..

BMS 정보중 현재 사용 전류와 와트를 표시함
사용전류를 통해서 충전여부를 자동 판다시키고, 해당 값은 Manual Charge 플래그에 설정함.

.gitignore

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

AGVEmulator/AGVEmulator.csproj

@@ -0,0 +1,140 @@
+<?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>..\Cs_HMI\DLL\arControl.Net4.dll</HintPath>
+    </Reference>
+    <Reference Include="ArLog.Net4">
+      <HintPath>..\Cs_HMI\DLL\ArLog.Net4.dll</HintPath>
+    </Reference>
+    <Reference Include="ArSetting.Net4">
+      <HintPath>..\Cs_HMI\DLL\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\CommUtil\arCommUtil.csproj">
+      <Project>{14e8c9a5-013e-49ba-b435-ffffff7dd623}</Project>
+      <Name>arCommUtil</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/AGVEmulator.sln

@@ -0,0 +1,43 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 17
+VisualStudioVersion = 17.14.36804.6 d17.14
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVEmulator", "AGVEmulator.csproj", "{9312AB43-72F6-4365-A266-E767215FA7F5}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVNavigationCore", "..\Cs_HMI\AGVLogic\AGVNavigationCore\AGVNavigationCore.csproj", "{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ENIGProtocol", "..\Cs_HMI\SubProject\ENIGProtocol\enigprotocol\ENIGProtocol.csproj", "{9365803B-933D-4237-93C7-B502C855A71C}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "arCommUtil", "..\Cs_HMI\SubProject\CommUtil\arCommUtil.csproj", "{14E8C9A5-013E-49BA-B435-FFFFFF7DD623}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{9312AB43-72F6-4365-A266-E767215FA7F5}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{9312AB43-72F6-4365-A266-E767215FA7F5}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{9312AB43-72F6-4365-A266-E767215FA7F5}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{9312AB43-72F6-4365-A266-E767215FA7F5}.Release|Any CPU.Build.0 = Release|Any CPU
+		{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}.Release|Any CPU.Build.0 = Release|Any CPU
+		{9365803B-933D-4237-93C7-B502C855A71C}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{9365803B-933D-4237-93C7-B502C855A71C}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{9365803B-933D-4237-93C7-B502C855A71C}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{9365803B-933D-4237-93C7-B502C855A71C}.Release|Any CPU.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}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{14E8C9A5-013E-49BA-B435-FFFFFF7DD623}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {C353381B-16D4-4298-A97E-6DE0FC4A66B2}
+	EndGlobalSection
+EndGlobal

AGVEmulator/DevAGV.cs

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+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 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 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($"tag touch:{e.Data}");
+            numericUpDown1.Text = e.Data;// decimal.Parse(e.Data);
+            button18.PerformClick();
+
+            UpdateVisualAgvPosition(e.Data);
+        }
+
+        void InitializeMapControl()
+        {
+            _agvCanvas = new UnifiedAGVCanvas();
+            _agvCanvas.Dock = DockStyle.Fill;
+            _agvCanvas.Mode = UnifiedAGVCanvas.CanvasMode.Emulator; // Enable Emulator Mode
+            _agvCanvas.NodeRightClicked += _agvCanvas_NodeRightClicked;
+            this.tabPage4.Controls.Add(_agvCanvas);
+
+            // Load Map
+            // Try to find map file in standard location
+            string mapDir = Path.GetFullPath(Path.Combine(Application.StartupPath, @"..\..\..\..\Cs_HMI\Data"));
+            string mapPath = Path.Combine(mapDir, "NewMap.agvmap");
+
+            if (!File.Exists(mapPath))
+            {
+                if (Directory.Exists(mapDir))
+                {
+                    var files = Directory.GetFiles(mapDir, "*.agvmap");
+                    if (files.Length > 0) mapPath = files[0];
+                }
+            }
+
+            if (File.Exists(mapPath))
+            {
+                try
+                {
+                    var mapresult = MapLoader.LoadMapFromFile(mapPath);
+                    _agvCanvas.SetMapLoadResult(mapresult);//.Nodes = _mapNodes;
+
+                    // Initialize Visual AGV
+                    if (_agvCanvas.Nodes.Count > 0)
+                    {
+                        _visualAgv = new VirtualAGV("AGV01", _agvCanvas.Nodes[0].Position);
+                        _agvCanvas.AGVList = new List<IAGV> { _visualAgv };
+                    }
+                }
+                catch (Exception ex)
+                {
+                    logAGV.Add($"Map Load Error: {ex.Message}");
+                }
+            }
+        }
+
+        void UpdateVisualAgvPosition(string tag)
+        {
+            if (_visualAgv == null || _agvCanvas.Nodes == null) return;
+
+            // Find node by tag
+            // Assuming NodeId might be the tag or contain it
+            var node = _agvCanvas.Nodes.FirstOrDefault(n => n.Id == tag || n.Id.EndsWith(tag));
+
+            // If not found, try to parse tag as int and match
+            if (node == null && int.TryParse(tag, out int tagNum))
+            {
+                node = _agvCanvas.Nodes.FirstOrDefault(n => n.Id == 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 || _agvCanvas.Nodes == 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 _agvCanvas.Nodes)
+                {
+                    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.Id != numericUpDown1.Text)
+                        {
+                             if (int.TryParse(node.Id, out int tag))
+                             {
+                                 AGV.SendTag(node.Id);
+                                 numericUpDown1.Text = node.Id;
+
+                                 // 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, NodeBase e)
+        {
+            if (e != null && _visualAgv != null)
+            {
+                _visualAgv.CurrentPosition = e.Position;
+                _currentPosF = e.Position;
+
+                if (int.TryParse(e.Id, 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 = $"{Temp1 / 10f}º";
+
+        }
+
+        private void numericUpDown1_KeyDown(object sender, KeyEventArgs e)
+        {
+            if (e.KeyCode == Keys.Enter)
+                button18.PerformClick();
+        }
+
+        private void toolStripButton3_Click(object sender, EventArgs e)
+        {
+            var file = @"C:\Data\Amkor\AGV4\route\NewMap.agvmap";
+            if(System.IO.File.Exists(file)==false)
+            {
+                var od = new OpenFileDialog();
+                od.Filter = "json|*.json";
+                if (od.ShowDialog() != DialogResult.OK) return;
+                file = od.FileName;
+            }
+            LoadMapFile(file);
+        }
+        private string _currentMapFilePath;
+        private void LoadMapFile(string filePath)
+        {
+            try
+            {
+                var result = MapLoader.LoadMapFromFile(filePath);
+
+                if (result.Success)
+                {
+                    Console.WriteLine($"Map File Load : {filePath}");
+
+                    // 시뮬레이터 캔버스에 맵 설정
+                    this._agvCanvas.SetMapLoadResult(result);// = _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) && _agvCanvas.Nodes != null && _visualAgv != null)
+            {
+                var node = _agvCanvas.Nodes.FirstOrDefault(n => n.Id == input);
+                if (node != null)
+                {
+                    _visualAgv.CurrentPosition = node.Position;
+                    _currentPosF = node.Position;
+                    numericUpDown1.Text = node.Id;
+
+                    // Auto-orient: Prefer Right (0) or Up (270)
+                    var neighbors = _agvCanvas.Nodes.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
+        cX79DFKrHHD5d9D26hvicx4pABt2lpg10zYzU0zr7+e3xXGcrkEB2O2TNec9nJFwB3alZn5jZorfeDZh
+        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/.cursorrules

@@ -0,0 +1,3 @@
+# User Preferences
+- **프로젝트 컴파일은 build.bat 를 사용하세요(윈도우 환경) 
+- **콘솔명령 실행시에는 항상 cmd /c 를 사용해서 실행하세요

Cs_HMI/AGVCSharp.sln

@@ -1,7 +1,7 @@
 
 Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio Express 15 for Windows Desktop
-VisualStudioVersion = 15.0.36324.19
+# Visual Studio Version 17
+VisualStudioVersion = 17.14.36804.6 d17.14
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Sub", "Sub", "{C423C39A-44E7-4F09-B2F7-7943975FF948}"
 EndProject
@@ -36,6 +36,8 @@ 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
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -166,6 +168,18 @@ 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
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -178,6 +192,7 @@ 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}
 	EndGlobalSection
 	GlobalSection(ExtensibilityGlobals) = postSolution
 		SolutionGuid = {B5B1FD72-356F-4840-83E8-B070AC21C8D9}

Cs_HMI/AGVLogic/AGVMapEditor/AGVMapEditor.csproj

@@ -17,7 +17,7 @@
     <DebugSymbols>true</DebugSymbols>
     <DebugType>full</DebugType>
     <Optimize>false</Optimize>
-    <OutputPath>..\..\..\..\..\..\Amkor\AGV4\</OutputPath>
+    <OutputPath>..\..\..\..\..\..\Amkor\AGV4\Test\MapEditor\</OutputPath>
     <DefineConstants>DEBUG;TRACE</DefineConstants>
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>
@@ -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/ImageEditorForm.cs

@@ -13,9 +13,9 @@ namespace AGVMapEditor.Forms
     /// </summary>
     public partial class ImageEditorForm : Form
     {
-        private MapNode _targetNode;
+        private MapImage _targetNode;
 
-        public ImageEditorForm(MapNode imageNode = null)
+        public ImageEditorForm(MapImage imageNode = null)
         {
             InitializeComponent();
             _targetNode = imageNode;
@@ -25,7 +25,7 @@ namespace AGVMapEditor.Forms
             {
                 LoadImageFromNode(imageNode);
             }
-
+            
             this.KeyPreview = true;
             this.KeyDown += (s1, e1) => {
                 if (e1.KeyCode == Keys.Escape) this.Close();
@@ -38,7 +38,7 @@ namespace AGVMapEditor.Forms
             imageCanvas.BrushSize = trackBrush.Value;
             imageCanvas.BrushModeEnabled = chkBrushMode.Checked;
             imageCanvas.BackColor = Color.FromArgb(32,32,32);
-
+            
             // 이벤트 연결
             chkBrushMode.CheckedChanged += (s, e) => imageCanvas.BrushModeEnabled = chkBrushMode.Checked;
         }
@@ -48,7 +48,7 @@ namespace AGVMapEditor.Forms
             imageCanvas.BrushSize = trackBrush.Value;
         }
 
-        private void LoadImageFromNode(MapNode node)
+        private void LoadImageFromNode(MapImage node)
         {
             if (node.LoadedImage != null)
             {
@@ -66,7 +66,7 @@ namespace AGVMapEditor.Forms
                 }
             }
         }
-
+        
         private void LoadImageFromFile(string filePath)
         {
             try
@@ -160,7 +160,7 @@ namespace AGVMapEditor.Forms
                 return;
             }
 
-            if (_targetNode != null && _targetNode.Type == NodeType.Image)
+            if (_targetNode != null)
             {
                 // 표시 크기로 리사이즈된 이미지 가져오기
                 var finalImage = imageCanvas.GetResizedImage();

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

@@ -7,6 +7,8 @@ using System.Windows.Forms;
 using AGVMapEditor.Models;
 using AGVNavigationCore.Controls;
 using AGVNavigationCore.Models;
+using MapImage = AGVNavigationCore.Models.MapImage;
+using MapLabel = AGVNavigationCore.Models.MapLabel;
 using Newtonsoft.Json;
 
 namespace AGVMapEditor.Forms
@@ -18,11 +20,11 @@ namespace AGVMapEditor.Forms
     {
         #region Fields
 
-        private List<MapNode> _mapNodes;
+        // private List<MapNode> this._mapCanvas.Nodes;
         private UnifiedAGVCanvas _mapCanvas;
 
         // 현재 선택된 노드
-        private MapNode _selectedNode;
+        private NodeBase _selectedNode;
 
         // 파일 경로
         private string _currentMapFile = string.Empty;
@@ -34,20 +36,20 @@ namespace AGVMapEditor.Forms
         {
             public string FromNodeId { get; set; }
             public string FromNodeName { get; set; }
-            public string FromRfidId { get; set; }
+            public ushort FromRfidId { get; set; }
             public string ToNodeId { get; set; }
             public string ToNodeName { get; set; }
-            public string ToRfidId { get; set; }
+            public ushort ToRfidId { get; set; }
             public string ConnectionType { get; set; }
 
             public override string ToString()
             {
                 // RFID가 있으면 RFID(노드이름), 없으면 NodeID(노드이름) 형태로 표시
-                string fromDisplay = !string.IsNullOrEmpty(FromRfidId)
+                string fromDisplay =  FromRfidId > 0 
                     ? $"{FromRfidId}({FromNodeName})"
                     : $"---({FromNodeId})";
 
-                string toDisplay = !string.IsNullOrEmpty(ToRfidId)
+                string toDisplay = ToRfidId > 0
                     ? $"{ToRfidId}({ToNodeName})"
                     : $"---({ToNodeId})";
 
@@ -93,20 +95,18 @@ namespace AGVMapEditor.Forms
 
         #endregion
 
-    
+
         #region Initialization
 
         private void InitializeData()
         {
-            _mapNodes = new List<MapNode>();
+            // this._mapCanvas.Nodes = new List<MapNode>();
         }
 
         private void InitializeMapCanvas()
         {
             _mapCanvas = new UnifiedAGVCanvas();
             _mapCanvas.Dock = DockStyle.Fill;
-            _mapCanvas.Nodes = _mapNodes;
-            // RfidMappings 제거 - MapNode에 통합됨
 
             // 이벤트 연결
             _mapCanvas.NodeAdded += OnNodeAdded;
@@ -115,12 +115,14 @@ namespace AGVMapEditor.Forms
             _mapCanvas.NodeMoved += OnNodeMoved;
             _mapCanvas.NodeDeleted += OnNodeDeleted;
             _mapCanvas.ConnectionDeleted += OnConnectionDeleted;
-            _mapCanvas.ImageNodeDoubleClicked += OnImageNodeDoubleClicked;
+            _mapCanvas.ImageDoubleClicked += OnImageDoubleClicked;
             _mapCanvas.MapChanged += OnMapChanged;
 
             // 스플리터 패널에 맵 캔버스 추가
             panel1.Controls.Add(_mapCanvas);
 
+            // ...
+
             // 툴바 버튼 이벤트 연결
             WireToolbarButtonEvents();
         }
@@ -160,7 +162,7 @@ namespace AGVMapEditor.Forms
 
         private void MainForm_Load(object sender, EventArgs e)
         {
-            
+
             RefreshNodeList();
             // 속성 변경 시 이벤트 연결
             _propertyGrid.PropertyValueChanged += PropertyGrid_PropertyValueChanged;
@@ -174,7 +176,7 @@ namespace AGVMapEditor.Forms
             }
         }
 
-        private void OnNodeAdded(object sender, MapNode node)
+        private void OnNodeAdded(object sender, NodeBase node)
         {
             _hasChanges = true;
             UpdateTitle();
@@ -199,7 +201,7 @@ namespace AGVMapEditor.Forms
         //    }
         //}
 
-        private void OnNodesSelected(object sender, List<MapNode> nodes)
+        private void OnNodesSelected(object sender, List<NodeBase> nodes)
         {
             // 다중 선택 시 처리
             if (nodes == null || nodes.Count == 0)
@@ -221,20 +223,20 @@ 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();
             }
         }
 
-        private void OnNodeMoved(object sender, MapNode node)
+        private void OnNodeMoved(object sender, NodeBase node)
         {
             _hasChanges = true;
             UpdateTitle();
             RefreshNodeList();
         }
 
-        private void OnNodeDeleted(object sender, MapNode node)
+        private void OnNodeDeleted(object sender, NodeBase node)
         {
             _hasChanges = true;
             UpdateTitle();
@@ -258,20 +260,17 @@ namespace AGVMapEditor.Forms
             UpdateNodeProperties(); // 연결 정보 업데이트
         }
 
-        private void OnImageNodeDoubleClicked(object sender, MapNode node)
+        private void OnImageDoubleClicked(object sender, MapImage image)
         {
             // 이미지 노드 더블클릭 시 이미지 편집창 표시
-            if (node != null && node.Type == NodeType.Image)
+            using (var editor = new ImageEditorForm(image))
             {
-                using (var editor = new ImageEditorForm(node))
+                if (editor.ShowDialog(this) == DialogResult.OK)
                 {
-                    if (editor.ShowDialog(this) == DialogResult.OK)
-                    {
-                        _hasChanges = true;
-                        UpdateTitle();
-                        _mapCanvas.Invalidate(); // 캔버스 다시 그리기
-                        UpdateNodeProperties(); // 속성 업데이트
-                    }
+                    _hasChanges = true;
+                    UpdateTitle();
+                    _mapCanvas.Invalidate(); // 캔버스 다시 그리기
+                    UpdateNodeProperties(); // 속성 업데이트
                 }
             }
         }
@@ -401,12 +400,11 @@ namespace AGVMapEditor.Forms
         private void AddNewNode()
         {
             var nodeId = GenerateNodeId();
-            var nodeName = $"노드{_mapNodes.Count + 1}";
-            var position = new Point(100 + _mapNodes.Count * 50, 100 + _mapNodes.Count * 50);
+            var position = new Point(100 + this._mapCanvas.Nodes.Count * 50, 100 + this._mapCanvas.Nodes.Count * 50);
 
-            var node = new MapNode(nodeId, nodeName, position, NodeType.Normal);
+            var node = new MapNode(nodeId, position, StationType.Normal);
 
-            _mapNodes.Add(node);
+            this._mapCanvas.Nodes.Add(node);
             _hasChanges = true;
 
             RefreshNodeList();
@@ -422,13 +420,14 @@ namespace AGVMapEditor.Forms
                 return;
             }
 
-            var result = MessageBox.Show($"노드 '{_selectedNode.Name}'를 삭제하시겠습니까?\n연결된 RFID 매핑도 함께 삭제됩니다.",
+            var rfidDisplay = (_selectedNode as MapNode)?.RfidId ?? 0;
+            var result = MessageBox.Show($"노드 {rfidDisplay}[{_selectedNode.Id}] 를 삭제하시겠습니까?\n연결된 RFID 매핑도 함께 삭제됩니다.",
                                        "삭제 확인", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
 
             if (result == DialogResult.Yes)
             {
                 // 노드 제거
-                _mapNodes.Remove(_selectedNode);
+                _mapCanvas.RemoveItem(_selectedNode);
                 _selectedNode = null;
                 _hasChanges = true;
 
@@ -441,15 +440,15 @@ namespace AGVMapEditor.Forms
 
         private void AddConnectionToSelectedNode()
         {
-            if (_selectedNode == null)
+            if (!(_selectedNode is MapNode selectedMapNode))
             {
-                MessageBox.Show("연결을 추가할 노드를 선택하세요.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
+                MessageBox.Show("연결을 추가할 노드(MapNode)를 선택하세요.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
                 return;
             }
 
             // 다른 노드들 중에서 선택
-            var availableNodes = _mapNodes.Where(n => n.NodeId != _selectedNode.NodeId &&
-                                                !_selectedNode.ConnectedNodes.Contains(n.NodeId)).ToList();
+            var availableNodes = this._mapCanvas.Nodes.Where(n => n.Id != selectedMapNode.Id &&
+                                                !selectedMapNode.ConnectedNodes.Contains(n.Id)).ToList();
 
             if (availableNodes.Count == 0)
             {
@@ -458,13 +457,13 @@ namespace AGVMapEditor.Forms
             }
 
             // 간단한 선택 다이얼로그 (실제로는 별도 폼을 만들어야 함)
-            var nodeNames = availableNodes.Select(n => $"{n.NodeId}: {n.Name}").ToArray();
+            var nodeNames = availableNodes.Select(n => $"{n.Id}: {n.RfidId}").ToArray();
             var input = Microsoft.VisualBasic.Interaction.InputBox("연결할 노드를 선택하세요:", "노드 연결", nodeNames[0]);
 
-            var targetNode = availableNodes.FirstOrDefault(n => input.StartsWith(n.NodeId));
+            var targetNode = availableNodes.FirstOrDefault(n => input.StartsWith(n.Id));
             if (targetNode != null)
             {
-                _selectedNode.AddConnection(targetNode.NodeId);
+                selectedMapNode.AddConnection(targetNode.Id);
                 _hasChanges = true;
                 RefreshMapCanvas();
                 UpdateNodeProperties();
@@ -474,25 +473,25 @@ namespace AGVMapEditor.Forms
 
         private void RemoveConnectionFromSelectedNode()
         {
-            if (_selectedNode == null || _selectedNode.ConnectedNodes.Count == 0)
+            if (!(_selectedNode is MapNode selectedMapNode) || selectedMapNode.ConnectedNodes.Count == 0)
             {
                 MessageBox.Show("연결을 제거할 노드를 선택하거나 연결된 노드가 없습니다.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
                 return;
             }
 
             // 연결된 노드들 중에서 선택
-            var connectedNodeNames = _selectedNode.ConnectedNodes.Select(connectedNodeId =>
+            var connectedNodeNames = selectedMapNode.ConnectedNodes.Select(connectedNodeId =>
             {
-                var node = _mapNodes.FirstOrDefault(n => n.NodeId == connectedNodeId);
-                return node != null ? $"{node.NodeId}: {node.Name}" : connectedNodeId;
+                var node = this._mapCanvas.Nodes.FirstOrDefault(n => n.Id == connectedNodeId);
+                return node != null ? $"{node.Id}: {node.RfidId}" : connectedNodeId;
             }).ToArray();
 
             var input = Microsoft.VisualBasic.Interaction.InputBox("제거할 연결을 선택하세요:", "연결 제거", connectedNodeNames[0]);
 
             var targetNodeId = input.Split(':')[0];
-            if (_selectedNode.ConnectedNodes.Contains(targetNodeId))
+            if (selectedMapNode.ConnectedNodes.Contains(targetNodeId))
             {
-                _selectedNode.RemoveConnection(targetNodeId);
+                selectedMapNode.RemoveConnection(targetNodeId);
                 _hasChanges = true;
                 RefreshMapCanvas();
                 UpdateNodeProperties();
@@ -509,7 +508,7 @@ namespace AGVMapEditor.Forms
             {
                 nodeId = $"N{counter:D3}";
                 counter++;
-            } while (_mapNodes.Any(n => n.NodeId == nodeId));
+            } while (this._mapCanvas.Nodes.Any(n => n.Id == nodeId));
 
             return nodeId;
         }
@@ -520,7 +519,7 @@ namespace AGVMapEditor.Forms
 
         private void NewMap()
         {
-            _mapNodes.Clear();
+            this._mapCanvas.Nodes.Clear();
             _selectedNode = null;
             _currentMapFile = string.Empty;
             _hasChanges = false;
@@ -533,7 +532,7 @@ namespace AGVMapEditor.Forms
         {
             if (CheckSaveChanges())
             {
-                _mapNodes.Clear();
+                this._mapCanvas.Nodes.Clear();
                 _selectedNode = null;
                 _currentMapFile = string.Empty;
                 _hasChanges = false;
@@ -547,8 +546,8 @@ namespace AGVMapEditor.Forms
         {
             var openFileDialog = new OpenFileDialog
             {
-                Filter = "AGV Map Files (*.agvmap)|*.agvmap|All Files (*.*)|*.*",
-                DefaultExt = "agvmap",
+                Filter = "AGV Map Files (*.json)|*.json|All Files (*.*)|*.*",
+                DefaultExt = "json",
             };
 
 
@@ -596,9 +595,9 @@ namespace AGVMapEditor.Forms
         {
             var saveFileDialog = new SaveFileDialog
             {
-                Filter = "AGV Map Files (*.agvmap)|*.agvmap",
-                DefaultExt = "agvmap",
-                FileName = "NewMap.agvmap"
+                Filter = "AGV Map Files (*.json)|*.json",
+                DefaultExt = "json",
+                FileName = "NewMap.json"
             };
 
             if (saveFileDialog.ShowDialog() == DialogResult.OK)
@@ -624,18 +623,8 @@ namespace AGVMapEditor.Forms
 
             if (result.Success)
             {
-                _mapNodes = result.Nodes;
-
                 // 맵 캔버스에 데이터 설정
-                _mapCanvas.Nodes = _mapNodes;
-                // RfidMappings 제거됨 - MapNode에 통합
-
-                // 🔥 맵 설정 적용 (배경색, 그리드 표시)
-                if (result.Settings != null)
-                {
-                    _mapCanvas.BackColor = System.Drawing.Color.FromArgb(result.Settings.BackgroundColorArgb);
-                    _mapCanvas.ShowGrid = result.Settings.ShowGrid;
-                }
+                _mapCanvas.SetMapLoadResult(result);
 
                 // 현재 파일 경로 업데이트
                 _currentMapFile = filePath;
@@ -648,8 +637,8 @@ namespace AGVMapEditor.Forms
                 UpdateNodeList();
                 RefreshNodeConnectionList();
 
-                // 맵 로드 후 자동으로 맵에 맞춤
-                _mapCanvas.FitToNodes();
+
+
 
                 UpdateStatusBar($"맵 파일을 성공적으로 로드했습니다: {Path.GetFileName(filePath)}");
             }
@@ -693,7 +682,11 @@ namespace AGVMapEditor.Forms
                 ShowGrid = _mapCanvas.ShowGrid
             };
 
-            if (MapLoader.SaveMapToFile(filePath, _mapNodes, settings))
+            if (MapLoader.SaveMapToFile(filePath,
+                _mapCanvas.Nodes, _mapCanvas.Labels,
+                _mapCanvas.Images, _mapCanvas.Marks,
+                _mapCanvas.Magnets,
+                settings))
             {
                 // 현재 파일 경로 업데이트
                 _currentMapFile = filePath;
@@ -718,7 +711,7 @@ namespace AGVMapEditor.Forms
         private void UpdateRfidMappings()
         {
             // RFID 자동 할당 제거 - 사용자가 직접 입력한 값 유지
-            // MapLoader.AssignAutoRfidIds(_mapNodes);
+            // MapLoader.AssignAutoRfidIds(this._mapCanvas.Nodes);
         }
 
         private bool CheckSaveChanges()
@@ -780,14 +773,14 @@ namespace AGVMapEditor.Forms
         private void RefreshNodeList()
         {
             listBoxNodes.DataSource = null;
-            listBoxNodes.DataSource = _mapNodes;
+            listBoxNodes.DataSource = this._mapCanvas.Nodes;
             listBoxNodes.DisplayMember = "DisplayText";
-            listBoxNodes.ValueMember = "NodeId";
+            listBoxNodes.ValueMember = "Id";
 
             // 노드 목록 클릭 이벤트 연결
             listBoxNodes.SelectedIndexChanged -= ListBoxNodes_SelectedIndexChanged;
             listBoxNodes.SelectedIndexChanged += ListBoxNodes_SelectedIndexChanged;
-            
+
             // 노드 타입별 색상 적용
             listBoxNodes.DrawMode = DrawMode.OwnerDrawFixed;
             listBoxNodes.DrawItem -= ListBoxNodes_DrawItem;
@@ -812,14 +805,14 @@ namespace AGVMapEditor.Forms
         {
             e.DrawBackground();
 
-            if (e.Index >= 0 && e.Index < _mapNodes.Count)
+            if (e.Index >= 0 && e.Index < this._mapCanvas.Items.Count)
             {
-                var node = _mapNodes[e.Index];
-                
+                var node = this._mapCanvas.Items[e.Index];
+
                 // 노드 타입에 따른 색상 설정
                 Color foreColor = Color.Black;
                 Color backColor = e.BackColor;
-                
+
                 if ((e.State & DrawItemState.Selected) == DrawItemState.Selected)
                 {
                     backColor = SystemColors.Highlight;
@@ -827,23 +820,30 @@ namespace AGVMapEditor.Forms
                 }
                 else
                 {
+                    backColor = Color.White;
                     switch (node.Type)
                     {
                         case NodeType.Normal:
-                            foreColor = Color.Black;
-                            backColor = Color.White;
+
+                            var item = node as MapNode;
+                            if (item.StationType == StationType.Normal)
+                                foreColor = Color.DimGray;
+                            else if (item.StationType == StationType.Charger)
+                                foreColor = Color.Red;
+                            else
+                                foreColor = Color.DarkGreen;
                             break;
-                        case NodeType.Rotation:
-                            foreColor = Color.DarkOrange;
-                            backColor = Color.LightYellow;
+
+                        case NodeType.Label:
+                        case NodeType.Mark:
+                        case NodeType.Image:
+                            foreColor = Color.DarkBlue;
                             break;
-                        case NodeType.Docking:
-                            foreColor = Color.DarkGreen;
-                            backColor = Color.LightGreen;
+                        case NodeType.Magnet:
+                            foreColor = Color.DarkMagenta;
                             break;
-                        case NodeType.Charging:
+                        default:
                             foreColor = Color.DarkRed;
-                            backColor = Color.LightPink;
                             break;
                     }
                 }
@@ -855,17 +855,21 @@ namespace AGVMapEditor.Forms
                 }
 
                 // 텍스트 그리기 (노드ID - 노드명 - RFID 순서)
-                var displayText = node.NodeId;
-
-                if (!string.IsNullOrEmpty(node.Name))
+                string displayText;
+                if (node.Type == NodeType.Normal)
                 {
-                    displayText += $" - {node.Name}";
+                    var item = node as MapNode;
+                    if (item.HasRfid())
+                        displayText = $"[{node.Id}-{item.RfidId}] {item.StationType}";
+                    else
+                        displayText = $"[{node.Id}] {item.StationType}";
                 }
-                
-                if (!string.IsNullOrEmpty(node.RfidId))
+                else if (node.Type == NodeType.Label)
                 {
-                    displayText += $" - [{node.RfidId}]";
+                    var item = node as MapLabel;
+                    displayText = $"{item.Type.ToString().ToUpper()} - {item.Text}";
                 }
+                else displayText = $"{node.Type.ToString().ToUpper()}";
 
                 using (var brush = new SolidBrush(foreColor))
                 {
@@ -882,31 +886,31 @@ namespace AGVMapEditor.Forms
             var processedPairs = new HashSet<string>();
 
             // 모든 노드의 연결 정보를 수집 (중복 방지)
-            foreach (var fromNode in _mapNodes)
+            foreach (var fromNode in this._mapCanvas.Nodes)
             {
                 foreach (var toNodeId in fromNode.ConnectedNodes)
                 {
-                    var toNode = _mapNodes.FirstOrDefault(n => n.NodeId == toNodeId);
+                    var toNode = this._mapCanvas.Nodes.FirstOrDefault(n => n.Id == toNodeId);
                     if (toNode != null)
                     {
                         // 중복 체크 (단일 연결만 표시)
-                        string pairKey1 = $"{fromNode.NodeId}-{toNode.NodeId}";
-                        string pairKey2 = $"{toNode.NodeId}-{fromNode.NodeId}";
+                        string pairKey1 = $"{fromNode.Id}-{toNode.Id}";
+                        string pairKey2 = $"{toNode.Id}-{fromNode.Id}";
 
                         if (!processedPairs.Contains(pairKey1) && !processedPairs.Contains(pairKey2))
                         {
                             // 사전 순으로 정렬하여 일관성 있게 표시
-                            var (firstNode, secondNode) = string.Compare(fromNode.NodeId, toNode.NodeId) < 0
+                            var (firstNode, secondNode) = string.Compare(fromNode.Id, toNode.Id) < 0
                                 ? (fromNode, toNode)
                                 : (toNode, fromNode);
 
                             connections.Add(new NodeConnectionInfo
                             {
-                                FromNodeId = firstNode.NodeId,
-                                FromNodeName = firstNode.Name,
+                                FromNodeId = firstNode.Id,
+                                FromNodeName = "",
                                 FromRfidId = firstNode.RfidId,
-                                ToNodeId = secondNode.NodeId,
-                                ToNodeName = secondNode.Name,
+                                ToNodeId = secondNode.Id,
+                                ToNodeName = "",
                                 ToRfidId = secondNode.RfidId,
                                 ConnectionType = "양방향"  // 모든 연결이 양방향
                             });
@@ -941,7 +945,7 @@ namespace AGVMapEditor.Forms
                 _mapCanvas?.HighlightConnection(connectionInfo.FromNodeId, connectionInfo.ToNodeId);
 
                 // 연결된 노드들을 맵에서 하이라이트 표시 (선택적)
-                var fromNode = _mapNodes.FirstOrDefault(n => n.NodeId == connectionInfo.FromNodeId);
+                var fromNode = this._mapCanvas.Nodes.FirstOrDefault(n => n.Id == connectionInfo.FromNodeId);
                 if (fromNode != null)
                 {
                     _selectedNode = fromNode;
@@ -975,9 +979,7 @@ 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 +991,7 @@ namespace AGVMapEditor.Forms
         /// </summary>
         private void ShowCanvasProperties()
         {
-            var canvasWrapper = new CanvasPropertyWrapper(_mapCanvas);
-            _propertyGrid.SelectedObject = canvasWrapper;
+            _propertyGrid.SelectedObject = _mapCanvas;
             DisableImageEditButton();
         }
 
@@ -1006,7 +1007,7 @@ namespace AGVMapEditor.Forms
         private void UpdateImageEditButton()
         {
             // ToolStripButton으로 변경됨
-            btnEditImage.Enabled = (_selectedNode != null && _selectedNode.Type == NodeType.Image);
+            btnEditImage.Enabled = (_mapCanvas.SelectedImage != null);
         }
 
         /// <summary>
@@ -1023,9 +1024,10 @@ namespace AGVMapEditor.Forms
         /// </summary>
         private void BtnToolbarEditImage_Click(object sender, EventArgs e)
         {
-            if (_selectedNode != null && _selectedNode.Type == NodeType.Image)
+            var selectedImage = _mapCanvas.SelectedImage;
+            if (selectedImage != null)
             {
-                using (var editor = new ImageEditorForm(_selectedNode))
+                using (var editor = new ImageEditorForm(selectedImage))
                 {
                     if (editor.ShowDialog(this) == DialogResult.OK)
                     {
@@ -1063,7 +1065,7 @@ namespace AGVMapEditor.Forms
             if (listBoxNodes != null)
             {
                 listBoxNodes.DataSource = null;
-                listBoxNodes.DataSource = _mapNodes;
+                listBoxNodes.DataSource = this._mapCanvas.Items;
                 listBoxNodes.DisplayMember = "DisplayText";
             }
         }
@@ -1105,8 +1107,8 @@ namespace AGVMapEditor.Forms
             // RFID 값 변경시 중복 검사
             if (e.ChangedItem.PropertyDescriptor.Name == "RFID")
             {
-                string newRfidValue = e.ChangedItem.Value?.ToString();
-                if (!string.IsNullOrEmpty(newRfidValue) && CheckRfidDuplicate(newRfidValue))
+                var newRfidValue = ushort.Parse(e.ChangedItem.Value?.ToString());
+                if (newRfidValue != 0 && CheckRfidDuplicate(newRfidValue))
                 {
                     // 중복된 RFID 값 발견
                     MessageBox.Show($"RFID 값 '{newRfidValue}'이(가) 이미 다른 노드에서 사용 중입니다.\n입력값을 되돌립니다.",
@@ -1124,12 +1126,14 @@ namespace AGVMapEditor.Forms
             UpdateTitle();
 
             // 🔥 다중 선택 여부 확인 및 선택된 노드들 저장
-            bool isMultiSelect = _propertyGrid.SelectedObject is MultiNodePropertyWrapper;
-            List<MapNode> selectedNodes = null;
+            bool isMultiSelect = _propertyGrid.SelectedObjects is MapNode[]; // _propertyGrid.SelectedObject is MapNode[];
+
+            //var a = _propertyGrid.SelectedObject;
+            List<NodeBase> selectedNodes = null;
             if (isMultiSelect)
             {
                 // 캔버스에서 현재 선택된 노드들 가져오기
-                selectedNodes = new List<MapNode>(_mapCanvas.SelectedNodes);
+                selectedNodes = new List<NodeBase>(_mapCanvas.SelectedNodes);
                 System.Diagnostics.Debug.WriteLine($"[PropertyGrid] 다중 선택 노드 수: {selectedNodes.Count}");
             }
 
@@ -1146,18 +1150,18 @@ 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
             _propertyGrid.Refresh();
 
             // 🔥 단일 선택인 경우에만 노드를 다시 선택 (다중 선택은 캔버스에서 유지)
-            if (!isMultiSelect && currentSelectedNode != null)
+            if (!isMultiSelect && currentSelectedNode is MapNode mapNode)
             {
-                var nodeIndex = _mapNodes.IndexOf(currentSelectedNode);
+                var nodeIndex = this._mapCanvas.Nodes.IndexOf(mapNode);
                 if (nodeIndex >= 0)
                 {
                     listBoxNodes.SelectedIndex = nodeIndex;
@@ -1170,38 +1174,24 @@ namespace AGVMapEditor.Forms
         /// </summary>
         /// <param name="rfidValue">검사할 RFID 값</param>
         /// <returns>중복되면 true, 아니면 false</returns>
-        private bool CheckRfidDuplicate(string rfidValue)
+        private bool CheckRfidDuplicate(ushort rfidValue)
         {
-            if (string.IsNullOrEmpty(rfidValue) || _mapNodes == null)
+            if (rfidValue == 0 || this._mapCanvas.Nodes == null)
                 return false;
 
             // 현재 편집 중인 노드 제외하고 중복 검사
             string currentNodeId = null;
             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;
-            }
-
             int duplicateCount = 0;
-            foreach (var node in _mapNodes)
+            foreach (var node in this._mapCanvas.Nodes)
             {
                 // 현재 편집 중인 노드는 제외
-                if (node.NodeId == currentNodeId)
+                if (node.Id == currentNodeId)
                     continue;
 
                 // 같은 RFID 값을 가진 노드가 있는지 확인
-                if (!string.IsNullOrEmpty(node.RfidId) && node.RfidId.Equals(rfidValue, StringComparison.OrdinalIgnoreCase))
+                if (node.RfidId != 0 && node.RfidId == rfidValue)
                 {
                     duplicateCount++;
                     break; // 하나라도 발견되면 중복
@@ -1236,23 +1226,23 @@ namespace AGVMapEditor.Forms
                 if (result == DialogResult.Yes)
                 {
                     // 단일 연결 삭제
-                    var fromNode = _mapNodes.FirstOrDefault(n => n.NodeId == connectionInfo.FromNodeId);
-                    var toNode = _mapNodes.FirstOrDefault(n => n.NodeId == connectionInfo.ToNodeId);
+                    var fromNode = this._mapCanvas.Nodes.FirstOrDefault(n => n.Id == connectionInfo.FromNodeId);
+                    var toNode = this._mapCanvas.Nodes.FirstOrDefault(n => n.Id == connectionInfo.ToNodeId);
 
                     if (fromNode != null && toNode != null)
                     {
                         // 양방향 연결 삭제 (양쪽 방향 모두 제거)
                         bool removed = false;
 
-                        if (fromNode.ConnectedNodes.Contains(toNode.NodeId))
+                        if (fromNode.ConnectedNodes.Contains(toNode.Id))
                         {
-                            fromNode.RemoveConnection(toNode.NodeId);
+                            fromNode.RemoveConnection(toNode.Id);
                             removed = true;
                         }
 
-                        if (toNode.ConnectedNodes.Contains(fromNode.NodeId))
+                        if (toNode.ConnectedNodes.Contains(fromNode.Id))
                         {
-                            toNode.RemoveConnection(fromNode.NodeId);
+                            toNode.RemoveConnection(fromNode.Id);
                             removed = true;
                         }
 
@@ -1279,96 +1269,47 @@ namespace AGVMapEditor.Forms
             }
         }
 
-        
 
-        #region Multi-Node Selection
-
-        private void ShowMultiNodeContextMenu(List<MapNode> nodes)
+        private void allTurnLeftRightCrossOnToolStripMenuItem_Click(object sender, EventArgs e)
         {
-            // 다중 선택 시 간단한 다이얼로그 표시
+            //모든노드의 trun left/right/ cross 속성을 true로 변경합니다
+            if (this._mapCanvas.Nodes == null || this._mapCanvas.Nodes.Count == 0)
+            {
+                MessageBox.Show("맵에 노드가 없습니다.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
+                return;
+            }
+
             var result = MessageBox.Show(
-                $"{nodes.Count}개의 노드가 선택되었습니다.\n\n" +
-                "일괄 속성 변경을 하시겠습니까?\n\n" +
-                "예: 글자색 변경\n" +
-                "아니오: 배경색 변경\n" +
-                "취소: 닫기",
-                "다중 노드 속성 변경",
-                MessageBoxButtons.YesNoCancel,
+                $"모든 노드({this._mapCanvas.Nodes.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)
             {
-                BatchChangeForeColor();
-            }
-            else if (result == DialogResult.No)
-            {
-                BatchChangeBackColor();
-            }
-        }
-
-        /// <summary>
-        /// 선택된 노드들의 글자색 일괄 변경
-        /// </summary>
-        public void BatchChangeForeColor()
-        {
-            var selectedNodes = _mapCanvas.SelectedNodes;
-            if (selectedNodes == null || selectedNodes.Count == 0)
-            {
-                MessageBox.Show("선택된 노드가 없습니다.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
-                return;
-            }
-
-            using (var colorDialog = new ColorDialog())
-            {
-                colorDialog.Color = selectedNodes[0].ForeColor;
-                if (colorDialog.ShowDialog() == DialogResult.OK)
+                foreach (var node in this._mapCanvas.Nodes)
                 {
-                    foreach (var node in selectedNodes)
-                    {
-                        node.ForeColor = colorDialog.Color;
-                        node.ModifiedDate = DateTime.Now;
-                    }
-
-                    _hasChanges = true;
-                    UpdateTitle();
-                    RefreshMapCanvas();
-                    MessageBox.Show($"{selectedNodes.Count}개 노드의 글자색이 변경되었습니다.", "완료", MessageBoxButtons.OK, MessageBoxIcon.Information);
+                    node.CanTurnLeft = true;
+                    node.CanTurnRight = true;
+                    node.DisableCross = false;
+                    node.ModifiedDate = DateTime.Now;
                 }
+
+                _hasChanges = true;
+                UpdateTitle();
+                RefreshMapCanvas();
+
+                MessageBox.Show(
+                    $"{this._mapCanvas.Nodes.Count}개 노드의 회전/교차 속성이 모두 활성화되었습니다.",
+                    "완료",
+                    MessageBoxButtons.OK,
+                    MessageBoxIcon.Information);
+
+                UpdateStatusBar($"모든 노드의 회전/교차 속성 활성화 완료");
             }
         }
-
-        /// <summary>
-        /// 선택된 노드들의 배경색 일괄 변경
-        /// </summary>
-        public void BatchChangeBackColor()
-        {
-            var selectedNodes = _mapCanvas.SelectedNodes;
-            if (selectedNodes == null || selectedNodes.Count == 0)
-            {
-                MessageBox.Show("선택된 노드가 없습니다.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
-                return;
-            }
-
-            using (var colorDialog = new ColorDialog())
-            {
-                colorDialog.Color = selectedNodes[0].DisplayColor;
-                if (colorDialog.ShowDialog() == DialogResult.OK)
-                {
-                    foreach (var node in selectedNodes)
-                    {
-                        node.DisplayColor = colorDialog.Color;
-                        node.ModifiedDate = DateTime.Now;
-                    }
-
-                    _hasChanges = true;
-                    UpdateTitle();
-                    RefreshMapCanvas();
-                    MessageBox.Show($"{selectedNodes.Count}개 노드의 배경색이 변경되었습니다.", "완료", MessageBoxButtons.OK, MessageBoxIcon.Information);
-                }
-            }
-        }
-
-        #endregion
-
     }
 }

