: 저속으로 후진하여 버퍼 스테이션에 진입.
+  5. **마크 감지 정지**: 정지 마크를 감지하여 정확한 위치에 정차.
+
+### 2. 버퍼 이탈 (BUFFER OUT)
+- **상태 파일**: `_SM_RUN_BUFFER_OUT.cs`
+- **동작 순서**:
+  1. **전진 이동**: 저속으로 전진하여 버퍼 스테이션을 빠져나옵니다.
+  2. **마크 스톱**: 이탈 완료 지점의 마크를 감지하여 정지합니다.
+  3. **회전 (Turn)**: 주행 방향으로 복귀하기 위해 우측 180도 회전을 수행합니다.
+
+### 3. 동기화 (SYNC)
+- **상태 파일**: `_SM_RUN_SYNC.cs`
+- **기능**:
+  - 프로그램 시작 시 또는 연결 복구 시 AGV 하드웨어와 소프트웨어 간의 설정을 동기화합니다.
+  - 속도 PID 제어값, 주행 파라미터 등을 장비로 전송하고 확인(ACK) 받습니다.
+  - **UI 표시**: 동기화 진행률을 화면에 표시하여 사용자가 상태를 알 수 있게 합니다.
+
+## 안전 기능 (Safety Features)
+- **장애물 감지**: LiDAR 또는 센서를 통해 전방 물체 감지 시 음성 안내("전방에 물체가 감지되었습니다")와 함께 정지.
+- **통신 타임아웃**: 하드웨어(AGV, BMS, XBee)와의 통신이 끊기면 에러 상태로 전환하거나 재연결을 시도.
+- **비상 정지**: 소프트웨어적 비상 정지 및 하드웨어 E-Stop 상태 감지.
+
+## 개발 상태
+- 현재 기본 주행 및 충전 기능은 구현되어 있으나, 버퍼 시퀀스 및 예외 처리에 대한 고도화 작업이 진행 중입니다.
+- 맵 에디터(`UnifiedAGVCanvas`)와 연동하여 실시간 모니터링 및 시뮬레이션 기능을 강화하고 있습니다.
+
+---
+
+# 기존 CLAUDE.md 내용 (참고용)
 
 이 파일은 이 저장소의 코드로 작업할 때 Claude Code (claude.ai/code)를 위한 지침을 제공합니다.
 맵데이터는 C:\Data\Source\(5613#) ENIG AGV\Source\Cs_HMI\Data\NewMap.agvmap 파일을 기준으로 사용
@@ -343,4 +413,4 @@ AGVNavigationCore/
 
 ### 🚨 알려진 이슈
 - **빌드 환경**: MSBuild 2022가 설치되지 않은 환경에서 빌드 불가
-- **좌표 시스템**: 줌/팬 상태에서 좌표 변환 정확성 지속 모니터링 필요
+- **좌표 시스템**: 줌/팬 상태에서 좌표 변환 정확성 지속 모니터링 필요

Cs_HMI/StateMachine/EnumStruct.cs

@@ -45,17 +45,13 @@ namespace Project.StateMachine
     /// </summary>
     public enum ERunStep : byte
     {
-
         /// <summary>
         /// 자동모드 대기상태
         /// </summary>
         READY = 0,
 
-        /// <summary>
-        /// 홈(QC)로 이동합니다
-        /// </summary>
         GOHOME,
-
+       
         /// <summary>
         /// 충전을 해제 함
         /// </summary>
@@ -66,7 +62,6 @@ namespace Project.StateMachine
         /// </summary>
         GOCHARGE,
 
-
         /// <summary>
         /// 충전중
         /// </summary>
@@ -75,15 +70,20 @@ namespace Project.StateMachine
         /// <summary>
         /// 상차이동
         /// </summary>
-        GOUP,
+        BUFFER_OUT,
 
 
         /// <summary>
         /// 하차이동
         /// </summary>
-        GODOWN,
-
+        BUFFER_IN,
 
+        LOADER_IN,
+        LOADER_OUT,
+        UNLOADER_IN,
+        UNLOADER_OUT,
+        CLEANER_IN,
+        CLEANER_OUT,
 
         /// <summary>
         /// 목적지로 이동합니다
@@ -98,8 +98,12 @@ namespace Project.StateMachine
         /// <summary>
         /// 후진방향으로 마크스탑진행
         /// </summary>
-        MARKSTROPB,
+        MARKSTOPB,
 
+        /// <summary>
+        /// 에러발생
+        /// </summary>
+        ERROR,
 
     }
 

Cs_HMI/StateMachine/StateMachine.cs

@@ -283,6 +283,8 @@ namespace Project.StateMachine
 		private int _runStepSeq = 0;
 		public int RunStepSeq { get { return _runStepSeq; } }
 
+        public Stack<ERunStep> BackupRunStep = new Stack<ERunStep>();
+
 		private DateTime runStepStartTime = DateTime.Parse("1982-11-23");
 		private ERunStep _runstepn = ERunStep.READY;
 		private ERunStep _runstepo = ERunStep.READY;

Cs_HMI/SubProject/AGV/Command.cs

@@ -65,7 +65,7 @@ namespace arDev
         {
             return AddCommand(cmd + data);
         }
-        
+
         public bool LiftControl(LiftCommand cmd)
         {
             return AddCommand(eAgvCmd.LiftControl, cmd.ToString());
@@ -86,9 +86,10 @@ namespace arDev
             return AddCommand(eAgvCmd.GateoutTime, time.ToString("0000"));
         }
 
-        public bool TurnGDSCenterScope()
+        public bool TurnGDSCenterScope(UInt16 time)
         {
-            return AddCommand(eAgvCmd.TurnGDSCenterScope);
+            if (time > 2000) time = 2000;
+            return AddCommand(eAgvCmd.TurnGDSCenterScope, time.ToString("0000"));
         }
         public bool AGVMoveLeft180Turn()
         {
@@ -98,9 +99,10 @@ namespace arDev
         {
             return AddCommand(eAgvCmd.TurnRight);
         }
-        public bool AGVMoveBack180Turn()
+        public bool AGVMoveBack180Turn(bool leftTurn)
         {
-            return AddCommand(eAgvCmd.TurnBack);
+            var dir = leftTurn ? "L" : "R";
+            return AddCommand(eAgvCmd.BackAndTurn, dir);
         }
 
 
@@ -141,7 +143,7 @@ namespace arDev
                 $"SSK{interval:0000}",
                 $"SCK{value:0000}"
             };
-            return AddCommand(cmds);
+            return AddCommand( cmds);
         }
 
         public bool AGVSetTagReinputTime(int value)
@@ -162,19 +164,29 @@ namespace arDev
                 $"{cmd}I{cmd2}{I:0000}",
                 $"{cmd}D{cmd2}{D:0000}",
             };
-            return AddCommand(cmds);
+            return AddCommand( cmds);
         }
 