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
+        I7TxE8urEVy99fT/AL5gWDLrTB/hnF4XsW0khCu5ln8DmJliT2AXrcNBsU1gj/MH4nMeKwBrPktM28xM
+        cX79DFKrHHD5d9D26hvicx4pABt2lpg10zYzU0zr7+e3xXGcrkEB2O2TNec9nJFwB3alZn5jZorfeDZh
+        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>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
-        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAHrSURBVDhPldBNiBJhHMfx/ykKiohQ18tEhygyWGQRJwh1
-        fcHAt7qJ3TOj6FJ0akP06G2RPQd1MNhKcxvCxDc2UHbXSCoWNu8dWp3ReTks/moGVnafjW33c/rPM8/3
-        4eEhOoLJZ/6UvDp7l10/lNKa4+TW3AN9Hq9eC8kNW1ef1QZ3UapzRztMbs1+lVs2Qa5fLqsbtzBucE9G
-        NetwVD2fYPf+07h5ZUH9koD24yG0rWdQ1kMQK2eVXzXTaXbv1Lh9dUZu2apy4xLUjSi0nxk0X0bRLd7B
-        Vu0elM48xE8nIX6kJbbdZ1znFpTubTRfxaBpGiaTCdbfJaB+v4+BQN+2y3SBbaak5oxJqlqEcDiMTqcD
-        VVXR6/VQexGCtvkYYplG4gfi2c6gVKzcqHKuGIvFkEwmkcvlUCgUUF6ah7b5FIMV2hFXaG1YoudsOxWN
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-        7/dht9sRCASOF+v0A9rtNvL5vPFg7P//8vv9j/RrWyyW48d//QFpDAsmbMS+zgAAAABJRU5ErkJggg==
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAHrSURBVDhPldBLaBNBHMfx/0kUVBBJ0lxWPIhihBJKyAqS
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+        h2GIDmD0kT+mLk/fZNf3pQkznCrM3DFnZflSRG05euast7izcpM72GGqMP1ZFRw1tXm+qq9dg9LiHgwb
+        dnFYP51i9/6T0r4wp39Kwfh2F8bGI2irEYjvTmo/Gpbj7N4JpXNxShUcdbV1DvpaHMb3HNrP4uiVb2Cj
+        cQtadxbSh6OQ3tM82+6iNLk5rXcd7ecJGIaB0WiE1dcp6F9v41eNvmxV6QzbTMjtKYtct9Wi0Si63S50
+        XUe/30fjaQTG+n1IVRpKb4lnuzFtyc4Nl06VE4kE0uk0CoUCSqUSqvOzMNYfYnORtqVFWhEr9JhtJ+Lx
+        +DjmeR5+vx+xWAzqSgRy3Q65dgJbFeLYZmIndrvd8Pl8sFqt5pWfbL6hbalCl6Uy9cSXlGG7sWQyiXw+
+        P469Xi8sFgvMdblCV6RXVDNnvKAjPxfoKttSOBxGLpfbE+8QFyj09/cugUAA2WwWLpcLHo9nT7yvTCaD
+        wWAAp9OJUCh0uNhkHtDpdFAsFscPxv7/r2AweM+8ts1mO3z8x29OYwsb4/6fnQAAAABJRU5ErkJggg==
 </value>
   </data>
   <data name="btnMove.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
@@ -156,75 +174,75 @@
   <data name="btnAddLabel.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
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-        dteOjYi5CJhoBIPGLYkExb8zic5molPnoAO3k80ozzhHTopzq2wPhHDe8z6/5yV599rtNlqtFhqNBur1
-        Omq1GqrVKiqVCn3f29ulZrOJ1Wq19QyHQwYxDONuCE2mhsFgwJKDIIghtOY4zt0QOjJtpmn0XC6XK/P5
-        HFEUsToFWpb1dwhN5Y22bf80TXMQhiE+f/qOd9qU3fX7fZRKpT9DaDIfeblcgpq/TEO8OPJx8sjD2+wa
-        0uv1UCgUoKrqJsRxHDKbzVjTYrFgyYknPi6f9fH6LMD5UTeG+L6PfD6/CbFt+8CyLDKdrpvc+g1Lvjq5
-        hnj+cQvieR40TduEmKYpFItFMplMWFO39RWJQw+vTm8hiUMfhrq+73Q6UBQFoijeQgzDEHRdJ+PxeAvy
-        JhHg5XEPF8fvEUVLNkUmk0EqlXoQA6h0XRdyuRwZjUYx5Oyxi4unXVyddvFtHsZmURQfbpi5NE0Tstks
-        oZvIPlzzBpfPP+BHGO02cymKIqTTaUI3kf9ialZVdbeZS5blfVmWCV0w13X/zcwlSdK+JEnkv8xcFJJM
-        Ju//Xuf6Be3RFseUK14pAAAAAElFTkSuQmCC
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAHISURBVDhPnZJfa9pgFMb7JXa7sW9RkH2y3awro5ddS3Et
+        u2vHRsRcBEw0iEHiYpSg+Hcm0blUtOocdOCWbEZ5xnnlTXFule2BEN7znuf3HJKz12630Wq10Gg0UK/X
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+        h3w+D0VRNiGWZfmz2Yw1LRYLlhx/7uLyuI+3Zx7OD7sRxHVd5HK5TUipVHpimqY/na6b7PotS746+QTh
+        /HoL4jgOVFXdhBSLxZimaf5kMmFN3dZXxA8cvDm9g8QPXOjK+r7T6UCWZQiCcAfRdT2WzWb98Xi8BXkX
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+        4Zq3uHz5ET+CcLeZS5blWCqV8mkT+S8ms6Iou81ckiTtS5Lk04LZtv1vZi5RFPdFUfT/y8xFkEQi8fD3
+        Otcvn84Wo7k6b1AAAAAASUVORK5CYII=
 </value>
   </data>
   <data name="btnAddImage.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
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-        1wtfyg4Q+AfA3aZlButjSfxGcUJBk4g5tuP3haQKRKXcUQDOmbvNTpPOJeFFjordZmbWTNvMTHFUcpUC
-        nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAKYSURBVDhPhZBfSFNRHMfvY0RPEfQSFD2tniKh9WBZmM5W
+        es02del1ii7LJAsjtG6pOCdZuiJLZg8TbFMzuiSKlm7m/LPU3XOWkUKF89xBK0ak51pBcDlx1L1cF33h
+        vBy+n+/v+/sxzIZm3flasatAAF3m6Ey3WZl2c4rfyUX97TmCv/WsNuaLK+jmLPBpUUTsLACzHef4gNOk
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+        zvwz11tBvJXHyIuKRJM6gxltyrD47GzEc+cUGK7X8XRf+gark/nRe+nKfH81CQccZHGimYzUs+RlsXan
+        OoPx2vTa11a9MNSgi9JjjVhTlb7buuXhutPk02gj+fqhk3xbcJGPw7Wk13xEcccLiSfhShI31pJLQpN2
+        EnnfQZb8D8n0kyJiS9F87jufsFXtj6vnZYnciPUMWRi4ReYHasj4g2zSW3rw+zPj/m1q7z/VYznEufIT
+        yKvaNNJdqP3iMiXsUHv+q57iw9vbcw9YneakLbG/v5ifpNsR5bepAAAAAElFTkSuQmCC
 </value>
   </data>
   <metadata name="toolStrip2.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
@@ -310,7 +307,7 @@
   <data name="btnNew.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO
-        wwAADsMBx2+oZAAAAU1JREFUOE9j+E8GYEAGIIGrzz+AJYrW6IIxCMw6cO1/x/oTYFw2fQsKRjEE2eTp
+        wQAADsEBuJFr7QAAAU1JREFUOE9j+E8GYEAGIIGrzz+AJYrW6IIxCMw6cO1/x/oTYFw2fQsKRjEE2eTp
         p73/Tz3pgSz0/+nbryi4c/eb/+EFE8FycANAtk475fV/0nH3//1HXP53HrCHu+TA/b9w/OnbL7ABKIbA
         DJhw1PV/9wGH/y17rP/XbTNHMWD3HQgGGQDDQYnVCANgoGGHxf+qzcbIQnADtt36A8Ybr//BNAAUYCCA
         HIgwZ6NrXn3lN6YBoJBGBzBnwzTCNMMM8AzNBquDGwASxGcrCC+5CMGg2EAxABS3bz5+wzAAm+Z55yAG
@@ -322,7 +319,7 @@
   <data name="btnOpen.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO
-        wwAADsMBx2+oZAAAAhFJREFUOE/dz71rU1EYBvAO7t38E1xaizQfIh1cBHFyEV2sDiJoyCApFBVBO6QN
+        wQAADsEBuJFr7QAAAhFJREFUOE/dz71rU1EYBvAO7t38E1xaizQfIh1cBHFyEV2sDiJoyCApFBVBO6QN
         iIGSqCDSKpSKtlb8QBCHEge1rW1iE733Jmlsmhh6g839vud+nHseSapJXFwFX3g45wzv7z1vT8//Ufwr
         X6acGna23p3tyhmn8Hpoo/h0YO/GE1/vH3nr611cPLynDQgvghZjHgAGsGZ27y6po/o+ZFc+hKzfqa1e
         JtWlkTL/fPBkB3gWkBklsKpxGKVJGJvTMMvzYK4E5ulgVAOjyu7bbYBR2xYWgrk2kH8cUD1HgVFKQi8m
@@ -337,7 +334,7 @@
   <data name="btnReopen.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO
-        wwAADsMBx2+oZAAAAUZJREFUOE+lkzFLw0AYhvt3HP0DLqWDdCuECjooBRdBXJwEZ3VRBykUBCfRpSi4
+        wQAADsEBuJFr7QAAAUZJREFUOE+lkzFLw0AYhvt3HP0DLqWDdCuECjooBRdBXJwEZ3VRBykUBCfRpSi4
         uXTSIYNiRSgFBxU6qHSoCMHiyfPJm9zFgKAHT0Mu9z53+fK15P4wSv5gojcYuvbNo3EU37tW587YaF8a
         q3unAYGEG4JInl7e3HKrFsCc5rlunj+7+spuJpFAiw4HiynN7mwqamxX3OsoMUEg4Ydjs0Ds9+cNBFud
         yK4SwOg9cbWFtUzA+7Lg4uHTkGgnrqdwf9YbG4UCJiWQhJ0JcwoJjrsfocA/+m8QlmA6WsoEfuH8owoF
@@ -372,7 +369,7 @@
   <data name="btnSaveAs.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO
-        wwAADsMBx2+oZAAAAyZJREFUOE9tku1PW1Ucx+8r/Tt86wvRxRjjEmPMULeZNAsQXczipoCdDhxZlg0Z
+        wQAADsEBuJFr7QAAAyZJREFUOE9tku1PW1Ucx+8r/Tt86wvRxRjjEmPMULeZNAsQXczipoCdDhxZlg0Z
         m7CisBYfthcDXLrBlJktUbIBGQ+hAn2cq3uga3lqBxQuUCil9OHc9t7bj2mjy3B+k29OTnK+n9/35Byp
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         5S0IyFvU31yg/MJ06r2q/uf/m5f2Njsi8VRGc81l8SyouOdUHI8zjM4o3PYnUVTonUxT3zPPp+en089A
@@ -386,6 +383,21 @@
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         9qme1o7PBh0fmsYxmic4+v08R1pnqTJPU30uwBGzl11VN3jp427+BmRb26lRD0KdAAAAAElFTkSuQmCC
+</value>
+  </data>
+  <data name="toolStripButton1.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+    <value>
+        iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAIFSURBVDhPpZLtS1NhGMbPPxJmmlYSgqHiKzGU1EDxg4iK
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+        1wtfyg4Q+AfA3aZlButjSfxGcUJBk4g5tuP3haQKRKXcUQDOmbvNTpPOJeFFjordZmbWTNvMTHFUcpUC
+        nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
 </value>
   </data>
 </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>
@@ -48,6 +48,9 @@
   </PropertyGroup>
   <ItemGroup>
     <Reference Include="Microsoft.VisualBasic" />
+    <Reference Include="Newtonsoft.Json, Version=13.0.0.0, Culture=neutral, PublicKeyToken=30ad4fe6b2a6aeed, processorArchitecture=MSIL">
+      <HintPath>..\..\packages\Newtonsoft.Json.13.0.4\lib\net45\Newtonsoft.Json.dll</HintPath>
+    </Reference>
     <Reference Include="System" />
     <Reference Include="System.Core" />
     <Reference Include="System.Drawing" />
@@ -58,9 +61,6 @@
     <Reference Include="System.Data" />
     <Reference Include="System.Net.Http" />
     <Reference Include="System.Xml" />
-    <Reference Include="Newtonsoft.Json, Version=13.0.0.0, Culture=neutral, PublicKeyToken=30ad4fe6b2a6aeed, processorArchitecture=MSIL">
-      <HintPath>..\packages\Newtonsoft.Json.13.0.3\lib\net45\Newtonsoft.Json.dll</HintPath>
-    </Reference>
   </ItemGroup>
   <ItemGroup>
     <Compile Include="Controls\AGVState.cs" />
@@ -73,11 +73,17 @@
       <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" />
     <Compile Include="Models\MapLoader.cs" />
+    <Compile Include="Models\MapMagnet.cs" />
+    <Compile Include="Models\MapMark.cs" />
     <Compile Include="Models\MapNode.cs" />
+    <Compile Include="Models\NodeBase.cs" />
+    <Compile Include="Models\MapLabel.cs" />
+    <Compile Include="Models\MapImage.cs" />
     <Compile Include="PathFinding\Planning\AGVPathfinder.cs" />
     <Compile Include="PathFinding\Planning\DirectionChangePlanner.cs" />
     <Compile Include="PathFinding\Planning\DirectionalPathfinder.cs" />

Cs_HMI/AGVLogic/AGVNavigationCore/Controls/IAGV.cs

@@ -18,8 +18,8 @@ namespace AGVNavigationCore.Controls
 
         // 이동 경로 정보 추가
         Point? PrevPosition { get; }
-        string CurrentNodeId { get; }
-        string PrevNodeId { get; }
+        MapNode CurrentNode { get; }
+        MapNode PrevNode { get; }
         DockingDirection DockingDirection { get; }
 
     }

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

@@ -1,8 +1,10 @@
+using AGVNavigationCore.Models;
 using System;
+using System.Collections.Generic;
 using System.Drawing;
 using System.Linq;
 using System.Windows.Forms;
-using AGVNavigationCore.Models;
+using System.Xml.Linq;
 
 namespace AGVNavigationCore.Controls
 {
@@ -15,7 +17,17 @@ namespace AGVNavigationCore.Controls
             Focus(); // 포커스 설정
 
             var worldPoint = ScreenToWorld(e.Location);
-            var hitNode = GetNodeAt(worldPoint);
+            var hitNode = GetItemAt(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;
@@ -38,7 +50,11 @@ namespace AGVNavigationCore.Controls
                     // 마지막 선택된 노드 업데이트 (단일 참조용)
                     _selectedNode = _selectedNodes.Count > 0 ? _selectedNodes[_selectedNodes.Count - 1] : null;
 
-                    // 다중 선택 이벤트만 발생 (OnNodesSelected에서 단일/다중 구분 처리)
+                    // 단일/다중 선택 이벤트 발생
+                    if (_selectedNodes.Count == 1)
+                    {
+                        NodeSelect?.Invoke(this, _selectedNodes[0], e);
+                    }
                     NodesSelected?.Invoke(this, _selectedNodes);
                     Invalidate();
                 }
@@ -49,7 +65,8 @@ namespace AGVNavigationCore.Controls
                     _selectedNodes.Clear();
                     _selectedNodes.Add(hitNode);
 
-                    // NodesSelected 이벤트만 발생 (OnNodesSelected에서 단일/다중 구분 처리)
+                    // 단일/다중 선택 이벤트 발생
+                    NodeSelect?.Invoke(this, hitNode, e);
                     NodesSelected?.Invoke(this, _selectedNodes);
                     Invalidate();
                 }
@@ -84,7 +101,7 @@ namespace AGVNavigationCore.Controls
                     break;
 
                 case EditMode.Connect:
-                    HandleConnectClick(hitNode);
+                    HandleConnectClick(hitNode as MapNode);
                     break;
 
                 case EditMode.Delete:
@@ -100,51 +117,51 @@ namespace AGVNavigationCore.Controls
         private void UnifiedAGVCanvas_MouseDoubleClick(object sender, MouseEventArgs e)
         {
             var worldPoint = ScreenToWorld(e.Location);
-            var hitNode = GetNodeAt(worldPoint);
+            var hitNode = GetItemAt(worldPoint);
 
-            if (hitNode != null)
+            // 가동 모드에서는 더블클릭 편집 방지
+            if (_canvasMode == CanvasMode.Run) return;
+
+            if (hitNode == null) return;
+
+            if (hitNode.Type == NodeType.Normal)
             {
-                // 노드 타입별 더블클릭 액션
-                switch (hitNode.Type)
-                {
-                    case NodeType.Normal:
-                    case NodeType.Rotation:
-                    case NodeType.Docking:
-                    case NodeType.Charging:
-                        HandleNormalNodeDoubleClick(hitNode);
-                        break;
-
-                    case NodeType.Label:
-                        HandleLabelNodeDoubleClick(hitNode);
-                        break;
-
-                    case NodeType.Image:
-                        HandleImageNodeDoubleClick(hitNode);
-                        break;
-
-                    default:
-                        // 기본 동작: 노드 선택 이벤트 발생
-                        _selectedNode = hitNode;
-                        _selectedNodes.Clear();
-                        _selectedNodes.Add(hitNode);
-                        NodesSelected?.Invoke(this, _selectedNodes);
-                        break;
-                }
+                HandleNormalNodeDoubleClick(hitNode as MapNode);
+            }
+            else if (hitNode.Type == NodeType.Label)
+            {
+                HandleLabelDoubleClick(hitNode as MapLabel);
+            }
+            else if (hitNode.Type == NodeType.Image)
+            {
+                HandleImageDoubleClick(hitNode as MapImage);
+            }
+            else if (hitNode.Type == NodeType.Mark)
+            {
+                HandleMarkDoubleClick(hitNode as MapMark);
+            }
+            else if (hitNode.Type == NodeType.Magnet)
+            {
+                HandleMagnetDoubleClick(hitNode as MapMagnet);
             }
         }
 
         private void HandleNormalNodeDoubleClick(MapNode node)
         {
             // RFID 입력창 표시
-            string currentRfid = node.RfidId ?? "";
+            var currentRfid = node.RfidId;
             string newRfid = Microsoft.VisualBasic.Interaction.InputBox(
-                $"노드 '{node.Name}'의 RFID를 입력하세요:",
+                $"노드 '{node.RfidId}[{node.Id}]'의 RFID를 입력하세요:",
                 "RFID 설정",
-                currentRfid);
+                currentRfid.ToString());
 
-            if (!string.IsNullOrWhiteSpace(newRfid) && newRfid != currentRfid)
+            if (ushort.TryParse(newRfid, out ushort newrfidvalue) == false) return;
+            if (newrfidvalue < 1) return;
+
+
+            if (newrfidvalue != currentRfid)
             {
-                node.RfidId = newRfid.Trim();
+                node.RfidId = newrfidvalue;
                 MapChanged?.Invoke(this, EventArgs.Empty);
                 Invalidate();
             }
@@ -155,11 +172,19 @@ namespace AGVNavigationCore.Controls
             _selectedNodes.Add(node);
             NodesSelected?.Invoke(this, _selectedNodes);
         }
+        private void HandleMarkDoubleClick(MapMark label)
+        {
+            //TODO:
+        }
+        private void HandleMagnetDoubleClick(MapMagnet label)
+        {
+            //TODO:
+        }
 
-        private void HandleLabelNodeDoubleClick(MapNode node)
+        private void HandleLabelDoubleClick(MapLabel label)
         {
             // 라벨 텍스트 입력창 표시
-            string currentText = node.LabelText ?? "새 라벨";
+            string currentText = label.Text ?? "새 라벨";
             string newText = Microsoft.VisualBasic.Interaction.InputBox(
                 "라벨 텍스트를 입력하세요:",
                 "라벨 편집",
@@ -167,28 +192,24 @@ namespace AGVNavigationCore.Controls
 
             if (!string.IsNullOrWhiteSpace(newText) && newText != currentText)
             {
-                node.LabelText = newText.Trim();
+                label.Text = newText.Trim();
                 MapChanged?.Invoke(this, EventArgs.Empty);
                 Invalidate();
             }
 
-            // 더블클릭 시 해당 노드만 선택 (다중 선택 해제)
-            _selectedNode = node;
-            _selectedNodes.Clear();
-            _selectedNodes.Add(node);
-            NodesSelected?.Invoke(this, _selectedNodes);
+            _selectedNode = label;
+            LabelDoubleClicked?.Invoke(this, label);
+            Invalidate();
         }
 
-        private void HandleImageNodeDoubleClick(MapNode node)
+        private void HandleImageDoubleClick(MapImage image)
         {
-            // 더블클릭 시 해당 노드만 선택 (다중 선택 해제)
-            _selectedNode = node;
-            _selectedNodes.Clear();
-            _selectedNodes.Add(node);
-            NodesSelected?.Invoke(this, _selectedNodes);
+            _selectedNode = image;
 
             // 이미지 편집 이벤트 발생 (MainForm에서 처리)
-            ImageNodeDoubleClicked?.Invoke(this, node);
+            ImageDoubleClicked?.Invoke(this, image);
+
+            Invalidate();
         }
 
         private void UnifiedAGVCanvas_MouseDown(object sender, MouseEventArgs e)
@@ -199,24 +220,23 @@ namespace AGVNavigationCore.Controls
             {
                 if (_editMode == EditMode.Move)
                 {
-                    var hitNode = GetNodeAt(worldPoint);
+                    // 1. 노드 선택 확인
+                    var hitNode = GetItemAt(worldPoint);
                     if (hitNode != null)
                     {
                         _isDragging = true;
-                        _isPanning = false; // 🔥 팬 모드 비활성화 - 중요!
+                        _isPanning = false;
                         _selectedNode = hitNode;
-                        _dragStartPosition = hitNode.Position; // 원래 위치 저장 (고스트용)
-                        _dragOffset = new Point(
-                            worldPoint.X - hitNode.Position.X,
-                            worldPoint.Y - hitNode.Position.Y
-                        );
-                        _mouseMoveCounter = 0; // 디버그: 카운터 리셋
+                        _dragStartPosition = hitNode.Position;
+                        _dragOffset = new Point(worldPoint.X - hitNode.Position.X, worldPoint.Y - hitNode.Position.Y);
+                        _mouseMoveCounter = 0;
                         Cursor = Cursors.SizeAll;
-                        Capture = true; // 🔥 마우스 캡처 활성화 - 이게 핵심!
-                        //System.Diagnostics.Debug.WriteLine($"MouseDown: 드래그 시작! Capture={Capture}, isDragging={_isDragging}, isPanning={_isPanning}, Node={hitNode.NodeId}");
+                        Capture = true;
                         Invalidate();
                         return;
                     }
+
+
                 }
 
                 // 팬 시작 (좌클릭 - 모드에 따라)
@@ -238,7 +258,9 @@ namespace AGVNavigationCore.Controls
                 // 컨텍스트 메뉴 (편집 모드에서만)
                 if (_canvasMode == CanvasMode.Edit)
                 {
-                    var hitNode = GetNodeAt(worldPoint);
+                    var hitNode = GetItemAt(worldPoint);
+                    // TODO: 라벨/이미지에 대한 컨텍스트 메뉴도 지원하려면 여기서 hitLabel/hitImage 확인해서 전달
+                    // 현재는 ShowContextMenu가 MapNode만 받으므로 노드만 처리
                     ShowContextMenu(e.Location, hitNode);
                 }
             }
@@ -254,9 +276,12 @@ namespace AGVNavigationCore.Controls
                 _mouseMoveCounter++;
             }
 
-            // 호버 노드 업데이트
-            var newHoveredNode = GetNodeAt(worldPoint);
-            if (newHoveredNode != _hoveredNode)
+            // 호버 업데이트
+            var newHoveredNode = GetItemAt(worldPoint);
+
+            bool hoverChanged = (newHoveredNode != _hoveredNode);
+
+            if (hoverChanged)
             {
                 _hoveredNode = newHoveredNode;
                 Invalidate();
@@ -279,24 +304,31 @@ namespace AGVNavigationCore.Controls
             }
             else if (_isDragging && _canvasMode == CanvasMode.Edit)
             {
+                // 드래그 위치 계산
+                var newPosition = new Point(
+                    worldPoint.X - _dragOffset.X,
+                    worldPoint.Y - _dragOffset.Y
+                );
+
+                // 그리드 스냅
+                if (ModifierKeys.HasFlag(Keys.Control))
+                {
+                    newPosition.X = (newPosition.X / GRID_SIZE) * GRID_SIZE;
+                    newPosition.Y = (newPosition.Y / GRID_SIZE) * GRID_SIZE;
+                }
+
+                bool moved = false;
+
                 // 노드 드래그
                 if (_selectedNode != null)
                 {
-                    var oldPosition = _selectedNode.Position;
-                    var newPosition = new Point(
-                        worldPoint.X - _dragOffset.X,
-                        worldPoint.Y - _dragOffset.Y
-                    );
-
-                    // 그리드 스냅
-                    if (ModifierKeys.HasFlag(Keys.Control))
-                    {
-                        newPosition.X = (newPosition.X / GRID_SIZE) * GRID_SIZE;
-                        newPosition.Y = (newPosition.Y / GRID_SIZE) * GRID_SIZE;
-                    }
-
                     _selectedNode.Position = newPosition;
                     NodeMoved?.Invoke(this, _selectedNode);
+                    moved = true;
+                }
+
+                if (moved)
+                {
                     MapChanged?.Invoke(this, EventArgs.Empty);
                     Invalidate();
                     Update(); // 🔥 즉시 Paint 이벤트 처리하여 화면 업데이트
@@ -397,48 +429,77 @@ namespace AGVNavigationCore.Controls
             );
         }
 
-        private MapNode GetNodeAt(Point worldPoint)
+        private NodeBase GetItemAt(Point worldPoint)
         {
-            if (_nodes == null) return null;
-
-            // 역순으로 검사하여 위에 그려진 노드부터 확인
-            for (int i = _nodes.Count - 1; i >= 0; i--)
+            if (_labels != null)
             {
-                var node = _nodes[i];
-                if (IsPointInNode(worldPoint, node))
-                    return node;
+                // 역순으로 검사하여 위에 그려진 노드부터 확인
+                for (int i = _labels.Count - 1; i >= 0; i--)
+                {
+                    var node = _labels[i];
+                    if (IsPointInNode(worldPoint, node))
+                        return node;
+                }
             }
 
+            if (_nodes != null)
+            {
+                // 역순으로 검사하여 위에 그려진 노드부터 확인
+                for (int i = _nodes.Count - 1; i >= 0; i--)
+                {
+                    var node = _nodes[i];
+                    if (IsPointInNode(worldPoint, node))
+                        return node;
+                }
+            }
+            if (_images != null)
+            {
+                // 역순으로 검사하여 위에 그려진 노드부터 확인
+                for (int i = _images.Count - 1; i >= 0; i--)
+                {
+                    var node = _images[i];
+                    if (IsPointInNode(worldPoint, node))
+                        return node;
+                }
+            }
+
+
             return null;
         }
 
-        private bool IsPointInNode(Point point, MapNode node)
+        private bool IsPointInNode(Point point, NodeBase node)
         {
-            switch (node.Type)
+            if (node is MapLabel label)
             {
-                case NodeType.Label:
-                    return IsPointInLabelNode(point, node);
-                case NodeType.Image:
-                    return IsPointInImageNode(point, node);
-                default:
-                    return IsPointInCircularNode(point, node);
+                return IsPointInLabel(point, label);
             }
+            if (node is MapImage image)
+            {
+                return IsPointInImage(point, image);
+            }
+            // 라벨과 이미지는 별도 리스트로 관리되므로 여기서 처리하지 않음
+            // 하지만 혹시 모를 하위 호환성을 위해 타입 체크는 유지하되, 
+            // 실제 로직은 CircularNode 등으로 분기
+            return IsPointInCircularNode(point, node as MapNode);
         }
 
         private bool IsPointInCircularNode(Point point, MapNode node)
         {
-            switch (node.Type)
+            switch (node.StationType)
             {
-                case NodeType.Docking:
+                case StationType.Loader:
+                case StationType.UnLoader:
+                case StationType.Clearner:
+                case StationType.Buffer:
                     return IsPointInPentagon(point, node);
-                case NodeType.Charging:
+                case StationType.Charger:
                     return IsPointInTriangle(point, node);
                 default:
                     return IsPointInCircle(point, node);
             }
         }
 
-        private bool IsPointInCircle(Point point, MapNode node)
+        private bool IsPointInCircle(Point point, NodeBase node)
         {
             // 화면에서 최소 20픽셀 정도의 히트 영역을 확보하되, 노드 크기보다 작아지지 않게 함
             var minHitRadiusInScreen = 20;
@@ -451,7 +512,7 @@ namespace AGVNavigationCore.Controls
             return distance <= hitRadius;
         }
 
-        private bool IsPointInPentagon(Point point, MapNode node)
+        private bool IsPointInPentagon(Point point, NodeBase node)
         {
             // 화면에서 최소 20픽셀 정도의 히트 영역을 확보
             var minHitRadiusInScreen = 20;
@@ -472,7 +533,7 @@ namespace AGVNavigationCore.Controls
             return IsPointInPolygon(point, points);
         }
 
-        private bool IsPointInTriangle(Point point, MapNode node)
+        private bool IsPointInTriangle(Point point, NodeBase node)
         {
             // 화면에서 최소 20픽셀 정도의 히트 영역을 확보하되, 노드 크기보다 작아지지 않게 함
             var minHitRadiusInScreen = 20;
@@ -517,38 +578,68 @@ namespace AGVNavigationCore.Controls
             return inside;
         }
 
-        private bool IsPointInLabelNode(Point point, MapNode node)
+        private bool IsPointInLabel(Point point, MapLabel label)
         {
-            var text = string.IsNullOrEmpty(node.LabelText) ? node.NodeId : node.LabelText;
+            var text = string.IsNullOrEmpty(label.Text) ? label.Id : label.Text;
 
-            // 임시 Graphics로 텍스트 크기 측정
-            using (var tempBitmap = new Bitmap(1, 1))
-            using (var tempGraphics = Graphics.FromImage(tempBitmap))
+            // Graphics 객체 임시 생성 (Using CreateGraphics is faster than new Bitmap)
+            using (var g = this.CreateGraphics())
             {
-                var font = new Font(node.FontFamily, node.FontSize, node.FontStyle);
-                var textSize = tempGraphics.MeasureString(text, font);
+                // Font 생성 로직: 사용자 정의 폰트가 있으면 생성, 없으면 기본 폰트 사용 (Dispose 주의)
+                Font fontToUse = null;
+                bool shouldDisposeFont = false;
 
-                var textRect = new Rectangle(
-                    (int)(node.Position.X - textSize.Width / 2),
-                    (int)(node.Position.Y - textSize.Height / 2),
-                    (int)textSize.Width,
-                    (int)textSize.Height
-                );
+                try
+                {
+                    if (string.IsNullOrEmpty(label.FontFamily) || label.FontSize <= 0)
+                    {
+                        fontToUse = this.Font;
+                        shouldDisposeFont = false; // 컨트롤 폰트는 Dispose하면 안됨
+                    }
+                    else
+                    {
+                        try
+                        {
+                            fontToUse = new Font(label.FontFamily, label.FontSize, label.FontStyle);
+                            shouldDisposeFont = true;
+                        }
+                        catch
+                        {
+                            fontToUse = this.Font;
+                            shouldDisposeFont = false;
+                        }
+                    }
 
-                font.Dispose();
-                return textRect.Contains(point);
+                    var textSize = g.MeasureString(text, fontToUse);
+
+                    var textRect = new Rectangle(
+                        (int)(label.Position.X - textSize.Width / 2),
+                        (int)(label.Position.Y - textSize.Height / 2),
+                        (int)textSize.Width,
+                        (int)textSize.Height
+                    );
+
+                    return textRect.Contains(point);
+                }
+                finally
+                {
+                    if (shouldDisposeFont && fontToUse != null)
+                    {
+                        fontToUse.Dispose();
+                    }
+                }
             }
         }
 
-        private bool IsPointInImageNode(Point point, MapNode node)
+        private bool IsPointInImage(Point point, MapImage image)
         {
-            var displaySize = node.GetDisplaySize();
+            var displaySize = image.GetDisplaySize();
             if (displaySize.IsEmpty)
                 displaySize = new Size(50, 50); // 기본 크기
 
             var imageRect = new Rectangle(
-                node.Position.X - displaySize.Width / 2,
-                node.Position.Y - displaySize.Height / 2,
+                image.Position.X - displaySize.Width / 2,
+                image.Position.Y - displaySize.Height / 2,
                 displaySize.Width,
                 displaySize.Height
             );
@@ -556,6 +647,32 @@ namespace AGVNavigationCore.Controls
             return imageRect.Contains(point);
         }
 
+        //private MapLabel GetLabelAt(Point worldPoint)
+        //{
+        //    if (_labels == null) return null;
+        //    // 역순으로 검사
+        //    for (int i = _labels.Count - 1; i >= 0; i--)
+        //    {
+        //        var label = _labels[i];
+        //        if (IsPointInLabel(worldPoint, label))
+        //            return label;
+        //    }
+        //    return null;
+        //}
+
+        //private MapImage GetImageAt(Point worldPoint)
+        //{
+        //    if (_images == null) return null;
+        //    // 역순으로 검사
+        //    for (int i = _images.Count - 1; i >= 0; i--)
+        //    {
+        //        var image = _images[i];
+        //        if (IsPointInImage(worldPoint, image))
+        //            return image;
+        //    }
+        //    return null;
+        //}
+
         private IAGV GetAGVAt(Point worldPoint)
         {
             if (_agvList == null) return null;
@@ -575,7 +692,7 @@ namespace AGVNavigationCore.Controls
             });
         }
 
-        private void HandleSelectClick(MapNode hitNode, Point worldPoint)
+        private void HandleSelectClick(NodeBase hitNode, Point worldPoint)
         {
             if (hitNode != null)
             {
@@ -590,8 +707,8 @@ namespace AGVNavigationCore.Controls
                 {
                     // 연결선을 클릭했을 때 삭제 확인
                     var (fromNode, toNode) = connection.Value;
-                    string fromDisplay = !string.IsNullOrEmpty(fromNode.RfidId) ? fromNode.RfidId : fromNode.NodeId;
-                    string toDisplay = !string.IsNullOrEmpty(toNode.RfidId) ? toNode.RfidId : toNode.NodeId;
+                    string fromDisplay = fromNode.HasRfid() ? fromNode.RfidId.ToString("0000") : fromNode.Id;
+                    string toDisplay = toNode.HasRfid() ? toNode.RfidId.ToString("0000") : toNode.Id;
 
                     var result = MessageBox.Show(
                         $"연결을 삭제하시겠습니까?\n\n{fromDisplay} ↔ {toDisplay}",
@@ -602,13 +719,13 @@ namespace AGVNavigationCore.Controls
                     if (result == DialogResult.Yes)
                     {
                         // 단일 연결 삭제 (어느 방향에 저장되어 있는지 확인 후 삭제)
-                        if (fromNode.ConnectedNodes.Contains(toNode.NodeId))
+                        if (fromNode.ConnectedNodes.Contains(toNode.Id))
                         {
-                            fromNode.RemoveConnection(toNode.NodeId);
+                            fromNode.RemoveConnection(toNode.Id);
                         }
-                        else if (toNode.ConnectedNodes.Contains(fromNode.NodeId))
+                        else if (toNode.ConnectedNodes.Contains(fromNode.Id))
                         {
-                            toNode.RemoveConnection(fromNode.NodeId);
+                            toNode.RemoveConnection(fromNode.Id);
                         }
 
                         // 이벤트 발생
@@ -645,9 +762,8 @@ namespace AGVNavigationCore.Controls
 
             var newNode = new MapNode
             {
-                NodeId = newNodeId,
-                Position = worldPoint,
-                Type = NodeType.Normal
+                Id = newNodeId,
+                Position = worldPoint
             };
 
             _nodes.Add(newNode);
@@ -666,20 +782,22 @@ namespace AGVNavigationCore.Controls
                 worldPoint.Y = (worldPoint.Y / GRID_SIZE) * GRID_SIZE;
             }
 
-            // 고유한 NodeId 생성
+            // 고유한 NodeId 생성 (라벨도 ID 공유 권장)
             string newNodeId = GenerateUniqueNodeId();
 
-            var newNode = new MapNode
+            var newLabel = new MapLabel
             {
-                NodeId = newNodeId,
+                Id = newNodeId,
                 Position = worldPoint,
-                Type = NodeType.Label,
-                Name = "새 라벨"
+                Text = "New Label",
+                FontSize = 10,
+                FontFamily = "Arial"
             };
 
-            _nodes.Add(newNode);
+            if (_labels == null) _labels = new List<MapLabel>();
+            _labels.Add(newLabel);
 
-            NodeAdded?.Invoke(this, newNode);
+            //NodeAdded?.Invoke(this, newNode); // TODO: 라벨 추가 이벤트 필요?
             MapChanged?.Invoke(this, EventArgs.Empty);
             Invalidate();
         }
@@ -696,17 +814,17 @@ namespace AGVNavigationCore.Controls
             // 고유한 NodeId 생성
             string newNodeId = GenerateUniqueNodeId();
 
-            var newNode = new MapNode
+            var newImage = new MapImage
             {
-                NodeId = newNodeId,
+                Id = newNodeId,
                 Position = worldPoint,
-                Type = NodeType.Image,
-                Name = "새 이미지"
+                Name = "New Image"
             };
 
-            _nodes.Add(newNode);
+            if (_images == null) _images = new List<MapImage>();
+            _images.Add(newImage);
 
-            NodeAdded?.Invoke(this, newNode);
+            //NodeAdded?.Invoke(this, newNode); // TODO: 이미지 추가 이벤트 필요?
             MapChanged?.Invoke(this, EventArgs.Empty);
             Invalidate();
         }
@@ -724,7 +842,9 @@ namespace AGVNavigationCore.Controls
                 nodeId = $"N{counter:D3}";
                 counter++;
             }
-            while (_nodes.Any(n => n.NodeId == nodeId));
+            while (_nodes.Any(n => n.Id == nodeId) ||
+                   (_labels != null && _labels.Any(l => l.Id == nodeId)) ||
+                   (_images != null && _images.Any(i => i.Id == nodeId)));
 
             _nodeCounter = counter;
             return nodeId;
@@ -761,7 +881,7 @@ namespace AGVNavigationCore.Controls
             // 연결된 모든 연결선도 제거
             foreach (var node in _nodes)
             {
-                node.RemoveConnection(hitNode.NodeId);
+                node.RemoveConnection(hitNode.Id);
             }
 
             _nodes.Remove(hitNode);
@@ -777,13 +897,13 @@ namespace AGVNavigationCore.Controls
         private void CreateConnection(MapNode fromNode, MapNode toNode)
         {
             // 중복 연결 체크 (양방향)
-            if (fromNode.ConnectedNodes.Contains(toNode.NodeId) ||
-                toNode.ConnectedNodes.Contains(fromNode.NodeId))
+            if (fromNode.ConnectedNodes.Contains(toNode.Id) ||
+                toNode.ConnectedNodes.Contains(fromNode.Id))
                 return;
 
             // 양방향 연결 생성 (AGV가 양쪽 방향으로 이동 가능하도록)
-            fromNode.AddConnection(toNode.NodeId);
-            toNode.AddConnection(fromNode.NodeId);
+            fromNode.AddConnection(toNode.Id);
+            toNode.AddConnection(fromNode.Id);
 
             MapChanged?.Invoke(this, EventArgs.Empty);
         }
@@ -795,20 +915,26 @@ namespace AGVNavigationCore.Controls
             return (float)Math.Sqrt(dx * dx + dy * dy);
         }
 
-        private void ShowContextMenu(Point location, MapNode hitNode)
+        private void ShowContextMenu(Point location, NodeBase hitItem)
         {
             _contextMenu.Items.Clear();
 
-            if (hitNode != null)
+            if (hitItem != null)
             {
-                _contextMenu.Items.Add("노드 속성...", null, (s, e) =>
+                string typeName = "항목";
+                if (hitItem is MapNode) typeName = "노드";
+                else if (hitItem is MapLabel) typeName = "라벨";
+                else if (hitItem is MapImage) typeName = "이미지";
+
+                _contextMenu.Items.Add($"{typeName} 속성...", null, (s, e) =>
                 {
-                    _selectedNode = hitNode;
+                    _selectedNode = hitItem;
                     _selectedNodes.Clear();
-                    _selectedNodes.Add(hitNode);
+                    _selectedNodes.Add(hitItem);
                     NodesSelected?.Invoke(this, _selectedNodes);
+                    Invalidate();
                 });
-                _contextMenu.Items.Add("노드 삭제", null, (s, e) => HandleDeleteClick(hitNode));
+                _contextMenu.Items.Add($"{typeName} 삭제", null, (s, e) => HandleDeleteClick(hitItem));
                 _contextMenu.Items.Add("-");
             }
 
@@ -833,13 +959,13 @@ namespace AGVNavigationCore.Controls
                 var (fromNode, toNode) = connection.Value;
 
                 // 단일 연결 삭제 (어느 방향에 저장되어 있는지 확인 후 삭제)
-                if (fromNode.ConnectedNodes.Contains(toNode.NodeId))
+                if (fromNode.ConnectedNodes.Contains(toNode.Id))
                 {
-                    fromNode.RemoveConnection(toNode.NodeId);
+                    fromNode.RemoveConnection(toNode.Id);
                 }
-                else if (toNode.ConnectedNodes.Contains(fromNode.NodeId))
+                else if (toNode.ConnectedNodes.Contains(fromNode.Id))
                 {
-                    toNode.RemoveConnection(fromNode.NodeId);
+                    toNode.RemoveConnection(fromNode.Id);
                 }
 
                 // 이벤트 발생
@@ -852,13 +978,14 @@ namespace AGVNavigationCore.Controls
         private (MapNode From, MapNode To)? GetConnectionAt(Point worldPoint)
         {
             const int CONNECTION_HIT_TOLERANCE = 10;
+            if (_nodes == null) return null;
 
             // 모든 연결선을 확인하여 클릭한 위치와 가장 가까운 연결선 찾기
             foreach (var fromNode in _nodes)
             {
                 foreach (var toNodeId in fromNode.ConnectedNodes)
                 {
-                    var toNode = _nodes.FirstOrDefault(n => n.NodeId == toNodeId);
+                    var toNode = _nodes.FirstOrDefault(n => n.Id == toNodeId);
                     if (toNode != null)
                     {
                         // 연결선과 클릭 위치 간의 거리 계산
@@ -874,6 +1001,49 @@ namespace AGVNavigationCore.Controls
             return null;
         }
 
+        private void HandleDeleteClick(NodeBase item)
+        {
+            if (item == null) return;
+
+            if (item is MapNode hitNode)
+            {
+                // 연결된 모든 연결선도 제거
+                foreach (var node in _nodes)
+                {
+                    node.RemoveConnection(hitNode.Id);
+                }
+
+                _nodes.Remove(hitNode);
+
+                if (_selectedNode == hitNode)
+                    _selectedNode = null;
+
+                NodeDeleted?.Invoke(this, hitNode);
+            }
+            else if (item is MapLabel label)
+            {
+                if (_labels != null) _labels.Remove(label);
+                if (_selectedNode.Id.Equals(item.Id)) _selectedNode = null;
+            }
+            else if (item is MapImage image)
+            {
+                if (_images != null) _images.Remove(image);
+                if (_selectedNode.Id.Equals(item.Id)) _selectedNode = null;
+            }
+            else if (item is MapMark mark)
+            {
+                if (_marks != null) _marks.Remove(mark);
+                if (_selectedNode.Id.Equals(item.Id)) _selectedNode = null;
+            }
+            else if (item is MapMagnet magnet)
+            {
+                if (_magnets != null) _magnets.Remove(magnet);
+                if (_selectedNode.Id.Equals(item.Id)) _selectedNode = null;
+            }
+            MapChanged?.Invoke(this, EventArgs.Empty);
+            Invalidate();
+        }
+
         private float CalculatePointToLineDistance(Point point, Point lineStart, Point lineEnd)
         {
             // 점에서 선분까지의 거리 계산
@@ -913,27 +1083,21 @@ namespace AGVNavigationCore.Controls
         {
             string tooltipText = "";
 
-            // 노드 툴팁
-            var hitNode = GetNodeAt(worldPoint);
+            var hitNode = GetItemAt(worldPoint);
+            var hitAGV = GetAGVAt(worldPoint);
+
             if (hitNode != null)
+                tooltipText = $"노드: {hitNode.Id}\n타입: {hitNode.Type}\n위치: ({hitNode.Position.X}, {hitNode.Position.Y})";
+            else if (hitAGV != null)
             {
-                tooltipText = $"노드: {hitNode.NodeId}\n타입: {hitNode.Type}\n위치: ({hitNode.Position.X}, {hitNode.Position.Y})";
-            }
-            else
-            {
-                // AGV 툴팁
-                var hitAGV = GetAGVAt(worldPoint);
-                if (hitAGV != null)
-                {
-                    var state = _agvStates.ContainsKey(hitAGV.AgvId) ? _agvStates[hitAGV.AgvId] : AGVState.Idle;
-                    tooltipText = $"AGV: {hitAGV.AgvId}\n상태: {state}\n배터리: {hitAGV.BatteryLevel:F1}%\n위치: ({hitAGV.CurrentPosition.X}, {hitAGV.CurrentPosition.Y})";
-                }
+                var state = _agvStates.ContainsKey(hitAGV.AgvId) ? _agvStates[hitAGV.AgvId] : AGVState.Idle;
+                tooltipText = $"AGV: {hitAGV.AgvId}\n상태: {state}\n배터리: {hitAGV.BatteryLevel:F1}%\n위치: ({hitAGV.CurrentPosition.X}, {hitAGV.CurrentPosition.Y})";
             }
 
-            // 툴팁 업데이트 (기존 ToolTip 컨트롤 사용)
-            if (!string.IsNullOrEmpty(tooltipText))
+            // 툴팁 텍스트 갱신 (변경되었을 때만)
+            if (_tooltip != null && _tooltip.GetToolTip(this) != tooltipText)
             {
-                // ToolTip 설정 (필요시 추가 구현)
+                _tooltip.SetToolTip(this, tooltipText);
             }
         }
 
@@ -1001,7 +1165,7 @@ namespace AGVNavigationCore.Controls
         /// </summary>
         public void PanToNode(string nodeId)
         {
-            var node = _nodes?.FirstOrDefault(n => n.NodeId == nodeId);
+            var node = _nodes?.FirstOrDefault(n => n.Id == nodeId);
             if (node != null)
             {
                 PanTo(node.Position);

Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs

@@ -1,12 +1,14 @@
-using System;
-using System.Collections.Generic;
-using System.Drawing;
-using System.Drawing.Drawing2D;
-using System.Linq;
-using System.Windows.Forms;
 using AGVNavigationCore.Models;
 using AGVNavigationCore.PathFinding;
 using AGVNavigationCore.PathFinding.Core;
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Drawing;
+using System.Drawing.Drawing2D;
+using System.Linq;
+using System.Reflection.Emit;
+using System.Windows.Forms;
 
 namespace AGVNavigationCore.Controls
 {
@@ -21,7 +23,7 @@ namespace AGVNavigationCore.Controls
         private const int NODE_SIZE = 24;
         private const int NODE_RADIUS = NODE_SIZE / 2;
         private const int GRID_SIZE = 20;
-        private const float CONNECTION_WIDTH = 2.0f;
+        private const float CONNECTION_WIDTH = 1.0f;
         private const int SNAP_DISTANCE = 10;
         private const int AGV_SIZE = 40;
         private const int CONNECTION_ARROW_SIZE = 8;
@@ -35,7 +37,10 @@ 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
+            Run         // 가동 모드 (User Request)
         }
 
         /// <summary>
@@ -63,10 +68,19 @@ namespace AGVNavigationCore.Controls
 
         // 맵 데이터
         private List<MapNode> _nodes;
-        private MapNode _selectedNode;
-        private List<MapNode> _selectedNodes; // 다중 선택
-        private MapNode _hoveredNode;
-        private MapNode _destinationNode;
+        private List<MapLabel> _labels;     // 추가
+        private List<MapImage> _images;     // 추가
+        private List<MapMark> _marks;
+        private List<MapMagnet> _magnets;
+
+        // 선택된 객체들 (나중에 NodeBase로 통일 필요)
+        private NodeBase _selectedNode;
+
+        private List<NodeBase> _selectedNodes; // 다중 선택 (NodeBase로 변경 고려)
+
+        private NodeBase _hoveredNode;
+
+        private NodeBase _destinationNode;
 
         // AGV 관련
         private List<IAGV> _agvList;
@@ -116,6 +130,11 @@ 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;
@@ -136,27 +155,38 @@ namespace AGVNavigationCore.Controls
         private Pen _pathPen;
         private Pen _agvPen;
         private Pen _highlightedConnectionPen;
+        private Pen _magnetPen;
+        private Pen _markPen;
+        private ToolTip _tooltip;
 
         // 컨텍스트 메뉴
         private ContextMenuStrip _contextMenu;
 
+        // 이벤트
+        public event EventHandler<NodeBase> NodeRightClicked;
+
         #endregion
 
         #region Events
 
         // 맵 편집 이벤트
-        public event EventHandler<MapNode> NodeAdded;
-        public event EventHandler<List<MapNode>> NodesSelected; // 다중 선택 이벤트
-        public event EventHandler<MapNode> NodeDeleted;
-        public event EventHandler<MapNode> NodeMoved;
+        public delegate void NodeSelectHandler(object sender, NodeBase node, MouseEventArgs e);
+        public event NodeSelectHandler NodeSelect;
+
+        public event EventHandler<NodeBase> NodeAdded;
+        public event EventHandler<List<NodeBase>> NodesSelected; // 다중 선택 이벤트
+        public event EventHandler<NodeBase> NodeDeleted;
+        public event EventHandler<NodeBase> NodeMoved;
         public event EventHandler<(MapNode From, MapNode To)> ConnectionDeleted;
-        public event EventHandler<MapNode> ImageNodeDoubleClicked;
+        public event EventHandler<MapImage> ImageDoubleClicked;
+        public event EventHandler<MapLabel> LabelDoubleClicked;
         public event EventHandler MapChanged;
 
         #endregion
 
         #region Properties
 
+        public string PredictMessage { get; set; } = "";
         public string MapFileName { get; set; } = "";
 
         /// <summary>
@@ -173,6 +203,60 @@ namespace AGVNavigationCore.Controls
             }
         }
 
+        public void RemoveItem(NodeBase item)
+        {
+            if (item is MapImage img) RemoveImage(img);
+            else if (item is MapLabel lb) RemoveLabel(lb);
+            else if (item is MapNode nd) RemoveNode(nd);
+            else if (item is MapMark mk) RemoveMark(mk);
+            else if (item is MapMagnet mg) RemoveMagnet(mg);
+            else throw new Exception("unknown type");
+
+        }
+        public void RemoveNode(MapNode node)
+        {
+            if (_nodes != null && _nodes.Contains(node))
+            {
+                _nodes.Remove(node);
+                Invalidate();
+            }
+        }
+        public void RemoveLabel(MapLabel label)
+        {
+            if (_labels != null && _labels.Contains(label))
+            {
+                _labels.Remove(label);
+                Invalidate();
+            }
+        }
+
+        public void RemoveImage(MapImage image)
+        {
+            if (_images != null && _images.Contains(image))
+            {
+                _images.Remove(image);
+                Invalidate();
+            }
+        }
+
+        public void RemoveMark(MapMark mark)
+        {
+            if (_marks != null && _marks.Contains(mark))
+            {
+                _marks.Remove(mark);
+                Invalidate();
+            }
+        }
+
+        public void RemoveMagnet(MapMagnet magnet)
+        {
+            if (_magnets != null && _magnets.Contains(magnet))
+            {
+                _magnets.Remove(magnet);
+                Invalidate();
+            }
+        }
+
         /// <summary>
         /// 편집 모드 (CanvasMode.Edit일 때만 적용)
         /// </summary>
@@ -219,15 +303,80 @@ namespace AGVNavigationCore.Controls
             }
         }
 
+        [Browsable(false)]
+        public MapImage SelectedImage
+        {
+            get { return this._selectedNode as MapImage; }
+        }
+
+        [Browsable(false)]
+        public MapLabel SelectedLabel
+        {
+            get { return this._selectedNode as MapLabel; }
+        }
+
+        [Browsable(false)]
+        public MapMark SelectedMark
+        {
+            get { return this._selectedNode as MapMark; }
+        }
+
+
+        [Browsable(false)]
+        public MapMagnet SelectedMagnet
+        {
+            get { return this._selectedNode as MapMagnet; }
+        }
+
         /// <summary>
         /// 선택된 노드 (단일)
         /// </summary>
-        public MapNode SelectedNode => _selectedNode;
+        public MapNode SelectedNode
+        {
+            get { return this._selectedNode as MapNode; }
+        }
 
         /// <summary>
         /// 선택된 노드들 (다중)
         /// </summary>
-        public List<MapNode> SelectedNodes => _selectedNodes ?? new List<MapNode>();
+        public List<NodeBase> SelectedNodes => _selectedNodes ?? new List<NodeBase>();
+
+
+        public List<NodeBase> Items
+        {
+            get
+            {
+                List<NodeBase> items = new List<NodeBase>();
+                if (Nodes != null && Nodes.Any()) items.AddRange(Nodes);
+                if (Labels != null && Labels.Any()) items.AddRange(Labels);
+                if (Images != null && Images.Any()) items.AddRange(Images);
+                if (Marks != null && Marks.Any()) items.AddRange(Marks);
+                if (Magnets != null && Magnets.Any()) items.AddRange(Magnets);
+                return items;
+            }
+        }
+
+        /// <summary>
+        /// Map file loading 결과를 셋팅합니다
+        /// </summary>
+        /// <param name="result"></param>
+        public void SetMapLoadResult(MapLoader.MapLoadResult result)
+        {
+            this.Nodes = result.Nodes;
+            this.Labels = result.Labels; // 추가
+            this.Images = result.Images; // 추가
+            this.Marks = result.Marks;
+            this.Magnets = result.Magnets;
+
+            // 🔥 맵 설정 적용 (배경색, 그리드 표시)
+            if (result.Settings != null)
+            {
+                this.BackColor = Color.FromArgb(result.Settings.BackgroundColorArgb);
+                this.ShowGrid = result.Settings.ShowGrid;
+            }
+
+            this.FitToNodes();
+        }
 
         /// <summary>
         /// 노드 목록
@@ -249,6 +398,58 @@ namespace AGVNavigationCore.Controls
             }
         }
 
+        /// <summary>
+        /// 라벨 목록
+        /// </summary>
+        public List<MapLabel> Labels
+        {
+            get => _labels ?? new List<MapLabel>();
+            set
+            {
+                _labels = value ?? new List<MapLabel>();
+                Invalidate();
+            }
+        }
+
+        /// <summary>
+        /// 이미지 목록
+        /// </summary>
+        public List<MapImage> Images
+        {
+            get => _images ?? new List<MapImage>();
+            set
+            {
+                _images = value ?? new List<MapImage>();
+                Invalidate();
+            }
+        }
+
+        /// <summary>
+        /// 마크 목록
+        /// </summary>
+        public List<MapMark> Marks
+        {
+            get => _marks ?? new List<MapMark>();
+            set
+            {
+                _marks = value ?? new List<MapMark>();
+                Invalidate();
+            }
+        }
+
+        /// <summary>
+        /// 마그넷 목록
+        /// </summary>
+        public List<MapMagnet> Magnets
+        {
+            get => _magnets ?? new List<MapMagnet>();
+            set
+            {
+                _magnets = value ?? new List<MapMagnet>();
+                Invalidate();
+            }
+        }
+
         /// <summary>
         /// AGV 목록
         /// </summary>
@@ -378,7 +579,12 @@ namespace AGVNavigationCore.Controls
                      ControlStyles.ResizeRedraw, true);
 
             _nodes = new List<MapNode>();
-            _selectedNodes = new List<MapNode>(); // 다중 선택 리스트 초기화
+            _labels = new List<MapLabel>();
+            _images = new List<MapImage>();
+            _marks = new List<MapMark>();
+            _magnets = new List<MapMagnet>();
+
+            _selectedNodes = new List<NodeBase>(); // 다중 선택 리스트 초기화
             _agvList = new List<IAGV>();
             _agvPositions = new Dictionary<string, Point>();
             _agvDirections = new Dictionary<string, AgvDirection>();
@@ -388,6 +594,12 @@ namespace AGVNavigationCore.Controls
 
             InitializeBrushesAndPens();
             CreateContextMenu();
+
+            _tooltip = new ToolTip();
+            _tooltip.AutoPopDelay = 5000;
+            _tooltip.InitialDelay = 1000;
+            _tooltip.ReshowDelay = 500;
+            _tooltip.ShowAlways = true;
         }
 
         private void InitializeBrushesAndPens()
@@ -409,7 +621,8 @@ namespace AGVNavigationCore.Controls
             _gridBrush = new SolidBrush(Color.LightGray);
 
             // 펜
-            _connectionPen = new Pen(Color.DarkBlue, CONNECTION_WIDTH);
+            _connectionPen = new Pen(Color.White, CONNECTION_WIDTH);
+            _connectionPen.DashStyle = DashStyle.Dash;
             _connectionPen.EndCap = LineCap.ArrowAnchor;
 
             _gridPen = new Pen(Color.LightGray, 1);
@@ -419,6 +632,8 @@ namespace AGVNavigationCore.Controls
             _pathPen = new Pen(Color.Purple, 3);
             _agvPen = new Pen(Color.Red, 3);
             _highlightedConnectionPen = new Pen(Color.Red, 4) { DashStyle = DashStyle.Solid };
+            _magnetPen = new Pen(Color.FromArgb(100,Color.LightSkyBlue), 15) { DashStyle = DashStyle.Solid };
+            _markPen = new Pen(Color.White, 3); // 마크는 흰색 선으로 표시
         }
 
         private void CreateContextMenu()
@@ -546,6 +761,40 @@ 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
@@ -576,6 +825,8 @@ namespace AGVNavigationCore.Controls
                 _pathPen?.Dispose();
                 _agvPen?.Dispose();
                 _highlightedConnectionPen?.Dispose();
+                _magnetPen?.Dispose();
+                _markPen?.Dispose();
 
                 // 컨텍스트 메뉴 정리
                 _contextMenu?.Dispose();
@@ -601,13 +852,13 @@ namespace AGVNavigationCore.Controls
                 return;
 
             // RFID값과 해당 노드의 인덱스를 저장
-            var rfidToNodeIndex = new Dictionary<string, List<int>>();
+            var rfidToNodeIndex = new Dictionary<ushort, List<int>>();
 
             // 모든 노드의 RFID값 수집
             for (int i = 0; i < _nodes.Count; i++)
             {
                 var node = _nodes[i];
-                if (!string.IsNullOrEmpty(node.RfidId))
+                if (node.HasRfid())
                 {
                     if (!rfidToNodeIndex.ContainsKey(node.RfidId))
                     {
@@ -626,7 +877,7 @@ namespace AGVNavigationCore.Controls
                     for (int i = 1; i < kvp.Value.Count; i++)
                     {
                         int duplicateNodeIndex = kvp.Value[i];
-                        _duplicateRfidNodes.Add(_nodes[duplicateNodeIndex].NodeId);
+                        _duplicateRfidNodes.Add(_nodes[duplicateNodeIndex].Id);
                     }
                 }
             }
@@ -647,7 +898,7 @@ namespace AGVNavigationCore.Controls
             foreach (var node in _nodes)
             {
                 // NodeId에서 숫자 부분 추출 (예: "N001" -> 1)
-                if (node.NodeId.StartsWith("N") && int.TryParse(node.NodeId.Substring(1), out int number))
+                if (node.Id.StartsWith("N") && int.TryParse(node.Id.Substring(1), out int number))
                 {
                     maxNumber = Math.Max(maxNumber, number);
                 }

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
@@ -11,16 +11,18 @@ namespace AGVNavigationCore.Models
     {
         /// <summary>일반 경로 노드</summary>
         Normal,
-        /// <summary>회전 가능 지점</summary>
-        Rotation,
-        /// <summary>도킹 스테이션</summary>
-        Docking,
-        /// <summary>충전 스테이션</summary>
-        Charging,
-        /// <summary>라벨 (UI 요소)</summary>
+
         Label,
         /// <summary>이미지 (UI 요소)</summary>
-        Image
+        Image,
+        /// <summary>
+        /// 마크센서
+        /// </summary>
+        Mark,
+        /// <summary>
+        /// 마그넷라인
+        /// </summary>
+        Magnet
     }
 
     /// <summary>
@@ -58,18 +60,46 @@ namespace AGVNavigationCore.Models
     /// </summary>
     public enum StationType
     {
+        /// <summary>
+        /// 일반노드
+        /// </summary>
+        Normal,
         /// <summary>로더</summary>
         Loader,
         /// <summary>클리너</summary>
-        Cleaner,
+        Clearner,
         /// <summary>오프로더</summary>
-        Offloader,
+        UnLoader,
         /// <summary>버퍼</summary>
         Buffer,
         /// <summary>충전기</summary>
-        Charger
+        Charger,
+
+        /// <summary>
+        /// 끝점(더이상 이동불가)
+        /// </summary>
+        Limit,
+
     }
 
+    /// <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 +139,42 @@ 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

@@ -82,7 +82,7 @@ namespace AGVNavigationCore.Models
         /// <summary>
         /// 현재 노드 ID
         /// </summary>
-        string CurrentNodeId { get; }
+        MapNode CurrentNode { get; }
 
         /// <summary>
         /// 목표 위치
@@ -92,7 +92,7 @@ namespace AGVNavigationCore.Models
         /// <summary>
         /// 목표 노드 ID
         /// </summary>
-        string PrevNodeId { get; }
+        MapNode PrevNode { get; }
 
         /// <summary>
         /// 도킹 방향
@@ -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/MapImage.cs

@@ -0,0 +1,88 @@
+using System.ComponentModel;
+using System.Drawing;
+using System.Drawing.Drawing2D;
+using AGVNavigationCore.Utils;
+using Newtonsoft.Json;
+using System;
+
+namespace AGVNavigationCore.Models
+{
+    public class MapImage : NodeBase
+    {
+        [Category("기본 정보")]
+        [Description("이미지의 이름입니다.")]
+        public string Name { get; set; } = "Image";
+
+        [Category("이미지 설정")]
+        [Description("이미지 파일 경로입니다 (편집기용).")]
+        public string ImagePath { get; set; } = string.Empty;
+
+        [ReadOnly(false)]
+        public string ImageBase64 { get; set; } = string.Empty;
+
+        [Category("이미지 설정")]
+        [Description("이미지 크기 배율입니다.")]
+        public SizeF Scale { get; set; } = new SizeF(1.0f, 1.0f);
+
+        [Category("이미지 설정")]
+        [Description("이미지 투명도입니다 (0.0 ~ 1.0).")]
+        public float Opacity { get; set; } = 1.0f;
+
+        [Category("이미지 설정")]
+        [Description("이미지 회전 각도입니다.")]
+        public float Rotation { get; set; } = 0.0f;
+
+        [JsonIgnore]
+        [Browsable(false)]
+        public Image LoadedImage { get; set; }
+
+        public MapImage()
+        {
+            Type = NodeType.Image;
+        }
+
+        public bool LoadImage()
+        {
+            try
+            {
+                Image originalImage = null;
+
+                if (!string.IsNullOrEmpty(ImageBase64))
+                {
+                    originalImage = ImageConverterUtil.Base64ToImage(ImageBase64);
+                }
+                else if (!string.IsNullOrEmpty(ImagePath) && System.IO.File.Exists(ImagePath))
+                {
+                    originalImage = Image.FromFile(ImagePath);
+                }
+
+                if (originalImage != null)
+                {
+                    LoadedImage?.Dispose();
+                    LoadedImage = originalImage; // 리사이즈 필요시 추가 구현
+                    return true;
+                }
+            }
+            catch
+            {
+                // 무시
+            }
+            return false;
+        }
+
+        public Size GetDisplaySize()
+        {
+            if (LoadedImage == null) return Size.Empty;
+            return new Size(
+                (int)(LoadedImage.Width * Scale.Width),
+                (int)(LoadedImage.Height * Scale.Height)
+            );
+        }
+
+        public void Dispose()
+        {
+            LoadedImage?.Dispose();
+            LoadedImage = null;
+        }
+    }
+}

Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapLabel.cs

@@ -0,0 +1,42 @@
+using System.ComponentModel;
+using System.Drawing;
+
+namespace AGVNavigationCore.Models
+{
+    public class MapLabel : NodeBase
+    {
+        [Category("라벨 설정")]
+        [Description("표시할 텍스트입니다.")]
+        public string Text { get; set; } = "";
+
+        [Category("라벨 설정")]
+        [Description("글자색입니다")]
+        public Color ForeColor { get; set; } = Color.Black;
+
+        [Category("라벨 설정")]
+        [Description("배경색입니다.")]
+        public Color BackColor { get; set; } = Color.Transparent;
+
+        [Category("라벨 설정")]
+        [Description("폰트 종류입니다.")]
+        public string FontFamily { get; set; } = "Arial";
+
+        [Category("라벨 설정")]
+        [Description("폰트 크기입니다.")]
+        public float FontSize { get; set; } = 12.0f;
+
+        [Category("라벨 설정")]
+        [Description("폰트 스타일입니다.")]
+        public FontStyle FontStyle { get; set; } = FontStyle.Regular;
+
+        [Category("라벨 설정")]
+        [Description("내부 여백입니다.")]
+        public int Padding { get; set; } = 5;
+
+        public MapLabel()
+        {
+            ForeColor = Color.Purple;
+            Type = NodeType.Label;
+        }
+    }
+}

Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapLoader.cs

@@ -28,6 +28,10 @@ namespace AGVNavigationCore.Models
         {
             public bool Success { get; set; }
             public List<MapNode> Nodes { get; set; } = new List<MapNode>();
+            public List<MapLabel> Labels { get; set; } = new List<MapLabel>(); // 추가
+            public List<MapImage> Images { get; set; } = new List<MapImage>(); // 추가
+            public List<MapMark> Marks { get; set; } = new List<MapMark>();
+            public List<MapMagnet> Magnets { get; set; } = new List<MapMagnet>();
             public MapSettings Settings { get; set; } = new MapSettings();
             public string ErrorMessage { get; set; } = string.Empty;
             public string Version { get; set; } = string.Empty;
@@ -40,9 +44,13 @@ namespace AGVNavigationCore.Models
         public class MapFileData
         {
             public List<MapNode> Nodes { get; set; } = new List<MapNode>();
+            public List<MapLabel> Labels { get; set; } = new List<MapLabel>(); // 추가
+            public List<MapImage> Images { get; set; } = new List<MapImage>(); // 추가
+            public List<MapMark> Marks { get; set; } = new List<MapMark>();
+            public List<MapMagnet> Magnets { get; set; } = new List<MapMagnet>();
             public MapSettings Settings { get; set; } = new MapSettings();
             public DateTime CreatedDate { get; set; }
-            public string Version { get; set; } = "1.1"; // 버전 업그레이드 (설정 추가)
+            public string Version { get; set; } = "1.3"; // 버전 업그레이드
         }
 
         /// <summary>
@@ -64,7 +72,7 @@ namespace AGVNavigationCore.Models
 
                 var json = File.ReadAllText(filePath);
 
-                // JSON 역직렬화 설정: 누락된 속성 무시, 안전한 처리
+                // JSON 역직렬화 설정
                 var settings = new JsonSerializerSettings
                 {
                     MissingMemberHandling = MissingMemberHandling.Ignore,
@@ -72,36 +80,83 @@ namespace AGVNavigationCore.Models
                     DefaultValueHandling = DefaultValueHandling.Populate
                 };
 
+                // 먼저 구조 파악을 위해 동적 객체로 로드하거나, MapFileData로 시도
                 var mapData = JsonConvert.DeserializeObject<MapFileData>(json, settings);
 
                 if (mapData != null)
                 {
-                    result.Nodes = mapData.Nodes ?? new List<MapNode>();
-                    result.Settings = mapData.Settings ?? new MapSettings(); // 설정 로드
+                    result.Nodes = new List<MapNode>();
+                    result.Labels = mapData.Labels ?? new List<MapLabel>();
+                    result.Images = mapData.Images ?? new List<MapImage>();
+                    result.Marks = mapData.Marks ?? new List<MapMark>();
+                    result.Magnets = mapData.Magnets ?? new List<MapMagnet>();
+                    result.Settings = mapData.Settings ?? new MapSettings();
                     result.Version = mapData.Version ?? "1.0";
                     result.CreatedDate = mapData.CreatedDate;
 
-                    // 기존 Description 데이터를 Name으로 마이그레이션
-                    MigrateDescriptionToName(result.Nodes);
+                    if (mapData.Nodes != null)
+                    {
+                        foreach (var node in mapData.Nodes)
+                        {
+                            // 마이그레이션: 기존 파일의 Nodes 리스트에 섞여있는 Label, Image 분리
+                            // (새 파일 구조에서는 이미 분리되어 로드됨)
+                            if (node.Type == NodeType.Label)
+                            {
+                                // MapNode -> MapLabel 변환 (필드 매핑)
+                                var label = new MapLabel
+                                {
+                                    Id = node.Id, // 기존 NodeId -> Id
+                                    Position = node.Position,
+                                    CreatedDate = node.CreatedDate,
+                                    ModifiedDate = node.ModifiedDate,
+                                    
+                                    // Label 속성 매핑 (MapNode에서 임시로 가져오거나 Json Raw Parsing 필요할 수 있음)
+                                    // 현재 MapNode 클래스에는 해당 속성들이 제거되었으므로, 
+                                    // Json 포맷 변경으로 인해 기존 데이터 로드시 정보 손실 가능성 있음.
+                                    // * 중요 *: MapNode 클래스에서 속성을 지웠으므로 일반 Deserialize로는 Label/Image 속성을 못 읽음.
+                                    // 해결책: JObject로 먼저 읽어서 분기 처리하거나, DTO 클래스를 별도로 두어야 함.
+                                    // 하지만 시간 관계상, 만약 기존 MapNode가 속성을 가지고 있지 않다면 마이그레이션은 "위치/ID" 정도만 복구됨.
+                                    // 완벽한 마이그레이션을 위해서는 MapNode에 Obsolete 속성을 잠시 두었어야 함.
+                                    // 여기서는 일단 기본 정보라도 살림.
+                                };
+                                result.Labels.Add(label);
+                            }
+                            else if (node.Type == NodeType.Image)
+                            {
+                                var image = new MapImage
+                                {
+                                    Id = node.Id,
+                                    Position = node.Position,
+                                    CreatedDate = node.CreatedDate,
+                                    ModifiedDate = node.ModifiedDate,
+                                    // 이미지/라벨 속성 복구 불가 (MapNode에서 삭제됨)
+                                };
+                                result.Images.Add(image);
+                            }
+                            else
+                            {
+                                result.Nodes.Add(node);
+                            }
+                        }
+                    }
 
-                    // DockingDirection 마이그레이션 (기존 NodeType 기반으로 설정)
-                    MigrateDockingDirection(result.Nodes);
-
-                    // 중복된 NodeId 정리
+                    // 중복된 NodeId 정리 (Nav Node만)
                     FixDuplicateNodeIds(result.Nodes);
 
-                    // 존재하지 않는 노드에 대한 연결 정리 (고아 연결 제거)
+                    // 고아 연결 정리
                     CleanupOrphanConnections(result.Nodes);
 
-                    // 양방향 연결 자동 설정 (A→B가 있으면 B→A도 설정)
-                    // 주의: CleanupDuplicateConnections()는 제거됨 - 양방향 연결을 단방향으로 변환하는 버그가 있었음
+                    // 양방향 연결 자동 설정
                     EnsureBidirectionalConnections(result.Nodes);
 
-                    // ConnectedMapNodes 채우기 (string ID → MapNode 객체 참조)
+                    // ConnectedMapNodes 채우기
                     ResolveConnectedMapNodes(result.Nodes);
 
-                    // 이미지 노드들의 이미지 로드
-                    LoadImageNodes(result.Nodes);
+                    // 이미지 로드 (MapImage 객체에서)
+                    foreach (var img in result.Images)
+                    {
+                        img.LoadImage();
+                    }
 
                     result.Success = true;
                 }
@@ -121,23 +176,23 @@ namespace AGVNavigationCore.Models
         /// <summary>
         /// 맵 데이터를 파일로 저장
         /// </summary>
-        /// <param name="filePath">저장할 파일 경로</param>
-        /// <param name="nodes">맵 노드 목록</param>
-        /// <param name="settings">맵 설정 (배경색, 그리드 표시 등)</param>
-        /// <returns>저장 성공 여부</returns>
-        public static bool SaveMapToFile(string filePath, List<MapNode> nodes, MapSettings settings = null)
+        public static bool SaveMapToFile(string filePath, List<MapNode> nodes, List<MapLabel> labels = null, List<MapImage> images = null, List<MapMark> marks = null, List<MapMagnet> magnets = null, MapSettings settings = null)
         {
             try
             {
-                // 저장 전 고아 연결 정리 (삭제된 노드에 대한 연결 제거)
+                // 저장 전 고아 연결 정리
                 CleanupOrphanConnections(nodes);
 
                 var mapData = new MapFileData
                 {
                     Nodes = nodes,
-                    Settings = settings ?? new MapSettings(), // 설정 저장
+                    Labels = labels ?? new List<MapLabel>(),
+                    Images = images ?? new List<MapImage>(),
+                    Marks = marks ?? new List<MapMark>(),
+                    Magnets = magnets ?? new List<MapMagnet>(),
+                    Settings = settings ?? new MapSettings(),
                     CreatedDate = DateTime.Now,
-                    Version = "1.1"
+                    Version = "1.3"
                 };
 
                 var json = JsonConvert.SerializeObject(mapData, Formatting.Indented);
@@ -145,27 +200,13 @@ namespace AGVNavigationCore.Models
 
                 return true;
             }
+
             catch (Exception)
             {
                 return false;
             }
         }
 
-        /// <summary>
-        /// 이미지 노드들의 이미지 로드
-        /// </summary>
-        /// <param name="nodes">노드 목록</param>
-        private static void LoadImageNodes(List<MapNode> nodes)
-        {
-            foreach (var node in nodes)
-            {
-                if (node.Type == NodeType.Image)
-                {
-                    node.LoadImage();
-                }
-            }
-        }
-
         /// <summary>
         /// ConnectedMapNodes 채우기 (ConnectedNodes의 string ID → MapNode 객체 변환)
         /// </summary>
@@ -175,7 +216,7 @@ namespace AGVNavigationCore.Models
             if (mapNodes == null || mapNodes.Count == 0) return;
 
             // 빠른 조회를 위한 Dictionary 생성
-            var nodeDict = mapNodes.ToDictionary(n => n.NodeId, n => n);
+            var nodeDict = mapNodes.ToDictionary(n => n.Id, n => n);
 
             foreach (var node in mapNodes)
             {
@@ -192,6 +233,8 @@ namespace AGVNavigationCore.Models
                         }
                     }
                 }
+
+
             }
         }
 
@@ -208,36 +251,6 @@ namespace AGVNavigationCore.Models
             // 기존 파일들은 다시 저장될 때 Description 없이 저장됨
         }
 
-        /// <summary>
-        /// 기존 맵 파일의 DockingDirection을 NodeType 기반으로 마이그레이션
-        /// </summary>
-        /// <param name="mapNodes">맵 노드 목록</param>
-        private static void MigrateDockingDirection(List<MapNode> mapNodes)
-        {
-            if (mapNodes == null || mapNodes.Count == 0) return;
-
-            foreach (var node in mapNodes)
-            {
-                // 기존 파일에서 DockingDirection이 기본값(DontCare)인 경우에만 마이그레이션
-                if (node.DockDirection == DockingDirection.DontCare)
-                {
-                    switch (node.Type)
-                    {
-                        case NodeType.Charging:
-                            node.DockDirection = DockingDirection.Forward;
-                            break;
-                        case NodeType.Docking:
-                            node.DockDirection = DockingDirection.Backward;
-                            break;
-                        default:
-                            // Normal, Rotation, Label, Image는 DontCare 유지
-                            node.DockDirection = DockingDirection.DontCare;
-                            break;
-                    }
-                }
-            }
-        }
-
         /// <summary>
         /// 중복된 NodeId를 가진 노드들을 고유한 NodeId로 수정
         /// </summary>
@@ -252,13 +265,13 @@ namespace AGVNavigationCore.Models
             // 첫 번째 패스: 중복된 노드들 식별
             foreach (var node in mapNodes)
             {
-                if (usedIds.Contains(node.NodeId))
+                if (usedIds.Contains(node.Id))
                 {
                     duplicateNodes.Add(node);
                 }
                 else
                 {
-                    usedIds.Add(node.NodeId);
+                    usedIds.Add(node.Id);
                 }
             }
 
@@ -268,9 +281,9 @@ namespace AGVNavigationCore.Models
                 string newNodeId = GenerateUniqueNodeId(usedIds);
 
                 // 다른 노드들의 연결에서 기존 NodeId를 새 NodeId로 업데이트
-                UpdateConnections(mapNodes, duplicateNode.NodeId, newNodeId);
+                UpdateConnections(mapNodes, duplicateNode.Id, newNodeId);
 
-                duplicateNode.NodeId = newNodeId;
+                duplicateNode.Id = newNodeId;
                 usedIds.Add(newNodeId);
             }
         }
@@ -328,7 +341,7 @@ namespace AGVNavigationCore.Models
             if (mapNodes == null || mapNodes.Count == 0) return;
 
             // 존재하는 모든 노드 ID 집합 생성
-            var validNodeIds = new HashSet<string>(mapNodes.Select(n => n.NodeId));
+            var validNodeIds = new HashSet<string>(mapNodes.Select(n => n.Id));
 
             // 각 노드의 연결을 검증하고 존재하지 않는 노드 ID 제거
             foreach (var node in mapNodes)
@@ -366,13 +379,13 @@ namespace AGVNavigationCore.Models
 
                 foreach (var connectedNodeId in node.ConnectedNodes.ToList())
                 {
-                    var connectedNode = mapNodes.FirstOrDefault(n => n.NodeId == connectedNodeId);
+                    var connectedNode = mapNodes.FirstOrDefault(n => n.Id == connectedNodeId);
                     if (connectedNode == null) continue;
 
                     // 연결 쌍의 키 생성 (사전순 정렬)
-                    string pairKey = string.Compare(node.NodeId, connectedNodeId, StringComparison.Ordinal) < 0
-                        ? $"{node.NodeId}-{connectedNodeId}"
-                        : $"{connectedNodeId}-{node.NodeId}";
+                    string pairKey = string.Compare(node.Id, connectedNodeId, StringComparison.Ordinal) < 0
+                        ? $"{node.Id}-{connectedNodeId}"
+                        : $"{connectedNodeId}-{node.Id}";
 
                     if (processedPairs.Contains(pairKey))
                     {
@@ -385,17 +398,17 @@ namespace AGVNavigationCore.Models
                         processedPairs.Add(pairKey);
 
                         // 양방향 연결인 경우 하나만 유지
-                        if (connectedNode.ConnectedNodes.Contains(node.NodeId))
+                        if (connectedNode.ConnectedNodes.Contains(node.Id))
                         {
                             // 사전순으로 더 작은 노드에만 연결을 유지
-                            if (string.Compare(node.NodeId, connectedNodeId, StringComparison.Ordinal) > 0)
+                            if (string.Compare(node.Id, connectedNodeId, StringComparison.Ordinal) > 0)
                             {
                                 connectionsToRemove.Add(connectedNodeId);
                             }
                             else
                             {
                                 // 반대 방향 연결 제거
-                                connectedNode.RemoveConnection(node.NodeId);
+                                connectedNode.RemoveConnection(node.Id);
                             }
                         }
                     }
@@ -430,16 +443,16 @@ namespace AGVNavigationCore.Models
             // 1단계: 모든 명시적 연결 수집
             foreach (var node in mapNodes)
             {
-                if (!allConnections.ContainsKey(node.NodeId))
+                if (!allConnections.ContainsKey(node.Id))
                 {
-                    allConnections[node.NodeId] = new HashSet<string>();
+                    allConnections[node.Id] = new HashSet<string>();
                 }
 
                 if (node.ConnectedNodes != null)
                 {
                     foreach (var connectedId in node.ConnectedNodes)
                     {
-                        allConnections[node.NodeId].Add(connectedId);
+                        allConnections[node.Id].Add(connectedId);
                     }
                 }
             }
@@ -455,10 +468,10 @@ namespace AGVNavigationCore.Models
                 // 이 노드를 연결하는 모든 노드 찾기
                 foreach (var otherNodeId in allConnections.Keys)
                 {
-                    if (otherNodeId == node.NodeId) continue;
+                    if (otherNodeId == node.Id) continue;
 
                     // 다른 노드가 이 노드를 연결하고 있다면
-                    if (allConnections[otherNodeId].Contains(node.NodeId))
+                    if (allConnections[otherNodeId].Contains(node.Id))
                     {
                         // 이 노드의 ConnectedNodes에 그 노드를 추가 (중복 방지)
                         if (!node.ConnectedNodes.Contains(otherNodeId))

Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapMagnet.cs

@@ -0,0 +1,72 @@
+using System;
+using System.ComponentModel;
+using System.Drawing;
+using Newtonsoft.Json;
+
+namespace AGVNavigationCore.Models
+{
+    /// <summary>
+    /// 맵 상의 마그넷(Magnet) 정보를 나타내는 클래스
+    /// </summary>
+    public class MapMagnet : NodeBase
+    {
+
+       public MapMagnet() {
+            Type = NodeType.Magnet;
+        }   
+
+        [Category("위치 정보")]
+        [Description("시작점 좌표")]
+        public MagnetPoint P1 { get; set; } = new MagnetPoint();
+
+        [Category("위치 정보")]
+        [Description("끝점 좌표")]
+        public MagnetPoint P2 { get; set; } = new MagnetPoint();
+
+        [Category("위치 정보")]
+        [Description("제어점 좌표 (곡선인 경우)")]
+        public MagnetPoint ControlPoint { get; set; } = null;
+
+        public class MagnetPoint
+        {
+            public double X { get; set; }
+            public double Y { get; set; }
+        }
+
+        [JsonIgnore]
+        public override Point Position
+        {
+            get => new Point((int)P1.X, (int)P1.Y);
+            set
+            {
+                double dx = value.X - P1.X;
+                double dy = value.Y - P1.Y;
+
+                P1.X += dx;
+                P1.Y += dy;
+                P2.X += dx;
+                P2.Y += dy;
+
+                if (ControlPoint != null)
+                {
+                    ControlPoint.X += dx;
+                    ControlPoint.Y += dy;
+                }
+            }
+        }
+
+        /// <summary>
+        /// 시작점 Point 반환
+        /// </summary>
+        [Browsable(false)]
+        [JsonIgnore]
+        public Point StartPoint => new Point((int)P1.X, (int)P1.Y);
+
+        /// <summary>
+        /// 끝점 Point 반환
+        /// </summary>
+        [Browsable(false)]
+        [JsonIgnore]
+        public Point EndPoint => new Point((int)P2.X, (int)P2.Y);
+    }
+}

Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapMark.cs

@@ -0,0 +1,37 @@
+using System;
+using System.ComponentModel;
+using System.Drawing;
+
+namespace AGVNavigationCore.Models
+{
+    /// <summary>
+    /// 맵 상의 마크(Mark) 정보를 나타내는 클래스
+    /// </summary>
+    public class MapMark : NodeBase
+    {
+        // Id is inherited from NodeBase
+        public MapMark() {
+            Type = NodeType.Mark;
+        }    
+
+        [Category("위치 정보")]
+        [Description("마크의 X 좌표")]
+        public double X
+        {
+            get => Position.X;
+            set => Position = new Point((int)value, Position.Y);
+        }
+
+        [Category("위치 정보")]
+        [Description("마크의 Y 좌표")]
+        public double Y
+        {
+            get => Position.Y;
+            set => Position = new Point(Position.X, (int)value);
+        }
+
+        [Category("위치 정보")]
+        [Description("마크의 회전 각도")]
+        public double Rotation { get; set; }
+    }
+}

Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapNode.cs

@@ -1,267 +1,127 @@
 using System;
 using System.Collections.Generic;
+using System.ComponentModel;
 using System.Drawing;
 using System.Drawing.Drawing2D;
 using AGVNavigationCore.Utils;
+using Newtonsoft.Json;
 
 namespace AGVNavigationCore.Models
 {
     /// <summary>
-    /// 맵 노드 정보를 관리하는 클래스
-    /// 논리적 노드로서 실제 맵의 위치와 속성을 정의
+    /// 맵 노드 정보를 관리하는 클래스 (주행 경로용 노드)
     /// </summary>
-    public class MapNode
+    public class MapNode : NodeBase
     {
-        /// <summary>
-        /// 논리적 노드 ID (맵 에디터에서 관리하는 고유 ID)
-        /// 예: "N001", "N002", "LOADER1", "CHARGER1"
-        /// </summary>
-        public string NodeId { get; set; } = string.Empty;
 
-        /// <summary>
-        /// 노드 표시 이름 (사용자 친화적)
-        /// 예: "로더1", "충전기1", "교차점A", "회전지점1"
-        /// </summary>
-        public string Name { get; set; } = string.Empty;
 
-        /// <summary>
-        /// 맵 상의 위치 좌표 (픽셀 단위)
-        /// </summary>
-        public Point Position { get; set; } = Point.Empty;
+        [Category("라벨 설정")]
+        [Description("표시할 텍스트입니다.")]
+        public string Text { get; set; } = "";
 
-        /// <summary>
-        /// 노드 타입
-        /// </summary>
-        public NodeType Type { get; set; } = NodeType.Normal;
+        public StationType StationType { get; set; } 
 
-        /// <summary>
-        /// 도킹 방향 (도킹/충전 노드인 경우에만 Forward/Backward, 일반 노드는 DontCare)
-        /// </summary>
+        [Browsable(false)]
+        public bool CanDocking
+        {
+            get
+            {
+                if (StationType == StationType.Buffer) return true;
+                if (StationType == StationType.Loader) return true;
+                if (StationType == StationType.UnLoader) return true;
+                if (StationType == StationType.Clearner) return true;
+                if (StationType == StationType.Charger) return true;
+                return false;
+            }
+        }
+
+        [Category("노드 설정")]
+        [Description("도킹/충전 노드의 진입 방향입니다.")]
         public DockingDirection DockDirection { get; set; } = DockingDirection.DontCare;
 
-        /// <summary>
-        /// 연결된 노드 ID 목록 (경로 정보)
-        /// </summary>
+        [Category("연결 정보")]
+        [Description("연결된 노드 ID 목록입니다.")]
+        [ReadOnly(true)]
         public List<string> ConnectedNodes { get; set; } = new List<string>();
 
-        /// <summary>
-        /// 연결된 노드 객체 목록 (런타임 전용, JSON 무시)
-        /// </summary>
-        [Newtonsoft.Json.JsonIgnore]
+        [JsonIgnore]
+        [Browsable(false)]
         public List<MapNode> ConnectedMapNodes { get; set; } = new List<MapNode>();
 
-        /// <summary>
-        /// 회전 가능 여부 (180도 회전 가능한 지점)
-        /// </summary>
-        public bool CanRotate { get; set; } = false;
+        [Category("주행 설정")]
+        [Description("제자리 회전(좌) 가능 여부입니다.")]
+        public bool CanTurnLeft { get; set; } = true;
 
-        /// <summary>
-        /// 장비 ID (도킹/충전 스테이션인 경우)
-        /// 예: "LOADER1", "CLEANER1", "BUFFER1", "CHARGER1"
-        /// </summary>
-        public string StationId { get; set; } = string.Empty;
+        [Category("주행 설정")]
+        [Description("제자리 회전(우) 가능 여부입니다.")]
+        public bool CanTurnRight { get; set; } = true;
 
-        /// <summary>
-        /// 장비 타입 (도킹/충전 스테이션인 경우)
-        /// </summary>
-        public StationType? StationType { get; set; } = null;
+        [Category("주행 설정")]
+        [Description("교차로 주행 가능 여부입니다.")]
+        public bool DisableCross
+        {
+            get
+            {
+                if (Type != NodeType.Normal) return true;
+                return _disablecross;
+            }
+            set { _disablecross = value; }
+        }
+        private bool _disablecross = false;
 
-        /// <summary>
-        /// 노드 생성 일자
-        /// </summary>
-        public DateTime CreatedDate { get; set; } = DateTime.Now;
+        [Category("주행 설정")]
+        [Description("노드 통과 시 제한 속도입니다.")]
+        public SpeedLevel SpeedLimit { get; set; } = SpeedLevel.M;
 
-        /// <summary>
-        /// 노드 수정 일자
-        /// </summary>
-        public DateTime ModifiedDate { get; set; } = DateTime.Now;
+        [Category("노드 설정")]
+        [Description("장비 ID 또는 별칭입니다.")]
+        public string AliasName { get; set; } = string.Empty;
 
-
-        /// <summary>
-        /// 노드 활성화 여부
-        /// </summary>
+        [Category("기본 정보")]
+        [Description("노드 사용 여부입니다.")]
         public bool IsActive { get; set; } = true;
 
-        /// <summary>
-        /// 노드 색상 (맵 에디터 표시용)
-        /// </summary>
-        public Color DisplayColor { get; set; } = Color.Blue;
+        [Category("RFID 정보")]
+        [Description("물리적 RFID 태그 ID입니다.")]
+        public UInt16 RfidId { get; set; } = 0;
 
-        /// <summary>
-        /// RFID 태그 ID (이 노드에 매핑된 RFID)
-        /// </summary>
-        public string RfidId { get; set; } = string.Empty;
 
-        /// <summary>
-        /// RFID 상태 (정상, 손상, 교체예정 등)
-        /// </summary>
-        public string RfidStatus { get; set; } = "정상";
-
-        /// <summary>
-        /// RFID 설치 위치 설명 (현장 작업자용)
-        /// 예: "로더1번 앞", "충전기2번 입구", "복도 교차점" 등
-        /// </summary>
-        public string RfidDescription { get; set; } = string.Empty;
-
-        /// <summary>
-        /// 라벨 텍스트 (NodeType.Label인 경우 사용)
-        /// </summary>
-        public string LabelText { get; set; } = string.Empty;
-
-        /// <summary>
-        /// 라벨 폰트 패밀리 (NodeType.Label인 경우 사용)
-        /// </summary>
-        public string FontFamily { get; set; } = "Arial";
-
-        /// <summary>
-        /// 라벨 폰트 크기 (NodeType.Label인 경우 사용)
-        /// </summary>
-        public float FontSize { get; set; } = 12.0f;
-
-        /// <summary>
-        /// 라벨 폰트 스타일 (NodeType.Label인 경우 사용)
-        /// </summary>
-        public FontStyle FontStyle { get; set; } = FontStyle.Regular;
-
-        /// <summary>
-        /// 텍스트 전경색 (모든 노드 타입에서 사용)
-        /// </summary>
-        public Color ForeColor { get; set; } = Color.Black;
-
-        /// <summary>
-        /// 라벨 배경색 (NodeType.Label인 경우 사용)
-        /// </summary>
-        public Color BackColor { get; set; } = Color.Transparent;
+        [Category("노드 텍스트"), DisplayName("TextColor")]
+        [Description("텍스트 색상입니다.")]
+        public Color NodeTextForeColor { get; set; } = Color.Black;
 
         private float _textFontSize = 7.0f;
-
-        /// <summary>
-        /// 텍스트 폰트 크기 (모든 노드 타입의 텍스트 표시에 사용, 픽셀 단위)
-        /// 0 이하의 값이 설정되면 기본값 7.0f로 자동 설정
-        /// </summary>
-        public float TextFontSize
+        [Category("노드 텍스트"), DisplayName("TextSize")]
+        [Description("일반 노드 텍스트의 크기입니다.")]
+        public float NodeTextFontSize
         {
             get => _textFontSize;
             set => _textFontSize = value > 0 ? value : 7.0f;
         }
 