-        
+        /// <summary>
+        /// 전송을시도한 시간
+        /// </summary>
+        //public Dictionary<String,DateTime> LastCommandTime { get; set; }
+
+        /// <summary>
+        /// 전송에 성공한 명령시간
+        /// </summary>
+        //public Dictionary<String, DateTime> LastCommandOKTime { get; set; }
         protected bool AddCommand(params string[] cmds)
         {
             bool ret = true;
             ACKData = string.Empty;     //회신값 제거
+            //LastCommandTime.Add(cmd, DateTime.Now);
             foreach (var cmdline in cmds)
             {
                 var fullcmd = MakeCheckSum(cmdline);
                 //commandQueue.Enqueue(fullcmd);
                 if (WriteData(fullcmd) == false) ret = false;
+                //else LastCommandOKTime.Add(cmd, DateTime.Now);
                 System.Threading.Thread.Sleep(1);
             }
             return ret;
@@ -240,8 +252,9 @@ namespace arDev
                     cmdString = $"CTR0000";
                     retval = AddCommand(cmdString);
                     break;
-                case eAgvCmd.TurnBack:
-                    cmdString = $"CTB0000";
+                case eAgvCmd.BackAndTurn:
+                    if (param.isEmpty()) param = "L";
+                    cmdString = $"CTB000{param}";
                     retval = AddCommand(cmdString);
                     break;
                 case eAgvCmd.CallCancle:
@@ -270,7 +283,8 @@ namespace arDev
                     retval = AddCommand(cmdString);
                     break;
                 case eAgvCmd.TurnGDSCenterScope:
-                    cmdString = "SGS1000";
+                    if (param.isEmpty()) param = "1000";
+                    cmdString = $"SGS{param}";
                     retval = AddCommand(cmdString);
                     break;
                 case eAgvCmd.BackTrunResumeTime:

Cs_HMI/SubProject/AGV/EnumData.cs

@@ -15,7 +15,7 @@ namespace arDev
         public enum eMoveSpd
         {
             High,
-            Middle,
+            Mid,
             Low,
         }
         public enum eSetPIDSpeed
@@ -73,12 +73,12 @@ namespace arDev
                 else if (bunki == 'R') Bunki = eBunki.Right;
 
                 if (speed == 'H') this.Speed = eMoveSpd.High;
-                else if (speed == 'M') this.Speed = eMoveSpd.Middle;
+                else if (speed == 'M') this.Speed = eMoveSpd.Mid;
                 else if (speed == 'L') this.Speed = eMoveSpd.Low;
             }
             public eMoveDir Direction { get; set; } = eMoveDir.Forward;
             public eBunki Bunki { get; set; } = eBunki.Strate;
-            public eMoveSpd Speed { get; set; } = eMoveSpd.Middle;
+            public eMoveSpd Speed { get; set; } = eMoveSpd.Mid;
             public int PBSSensor { get; set; } = 1;
             public override string ToString()
             {
@@ -151,7 +151,7 @@ namespace arDev
             /// <summary>
             /// CMD : CTB0000
             /// </summary>
-            TurnBack,
+            BackAndTurn,
 
             /// <summary>
             /// CMD : CBZ

Cs_HMI/SubProject/CommData/Enum.cs

@@ -12,7 +12,7 @@ namespace COMM
 		LPickOnCount,
         SumQty,
         ChargeWaitSec,
-		
+		SyncItemCount,
 	}
 	public enum eVarUInt32
 	{
@@ -68,7 +68,7 @@ namespace COMM
         /// <summary>
         /// AGV 진행방향(UP = backward, DOWN = forward)
         /// </summary>
-        AGVDIR_UP,
+        AGVDIR_BACK,
 
         /// <summary>
         /// 마크센서가  감지되면  활성화됨
@@ -112,10 +112,7 @@ namespace COMM
         /// 충전시작명령을 전송했다
         /// </summary>
         WAIT_CHARGEACK,
-        
-        MARKSTOP_ON,
-
-
+      
         //agv area start ( 64 ~ 95)
 
 
@@ -177,6 +174,7 @@ namespace COMM
         /// </summary>
         ReadyStart,
 
+        MarkSensorOn,
         MarkSensorOff,
 
         /// <summary>
@@ -194,8 +192,25 @@ namespace COMM
 
         CheckGotoTargetSet,
         SendGotoCommand,
+
+        /// <summary>
+        /// 마지막으로 멈춤 명령을 전송한 시간
+        /// </summary>
+        LastStopCommandTime,
+
+        /// <summary>
+        /// 마지막으로 멈춤(마크스탑) 명령을 전송한 시간
+        /// </summary>
+        LastMarkStopCommandTime,
+
+        /// <summary>
+        /// 마지막으로 턴 명령을 전송한 시간
+        /// </summary>
+        LastTurnCommandTime,
+
+        /// <summary>
+        /// 마지막을 실행 명령을 전송한 시간
+        /// </summary>
+        LastRunCommandTime,
     }
-
-
-
-}
+}

Cs_HMI/SubProject/SuperTonic/ExampleONNX.cs

@@ -0,0 +1,156 @@
+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Linq;
+using System.Threading.Tasks;
+
+namespace Supertonic
+{
+    class Program
+    {
+        class Args
+        {
+            public bool UseGpu { get; set; } = false;
+            public string OnnxDir { get; set; } = "assets/onnx";
+            public string BaseDir { get; set; } = "";
+            public int TotalStep { get; set; } = 5;
+            public float Speed { get; set; } = 1.05f;
+            public int NTest { get; set; } = 4;
+            public List<string> VoiceStyle { get; set; } = new List<string> { "assets/voice_styles/M2.json" };
+            public List<string> Text { get; set; } = new List<string> 
+            { 
+                "hello , 안녕하세요" 
+            };
+            public string SaveDir { get; set; } = "results";
+            public bool Batch { get; set; } = false;
+        }
+
+        static Args ParseArgs(string[] args)
+        {
+            var result = new Args();
+            
+            for (int i = 0; i < args.Length; i++)
+            {
+                switch (args[i])
+                {
+                    case "--use-gpu":
+                        result.UseGpu = true;
+                        break;
+                    case "--batch":
+                        result.Batch = true;
+                        break;
+                    case "--onnx-dir" when i + 1 < args.Length:
+                        result.OnnxDir = args[++i];
+                        break;
+                    case "--total-step" when i + 1 < args.Length:
+                        result.TotalStep = int.Parse(args[++i]);
+                        break;
+                    case "--speed" when i + 1 < args.Length:
+                        result.Speed = float.Parse(args[++i]);
+                        break;
+                    case "--n-test" when i + 1 < args.Length:
+                        result.NTest = int.Parse(args[++i]);
+                        break;
+                    case "--voice-style" when i + 1 < args.Length:
+                        result.VoiceStyle = args[++i].Split(',').ToList();
+                        break;
+                    case "--text" when i + 1 < args.Length:
+                        result.Text = args[++i].Split('|').ToList();
+                        break;
+                    case "--save-dir" when i + 1 < args.Length:
+                        result.SaveDir = args[++i];
+                        break;
+                    case "--base-dir" when i + 1 < args.Length:
+                        result.BaseDir = args[++i];
+                        break;
+                }
+            }
+            
+            return result;
+        }
+
+        static async Task Main(string[] args)
+        {
+            Console.WriteLine("=== TTS Inference with ONNX Runtime (C#) ===\n");
+
+            // --- 1. Parse arguments --- //
+            var parsedArgs = ParseArgs(args);
+            int totalStep = parsedArgs.TotalStep;
+            float speed = parsedArgs.Speed;
+            int nTest = parsedArgs.NTest;
+            string saveDir = parsedArgs.SaveDir;
+            var voiceStylePaths = parsedArgs.VoiceStyle;
+            var textList = parsedArgs.Text;
+            bool batch = parsedArgs.Batch;
+
+            if (voiceStylePaths.Count != textList.Count)
+            {
+                throw new ArgumentException(
+                    $"Number of voice styles ({voiceStylePaths.Count}) must match number of texts ({textList.Count})");
+            }
+            int bsz = voiceStylePaths.Count;
+
+            // --- 2. Load Text to Speech --- //
+            var onnxdir = System.IO.Path.Combine(parsedArgs.BaseDir, parsedArgs.OnnxDir);
+            var textToSpeech = Helper.LoadTextToSpeech(onnxdir, parsedArgs.UseGpu);
+            Console.WriteLine();
+
+            // --- 3. Load Voice Style --- //
+            for(int i = 0; i < voiceStylePaths.Count;i++)
+            {
+                voiceStylePaths[i] = Path.Combine(parsedArgs.BaseDir, voiceStylePaths[i]);
+            }
+            var style = Helper.LoadVoiceStyle(voiceStylePaths, verbose: true);
+
+            // --- 4. Synthesize speech --- //
+            for (int n = 0; n < nTest; n++)
+            {
+                Console.WriteLine($"\n[{n + 1}/{nTest}] Starting synthesis...");
+                
+                var (wav, duration) = Helper.Timer("Generating speech from text", () =>
+                {
+                    if (batch)
+                    {
+                        return textToSpeech.Batch(textList, style, totalStep, speed);
+                    }
+                    else
+                    {
+                        return textToSpeech.Call(textList[0], style, totalStep, speed);
+                    }
+                });
+
+                if (!Directory.Exists(saveDir))
+                {
+                    Directory.CreateDirectory(saveDir);
+                }
+
+                var playbackTasks = new List<Task>();
+                
+                for (int b = 0; b < bsz; b++)
+                {
+                    string fname = $"{Helper.SanitizeFilename(textList[b], 20)}_{n + 1}.wav";
+                    
+                    int wavLen = (int)(textToSpeech.SampleRate * duration[b]);
+                    var wavOut = new float[wavLen];
+                    Array.Copy(wav, b * wav.Length / bsz, wavOut, 0, Math.Min(wavLen, wav.Length / bsz));
+
+                    string outputPath = Path.Combine(saveDir, fname);
+                    Helper.WriteWavFile(outputPath, wavOut, textToSpeech.SampleRate);
+                    Console.WriteLine($"Saved: {outputPath}");
+                    
+                    // 비동기로 오디오 재생 (파일 저장과 동시에)
+                    Console.WriteLine($"Playing audio [{b + 1}/{bsz}]...");
+                    var playTask = Helper.PlayAudioAsync(wavOut, textToSpeech.SampleRate);
+                    playbackTasks.Add(playTask);
+                }
+                
+                // 모든 재생이 완료될 때까지 대기
+                await Task.WhenAll(playbackTasks);
+                Console.WriteLine("Playback completed.");
+            }
+
+            Console.WriteLine("\n=== Synthesis completed successfully! ===");
+        }
+    }
+}
+