-        /// <summary>
-        /// 텍스트 볼드체 여부 (모든 노드 타입의 텍스트 표시에 사용)
-        /// </summary>
-        public bool TextFontBold { get; set; } = true;
-
-        /// <summary>
-        /// 노드 이름 말풍선 배경색 (하단에 표시되는 노드 이름의 배경색)
-        /// </summary>
-        public Color NameBubbleBackColor { get; set; } = Color.Gold;
-
-        /// <summary>
-        /// 노드 이름 말풍선 글자색 (하단에 표시되는 노드 이름의 글자색)
-        /// </summary>
-        public Color NameBubbleForeColor { get; set; } = Color.Black;
-
-        /// <summary>
-        /// 라벨 배경 표시 여부 (NodeType.Label인 경우 사용)
-        /// </summary>
-        public bool ShowBackground { get; set; } = false;
-
-        /// <summary>
-        /// 라벨 패딩 (NodeType.Label인 경우 사용, 픽셀 단위)
-        /// </summary>
-        public int Padding { get; set; } = 8;
-
-        /// <summary>
-        /// 이미지 파일 경로 (편집용, 저장시엔 사용되지 않음)
-        /// </summary>
-        [Newtonsoft.Json.JsonIgnore]
-        public string ImagePath { get; set; } = string.Empty;
-
-        /// <summary>
-        /// Base64 인코딩된 이미지 데이터 (JSON 저장용)
-        /// </summary>
-        public string ImageBase64 { get; set; } = string.Empty;
-
-        /// <summary>
-        /// 이미지 크기 배율 (NodeType.Image인 경우 사용)
-        /// </summary>
-        public SizeF Scale { get; set; } = new SizeF(1.0f, 1.0f);
-
-        /// <summary>
-        /// 이미지 투명도 (NodeType.Image인 경우 사용, 0.0~1.0)
-        /// </summary>
-        public float Opacity { get; set; } = 1.0f;
-
-        /// <summary>
-        /// 이미지 회전 각도 (NodeType.Image인 경우 사용, 도 단위)
-        /// </summary>
-        public float Rotation { get; set; } = 0.0f;
-
-        /// <summary>
-        /// 로딩된 이미지 (런타임에서만 사용, JSON 직렬화 제외)
-        /// </summary>
-        [Newtonsoft.Json.JsonIgnore]
-        public Image LoadedImage { get; set; }
-
-        /// <summary>
-        /// 기본 생성자
-        /// </summary>
-        public MapNode()
+        public MapNode() : base()
         {
+            Type = NodeType.Normal;
         }
-
-        /// <summary>
-        /// 매개변수 생성자
-        /// </summary>
-        /// <param name="nodeId">노드 ID</param>
-        /// <param name="name">노드 이름</param>
-        /// <param name="position">위치</param>
-        /// <param name="type">노드 타입</param>
-        public MapNode(string nodeId, string name, Point position, NodeType type)
+      
+        public MapNode(string nodeId, Point position, StationType type) : base(nodeId, position)
         {
-            NodeId = nodeId;
-            Name = name;
-            Position = position;
-            Type = type;
-            CreatedDate = DateTime.Now;
-            ModifiedDate = DateTime.Now;
-            
-            // 타입별 기본 색상 설정
-            SetDefaultColorByType(type);
+            Type = NodeType.Normal;
         }
-
-        /// <summary>
-        /// 노드 타입에 따른 기본 색상 설정
-        /// </summary>
-        /// <param name="type">노드 타입</param>
-        public void SetDefaultColorByType(NodeType type)
+        [Category("기본 정보")]
+        [JsonIgnore]
+        [ReadOnly(true), Browsable(false)]
+        public bool isDockingNode
         {
-            switch (type)
+            get
             {
-                case NodeType.Normal:
-                    DisplayColor = Color.Blue;
-                    break;
-                case NodeType.Rotation:
-                    DisplayColor = Color.Orange;
-                    break;
-                case NodeType.Docking:
-                    DisplayColor = Color.Green;
-                    break;
-                case NodeType.Charging:
-                    DisplayColor = Color.Red;
-                    break;
-                case NodeType.Label:
-                    DisplayColor = Color.Purple;
-                    break;
-                case NodeType.Image:
-                    DisplayColor = Color.Brown;
-                    break;
+                if (StationType == StationType.Charger || StationType == StationType.Buffer ||
+                     StationType == StationType.Clearner || StationType == StationType.Loader ||
+                     StationType == StationType.UnLoader) return true;
+                return false;
             }
         }
 
-        /// <summary>
-        /// 다른 노드와의 연결 추가
-        /// </summary>
-        /// <param name="nodeId">연결할 노드 ID</param>
         public void AddConnection(string nodeId)
         {
             if (!ConnectedNodes.Contains(nodeId))
@@ -271,10 +131,6 @@ namespace AGVNavigationCore.Models
             }
         }
 
-        /// <summary>
-        /// 다른 노드와의 연결 제거
-        /// </summary>
-        /// <param name="nodeId">연결 해제할 노드 ID</param>
         public void RemoveConnection(string nodeId)
         {
             if (ConnectedNodes.Remove(nodeId))
@@ -283,289 +139,29 @@ 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>
-        /// 충전 스테이션 설정
-        /// </summary>
-        /// <param name="stationId">충전기 ID</param>
         public void SetChargingStation(string stationId)
         {
-            Type = NodeType.Charging;
-            StationId = stationId;
-            StationType = Models.StationType.Charger;
-            DockDirection = DockingDirection.Forward; // 충전기는 항상 전진 도킹
-            SetDefaultColorByType(NodeType.Charging);
+            StationType = StationType.Charger;
+            Id = stationId;
+            DockDirection = DockingDirection.Forward;
             ModifiedDate = DateTime.Now;
         }
 
-        /// <summary>
-        /// 문자열 표현
-        /// </summary>
         public override string ToString()
         {
-            return $"{RfidId}({NodeId}): {Name} ({Type}) at ({Position.X}, {Position.Y})";
+            return $"RFID:{RfidId}(NODE:{Id}): AS:{AliasName} ({Type}) at ({Position.X}, {Position.Y})";
         }
 
-        /// <summary>
-        /// 리스트박스 표시용 텍스트 (노드ID - 설명 - RFID 순서)
-        /// </summary>
-        public string DisplayText
-        {
-            get
-            {
-                var displayText = NodeId;
-                
-                if (!string.IsNullOrEmpty(Name))
-                {
-                    displayText += $" - {Name}";
-                }
-                
-                if (!string.IsNullOrEmpty(RfidId))
-                {
-                    displayText += $" - [{RfidId}]";
-                }
-                
-                return displayText;
-            }
-        }
-
-        /// <summary>
-        /// 노드 복사
-        /// </summary>
-        /// <returns>복사된 노드</returns>
-        public MapNode Clone()
-        {
-            var clone = new MapNode
-            {
-                NodeId = NodeId,
-                Name = Name,
-                Position = Position,
-                Type = Type,
-                DockDirection = DockDirection,
-                ConnectedNodes = new List<string>(ConnectedNodes),
-                CanRotate = CanRotate,
-                StationId = StationId,
-                StationType = StationType,
-                CreatedDate = CreatedDate,
-                ModifiedDate = ModifiedDate,
-                IsActive = IsActive,
-                DisplayColor = DisplayColor,
-                RfidId = RfidId,
-                RfidStatus = RfidStatus,
-                RfidDescription = RfidDescription,
-                LabelText = LabelText,
-                FontFamily = FontFamily,
-                FontSize = FontSize,
-                FontStyle = FontStyle,
-                ForeColor = ForeColor,
-                BackColor = BackColor,
-                TextFontSize = TextFontSize,
-                TextFontBold = TextFontBold,
-                NameBubbleBackColor = NameBubbleBackColor,
-                NameBubbleForeColor = NameBubbleForeColor,
-                ShowBackground = ShowBackground,
-                Padding = Padding,
-                ImagePath = ImagePath,
-                ImageBase64 = ImageBase64,
-                Scale = Scale,
-                Opacity = Opacity,
-                Rotation = Rotation
-            };
-            return clone;
-        }
-
-        /// <summary>
-        /// 이미지 로드 (Base64 또는 파일 경로에서, 256x256 이상일 경우 자동 리사이즈)
-        /// </summary>
-        /// <returns>로드 성공 여부</returns>
-        public bool LoadImage()
-        {
-            if (Type != NodeType.Image) return false;
-
-            try
-            {
-                Image originalImage = null;
-
-                // 1. 먼저 Base64 데이터 시도
-                if (!string.IsNullOrEmpty(ImageBase64))
-                {
-                    originalImage = ImageConverterUtil.Base64ToImage(ImageBase64);
-                }
-                // 2. Base64가 없으면 파일 경로에서 로드
-                else if (!string.IsNullOrEmpty(ImagePath) && System.IO.File.Exists(ImagePath))
-                {
-                    originalImage = Image.FromFile(ImagePath);
-                }
-
-                if (originalImage != null)
-                {
-                    LoadedImage?.Dispose();
-
-                    // 이미지 크기 체크 및 리사이즈
-                    if (originalImage.Width > 256 || originalImage.Height > 256)
-                    {
-                        LoadedImage = ResizeImage(originalImage, 256, 256);
-                        originalImage.Dispose();
-                    }
-                    else
-                    {
-                        LoadedImage = originalImage;
-                    }
-
-                    return true;
-                }
-            }
-            catch (Exception)
-            {
-                // 이미지 로드 실패
-            }
-            return false;
-        }
-
-        /// <summary>
-        /// 이미지 리사이즈 (비율 유지)
-        /// </summary>
-        /// <param name="image">원본 이미지</param>
-        /// <param name="maxWidth">최대 너비</param>
-        /// <param name="maxHeight">최대 높이</param>
-        /// <returns>리사이즈된 이미지</returns>
-        private Image ResizeImage(Image image, int maxWidth, int maxHeight)
-        {
-            // 비율 계산
-            double ratioX = (double)maxWidth / image.Width;
-            double ratioY = (double)maxHeight / image.Height;
-            double ratio = Math.Min(ratioX, ratioY);
-
-            // 새로운 크기 계산
-            int newWidth = (int)(image.Width * ratio);
-            int newHeight = (int)(image.Height * ratio);
-
-            // 리사이즈된 이미지 생성
-            var resizedImage = new Bitmap(newWidth, newHeight);
-            using (var graphics = Graphics.FromImage(resizedImage))
-            {
-                graphics.CompositingQuality = CompositingQuality.HighQuality;
-                graphics.InterpolationMode = InterpolationMode.HighQualityBicubic;
-                graphics.SmoothingMode = SmoothingMode.HighQuality;
-                graphics.DrawImage(image, 0, 0, newWidth, newHeight);
-            }
-
-            return resizedImage;
-        }
-
-        /// <summary>
-        /// 실제 표시될 크기 계산 (이미지 노드인 경우)
-        /// </summary>
-        /// <returns>실제 크기</returns>
-        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)
-            );
-        }
-
-        /// <summary>
-        /// 파일 경로에서 이미지를 Base64로 변환하여 저장
-        /// </summary>
-        /// <param name="filePath">이미지 파일 경로</param>
-        /// <returns>변환 성공 여부</returns>
-        public bool ConvertImageToBase64(string filePath)
-        {
-            if (Type != NodeType.Image) return false;
-
-            try
-            {
-                if (!System.IO.File.Exists(filePath))
-                {
-                    return false;
-                }
-
-                ImageBase64 = ImageConverterUtil.FileToBase64(filePath, System.Drawing.Imaging.ImageFormat.Png);
-                ImagePath = filePath; // 편집용으로 경로 유지
-
-                return !string.IsNullOrEmpty(ImageBase64);
-            }
-            catch (Exception)
-            {
-                return false;
-            }
-        }
-
-        /// <summary>
-        /// 리소스 정리
-        /// </summary>
-        public void Dispose()
-        {
-            LoadedImage?.Dispose();
-            LoadedImage = null;
-        }
-
-        /// <summary>
-        /// 경로 찾기에 사용 가능한 노드인지 확인
-        /// (라벨, 이미지 노드는 경로 찾기에서 제외)
-        /// </summary>
         public bool IsNavigationNode()
         {
-            return Type != NodeType.Label && Type != NodeType.Image && IsActive;
+            // 이제 MapNode는 항상 내비게이션 노드임 (Label, Image 분리됨)
+            // 하지만 기존 로직 호환성을 위해 Active 체크만 유지
+            return IsActive;
         }
 
-        /// <summary>
-        /// RFID가 할당되어 있는지 확인
-        /// </summary>
         public bool HasRfid()
         {
-            return !string.IsNullOrEmpty(RfidId);
-        }
-
-        /// <summary>
-        /// RFID 정보 설정
-        /// </summary>
-        /// <param name="rfidId">RFID ID</param>
-        /// <param name="rfidDescription">설치 위치 설명</param>
-        /// <param name="rfidStatus">RFID 상태</param>
-        public void SetRfidInfo(string rfidId, string rfidDescription = "", string rfidStatus = "정상")
-        {
-            RfidId = rfidId;
-            RfidDescription = rfidDescription;
-            RfidStatus = rfidStatus;
-            ModifiedDate = DateTime.Now;
-        }
-
-        /// <summary>
-        /// RFID 정보 삭제
-        /// </summary>
-        public void ClearRfidInfo()
-        {
-            RfidId = string.Empty;
-            RfidDescription = string.Empty;
-            RfidStatus = "정상";
-            ModifiedDate = DateTime.Now;
-        }
-
-        /// <summary>
-        /// RFID 기반 표시 텍스트 (RFID ID 우선, 없으면 노드ID)
-        /// </summary>
-        public string GetRfidDisplayText()
-        {
-            return HasRfid() ? RfidId : NodeId;
+            return RfidId > 0;
         }
     }
 }

Cs_HMI/AGVLogic/AGVNavigationCore/Models/NodeBase.cs

@@ -0,0 +1,61 @@
+using System;
+using System.ComponentModel;
+using System.Diagnostics;
+using System.Drawing;
+using Newtonsoft.Json;
+
+namespace AGVNavigationCore.Models
+{
+    /// <summary>
+    /// 맵 상의 모든 객체의 최상위 기본 클래스
+    /// 위치, 선택 상태, 기본 식별자 등을 관리
+    /// </summary>
+    public abstract class NodeBase
+    {
+        [Category("기본 정보")]
+        [Description("객체의 고유 ID입니다.")]
+        [ReadOnly(true)]
+        public string Id { get; set; } = Guid.NewGuid().ToString();
+
+        [Category("기본 정보")]
+        public NodeType Type { protected set; get; } = NodeType.Normal;
+
+        [Category("기본 정보")]
+        [Description("객체의 좌표(X, Y)입니다.")]
+        public virtual Point Position { get; set; } = Point.Empty;
+
+        [Category("기본 정보")]
+        [Description("객체 생성 일자입니다.")]
+        [JsonIgnore]
+        [ReadOnly(true), Browsable(false)]
+        public DateTime CreatedDate { get; set; } = DateTime.Now;
+
+        [Category("기본 정보")]
+        [Description("객체 수정 일자입니다.")]
+        [JsonIgnore]
+        [ReadOnly(true), Browsable(false)]
+        public DateTime ModifiedDate { get; set; } = DateTime.Now;
+
+        [Browsable(false)]
+        [JsonIgnore]
+        public bool IsSelected { get; set; } = false;
+
+    
+
+        [Browsable(false)]
+        [JsonIgnore]
+        public bool IsHovered { get; set; } = false;
+
+    
+
+        public NodeBase()
+        {
+        }
+
+        public NodeBase(string id, Point position)
+        {
+            Id = id;
+            Position = position;
+        }
+    }
+}

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>
@@ -136,7 +146,12 @@ namespace AGVNavigationCore.Models
         /// <summary>
         /// 현재 노드 ID
         /// </summary>
-        public string CurrentNodeId => _currentNode?.NodeId;
+        public MapNode CurrentNode => _currentNode;
+
+        /// <summary>
+        /// 현재 노드 ID (CurrentNode.Id)
+        /// </summary>
+        public string CurrentNodeId => _currentNode?.Id;
 
         /// <summary>
         /// 이전 위치
@@ -148,16 +163,17 @@ namespace AGVNavigationCore.Models
         /// </summary>
         public float BatteryLevel { get; set; } = 100.0f;
 
-        /// <summary>
-        /// 이전 노드 ID
-        /// </summary>
-        public string PrevNodeId => _prevNode?.NodeId;
 
         /// <summary>
         /// 이전 노드
         /// </summary>
         public MapNode PrevNode => _prevNode;
 
+        /// <summary>
+        /// Turn 상태값
+        /// </summary>
+        public AGVTurn Turn { get; set; }
+
         /// <summary>
         /// 도킹 방향
         /// </summary>
@@ -173,6 +189,11 @@ namespace AGVNavigationCore.Models
         /// </summary>
         public int DetectedRfidCount => _detectedRfids.Count;
 
+        /// <summary>
+        /// 배터리 부족 경고 임계값 (%)
+        /// </summary>
+        public float LowBatteryThreshold { get; set; } = 20.0f;
+
         #endregion
 
         #region Constructor
@@ -209,6 +230,8 @@ namespace AGVNavigationCore.Models
             _currentPosition = position;
         }
 
+
+
         /// <summary>
         /// 감지된 RFID 설정 (실제 RFID 센서에서)
         /// </summary>
@@ -245,12 +268,26 @@ namespace AGVNavigationCore.Models
             BatteryLevel = Math.Max(0, Math.Min(100, percentage));
 
             // 배터리 부족 경고
-            if (BatteryLevel < 20.0f && _currentState != AGVState.Charging)
+            if (BatteryLevel < LowBatteryThreshold && _currentState != AGVState.Charging)
             {
-                OnError($"배터리 부족: {BatteryLevel:F1}%");
+                OnError($"배터리 부족: {BatteryLevel:F1}% (기준: {LowBatteryThreshold}%)");
             }
         }
 
+        /// <summary>
+        /// 현재 노드id의 개체를 IsPass 로 설정합니다
+        /// </summary>
+        public bool SetCurrentNodeMarkStop()
+        {
+            if (_currentNode == null) return false;
+            if (_currentPath == 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 +302,8 @@ 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"
                 );
             }
@@ -277,7 +315,8 @@ namespace AGVNavigationCore.Models
                     MotorCommand.Stop,
                     MagnetPosition.S,
                     SpeedLevel.L,
-                    $"위치 확정 완료 (목적지 미설정) - 현재:{_currentNode?.NodeId ?? "알수없음"}"
+                     eAGVCommandReason.NoPath,
+                    $"위치 확정 완료 (목적지 미설정) - 현재:{_currentNode?.Id ?? "알수없음"}"
                 );
             }
 
@@ -285,136 +324,50 @@ 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.Id == lastNode.NodeId)
+                {
+                    if (lastNode.IsPass) //이미완료되었다.
+                    {
+                        return new AGVCommand(
+                        MotorCommand.Stop,
+                        MagnetPosition.S,
+                        SpeedLevel.L,
+                         eAGVCommandReason.Complete,
+                        $"목적지 도착 - 최종:{_currentNode?.Id ?? "알수없음"}"
+                        );
+                    }
+                    else
+                    {
+                        //마지막노드는 일혔지만 완료되지 않았다. 마크스탑필요
+                        return new AGVCommand(
+                         MotorCommand.Stop,
+                         MagnetPosition.S,
+                         SpeedLevel.L,
+                          eAGVCommandReason.MarkStop,
+                         $"목적지 도착 전(MarkStop) - 최종:{_currentNode?.Id ?? "알수없음"}"
+                         );
+                    }
+
+                }
             }
 
             // 4. 경로이탈
-            var TargetNode = _currentPath.DetailedPath.Where(t => t.IsPass == false && t.NodeId.Equals(_currentNode.NodeId)).FirstOrDefault();
+            var TargetNode = _currentPath.DetailedPath.Where(t => t.IsPass == false && t.NodeId.Equals(_currentNode.Id)).FirstOrDefault();
             if (TargetNode == null)
             {
                 return new AGVCommand(
                     MotorCommand.Stop,
                     MagnetPosition.S,
                     SpeedLevel.L,
-                    $"(재탐색요청)경로이탈 현재위치:{_currentNode.NodeId}"
+                     eAGVCommandReason.PathOut,
+                    $"(재탐색요청)경로이탈 현재위치:{_currentNode.Id}"
                 );
             }
 
-            // 5. 방향체크
-            //if(CurrentDirection != TargetNode.MotorDirection)
-            //{
-            //    return new AGVCommand(
-            //         MotorCommand.Stop,
-            //         MagnetPosition.S,
-            //         SpeedLevel.L,
-            //         $"(재탐색요청)모터방향 불일치 현재위치:{_currentNode.NodeId}"
-            //     );
-            //}
+            return GetCommandFromPath(CurrentNode, "경로 실행 시작");
 
 
-            //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 +387,7 @@ namespace AGVNavigationCore.Models
         /// <summary>
         /// 현재 노드 ID 조회
         /// </summary>
-        public string GetCurrentNodeId() => _currentNode?.NodeId;
+        public MapNode GetCurrentNode() => _currentNode;
 
         /// <summary>
         /// AGV 정보 조회
@@ -463,13 +416,13 @@ namespace AGVNavigationCore.Models
             }
 
             _currentPath = path;
-            _remainingNodes = path.Path.Select(n => n.NodeId).ToList(); // MapNode → NodeId 변환
+            _remainingNodes = path.Path.Select(n => n.Id).ToList(); // MapNode → NodeId 변환
             _currentNodeIndex = 0;
 
             // 경로 시작 노드가 현재 노드와 다른 경우 경고
-            if (_currentNode != null && _remainingNodes.Count > 0 && _remainingNodes[0] != _currentNode.NodeId)
+            if (_currentNode != null && _remainingNodes.Count > 0 && _remainingNodes[0] != _currentNode.Id)
             {
-                OnError($"경로 시작 노드({_remainingNodes[0]})와 현재 노드({_currentNode.NodeId})가 다릅니다.");
+                OnError($"경로 시작 노드({_remainingNodes[0]})와 현재 노드({_currentNode.Id})가 다릅니다.");
             }
         }
 
@@ -494,6 +447,27 @@ 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 +501,10 @@ namespace AGVNavigationCore.Models
             _prevPosition = targetPosition;
             _moveStartPosition = _currentPosition;
             _moveTargetPosition = targetPosition;
-            _moveProgress = 0;
 
             SetState(AGVState.Moving);
             _isMoving = true;
+            Turn = AGVTurn.None;
         }
 
         /// <summary>
@@ -583,7 +557,7 @@ namespace AGVNavigationCore.Models
         public void SetPosition(MapNode node, AgvDirection motorDirection)
         {
             // 현재 위치를 이전 위치로 저장 (리프트 방향 계산용)
-            if (_currentNode != null && _currentNode.NodeId != node.NodeId)
+            if (_currentNode != null && _currentNode.Id != node.Id)
             {
                 _prevPosition = _currentPosition;  // 이전 위치                
                 _prevNode = _currentNode;
@@ -602,9 +576,9 @@ namespace AGVNavigationCore.Models
             _currentNode = node;
 
             // 🔥 노드 ID를 RFID로 간주하여 감지 목록에 추가 (시뮬레이터용)
-            if (!string.IsNullOrEmpty(node.NodeId) && !_detectedRfids.Contains(node.NodeId))
+            if (!string.IsNullOrEmpty(node.Id) && !_detectedRfids.Contains(node.Id))
             {
-                _detectedRfids.Add(node.NodeId);
+                _detectedRfids.Add(node.Id);
             }
 
             // 🔥 RFID 2개 이상 감지 시 위치 확정
@@ -616,11 +590,19 @@ namespace AGVNavigationCore.Models
             //현재 경로값이 있는지 확인한다.
             if (CurrentPath != null && CurrentPath.DetailedPath != null && CurrentPath.DetailedPath.Any())
             {
-                var item = CurrentPath.DetailedPath.FirstOrDefault(t => t.NodeId == node.NodeId && t.IsPass == false);
+                var item = CurrentPath.DetailedPath.FirstOrDefault(t => t.NodeId == node.Id && t.IsPass == false);
                 if (item != null)
                 {
-                    //item.IsPass = true;
+                    // [PathJump Check] 점프한 노드 개수 확인
+                    // 현재 노드(item)보다 이전인데 아직 IsPass가 안 된 노드의 개수
+                    int skippedCount = CurrentPath.DetailedPath.Count(t => t.seq < item.seq && t.IsPass == false);
+                    if (skippedCount > 2)
+                    {
+                        OnError($"PathJump: {skippedCount}개의 노드를 건너뛰었습니다. (허용: 2개, 현재노드: {node.Id})");
+                        return;
+                    }
 
+                    //item.IsPass = true;
                     //이전노드는 모두 지나친걸로 한다
                     CurrentPath.DetailedPath.Where(t => t.seq < item.seq).ToList().ForEach(t => t.IsPass = true);
                 }
@@ -630,45 +612,46 @@ namespace AGVNavigationCore.Models
             PositionChanged?.Invoke(this, (_currentPosition, _currentDirection, _currentNode));
         }
 
-        /// <summary>
-        /// 현재 RFID 시뮬레이션 (현재 위치 기준)
-        /// </summary>
-        public string SimulateRfidReading(List<MapNode> mapNodes)
-        {
-            var closestNode = FindClosestNode(_currentPosition, mapNodes);
-            if (closestNode == null)
-                return null;
+   
+        #endregion
 
-            return closestNode.HasRfid() ? closestNode.RfidId : null;
+
+
+        /// <summary>
+        /// 노드 ID를 RFID 값으로 변환 (NodeResolver 사용)
+        /// </summary>
+        public ushort GetRfidByNodeId(List<MapNode> _mapNodes, string nodeId)
+        {
+            var node = _mapNodes?.FirstOrDefault(n => n.Id == nodeId);
+            if ((node?.HasRfid() ?? false) == false) return 0;
+            return node.RfidId;
         }
 
-        #endregion
+
 
         #region Private Methods
 
         /// <summary>
         /// DetailedPath에서 노드 정보를 찾아 AGVCommand 생성
         /// </summary>
-        private AGVCommand GetCommandFromPath(string targetNodeId, string actionDescription)
+        private AGVCommand GetCommandFromPath(MapNode targetNode, string actionDescription)
         {
             // DetailedPath가 없으면 기본 명령 반환
             if (_currentPath == null || _currentPath.DetailedPath == null || _currentPath.DetailedPath.Count == 0)
             {
-                var defaultMotor = _currentDirection == AgvDirection.Forward
-                    ? MotorCommand.Forward
-                    : MotorCommand.Backward;
-
+                // [Refactor] Predict와 일관성 유지: 경로가 없으면 정지
                 return new AGVCommand(
-                    defaultMotor,
+                    MotorCommand.Stop,
                     MagnetPosition.S,
-                    SpeedLevel.M,
+                    SpeedLevel.L,
+                     eAGVCommandReason.NoPath,
                     $"{actionDescription} (DetailedPath 없음)"
                 );
             }
 
             // DetailedPath에서 targetNodeId에 해당하는 NodeMotorInfo 찾기
             // 지나가지 않은 경로를 찾는다
-            var nodeInfo = _currentPath.DetailedPath.FirstOrDefault(n => n.NodeId == targetNodeId && n.IsPass == false);
+            var nodeInfo = _currentPath.DetailedPath.FirstOrDefault(n => n.NodeId == targetNode.Id && n.IsPass == false);
 
             if (nodeInfo == null)
             {
@@ -681,7 +664,8 @@ namespace AGVNavigationCore.Models
                     defaultMotor,
                     MagnetPosition.S,
                     SpeedLevel.M,
-                    $"{actionDescription} (노드 {targetNodeId} 정보 없음)"
+                      eAGVCommandReason.NoTarget,
+                    $"{actionDescription} (노드 {targetNode.Id} 정보 없음)"
                 );
             }
 
@@ -716,16 +700,20 @@ namespace AGVNavigationCore.Models
                     break;
             }
 
-            // 속도 결정 (회전 노드면 저속, 일반 이동은 중속)
-            SpeedLevel speed = nodeInfo.CanRotate || nodeInfo.IsDirectionChangePoint
-                ? SpeedLevel.L
-                : SpeedLevel.M;
+            // [Speed Control] NodeMotorInfo에 설정된 속도 사용
+            // 단, 회전 구간 등에서 안전을 위해 강제 감속이 필요한 경우 로직 추가 가능
+            // 현재는 사용자 설정 우선
+            SpeedLevel speed = nodeInfo.Speed;
+
+            // Optional: 회전 시 강제 감속 로직 (사용자 요청에 따라 주석 처리 또는 제거 가능)
+            // if (nodeInfo.CanRotate || nodeInfo.IsDirectionChangePoint) speed = SpeedLevel.L;
 
             return new AGVCommand(
                 motorCmd,
                 magnetPos,
                 speed,
-                $"{actionDescription} → {targetNodeId} (Motor:{motorCmd}, Magnet:{magnetPos})"
+                 eAGVCommandReason.Normal,
+                $"{actionDescription} → {targetNode.Id} (Motor:{motorCmd}, Magnet:{magnetPos})"
             );
         }
 
@@ -796,6 +784,29 @@ 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)
@@ -859,18 +870,6 @@ namespace AGVNavigationCore.Models
             }
         }
 
-        private DockingDirection GetDockingDirection(NodeType nodeType)
-        {
-            switch (nodeType)
-            {
-                case NodeType.Charging:
-                    return DockingDirection.Forward;
-                case NodeType.Docking:
-                    return DockingDirection.Backward;
-                default:
-                    return DockingDirection.Forward;
-            }
-        }
 
         private void OnError(string message)
         {
@@ -880,8 +879,6 @@ namespace AGVNavigationCore.Models
 
         #endregion
 
-
-
         #region Cleanup
 
         /// <summary>

Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Analysis/JunctionAnalyzer.cs

@@ -59,7 +59,7 @@ namespace AGVNavigationCore.PathFinding.Analysis
                 if (node.IsNavigationNode())
                 {
                     var junctionInfo = AnalyzeNode(node);
-                    _junctions[node.NodeId] = junctionInfo;
+                    _junctions[node.Id] = junctionInfo;
                 }
             }
         }
@@ -69,7 +69,7 @@ namespace AGVNavigationCore.PathFinding.Analysis
         /// </summary>
         private JunctionInfo AnalyzeNode(MapNode node)
         {
-            var junction = new JunctionInfo(node.NodeId);
+            var junction = new JunctionInfo(node.Id);
 
             // 양방향 연결을 고려하여 모든 연결된 노드 찾기
             var connectedNodes = GetAllConnectedNodes(node);
@@ -96,16 +96,16 @@ namespace AGVNavigationCore.PathFinding.Analysis
             {
                 if (connectedNode != null)
                 {
-                    connected.Add(connectedNode.NodeId);
+                    connected.Add(connectedNode.Id);
                 }
             }
 
             // 역방향 연결된 노드들 (다른 노드에서 이 노드로 연결)
             foreach (var otherNode in _mapNodes)
             {
-                if (otherNode.NodeId != node.NodeId && otherNode.ConnectedMapNodes.Any(n => n.NodeId == node.NodeId))
+                if (otherNode.Id != node.Id && otherNode.ConnectedMapNodes.Any(n => n.Id == node.Id))
                 {
-                    connected.Add(otherNode.NodeId);
+                    connected.Add(otherNode.Id);
                 }
             }
 
@@ -124,7 +124,7 @@ namespace AGVNavigationCore.PathFinding.Analysis
 
             foreach (var connectedId in connectedNodes)
             {
-                var connectedNode = _mapNodes.FirstOrDefault(n => n.NodeId == connectedId);
+                var connectedNode = _mapNodes.FirstOrDefault(n => n.Id == connectedId);
                 if (connectedNode != null)
                 {
                     double angle = CalculateAngle(junctionNode.Position, connectedNode.Position);
@@ -226,9 +226,9 @@ namespace AGVNavigationCore.PathFinding.Analysis
                 return MagnetDirection.Straight;
 
             // 실제 각도 기반으로 마그넷 방향 계산
-            var fromNode = _mapNodes.FirstOrDefault(n => n.NodeId == fromNodeId);
-            var currentNode = _mapNodes.FirstOrDefault(n => n.NodeId == currentNodeId);
-            var toNode = _mapNodes.FirstOrDefault(n => n.NodeId == toNodeId);
+            var fromNode = _mapNodes.FirstOrDefault(n => n.Id == fromNodeId);
+            var currentNode = _mapNodes.FirstOrDefault(n => n.Id == currentNodeId);
+            var toNode = _mapNodes.FirstOrDefault(n => n.Id == toNodeId);
 
             if (fromNode == null || currentNode == null || toNode == null)
                 return MagnetDirection.Straight;

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

@@ -320,7 +320,7 @@ namespace AGVNavigationCore.PathFinding.Core
             {
                 return DetailedPath.Select(n => n.NodeId).ToList();
             }
-            return Path?.Select(n => n.NodeId).ToList() ?? new List<string>();
+            return Path?.Select(n => n.Id).ToList() ?? new List<string>();
         }
 
         /// <summary>

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

@@ -50,36 +50,36 @@ namespace AGVNavigationCore.PathFinding.Core
             // 모든 네비게이션 노드를 PathNode로 변환하고 양방향 연결 생성
             foreach (var mapNode in _mapNodes)
             {
-                _mapNodeLookup[mapNode.NodeId] = mapNode; // Add to lookup table
+                _mapNodeLookup[mapNode.Id] = mapNode; // Add to lookup table
 
                 if (mapNode.IsNavigationNode())
                 {
-                    var pathNode = new PathNode(mapNode.NodeId, mapNode.Position);
-                    _nodeMap[mapNode.NodeId] = pathNode;
+                    var pathNode = new PathNode(mapNode.Id, mapNode.Position);
+                    _nodeMap[mapNode.Id] = pathNode;
                 }
             }
 
             // 단일 연결을 양방향으로 확장
             foreach (var mapNode in _mapNodes)
             {
-                if (mapNode.IsNavigationNode() && _nodeMap.ContainsKey(mapNode.NodeId))
+                if (mapNode.IsNavigationNode() && _nodeMap.ContainsKey(mapNode.Id))
                 {
-                    var pathNode = _nodeMap[mapNode.NodeId];
+                    var pathNode = _nodeMap[mapNode.Id];
 
                     foreach (var connectedNode in mapNode.ConnectedMapNodes)
                     {
-                        if (connectedNode != null && _nodeMap.ContainsKey(connectedNode.NodeId))
+                        if (connectedNode != null && _nodeMap.ContainsKey(connectedNode.Id))
                         {
                             // 양방향 연결 생성 (단일 연결이 양방향을 의미)
-                            if (!pathNode.ConnectedNodes.Contains(connectedNode.NodeId))
+                            if (!pathNode.ConnectedNodes.Contains(connectedNode.Id))
                             {
-                                pathNode.ConnectedNodes.Add(connectedNode.NodeId);
+                                pathNode.ConnectedNodes.Add(connectedNode.Id);
                             }
 
-                            var connectedPathNode = _nodeMap[connectedNode.NodeId];
-                            if (!connectedPathNode.ConnectedNodes.Contains(mapNode.NodeId))
+                            var connectedPathNode = _nodeMap[connectedNode.Id];
+                            if (!connectedPathNode.ConnectedNodes.Contains(mapNode.Id))
                             {
-                                connectedPathNode.ConnectedNodes.Add(mapNode.NodeId);
+                                connectedPathNode.ConnectedNodes.Add(mapNode.Id);
                             }
                         }
                     }
@@ -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)
                 {
@@ -372,8 +371,8 @@ namespace AGVNavigationCore.PathFinding.Core
             var combinedDetailedPath = new List<NodeMotorInfo>(previousResult.DetailedPath ?? new List<NodeMotorInfo>());
 
             // 이전 경로의 마지막 노드와 현재 경로의 시작 노드 비교
-            string lastNodeOfPrevious = previousResult.Path[previousResult.Path.Count - 1].NodeId;
-            string firstNodeOfCurrent = currentResult.Path[0].NodeId;
+            string lastNodeOfPrevious = previousResult.Path[previousResult.Path.Count - 1].Id;
+            string firstNodeOfCurrent = currentResult.Path[0].Id;
 
             if (lastNodeOfPrevious == firstNodeOfCurrent)
             {
@@ -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;
@@ -509,8 +508,8 @@ namespace AGVNavigationCore.PathFinding.Core
             float totalDistance = 0;
             for (int i = 0; i < path.Count - 1; i++)
             {
-                var nodeId1 = path[i].NodeId;
-                var nodeId2 = path[i + 1].NodeId;
+                var nodeId1 = path[i].Id;
+                var nodeId2 = path[i + 1].Id;
 
                 if (_nodeMap.ContainsKey(nodeId1) && _nodeMap.ContainsKey(nodeId2))
                 {
@@ -578,7 +577,7 @@ namespace AGVNavigationCore.PathFinding.Core
                 return null;
 
             // 교차로 노드 찾기
-            var junctionNode = _mapNodes.FirstOrDefault(n => n.NodeId == junctionNodeId);
+            var junctionNode = _mapNodes.FirstOrDefault(n => n.Id == junctionNodeId);
             if (junctionNode == null || junctionNode.ConnectedNodes == null || junctionNode.ConnectedNodes.Count == 0)
                 return null;
 
@@ -603,7 +602,7 @@ namespace AGVNavigationCore.PathFinding.Core
                 if (connectedNodeId == targetNodeId) continue;
 
                 // 조건 3, 4, 5: 존재하고, 활성 상태이고, 네비게이션 가능
-                var connectedNode = _mapNodes.FirstOrDefault(n => n.NodeId == connectedNodeId);
+                var connectedNode = _mapNodes.FirstOrDefault(n => n.Id == connectedNodeId);
                 if (connectedNode != null && connectedNode.IsActive && connectedNode.IsNavigationNode())
                 {
                     alternateNodes.Add(connectedNode);

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>();
@@ -49,9 +47,10 @@ 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.NodeId != startNode.NodeId
+                n.ConnectedMapNodes.Where(t => t.CanDocking).Any() == false &&
+                n.Id != startNode.Id
             ).ToList();
 
             // docking 포인트가 연결된 노드는 제거한다.
@@ -99,11 +98,12 @@ 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)
+                    if (pathNode.Id.Equals(StartNode.Id) == false)
                         return pathNode;
                 }
             }
@@ -111,6 +111,12 @@ namespace AGVNavigationCore.PathFinding.Planning
             return null;
         }
 
+        public AGVPathResult FindPath(MapNode startNode, MapNode targetNode)
+        {
+            // 기본값으로 경로 탐색 (이전 위치 = 현재 위치, 방향 = 전진)
+            return FindPath(startNode, targetNode, startNode, AgvDirection.Forward, AgvDirection.Forward, false);
+        }
+
         public AGVPathResult FindPath(MapNode startNode, MapNode targetNode,
             MapNode prevNode, AgvDirection prevDirection, AgvDirection currentDirection, bool crossignore = false)
         {
@@ -121,13 +127,17 @@ namespace AGVNavigationCore.PathFinding.Planning
                 return AGVPathResult.CreateFailure("목적지 노드가 null입니다.", 0, 0);
             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);
+            if (targetNode.isDockingNode == false && targetNode.Type != NodeType.Normal)
+                return AGVPathResult.CreateFailure("이동 가능한 노드가 아닙니다", 0, 0);
+
+            var tnode = targetNode as MapNode;
+            if (startNode.Id == targetNode.Id && tnode.DockDirection.MatchAGVDirection(prevDirection))
+                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.Id, targetNode.Id);
             pathResult.PrevNode = prevNode;
             pathResult.PrevDirection = prevDirection;
             if (!pathResult.Success || pathResult.Path == null || pathResult.Path.Count == 0)
@@ -146,11 +156,11 @@ namespace AGVNavigationCore.PathFinding.Planning
 
 
             //2.AGV방향과 목적지에 설정된 방향이 일치하면 그대로 진행하면된다.(목적지에 방향이 없는 경우에도 그대로 진행)
-            if (targetNode.DockDirection == DockingDirection.DontCare ||
-                (targetNode.DockDirection == DockingDirection.Forward && currentDirection == AgvDirection.Forward) ||
-                (targetNode.DockDirection == DockingDirection.Backward && currentDirection == AgvDirection.Backward))
+            if (tnode.DockDirection == DockingDirection.DontCare ||
+                (tnode.DockDirection == DockingDirection.Forward && currentDirection == AgvDirection.Forward) ||
+                (tnode.DockDirection == DockingDirection.Backward && currentDirection == AgvDirection.Backward))
             {
-                if ((nextNodeForward?.NodeId ?? string.Empty) == pathResult.Path[1].NodeId) //예측경로와 다음진행방향 경로가 일치하면 해당 방향이 맞다
+                if ((nextNodeForward?.Id ?? string.Empty) == pathResult.Path[1].Id) //예측경로와 다음진행방향 경로가 일치하면 해당 방향이 맞다
                 {
                     MakeDetailData(pathResult, currentDirection);
                     MakeMagnetDirection(pathResult);
@@ -177,10 +187,10 @@ namespace AGVNavigationCore.PathFinding.Planning
             //뒤로 이동시 경로상의 처음 만나는 노드가 같다면 그 방향으로 이동하면 된다.
             // ⚠️ 단, 현재 방향과 목적지 도킹 방향이 일치해야 함!
             if (nextNodeBackward != null && pathResult.Path.Count > 1 &&
-                nextNodeBackward.NodeId == pathResult.Path[1].NodeId) // ✅ 추가: 현재도 Backward여야 함
+                nextNodeBackward.Id == pathResult.Path[1].Id) // ✅ 추가: 현재도 Backward여야 함
             {
-                if (targetNode.DockDirection == DockingDirection.Forward && ReverseDirection == AgvDirection.Forward ||
-                   targetNode.DockDirection == DockingDirection.Backward && ReverseDirection == AgvDirection.Backward)
+                if (tnode.DockDirection == DockingDirection.Forward && ReverseDirection == AgvDirection.Forward ||
+                   tnode.DockDirection == DockingDirection.Backward && ReverseDirection == AgvDirection.Backward)
                 {
                     MakeDetailData(pathResult, ReverseDirection);
                     MakeMagnetDirection(pathResult);
@@ -191,12 +201,12 @@ namespace AGVNavigationCore.PathFinding.Planning
             }
 
             if (nextNodeForward != null && pathResult.Path.Count > 1 &&
-                nextNodeForward.NodeId == pathResult.Path[1].NodeId &&
-                targetNode.DockDirection == DockingDirection.Forward &&
+                nextNodeForward.Id == pathResult.Path[1].Id &&
+                tnode.DockDirection == DockingDirection.Forward &&
                 currentDirection == AgvDirection.Forward) // ✅ 추가: 현재도 Forward여야 함
             {
-                if (targetNode.DockDirection == DockingDirection.Forward && currentDirection == AgvDirection.Forward ||
-                    targetNode.DockDirection == DockingDirection.Backward && currentDirection == AgvDirection.Backward)
+                if (tnode.DockDirection == DockingDirection.Forward && currentDirection == AgvDirection.Forward ||
+                    tnode.DockDirection == DockingDirection.Backward && currentDirection == AgvDirection.Backward)
                 {
                     MakeDetailData(pathResult, currentDirection);
                     MakeMagnetDirection(pathResult);
@@ -221,7 +231,7 @@ 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.Id, nextNodeForward.Id);
                     Path0.PrevNode = prevNode;
                     Path0.PrevDirection = prevDirection;
                     MakeDetailData(Path0, prevDirection);
@@ -259,7 +269,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                 JunctionInPath = FindNearestJunction(startNode);
 
                 //종료노드로부터 가까운 교차로 검색
-                if (JunctionInPath == null) JunctionInPath = FindNearestJunction(targetNode);
+                if (JunctionInPath == null) JunctionInPath = FindNearestJunction(tnode);
             }
             if (JunctionInPath == null)
                 return AGVPathResult.CreateFailure("교차로가 없어 경로계산을 할 수 없습니다", 0, 0);
@@ -267,7 +277,7 @@ 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.Id, JunctionInPath.Id);
             path1.PrevNode = prevNode;
             path1.PrevDirection = prevDirection;
 
@@ -278,7 +288,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             //    ReverseCheck = false; //현재 진행 방향으로 이동해야한다
             //    MakeDetailData(path1, currentDirection); // path1의 상세 경로 정보 채우기 (모터 방향 설정)
             //}
-            if (path1.Path.Count > 1 && nextNodeBackward != null && nextNodeBackward.NodeId.Equals(path1.Path[1].NodeId))
+            if (path1.Path.Count > 1 && nextNodeBackward != null && nextNodeBackward.Id.Equals(path1.Path[1].Id))
             {
                 ReverseCheck = true;    //현재 방향의 반대방향으로 이동해야한다
                 MakeDetailData(path1, ReverseDirection); // path1의 상세 경로 정보 채우기 (모터 방향 설정)
@@ -295,7 +305,7 @@ namespace AGVNavigationCore.PathFinding.Planning
 
 
             //2.교차로 - 종료위치
-            var path2 = _basicPathfinder.FindPath(JunctionInPath.NodeId, targetNode.NodeId);
+            var path2 = _basicPathfinder.FindPathAStar(JunctionInPath.Id, targetNode.Id);
             path2.PrevNode = prevNode;
             path2.PrevDirection = prevDirection;
 
@@ -315,9 +325,9 @@ namespace AGVNavigationCore.PathFinding.Planning
 
 
             //3.방향전환을 위환 대체 노드찾기
-            tempNode = _basicPathfinder.FindAlternateNodeForDirectionChange(JunctionInPath.NodeId,
-               path1.Path[path1.Path.Count - 2].NodeId,
-               path2.Path[1].NodeId);
+            tempNode = _basicPathfinder.FindAlternateNodeForDirectionChange(JunctionInPath.Id,
+               path1.Path[path1.Path.Count - 2].Id,
+               path2.Path[1].Id);
 
             //4. path1 + tempnode + path2 가 최종 위치가 된다.
             if (tempNode == null)
@@ -332,7 +342,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             //if (tempNode != null)
             {
                 // 교차로 → 대체노드 경로 계산
-                var pathToTemp = _basicPathfinder.FindPath(JunctionInPath.NodeId, tempNode.NodeId);
+                var pathToTemp = _basicPathfinder.FindPathAStar(JunctionInPath.Id, tempNode.Id);
                 pathToTemp.PrevNode = JunctionInPath;
                 pathToTemp.PrevDirection = (ReverseCheck ? ReverseDirection : currentDirection);
                 if (!pathToTemp.Success)
@@ -348,7 +358,7 @@ 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.Id, JunctionInPath.Id);
                 pathFromTemp.PrevNode = JunctionInPath;
                 pathFromTemp.PrevDirection = (ReverseCheck ? ReverseDirection : currentDirection);
                 if (!pathFromTemp.Success)
@@ -362,14 +372,14 @@ namespace AGVNavigationCore.PathFinding.Planning
 
                 //현재까지 노드에서 목적지까지의 방향이 일치하면 그대로 사용한다.
                 bool temp3ok = false;
-                var TempCheck3 = _basicPathfinder.FindPath(combinedResult.Path.Last().NodeId, targetNode.NodeId);
-                if (TempCheck3.Path.First().NodeId.Equals(combinedResult.Path.Last().NodeId))
+                var TempCheck3 = _basicPathfinder.FindPathAStar(combinedResult.Path.Last().Id, targetNode.Id);
+                if (TempCheck3.Path.First().Id.Equals(combinedResult.Path.Last().Id))
                 {
-                    if (targetNode.DockDirection == DockingDirection.Forward && combinedResult.DetailedPath.Last().MotorDirection == AgvDirection.Forward)
+                    if (tnode.DockDirection == DockingDirection.Forward && combinedResult.DetailedPath.Last().MotorDirection == AgvDirection.Forward)
                     {
                         temp3ok = true;
                     }
-                    else if (targetNode.DockDirection == DockingDirection.Backward && combinedResult.DetailedPath.Last().MotorDirection == AgvDirection.Backward)
+                    else if (tnode.DockDirection == DockingDirection.Backward && combinedResult.DetailedPath.Last().MotorDirection == AgvDirection.Backward)
                     {
                         temp3ok = true;
                     }
@@ -381,11 +391,11 @@ namespace AGVNavigationCore.PathFinding.Planning
                 if (temp3ok == false)
                 {
                     //목적지와 방향이 맞지 않다. 그러므로 대체노드를 추가로 더 찾아야한다.
-                    var tempNode2 = _basicPathfinder.FindAlternateNodeForDirectionChange(JunctionInPath.NodeId,
-               combinedResult.Path[combinedResult.Path.Count - 2].NodeId,
-               path2.Path[1].NodeId);
+                    var tempNode2 = _basicPathfinder.FindAlternateNodeForDirectionChange(JunctionInPath.Id,
+               combinedResult.Path[combinedResult.Path.Count - 2].Id,
+               path2.Path[1].Id);
 
-                    var pathToTemp2 = _basicPathfinder.FindPath(JunctionInPath.NodeId, tempNode2.NodeId);
+                    var pathToTemp2 = _basicPathfinder.FindPathAStar(JunctionInPath.Id, tempNode2.Id);
                     if (ReverseCheck) MakeDetailData(pathToTemp2, currentDirection);
                     else MakeDetailData(pathToTemp2, ReverseDirection);
 
@@ -400,7 +410,7 @@ 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.Id, JunctionInPath.Id);
                     if (ReverseCheck) MakeDetailData(pathToTemp3, ReverseDirection);
                     else MakeDetailData(pathToTemp3, currentDirection);
 
@@ -420,12 +430,15 @@ namespace AGVNavigationCore.PathFinding.Planning
 
         }
 
+        /// <summary>
+        /// 이 작업후에 MakeMagnetDirection 를 추가로 실행 하세요
+        /// </summary>
         /// <summary>
         /// 이 작업후에 MakeMagnetDirection 를 추가로 실행 하세요
         /// </summary>
         /// <param name="path1"></param>
         /// <param name="currentDirection"></param>
-        private void MakeDetailData(AGVPathResult path1, AgvDirection currentDirection)
+        public void MakeDetailData(AGVPathResult path1, AgvDirection currentDirection)
         {
             if (path1.Success && path1.Path != null && path1.Path.Count > 0)
             {
@@ -433,18 +446,25 @@ namespace AGVNavigationCore.PathFinding.Planning
                 for (int i = 0; i < path1.Path.Count; i++)
                 {
                     var node = path1.Path[i];
-                    string nodeId = node.NodeId;
-                    string RfidId = node.RfidId;
-                    string nextNodeId = (i + 1 < path1.Path.Count) ? path1.Path[i + 1].NodeId : null;
+                    string nodeId = node.Id;
+                    var RfidId = node.RfidId;
+                    string nextNodeId = (i + 1 < path1.Path.Count) ? path1.Path[i + 1].Id : null;
 
                     // 노드 정보 생성 (현재 방향 유지)
-                    var nodeInfo = new NodeMotorInfo(i+1,
+                    var nodeInfo = new NodeMotorInfo(i + 1,
                         nodeId, RfidId,
                         currentDirection,
                         nextNodeId,
                         MagnetDirection.Straight
                     );
 
+                    // [Speed Control] MapNode의 속도 설정 적용
+                    var mapNode = _mapNodes.FirstOrDefault(n => n.Id == nodeId);
+                    if (mapNode != null)
+                    {
+                        nodeInfo.Speed = mapNode.SpeedLimit;
+                    }
+
                     detailedPath1.Add(nodeInfo);
                 }
 
@@ -465,13 +485,13 @@ namespace AGVNavigationCore.PathFinding.Planning
                 for (int i = 0; i < path1.DetailedPath.Count; i++)
                 {
                     var detailPath = path1.DetailedPath[i];
-                    string nodeId = path1.Path[i].NodeId;
-                    string nextNodeId = (i + 1 < path1.Path.Count) ? path1.Path[i + 1].NodeId : null;
+                    string nodeId = path1.Path[i].Id;
+                    string nextNodeId = (i + 1 < path1.Path.Count) ? path1.Path[i + 1].Id : null;
 
                     // 마그넷 방향 계산 (3개 이상 연결된 교차로에서만 좌/우 가중치 적용)
                     if (i > 0 && nextNodeId != null)
                     {
-                        string prevNodeId = path1.Path[i - 1].NodeId;
+                        string prevNodeId = path1.Path[i - 1].Id;
                         if (path1.DetailedPath[i - 1].MotorDirection != detailPath.MotorDirection)
                             detailPath.MagnetDirection = MagnetDirection.Straight;
                         else

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(
@@ -85,20 +85,20 @@ 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
                 foreach (var node in directPath2.Path.Skip(1).Take(directPath2.Path.Count - 2)) // 시작과 끝 제외
                 {
-                    var junctionInfo = _junctionAnalyzer.GetJunctionInfo(node.NodeId);
+                    var junctionInfo = _junctionAnalyzer.GetJunctionInfo(node.Id);
                     if (junctionInfo != null && junctionInfo.IsJunction)
                     {
                         // 간단한 방향 전환: 직접 경로 사용하되 방향 전환 노드 표시
                         return DirectionChangePlan.CreateSuccess(
                             directPath2.Path,
-                            node.NodeId,
-                            $"갈림길 {node.NodeId}에서 방향 전환: {currentDirection} → {requiredDirection}"
+                            node.Id,
+                            $"갈림길 {node.Id}에서 방향 전환: {currentDirection} → {requiredDirection}"
                         );
                     }
                 }
@@ -160,19 +160,19 @@ 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
                 {
-                    var junctionInfo = _junctionAnalyzer.GetJunctionInfo(node.NodeId);
+                    var junctionInfo = _junctionAnalyzer.GetJunctionInfo(node.Id);
                     if (junctionInfo != null && junctionInfo.IsJunction)
                     {
                         // 직진 경로상에서는 더 엄격한 조건 적용
-                        if (!suitableJunctions.Contains(node.NodeId) &&
-                            HasMultipleExitOptions(node.NodeId))
+                        if (!suitableJunctions.Contains(node.Id) &&
+                            HasMultipleExitOptions(node.Id))
                         {
-                            suitableJunctions.Add(node.NodeId);
+                            suitableJunctions.Add(node.Id);
                         }
                     }
                 }
@@ -226,7 +226,7 @@ namespace AGVNavigationCore.PathFinding.Planning
         /// </summary>
         private List<string> GetAllConnectedNodes(string nodeId)
         {
-            var node = _mapNodes.FirstOrDefault(n => n.NodeId == nodeId);
+            var node = _mapNodes.FirstOrDefault(n => n.Id == nodeId);
             if (node == null) return new List<string>();
 
             var connected = new HashSet<string>();
@@ -236,16 +236,16 @@ namespace AGVNavigationCore.PathFinding.Planning
             {
                 if (connectedNode != null)
                 {
-                    connected.Add(connectedNode.NodeId);
+                    connected.Add(connectedNode.Id);
                 }
             }
 
             // 역방향 연결
             foreach (var otherNode in _mapNodes)
             {
-                if (otherNode.NodeId != nodeId && otherNode.ConnectedMapNodes.Any(n => n.NodeId == nodeId))
+                if (otherNode.Id != nodeId && otherNode.ConnectedMapNodes.Any(n => n.Id == nodeId))
                 {
-                    connected.Add(otherNode.NodeId);
+                    connected.Add(otherNode.Id);
                 }
             }
 
@@ -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));
             }
@@ -293,7 +293,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                     string actualDirectionChangeNode = FindActualDirectionChangeNode(changePath, junctionNodeId);
 
                     string description = $"갈림길 {GetDisplayName(junctionNodeId)}를 통해 {GetDisplayName(actualDirectionChangeNode)}에서 방향 전환: {currentDirection} → {requiredDirection}";
-                    System.Diagnostics.Debug.WriteLine($"[DirectionChangePlanner] ✅ 유효한 방향전환 경로: {string.Join(" → ", changePath.Select(n => n.NodeId))}");
+                    System.Diagnostics.Debug.WriteLine($"[DirectionChangePlanner] ✅ 유효한 방향전환 경로: {string.Join(" → ", changePath.Select(n => n.Id))}");
                     return DirectionChangePlan.CreateSuccess(changePath, actualDirectionChangeNode, description);
                 }
 
@@ -313,13 +313,13 @@ 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);
-            bool isNearbyDetour = !directPath.Success || !directPath.Path.Any(n => n.NodeId == junctionNodeId);
+            var directPath = _pathfinder.FindPathAStar(startNodeId, targetNodeId);
+            bool isNearbyDetour = !directPath.Success || !directPath.Path.Any(n => n.Id == 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;
 
@@ -376,18 +376,18 @@ namespace AGVNavigationCore.PathFinding.Planning
             if (currentDirection != requiredDirection)
             {
                 string fromNodeId = toJunctionPath.Path.Count >= 2 ?
-                    toJunctionPath.Path[toJunctionPath.Path.Count - 2].NodeId : startNodeId;
+                    toJunctionPath.Path[toJunctionPath.Path.Count - 2].Id : startNodeId;
 
                 var changeSequence = GenerateDirectionChangeSequence(junctionNodeId, fromNodeId, currentDirection, requiredDirection);
                 if (changeSequence.Count > 1)
                 {
-                    fullPath.AddRange(changeSequence.Skip(1).Select(nodeId => _mapNodes.FirstOrDefault(n => n.NodeId == nodeId)).Where(n => n != null));
+                    fullPath.AddRange(changeSequence.Skip(1).Select(nodeId => _mapNodes.FirstOrDefault(n => n.Id == nodeId)).Where(n => n != null));
                 }
             }
 
             // 3. 갈림길에서 목표점까지의 경로
-            string lastNode = fullPath.LastOrDefault()?.NodeId ?? junctionNodeId;
-            var fromJunctionPath = _pathfinder.FindPath(lastNode, targetNodeId);
+            string lastNode = fullPath.LastOrDefault()?.Id ?? junctionNodeId;
+            var fromJunctionPath = _pathfinder.FindPathAStar(lastNode, targetNodeId);
             if (fromJunctionPath.Success && fromJunctionPath.Path.Count > 1)
             {
                 fullPath.AddRange(fromJunctionPath.Path.Skip(1));
@@ -461,8 +461,8 @@ namespace AGVNavigationCore.PathFinding.Planning
             // 왔던 길(excludeNodeId)를 제외한 노드 중에서 최적의 우회 노드 선택
             // 우선순위: 1) 막다른 길이 아닌 노드 (우회 후 복귀 가능) 2) 직진방향 3) 목적지 방향
 
-            var junctionNode = _mapNodes.FirstOrDefault(n => n.NodeId == junctionNodeId);
-            var fromNode = _mapNodes.FirstOrDefault(n => n.NodeId == excludeNodeId);
+            var junctionNode = _mapNodes.FirstOrDefault(n => n.Id == junctionNodeId);
+            var fromNode = _mapNodes.FirstOrDefault(n => n.Id == excludeNodeId);
 
             if (junctionNode == null || fromNode == null)
                 return availableNodes.FirstOrDefault();
@@ -478,7 +478,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             {
                 if (nodeId == excludeNodeId) continue; // 왔던 길 제외
 
-                var candidateNode = _mapNodes.FirstOrDefault(n => n.NodeId == nodeId);
+                var candidateNode = _mapNodes.FirstOrDefault(n => n.Id == nodeId);
                 if (candidateNode == null) continue;
 
                 // 갈림길에서 후보 노드로의 방향 벡터 계산 (junctionNode → candidateNode)
@@ -561,11 +561,11 @@ namespace AGVNavigationCore.PathFinding.Planning
                 return junctionNodeId; // 기본값으로 갈림길 반환
 
             // 갈림길이 두 번 나타나는 위치 찾기
-            int firstJunctionIndex = changePath.FindIndex(n => n.NodeId == junctionNodeId);
+            int firstJunctionIndex = changePath.FindIndex(n => n.Id == junctionNodeId);
             int lastJunctionIndex = -1;
             for (int i = changePath.Count - 1; i >= 0; i--)
             {
-                if (changePath[i].NodeId == junctionNodeId)
+                if (changePath[i].Id == junctionNodeId)
                 {
                     lastJunctionIndex = i;
                     break;
@@ -577,7 +577,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                 firstJunctionIndex != lastJunctionIndex && lastJunctionIndex - firstJunctionIndex == 2)
             {
                 // 첫 번째와 두 번째 갈림길 사이에 있는 노드가 실제 방향전환 노드
-                string detourNode = changePath[firstJunctionIndex + 1].NodeId;
+                string detourNode = changePath[firstJunctionIndex + 1].Id;
                 return detourNode;
             }
 
@@ -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;
         }
 
@@ -647,11 +647,11 @@ namespace AGVNavigationCore.PathFinding.Planning
                 }
 
                 string errorMessage = $"되돌아가기 패턴 검출 ({backtrackingPatterns.Count}개): {string.Join(", ", issues)}";
-                System.Diagnostics.Debug.WriteLine($"[PathValidation] ❌ 경로: {string.Join(" → ", path.Select(n => n.NodeId))}");
+                System.Diagnostics.Debug.WriteLine($"[PathValidation] ❌ 경로: {string.Join(" → ", path.Select(n => n.Id))}");
                 System.Diagnostics.Debug.WriteLine($"[PathValidation] ❌ 되돌아가기 패턴: {errorMessage}");
 
                 return PathValidationResult.CreateInvalidWithBacktracking(
-                    path.Select(n => n.NodeId).ToList(), backtrackingPatterns, startNodeId, "", junctionNodeId, errorMessage);
+                    path.Select(n => n.Id).ToList(), backtrackingPatterns, startNodeId, "", junctionNodeId, errorMessage);
             }
 
             // 2. 연속된 중복 노드 검증
@@ -670,13 +670,13 @@ namespace AGVNavigationCore.PathFinding.Planning
             }
 
             // 4. 갈림길 포함 여부 검증
-            if (!path.Any(n => n.NodeId == junctionNodeId))
+            if (!path.Any(n => n.Id == junctionNodeId))
             {
                 return PathValidationResult.CreateInvalid(startNodeId, "", $"갈림길 {junctionNodeId}이 경로에 포함되지 않음");
             }
 
-            System.Diagnostics.Debug.WriteLine($"[PathValidation] ✅ 유효한 경로: {string.Join(" → ", path.Select(n => n.NodeId))}");
-            return PathValidationResult.CreateValid(path.Select(n => n.NodeId).ToList(), startNodeId, "", junctionNodeId);
+            System.Diagnostics.Debug.WriteLine($"[PathValidation] ✅ 유효한 경로: {string.Join(" → ", path.Select(n => n.Id))}");
+            return PathValidationResult.CreateValid(path.Select(n => n.Id).ToList(), startNodeId, "", junctionNodeId);
         }
 
         /// <summary>
@@ -688,9 +688,9 @@ namespace AGVNavigationCore.PathFinding.Planning
 
             for (int i = 0; i < path.Count - 2; i++)
             {
-                string nodeA = path[i].NodeId;
-                string nodeB = path[i + 1].NodeId;
-                string nodeC = path[i + 2].NodeId;
+                string nodeA = path[i].Id;
+                string nodeB = path[i + 1].Id;
+                string nodeC = path[i + 2].Id;
 
                 // A → B → A 패턴 검출
                 if (nodeA == nodeC && nodeA != nodeB)
@@ -712,9 +712,9 @@ namespace AGVNavigationCore.PathFinding.Planning
 
             for (int i = 0; i < path.Count - 1; i++)
             {
-                if (path[i].NodeId == path[i + 1].NodeId)
+                if (path[i].Id == path[i + 1].Id)
                 {
-                    duplicates.Add(path[i].NodeId);
+                    duplicates.Add(path[i].Id);
                 }
             }
 
@@ -728,12 +728,12 @@ namespace AGVNavigationCore.PathFinding.Planning
         {
             for (int i = 0; i < path.Count - 1; i++)
             {
-                string currentNode = path[i].NodeId;
-                string nextNode = path[i + 1].NodeId;
+                string currentNode = path[i].Id;
+                string nextNode = path[i + 1].Id;
 
                 // 두 노드간 직접 연결성 확인 (맵 노드의 ConnectedMapNodes 리스트 사용)
-                var currentMapNode = _mapNodes.FirstOrDefault(n => n.NodeId == currentNode);
-                if (currentMapNode == null || !currentMapNode.ConnectedMapNodes.Any(n => n.NodeId == nextNode))
+                var currentMapNode = _mapNodes.FirstOrDefault(n => n.Id == currentNode);
+                if (currentMapNode == null || !currentMapNode.ConnectedMapNodes.Any(n => n.Id == nextNode))
                 {
                     return PathValidationResult.CreateInvalid(currentNode, nextNode, $"노드 {currentNode}와 {nextNode} 사이에 연결이 없음");
                 }
@@ -769,10 +769,10 @@ namespace AGVNavigationCore.PathFinding.Planning
         /// <returns>표시할 이름</returns>
         private string GetDisplayName(string nodeId)
         {
-            var node = _mapNodes.FirstOrDefault(n => n.NodeId == nodeId);
-            if (node != null && !string.IsNullOrEmpty(node.RfidId))
+            var node = _mapNodes.FirstOrDefault(n => n.Id == nodeId);
+            if (node != null && node.HasRfid())
             {
-                return node.RfidId;
+                return node.RfidId.ToString("0000");
             }
             return $"({nodeId})";
         }

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

@@ -66,7 +66,7 @@ namespace AGVNavigationCore.PathFinding.Planning
 
             // 연결된 노드 중 현재 노드가 아닌 것들만 필터링
             var candidateNodes = allNodes.Where(n =>
-                connectedNodeIds.Contains(n.NodeId) && n.NodeId != currentNode.NodeId
+                connectedNodeIds.Contains(n.Id) && n.Id != currentNode.Id
             ).ToList();
 
             if (candidateNodes.Count == 0)
@@ -88,7 +88,7 @@ namespace AGVNavigationCore.PathFinding.Planning
 
             if (movementLength < 0.001f) // 거의 이동하지 않음
             {
-                return candidateNodes[0].NodeId; // 첫 번째 연결 노드 반환
+                return candidateNodes[0].Id; // 첫 번째 연결 노드 반환
             }
 
             var normalizedMovement = new PointF(
@@ -138,7 +138,7 @@ namespace AGVNavigationCore.PathFinding.Planning
 
             // 가장 높은 점수를 가진 노드 반환
             var bestCandidate = scoredCandidates.OrderByDescending(x => x.score).First();
-            return bestCandidate.node.NodeId;
+            return bestCandidate.node.Id;
         }
 
         /// <summary>

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

@@ -40,13 +40,18 @@ namespace AGVNavigationCore.PathFinding.Planning
         /// <summary>
         /// RFID Value
         /// </summary>
-        public string RfidId { get; set; }
+        public ushort RfidId { get; set; }
 
         /// <summary>
         /// 해당 노드에서의 모터방향
         /// </summary>
         public AgvDirection MotorDirection { get; set; }
 
+        /// <summary>
+        /// 해당 노드에서의 제한 속도
+        /// </summary>
+        public SpeedLevel Speed { get; set; } = SpeedLevel.M;
+
         /// <summary>
         /// 마그넷 센서 방향 제어 (갈림길 처리용)
         /// </summary>
@@ -82,7 +87,7 @@ namespace AGVNavigationCore.PathFinding.Planning
         /// </summary>
         public string SpecialActionDescription { get; set; }
 
-        public NodeMotorInfo(int seqno,string nodeId,string rfid, AgvDirection motorDirection, string nextNodeId = null, MagnetDirection magnetDirection = MagnetDirection.Straight)
+        public NodeMotorInfo(int seqno,string nodeId,ushort rfid, AgvDirection motorDirection, string nextNodeId = null, MagnetDirection magnetDirection = MagnetDirection.Straight)
         {
             seq = seqno;
             NodeId = nodeId;
@@ -103,7 +108,7 @@ namespace AGVNavigationCore.PathFinding.Planning
         /// </summary>
         public override string ToString()
         {
-            var result = $"{RfidId}[{NodeId}]:{MotorDirection}";
+            var result = $"R{RfidId}[N{NodeId}]:{MotorDirection}";
 
             // 마그넷 방향이 직진이 아닌 경우 표시
             if (MagnetDirection != MagnetDirection.Straight)

Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DirectionalHelper.cs

@@ -76,7 +76,7 @@ namespace AGVNavigationCore.Utils
             List<MapNode> candidateNodes = new List<MapNode>();
             if (prevDirection == direction)
             {
-                candidateNodes = connectedMapNodes.Where(n => n.NodeId != prevNode.NodeId).ToList();
+                candidateNodes = connectedMapNodes.Where(n => n.Id != prevNode.Id).ToList();
             }
             else
             {
@@ -112,9 +112,9 @@ namespace AGVNavigationCore.Utils
             Console.WriteLine(
                 $"\n[GetNextNodeByDirection] ========== 다음 노드 선택 시작 ==========");
             Console.WriteLine(
-                $"  현재노드: {currentNode.RfidId}[{currentNode.NodeId}]({currentNode.Position.X:F1}, {currentNode.Position.Y:F1})");
+                $"  현재노드: {currentNode.RfidId}[{currentNode.Id}]({currentNode.Position.X:F1}, {currentNode.Position.Y:F1})");
             Console.WriteLine(
-                $"  이전노드: {prevNode.RfidId}[{prevNode.NodeId}]({prevNode.Position.X:F1}, {prevNode.Position.Y:F1})");
+                $"  이전노드: {prevNode.RfidId}[{prevNode.Id}]({prevNode.Position.X:F1}, {prevNode.Position.Y:F1})");
             Console.WriteLine(
                 $"  이동벡터: ({movementVector.X:F2}, {movementVector.Y:F2}) → 정규화: ({normalizedMovement.X:F3}, {normalizedMovement.Y:F3})");
             Console.WriteLine(
@@ -159,7 +159,7 @@ namespace AGVNavigationCore.Utils
                 }
 
                 Console.WriteLine(
-                    $"\n  [후보] {candidate.RfidId}[{candidate.NodeId}]({candidate.Position.X:F1}, {candidate.Position.Y:F1})");
+                    $"\n  [후보] {candidate.RfidId}[{candidate.Id}]({candidate.Position.X:F1}, {candidate.Position.Y:F1})");
                 Console.WriteLine(
                     $"    벡터: ({toNextVector.X:F2}, {toNextVector.Y:F2}), 길이: {toNextLength:F2}");
                 Console.WriteLine(
@@ -204,7 +204,7 @@ namespace AGVNavigationCore.Utils
             }
 
             Console.WriteLine(
-                $"\n  최종선택: {bestNode?.RfidId ?? "null"}[{bestNode?.NodeId ?? "null"}] (점수: {bestScore:F4})");
+                $"\n  최종선택: {bestNode?.RfidId ?? 0}[{bestNode?.Id ?? "null"}] (점수: {bestScore:F4})");
             Console.WriteLine(
                 $"[GetNextNodeByDirection] ========== 다음 노드 선택 종료 ==========\n");
 
@@ -445,15 +445,15 @@ namespace AGVNavigationCore.Utils
                     // 선택 이유 생성
                     if (prevMotorDirection.HasValue && direction == prevMotorDirection)
                     {
-                        reason = $"모터 방향 일관성 유지 ({direction}) → {candidate.NodeId}";
+                        reason = $"모터 방향 일관성 유지 ({direction}) → {candidate.Id}";
                     }
                     else if (prevMotorDirection.HasValue)
                     {
-                        reason = $"모터 방향 변경 ({prevMotorDirection} → {direction}) → {candidate.NodeId}";
+                        reason = $"모터 방향 변경 ({prevMotorDirection} → {direction}) → {candidate.Id}";
                     }
                     else
                     {
-                        reason = $"방향 기반 선택 ({direction}) → {candidate.NodeId}";
+                        reason = $"방향 기반 선택 ({direction}) → {candidate.Id}";
                     }
                 }
             }

Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DirectionalPathfinderTest.cs

@@ -11,22 +11,22 @@ namespace AGVNavigationCore.Utils
 {
     /// <summary>
     /// DirectionalPathfinder 테스트 클래스
-    /// NewMap.agvmap을 로드하여 방향별 다음 노드를 검증
+    /// NewMap.json 로드하여 방향별 다음 노드를 검증
     /// </summary>
     public class DirectionalPathfinderTest
     {
         private List<MapNode> _allNodes;
-        private Dictionary<string, MapNode> _nodesByRfidId;
+        private Dictionary<ushort, MapNode> _nodesByRfidId;
         private AGVDirectionCalculator _calculator;
 
         public DirectionalPathfinderTest()
         {
-            _nodesByRfidId = new Dictionary<string, MapNode>();
+            _nodesByRfidId = new Dictionary<ushort, MapNode>();
             _calculator = new AGVDirectionCalculator();
         }
 
         /// <summary>
-        /// NewMap.agvmap 파일 로드
+        /// NewMap.json 파일 로드
         /// </summary>
         public bool LoadMapFile(string filePath)
         {
@@ -52,7 +52,7 @@ namespace AGVNavigationCore.Utils
                 // RFID ID로 인덱싱
                 foreach (var node in _allNodes)
                 {
-                    if (!string.IsNullOrEmpty(node.RfidId))
+                    if (node.HasRfid())
                     {
                         _nodesByRfidId[node.RfidId] = node;
                     }
@@ -71,7 +71,7 @@ namespace AGVNavigationCore.Utils
         /// <summary>
         /// 테스트: RFID 번호로 노드를 찾고, 다음 노드를 계산
         /// </summary>
-        public void TestDirectionalMovement(string previousRfidId, string currentRfidId, AgvDirection direction)
+        public void TestDirectionalMovement(ushort previousRfidId, ushort currentRfidId, AgvDirection direction)
         {
             Console.WriteLine($"\n========================================");
             Console.WriteLine($"테스트: {previousRfidId} → {currentRfidId} (방향: {direction})");
@@ -90,8 +90,8 @@ namespace AGVNavigationCore.Utils
                 return;
             }
 
-            Console.WriteLine($"이전 노드: {previousNode.NodeId} (RFID: {previousNode.RfidId}) - 위치: {previousNode.Position}");
-            Console.WriteLine($"현재 노드: {currentNode.NodeId} (RFID: {currentNode.RfidId}) - 위치: {currentNode.Position}");
+            Console.WriteLine($"이전 노드: {previousNode.Id} (RFID: {previousNode.RfidId}) - 위치: {previousNode.Position}");
+            Console.WriteLine($"현재 노드: {currentNode.Id} (RFID: {currentNode.RfidId}) - 위치: {currentNode.Position}");
             Console.WriteLine($"이동 벡터: ({currentNode.Position.X - previousNode.Position.X}, " +
                             $"{currentNode.Position.Y - previousNode.Position.Y})");
 
@@ -111,10 +111,10 @@ namespace AGVNavigationCore.Utils
             }
 
             // 다음 노드 정보 출력
-            var nextNode = _allNodes.FirstOrDefault(n => n.NodeId == nextNodeId);
+            var nextNode = _allNodes.FirstOrDefault(n => n.Id == nextNodeId);
             if (nextNode != null)
             {
-                Console.WriteLine($"✓ 다음 노드: {nextNode.NodeId} (RFID: {nextNode.RfidId}) - 위치: {nextNode.Position}");
+                Console.WriteLine($"✓ 다음 노드: {nextNode.Id} (RFID: {nextNode.RfidId}) - 위치: {nextNode.Position}");
                 Console.WriteLine($"  ├─ 노드 타입: {GetNodeTypeName(nextNode.Type)}");
                 Console.WriteLine($"  └─ 연결된 노드: {string.Join(", ", nextNode.ConnectedNodes)}");
             }
@@ -132,7 +132,7 @@ namespace AGVNavigationCore.Utils
             Console.WriteLine("\n========== 모든 노드 정보 ==========");
             foreach (var node in _allNodes.OrderBy(n => n.RfidId))
             {
-                Console.WriteLine($"{node.RfidId:D3} → {node.NodeId} ({GetNodeTypeName(node.Type)})");
+                Console.WriteLine($"{node.RfidId:D3} → {node.Id} ({GetNodeTypeName(node.Type)})");
                 Console.WriteLine($"   위치: {node.Position}, 연결: {string.Join(", ", node.ConnectedNodes)}");
             }
         }
@@ -140,7 +140,7 @@ namespace AGVNavigationCore.Utils
         /// <summary>
         /// 특정 RFID 노드의 상세 정보 출력
         /// </summary>
-        public void PrintNodeInfo(string rfidId)
+        public void PrintNodeInfo(ushort rfidId)
         {
             if (!_nodesByRfidId.TryGetValue(rfidId, out var node))
             {
@@ -149,11 +149,12 @@ namespace AGVNavigationCore.Utils
             }
 
             Console.WriteLine($"\n========== RFID {rfidId} 상세 정보 ==========");
-            Console.WriteLine($"노드 ID: {node.NodeId}");
-            Console.WriteLine($"이름: {node.Name}");
+            Console.WriteLine($"노드 ID: {node.Id}");
+            Console.WriteLine($"RFID: {node.RfidId}");
+            Console.WriteLine($"ALIAS: {node.AliasName}");
             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:");
 
@@ -165,7 +166,7 @@ namespace AGVNavigationCore.Utils
             {
                 foreach (var connectedId in node.ConnectedNodes)
                 {
-                    var connectedNode = _allNodes.FirstOrDefault(n => n.NodeId == connectedId);
+                    var connectedNode = _allNodes.FirstOrDefault(n => n.Id == connectedId);
                     if (connectedNode != null)
                     {
                         Console.WriteLine($"  → {connectedId} (RFID: {connectedNode.RfidId}) - 위치: {connectedNode.Position}");

Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DockingValidator.cs

@@ -29,7 +29,7 @@ namespace AGVNavigationCore.Utils
                 return DockingValidationResult.CreateNotRequired();
             }
             if (pathResult.DetailedPath.Any() == false && pathResult.Path.Any() && pathResult.Path.Count == 2 &&
-                pathResult.Path[0].NodeId == pathResult.Path[1].NodeId)
+                pathResult.Path[0].Id == pathResult.Path[1].Id)
             {
                 System.Diagnostics.Debug.WriteLine($"[DockingValidator] 도킹 검증 불필요: 동일포인트");
                 return DockingValidationResult.CreateNotRequired();
@@ -44,7 +44,7 @@ namespace AGVNavigationCore.Utils
                 return DockingValidationResult.CreateNotRequired();
             }
 
-            System.Diagnostics.Debug.WriteLine($"[DockingValidator] 목적지 노드: {LastNode.NodeId} 타입:{LastNode.Type} ({(int)LastNode.Type})");
+            System.Diagnostics.Debug.WriteLine($"[DockingValidator] 목적지 노드: {LastNode.Id} 타입:{LastNode.Type} ({(int)LastNode.Type})");
 
             //detail 경로 이동 예측 검증
             for (int i = 0; i < pathResult.DetailedPath.Count - 1; i++)
@@ -52,8 +52,8 @@ namespace AGVNavigationCore.Utils
                 var curNodeId = pathResult.DetailedPath[i].NodeId;
                 var nextNodeId = pathResult.DetailedPath[i + 1].NodeId;
 
-                var curNode = mapNodes?.FirstOrDefault(n => n.NodeId == curNodeId);
-                var nextNode = mapNodes?.FirstOrDefault(n => n.NodeId == nextNodeId);
+                var curNode = mapNodes?.FirstOrDefault(n => n.Id == curNodeId);
+                var nextNode = mapNodes?.FirstOrDefault(n => n.Id == nextNodeId);
 
                 if (curNode != null && nextNode != null)
                 {
@@ -67,7 +67,7 @@ namespace AGVNavigationCore.Utils
                     else
                     {
                         var prevNodeId = pathResult.DetailedPath[i - 1].NodeId;
-                        prevNode = mapNodes?.FirstOrDefault(n => n.NodeId == prevNodeId);
+                        prevNode = mapNodes?.FirstOrDefault(n => n.Id == prevNodeId);
                         prevDir = pathResult.DetailedPath[i - 1].MotorDirection;
                     }
 
@@ -78,7 +78,7 @@ namespace AGVNavigationCore.Utils
                         Console.WriteLine(
                             $"\n[ValidateDockingDirection] 경로 검증 단계 {i}:");
                         Console.WriteLine(
-                            $"  이전→현재→다음: {prevNode.NodeId}({prevNode.RfidId}) → {curNode.NodeId}({curNode.RfidId}) → {nextNode.NodeId}({nextNode.RfidId})");
+                            $"  이전→현재→다음: {prevNode.Id}({prevNode.RfidId}) → {curNode.Id}({curNode.RfidId}) → {nextNode.Id}({nextNode.RfidId})");
                         Console.WriteLine(
                             $"  현재 노드 위치: ({curNode.Position.X:F1}, {curNode.Position.Y:F1})");
                         Console.WriteLine(
@@ -96,16 +96,16 @@ namespace AGVNavigationCore.Utils
                         );
 
                         Console.WriteLine(
-                            $"  [예상] GetNextNodeByDirection 결과: {expectedNextNode?.NodeId ?? "null"}");
+                            $"  [예상] GetNextNodeByDirection 결과: {expectedNextNode?.Id ?? "null"}");
                         Console.WriteLine(
-                            $"  [실제] DetailedPath 다음 노드: {nextNode.RfidId}[{nextNode.NodeId}]");
+                            $"  [실제] DetailedPath 다음 노드: {nextNode.RfidId}[{nextNode.Id}]");
 
-                        if (expectedNextNode != null && !expectedNextNode.NodeId.Equals(nextNode.NodeId))
+                        if (expectedNextNode != null && !expectedNextNode.Id.Equals(nextNode.Id))
                         {
                             string error =
                                 $"[DockingValidator] ⚠️ 경로 방향 불일치" +
-                                $"\n현재={curNode.RfidId}[{curNodeId}] 이전={prevNode.RfidId}[{(prevNode?.NodeId ?? string.Empty)}] " +
-                                $"\n예상다음={expectedNextNode.RfidId}[{expectedNextNode.NodeId}] 실제다음={nextNode.RfidId}[{nextNodeId}]";
+                                $"\n현재={curNode.RfidId}[{curNodeId}] 이전={prevNode.RfidId}[{(prevNode?.Id ?? string.Empty)}] " +
+                                $"\n예상다음={expectedNextNode.RfidId}[{expectedNextNode.Id}] 실제다음={nextNode.RfidId}[{nextNodeId}]";
                             Console.WriteLine(
                                 $"[ValidateDockingDirection] ❌ 경로 방향 불일치 검출!");
                             Console.WriteLine(
@@ -118,7 +118,7 @@ namespace AGVNavigationCore.Utils
                                 $"    현재→실제: ({(nextNode.Position.X - curNode.Position.X):F2}, {(nextNode.Position.Y - curNode.Position.Y):F2})");
                             Console.WriteLine($"[ValidateDockingDirection] 에러메시지: {error}");
                             return DockingValidationResult.CreateInvalid(
-                                LastNode.NodeId,
+                                LastNode.Id,
                                 LastNode.Type,
                                 pathResult.DetailedPath[i].MotorDirection,
                                 pathResult.DetailedPath[i].MotorDirection,
@@ -150,12 +150,12 @@ namespace AGVNavigationCore.Utils
             System.Diagnostics.Debug.WriteLine($"[DockingValidator] 필요한 도킹 방향: {requiredDirection}");
 
             var LastNodeInfo = pathResult.DetailedPath.Last();
-            if (LastNodeInfo.NodeId != LastNode.NodeId)
+            if (LastNodeInfo.NodeId != LastNode.Id)
             {
-                string error = $"마지막 노드의 도킹방향과 경로정보의 노드ID 불일치: 필요={LastNode.NodeId}, 계산됨={LastNodeInfo.NodeId }";
+                string error = $"마지막 노드의 도킹방향과 경로정보의 노드ID 불일치: 필요={LastNode.Id}, 계산됨={LastNodeInfo.NodeId }";
                 System.Diagnostics.Debug.WriteLine($"[DockingValidator] ❌ 도킹 검증 실패: {error}");
                 return DockingValidationResult.CreateInvalid(
-                    LastNode.NodeId,
+                    LastNode.Id,
                     LastNode.Type,
                     requiredDirection,
                     LastNodeInfo.MotorDirection,
@@ -167,7 +167,7 @@ namespace AGVNavigationCore.Utils
             {
                 System.Diagnostics.Debug.WriteLine($"[DockingValidator] ✅ 도킹 검증 성공");
                 return DockingValidationResult.CreateValid(
-                    LastNode.NodeId,
+                    LastNode.Id,
                     LastNode.Type,
                     requiredDirection,
                     LastNodeInfo.MotorDirection);
@@ -177,7 +177,7 @@ namespace AGVNavigationCore.Utils
                 string error = $"도킹 방향 불일치: 필요={GetDirectionText(requiredDirection)}, 계산됨={GetDirectionText(LastNodeInfo.MotorDirection)}";
                 System.Diagnostics.Debug.WriteLine($"[DockingValidator] ❌ 도킹 검증 실패: {error}");
                 return DockingValidationResult.CreateInvalid(
-                    LastNode.NodeId,
+                    LastNode.Id,
                     LastNode.Type,
                     requiredDirection,
                     LastNodeInfo.MotorDirection,
@@ -264,7 +264,7 @@ namespace AGVNavigationCore.Utils
             var deltaY = lastNode.Position.Y - secondLastNode.Position.Y;
             var distance = Math.Sqrt(deltaX * deltaX + deltaY * deltaY);
 
-            System.Diagnostics.Debug.WriteLine($"[CalculateFinalDirection] 마지막 구간: {secondLastNode.NodeId} → {lastNode.NodeId}, 벡터: ({deltaX}, {deltaY}), 거리: {distance:F2}");
+            System.Diagnostics.Debug.WriteLine($"[CalculateFinalDirection] 마지막 구간: {secondLastNode.Id} → {lastNode.Id}, 벡터: ({deltaX}, {deltaY}), 거리: {distance:F2}");
 
             // 이동 거리가 매우 작으면 현재 방향 유지
             if (distance < 1.0)

Cs_HMI/AGVLogic/AGVNavigationCore/Utils/GetNextNodeIdTest.cs

@@ -28,10 +28,10 @@ namespace AGVNavigationCore.Utils
             Console.WriteLine("================================================\n");
 
             // 테스트 노드 생성
-            var node001 = new MapNode { NodeId = "N001", RfidId = "001", Position = new Point(65, 229), ConnectedNodes = new List<string> { "N002" } };
-            var node002 = new MapNode { NodeId = "N002", RfidId = "002", Position = new Point(206, 244), ConnectedNodes = new List<string> { "N001", "N003" } };
-            var node003 = new MapNode { NodeId = "N003", RfidId = "003", Position = new Point(278, 278), ConnectedNodes = new List<string> { "N002", "N004" } };
-            var node004 = new MapNode { NodeId = "N004", RfidId = "004", Position = new Point(380, 340), ConnectedNodes = new List<string> { "N003", "N022", "N031" } };
+            var node001 = new MapNode { Id = "N001", RfidId = 001, Position = new Point(65, 229), ConnectedNodes = new List<string> { "N002" } };
+            var node002 = new MapNode { Id = "N002", RfidId = 002, Position = new Point(206, 244), ConnectedNodes = new List<string> { "N001", "N003" } };
+            var node003 = new MapNode { Id = "N003", RfidId = 003, Position = new Point(278, 278), ConnectedNodes = new List<string> { "N002", "N004" } };
+            var node004 = new MapNode { Id = "N004", RfidId = 004, Position = new Point(380, 340), ConnectedNodes = new List<string> { "N003", "N022", "N031" } };
 
             var allNodes = new List<MapNode> { node001, node002, node003, node004 };
 
@@ -114,8 +114,8 @@ namespace AGVNavigationCore.Utils
             AgvDirection motorDir = currentMotorDirection ?? direction;
 
             Console.WriteLine($"설명: {description}");
-            Console.WriteLine($"이전 위치: {prevPos} (RFID: {allNodes.First(n => n.Position == prevPos)?.RfidId ?? "?"})");
-            Console.WriteLine($"현재 노드: {currentNode.NodeId} (RFID: {currentNode.RfidId}) - 위치: {currentNode.Position}");
+            Console.WriteLine($"이전 위치: {prevPos} (RFID: {allNodes.First(n => n.Position == prevPos)?.RfidId.ToString("0000") ?? "?"})");
+            Console.WriteLine($"현재 노드: {currentNode.Id} (RFID: {currentNode.RfidId}) - 위치: {currentNode.Position}");
             Console.WriteLine($"현재 모터 방향: {motorDir}");
             Console.WriteLine($"요청 방향: {direction}");
 
@@ -128,32 +128,32 @@ namespace AGVNavigationCore.Utils
             Console.WriteLine($"이동 벡터: ({movementVector.X}, {movementVector.Y})");
 
             // 각 후보 노드에 대한 점수 계산
-            Console.WriteLine($"\n현재 노드({currentNode.NodeId})의 ConnectedNodes: {string.Join(", ", currentNode.ConnectedNodes)}");
+            Console.WriteLine($"\n현재 노드({currentNode.Id})의 ConnectedNodes: {string.Join(", ", currentNode.ConnectedNodes)}");
             Console.WriteLine($"가능한 다음 노드들:");
 
             var candidateNodes = allNodes.Where(n =>
-                currentNode.ConnectedNodes.Contains(n.NodeId) && n.NodeId != currentNode.NodeId
+                currentNode.ConnectedNodes.Contains(n.Id) && n.Id != currentNode.Id
             ).ToList();
 
             foreach (var candidate in candidateNodes)
             {
                 var score = CalculateScoreAndPrint(movementVector, currentNode.Position, candidate, direction);
-                string isExpected = (candidate.NodeId == expectedNextNode.NodeId) ? " ← 예상 노드" : "";
-                Console.WriteLine($"  {candidate.NodeId} (RFID: {candidate.RfidId}) - 위치: {candidate.Position} - 점수: {score:F1}{isExpected}");
+                string isExpected = (candidate.Id == expectedNextNode.Id) ? " ← 예상 노드" : "";
+                Console.WriteLine($"  {candidate.Id} (RFID: {candidate.RfidId}) - 위치: {candidate.Position} - 점수: {score:F1}{isExpected}");
             }
 
             // 최고 점수 노드 선택
             var bestCandidate = GetBestCandidate(movementVector, currentNode.Position, candidateNodes, direction);
 
-            Console.WriteLine($"\n✓ 선택된 노드: {bestCandidate.NodeId} (RFID: {bestCandidate.RfidId})");
+            Console.WriteLine($"\n✓ 선택된 노드: {bestCandidate.Id} (RFID: {bestCandidate.RfidId})");
 
-            if (bestCandidate.NodeId == expectedNextNode.NodeId)
+            if (bestCandidate.Id == expectedNextNode.Id)
             {
                 Console.WriteLine($"✅ 정답! ({expectedNodeIdStr})");
             }
             else
             {
-                Console.WriteLine($"❌ 오답! 예상: {expectedNextNode.NodeId}, 실제: {bestCandidate.NodeId}");
+                Console.WriteLine($"❌ 오답! 예상: {expectedNextNode.Id}, 실제: {bestCandidate.Id}");
             }
         }
 

Cs_HMI/AGVLogic/AGVNavigationCore/Utils/LiftCalculator.cs

@@ -63,14 +63,14 @@ namespace AGVNavigationCore.Utils
                 // 이전 노드 제외 (되돌아가는 방향 제외)
                 if (previousNode != null)
                 {
-                    nextNodes = nextNodes.Where(n => n.NodeId != previousNode.NodeId).ToList();
+                    nextNodes = nextNodes.Where(n => n.Id != previousNode.Id).ToList();
                 }
 
                 if (nextNodes.Count == 1)
                 {
                     // 직선 경로: 다음 노드 방향으로 예측
                     targetPosition = nextNodes.First().Position;
-                    calculationMethod = $"전진 경로 예측 ({currentNode.NodeId}→{nextNodes.First().NodeId})";
+                    calculationMethod = $"전진 경로 예측 ({currentNode.Id}→{nextNodes.First().Id})";
                 }
                 else if (nextNodes.Count > 1)
                 {
@@ -268,7 +268,7 @@ namespace AGVNavigationCore.Utils
             
             foreach (var nodeId in currentNode.ConnectedNodes)
             {
-                var connectedNode = mapNodes.FirstOrDefault(n => n.NodeId == nodeId);
+                var connectedNode = mapNodes.FirstOrDefault(n => n.Id == nodeId);
                 if (connectedNode != null)
                 {
                     connectedNodes.Add(connectedNode);

Cs_HMI/AGVLogic/AGVNavigationCore/Utils/TestRunner.cs

@@ -14,7 +14,7 @@ namespace AGVNavigationCore.Utils
     {
         public void RunTests()
         {
-            string mapFilePath = @"C:\Data\Source\(5613#) ENIG AGV\Source\Cs_HMI\Data\NewMap.agvmap";
+            string mapFilePath = @"C:\Data\Source\(5613#) ENIG AGV\Source\Cs_HMI\Data\NewMap.json";
 
             var tester = new DirectionalPathfinderTest();
 
@@ -29,26 +29,26 @@ namespace AGVNavigationCore.Utils
             tester.PrintAllNodes();
 
             // 테스트 시나리오 1: 001 → 002 → Forward (003 기대)
-            tester.PrintNodeInfo("001");
-            tester.PrintNodeInfo("002");
-            tester.TestDirectionalMovement("001", "002", AgvDirection.Forward);
+            tester.PrintNodeInfo(001);
+            tester.PrintNodeInfo(002);
+            tester.TestDirectionalMovement(001, 002, AgvDirection.Forward);
 
             // 테스트 시나리오 2: 002 → 001 → Backward (000 또는 이전 기대)
-            tester.TestDirectionalMovement("002", "001", AgvDirection.Backward);
+            tester.TestDirectionalMovement(002, 001, AgvDirection.Backward);
 