Cs_HMI/SubProject/SuperTonic/Helper.cs

@@ -0,0 +1,944 @@
+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Linq;
+using System.Text;
+using System.Text.Json;
+using System.Text.RegularExpressions;
+using System.Threading.Tasks;
+using System.Media;
+using Microsoft.ML.OnnxRuntime;
+using Microsoft.ML.OnnxRuntime.Tensors;
+
+namespace Supertonic
+{
+    // ============================================================================
+    // Configuration classes
+    // ============================================================================
+
+    public class Config
+    {
+        public AEConfig AE { get; set; } = null;
+        public TTLConfig TTL { get; set; } = null;
+
+        public class AEConfig
+        {
+            public int SampleRate { get; set; }
+            public int BaseChunkSize { get; set; }
+        }
+
+        public class TTLConfig
+        {
+            public int ChunkCompressFactor { get; set; }
+            public int LatentDim { get; set; }
+        }
+    }
+
+    // ============================================================================
+    // Style class
+    // ============================================================================
+
+    public class Style
+    {
+        public float[] Ttl { get; set; }
+        public long[] TtlShape { get; set; }
+        public float[] Dp { get; set; }
+        public long[] DpShape { get; set; }
+
+        public Style(float[] ttl, long[] ttlShape, float[] dp, long[] dpShape)
+        {
+            Ttl = ttl;
+            TtlShape = ttlShape;
+            Dp = dp;
+            DpShape = dpShape;
+        }
+    }
+
+    // ============================================================================
+    // Unicode text processor
+    // ============================================================================
+
+    public class UnicodeProcessor
+    {
+        private readonly Dictionary<int, long> _indexer;
+
+        public UnicodeProcessor(string unicodeIndexerPath)
+        {
+            var json = File.ReadAllText(unicodeIndexerPath);
+            var indexerArray = JsonSerializer.Deserialize<long[]>(json) ?? throw new Exception("Failed to load indexer");
+            _indexer = new Dictionary<int, long>();
+            for (int i = 0; i < indexerArray.Length; i++)
+            {
+                _indexer[i] = indexerArray[i];
+            }
+        }
+
+        private static string RemoveEmojis(string text)
+        {
+            var result = new StringBuilder();
+            for (int i = 0; i < text.Length; i++)
+            {
+                int codePoint;
+                if (char.IsHighSurrogate(text[i]) && i + 1 < text.Length && char.IsLowSurrogate(text[i + 1]))
+                {
+                    // Get the full code point from surrogate pair
+                    codePoint = char.ConvertToUtf32(text[i], text[i + 1]);
+                    i++; // Skip the low surrogate
+                }
+                else
+                {
+                    codePoint = text[i];
+                }
+
+                // Check if code point is in emoji ranges
+                bool isEmoji = (codePoint >= 0x1F600 && codePoint <= 0x1F64F) ||
+                               (codePoint >= 0x1F300 && codePoint <= 0x1F5FF) ||
+                               (codePoint >= 0x1F680 && codePoint <= 0x1F6FF) ||
+                               (codePoint >= 0x1F700 && codePoint <= 0x1F77F) ||
+                               (codePoint >= 0x1F780 && codePoint <= 0x1F7FF) ||
+                               (codePoint >= 0x1F800 && codePoint <= 0x1F8FF) ||
+                               (codePoint >= 0x1F900 && codePoint <= 0x1F9FF) ||
+                               (codePoint >= 0x1FA00 && codePoint <= 0x1FA6F) ||
+                               (codePoint >= 0x1FA70 && codePoint <= 0x1FAFF) ||
+                               (codePoint >= 0x2600 && codePoint <= 0x26FF) ||
+                               (codePoint >= 0x2700 && codePoint <= 0x27BF) ||
+                               (codePoint >= 0x1F1E6 && codePoint <= 0x1F1FF);
+
+                if (!isEmoji)
+                {
+                    if (codePoint > 0xFFFF)
+                    {
+                        // Add back as surrogate pair
+                        result.Append(char.ConvertFromUtf32(codePoint));
+                    }
+                    else
+                    {
+                        result.Append((char)codePoint);
+                    }
+                }
+            }
+            return result.ToString();
+        }
+
+        private string PreprocessText(string text)
+        {
+            // TODO: Need advanced normalizer for better performance
+            text = text.Normalize(NormalizationForm.FormKD);
+
+            // FIXME: this should be fixed for non-English languages
+
+            // Remove emojis (wide Unicode range)
+            // C# doesn't support \u{...} syntax in regex, so we use character filtering instead
+            text = RemoveEmojis(text);
+
+            // Replace various dashes and symbols
+            var replacements = new Dictionary<string, string>
+            {
+                {"–", "-"},      // en dash
+                {"‑", "-"},      // non-breaking hyphen
+                {"—", "-"},      // em dash
+                {"¯", " "},      // macron
+                {"_", " "},      // underscore
+                {"\u201C", "\""},     // left double quote
+                {"\u201D", "\""},     // right double quote
+                {"\u2018", "'"},      // left single quote
+                {"\u2019", "'"},      // right single quote
+                {"´", "'"},      // acute accent
+                {"`", "'"},      // grave accent
+                {"[", " "},      // left bracket
+                {"]", " "},      // right bracket
+                {"|", " "},      // vertical bar
+                {"/", " "},      // slash
+                {"#", " "},      // hash
+                {"→", " "},      // right arrow
+                {"←", " "},      // left arrow
+            };
+
+            foreach (var kvp in replacements)
+            {
+                text = text.Replace(kvp.Key, kvp.Value);
+            }
+
+            // Remove combining diacritics // FIXME: this should be fixed for non-English languages
+            text = Regex.Replace(text, @"[\u0302\u0303\u0304\u0305\u0306\u0307\u0308\u030A\u030B\u030C\u0327\u0328\u0329\u032A\u032B\u032C\u032D\u032E\u032F]", "");
+
+            // Remove special symbols
+            text = Regex.Replace(text, @"[♥☆♡©\\]", "");
+
+            // Replace known expressions
+            var exprReplacements = new Dictionary<string, string>
+            {
+                {"@", " at "},
+                {"e.g.,", "for example, "},
+                {"i.e.,", "that is, "},
+            };
+
+            foreach (var kvp in exprReplacements)
+            {
+                text = text.Replace(kvp.Key, kvp.Value);
+            }
+
+            // Fix spacing around punctuation
+            text = Regex.Replace(text, @" ,", ",");
+            text = Regex.Replace(text, @" \.", ".");
+            text = Regex.Replace(text, @" !", "!");
+            text = Regex.Replace(text, @" \?", "?");
+            text = Regex.Replace(text, @" ;", ";");
+            text = Regex.Replace(text, @" :", ":");
+            text = Regex.Replace(text, @" '", "'");
+
+            // Remove duplicate quotes
+            while (text.Contains("\"\""))
+            {
+                text = text.Replace("\"\"", "\"");
+            }
+            while (text.Contains("''"))
+            {
+                text = text.Replace("''", "'");
+            }
+            while (text.Contains("``"))
+            {
+                text = text.Replace("``", "`");
+            }
+
+            // Remove extra spaces
+            text = Regex.Replace(text, @"\s+", " ").Trim();
+
+            // If text doesn't end with punctuation, quotes, or closing brackets, add a period
+            if (!Regex.IsMatch(text, @"[.!?;:,'\u0022\u201C\u201D\u2018\u2019)\]}…。」』】〉》›»]$"))
+            {
+                text += ".";
+            }
+
+            return text;
+        }
+
+        private int[] TextToUnicodeValues(string text)
+        {
+            return text.Select(c => (int)c).ToArray();
+        }
+
+        private float[][][] GetTextMask(long[] textIdsLengths)
+        {
+            return Helper.LengthToMask(textIdsLengths);
+        }
+
+        public (long[][] textIds, float[][][] textMask) Call(List<string> textList)
+        {
+            var processedTexts = textList.Select(t => PreprocessText(t)).ToList();
+            var textIdsLengths = processedTexts.Select(t => (long)t.Length).ToArray();
+            long maxLen = textIdsLengths.Max();
+
+            var textIds = new long[textList.Count][];
+            for (int i = 0; i < processedTexts.Count; i++)
+            {
+                textIds[i] = new long[maxLen];
+                var unicodeVals = TextToUnicodeValues(processedTexts[i]);
+                for (int j = 0; j < unicodeVals.Length; j++)
+                {
+                    if (_indexer.TryGetValue(unicodeVals[j], out long val))
+                    {
+                        textIds[i][j] = val;
+                    }
+                }