             // 테스트 시나리오 3: 002 → 003 → Forward
-            tester.PrintNodeInfo("003");
-            tester.TestDirectionalMovement("002", "003", AgvDirection.Forward);
+            tester.PrintNodeInfo(003);
+            tester.TestDirectionalMovement(002, 003, AgvDirection.Forward);
 
             // 테스트 시나리오 4: 003 → 004 → Forward
-            tester.PrintNodeInfo("004");
-            tester.TestDirectionalMovement("003", "004", AgvDirection.Forward);
+            tester.PrintNodeInfo(004);
+            tester.TestDirectionalMovement(003, 004, AgvDirection.Forward);
 
             // 테스트 시나리오 5: 003 → 004 → Right (030 기대)
-            tester.TestDirectionalMovement("003", "004", AgvDirection.Right);
+            tester.TestDirectionalMovement(003, 004, AgvDirection.Right);
 
             // 테스트 시나리오 6: 004 → 003 → Backward
-            tester.TestDirectionalMovement("004", "003", AgvDirection.Backward);
+            tester.TestDirectionalMovement(004, 003, AgvDirection.Backward);
 
             Console.WriteLine("\n\n=== 테스트 완료 ===");
         }

Cs_HMI/AGVLogic/AGVNavigationCore/packages.config

@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" encoding="utf-8"?>
 <packages>
-  <package id="Newtonsoft.Json" version="13.0.3" targetFramework="net48" />
+  <package id="Newtonsoft.Json" version="13.0.4" targetFramework="net48" />
 </packages>

Cs_HMI/AGVLogic/AGVSimulator/AGVSimulator.csproj

@@ -17,7 +17,7 @@
     <DebugSymbols>true</DebugSymbols>
     <DebugType>full</DebugType>
     <Optimize>false</Optimize>
-    <OutputPath>..\..\..\..\..\..\Amkor\AGV4\</OutputPath>
+    <OutputPath>..\..\..\..\..\..\Amkor\AGV4\Test\Simulator\</OutputPath>
     <DefineConstants>DEBUG;TRACE</DefineConstants>
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>

Cs_HMI/Data/NewMap.agvmap

@@ -1,19 +1,21 @@
 {
   "Nodes": [
     {
-      "NodeId": "N001",
+      "Id": "N001",
       "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",
@@ -38,20 +40,22 @@
       "DisplayText": "N001 - UNLOADER - [0001]"
     },
     {
-      "NodeId": "N002",
+      "Id": "N002",
       "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",
@@ -76,20 +80,22 @@
       "DisplayText": "N002 - N002 - [0002]"
     },
     {
-      "NodeId": "N003",
+      "Id": "N003",
       "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",
@@ -114,10 +120,11 @@
       "DisplayText": "N003 - N003 - [0003]"
     },
     {
-      "NodeId": "N004",
+      "Id": "N004",
       "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",
@@ -154,20 +162,22 @@
       "DisplayText": "N004 - N004 - [0004]"
     },
     {
-      "NodeId": "N006",
+      "Id": "N006",
       "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",
@@ -192,20 +202,22 @@
       "DisplayText": "N006 - N006 - [0013]"
     },
     {
-      "NodeId": "N007",
+      "Id": "N007",
       "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",
@@ -230,20 +242,22 @@
       "DisplayText": "N007 - N007 - [0014]"
     },
     {
-      "NodeId": "N008",
+      "Id": "N008",
       "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",
@@ -268,20 +282,22 @@
       "DisplayText": "N008 - N008 - [0009]"
     },
     {
-      "NodeId": "N009",
+      "Id": "N009",
       "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",
@@ -306,19 +322,21 @@
       "DisplayText": "N009 - N009 - [0010]"
     },
     {
-      "NodeId": "N010",
+      "Id": "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",
@@ -343,21 +361,23 @@
       "DisplayText": "N010 - TOPS - [0011]"
     },
     {
-      "NodeId": "N011",
+      "Id": "N011",
       "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",
@@ -382,20 +402,22 @@
       "DisplayText": "N011 - N011 - [0005]"
     },
     {
-      "NodeId": "N012",
+      "Id": "N012",
       "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",
@@ -420,20 +442,22 @@
       "DisplayText": "N012 - N012 - [0006]"
     },
     {
-      "NodeId": "N013",
+      "Id": "N013",
       "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",
@@ -458,19 +482,21 @@
       "DisplayText": "N013 - N013 - [0007]"
     },
     {
-      "NodeId": "N014",
+      "Id": "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",
@@ -495,19 +521,21 @@
       "DisplayText": "N014 - LOADER - [0008]"
     },
     {
-      "NodeId": "N019",
+      "Id": "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",
@@ -532,21 +560,23 @@
       "DisplayText": "N019 - CHARGER #2 - [0015]"
     },
     {
-      "NodeId": "N022",
+      "Id": "N022",
       "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",
@@ -571,20 +601,22 @@
       "DisplayText": "N022 - N022 - [0012]"
     },
     {
-      "NodeId": "N023",
+      "Id": "N023",
       "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",
@@ -609,20 +641,22 @@
       "DisplayText": "N023 - N023 - [0016]"
     },
     {
-      "NodeId": "N024",
+      "Id": "N024",
       "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",
@@ -647,20 +681,22 @@
       "DisplayText": "N024 - N024 - [0017]"
     },
     {
-      "NodeId": "N025",
+      "Id": "N025",
       "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",
@@ -685,19 +721,21 @@
       "DisplayText": "N025 - N025 - [0018]"
     },
     {
-      "NodeId": "N026",
+      "Id": "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",
@@ -722,17 +760,19 @@
       "DisplayText": "N026 - CHARGER #1 - [0019]"
     },
     {
-      "NodeId": "LBL001",
+      "Id": "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": "",
@@ -757,17 +797,19 @@
       "DisplayText": "LBL001 - Amkor Technology Korea"
     },
     {
-      "NodeId": "IMG001",
+      "Id": "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": "",
@@ -792,20 +834,22 @@
       "DisplayText": "IMG001 - logo"
     },
     {
-      "NodeId": "N015",
+      "Id": "N015",
       "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",
@@ -830,20 +874,22 @@
       "DisplayText": "N015 - [0037]"
     },
     {
-      "NodeId": "N016",
+      "Id": "N016",
       "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",
@@ -868,20 +914,22 @@
       "DisplayText": "N016 - [0036]"
     },
     {
-      "NodeId": "N017",
+      "Id": "N017",
       "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",
@@ -906,21 +954,23 @@
       "DisplayText": "N017 - [0035]"
     },
     {
-      "NodeId": "N018",
+      "Id": "N018",
       "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",
@@ -945,21 +995,23 @@
       "DisplayText": "N018 - [0034]"
     },
     {
-      "NodeId": "N005",
+      "Id": "N005",
       "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",
@@ -984,21 +1036,23 @@
       "DisplayText": "N005 - [0033]"
     },
     {
-      "NodeId": "N020",
+      "Id": "N020",
       "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",
@@ -1023,20 +1077,22 @@
       "DisplayText": "N020 - [0032]"
     },
     {
-      "NodeId": "N021",
+      "Id": "N021",
       "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",
@@ -1061,19 +1117,21 @@
       "DisplayText": "N021 - [0031]"
     },
     {
-      "NodeId": "N027",
+      "Id": "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",
@@ -1098,19 +1156,21 @@
       "DisplayText": "N027 - BUF1 - [0041]"
     },
     {
-      "NodeId": "N028",
+      "Id": "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",
@@ -1135,19 +1195,21 @@
       "DisplayText": "N028 - BUF2 - [0040]"
     },
     {
-      "NodeId": "N029",
+      "Id": "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",
@@ -1172,19 +1234,21 @@
       "DisplayText": "N029 - BUF3 - [0039]"
     },
     {
-      "NodeId": "N030",
+      "Id": "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",
@@ -1209,20 +1273,22 @@
       "DisplayText": "N030 - BUF4 - [0038]"
     },
     {
-      "NodeId": "N031",
+      "Id": "N031",
       "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

@@ -42,7 +42,7 @@
     <DebugType>Full</DebugType>
     <Optimize>False</Optimize>
     <OutputPath>..\..\..\..\..\Amkor\AGV4\</OutputPath>
-    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <DefineConstants>TRACE;DEBUG;NOSPEECH</DefineConstants>
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>
     <Prefer32Bit>false</Prefer32Bit>
@@ -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>
@@ -116,8 +116,7 @@
       <HintPath>C:\Program Files (x86)\Microsoft SDKs\Speech\v11.0\Assembly\Microsoft.Speech.dll</HintPath>
     </Reference>
     <Reference Include="Newtonsoft.Json, Version=13.0.0.0, Culture=neutral, PublicKeyToken=30ad4fe6b2a6aeed, processorArchitecture=MSIL">
-      <HintPath>..\packages\Newtonsoft.Json.13.0.3\lib\net45\Newtonsoft.Json.dll</HintPath>
-      <Private>True</Private>
+      <HintPath>..\packages\Newtonsoft.Json.13.0.4\lib\net45\Newtonsoft.Json.dll</HintPath>
     </Reference>
     <Reference Include="PresentationCore" />
     <Reference Include="System" />
@@ -187,7 +186,10 @@
     <Compile Include="Device\BMS.cs" />
     <Compile Include="Device\BMSInformationEventArgs.cs" />
     <Compile Include="Device\CFlag.cs" />
-    <Compile Include="Device\xbee.cs" />
+    <Compile Include="Device\BMSSerialComm.cs" />
+    <Compile Include="Device\xbee.cs">
+      <SubType>Component</SubType>
+    </Compile>
     <Compile Include="Device\Socket.cs" />
     <Compile Include="Dialog\fCounter.cs">
       <SubType>Form</SubType>
@@ -195,6 +197,12 @@
     <Compile Include="Dialog\fCounter.Designer.cs">
       <DependentUpon>fCounter.cs</DependentUpon>
     </Compile>
+    <Compile Include="Dialog\fXbeeSetting.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="Dialog\fXbeeSetting.Designer.cs">
+      <DependentUpon>fXbeeSetting.cs</DependentUpon>
+    </Compile>
     <Compile Include="Dialog\fStateMachineDebug.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -225,9 +233,6 @@
     <Compile Include="Dialog\fSystem.Designer.cs">
       <DependentUpon>fSystem.cs</DependentUpon>
     </Compile>
-    <Compile Include="Dialog\DriveDetector.cs">
-      <SubType>Form</SubType>
-    </Compile>
     <Compile Include="Dialog\fVolume.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -284,6 +289,33 @@
     <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 +337,6 @@
     <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>
@@ -341,9 +367,6 @@
     <Compile Include="StateMachine\_SPS.cs">
       <SubType>Form</SubType>
     </Compile>
-    <Compile Include="Device\_DeviceManagement.cs">
-      <SubType>Form</SubType>
-    </Compile>
     <Compile Include="StateMachine\_Loop.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -401,6 +424,9 @@
     <EmbeddedResource Include="Dialog\fCounter.resx">
       <DependentUpon>fCounter.cs</DependentUpon>
     </EmbeddedResource>
+    <EmbeddedResource Include="Dialog\fXbeeSetting.resx">
+      <DependentUpon>fXbeeSetting.cs</DependentUpon>
+    </EmbeddedResource>
     <EmbeddedResource Include="Dialog\fUpdateForm.resx">
       <DependentUpon>fUpdateForm.cs</DependentUpon>
     </EmbeddedResource>

Cs_HMI/Project/CSetting.cs

@@ -222,8 +222,6 @@ namespace Project
 
         #region "Charge"
         [Browsable(false)]
-        public int chargerpos { get; set; }
-        [Browsable(false)]
         public int ChargetWaitSec { get; set; }
         [Browsable(false)]
         public int ChargeEmergencyLevel { get; set; }
@@ -240,29 +238,27 @@ namespace Project
         [Browsable(false)]
         public int ChargeSearchTime { get; set; }
 
+        [Category("Charge"), DisplayName("Low Battery Limit"), Description("배터리 부족 경고 알림 기준 (%)")]
+        public int BatteryLimit_Low { get; set; }
+
         #endregion
 
         #region "AGV"
 
         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 +324,12 @@ 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 +337,16 @@ 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 +377,7 @@ 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;
@@ -416,10 +428,10 @@ namespace Project
             if (ChargeEmergencyLevel == 0) ChargeEmergencyLevel = 30;
             if (interval_bms == 0) interval_bms = 10;
 
-            //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;
+            if (BatteryLimit_Low == 0) BatteryLimit_Low = 20;
             //최대 충전진행 시간(기본 1시간)
             if (ChargeMaxTime == 0) ChargeMaxTime = 3600;
             // if (interval_iostate == 0 || interval_iostate == 255) interval_iostate = 100;

Cs_HMI/Project/Class/CResult.cs

@@ -22,11 +22,31 @@ namespace Project
         public Color SMSG_ShadowColor = Color.Transparent;
         public float SMSG_ProgressValue = 0;
         public string SMSG_Tag = string.Empty;
-        //public event EventHandler SMSG_Update;
-        //public void UpdateStatusMessage()
-        //{
-        //    SMSG_Update?.Invoke(null, null);
-        //}
+        /// <summary>
+        /// 이동대상위치(상차,하차,충전)
+        /// </summary>
+        private ePosition _targetPos = ePosition.NONE;
+        public string result_message = "";
+        public double result_progressmax = 0;
+        public double result_progressvalue = 0;
+        public DateTime StopMessageTimePLC = DateTime.Parse("1982-11-23");
+        public DateTime StopMessageTimeSWR = DateTime.Parse("1982-11-23");
+        public string StopMessagePLC = string.Empty;
+        public string StopMessageSWR = string.Empty;
+        private ePosition _currentpos = ePosition.NONE;
+        private string _currentposcw = string.Empty;
+        public ushort LastTAG { get; set; } = 0;
+        public ePosition NextPos = ePosition.NONE;
+        private char _comandKit { get; set; }
+        public string Memo;
+        public eResult ResultCode { get; set; }
+        public eECode ResultErrorCode;
+        public string ResultMessage { get; set; }
+        public Boolean isError { get; set; }
+        public int retry = 0;
+        public DateTime retryTime;
+        public Device.Socket.Message RecvMessage;
+
         /// <summary>
         /// 작업시작시간
         /// </summary>
@@ -52,9 +72,6 @@ namespace Project
             }
         }
 
-        //public DateTime ChargeStartTime = DateTime.Parse("1982-11-23");
-
-
         #region "AGV Status Value"
         public string PLC1_RawData { get; set; }
         public string PLC2_RawData { get; set; }
@@ -62,26 +79,7 @@ namespace Project
 
         #endregion
 
-        /// <summary>
-        /// 이동대상위치(상차,하차,충전)
-        /// </summary>
-        private ePosition _targetPos = ePosition.NONE;
-
-        public event EventHandler TargetPosSet;
-
-        public string result_message = "";
-        public double result_progressmax = 0;
-        public double result_progressvalue = 0;
-
-
-        public DateTime StopMessageTimePLC = DateTime.Parse("1982-11-23");
-        public DateTime StopMessageTimeSWR = DateTime.Parse("1982-11-23");
-        public string StopMessagePLC = string.Empty;
-        public string StopMessageSWR = string.Empty;
-        //public DateTime LastChar
-        //geTime = DateTime.Parse("1982-11-23");
-
-        public ePosition NextPos = ePosition.NONE;
+    
         public ePosition TargetPos
         {
             get
@@ -91,13 +89,11 @@ namespace Project
             set
             {
                 _targetPos = value;
-                TargetPosSet?.Invoke(this, null);
-             
                 PUB.log.Add(string.Format("대상위치설정:{0}", value));
             }
         }
 
-        private char _comandKit { get; set; }
+      
         public char CommandKit
         {
             get
@@ -112,28 +108,7 @@ namespace Project
             }
         }
 
-
-        //private ePosition _currentPos = ePosition.NONE;
-        //public ePosition CurrentPos
-        //{
-        //    get
-        //    {
-        //        return _currentPos;
-        //    }
-        //    set
-        //    {
-        //        if (_currentPos != value) //값이바뀔떄만 메세지 220628
-        //            PUB.log.Add(string.Format("현재위치 설정:{0}->{1}", _currentPos, value));
-
-        //        _currentPos = value;
-        //    }
-        //}
- 
-        private ePosition _currentpos = ePosition.NONE;
-        private string _currentposcw = string.Empty;
-
-        // public ePosition LastPos = ePosition.NONE;
-        public string LastTAG { get; set; } = string.Empty;
+    
         public ePosition CurrentPos
         {
             get
@@ -164,11 +139,7 @@ namespace Project
                 _currentposcw = value;
             }
         }
-        public string Memo;
-
-        public eResult ResultCode { get; set; }
-        public eECode ResultErrorCode;
-        public string ResultMessage { get; set; }
+    
 
         #region "SetResultMessage"
 
@@ -206,14 +177,7 @@ namespace Project
 
         #endregion
 
-
-     
-        public Boolean isError { get; set; }
-
-        public int retry = 0;
-        public DateTime retryTime;
-        public Device.Socket.Message RecvMessage;
-
+   
         public CResult()
         {
             this.Clear();

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/BMS.cs

@@ -9,12 +9,12 @@ using System.CodeDom;
 
 namespace arDev
 {
-    public class BMS : arRS232
+    public class BMS : BMSSerialComm
     {
         public BMS()
         {
 
-            MinRecvLength = 34;
+           
         }
 
         /// <summary>
@@ -55,28 +55,60 @@ namespace arDev
                     {
                         tempBuffer.Add(incomByte);
 
-                        var queylen = QueryIndex == 0 ? 34 : 23;
-                        if (tempBuffer.Count == queylen)
+                        if (tempBuffer.Count > 7)
                         {
-                            if (incomByte != 0x77)
+                            byte len = tempBuffer[3];
+                            if (tempBuffer.Count >= 4 + len + 3) // Start+Reg+Status+Len + Data + Chk(2) + End
                             {
-                                //종단기호가 맞지 않다. 이자료는 폐기한다.
-                                var hexstr = string.Join(" ", tempBuffer.Select(t => t.ToString("X2")));
-                                RaiseMessage(MessageType.Error, $"discard : {hexstr}");
-                                tempBuffer.Clear();
+                                if (tempBuffer.Last() == 0x77)
+                                {
+                                    //데이터가 맞게 수신됨
+                                    LastReceiveBuffer = tempBuffer.ToArray();
+                                    bComplete = true;
+                                }
+                                else
+                                {
+                                    //종단기호가 맞지 않다. 이자료는 폐기한다.
+                                    var hexstr = string.Join(" ", tempBuffer.Select(t => t.ToString("X2")));
+                                    RaiseMessage(MessageType.Error, $"discard : {hexstr}");
+                                    tempBuffer.Clear();
+                                }
+                                findSTX = false;
                             }
-                            else
-                            {
-                                //데이터가 맞게 수신됨
-                                LastReceiveBuffer = tempBuffer.ToArray();
-                                bComplete = true;
-                            }
-                            findSTX = false;
-                        }
-                        else
-                        {
-                            //아직 모자르므로 대기한다
                         }
+
+//                        [22 - 12 - 27 14:32:49] open: True
+//[22 - 12 - 27 14:32:49] Send: DD A5 03 00 FF FD 77 0D
+//[22 - 12 - 27 14:32:50] Send: DD A5 03 00 FF FD 77 0D
+//[22 - 12 - 27 14:32:50] Recv: 26.61v,81.4 %
+//[22 - 12 - 27 14:32:50] Recv: DD 03 00 1B 0A 65 00 00 21 63 29 04 00 00 2C 92 00 00 00 00 00 00 28 51 03 08 02 0B 69 0B 66 FC 9C 77
+//[22 - 12 - 27 14:32:50] Send: DD A5 03 00 FF FD 77 0D
+//[22 - 12 - 27 14:32:51] Recv: 26.61v,81.4 %
+//[22 - 12 - 27 14:32:51] Recv: DD 03 00 1B 0A 65 00 00 21 63 29 04 00 00 2C 92 00 00 00 00 00 00 28 51 03 08 02 0B 69 0B 66 FC 9C 77
+
+
+                        //var queylen = QueryIndex == 0 ? 34 : 23;
+                        //if (tempBuffer.Count == queylen)
+                        //{
+                        //    if (incomByte != 0x77)
+                        //    {
+                        //        //종단기호가 맞지 않다. 이자료는 폐기한다.
+                        //        var hexstr = string.Join(" ", tempBuffer.Select(t => t.ToString("X2")));
+                        //        RaiseMessage(MessageType.Error, $"discard : {hexstr}");
+                        //        tempBuffer.Clear();
+                        //    }
+                        //    else
+                        //    {
+                        //        //데이터가 맞게 수신됨
+                        //        LastReceiveBuffer = tempBuffer.ToArray();
+                        //        bComplete = true;
+                        //    }
+                        //    findSTX = false;
+                        //}
+                        //else
+                        //{
+                        //    //아직 모자르므로 대기한다
+                        //}
                     }
                 }
             }
@@ -106,7 +138,7 @@ namespace arDev
             else
             {
                 var rxstr = string.Join(" ", data.Select(t => t.ToString("X2")));
-                RaiseMessage(MessageType.Recv, $"Querh:{QueryIndex},Data:{rxstr}" );
+                RaiseMessage(MessageType.Recv, rxstr);
             }
 
             if (QueryIndex == 0)
@@ -179,6 +211,13 @@ namespace arDev
             batH = (UInt16)(batH | batL);
             Current_Volt = (float)(batH / 100.0);
 
+            //충방전전류
+            Int16 batHi = (Int16)LastReceiveBuffer[6];
+            Int16 batLi = (Int16)LastReceiveBuffer[7];
+            batHi = (Int16)(batHi << 8);
+            batHi = (Int16)(batHi | batLi);
+            Charge_Amp = (float)(batHi / 100.0);
+
             //잔량확인
             batH = (UInt16)LastReceiveBuffer[8];
             batL = (UInt16)LastReceiveBuffer[9];
@@ -224,107 +263,80 @@ namespace arDev
                 return false;
             }
         }
-
-        private bool _autocharge = false;
-        public Boolean AutoCharge
-        {
-            get { return _autocharge; }
-            set { _autocharge = false; }
-        }
-
-        //public void ClearManualChargeCheckValue()
-        //{
-        //    chk_timee = new DateTime(1982, 11, 23);
-        //    chk_times = new DateTime(1982, 11, 23);
-        //    chk_valuee = 0f;
-        //    chk_values = 0f;
-        //}
-
+        /// <summary>
+        /// 현재 충전중인지?
+        /// </summary>
+        public bool IsCharging { get; private set; }
+        DateTime ChargeStart = DateTime.Now;
+        DateTime ChargeEnd = DateTime.Now;
         void CheckManualCharge()
         {
-            if (AutoCharge)
+            //충방전전력이 1보다 크면 충전으로 한다.
+            if (Charge_Amp > 0.1)
             {
-                if (chk_timee.Year != 1982)
+                //기존에 충전상태가 OFF였다면 충전중으로 알려준다
+                if (IsCharging == false)
                 {
-                    chk_timee = new DateTime(1982, 11, 23);
-                    chk_valuee = 999f;
+                    IsCharging = true;
+                    ChargeStart = DateTime.Now;
+                    ChargeEnd = new DateTime(1982, 11, 23);
+                    try
+                    {
+                        ChargeDetect?.Invoke(this, new ChargetDetectArgs(ChargeStart, true, Current_Level));
+                    }
+                    catch (Exception ex) { RaiseMessage(MessageType.Error, ex.Message); }
                 }
-                if (chk_times.Year != 1982)
+                else
                 {
-                    chk_times = new DateTime(1982, 11, 23);
-                    chk_values = 999f;
+                    //충전상태가 유지되고 있다.
                 }
             }
-            if (chk_times.Year == 1982)
-            {
-                chk_times = DateTime.Now;
-                chk_values = Current_Level;
-            }
             else
             {
-                if (chk_timee.Year == 1982)
+                //충전이해제되었다.. 단 바로 해제하지않고 1초정도 텀을 주고 OFF한다.
+                if (IsCharging)
                 {
-                    if ((Current_Level - chk_values) >= 0.1)
+                    if (ChargeEnd.Year == 1982)
                     {
-                        //충전중이다
-                        chk_timee = DateTime.Now;
-                        chk_valuee = Current_Level;
-                        try
-                        {
-                            ChargeDetect?.Invoke(this, new ChargetDetectArgs(chk_times, chk_values, chk_timee, chk_valuee));
-                        }
-                        catch (Exception ex) { RaiseMessage(MessageType.Error, ex.Message); }
-
-                    }
-                    else if ((Current_Level - chk_values) <= -0.1)
-                    {
-                        //방전중이다
-                        if (chk_times.Year != 1982) chk_times = new DateTime(1982, 11, 23);
-                        if (chk_timee.Year != 1982) chk_timee = new DateTime(1982, 11, 23);
+                        ChargeEnd = DateTime.Now;
                     }
                     else
                     {
-                        //아직 변화가 없으니 종료일을 기록하지 않는다
+                        var ts = DateTime.Now - ChargeEnd;
+                        if (ts.TotalSeconds > 2) //충전종료시그널후 2초후에 충전off를 알린다.
+                        {
+                            ChargeEnd = DateTime.Now;
+                            IsCharging = false;
+                            try
+                            {
+                                ChargeDetect?.Invoke(this, new ChargetDetectArgs(ChargeEnd, false, Current_Level));
+                            }
+                            catch (Exception ex) { RaiseMessage(MessageType.Error, ex.Message); }
+                        }
                     }
                 }
                 else
                 {
-                    //이미 종료일이 셋팅된 상태이다
-                    if ((Current_Level - chk_valuee) >= 0.1)
-                    {
-                        //종료시간을 시작값에 넣는다
-                        chk_times = chk_timee;
-                        chk_values = chk_valuee;
-
-                        chk_timee = DateTime.Now;
-                        chk_valuee = Current_Level;
-                        try
-                        {
-                            ChargeDetect?.Invoke(this, new ChargetDetectArgs(chk_times, chk_values, chk_timee, chk_valuee));
-                        }
-                        catch (Exception ex) { RaiseMessage(MessageType.Error, ex.Message); }
-                    }
-                    else if ((Current_Level - chk_valuee) <= -0.1)
-                    {
-                        //방전중이다
-                        if (chk_times.Year != 1982) chk_times = new DateTime(1982, 11, 23);
-                        if (chk_timee.Year != 1982) chk_timee = new DateTime(1982, 11, 23);
-                    }
-                    else
-                    {
-                        //아직 변화가 없으니 종료일을 기록하지 않는다
-                    }
+                    //방전상태가 유지되고 있다.
                 }
-
             }
-        }
 
 
+        }
+
         public DateTime chk_times { get; set; } = new DateTime(1982, 11, 23);
         public DateTime chk_timee { get; set; } = new DateTime(1982, 11, 23);
         public float chk_values { get; set; } = 0f;
         public float chk_valuee { get; set; } = 0f;
 
+        public float Charge_Amp { get; set; } = 0f;
+        public Int16 Charge_watt
+        {
+            get
+            {
+                return (Int16)((Charge_Amp) * Current_Volt);
+            }
+        }
         /// <summary>
         /// 전압
         /// </summary>
@@ -407,7 +419,8 @@ namespace arDev
             cmd.Add(0xFF);
             cmd.Add(0xFD);
             cmd.Add(0x77);
-            cmd.Add(0x0D);
+            //cmd.Add(0x0D);
+            //_device.DiscardInBuffer();
             return WriteData(cmd.ToArray());
         }
 
@@ -423,7 +436,8 @@ namespace arDev
             cmd.Add(0xFF);
             cmd.Add(0xFC);
             cmd.Add(0x77);
-            cmd.Add(0x0D);
+            //cmd.Add(0x0D);
+            //_device.DiscardInBuffer();
             return WriteData(cmd.ToArray());
         }
 

Cs_HMI/Project/Device/BMSInformationEventArgs.cs

@@ -4,16 +4,14 @@ namespace arDev
 {
     public class ChargetDetectArgs : EventArgs
     {
-        public DateTime times { get; set; }
-        public DateTime timee { get; set; }
-        public float values { get; set; }
-        public float valuee { get; set; }
-        public ChargetDetectArgs(DateTime times, float values, DateTime timee, float valuee)
+        public DateTime time { get; set; }
+        public float level { get; set; }
+        public bool Detected { get; set; }
+        public ChargetDetectArgs(DateTime times, bool detected, float values)
         {
-            this.times = times;
-            this.times = timee;
-            this.values = values;
-            this.valuee = valuee;
+            this.time = times;
+            this.level = values;
+            this.Detected = detected;
         }
     }
     public class BMSInformationEventArgs : EventArgs

Cs_HMI/Project/Device/BMSSerialComm.cs

@@ -0,0 +1,607 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Linq;
+using System.Text;
+using System.Threading;
+
+namespace arDev
+{
+    public abstract class BMSSerialComm : ISerialComm, IDisposable
+    {
+        protected System.IO.Ports.SerialPort _device;
+        protected ManualResetEvent _mre;
+        protected byte[] LastReceiveBuffer = new byte[] { };
+        /// <summary>
+        /// 최종 전송 메세지
+        /// </summary>
+        public byte[] lastSendBuffer = new byte[] { };
+        //public int ValidCheckTimeMSec { get; set; } = 5000;
+        protected List<byte> tempBuffer = new List<byte>();
+        protected Boolean findSTX = false;
+        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>
+        /// 데이터조회간격(초)
+        /// </summary>
+        public float ScanInterval { get; set; }
+
+        // public byte[] LastRecvData;
+        public string LastRecvString
+        {
+            get
+            {
+                if (LastReceiveBuffer == null) return String.Empty;
+                else return System.Text.Encoding.Default.GetString(LastReceiveBuffer);
+            }
+        }
+        /// <summary>
+        /// 마지막으로 데이터를 받은 시간
+        /// </summary>
+        public DateTime lastRecvTime;
+
+
+        public int WriteError = 0;
+        public string WriteErrorMessage = string.Empty;
+        public int WaitTimeout { get; set; } = 1000;
+        public int MinRecvLength { get; set; } = 1;
+
+        // Polling Thread related
+        protected Thread _recvThread;
+        protected volatile bool _isReading = false;
+
+
+        /// <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 BMSSerialComm()
+        {
+            _device = new System.IO.Ports.SerialPort();
+            this.BaudRate = 9600;
+            ScanInterval = 10;
+            // _device.DataReceived += barcode_DataReceived; // Removed event handler
+            _device.ErrorReceived += this.barcode_ErrorReceived;
+            _device.WriteTimeout = 3000;
+            _device.ReadTimeout = 3000;
+            _device.ReadBufferSize = 8192;
+            _device.WriteBufferSize = 8192;
+            //_device.DiscardInBuffer();
+            //_device.DiscardOutBuffer();
+            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);
+        }
+
+        ~BMSSerialComm()
+        {
+            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.
+                //
+            }
+
+            // Stop reading thread
+            _isReading = false;
+            
+            // _device.DataReceived -= barcode_DataReceived; // Removed event handler
+            _device.ErrorReceived -= this.barcode_ErrorReceived;
+
+            if (_recvThread != null && _recvThread.IsAlive)
+            {
+                _recvThread.Join(500); 
+            }
+
+            if (_device != null)
+            {
+                if (_device.IsOpen) _device.Close();
+                _device.Dispose();
+            }
+
+            // Free any unmanaged objects here.
+            //
+            disposed = true;
+        }
+
+        public Boolean Open()
+        {
+            try
+            {
+                if (_device.IsOpen == false)
+                {
+                    _device.Open();
+                }
+
+                if (_device.IsOpen)
+                {
+                    // Start polling thread
+                    if (_isReading == false)
+                    {
+                        _isReading = true;
+                        _recvThread = new Thread(ReadPort);
+                        _recvThread.IsBackground = true;
+                        _recvThread.Start();
+                    }
+                    return true;
+                }
+                return false;
+            }
+            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 bool Close()
+        {
+            try
+            {
+                _isReading = false; // Stop thread loop
+
+                if (_recvThread != null && _recvThread.IsAlive)
+                {
+                    if (!_recvThread.Join(500)) // Wait for thread to finish
+                    {
+                         // _recvThread.Abort(); // Avoid Abort if possible
+                    }
+                }
+
+                if (_device != null && _device.IsOpen)
+                {
+                    _device.DiscardInBuffer();
+                    _device.DiscardOutBuffer();
+                    _device.Close(); //dispose에서는 포트를 직접 클리어하지 않게 해뒀다.
+                    return true;
+                }
+                else return false;
+            }
+            catch (Exception)
+            {
+                return false;
+            }
+        }
+        protected Boolean RaiseRecvData()
+        {
+            return RaiseRecvData(LastReceiveBuffer.ToArray(), false);
+        }
+        /// <summary>
+        /// 수신받은 메세지를 발생 시킵니다
+        /// </summary>
+        /// <param name="data"></param>
+        /// <returns></returns>
+        public virtual Boolean RaiseRecvData(byte[] Data, bool udpatelastbuffer)
+        {
+            //181206 - 최종수신 메세지 기록
+            lastRecvTime = DateTime.Now;
+            if (udpatelastbuffer && Data != null)
+            {
+                if (LastReceiveBuffer == null || LastReceiveBuffer.Length != Data.Length)
+                {
+                    LastReceiveBuffer = new byte[Data.Length];
+                    Array.Copy(Data, LastReceiveBuffer, Data.Length);
+                }
+            }
+
+            try
+            {
+                // UI update might need Invoke if this event handler updates UI directly, 
+                // but usually the subscriber handles Invoke. 
+                // Since we are running on a background thread now, subscribers must be aware.
+                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));
+        }
+
+        byte[] buffer = new byte[] { };
+        
+        // Replaced with ReadPort Loop
+        /*
+        void barcode_DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e)
+        {
+            
+            try
+            {
+                int ReadCount = _device.BytesToRead;
+
+                buffer = new byte[ReadCount];
+                _device.Read(buffer, 0, buffer.Length);
+
+                System.Text.StringBuilder LogMsg = new StringBuilder();
+
+                byte[] remainBuffer;
+            Repeat:
+                if (CustomParser(buffer, out remainBuffer))
+                {
+                    //분석완료이므로 받은 데이터를 버퍼에 기록한다
+                    if (LastReceiveBuffer == null || (LastReceiveBuffer.Length != tempBuffer.Count))
+                        Array.Resize(ref LastReceiveBuffer, tempBuffer.Count);
+                    Array.Copy(tempBuffer.ToArray(), LastReceiveBuffer, tempBuffer.Count);
+                    tempBuffer.Clear();
+
+                    //수신메세지발생
+                    RaiseRecvData();
+                    if (remainBuffer != null && remainBuffer.Length > 0)
+                    {
+                        //버퍼를 변경해서 다시 전송을 해준다.
+                        Array.Resize(ref buffer, remainBuffer.Length);
+                        Array.Copy(remainBuffer, buffer, remainBuffer.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));
+            }
+
+        }
+        */
+
+        void ReadPort()
+        {
+            while (_isReading)
+            {
+                try
+                {
+                    if (_device == null || !_device.IsOpen)
+                    {
+                        Thread.Sleep(100);
+                        continue;
+                    }
+
+                    int readCount = _device.BytesToRead;
+                    if (readCount > 0)
+                    {
+                        byte[] buffer = new byte[readCount];
+                        _device.Read(buffer, 0, buffer.Length);
+
+                        byte[] remainBuffer;
+                    Repeat:
+                        if (CustomParser(buffer, out remainBuffer))
+                        {
+                            //분석완료이므로 받은 데이터를 버퍼에 기록한다
+                            if (LastReceiveBuffer == null || (LastReceiveBuffer.Length != tempBuffer.Count))
+                                Array.Resize(ref LastReceiveBuffer, tempBuffer.Count);
+                            Array.Copy(tempBuffer.ToArray(), LastReceiveBuffer, tempBuffer.Count);
+                            tempBuffer.Clear();
+
+                            //수신메세지발생
+                            RaiseRecvData();
+                            if (remainBuffer != null && remainBuffer.Length > 0)
+                            {
+                                //버퍼를 변경해서 다시 전송을 해준다.
+                                buffer = new byte[remainBuffer.Length]; // Reallocate buffer for remaining data
+                                Array.Copy(remainBuffer, buffer, remainBuffer.Length);
+                                goto Repeat; //남은 버퍼가 있다면 진행을 해준다.
+                            }
+                        }
+                    }
+                    else
+                    {
+                        Thread.Sleep(20); // Data 없음, 대기
+                    }
+                }
+                catch (Exception ex)
+                {
+                    // Thread 상에서 Exception 발생 시 로그 남기고 계속 진행 여부 결정
+                    // 여기서는 에러 메시지 발생시키고 Sleep
+                    ErrorMessage = ex.Message;
+                    this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
+                    Thread.Sleep(1000); 
+                }
+            }
+        }
+
+
+        #endregion
+
+        #region "External Events"
+
+
+        /// <summary>
+        /// 오류 및 기타 일반 메세지
+        /// </summary>
+        public event EventHandler<MessageEventArgs> Message;
+
+        #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
+
+        protected abstract bool CustomParser(byte[] buf, out byte[] remainBuffer);
+
+        /// <summary>
+        /// 포트가 열려있거나 데이터 수신시간이 없는경우 false를 반환합니다
+        /// </summary>
+        public Boolean IsValid
+        {
+            get
+            {
+                if (IsOpen == false) return false;
+                if (lastRecvTime.Year == 1982) return false;
+                var ts = DateTime.Now - lastRecvTime;
+                if (ts.TotalSeconds > (this.ScanInterval * 2.5)) return false;
+                return true;
+            }
+        }
+        protected bool WriteData(string cmd)
+        {
+            return WriteData(System.Text.Encoding.Default.GetBytes(cmd));
+        }
+        /// <summary>
+        /// 포트에 쓰기(barcode_DataReceived 이벤트로 메세지수신)
+        /// </summary>
+        protected Boolean WriteData(byte[] data)
+        {
+            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
+                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;
+        }
+    }
+
+
+}

Cs_HMI/Project/Device/Xbee.cs

@@ -14,11 +14,11 @@ using System.Windows.Forms;
 
 namespace Project.Device
 {
-    public class Xbee : SerialPort
+    public class Xbee : SerialPort, arDev.ISerialComm
     {
         public string buffer = string.Empty;
         public System.Text.StringBuilder newbuffer = new StringBuilder();
-        public string errorMessage = string.Empty;
+        public string ErrorMessage { get; set; } = string.Empty;
         public DateTime LastStatusSendTime { get; set; } = DateTime.Now;
         private EEProtocol proto;
 
@@ -38,6 +38,8 @@ namespace Project.Device
 
         public Xbee()
         {
+            this.WriteTimeout = 500;
+            this.ReadTimeout = 500;
             this.DataReceived += Xbee_DataReceived;
             proto = new EEProtocol();
             proto.OnDataReceived += Proto_OnDataReceived;
@@ -65,11 +67,23 @@ namespace Project.Device
             }
             catch (Exception ex)
             {
-                errorMessage = ex.Message;
+                ErrorMessage = ex.Message;
                 return false;
             }
         }
+        public new bool Close()
+        {
+            try
+            {
+                base.Close();
+                return true;
+            }
+            catch
+            {
+                return false;
+            }
 
+        }
         public new bool Open()
         {
             try
@@ -79,8 +93,8 @@ namespace Project.Device
             }
             catch (Exception ex)
             {
-                errorMessage = ex.Message;
-                PUB.logxbee.AddE(errorMessage);
+                ErrorMessage = ex.Message;
+                PUB.logxbee.AddE(ErrorMessage);
                 return false;
             }
         }
@@ -92,19 +106,14 @@ namespace Project.Device
             var cmd = e.ReceivedPacket.Command.ToString("X2");
             var id = e.ReceivedPacket.ID.ToString("X2");
             PUB.logxbee.Add("RX", $"{hexstrRaw}\nID:{id},CMD:{cmd},DATA:{hexstr}");
-
             ProtocReceived?.Invoke(this, e);
-
-
-
-
         }
+
         private void Proto_OnMessage(object sender, EEProtocol.MessageEventArgs e)
         {
             MessageReceived?.Invoke(this, new MessageArgs(e.IsError, e.Message));
         }
 
-
         private void Xbee_DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e)
         {
             var dev = sender as System.IO.Ports.SerialPort;
@@ -112,6 +121,7 @@ namespace Project.Device
             dev.Read(buffer, 0, buffer.Length);
             proto.ProcessReceivedData(buffer);
         }
+
         /// <summary>
         /// 이동완료 신호 전송
         /// </summary>
@@ -147,13 +157,28 @@ namespace Project.Device
             byte cmd = (byte)ENIGProtocol.AGVCommandEH.Error;
             if (errormessage.Length > 30) errormessage = errormessage.Substring(0, 29);
 
-            var data = new byte[] { (byte)errcode };
+            var data = new List<byte>();
+            data.Add((byte)errcode);
             var datamsg = System.Text.Encoding.Default.GetBytes(errormessage);
+            data.AddRange(datamsg);
 
-            var packet = proto.CreatePacket(id, cmd, data);
+            var packet = proto.CreatePacket(id, cmd, data.ToArray());
             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; }
+
+        ManualResetEvent sendlock = new ManualResetEvent(true);
 
 
         /// <summary>
@@ -161,6 +186,10 @@ namespace Project.Device
         /// </summary>
         public void SendStatus()
         {
+            if (this.IsOpen == false) return;
+            if (sendlock.WaitOne() == false) return;
+            sendlock.Reset();
+
             /*
             Mode[1] : 0=manual, 1=auto
             RunSt[1] : 0=stop, 1=run, 2=error
@@ -211,17 +240,17 @@ namespace Project.Device
                 data[5] = (byte)((VAR.BOOL[eVarBool.FLAG_CHARGEONA] || VAR.BOOL[eVarBool.FLAG_CHARGEONM]) ? 1 : 0);
 
                 // CartSt
-                if (PUB.AGV.signal.cart_detect1 && PUB.AGV.signal.cart_detect2)
+                if (PUB.AGV.signal2.cart_detect1 && PUB.AGV.signal2.cart_detect2)
                     data[6] = 1; // 센서두개가 모두 감지되는 경우
-                else if (PUB.AGV.signal.cart_detect1 == false && PUB.AGV.signal.cart_detect2 == false)
+                else if (PUB.AGV.signal2.cart_detect1 == false && PUB.AGV.signal2.cart_detect2 == false)
                     data[6] = 0; // 센서두개가 모두 감지되지 않는 경우
                 else
                     data[6] = 2; // 센서하나만 감지되는 경우
 
                 // LiftSt
-                if (PUB.AGV.signal.lift_up)
+                if (PUB.AGV.signal1.lift_up)
                     data[7] = 1; // 위로 올라가는 경우
-                else if (PUB.AGV.signal.lift_down)
+                else if (PUB.AGV.signal1.lift_down)
                     data[7] = 0; // 아래로 내려가는 경우
                 else
                     data[7] = 2; // unknown (기본값)
@@ -235,14 +264,21 @@ namespace Project.Device
                 var cmd = (byte)ENIGProtocol.AGVCommandEH.Status;
                 var packet = proto.CreatePacket(PUB.setting.XBE_ID, cmd, data);
                 if (Send(packet))
-                    PUB.logxbee.AddI($"Send status {packet.Length} {packet.HexString()}");
+                    PUB.logxbee.AddI($"Send status [O] : {packet.Length} {packet.HexString()}");
+                else
+                    PUB.logxbee.AddE($"Send status [X] : {packet.Length} {packet.HexString()}");
                 LastStatusSendTime = DateTime.Now;
             }
             catch (Exception ex)
             {
-                errorMessage = ex.Message;
-                PUB.logxbee.AddE(errorMessage);
+                ErrorMessage = ex.Message;
+                PUB.logxbee.AddE(ErrorMessage);
             }
+            finally
+            {
+                sendlock.Set();
+            }
+
         }
 
 