+            }
+
+            var textMask = GetTextMask(textIdsLengths);
+            return (textIds, textMask);
+        }
+    }
+
+    // ============================================================================
+    // TextToSpeech class
+    // ============================================================================
+
+    public class TextToSpeech
+    {
+        private readonly Config _cfgs;
+        private readonly UnicodeProcessor _textProcessor;
+        private readonly InferenceSession _dpOrt;
+        private readonly InferenceSession _textEncOrt;
+        private readonly InferenceSession _vectorEstOrt;
+        private readonly InferenceSession _vocoderOrt;
+        public readonly int SampleRate;
+        private readonly int _baseChunkSize;
+        private readonly int _chunkCompressFactor;
+        private readonly int _ldim;
+
+        public TextToSpeech(
+            Config cfgs,
+            UnicodeProcessor textProcessor,
+            InferenceSession dpOrt,
+            InferenceSession textEncOrt,
+            InferenceSession vectorEstOrt,
+            InferenceSession vocoderOrt)
+        {
+            _cfgs = cfgs;
+            _textProcessor = textProcessor;
+            _dpOrt = dpOrt;
+            _textEncOrt = textEncOrt;
+            _vectorEstOrt = vectorEstOrt;
+            _vocoderOrt = vocoderOrt;
+            SampleRate = cfgs.AE.SampleRate;
+            _baseChunkSize = cfgs.AE.BaseChunkSize;
+            _chunkCompressFactor = cfgs.TTL.ChunkCompressFactor;
+            _ldim = cfgs.TTL.LatentDim;
+        }
+
+        private (float[][][] noisyLatent, float[][][] latentMask) SampleNoisyLatent(float[] duration)
+        {
+            int bsz = duration.Length;
+            float wavLenMax = duration.Max() * SampleRate;
+            var wavLengths = duration.Select(d => (long)(d * SampleRate)).ToArray();
+            int chunkSize = _baseChunkSize * _chunkCompressFactor;
+            int latentLen = (int)((wavLenMax + chunkSize - 1) / chunkSize);
+            int latentDim = _ldim * _chunkCompressFactor;
+
+            // Generate random noise
+            var random = new Random();
+            var noisyLatent = new float[bsz][][];
+            for (int b = 0; b < bsz; b++)
+            {
+                noisyLatent[b] = new float[latentDim][];
+                for (int d = 0; d < latentDim; d++)
+                {
+                    noisyLatent[b][d] = new float[latentLen];
+                    for (int t = 0; t < latentLen; t++)
+                    {
+                        // Box-Muller transform for normal distribution
+                        double u1 = 1.0 - random.NextDouble();
+                        double u2 = 1.0 - random.NextDouble();
+                        noisyLatent[b][d][t] = (float)(Math.Sqrt(-2.0 * Math.Log(u1)) * Math.Cos(2.0 * Math.PI * u2));
+                    }
+                }
+            }
+
+            var latentMask = Helper.GetLatentMask(wavLengths, _baseChunkSize, _chunkCompressFactor);
+
+            // Apply mask
+            for (int b = 0; b < bsz; b++)
+            {
+                for (int d = 0; d < latentDim; d++)
+                {
+                    for (int t = 0; t < latentLen; t++)
+                    {
+                        noisyLatent[b][d][t] *= latentMask[b][0][t];
+                    }
+                }
+            }
+
+            return (noisyLatent, latentMask);
+        }
+
+        private (float[] wav, float[] duration) _Infer(List<string> textList, Style style, int totalStep, float speed = 1.05f)
+        {
+            int bsz = textList.Count;
+            if (bsz != style.TtlShape[0])
+            {
+                throw new ArgumentException("Number of texts must match number of style vectors");
+            }
+
+            // Process text
+            var (textIds, textMask) = _textProcessor.Call(textList);
+            var textIdsShape = new long[] { bsz, textIds[0].Length };
+            var textMaskShape = new long[] { bsz, 1, textMask[0][0].Length };
+
+            var textIdsTensor = Helper.IntArrayToTensor(textIds, textIdsShape);
+            var textMaskTensor = Helper.ArrayToTensor(textMask, textMaskShape);
+
+            var styleTtlTensor = new DenseTensor<float>(style.Ttl, style.TtlShape.Select(x => (int)x).ToArray());
+            var styleDpTensor = new DenseTensor<float>(style.Dp, style.DpShape.Select(x => (int)x).ToArray());
+
+            // Run duration predictor
+            var dpInputs = new List<NamedOnnxValue>
+            {
+                NamedOnnxValue.CreateFromTensor("text_ids", textIdsTensor),
+                NamedOnnxValue.CreateFromTensor("style_dp", styleDpTensor),
+                NamedOnnxValue.CreateFromTensor("text_mask", textMaskTensor)
+            };
+            using (var dpOutputs = _dpOrt.Run(dpInputs))
+            {
+                var durOnnx = dpOutputs.First(o => o.Name == "duration").AsTensor<float>().ToArray();
+                // Apply speed factor to duration
+                for (int i = 0; i < durOnnx.Length; i++)
+                {
+                    durOnnx[i] /= speed;
+                }
+
+                // Run text encoder
+                var textEncInputs = new List<NamedOnnxValue>
+            {
+                NamedOnnxValue.CreateFromTensor("text_ids", textIdsTensor),
+                NamedOnnxValue.CreateFromTensor("style_ttl", styleTtlTensor),
+                NamedOnnxValue.CreateFromTensor("text_mask", textMaskTensor)
+            };
+                using (var textEncOutputs = _textEncOrt.Run(textEncInputs))
+                {
+                    var textEmbTensor = textEncOutputs.First(o => o.Name == "text_emb").AsTensor<float>();
+                    // Sample noisy latent
+                    var (xt, latentMask) = SampleNoisyLatent(durOnnx);
+                    var latentShape = new long[] { bsz, xt[0].Length, xt[0][0].Length };
+                    var latentMaskShape = new long[] { bsz, 1, latentMask[0][0].Length };
+
+                    var totalStepArray = Enumerable.Repeat((float)totalStep, bsz).ToArray();
+
+                    // Iterative denoising
+                    for (int step = 0; step < totalStep; step++)
+                    {
+                        var currentStepArray = Enumerable.Repeat((float)step, bsz).ToArray();
+
+                        var vectorEstInputs = new List<NamedOnnxValue>
+                {
+                    NamedOnnxValue.CreateFromTensor("noisy_latent", Helper.ArrayToTensor(xt, latentShape)),
+                    NamedOnnxValue.CreateFromTensor("text_emb", textEmbTensor),
+                    NamedOnnxValue.CreateFromTensor("style_ttl", styleTtlTensor),
+                    NamedOnnxValue.CreateFromTensor("text_mask", textMaskTensor),
+                    NamedOnnxValue.CreateFromTensor("latent_mask", Helper.ArrayToTensor(latentMask, latentMaskShape)),
+                    NamedOnnxValue.CreateFromTensor("total_step", new DenseTensor<float>(totalStepArray, new int[] { bsz })),
+                    NamedOnnxValue.CreateFromTensor("current_step", new DenseTensor<float>(currentStepArray, new int[] { bsz }))
+                };
+
+                        using (var vectorEstOutputs = _vectorEstOrt.Run(vectorEstInputs))
+                        {
+                            var denoisedLatent = vectorEstOutputs.First(o => o.Name == "denoised_latent").AsTensor<float>();
+                            // Update xt
+                            int idx = 0;
+                            for (int b = 0; b < bsz; b++)
+                            {
+                                for (int d = 0; d < xt[b].Length; d++)
+                                {
+                                    for (int t = 0; t < xt[b][d].Length; t++)
+                                    {
+                                        xt[b][d][t] = denoisedLatent.GetValue(idx++);
+                                    }
+                                }
+                            }
+                        }
+
+
+                    }
+
+                    // Run vocoder
+                    var vocoderInputs = new List<NamedOnnxValue>
+            {
+                NamedOnnxValue.CreateFromTensor("latent", Helper.ArrayToTensor(xt, latentShape))
+            };
+                    using (var vocoderOutputs = _vocoderOrt.Run(vocoderInputs))
+                    {
+                        var wavTensor = vocoderOutputs.First(o => o.Name == "wav_tts").AsTensor<float>();
+                        return (wavTensor.ToArray(), durOnnx);
+                    }
+                }
+
+
+                
+            }
+
+
+
+
+
+        }
+
+        public (float[] wav, float[] duration) Call(string text, Style style, int totalStep, float speed = 1.05f, float silenceDuration = 0.3f)
+        {
+            if (style.TtlShape[0] != 1)
+            {
+                throw new ArgumentException("Single speaker text to speech only supports single style");
+            }
+
+            var textList = Helper.ChunkText(text);
+            var wavCat = new List<float>();
+            float durCat = 0.0f;
+
+            foreach (var chunk in textList)
+            {
+                var (wav, duration) = _Infer(new List<string> { chunk }, style, totalStep, speed);
+
+                if (wavCat.Count == 0)
+                {
+                    wavCat.AddRange(wav);
+                    durCat = duration[0];
+                }
+                else
+                {
+                    int silenceLen = (int)(silenceDuration * SampleRate);
+                    var silence = new float[silenceLen];
+                    wavCat.AddRange(silence);
+                    wavCat.AddRange(wav);
+                    durCat += duration[0] + silenceDuration;
+                }
+            }
+
+            return (wavCat.ToArray(), new float[] { durCat });
+        }
+
+        public (float[] wav, float[] duration) Batch(List<string> textList, Style style, int totalStep, float speed = 1.05f)
+        {
+            return _Infer(textList, style, totalStep, speed);
+        }
+    }
+
+    // ============================================================================
+    // Helper class with utility functions
+    // ============================================================================
+
+    public static class Helper
+    {
+        // ============================================================================
+        // Utility functions
+        // ============================================================================
+
+        public static float[][][] LengthToMask(long[] lengths, long maxLen = -1)
+        {
+            if (maxLen == -1)
+            {
+                maxLen = lengths.Max();
+            }
+
+            var mask = new float[lengths.Length][][];
+            for (int i = 0; i < lengths.Length; i++)
+            {
+                mask[i] = new float[1][];
+                mask[i][0] = new float[maxLen];
+                for (int j = 0; j < maxLen; j++)
+                {
+                    mask[i][0][j] = j < lengths[i] ? 1.0f : 0.0f;
+                }
+            }
+            return mask;
+        }
+
+        public static float[][][] GetLatentMask(long[] wavLengths, int baseChunkSize, int chunkCompressFactor)
+        {
+            int latentSize = baseChunkSize * chunkCompressFactor;
+            var latentLengths = wavLengths.Select(len => (len + latentSize - 1) / latentSize).ToArray();
+            return LengthToMask(latentLengths);
+        }
+
+        // ============================================================================
+        // ONNX model loading
+        // ============================================================================
+
+        public static InferenceSession LoadOnnx(string onnxPath, SessionOptions opts)
+        {
+            return new InferenceSession(onnxPath, opts);
+        }
+
+        public static (InferenceSession dp, InferenceSession textEnc, InferenceSession vectorEst, InferenceSession vocoder)
+            LoadOnnxAll(string onnxDir, SessionOptions opts)
+        {
+            var dpPath = Path.Combine(onnxDir, "duration_predictor.onnx");
+            var textEncPath = Path.Combine(onnxDir, "text_encoder.onnx");
+            var vectorEstPath = Path.Combine(onnxDir, "vector_estimator.onnx");
+            var vocoderPath = Path.Combine(onnxDir, "vocoder.onnx");
+
+            return (
+                LoadOnnx(dpPath, opts),
+                LoadOnnx(textEncPath, opts),
+                LoadOnnx(vectorEstPath, opts),
+                LoadOnnx(vocoderPath, opts)
+            );
+        }
+
+        // ============================================================================
+        // Configuration loading
+        // ============================================================================
+
+        public static Config LoadCfgs(string onnxDir)
+        {
+            var cfgPath = Path.Combine(onnxDir, "tts.json");
+            var json = File.ReadAllText(cfgPath);
+
+            using (var doc = JsonDocument.Parse(json))
+            {
+                var root = doc.RootElement;
+                return new Config
+                {
+                    AE = new Config.AEConfig
+                    {
+                        SampleRate = root.GetProperty("ae").GetProperty("sample_rate").GetInt32(),
+                        BaseChunkSize = root.GetProperty("ae").GetProperty("base_chunk_size").GetInt32()
+                    },
+                    TTL = new Config.TTLConfig
+                    {
+                        ChunkCompressFactor = root.GetProperty("ttl").GetProperty("chunk_compress_factor").GetInt32(),
+                        LatentDim = root.GetProperty("ttl").GetProperty("latent_dim").GetInt32()
+                    }
+                };
+            }
+
+
+
+        }
+
+        public static UnicodeProcessor LoadTextProcessor(string onnxDir)
+        {
+            var unicodeIndexerPath = Path.Combine(onnxDir, "unicode_indexer.json");
+            return new UnicodeProcessor(unicodeIndexerPath);
+        }
+
+        // ============================================================================
+        // Voice style loading
+        // ============================================================================
+
+        public static Style LoadVoiceStyle(List<string> voiceStylePaths, bool verbose = false)
+        {
+            int bsz = voiceStylePaths.Count;
+
+            // Read first file to get dimensions
+            var firstJson = File.ReadAllText(voiceStylePaths[0]);
+            using (var firstDoc = JsonDocument.Parse(firstJson))
+            {
+                var firstRoot = firstDoc.RootElement;
+
+                var ttlDims = ParseInt64Array(firstRoot.GetProperty("style_ttl").GetProperty("dims"));
+                var dpDims = ParseInt64Array(firstRoot.GetProperty("style_dp").GetProperty("dims"));
+
+                long ttlDim1 = ttlDims[1];
+                long ttlDim2 = ttlDims[2];
+                long dpDim1 = dpDims[1];
+                long dpDim2 = dpDims[2];
+
+                // Pre-allocate arrays with full batch size
+                int ttlSize = (int)(bsz * ttlDim1 * ttlDim2);
+                int dpSize = (int)(bsz * dpDim1 * dpDim2);
+                var ttlFlat = new float[ttlSize];
+                var dpFlat = new float[dpSize];
+
+                // Fill in the data
+                for (int i = 0; i < bsz; i++)
+                {
+                    var json = File.ReadAllText(voiceStylePaths[i]);
+                    using (var doc = JsonDocument.Parse(json))
+                    {
+                        var root = doc.RootElement;
+                        // Flatten data
+                        var ttlData3D = ParseFloat3DArray(root.GetProperty("style_ttl").GetProperty("data"));
+                        var ttlDataFlat = new List<float>();
+                        foreach (var batch in ttlData3D)
+                        {
+                            foreach (var row in batch)
+                            {
+                                ttlDataFlat.AddRange(row);
+                            }
+                        }
+
+                        var dpData3D = ParseFloat3DArray(root.GetProperty("style_dp").GetProperty("data"));
+                        var dpDataFlat = new List<float>();
+                        foreach (var batch in dpData3D)
+                        {
+                            foreach (var row in batch)
+                            {
+                                dpDataFlat.AddRange(row);
+                            }
+                        }
+
+                        // Copy to pre-allocated array
+                        int ttlOffset = (int)(i * ttlDim1 * ttlDim2);
+                        ttlDataFlat.CopyTo(ttlFlat, ttlOffset);
+
+                        int dpOffset = (int)(i * dpDim1 * dpDim2);
+                        dpDataFlat.CopyTo(dpFlat, dpOffset);
+                    }
+
+
+
+                }
+
+                var ttlShape = new long[] { bsz, ttlDim1, ttlDim2 };
+                var dpShape = new long[] { bsz, dpDim1, dpDim2 };
+
+                if (verbose)
+                {
+                    Console.WriteLine($"Loaded {bsz} voice styles");
+                }
+
+                return new Style(ttlFlat, ttlShape, dpFlat, dpShape);
+            }
+
+
+            
+        }
+
+        private static float[][][] ParseFloat3DArray(JsonElement element)
+        {
+            var result = new List<float[][]>();
+            foreach (var batch in element.EnumerateArray())
+            {
+                var batch2D = new List<float[]>();
+                foreach (var row in batch.EnumerateArray())
+                {
+                    var rowData = new List<float>();
+                    foreach (var val in row.EnumerateArray())
+                    {
+                        rowData.Add(val.GetSingle());
+                    }
+                    batch2D.Add(rowData.ToArray());
+                }
+                result.Add(batch2D.ToArray());
+            }
+            return result.ToArray();
+        }
+
+        private static long[] ParseInt64Array(JsonElement element)
+        {
+            var result = new List<long>();
+            foreach (var val in element.EnumerateArray())
+            {
+                result.Add(val.GetInt64());
+            }
+            return result.ToArray();
+        }
+
+        // ============================================================================
+        // TextToSpeech loading