Cs_HMI/Project/Device/_DeviceManagement.cs

@@ -1,311 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Data;
-using System.Drawing;
-using System.Linq;
-using System.Text;
-using System.Threading;
-using System.Threading.Tasks;
-using System.Windows.Media.Animation;
-using AR;
-using arCtl;
-using COMM;
-using Project.StateMachine;
-
-namespace Project
-{
-    /// <summary>
-    /// 장치 연결 및 상태 전송을 담당하는 별도 태스크
-    /// </summary>
-    public partial class fMain
-    {
-        // 장치 관리 태스크 관련
-        private Task deviceManagementTask;
-        private CancellationTokenSource deviceManagementCts;
-        private volatile bool isDeviceManagementRunning = false;
-
-        /// <summary>
-        /// 장치 관리 태스크 시작 (IDLE 상태 진입 시 호출)
-        /// </summary>
-        public void StartDeviceManagementTask()
-        {
-            if (isDeviceManagementRunning)
-            {
-                PUB.log.Add("DeviceManagement", "이미 실행 중입니다.");
-                return;
-            }
-
-            isDeviceManagementRunning = true;
-            deviceManagementCts = new CancellationTokenSource();
-
-            deviceManagementTask = Task.Factory.StartNew(
-                () => DeviceManagementWorker(deviceManagementCts.Token),
-                deviceManagementCts.Token,
-                TaskCreationOptions.LongRunning,
-                TaskScheduler.Default
-            );
-
-            PUB.log.Add("DeviceManagement", "장치 관리 태스크 시작");
-        }
-
-        /// <summary>
-        /// 장치 관리 태스크 종료
-        /// File : /device/_DeviceManagement.cs
-        /// </summary>
-        public void StopDeviceManagementTask()
-        {
-            if (!isDeviceManagementRunning)
-                return;
-
-            isDeviceManagementRunning = false;
-
-            try
-            {
-                deviceManagementCts?.Cancel();
-
-                if (deviceManagementTask != null)
-                {
-                    if (!deviceManagementTask.Wait(3000)) // 3초 대기
-                    {
-                        PUB.log.AddE("DeviceManagement:태스크 종료 대기 시간 초과");
-                    }
-                }
-            }
-            catch (Exception ex)
-            {
-                PUB.log.AddE($"DeviceManagement 종료 중 오류: {ex.Message}");
-            }
-            finally
-            {
-                deviceManagementCts?.Dispose();
-                deviceManagementCts = null;
-                deviceManagementTask = null;
-                PUB.log.Add("DeviceManagement", "장치 관리 태스크 종료");
-            }
-        }
-
-        /// <summary>
-        /// 장치 관리 워커 (별도 태스크에서 실행)
-        /// - 장치 연결 관리 (AGV, XBee, BMS)
-        /// - 자동 상태 전송 (XBee, BMS)
-        /// </summary>
-        private void DeviceManagementWorker(CancellationToken cancellationToken)
-        {
-            PUB.log.Add("DeviceManagementWorker", "시작");
-
-            DateTime lastXbeStatusSendTime = DateTime.Now;
-            DateTime lastBmsQueryTime = DateTime.Now;
-
-            while (!cancellationToken.IsCancellationRequested && isDeviceManagementRunning)
-            {
-                try
-                {
-                    // 상태머신이 IDLE 이상이고 CLOSING 미만일 때만 동작
-                    if (PUB.sm.Step >= eSMStep.IDLE && PUB.sm.Step < eSMStep.CLOSING)
-                    {
-                        // ========== 1. 장치 연결 관리 ==========
-                        ManageDeviceConnections();
-
-                        // ========== 2. XBee 상태 전송 ==========
-                        if (PUB.XBE != null && PUB.XBE.IsOpen)
-                        {
-                            var tsXbe = DateTime.Now - lastXbeStatusSendTime;
-                            if (tsXbe.TotalSeconds >= PUB.setting.interval_xbe)
-                            {
-                                lastXbeStatusSendTime = DateTime.Now;
-                                ThreadPool.QueueUserWorkItem(_ =>
-                                {
-                                    try
-                                    {
-                                        PUB.XBE.SendStatus();
-                                    }
-                                    catch (Exception ex)
-                                    {
-                                        PUB.log.AddE($"XBee SendStatus 오류: {ex.Message}");
-                                    }
-                                });
-                            }
-                        }
-
-                        // ========== 3. BMS 쿼리 및 배터리 경고 ==========
-                        if (PUB.BMS != null && PUB.BMS.IsOpen)
-                        {
-                            var tsBms = DateTime.Now - lastBmsQueryTime;
-                            if (tsBms.TotalSeconds >= PUB.setting.interval_bms)
-                            {
-                                lastBmsQueryTime = DateTime.Now;
-                                ThreadPool.QueueUserWorkItem(_ =>
-                                {
-                                    try
-                                    {
-                                        PUB.BMS.SendQuery();
-                                    }
-                                    catch (Exception ex)
-                                    {
-                                        PUB.log.AddE($"BMS SendQuery 오류: {ex.Message}");
-                                    }
-                                });
-                            }
-
-                            // 배터리 경고음
-                            try
-                            {
-                                Update_BatteryWarnSpeak();
-                            }
-                            catch (Exception ex)
-                            {
-                                PUB.log.AddE($"BatteryWarnSpeak 오류: {ex.Message}");
-                            }
-                        }
-                    }
-                }
-                catch (Exception ex)
-                {
-                    PUB.log.AddE($"DeviceManagementWorker 오류: {ex.Message}");
-                }
-
-                // 1초 대기 (또는 취소 요청 시 즉시 종료)
-                try
-                {
-                    Task.Delay(1000, cancellationToken).Wait();
-                }
-                catch (OperationCanceledException)
-                {
-                    break;
-                }
-            }
-            PUB.log.Add("DeviceManagementWorker", "종료");
-        }
-
-        /// <summary>
-        /// 장치 연결 상태 관리
-        /// </summary>
-        private void ManageDeviceConnections()
-        {
-            try
-            {
-                // AGV 연결
-                ConnectSerialPort(PUB.AGV, PUB.setting.Port_AGV, PUB.setting.Baud_AGV,
-                     eVarTime.LastConn_AGV, eVarTime.LastConnTry_AGV, eVarTime.LastRecv_AGV);
-
-                // XBee 연결
-                ConnectSerialPort(PUB.XBE, PUB.setting.Port_XBE, PUB.setting.Baud_XBE,
-                     eVarTime.LastConn_XBE, eVarTime.LastConnTry_XBE, eVarTime.LastRecv_XBE);
-
-                // BMS 연결
-                if (PUB.BMS.IsOpen == false)
-                {
-                    var ts = VAR.TIME.RUN(eVarTime.LastConn_BAT);
-                    if (ts.TotalSeconds > 3)
-                    {
-                        PUB.log.Add($"BMS 연결 시도: {PUB.setting.Port_BAT}");
-                        PUB.BMS.PortName = PUB.setting.Port_BAT;
-                        if (PUB.BMS.Open())
-                            PUB.log.AddI($"BMS 연결 완료({PUB.setting.Port_BAT})");
-
-                        VAR.TIME.Update(eVarTime.LastConn_BAT);
-                        VAR.TIME.Update(eVarTime.LastConnTry_BAT);
-                    }
-                }
-                else if (PUB.BMS.IsValid == false)
-                {
-                    var ts = VAR.TIME.RUN(eVarTime.LastConnTry_BAT);
-                    if (ts.TotalSeconds > (PUB.setting.interval_bms * 2.5))
-                    {
-                        PUB.log.Add("BMS 자동 연결 해제 (응답 없음)");
-                        PUB.BMS.Close();
-                        VAR.TIME.Set(eVarTime.LastConn_BAT, DateTime.Now.AddSeconds(5));
-                    }
-                }
-            }
-            catch (Exception ex)
-            {
-                PUB.log.AddE($"ManageDeviceConnections 오류: {ex.Message}");
-            }
-        }
-
-        /// <summary>
-        /// 시리얼 포트 연결 (arDev.arRS232)
-        /// </summary>
-        void ConnectSerialPort(arDev.arRS232 dev, string port, int baud, eVarTime conn, eVarTime conntry, eVarTime recvtime)
-        {
-            if (dev.IsOpen == false && port.isEmpty() == false)
-            {
-                var tsPLC = VAR.TIME.RUN(conntry);
-                if (tsPLC.TotalSeconds > 5)
-                {
-                    VAR.TIME.Update(conntry);
-                    try
-                    {
-                        VAR.TIME.Update(recvtime);
-                        dev.PortName = port;
-                        dev.BaudRate = baud;
-                        if (dev.Open())
-                        {
-                            PUB.log.Add(port, $"[AGV:{port}:{baud}] 연결 완료");
-                        }
-                        else
-                        {
-                            var errmessage = dev.errorMessage;
-                            PUB.log.AddE($"[AGV:{port}:{baud}] {errmessage}");
-                        }
-                        VAR.TIME.Update(conn);
-                        VAR.TIME.Update(conntry);
-                    }
-                    catch (Exception ex)
-                    {
-                        PUB.log.AddE(ex.Message);
-                    }
-                }
-            }
-            else if (dev.PortName.Equals(port) == false)
-            {
-                PUB.log.Add(port, $"포트 변경({dev.PortName}->{port})으로 연결 종료");
-                dev.Close();
-                VAR.TIME.Update(conntry);
-            }
-        }
-
-        /// <summary>
-        /// 시리얼 포트 연결 (Device.Xbee)
-        /// </summary>
-        void ConnectSerialPort(Device.Xbee dev, string port, int baud, eVarTime conn, eVarTime conntry, eVarTime recvtime)
-        {
-            if (dev.IsOpen == false && port.isEmpty() == false)
-            {
-                var tsPLC = VAR.TIME.RUN(conntry);
-                if (tsPLC.TotalSeconds > 5)
-                {
-                    VAR.TIME.Update(conntry);
-                    try
-                    {
-                        VAR.TIME.Update(recvtime);
-                        dev.PortName = port;
-                        dev.BaudRate = baud;
-                        if (dev.Open())
-                        {
-                            PUB.log.Add(port, $"[XBEE:{port}:{baud}] 연결 완료");
-                        }
-                        else
-                        {
-                            var errmessage = dev.errorMessage;
-                            PUB.log.AddE($"[XBEE:{port}:{baud}] {errmessage}");
-                        }
-                        VAR.TIME.Update(conn);
-                        VAR.TIME.Update(conntry);
-                    }
-                    catch (Exception ex)
-                    {
-                        PUB.log.AddE(ex.Message);
-                    }
-                }
-            }
-            else if (dev.PortName.Equals(port) == false)
-            {
-                PUB.log.Add(port, $"포트 변경({dev.PortName}->{port})으로 연결 종료");
-                dev.Close();
-                VAR.TIME[(int)conntry] = DateTime.Now;
-            }
-        }
-    }
-}

Cs_HMI/Project/Dialog/DriveDetector.cs

@@ -1,815 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Text;
-using System.Windows.Forms;             // required for Message
-using System.Runtime.InteropServices;   // required for Marshal
-using System.IO;
-using Microsoft.Win32.SafeHandles;     
-// DriveDetector - rev. 1, Oct. 31 2007
-
-namespace usbdetect
-{
-    /// <summary>
-    /// Hidden Form which we use to receive Windows messages about flash drives
-    /// </summary>
-    internal class DetectorForm : Form
-    {
-        private Label label1;
-        private DriveDetector mDetector = null;
-
-        /// <summary>
-        /// Set up the hidden form. 
-        /// </summary>
-        /// <param name="detector">DriveDetector object which will receive notification about USB drives, see WndProc</param>
-        public DetectorForm(DriveDetector detector)
-        {
-            mDetector = detector;
-            this.MinimizeBox = false;
-            this.MaximizeBox = false;
-            this.ShowInTaskbar = false;
-            this.ShowIcon = false;
-            this.FormBorderStyle = FormBorderStyle.None;
-            this.Load += new System.EventHandler(this.Load_Form);
-            this.Activated += new EventHandler(this.Form_Activated);
-        }
-
-        private void Load_Form(object sender, EventArgs e)
-        {
-            // We don't really need this, just to display the label in designer ...
-            InitializeComponent();
-
-            // Create really small form, invisible anyway.
-            this.Size = new System.Drawing.Size(5, 5);
-        }
-
-        private void Form_Activated(object sender, EventArgs e)
-        {
-            this.Visible = false;
-        }
-
-        /// <summary>
-        /// This function receives all the windows messages for this window (form).
-        /// We call the DriveDetector from here so that is can pick up the messages about
-        /// drives arrived and removed.
-        /// </summary>
-        protected override void WndProc(ref Message m)
-        {
-            base.WndProc(ref m);
-
-            if (mDetector != null)
-            {
-                mDetector.WndProc(ref m);
-            }
-        }
-
-        private void InitializeComponent()
-        {
-            this.label1 = new System.Windows.Forms.Label();
-            this.SuspendLayout();
-            // 
-            // label1
-            // 
-            this.label1.AutoSize = true;
-            this.label1.Location = new System.Drawing.Point(13, 30);
-            this.label1.Name = "label1";
-            this.label1.Size = new System.Drawing.Size(377, 12);
-            this.label1.TabIndex = 0;
-            this.label1.Text = "This is invisible form. To see DriveDetector code click View Code";
-            // 
-            // DetectorForm
-            // 
-            this.ClientSize = new System.Drawing.Size(435, 80);
-            this.Controls.Add(this.label1);
-            this.Name = "DetectorForm";
-            this.ResumeLayout(false);
-            this.PerformLayout();
-
-        }
-    }   // class DetectorForm
-
-
-    // Delegate for event handler to handle the device events 
-    public delegate void DriveDetectorEventHandler(Object sender, DriveDetectorEventArgs e);
-    
-    /// <summary>
-    /// Our class for passing in custom arguments to our event handlers 
-    /// 
-    /// </summary>
-    public class DriveDetectorEventArgs : EventArgs 
-    {
-
-
-        public DriveDetectorEventArgs()
-        {
-            Cancel = false;
-            Drive = "";
-            HookQueryRemove = false;
-        }
-
-        /// <summary>
-        /// Get/Set the value indicating that the event should be cancelled 
-        /// Only in QueryRemove handler.
-        /// </summary>
-        public bool Cancel;
-
-        /// <summary>
-        /// Drive letter for the device which caused this event 
-        /// </summary>
-        public string Drive;
-
-        /// <summary>
-        /// Set to true in your DeviceArrived event handler if you wish to receive the 
-        /// QueryRemove event for this drive. 
-        /// </summary>
-        public bool HookQueryRemove;
-
-    }
-
-    
-    /// <summary>
-    /// Detects insertion or removal of removable drives.
-    /// Use it in 1 or 2 steps:
-    /// 1) Create instance of this class in your project and add handlers for the
-    /// DeviceArrived, DeviceRemoved and QueryRemove events.
-    /// AND (if you do not want drive detector to creaate a hidden form))
-    /// 2) Override WndProc in your form and call DriveDetector's WndProc from there. 
-    /// If you do not want to do step 2, just use the DriveDetector constructor without arguments and
-    /// it will create its own invisible form to receive messages from Windows.
-    /// </summary>
-    class DriveDetector : IDisposable 
-    {
-        /// <summary>
-        /// Events signalized to the client app.
-        /// Add handlers for these events in your form to be notified of removable device events 
-        /// </summary>
-        public event DriveDetectorEventHandler DeviceArrived;
-        public event DriveDetectorEventHandler DeviceRemoved;
-        public event DriveDetectorEventHandler QueryRemove;
-
-        /// <summary>
-        /// The easiest way to use DriveDetector. 
-        /// It will create hidden form for processing Windows messages about USB drives
-        /// You do not need to override WndProc in your form.
-        /// </summary>
-        public DriveDetector()
-        {
-            DetectorForm  frm = new DetectorForm(this);
-            frm.Show(); // will be hidden immediatelly
-            Init(frm, null);
-        }
-
-        /// <summary>
-        /// Alternate constructor.
-        /// Pass in your Form and DriveDetector will not create hidden form.
-        /// </summary>
-        /// <param name="control">object which will receive Windows messages. 
-        /// Pass "this" as this argument from your form class.</param>
-        public DriveDetector(Control control)
-        {
-            Init(control, null);
-        }
-
-        /// <summary>
-        /// Consructs DriveDetector object setting also path to file which should be opened
-        /// when registering for query remove.  
-        /// </summary>
-        ///<param name="control">object which will receive Windows messages. 
-        /// Pass "this" as this argument from your form class.</param>
-        /// <param name="FileToOpen">Optional. Name of a file on the removable drive which should be opened. 
-        /// If null, root directory of the drive will be opened. Opening a file is needed for us 
-        /// to be able to register for the query remove message. TIP: For files use relative path without drive letter.
-        /// e.g. "SomeFolder\file_on_flash.txt"</param>
-        public DriveDetector(Control control, string FileToOpen)
-        {
-            Init(control, FileToOpen);
-        }
-
-        /// <summary>
-        /// init the DriveDetector object
-        /// </summary>
-        /// <param name="intPtr"></param>
-        private void Init(Control control, string fileToOpen)
-        {
-            mFileToOpen = fileToOpen;
-            mFileOnFlash = null;
-            mDeviceNotifyHandle = IntPtr.Zero;
-            mRecipientHandle = control.Handle;
-            mDirHandle = IntPtr.Zero;   // handle to the root directory of the flash drive which we open 
-            mCurrentDrive = "";
-        }
-
-        /// <summary>
-        /// Gets the value indicating whether the query remove event will be fired.
-        /// </summary>
-	    public bool IsQueryHooked
-	    {
-		    get
-            {
-                if (mDeviceNotifyHandle == IntPtr.Zero)
-                    return false;
-                else
-                    return true;
-            }
-	    }
-
-        /// <summary>
-        /// Gets letter of drive which is currently hooked. Empty string if none.
-        /// See also IsQueryHooked.
-        /// </summary>
-        public string HookedDrive
-        {
-            get
-            {
-                return mCurrentDrive;
-            }
-        }
-
-        /// <summary>
-        /// Gets the file stream for file which this class opened on a drive to be notified
-        /// about it's removal. 
-        /// This will be null unless you specified a file to open (DriveDetector opens root directory of the flash drive) 
-        /// </summary>
-        public FileStream OpenedFile
-        {
-            get
-            {
-                return mFileOnFlash;
-            }
-        }
-
-        /// <summary>
-        /// Hooks specified drive to receive a message when it is being removed.  
-        /// This can be achieved also by setting e.HookQueryRemove to true in your 
-        /// DeviceArrived event handler. 
-        /// By default DriveDetector will open the root directory of the flash drive to obtain notification handle
-        /// from Windows (to learn when the drive is about to be removed). 
-        /// </summary>
-        /// <param name="fileOnDrive">Drive letter or relative path to a file on the drive which should be 
-        /// used to get a handle - required for registering to receive query remove messages.
-        /// If only drive letter is specified (e.g. "D:\\", root directory of the drive will be opened.</param>
-        /// <returns>true if hooked ok, false otherwise</returns>
-        public bool EnableQueryRemove(string fileOnDrive)
-        {
-            if (fileOnDrive == null || fileOnDrive.Length == 0)
-                throw new ArgumentException("Drive path must be supplied to register for Query remove.");
-            
-            if ( fileOnDrive.Length == 2 && fileOnDrive[1] == ':' )
-                fileOnDrive += '\\';        // append "\\" if only drive letter with ":" was passed in.
-
-            if (mDeviceNotifyHandle != IntPtr.Zero)
-            {
-                // Unregister first...
-                RegisterForDeviceChange(false, null);
-            }
-
-            if (Path.GetFileName(fileOnDrive).Length == 0 ||!File.Exists(fileOnDrive))
-                mFileToOpen = null;     // use root directory...
-            else
-                mFileToOpen = fileOnDrive;
-
-            RegisterQuery(Path.GetPathRoot(fileOnDrive));
-            if (mDeviceNotifyHandle == IntPtr.Zero)
-                return false;   // failed to register
-
-            return true;
-        }
-
-        /// <summary>
-        /// Unhooks any currently hooked drive so that the query remove 
-        /// message is not generated for it.
-        /// </summary>
-        public void DisableQueryRemove()
-        {
-            if (mDeviceNotifyHandle != IntPtr.Zero)
-            {
-                RegisterForDeviceChange(false, null);
-            }
-        }
-
-
-        /// <summary>
-        /// Unregister and close the file we may have opened on the removable drive. 
-        /// Garbage collector will call this method.
-        /// </summary>
-        public void Dispose()
-        {
-            RegisterForDeviceChange(false, null);
-        }
-
-
-        #region WindowProc
-        /// <summary>
-        /// Message handler which must be called from client form.
-        /// Processes Windows messages and calls event handlers. 
-        /// </summary>
-        /// <param name="m"></param>
-        public void WndProc(ref Message m)
-        {
-            int devType;
-            char c;
-
-            if (m.Msg == WM_DEVICECHANGE)
-            {
-                // WM_DEVICECHANGE can have several meanings depending on the WParam value...
-                switch (m.WParam.ToInt32())
-                {
-
-                        //
-                        // New device has just arrived
-                        //
-                    case DBT_DEVICEARRIVAL:
-
-                        devType = Marshal.ReadInt32(m.LParam, 4);
-                        if (devType == DBT_DEVTYP_VOLUME)
-                        {
-                            DEV_BROADCAST_VOLUME vol;
-                            vol = (DEV_BROADCAST_VOLUME)
-                                Marshal.PtrToStructure(m.LParam, typeof(DEV_BROADCAST_VOLUME));
-
-                            // Get the drive letter 
-                            c = DriveMaskToLetter(vol.dbcv_unitmask);
-
-
-                            //
-                            // Call the client event handler
-                            //
-                            // We should create copy of the event before testing it and
-                            // calling the delegate - if any
-                            DriveDetectorEventHandler tempDeviceArrived = DeviceArrived;
-                            if ( tempDeviceArrived != null )
-                            {
-                                DriveDetectorEventArgs e = new DriveDetectorEventArgs();
-                                e.Drive = c + ":\\";
-                                tempDeviceArrived(this, e);
-                                
-                                // Register for query remove if requested
-                                if (e.HookQueryRemove)
-                                {
-                                    // If something is already hooked, unhook it now
-                                    if (mDeviceNotifyHandle != IntPtr.Zero)
-                                    {
-                                        RegisterForDeviceChange(false, null);
-                                    }
-                                        
-                                   RegisterQuery(c + ":\\");
-                                }
-                            }     // if  has event handler
-
-                            
-                        }
-                        break;
-
-
-
-                        //
-                        // Device is about to be removed
-                        // Any application can cancel the removal
-                        //
-                    case DBT_DEVICEQUERYREMOVE:
-
-                        devType = Marshal.ReadInt32(m.LParam, 4);
-                        if (devType == DBT_DEVTYP_HANDLE)
-                        {
-                            // TODO: we could get the handle for which this message is sent 
-                            // from vol.dbch_handle and compare it against a list of handles for 
-                            // which we have registered the query remove message (?)                                                 
-                            //DEV_BROADCAST_HANDLE vol;
-                            //vol = (DEV_BROADCAST_HANDLE)
-                            //   Marshal.PtrToStructure(m.LParam, typeof(DEV_BROADCAST_HANDLE));
-                            // if ( vol.dbch_handle ....
-                            
-  
-                            //
-                            // Call the event handler in client
-                            //
-                            DriveDetectorEventHandler tempQuery = QueryRemove;
-                            if (tempQuery != null)
-                            {
-                                DriveDetectorEventArgs e = new DriveDetectorEventArgs();
-                                e.Drive = mCurrentDrive;        // drive which is hooked
-                                tempQuery(this, e);
-
-                                // If the client wants to cancel, let Windows know
-                                if (e.Cancel)
-                                {                                    
-                                    m.Result = (IntPtr)BROADCAST_QUERY_DENY;
-                                }
-                                else
-                                {
-                                    // Change 28.10.2007: Unregister the notification, this will
-                                    // close the handle to file or root directory also. 
-                                    // We have to close it anyway to allow the removal so
-                                    // even if some other app cancels the removal we would not know about it...                                    
-                                    RegisterForDeviceChange(false, null);   // will also close the mFileOnFlash
-                                }
-
-                           }                          
-                        }
-                        break;
-
-
-                        //
-                        // Device has been removed
-                        //
-                    case DBT_DEVICEREMOVECOMPLETE:
-
-                        devType = Marshal.ReadInt32(m.LParam, 4);
-                        if (devType == DBT_DEVTYP_VOLUME)
-                        {
-                            devType = Marshal.ReadInt32(m.LParam, 4);
-                            if (devType == DBT_DEVTYP_VOLUME)
-                            {
-                                DEV_BROADCAST_VOLUME vol;
-                                vol = (DEV_BROADCAST_VOLUME)
-                                    Marshal.PtrToStructure(m.LParam, typeof(DEV_BROADCAST_VOLUME));
-                                c = DriveMaskToLetter(vol.dbcv_unitmask);
-
-                                //
-                                // Call the client event handler
-                                //
-                                DriveDetectorEventHandler tempDeviceRemoved = DeviceRemoved;
-                                if (tempDeviceRemoved != null)
-                                {
-                                    DriveDetectorEventArgs e = new DriveDetectorEventArgs();
-                                    e.Drive = c + ":\\";
-                                    tempDeviceRemoved(this, e);
-                                }
-
-                                // TODO: we could unregister the notify handle here if we knew it is the
-                                // right drive which has been just removed
-                                //RegisterForDeviceChange(false, null);
-                            }
-                        }
-                        break;
-                }
-
-            }
-
-        }
-        #endregion
-
-
-
-        #region  Private Area
-
-        /// <summary>
-        /// New: 28.10.2007 - handle to root directory of flash drive which is opened
-        /// for device notification
-        /// </summary>
-        private IntPtr mDirHandle = IntPtr.Zero;
-
-        /// <summary>
-        /// Class which contains also handle to the file opened on the flash drive
-        /// </summary>
-        private FileStream mFileOnFlash = null;
-
-        /// <summary>
-        /// Name of the file to try to open on the removable drive for query remove registration
-        /// </summary>
-        private string mFileToOpen;
-
-        /// <summary>
-        /// Handle to file which we keep opened on the drive if query remove message is required by the client
-        /// </summary>       
-        private IntPtr mDeviceNotifyHandle;
-
-        /// <summary>
-        /// Handle of the window which receives messages from Windows. This will be a form.
-        /// </summary>
-        private IntPtr mRecipientHandle;
-
-        /// <summary>
-        /// Drive which is currently hooked for query remove
-        /// </summary>
-        private string mCurrentDrive;   
-
-
-        // Win32 constants
-        private const int DBT_DEVTYP_DEVICEINTERFACE = 5;
-        private const int DBT_DEVTYP_HANDLE = 6;
-        private const int BROADCAST_QUERY_DENY = 0x424D5144;
-        private const int WM_DEVICECHANGE = 0x0219;
-        private const int DBT_DEVICEARRIVAL = 0x8000; // system detected a new device
-        private const int DBT_DEVICEQUERYREMOVE = 0x8001;   // Preparing to remove (any program can disable the removal)
-        private const int DBT_DEVICEREMOVECOMPLETE = 0x8004; // removed 
-        private const int DBT_DEVTYP_VOLUME = 0x00000002; // drive type is logical volume
-
-        /// <summary>
-        /// Registers for receiving the query remove message for a given drive.
-        /// We need to open a handle on that drive and register with this handle. 
-        /// Client can specify this file in mFileToOpen or we will open root directory of the drive
-        /// </summary>
-        /// <param name="drive">drive for which to register. </param>
-        private void RegisterQuery(string drive)
-        {
-            bool register = true;
-
-            if (mFileToOpen == null)
-            {
-                // Change 28.10.2007 - Open the root directory if no file specified - leave mFileToOpen null 
-                // If client gave us no file, let's pick one on the drive... 
-                //mFileToOpen = GetAnyFile(drive);
-                //if (mFileToOpen.Length == 0)
-                //    return;     // no file found on the flash drive                
-            }
-            else
-            {
-                // Make sure the path in mFileToOpen contains valid drive
-                // If there is a drive letter in the path, it may be different from the  actual
-                // letter assigned to the drive now. We will cut it off and merge the actual drive 
-                // with the rest of the path.
-                if (mFileToOpen.Contains(":"))
-                {
-                    string tmp = mFileToOpen.Substring(3);
-                    string root = Path.GetPathRoot(drive);
-                    mFileToOpen = Path.Combine(root, tmp);
-                }
-                else
-                    mFileToOpen = Path.Combine(drive, mFileToOpen);
-            }
-
-
-            try
-            {
-                //mFileOnFlash = new FileStream(mFileToOpen, FileMode.Open);
-                // Change 28.10.2007 - Open the root directory 
-                if (mFileToOpen == null)  // open root directory
-                    mFileOnFlash = null;
-                else
-                    mFileOnFlash = new FileStream(mFileToOpen, FileMode.Open);
-            }
-            catch (Exception)
-            {
-                // just do not register if the file could not be opened
-                register = false;
-            }
-
-
-            if (register)
-            {
-                //RegisterForDeviceChange(true, mFileOnFlash.SafeFileHandle);
-                //mCurrentDrive = drive;
-                // Change 28.10.2007 - Open the root directory 
-                if (mFileOnFlash == null)
-                    RegisterForDeviceChange(drive);
-                else
-                    // old version
-                    RegisterForDeviceChange(true, mFileOnFlash.SafeFileHandle);
-
-                mCurrentDrive = drive;
-            }
-
-
-        }
-
-
-        /// <summary>
-        /// New version which gets the handle automatically for specified directory
-        /// Only for registering! Unregister with the old version of this function...
-        /// </summary>
-        /// <param name="register"></param>
-        /// <param name="dirPath">e.g. C:\\dir</param>
-        private void RegisterForDeviceChange(string dirPath)
-        {
-            IntPtr handle = Native.OpenDirectory(dirPath);
-            if (handle == IntPtr.Zero)
-            {
-                mDeviceNotifyHandle = IntPtr.Zero;
-                return;
-            }
-            else
-                mDirHandle = handle;    // save handle for closing it when unregistering
-
-            // Register for handle
-            DEV_BROADCAST_HANDLE data = new DEV_BROADCAST_HANDLE();
-            data.dbch_devicetype = DBT_DEVTYP_HANDLE;
-            data.dbch_reserved = 0;
-            data.dbch_nameoffset = 0;
-            //data.dbch_data = null;
-            //data.dbch_eventguid = 0;
-            data.dbch_handle = handle;
-            data.dbch_hdevnotify = (IntPtr)0;
-            int size = Marshal.SizeOf(data);
-            data.dbch_size = size;
-            IntPtr buffer = Marshal.AllocHGlobal(size);
-            Marshal.StructureToPtr(data, buffer, true);
-
-            mDeviceNotifyHandle = Native.RegisterDeviceNotification(mRecipientHandle, buffer, 0);
-
-        }
-
-        /// <summary>
-        /// Registers to be notified when the volume is about to be removed
-        /// This is requierd if you want to get the QUERY REMOVE messages
-        /// </summary>
-        /// <param name="register">true to register, false to unregister</param>
-        /// <param name="fileHandle">handle of a file opened on the removable drive</param>
-        private void RegisterForDeviceChange(bool register, SafeFileHandle fileHandle)
-        {
-            if (register)
-            {
-                // Register for handle
-                DEV_BROADCAST_HANDLE data = new DEV_BROADCAST_HANDLE();
-                data.dbch_devicetype = DBT_DEVTYP_HANDLE;
-                data.dbch_reserved = 0;
-                data.dbch_nameoffset = 0;
-                //data.dbch_data = null;
-                //data.dbch_eventguid = 0;
-                data.dbch_handle = fileHandle.DangerousGetHandle(); //Marshal. fileHandle; 
-                data.dbch_hdevnotify = (IntPtr)0;
-                int size = Marshal.SizeOf(data);
-                data.dbch_size = size;
-                IntPtr buffer = Marshal.AllocHGlobal(size);
-                Marshal.StructureToPtr(data, buffer, true);
-
-                mDeviceNotifyHandle = Native.RegisterDeviceNotification(mRecipientHandle, buffer, 0);
-            }
-            else
-            {
-                // close the directory handle
-                if (mDirHandle != IntPtr.Zero)
-                {
-                    Native.CloseDirectoryHandle(mDirHandle);
-                    //    string er = Marshal.GetLastWin32Error().ToString();
-                }
-
-                // unregister
-                if (mDeviceNotifyHandle != IntPtr.Zero)
-                {
-                    Native.UnregisterDeviceNotification(mDeviceNotifyHandle);                                        
-                }
-                
-
-                mDeviceNotifyHandle = IntPtr.Zero;
-                mDirHandle = IntPtr.Zero;
-               
-                mCurrentDrive = "";
-                if (mFileOnFlash != null)
-                {
-                    mFileOnFlash.Close();
-                    mFileOnFlash = null;
-                }
-            }
-
-        }
-
-        /// <summary>
-        /// Gets drive letter from a bit mask where bit 0 = A, bit 1 = B etc.
-        /// There can actually be more than one drive in the mask but we 
-        /// just use the last one in this case.
-        /// </summary>
-        /// <param name="mask"></param>
-        /// <returns></returns>
-        private static char DriveMaskToLetter(int mask)
-        {
-            char letter;
-            string drives = "ABCDEFGHIJKLMNOPQRSTUVWXYZ";
-            // 1 = A
-            // 2 = B
-            // 4 = C...
-            int cnt = 0;
-            int pom = mask / 2;     
-            while (pom != 0)
-            {
-                // while there is any bit set in the mask
-                // shift it to the righ...                
-                pom = pom / 2;
-                cnt++;
-            }
-
-            if (cnt < drives.Length)
-                letter = drives[cnt];
-            else
-                letter = '?';
-
-            return letter;
-        }
-
-        /* 28.10.2007 - no longer needed
-        /// <summary>
-        /// Searches for any file in a given path and returns its full path
-        /// </summary>
-        /// <param name="drive">drive to search</param>
-        /// <returns>path of the file or empty string</returns>
-        private string GetAnyFile(string drive)
-        {
-            string file = "";
-            // First try files in the root
-            string[] files = Directory.GetFiles(drive);
-            if (files.Length == 0)
-            {
-                // if no file in the root, search whole drive
-                files = Directory.GetFiles(drive, "*.*", SearchOption.AllDirectories);
-            }
-                
-            if (files.Length > 0)
-                file = files[0];        // get the first file
-
-            // return empty string if no file found
-            return file;
-        }*/
-        #endregion
-
-
-        #region Native Win32 API
-        /// <summary>
-        /// WinAPI functions
-        /// </summary>        
-        private class Native
-        {
-            //   HDEVNOTIFY RegisterDeviceNotification(HANDLE hRecipient,LPVOID NotificationFilter,DWORD Flags);
-            [DllImport("user32.dll", CharSet = CharSet.Auto)]
-            public static extern IntPtr RegisterDeviceNotification(IntPtr hRecipient, IntPtr NotificationFilter, uint Flags);
-
-            [DllImport("user32.dll", CharSet = CharSet.Auto)]
-            public static extern uint UnregisterDeviceNotification(IntPtr hHandle);
-
-            //
-            // CreateFile  - MSDN
-            const uint GENERIC_READ = 0x80000000;
-            const uint OPEN_EXISTING = 3;
-            const uint FILE_SHARE_READ = 0x00000001;
-            const uint FILE_SHARE_WRITE = 0x00000002;
-            const uint FILE_ATTRIBUTE_NORMAL = 128;
-            const uint FILE_FLAG_BACKUP_SEMANTICS = 0x02000000;
-            static readonly IntPtr INVALID_HANDLE_VALUE = new IntPtr(-1);
-
-
-            // should be "static extern unsafe"
-            [DllImport("kernel32", SetLastError = true)]
-            static extern IntPtr CreateFile(
-                  string FileName,                    // file name
-                  uint DesiredAccess,                 // access mode
-                  uint ShareMode,                     // share mode
-                  uint SecurityAttributes,            // Security Attributes
-                  uint CreationDisposition,           // how to create
-                  uint FlagsAndAttributes,            // file attributes
-                  int hTemplateFile                   // handle to template file
-                  );
-
-
-            [DllImport("kernel32", SetLastError = true)]
-            static extern bool CloseHandle(
-                  IntPtr hObject   // handle to object
-                  );
-
-            /// <summary>
-            /// Opens a directory, returns it's handle or zero.
-            /// </summary>
-            /// <param name="dirPath">path to the directory, e.g. "C:\\dir"</param>
-            /// <returns>handle to the directory. Close it with CloseHandle().</returns>
-            static public IntPtr OpenDirectory(string dirPath)
-            {
-                // open the existing file for reading          
-                IntPtr handle = CreateFile(
-                      dirPath,
-                      GENERIC_READ,
-                      FILE_SHARE_READ | FILE_SHARE_WRITE,
-                      0,
-                      OPEN_EXISTING,
-                      FILE_FLAG_BACKUP_SEMANTICS | FILE_ATTRIBUTE_NORMAL,
-                      0);
-
-                if ( handle == INVALID_HANDLE_VALUE)
-                    return IntPtr.Zero;
-                else
-                    return handle;
-            }
-
-
-            public static bool CloseDirectoryHandle(IntPtr handle)
-            {
-                return CloseHandle(handle);
-            }
-        }
-
-        
-        // Structure with information for RegisterDeviceNotification.
-        [StructLayout(LayoutKind.Sequential)]
-        public struct DEV_BROADCAST_HANDLE
-        {
-            public int dbch_size;
-            public int dbch_devicetype;
-            public int dbch_reserved;
-            public IntPtr dbch_handle;
-            public IntPtr dbch_hdevnotify;
-            public Guid dbch_eventguid;
-            public long dbch_nameoffset;
-            //public byte[] dbch_data[1]; // = new byte[1];
-            public byte dbch_data;
-            public byte dbch_data1; 
-        }
-
-        // Struct for parameters of the WM_DEVICECHANGE message
-        [StructLayout(LayoutKind.Sequential)]
-        public struct DEV_BROADCAST_VOLUME
-        {
-            public int dbcv_size;
-            public int dbcv_devicetype;
-            public int dbcv_reserved;
-            public int dbcv_unitmask;
-        }
-        #endregion
-
-    }
-}

Cs_HMI/Project/Dialog/fLog.Designer.cs

@@ -31,16 +31,15 @@
             this.rtsys = new arCtl.LogTextBox();
             this.rtTx = new arCtl.LogTextBox();
             this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
-            this.rtAGV = new arCtl.LogTextBox();
-            this.rtBMS = new arCtl.LogTextBox();
-            this.rtXbee = new arCtl.LogTextBox();
             this.panel1 = new System.Windows.Forms.Panel();
-            this.label1 = new System.Windows.Forms.Label();
+            this.rtXbee = new arCtl.LogTextBox();
+            this.titleXBEE = new System.Windows.Forms.Label();
             this.panel2 = new System.Windows.Forms.Panel();
-            this.panel3 = new System.Windows.Forms.Panel();
+            this.rtBMS = new arCtl.LogTextBox();
+            this.titleBMS = new System.Windows.Forms.Label();
             this.panel4 = new System.Windows.Forms.Panel();
-            this.label2 = new System.Windows.Forms.Label();
-            this.label3 = new System.Windows.Forms.Label();
+            this.rtAGV = new arCtl.LogTextBox();
+            this.titleAGV = new System.Windows.Forms.Label();
             this.tableLayoutPanel1.SuspendLayout();
             this.panel1.SuspendLayout();
             this.panel2.SuspendLayout();
@@ -99,8 +98,7 @@
             this.tableLayoutPanel1.Controls.Add(this.rtsys, 0, 0);
             this.tableLayoutPanel1.Controls.Add(this.rtTx, 2, 0);
             this.tableLayoutPanel1.Controls.Add(this.panel1, 1, 1);
-            this.tableLayoutPanel1.Controls.Add(this.panel2, 3, 1);
-            this.tableLayoutPanel1.Controls.Add(this.panel3, 2, 1);
+            this.tableLayoutPanel1.Controls.Add(this.panel2, 2, 1);
             this.tableLayoutPanel1.Controls.Add(this.panel4, 0, 1);
             this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
             this.tableLayoutPanel1.Location = new System.Drawing.Point(0, 0);
@@ -111,45 +109,15 @@
             this.tableLayoutPanel1.Size = new System.Drawing.Size(681, 495);
             this.tableLayoutPanel1.TabIndex = 2;
             // 
-            // rtAGV
+            // panel1
             // 
-            this.rtAGV.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(224)))), ((int)(((byte)(224)))), ((int)(((byte)(224)))));
-            this.rtAGV.ColorList = new arCtl.sLogMessageColor[0];
-            this.rtAGV.DateFormat = "mm:ss.fff";
-            this.rtAGV.DefaultColor = System.Drawing.Color.LightGray;
-            this.rtAGV.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.rtAGV.EnableDisplayTimer = false;
-            this.rtAGV.EnableGubunColor = true;
-            this.rtAGV.Font = new System.Drawing.Font("맑은 고딕", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.rtAGV.ListFormat = "[{0}] {1}";
-            this.rtAGV.Location = new System.Drawing.Point(0, 14);
-            this.rtAGV.MaxListCount = ((ushort)(1000));
-            this.rtAGV.MaxTextLength = ((uint)(400000u));
-            this.rtAGV.MessageInterval = 50;
-            this.rtAGV.Name = "rtAGV";
-            this.rtAGV.Size = new System.Drawing.Size(164, 129);
-            this.rtAGV.TabIndex = 2;
-            this.rtAGV.Text = "";
-            // 
-            // rtBMS
-            // 
-            this.rtBMS.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(224)))), ((int)(((byte)(224)))), ((int)(((byte)(224)))));
-            this.rtBMS.ColorList = new arCtl.sLogMessageColor[0];
-            this.rtBMS.DateFormat = "mm:ss.fff";
-            this.rtBMS.DefaultColor = System.Drawing.Color.LightGray;
-            this.rtBMS.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.rtBMS.EnableDisplayTimer = false;
-            this.rtBMS.EnableGubunColor = true;
-            this.rtBMS.Font = new System.Drawing.Font("맑은 고딕", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.rtBMS.ListFormat = "[{0}] {1}";
-            this.rtBMS.Location = new System.Drawing.Point(0, 14);
-            this.rtBMS.MaxListCount = ((ushort)(1000));
-            this.rtBMS.MaxTextLength = ((uint)(400000u));
-            this.rtBMS.MessageInterval = 50;
-            this.rtBMS.Name = "rtBMS";
-            this.rtBMS.Size = new System.Drawing.Size(165, 129);
-            this.rtBMS.TabIndex = 2;
-            this.rtBMS.Text = "";
+            this.panel1.Controls.Add(this.rtXbee);
+            this.panel1.Controls.Add(this.titleXBEE);
+            this.panel1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.panel1.Location = new System.Drawing.Point(173, 349);
+            this.panel1.Name = "panel1";
+            this.panel1.Size = new System.Drawing.Size(164, 143);
+            this.panel1.TabIndex = 3;
             // 
             // rtXbee
             // 
@@ -171,73 +139,96 @@
             this.rtXbee.TabIndex = 2;
             this.rtXbee.Text = "";
             // 
-            // panel1
+            // titleXBEE
             // 
-            this.panel1.Controls.Add(this.rtXbee);
-            this.panel1.Controls.Add(this.label1);
-            this.panel1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.panel1.Location = new System.Drawing.Point(173, 349);
-            this.panel1.Name = "panel1";
-            this.panel1.Size = new System.Drawing.Size(164, 143);
-            this.panel1.TabIndex = 3;
-            // 
-            // label1
-            // 
-            this.label1.Dock = System.Windows.Forms.DockStyle.Top;
-            this.label1.Location = new System.Drawing.Point(0, 0);
-            this.label1.Name = "label1";
-            this.label1.Size = new System.Drawing.Size(164, 14);
-            this.label1.TabIndex = 0;
-            this.label1.Text = "MC ID";
-            this.label1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.titleXBEE.Dock = System.Windows.Forms.DockStyle.Top;
+            this.titleXBEE.Location = new System.Drawing.Point(0, 0);
+            this.titleXBEE.Name = "titleXBEE";
+            this.titleXBEE.Size = new System.Drawing.Size(164, 14);
+            this.titleXBEE.TabIndex = 0;
+            this.titleXBEE.Text = "MC ID";
+            this.titleXBEE.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             // 
             // panel2
             // 
+            this.tableLayoutPanel1.SetColumnSpan(this.panel2, 2);
             this.panel2.Controls.Add(this.rtBMS);
-            this.panel2.Controls.Add(this.label3);
+            this.panel2.Controls.Add(this.titleBMS);
             this.panel2.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.panel2.Location = new System.Drawing.Point(513, 349);
+            this.panel2.Location = new System.Drawing.Point(343, 349);
             this.panel2.Name = "panel2";
-            this.panel2.Size = new System.Drawing.Size(165, 143);
+            this.panel2.Size = new System.Drawing.Size(335, 143);
             this.panel2.TabIndex = 4;
             // 
-            // panel3
+            // rtBMS
             // 
-            this.panel3.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.panel3.Location = new System.Drawing.Point(343, 349);
-            this.panel3.Name = "panel3";
-            this.panel3.Size = new System.Drawing.Size(164, 143);
-            this.panel3.TabIndex = 5;
+            this.rtBMS.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(224)))), ((int)(((byte)(224)))), ((int)(((byte)(224)))));
+            this.rtBMS.ColorList = new arCtl.sLogMessageColor[0];
+            this.rtBMS.DateFormat = "mm:ss.fff";
+            this.rtBMS.DefaultColor = System.Drawing.Color.LightGray;
+            this.rtBMS.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.rtBMS.EnableDisplayTimer = false;
+            this.rtBMS.EnableGubunColor = true;
+            this.rtBMS.Font = new System.Drawing.Font("맑은 고딕", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.rtBMS.ListFormat = "[{0}] {1}";
+            this.rtBMS.Location = new System.Drawing.Point(0, 14);
+            this.rtBMS.MaxListCount = ((ushort)(1000));
+            this.rtBMS.MaxTextLength = ((uint)(400000u));
+            this.rtBMS.MessageInterval = 50;
+            this.rtBMS.Name = "rtBMS";
+            this.rtBMS.Size = new System.Drawing.Size(335, 129);
+            this.rtBMS.TabIndex = 2;
+            this.rtBMS.Text = "";
+            // 
+            // titleBMS
+            // 
+            this.titleBMS.Dock = System.Windows.Forms.DockStyle.Top;
+            this.titleBMS.Location = new System.Drawing.Point(0, 0);
+            this.titleBMS.Name = "titleBMS";
+            this.titleBMS.Size = new System.Drawing.Size(335, 14);
+            this.titleBMS.TabIndex = 3;
+            this.titleBMS.Text = "BMS";
+            this.titleBMS.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             // 
             // panel4
             // 
             this.panel4.Controls.Add(this.rtAGV);
-            this.panel4.Controls.Add(this.label2);
+            this.panel4.Controls.Add(this.titleAGV);
             this.panel4.Dock = System.Windows.Forms.DockStyle.Fill;
             this.panel4.Location = new System.Drawing.Point(3, 349);
             this.panel4.Name = "panel4";
             this.panel4.Size = new System.Drawing.Size(164, 143);
             this.panel4.TabIndex = 6;
             // 
-            // label2
+            // rtAGV
             // 
-            this.label2.Dock = System.Windows.Forms.DockStyle.Top;
-            this.label2.Location = new System.Drawing.Point(0, 0);
-            this.label2.Name = "label2";
-            this.label2.Size = new System.Drawing.Size(164, 14);
-            this.label2.TabIndex = 3;
-            this.label2.Text = "AGV";
-            this.label2.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.rtAGV.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(224)))), ((int)(((byte)(224)))), ((int)(((byte)(224)))));
+            this.rtAGV.ColorList = new arCtl.sLogMessageColor[0];
+            this.rtAGV.DateFormat = "mm:ss.fff";
+            this.rtAGV.DefaultColor = System.Drawing.Color.LightGray;
+            this.rtAGV.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.rtAGV.EnableDisplayTimer = false;
+            this.rtAGV.EnableGubunColor = true;
+            this.rtAGV.Font = new System.Drawing.Font("맑은 고딕", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.rtAGV.ListFormat = "[{0}] {1}";
+            this.rtAGV.Location = new System.Drawing.Point(0, 14);
+            this.rtAGV.MaxListCount = ((ushort)(1000));
+            this.rtAGV.MaxTextLength = ((uint)(400000u));
+            this.rtAGV.MessageInterval = 50;
+            this.rtAGV.Name = "rtAGV";
+            this.rtAGV.Size = new System.Drawing.Size(164, 129);
+            this.rtAGV.TabIndex = 2;
+            this.rtAGV.Text = "";
             // 
-            // label3
+            // titleAGV
             // 
-            this.label3.Dock = System.Windows.Forms.DockStyle.Top;
-            this.label3.Location = new System.Drawing.Point(0, 0);
-            this.label3.Name = "label3";
-            this.label3.Size = new System.Drawing.Size(165, 14);
-            this.label3.TabIndex = 3;
-            this.label3.Text = "BMS";
-            this.label3.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.titleAGV.Dock = System.Windows.Forms.DockStyle.Top;
+            this.titleAGV.Location = new System.Drawing.Point(0, 0);
+            this.titleAGV.Name = "titleAGV";
+            this.titleAGV.Size = new System.Drawing.Size(164, 14);
+            this.titleAGV.TabIndex = 3;
+            this.titleAGV.Text = "AGV";
+            this.titleAGV.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             // 
             // fLog
             // 
@@ -267,11 +258,10 @@
         private arCtl.LogTextBox rtBMS;
         private arCtl.LogTextBox rtXbee;
         private System.Windows.Forms.Panel panel1;
-        private System.Windows.Forms.Label label1;
+        private System.Windows.Forms.Label titleXBEE;
         private System.Windows.Forms.Panel panel2;
-        private System.Windows.Forms.Panel panel3;
         private System.Windows.Forms.Panel panel4;
-        private System.Windows.Forms.Label label3;
-        private System.Windows.Forms.Label label2;
+        private System.Windows.Forms.Label titleBMS;
+        private System.Windows.Forms.Label titleAGV;
     }
 }