+        // ============================================================================
+
+        public static TextToSpeech LoadTextToSpeech(string onnxDir, bool useGpu = false)
+        {
+            var opts = new SessionOptions();
+            if (useGpu)
+            {
+                throw new NotImplementedException("GPU mode is not supported yet");
+            }
+            else
+            {
+                Console.WriteLine("Using CPU for inference");
+            }
+
+            var cfgs = LoadCfgs(onnxDir);
+            var (dpOrt, textEncOrt, vectorEstOrt, vocoderOrt) = LoadOnnxAll(onnxDir, opts);
+            var textProcessor = LoadTextProcessor(onnxDir);
+
+            return new TextToSpeech(cfgs, textProcessor, dpOrt, textEncOrt, vectorEstOrt, vocoderOrt);
+        }
+
+        // ============================================================================
+        // WAV file writing
+        // ============================================================================
+
+        public static void WriteWavFile(string filename, float[] audioData, int sampleRate)
+        {
+            using (var writer = new BinaryWriter(File.Open(filename, FileMode.Create)))
+            {
+                int numChannels = 1;
+                int bitsPerSample = 16;
+                int byteRate = sampleRate * numChannels * bitsPerSample / 8;
+                short blockAlign = (short)(numChannels * bitsPerSample / 8);
+                int dataSize = audioData.Length * bitsPerSample / 8;
+
+                // RIFF header
+                writer.Write(Encoding.ASCII.GetBytes("RIFF"));
+                writer.Write(36 + dataSize);
+                writer.Write(Encoding.ASCII.GetBytes("WAVE"));
+
+                // fmt chunk
+                writer.Write(Encoding.ASCII.GetBytes("fmt "));
+                writer.Write(16); // fmt chunk size
+                writer.Write((short)1); // audio format (PCM)
+                writer.Write((short)numChannels);
+                writer.Write(sampleRate);
+                writer.Write(byteRate);
+                writer.Write(blockAlign);
+                writer.Write((short)bitsPerSample);
+
+                // data chunk
+                writer.Write(Encoding.ASCII.GetBytes("data"));
+                writer.Write(dataSize);
+
+                // Write audio data
+                foreach (var sample in audioData)
+                {
+                    float clamped = Math.Max(-1.0f, Math.Min(1.0f, sample));
+                    short intSample = (short)(clamped * 32767);
+                    writer.Write(intSample);
+                }
+            }
+
+
+        }
+
+        // ============================================================================
+        // Tensor conversion utilities
+        // ============================================================================
+
+        public static DenseTensor<float> ArrayToTensor(float[][][] array, long[] dims)
+        {
+            var flat = new List<float>();
+            foreach (var batch in array)
+            {
+                foreach (var row in batch)
+                {
+                    flat.AddRange(row);
+                }
+            }
+            return new DenseTensor<float>(flat.ToArray(), dims.Select(x => (int)x).ToArray());
+        }
+
+        public static DenseTensor<long> IntArrayToTensor(long[][] array, long[] dims)
+        {
+            var flat = new List<long>();
+            foreach (var row in array)
+            {
+                flat.AddRange(row);
+            }
+            return new DenseTensor<long>(flat.ToArray(), dims.Select(x => (int)x).ToArray());
+        }
+
+        // ============================================================================
+        // Timer utility
+        // ============================================================================
+
+        public static T Timer<T>(string name, Func<T> func)
+        {
+            var start = DateTime.Now;
+            Console.WriteLine($"{name}...");
+            var result = func();
+            var elapsed = (DateTime.Now - start).TotalSeconds;
+            Console.WriteLine($"  -> {name} completed in {elapsed:F2} sec");
+            return result;
+        }
+
+        public static string SanitizeFilename(string text, int maxLen)
+        {
+            var result = new StringBuilder();
+            int count = 0;
+            foreach (char c in text)
+            {
+                if (count >= maxLen) break;
+                if (char.IsLetterOrDigit(c))
+                {
+                    result.Append(c);
+                }
+                else
+                {
+                    result.Append('_');
+                }
+                count++;
+            }
+            return result.ToString();
+        }
+
+        // ============================================================================
+        // Chunk text
+        // ============================================================================
+
+        public static List<string> ChunkText(string text, int maxLen = 300)
+        {
+            var chunks = new List<string>();
+
+            // Split by paragraph (two or more newlines)
+            var paragraphRegex = new Regex(@"\n\s*\n+");
+            var paragraphs = paragraphRegex.Split(text.Trim())
+                .Select(p => p.Trim())
+                .Where(p => !string.IsNullOrEmpty(p))
+                .ToList();
+
+            // Split by sentence boundaries, excluding abbreviations
+            var sentenceRegex = new Regex(@"(?<!Mr\.|Mrs\.|Ms\.|Dr\.|Prof\.|Sr\.|Jr\.|Ph\.D\.|etc\.|e\.g\.|i\.e\.|vs\.|Inc\.|Ltd\.|Co\.|Corp\.|St\.|Ave\.|Blvd\.)(?<!\b[A-Z]\.)(?<=[.!?])\s+");
+
+            foreach (var paragraph in paragraphs)
+            {
+                var sentences = sentenceRegex.Split(paragraph);
+                string currentChunk = "";
+
+                foreach (var sentence in sentences)
+                {
+                    if (string.IsNullOrEmpty(sentence)) continue;
+
+                    if (currentChunk.Length + sentence.Length + 1 <= maxLen)
+                    {
+                        if (!string.IsNullOrEmpty(currentChunk))
+                        {
+                            currentChunk += " ";
+                        }
+                        currentChunk += sentence;
+                    }
+                    else
+                    {
+                        if (!string.IsNullOrEmpty(currentChunk))
+                        {
+                            chunks.Add(currentChunk.Trim());
+                        }
+                        currentChunk = sentence;
+                    }
+                }
+
+                if (!string.IsNullOrEmpty(currentChunk))
+                {
+                    chunks.Add(currentChunk.Trim());
+                }
+            }
+
+            // If no chunks were created, return the original text
+            if (chunks.Count == 0)
+            {
+                chunks.Add(text.Trim());
+            }
+
+            return chunks;
+        }
+
+        // ============================================================================
+        // Audio Playback
+        // ============================================================================
+
+        /// <summary>
+        /// 오디오를 스피커로 비동기 재생합니다.
+        /// </summary>
+        /// <param name="audioData">float 배열 형태의 오디오 데이터 (-1.0 ~ 1.0)</param>
+        /// <param name="sampleRate">샘플레이트 (예: 16000, 22050, 44100)</param>
+        public static async Task PlayAudioAsync(float[] audioData, int sampleRate)
+        {
+            await Task.Run(() =>
+            {
+                try
+                {
+                    // 임시 WAV 파일 생성
+                    string tempWavFile = Path.Combine(Path.GetTempPath(), $"temp_audio_{Guid.NewGuid()}.wav");
+                    WriteWavFile(tempWavFile, audioData, sampleRate);
+                    
+                    // SoundPlayer로 재생
+                    using (var player = new SoundPlayer(tempWavFile))
+                    {
+                        player.PlaySync(); // 재생이 끝날 때까지 대기
+                    }
+                    
+                    // 임시 파일 삭제
+                    try
+                    {
+                        File.Delete(tempWavFile);
+                    }
+                    catch { /* 임시 파일 삭제 실패 무시 */ }
+                }
+                catch (Exception ex)
+                {
+                    Console.WriteLine($"[Audio Playback Error] {ex.Message}");
+                }
+            });
+        }
+
+        /// <summary>
+        /// 오디오 파일을 스피커로 비동기 재생합니다.
+        /// </summary>
+        /// <param name="wavFilePath">WAV 파일 경로</param>
+        public static async Task PlayWavFileAsync(string wavFilePath)
+        {
+            await Task.Run(() =>
+            {
+                try
+                {
+                    using (var player = new SoundPlayer(wavFilePath))
+                    {
+                        player.PlaySync(); // 재생이 끝날 때까지 대기
+                    }
+                }
+                catch (Exception ex)
+                {
+                    Console.WriteLine($"[WAV Playback Error] {ex.Message}");
+                }
+            });
+        }
+    }
+}

Cs_HMI/SubProject/SuperTonic/Properties/AssemblyInfo.cs

@@ -0,0 +1,36 @@
+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// 어셈블리에 대한 일반 정보는 다음 특성 집합을 통해 
+// 제어됩니다. 어셈블리와 관련된 정보를 수정하려면
+// 이러한 특성 값을 변경하세요.
+[assembly: AssemblyTitle("ClassLibrary1")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("ClassLibrary1")]
+[assembly: AssemblyCopyright("Copyright ©  2025")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// ComVisible을 false로 설정하면 이 어셈블리의 형식이 COM 구성 요소에 
+// 표시되지 않습니다. COM에서 이 어셈블리의 형식에 액세스하려면
+// 해당 형식에 대해 ComVisible 특성을 true로 설정하세요.
+[assembly: ComVisible(false)]
+
+// 이 프로젝트가 COM에 노출되는 경우 다음 GUID는 typelib의 ID를 나타냅니다.
+[assembly: Guid("19675e19-eb91-493e-88c3-32b3c094b749")]
+
+// 어셈블리의 버전 정보는 다음 네 가지 값으로 구성됩니다.
+//
+//      주 버전
+//      부 버전 
+//      빌드 번호
+//      수정 버전
+//
+// 모든 값을 지정하거나 아래와 같이 '*'를 사용하여 빌드 번호 및 수정 번호를
+// 기본값으로 할 수 있습니다.
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("1.0.0.0")]

Cs_HMI/SubProject/SuperTonic/Supertonic.Netfx48.csproj

@@ -0,0 +1,126 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project=".\packages\Microsoft.ML.OnnxRuntime.1.23.2\build\netstandard2.0\Microsoft.ML.OnnxRuntime.props" Condition="Exists('.\packages\Microsoft.ML.OnnxRuntime.1.23.2\build\netstandard2.0\Microsoft.ML.OnnxRuntime.props')" />
+  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+    <ProjectGuid>{19675E19-EB91-493E-88C3-32B3C094B749}</ProjectGuid>
+    <OutputType>Exe</OutputType>
+    <AppDesignerFolder>Properties</AppDesignerFolder>
+    <RootNamespace>Supertonic</RootNamespace>
+    <AssemblyName>Supertonic.Net48</AssemblyName>
+    <TargetFrameworkVersion>v4.8</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+    <Deterministic>true</Deterministic>
+    <NuGetPackageImportStamp>
+    </NuGetPackageImportStamp>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
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+    <DebugType>pdbonly</DebugType>
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+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <PropertyGroup>
+    <StartupObject>Supertonic.Program</StartupObject>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|Win32'">
+    <PlatformTarget>x64</PlatformTarget>
+    <OutputPath>bin\Debug\</OutputPath>
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+    <DebugSymbols>true</DebugSymbols>
+    <OutputPath>bin\x64\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <DebugType>full</DebugType>
+    <PlatformTarget>x64</PlatformTarget>
+    <ErrorReport>prompt</ErrorReport>
+    <CodeAnalysisRuleSet>MinimumRecommendedRules.ruleset</CodeAnalysisRuleSet>
+    <Prefer32Bit>true</Prefer32Bit>
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+  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">
+    <OutputPath>bin\x64\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <Optimize>true</Optimize>
+    <DebugType>pdbonly</DebugType>
+    <PlatformTarget>x64</PlatformTarget>
+    <ErrorReport>prompt</ErrorReport>
+    <CodeAnalysisRuleSet>MinimumRecommendedRules.ruleset</CodeAnalysisRuleSet>
+    <Prefer32Bit>true</Prefer32Bit>
+  </PropertyGroup>
+  <ItemGroup>
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+      <HintPath>.\packages\Microsoft.Bcl.AsyncInterfaces.10.0.1\lib\net462\Microsoft.Bcl.AsyncInterfaces.dll</HintPath>
+    </Reference>
+    <Reference Include="Microsoft.ML.OnnxRuntime, Version=1.23.2.0, Culture=neutral, PublicKeyToken=f27f157f0a5b7bb6, processorArchitecture=MSIL">
+      <HintPath>.\packages\Microsoft.ML.OnnxRuntime.Managed.1.23.2\lib\netstandard2.0\Microsoft.ML.OnnxRuntime.dll</HintPath>
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+    <Reference Include="Microsoft.CSharp" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Net.Http" />
+    <Reference Include="System.Xml" />
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+  <ItemGroup>
+    <Compile Include="ExampleONNX.cs" />
+    <Compile Include="Helper.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
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+    <None Include="app.config" />
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+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+  <Import Project=".\packages\Microsoft.ML.OnnxRuntime.Managed.1.23.2\build\netstandard2.0\Microsoft.ML.OnnxRuntime.Managed.targets" Condition="Exists('.\packages\Microsoft.ML.OnnxRuntime.Managed.1.23.2\build\netstandard2.0\Microsoft.ML.OnnxRuntime.Managed.targets')" />
+  <Target Name="EnsureNuGetPackageBuildImports" BeforeTargets="PrepareForBuild">
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+    <Error Condition="!Exists('.\packages\Microsoft.ML.OnnxRuntime.Managed.1.23.2\build\netstandard2.0\Microsoft.ML.OnnxRuntime.Managed.targets')" Text="$([System.String]::Format('$(ErrorText)', '.\packages\Microsoft.ML.OnnxRuntime.Managed.1.23.2\build\netstandard2.0\Microsoft.ML.OnnxRuntime.Managed.targets'))" />
+    <Error Condition="!Exists('.\packages\Microsoft.ML.OnnxRuntime.1.23.2\build\netstandard2.0\Microsoft.ML.OnnxRuntime.props')" Text="$([System.String]::Format('$(ErrorText)', '.\packages\Microsoft.ML.OnnxRuntime.1.23.2\build\netstandard2.0\Microsoft.ML.OnnxRuntime.props'))" />
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+  <Import Project=".\packages\Microsoft.ML.OnnxRuntime.1.23.2\build\netstandard2.0\Microsoft.ML.OnnxRuntime.targets" Condition="Exists('.\packages\Microsoft.ML.OnnxRuntime.1.23.2\build\netstandard2.0\Microsoft.ML.OnnxRuntime.targets')" />
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Cs_HMI/SubProject/SuperTonic/Supertonic.Netfx48.sln

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+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Express 15 for Windows Desktop
+VisualStudioVersion = 15.0.36324.19
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Supertonic.Netfx48", "Supertonic.Netfx48.csproj", "{19675E19-EB91-493E-88C3-32B3C094B749}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Debug|ARM = Debug|ARM
+		Debug|ARM64 = Debug|ARM64
+		Debug|x64 = Debug|x64
+		Debug|x86 = Debug|x86
+		Release|Any CPU = Release|Any CPU
+		Release|ARM = Release|ARM
+		Release|ARM64 = Release|ARM64
+		Release|x64 = Release|x64
+		Release|x86 = Release|x86
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Debug|ARM.ActiveCfg = Debug|ARM
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Debug|ARM.Build.0 = Debug|ARM
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Debug|ARM64.ActiveCfg = Debug|ARM64
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Debug|ARM64.Build.0 = Debug|ARM64
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Debug|x64.ActiveCfg = Debug|x64
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Debug|x64.Build.0 = Debug|x64
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Debug|x86.ActiveCfg = Debug|Win32
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Debug|x86.Build.0 = Debug|Win32
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Release|Any CPU.Build.0 = Release|Any CPU
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Release|ARM.ActiveCfg = Release|ARM
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Release|ARM.Build.0 = Release|ARM
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Release|ARM64.ActiveCfg = Release|ARM64
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Release|ARM64.Build.0 = Release|ARM64
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Release|x64.ActiveCfg = Release|x64
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Release|x64.Build.0 = Release|x64
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Release|x86.ActiveCfg = Release|Win32
+		{19675E19-EB91-493E-88C3-32B3C094B749}.Release|x86.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {5F2E20C5-E704-4B99-8FE9-54394113916E}
+	EndGlobalSection
+EndGlobal

Cs_HMI/SubProject/SuperTonic/app.config

@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="utf-8"?>
+<configuration>
+  <runtime>
+    <assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1">
+      <dependentAssembly>
+        <assemblyIdentity name="System.Memory" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral" />
+        <bindingRedirect oldVersion="0.0.0.0-4.0.5.0" newVersion="4.0.5.0" />
+      </dependentAssembly>
+    </assemblyBinding>
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+</configuration>