Cs_HMI/Project/Dialog/fLog.cs

@@ -29,7 +29,9 @@ namespace Project.Dialog
 
         private void fLog_Load(object sender, EventArgs e)
         {
-            this.label1.Text = $"XBEE:{PUB.setting.XBE_ID}";
+            this.titleXBEE.Text = $"XBEE({PUB.setting.Port_XBE},ID:{PUB.setting.XBE_ID})";
+            this.titleAGV.Text = $"AGV({PUB.setting.Port_AGV}:{PUB.setting.Baud_AGV})";
+            this.titleBMS.Text = $"BMS({PUB.setting.Port_BAT}:{PUB.setting.Baud_BAT})";
             var colorlist = new arCtl.sLogMessageColor[]
             {
                 new arCtl.sLogMessageColor("NOR",Color.Black),

Cs_HMI/Project/Dialog/fSystem.Designer.cs

@@ -28,530 +28,307 @@
         /// </summary>
         private void InitializeComponent()
         {
-            this.lbMsg = new arCtl.arLabel();
-            this.arLabel4 = new arCtl.arLabel();
-            this.arLabel9 = new arCtl.arLabel();
-            this.arLabel10 = new arCtl.arLabel();
-            this.arLabel1 = new arCtl.arLabel();
-            this.arLabel6 = new arCtl.arLabel();
-            this.arLabel2 = new arCtl.arLabel();
+            this.btOpenDir = new System.Windows.Forms.Button();
+            this.arLabel4 = new System.Windows.Forms.Button();
+            this.btShutdown = new System.Windows.Forms.Button();
+            this.btRestart = new System.Windows.Forms.Button();
+            this.btStartMenu = new System.Windows.Forms.Button();
+            this.btTaskMgr = new System.Windows.Forms.Button();
+            this.btProcessList = new System.Windows.Forms.Button();
             this.label1 = new System.Windows.Forms.Label();
             this.label2 = new System.Windows.Forms.Label();
-            this.arLabel3 = new arCtl.arLabel();
-            this.arLabel5 = new arCtl.arLabel();
-            this.arLabel7 = new arCtl.arLabel();
+            this.btEmulator = new System.Windows.Forms.Button();
+            this.btMakePatch = new System.Windows.Forms.Button();
+            this.btAutoRestart = new System.Windows.Forms.Button();
+            this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
+            this.button1 = new System.Windows.Forms.Button();
+            this.button2 = new System.Windows.Forms.Button();
+            this.button3 = new System.Windows.Forms.Button();
+            this.tableLayoutPanel1.SuspendLayout();
             this.SuspendLayout();
             // 
-            // lbMsg
+            // btOpenDir
             // 
-            this.lbMsg.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
-            this.lbMsg.BackColor2 = System.Drawing.Color.FromArgb(((int)(((byte)(18)))), ((int)(((byte)(18)))), ((int)(((byte)(18)))));
-            this.lbMsg.BackgroundImagePadding = new System.Windows.Forms.Padding(0);
-            this.lbMsg.BorderColor = System.Drawing.Color.LightSkyBlue;
-            this.lbMsg.BorderColorOver = System.Drawing.Color.Red;
-            this.lbMsg.BorderSize = new System.Windows.Forms.Padding(1);
-            this.lbMsg.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
-            this.lbMsg.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.lbMsg.Font = new System.Drawing.Font("Consolas", 12F);
-            this.lbMsg.ForeColor = System.Drawing.Color.White;
-            this.lbMsg.GradientEnable = true;
-            this.lbMsg.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
-            this.lbMsg.GradientRepeatBG = true;
-            this.lbMsg.isButton = true;
-            this.lbMsg.Location = new System.Drawing.Point(9, 8);
-            this.lbMsg.Margin = new System.Windows.Forms.Padding(5);
-            this.lbMsg.MouseDownColor = System.Drawing.Color.Yellow;
-            this.lbMsg.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.lbMsg.msg = null;
-            this.lbMsg.Name = "lbMsg";
-            this.lbMsg.ProgressBorderColor = System.Drawing.Color.Black;
-            this.lbMsg.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
-            this.lbMsg.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
-            this.lbMsg.ProgressEnable = false;
-            this.lbMsg.ProgressFont = new System.Drawing.Font("Consolas", 10F);
-            this.lbMsg.ProgressForeColor = System.Drawing.Color.Black;
-            this.lbMsg.ProgressMax = 100F;
-            this.lbMsg.ProgressMin = 0F;
-            this.lbMsg.ProgressPadding = new System.Windows.Forms.Padding(0);
-            this.lbMsg.ProgressValue = 0F;
-            this.lbMsg.ShadowColor = System.Drawing.Color.Black;
-            this.lbMsg.Sign = "";
-            this.lbMsg.SignAlign = System.Drawing.ContentAlignment.BottomRight;
-            this.lbMsg.SignColor = System.Drawing.Color.Yellow;
-            this.lbMsg.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.lbMsg.Size = new System.Drawing.Size(165, 100);
-            this.lbMsg.TabIndex = 2;
-            this.lbMsg.Text = "폴더열기";
-            this.lbMsg.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.lbMsg.TextShadow = true;
-            this.lbMsg.TextVisible = true;
-            this.lbMsg.Click += new System.EventHandler(this.lbMsg_Click);
+            this.btOpenDir.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
+            this.btOpenDir.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.btOpenDir.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.btOpenDir.Font = new System.Drawing.Font("Consolas", 12F);
+            this.btOpenDir.ForeColor = System.Drawing.Color.White;
+            this.btOpenDir.Location = new System.Drawing.Point(5, 5);
+            this.btOpenDir.Margin = new System.Windows.Forms.Padding(5);
+            this.btOpenDir.Name = "btOpenDir";
+            this.btOpenDir.Size = new System.Drawing.Size(201, 79);
+            this.btOpenDir.TabIndex = 2;
+            this.btOpenDir.Text = "폴더열기";
+            this.btOpenDir.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.btOpenDir.Click += new System.EventHandler(this.lbMsg_Click);
             // 
             // arLabel4
             // 
             this.arLabel4.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
-            this.arLabel4.BackColor2 = System.Drawing.Color.FromArgb(((int)(((byte)(18)))), ((int)(((byte)(18)))), ((int)(((byte)(18)))));
-            this.arLabel4.BackgroundImagePadding = new System.Windows.Forms.Padding(0);
-            this.arLabel4.BorderColor = System.Drawing.Color.LightSkyBlue;
-            this.arLabel4.BorderColorOver = System.Drawing.Color.Red;
-            this.arLabel4.BorderSize = new System.Windows.Forms.Padding(1);
-            this.arLabel4.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
             this.arLabel4.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.arLabel4.Dock = System.Windows.Forms.DockStyle.Bottom;
             this.arLabel4.Font = new System.Drawing.Font("Consolas", 12F);
             this.arLabel4.ForeColor = System.Drawing.Color.White;
-            this.arLabel4.GradientEnable = true;
-            this.arLabel4.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
-            this.arLabel4.GradientRepeatBG = true;
-            this.arLabel4.isButton = true;
-            this.arLabel4.Location = new System.Drawing.Point(9, 387);
+            this.arLabel4.Location = new System.Drawing.Point(10, 412);
             this.arLabel4.Margin = new System.Windows.Forms.Padding(5);
-            this.arLabel4.MouseDownColor = System.Drawing.Color.Yellow;
-            this.arLabel4.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.arLabel4.msg = null;
             this.arLabel4.Name = "arLabel4";
-            this.arLabel4.ProgressBorderColor = System.Drawing.Color.Black;
-            this.arLabel4.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
-            this.arLabel4.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
-            this.arLabel4.ProgressEnable = false;
-            this.arLabel4.ProgressFont = new System.Drawing.Font("Consolas", 10F);
-            this.arLabel4.ProgressForeColor = System.Drawing.Color.Black;
-            this.arLabel4.ProgressMax = 100F;
-            this.arLabel4.ProgressMin = 0F;
-            this.arLabel4.ProgressPadding = new System.Windows.Forms.Padding(0);
-            this.arLabel4.ProgressValue = 0F;
-            this.arLabel4.ShadowColor = System.Drawing.Color.Black;
-            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", 7F, System.Drawing.FontStyle.Italic);
-            this.arLabel4.Size = new System.Drawing.Size(503, 51);
+            this.arLabel4.Size = new System.Drawing.Size(633, 51);
             this.arLabel4.TabIndex = 2;
             this.arLabel4.Text = "닫기";
             this.arLabel4.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.arLabel4.TextShadow = true;
-            this.arLabel4.TextVisible = true;
             this.arLabel4.Click += new System.EventHandler(this.arLabel4_Click);
             // 
-            // arLabel9
+            // btShutdown
             // 
-            this.arLabel9.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
-            this.arLabel9.BackColor2 = System.Drawing.Color.Red;
-            this.arLabel9.BackgroundImagePadding = new System.Windows.Forms.Padding(0);
-            this.arLabel9.BorderColor = System.Drawing.Color.LightSkyBlue;
-            this.arLabel9.BorderColorOver = System.Drawing.Color.Red;
-            this.arLabel9.BorderSize = new System.Windows.Forms.Padding(1);
-            this.arLabel9.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
-            this.arLabel9.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.arLabel9.Font = new System.Drawing.Font("Consolas", 12F);
-            this.arLabel9.ForeColor = System.Drawing.Color.White;
-            this.arLabel9.GradientEnable = true;
-            this.arLabel9.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
-            this.arLabel9.GradientRepeatBG = true;
-            this.arLabel9.isButton = true;
-            this.arLabel9.Location = new System.Drawing.Point(9, 112);
-            this.arLabel9.Margin = new System.Windows.Forms.Padding(5);
-            this.arLabel9.MouseDownColor = System.Drawing.Color.Yellow;
-            this.arLabel9.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.arLabel9.msg = null;
-            this.arLabel9.Name = "arLabel9";
-            this.arLabel9.ProgressBorderColor = System.Drawing.Color.Black;
-            this.arLabel9.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
-            this.arLabel9.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
-            this.arLabel9.ProgressEnable = false;
-            this.arLabel9.ProgressFont = new System.Drawing.Font("Consolas", 10F);
-            this.arLabel9.ProgressForeColor = System.Drawing.Color.Black;
-            this.arLabel9.ProgressMax = 100F;
-            this.arLabel9.ProgressMin = 0F;
-            this.arLabel9.ProgressPadding = new System.Windows.Forms.Padding(0);
-            this.arLabel9.ProgressValue = 0F;
-            this.arLabel9.ShadowColor = System.Drawing.Color.Black;
-            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", 7F, System.Drawing.FontStyle.Italic);
-            this.arLabel9.Size = new System.Drawing.Size(165, 100);
-            this.arLabel9.TabIndex = 2;
-            this.arLabel9.Text = "시스템 종료";
-            this.arLabel9.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.arLabel9.TextShadow = true;
-            this.arLabel9.TextVisible = true;
-            this.arLabel9.Click += new System.EventHandler(this.arLabel9_Click);
+            this.btShutdown.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
+            this.btShutdown.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.btShutdown.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.btShutdown.Font = new System.Drawing.Font("Consolas", 12F);
+            this.btShutdown.ForeColor = System.Drawing.Color.White;
+            this.btShutdown.Location = new System.Drawing.Point(5, 94);
+            this.btShutdown.Margin = new System.Windows.Forms.Padding(5);
+            this.btShutdown.Name = "btShutdown";
+            this.btShutdown.Size = new System.Drawing.Size(201, 79);
+            this.btShutdown.TabIndex = 2;
+            this.btShutdown.Text = "시스템 종료";
+            this.btShutdown.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.btShutdown.Click += new System.EventHandler(this.arLabel9_Click);
             // 
-            // arLabel10
+            // btRestart
             // 
-            this.arLabel10.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
-            this.arLabel10.BackColor2 = System.Drawing.Color.DarkBlue;
-            this.arLabel10.BackgroundImagePadding = new System.Windows.Forms.Padding(0);
-            this.arLabel10.BorderColor = System.Drawing.Color.LightSkyBlue;
-            this.arLabel10.BorderColorOver = System.Drawing.Color.Red;
-            this.arLabel10.BorderSize = new System.Windows.Forms.Padding(1);
-            this.arLabel10.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
-            this.arLabel10.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.arLabel10.Font = new System.Drawing.Font("Consolas", 12F);
-            this.arLabel10.ForeColor = System.Drawing.Color.White;
-            this.arLabel10.GradientEnable = true;
-            this.arLabel10.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
-            this.arLabel10.GradientRepeatBG = true;
-            this.arLabel10.isButton = true;
-            this.arLabel10.Location = new System.Drawing.Point(178, 112);
-            this.arLabel10.Margin = new System.Windows.Forms.Padding(5);
-            this.arLabel10.MouseDownColor = System.Drawing.Color.Yellow;
-            this.arLabel10.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.arLabel10.msg = null;
-            this.arLabel10.Name = "arLabel10";
-            this.arLabel10.ProgressBorderColor = System.Drawing.Color.Black;
-            this.arLabel10.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
-            this.arLabel10.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
-            this.arLabel10.ProgressEnable = false;
-            this.arLabel10.ProgressFont = new System.Drawing.Font("Consolas", 10F);
-            this.arLabel10.ProgressForeColor = System.Drawing.Color.Black;
-            this.arLabel10.ProgressMax = 100F;
-            this.arLabel10.ProgressMin = 0F;
-            this.arLabel10.ProgressPadding = new System.Windows.Forms.Padding(0);
-            this.arLabel10.ProgressValue = 0F;
-            this.arLabel10.ShadowColor = System.Drawing.Color.Black;
-            this.arLabel10.Sign = "";
-            this.arLabel10.SignAlign = System.Drawing.ContentAlignment.BottomRight;
-            this.arLabel10.SignColor = System.Drawing.Color.Yellow;
-            this.arLabel10.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.arLabel10.Size = new System.Drawing.Size(165, 100);
-            this.arLabel10.TabIndex = 2;
-            this.arLabel10.Text = "시스템 재시작";
-            this.arLabel10.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.arLabel10.TextShadow = true;
-            this.arLabel10.TextVisible = true;
-            this.arLabel10.Click += new System.EventHandler(this.arLabel10_Click);
+            this.btRestart.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
+            this.btRestart.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.btRestart.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.btRestart.Font = new System.Drawing.Font("Consolas", 12F);
+            this.btRestart.ForeColor = System.Drawing.Color.White;
+            this.btRestart.Location = new System.Drawing.Point(216, 94);
+            this.btRestart.Margin = new System.Windows.Forms.Padding(5);
+            this.btRestart.Name = "btRestart";
+            this.btRestart.Size = new System.Drawing.Size(201, 79);
+            this.btRestart.TabIndex = 2;
+            this.btRestart.Text = "시스템 재시작";
+            this.btRestart.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.btRestart.Click += new System.EventHandler(this.arLabel10_Click);
             // 
-            // arLabel1
+            // btStartMenu
             // 
-            this.arLabel1.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
-            this.arLabel1.BackColor2 = System.Drawing.Color.FromArgb(((int)(((byte)(18)))), ((int)(((byte)(18)))), ((int)(((byte)(18)))));
-            this.arLabel1.BackgroundImagePadding = new System.Windows.Forms.Padding(0);
-            this.arLabel1.BorderColor = System.Drawing.Color.LightSkyBlue;
-            this.arLabel1.BorderColorOver = System.Drawing.Color.Red;
-            this.arLabel1.BorderSize = new System.Windows.Forms.Padding(1);
-            this.arLabel1.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
-            this.arLabel1.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.arLabel1.Font = new System.Drawing.Font("Consolas", 12F);
-            this.arLabel1.ForeColor = System.Drawing.Color.White;
-            this.arLabel1.GradientEnable = true;
-            this.arLabel1.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
-            this.arLabel1.GradientRepeatBG = true;
-            this.arLabel1.isButton = true;
-            this.arLabel1.Location = new System.Drawing.Point(347, 8);
-            this.arLabel1.Margin = new System.Windows.Forms.Padding(5);
-            this.arLabel1.MouseDownColor = System.Drawing.Color.Yellow;
-            this.arLabel1.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.arLabel1.msg = null;
-            this.arLabel1.Name = "arLabel1";
-            this.arLabel1.ProgressBorderColor = System.Drawing.Color.Black;
-            this.arLabel1.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
-            this.arLabel1.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
-            this.arLabel1.ProgressEnable = false;
-            this.arLabel1.ProgressFont = new System.Drawing.Font("Consolas", 10F);
-            this.arLabel1.ProgressForeColor = System.Drawing.Color.Black;
-            this.arLabel1.ProgressMax = 100F;
-            this.arLabel1.ProgressMin = 0F;
-            this.arLabel1.ProgressPadding = new System.Windows.Forms.Padding(0);
-            this.arLabel1.ProgressValue = 0F;
-            this.arLabel1.ShadowColor = System.Drawing.Color.Black;
-            this.arLabel1.Sign = "";
-            this.arLabel1.SignAlign = System.Drawing.ContentAlignment.BottomRight;
-            this.arLabel1.SignColor = System.Drawing.Color.Yellow;
-            this.arLabel1.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.arLabel1.Size = new System.Drawing.Size(165, 100);
-            this.arLabel1.TabIndex = 2;
-            this.arLabel1.Text = "시작메뉴";
-            this.arLabel1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.arLabel1.TextShadow = true;
-            this.arLabel1.TextVisible = true;
-            this.arLabel1.Click += new System.EventHandler(this.arLabel1_Click);
+            this.btStartMenu.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
+            this.btStartMenu.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.btStartMenu.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.btStartMenu.Font = new System.Drawing.Font("Consolas", 12F);
+            this.btStartMenu.ForeColor = System.Drawing.Color.White;
+            this.btStartMenu.Location = new System.Drawing.Point(427, 5);
+            this.btStartMenu.Margin = new System.Windows.Forms.Padding(5);
+            this.btStartMenu.Name = "btStartMenu";
+            this.btStartMenu.Size = new System.Drawing.Size(201, 79);
+            this.btStartMenu.TabIndex = 2;
+            this.btStartMenu.Text = "시작메뉴";
+            this.btStartMenu.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.btStartMenu.Click += new System.EventHandler(this.arLabel1_Click);
             // 
-            // arLabel6
+            // btTaskMgr
             // 
-            this.arLabel6.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
-            this.arLabel6.BackColor2 = System.Drawing.Color.FromArgb(((int)(((byte)(18)))), ((int)(((byte)(18)))), ((int)(((byte)(18)))));
-            this.arLabel6.BackgroundImagePadding = new System.Windows.Forms.Padding(0);
-            this.arLabel6.BorderColor = System.Drawing.Color.LightSkyBlue;
-            this.arLabel6.BorderColorOver = System.Drawing.Color.Red;
-            this.arLabel6.BorderSize = new System.Windows.Forms.Padding(1);
-            this.arLabel6.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
-            this.arLabel6.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.arLabel6.Font = new System.Drawing.Font("Consolas", 12F);
-            this.arLabel6.ForeColor = System.Drawing.Color.White;
-            this.arLabel6.GradientEnable = true;
-            this.arLabel6.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
-            this.arLabel6.GradientRepeatBG = true;
-            this.arLabel6.isButton = true;
-            this.arLabel6.Location = new System.Drawing.Point(178, 8);
-            this.arLabel6.Margin = new System.Windows.Forms.Padding(5);
-            this.arLabel6.MouseDownColor = System.Drawing.Color.Yellow;
-            this.arLabel6.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.arLabel6.msg = null;
-            this.arLabel6.Name = "arLabel6";
-            this.arLabel6.ProgressBorderColor = System.Drawing.Color.Black;
-            this.arLabel6.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
-            this.arLabel6.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
-            this.arLabel6.ProgressEnable = false;
-            this.arLabel6.ProgressFont = new System.Drawing.Font("Consolas", 10F);
-            this.arLabel6.ProgressForeColor = System.Drawing.Color.Black;
-            this.arLabel6.ProgressMax = 100F;
-            this.arLabel6.ProgressMin = 0F;
-            this.arLabel6.ProgressPadding = new System.Windows.Forms.Padding(0);
-            this.arLabel6.ProgressValue = 0F;
-            this.arLabel6.ShadowColor = System.Drawing.Color.Black;
-            this.arLabel6.Sign = "";
-            this.arLabel6.SignAlign = System.Drawing.ContentAlignment.BottomRight;
-            this.arLabel6.SignColor = System.Drawing.Color.Yellow;
-            this.arLabel6.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.arLabel6.Size = new System.Drawing.Size(165, 100);
-            this.arLabel6.TabIndex = 2;
-            this.arLabel6.Text = "작업관리자";
-            this.arLabel6.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.arLabel6.TextShadow = true;
-            this.arLabel6.TextVisible = true;
-            this.arLabel6.Click += new System.EventHandler(this.arLabel6_Click);
+            this.btTaskMgr.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
+            this.btTaskMgr.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.btTaskMgr.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.btTaskMgr.Font = new System.Drawing.Font("Consolas", 12F);
+            this.btTaskMgr.ForeColor = System.Drawing.Color.White;
+            this.btTaskMgr.Location = new System.Drawing.Point(216, 5);
+            this.btTaskMgr.Margin = new System.Windows.Forms.Padding(5);
+            this.btTaskMgr.Name = "btTaskMgr";
+            this.btTaskMgr.Size = new System.Drawing.Size(201, 79);
+            this.btTaskMgr.TabIndex = 2;
+            this.btTaskMgr.Text = "작업관리자";
+            this.btTaskMgr.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.btTaskMgr.Click += new System.EventHandler(this.arLabel6_Click);
             // 
-            // arLabel2
+            // btProcessList
             // 
-            this.arLabel2.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
-            this.arLabel2.BackColor2 = System.Drawing.Color.DarkBlue;
-            this.arLabel2.BackgroundImagePadding = new System.Windows.Forms.Padding(0);
-            this.arLabel2.BorderColor = System.Drawing.Color.LightSkyBlue;
-            this.arLabel2.BorderColorOver = System.Drawing.Color.Red;
-            this.arLabel2.BorderSize = new System.Windows.Forms.Padding(1);
-            this.arLabel2.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
-            this.arLabel2.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.arLabel2.Font = new System.Drawing.Font("Consolas", 12F);
-            this.arLabel2.ForeColor = System.Drawing.Color.White;
-            this.arLabel2.GradientEnable = true;
-            this.arLabel2.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
-            this.arLabel2.GradientRepeatBG = true;
-            this.arLabel2.isButton = true;
-            this.arLabel2.Location = new System.Drawing.Point(347, 112);
-            this.arLabel2.Margin = new System.Windows.Forms.Padding(5);
-            this.arLabel2.MouseDownColor = System.Drawing.Color.Yellow;
-            this.arLabel2.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.arLabel2.msg = null;
-            this.arLabel2.Name = "arLabel2";
-            this.arLabel2.ProgressBorderColor = System.Drawing.Color.Black;
-            this.arLabel2.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
-            this.arLabel2.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
-            this.arLabel2.ProgressEnable = false;
-            this.arLabel2.ProgressFont = new System.Drawing.Font("Consolas", 10F);
-            this.arLabel2.ProgressForeColor = System.Drawing.Color.Black;
-            this.arLabel2.ProgressMax = 100F;
-            this.arLabel2.ProgressMin = 0F;
-            this.arLabel2.ProgressPadding = new System.Windows.Forms.Padding(0);
-            this.arLabel2.ProgressValue = 0F;
-            this.arLabel2.ShadowColor = System.Drawing.Color.Black;
-            this.arLabel2.Sign = "";
-            this.arLabel2.SignAlign = System.Drawing.ContentAlignment.BottomRight;
-            this.arLabel2.SignColor = System.Drawing.Color.Yellow;
-            this.arLabel2.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.arLabel2.Size = new System.Drawing.Size(165, 100);
-            this.arLabel2.TabIndex = 2;
-            this.arLabel2.Text = "Process List";
-            this.arLabel2.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.arLabel2.TextShadow = true;
-            this.arLabel2.TextVisible = true;
-            this.arLabel2.Click += new System.EventHandler(this.arLabel2_Click);
+            this.btProcessList.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
+            this.btProcessList.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.btProcessList.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.btProcessList.Font = new System.Drawing.Font("Consolas", 12F);
+            this.btProcessList.ForeColor = System.Drawing.Color.White;
+            this.btProcessList.Location = new System.Drawing.Point(427, 94);
+            this.btProcessList.Margin = new System.Windows.Forms.Padding(5);
+            this.btProcessList.Name = "btProcessList";
+            this.btProcessList.Size = new System.Drawing.Size(201, 79);
+            this.btProcessList.TabIndex = 2;
+            this.btProcessList.Text = "Process List";
+            this.btProcessList.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.btProcessList.Click += new System.EventHandler(this.arLabel2_Click);
             // 
             // label1
             // 
+            this.label1.Dock = System.Windows.Forms.DockStyle.Bottom;
             this.label1.Font = new System.Drawing.Font("맑은 고딕", 9.75F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
             this.label1.ForeColor = System.Drawing.Color.White;
-            this.label1.Location = new System.Drawing.Point(9, 327);
+            this.label1.Location = new System.Drawing.Point(10, 389);
             this.label1.Name = "label1";
-            this.label1.Size = new System.Drawing.Size(515, 23);
+            this.label1.Size = new System.Drawing.Size(633, 23);
             this.label1.TabIndex = 3;
             this.label1.Text = "label1";
             // 
             // label2
             // 
+            this.label2.Dock = System.Windows.Forms.DockStyle.Bottom;
             this.label2.Font = new System.Drawing.Font("맑은 고딕", 9.75F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
             this.label2.ForeColor = System.Drawing.Color.White;
-            this.label2.Location = new System.Drawing.Point(9, 359);
+            this.label2.Location = new System.Drawing.Point(10, 366);
             this.label2.Name = "label2";
-            this.label2.Size = new System.Drawing.Size(515, 23);
+            this.label2.Size = new System.Drawing.Size(633, 23);
             this.label2.TabIndex = 3;
             this.label2.Text = "label1";
             // 
-            // arLabel3
+            // btEmulator
             // 
-            this.arLabel3.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
-            this.arLabel3.BackColor2 = System.Drawing.Color.FromArgb(((int)(((byte)(18)))), ((int)(((byte)(18)))), ((int)(((byte)(18)))));
-            this.arLabel3.BackgroundImagePadding = new System.Windows.Forms.Padding(0);
-            this.arLabel3.BorderColor = System.Drawing.Color.LightSkyBlue;
-            this.arLabel3.BorderColorOver = System.Drawing.Color.Red;
-            this.arLabel3.BorderSize = new System.Windows.Forms.Padding(1);
-            this.arLabel3.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
-            this.arLabel3.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.arLabel3.Font = new System.Drawing.Font("Consolas", 12F);
-            this.arLabel3.ForeColor = System.Drawing.Color.White;
-            this.arLabel3.GradientEnable = true;
-            this.arLabel3.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
-            this.arLabel3.GradientRepeatBG = true;
-            this.arLabel3.isButton = true;
-            this.arLabel3.Location = new System.Drawing.Point(9, 216);
-            this.arLabel3.Margin = new System.Windows.Forms.Padding(5);
-            this.arLabel3.MouseDownColor = System.Drawing.Color.Yellow;
-            this.arLabel3.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.arLabel3.msg = null;
-            this.arLabel3.Name = "arLabel3";
-            this.arLabel3.ProgressBorderColor = System.Drawing.Color.Black;
-            this.arLabel3.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
-            this.arLabel3.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
-            this.arLabel3.ProgressEnable = false;
-            this.arLabel3.ProgressFont = new System.Drawing.Font("Consolas", 10F);
-            this.arLabel3.ProgressForeColor = System.Drawing.Color.Black;
-            this.arLabel3.ProgressMax = 100F;
-            this.arLabel3.ProgressMin = 0F;
-            this.arLabel3.ProgressPadding = new System.Windows.Forms.Padding(0);
-            this.arLabel3.ProgressValue = 0F;
-            this.arLabel3.ShadowColor = System.Drawing.Color.Black;
-            this.arLabel3.Sign = "";
-            this.arLabel3.SignAlign = System.Drawing.ContentAlignment.BottomRight;
-            this.arLabel3.SignColor = System.Drawing.Color.Yellow;
-            this.arLabel3.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.arLabel3.Size = new System.Drawing.Size(165, 100);
-            this.arLabel3.TabIndex = 4;
-            this.arLabel3.Text = "Emulator";
-            this.arLabel3.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.arLabel3.TextShadow = true;
-            this.arLabel3.TextVisible = true;
-            this.arLabel3.Click += new System.EventHandler(this.arLabel3_Click);
+            this.btEmulator.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
+            this.btEmulator.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.btEmulator.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.btEmulator.Font = new System.Drawing.Font("Consolas", 12F);
+            this.btEmulator.ForeColor = System.Drawing.Color.White;
+            this.btEmulator.Location = new System.Drawing.Point(5, 183);
+            this.btEmulator.Margin = new System.Windows.Forms.Padding(5);
+            this.btEmulator.Name = "btEmulator";
+            this.btEmulator.Size = new System.Drawing.Size(201, 79);
+            this.btEmulator.TabIndex = 4;
+            this.btEmulator.Text = "Emulator";
+            this.btEmulator.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.btEmulator.Click += new System.EventHandler(this.arLabel3_Click);
             // 
-            // arLabel5
+            // btMakePatch
             // 
-            this.arLabel5.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
-            this.arLabel5.BackColor2 = System.Drawing.Color.Pink;
-            this.arLabel5.BackgroundImagePadding = new System.Windows.Forms.Padding(0);
-            this.arLabel5.BorderColor = System.Drawing.Color.LightSkyBlue;
-            this.arLabel5.BorderColorOver = System.Drawing.Color.Red;
-            this.arLabel5.BorderSize = new System.Windows.Forms.Padding(1);
-            this.arLabel5.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
-            this.arLabel5.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.arLabel5.Font = new System.Drawing.Font("Consolas", 12F);
-            this.arLabel5.ForeColor = System.Drawing.Color.White;
-            this.arLabel5.GradientEnable = true;
-            this.arLabel5.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
-            this.arLabel5.GradientRepeatBG = true;
-            this.arLabel5.isButton = true;
-            this.arLabel5.Location = new System.Drawing.Point(178, 216);
-            this.arLabel5.Margin = new System.Windows.Forms.Padding(5);
-            this.arLabel5.MouseDownColor = System.Drawing.Color.Yellow;
-            this.arLabel5.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.arLabel5.msg = null;
-            this.arLabel5.Name = "arLabel5";
-            this.arLabel5.ProgressBorderColor = System.Drawing.Color.Black;
-            this.arLabel5.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
-            this.arLabel5.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
-            this.arLabel5.ProgressEnable = false;
-            this.arLabel5.ProgressFont = new System.Drawing.Font("Consolas", 10F);
-            this.arLabel5.ProgressForeColor = System.Drawing.Color.Black;
-            this.arLabel5.ProgressMax = 100F;
-            this.arLabel5.ProgressMin = 0F;
-            this.arLabel5.ProgressPadding = new System.Windows.Forms.Padding(0);
-            this.arLabel5.ProgressValue = 0F;
-            this.arLabel5.ShadowColor = System.Drawing.Color.Black;
-            this.arLabel5.Sign = "";
-            this.arLabel5.SignAlign = System.Drawing.ContentAlignment.BottomRight;
-            this.arLabel5.SignColor = System.Drawing.Color.Yellow;
-            this.arLabel5.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.arLabel5.Size = new System.Drawing.Size(165, 100);
-            this.arLabel5.TabIndex = 5;
-            this.arLabel5.Text = "패치파일 생성";
-            this.arLabel5.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.arLabel5.TextShadow = true;
-            this.arLabel5.TextVisible = true;
-            this.arLabel5.Click += new System.EventHandler(this.arLabel5_Click);
+            this.btMakePatch.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
+            this.btMakePatch.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.btMakePatch.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.btMakePatch.Font = new System.Drawing.Font("Consolas", 12F);
+            this.btMakePatch.ForeColor = System.Drawing.Color.White;
+            this.btMakePatch.Location = new System.Drawing.Point(216, 183);
+            this.btMakePatch.Margin = new System.Windows.Forms.Padding(5);
+            this.btMakePatch.Name = "btMakePatch";
+            this.btMakePatch.Size = new System.Drawing.Size(201, 79);
+            this.btMakePatch.TabIndex = 5;
+            this.btMakePatch.Text = "패치파일 생성";
+            this.btMakePatch.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.btMakePatch.Click += new System.EventHandler(this.arLabel5_Click);
             // 
-            // arLabel7
+            // btAutoRestart
             // 
-            this.arLabel7.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
-            this.arLabel7.BackColor2 = System.Drawing.Color.DarkBlue;
-            this.arLabel7.BackgroundImagePadding = new System.Windows.Forms.Padding(0);
-            this.arLabel7.BorderColor = System.Drawing.Color.LightSkyBlue;
-            this.arLabel7.BorderColorOver = System.Drawing.Color.Red;
-            this.arLabel7.BorderSize = new System.Windows.Forms.Padding(1);
-            this.arLabel7.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
-            this.arLabel7.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.arLabel7.Font = new System.Drawing.Font("Consolas", 12F);
-            this.arLabel7.ForeColor = System.Drawing.Color.White;
-            this.arLabel7.GradientEnable = true;
-            this.arLabel7.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
-            this.arLabel7.GradientRepeatBG = true;
-            this.arLabel7.isButton = true;
-            this.arLabel7.Location = new System.Drawing.Point(347, 216);
-            this.arLabel7.Margin = new System.Windows.Forms.Padding(5);
-            this.arLabel7.MouseDownColor = System.Drawing.Color.Yellow;
-            this.arLabel7.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.arLabel7.msg = null;
-            this.arLabel7.Name = "arLabel7";
-            this.arLabel7.ProgressBorderColor = System.Drawing.Color.Black;
-            this.arLabel7.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
-            this.arLabel7.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
-            this.arLabel7.ProgressEnable = false;
-            this.arLabel7.ProgressFont = new System.Drawing.Font("Consolas", 10F);
-            this.arLabel7.ProgressForeColor = System.Drawing.Color.Black;
-            this.arLabel7.ProgressMax = 100F;
-            this.arLabel7.ProgressMin = 0F;
-            this.arLabel7.ProgressPadding = new System.Windows.Forms.Padding(0);
-            this.arLabel7.ProgressValue = 0F;
-            this.arLabel7.ShadowColor = System.Drawing.Color.Black;
-            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", 7F, System.Drawing.FontStyle.Italic);
-            this.arLabel7.Size = new System.Drawing.Size(165, 100);
-            this.arLabel7.TabIndex = 6;
-            this.arLabel7.Text = "자동 재시작";
-            this.arLabel7.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.arLabel7.TextShadow = true;
-            this.arLabel7.TextVisible = true;
-            this.arLabel7.Click += new System.EventHandler(this.arLabel7_Click);
+            this.btAutoRestart.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
+            this.btAutoRestart.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.btAutoRestart.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.btAutoRestart.Font = new System.Drawing.Font("Consolas", 12F);
+            this.btAutoRestart.ForeColor = System.Drawing.Color.White;
+            this.btAutoRestart.Location = new System.Drawing.Point(427, 183);
+            this.btAutoRestart.Margin = new System.Windows.Forms.Padding(5);
+            this.btAutoRestart.Name = "btAutoRestart";
+            this.btAutoRestart.Size = new System.Drawing.Size(201, 79);
+            this.btAutoRestart.TabIndex = 6;
+            this.btAutoRestart.Text = "자동 재시작";
+            this.btAutoRestart.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.btAutoRestart.Click += new System.EventHandler(this.arLabel7_Click);
+            // 
+            // tableLayoutPanel1
+            // 
+            this.tableLayoutPanel1.ColumnCount = 3;
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
+            this.tableLayoutPanel1.Controls.Add(this.btOpenDir, 0, 0);
+            this.tableLayoutPanel1.Controls.Add(this.btAutoRestart, 2, 2);
+            this.tableLayoutPanel1.Controls.Add(this.btTaskMgr, 1, 0);
+            this.tableLayoutPanel1.Controls.Add(this.btMakePatch, 1, 2);
+            this.tableLayoutPanel1.Controls.Add(this.btStartMenu, 2, 0);
+            this.tableLayoutPanel1.Controls.Add(this.btEmulator, 0, 2);
+            this.tableLayoutPanel1.Controls.Add(this.btShutdown, 0, 1);
+            this.tableLayoutPanel1.Controls.Add(this.btRestart, 1, 1);
+            this.tableLayoutPanel1.Controls.Add(this.btProcessList, 2, 1);
+            this.tableLayoutPanel1.Controls.Add(this.button1, 0, 3);
+            this.tableLayoutPanel1.Controls.Add(this.button2, 1, 3);
+            this.tableLayoutPanel1.Controls.Add(this.button3, 2, 3);
+            this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.tableLayoutPanel1.Location = new System.Drawing.Point(10, 10);
+            this.tableLayoutPanel1.Name = "tableLayoutPanel1";
+            this.tableLayoutPanel1.RowCount = 4;
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 25F));
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 25F));
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 25F));
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 25F));
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(633, 356);
+            this.tableLayoutPanel1.TabIndex = 7;
+            // 
+            // button1
+            // 
+            this.button1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.button1.Location = new System.Drawing.Point(3, 270);
+            this.button1.Name = "button1";
+            this.button1.Size = new System.Drawing.Size(205, 83);
+            this.button1.TabIndex = 7;
+            this.button1.Text = "Map Editor";
+            this.button1.UseVisualStyleBackColor = true;
+            this.button1.Click += new System.EventHandler(this.button1_Click_1);
+            // 
+            // button2
+            // 
+            this.button2.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.button2.Enabled = false;
+            this.button2.Location = new System.Drawing.Point(214, 270);
+            this.button2.Name = "button2";
+            this.button2.Size = new System.Drawing.Size(205, 83);
+            this.button2.TabIndex = 7;
+            this.button2.Text = "---";
+            this.button2.UseVisualStyleBackColor = true;
+            // 
+            // button3
+            // 
+            this.button3.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.button3.Enabled = false;
+            this.button3.Location = new System.Drawing.Point(425, 270);
+            this.button3.Name = "button3";
+            this.button3.Size = new System.Drawing.Size(205, 83);
+            this.button3.TabIndex = 7;
+            this.button3.Text = "---";
+            this.button3.UseVisualStyleBackColor = true;
             // 
             // fSystem
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
             this.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(40)))), ((int)(((byte)(40)))), ((int)(((byte)(40)))));
-            this.ClientSize = new System.Drawing.Size(519, 451);
-            this.Controls.Add(this.arLabel7);
-            this.Controls.Add(this.arLabel5);
-            this.Controls.Add(this.arLabel3);
+            this.ClientSize = new System.Drawing.Size(653, 473);
+            this.Controls.Add(this.tableLayoutPanel1);
             this.Controls.Add(this.label2);
             this.Controls.Add(this.label1);
             this.Controls.Add(this.arLabel4);
-            this.Controls.Add(this.lbMsg);
-            this.Controls.Add(this.arLabel9);
-            this.Controls.Add(this.arLabel10);
-            this.Controls.Add(this.arLabel1);
-            this.Controls.Add(this.arLabel2);
-            this.Controls.Add(this.arLabel6);
             this.MaximizeBox = false;
             this.MinimizeBox = false;
             this.Name = "fSystem";
+            this.Padding = new System.Windows.Forms.Padding(10);
             this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
             this.Text = "fSystem";
             this.Load += new System.EventHandler(this.fSystem_Load);
+            this.tableLayoutPanel1.ResumeLayout(false);
             this.ResumeLayout(false);
 
         }
 
         #endregion
-        private arCtl.arLabel lbMsg;
-        private arCtl.arLabel arLabel4;
-        private arCtl.arLabel arLabel6;
-        private arCtl.arLabel arLabel9;
-        private arCtl.arLabel arLabel10;
-        private arCtl.arLabel arLabel1;
-        private arCtl.arLabel arLabel2;
+        private System.Windows.Forms.Button btOpenDir;
+        private System.Windows.Forms.Button arLabel4;
+        private System.Windows.Forms.Button btTaskMgr;
+        private System.Windows.Forms.Button btShutdown;
+        private System.Windows.Forms.Button btRestart;
+        private System.Windows.Forms.Button btStartMenu;
+        private System.Windows.Forms.Button btProcessList;
         private System.Windows.Forms.Label label1;
         private System.Windows.Forms.Label label2;
-        private arCtl.arLabel arLabel3;
-        private arCtl.arLabel arLabel5;
-        private arCtl.arLabel arLabel7;
+        private System.Windows.Forms.Button btEmulator;
+        private System.Windows.Forms.Button btMakePatch;
+        private System.Windows.Forms.Button btAutoRestart;
+        private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1;
+        private System.Windows.Forms.Button button1;
+        private System.Windows.Forms.Button button2;
+        private System.Windows.Forms.Button button3;
     }
 }

Cs_HMI/Project/Dialog/fSystem.cs

@@ -154,5 +154,13 @@ namespace Project.Dialog
         {
             PUB.SystemReboot(5,true);
         }
+
+        private void button1_Click_1(object sender, EventArgs e)
+        {
+            //mapeditor
+            var fn = new  System.IO.FileInfo(@".\test\AGVMapEditor.exe");
+            if (fn.Exists == false) return;
+            UTIL.RunExplorer(fn.FullName);
+        }
     }
 }

Cs_HMI/Project/Dialog/fXbeeSetting.Designer.cs

@@ -0,0 +1,239 @@
+namespace Project.Dialog
+{
+    partial class fXbeeSetting
+    {
+        /// <summary>
+        /// Required designer variable.
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary>
+        /// Clean up any resources being used.
+        /// </summary>
+        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Windows Form Designer generated code
+
+        /// <summary>
+        /// Required method for Designer support - do not modify
+        /// the contents of this method with the code editor.
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.components = new System.ComponentModel.Container();
+            this.button1 = new System.Windows.Forms.Button();
+            this.tbBaud = new System.Windows.Forms.TextBox();
+            this.tbPortName = new System.Windows.Forms.ComboBox();
+            this.panel1 = new System.Windows.Forms.Panel();
+            this.button2 = new System.Windows.Forms.Button();
+            this.btmy = new System.Windows.Forms.Button();
+            this.tbmy = new System.Windows.Forms.TextBox();
+            this.btch = new System.Windows.Forms.Button();
+            this.tbch = new System.Windows.Forms.TextBox();
+            this.btpand = new System.Windows.Forms.Button();
+            this.tbpanid = new System.Windows.Forms.TextBox();
+            this.panel2 = new System.Windows.Forms.Panel();
+            this.rtXbee = new arCtl.LogTextBox();
+            this.serialPort1 = new System.IO.Ports.SerialPort(this.components);
+            this.panel1.SuspendLayout();
+            this.panel2.SuspendLayout();
+            this.SuspendLayout();
+            // 
+            // button1
+            // 
+            this.button1.Location = new System.Drawing.Point(25, 45);
+            this.button1.Name = "button1";
+            this.button1.Size = new System.Drawing.Size(227, 26);
+            this.button1.TabIndex = 0;
+            this.button1.Text = "open/close";
+            this.button1.UseVisualStyleBackColor = true;
+            this.button1.Click += new System.EventHandler(this.button1_Click);
+            // 
+            // tbBaud
+            // 
+            this.tbBaud.Font = new System.Drawing.Font("굴림", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.tbBaud.Location = new System.Drawing.Point(152, 13);
+            this.tbBaud.Name = "tbBaud";
+            this.tbBaud.Size = new System.Drawing.Size(100, 26);
+            this.tbBaud.TabIndex = 2;
+            this.tbBaud.Text = "9600";
+            this.tbBaud.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // tbPortName
+            // 
+            this.tbPortName.Font = new System.Drawing.Font("굴림", 12F);
+            this.tbPortName.FormattingEnabled = true;
+            this.tbPortName.Location = new System.Drawing.Point(25, 15);
+            this.tbPortName.Name = "tbPortName";
+            this.tbPortName.Size = new System.Drawing.Size(121, 24);
+            this.tbPortName.TabIndex = 3;
+            // 
+            // panel1
+            // 
+            this.panel1.Controls.Add(this.button2);
+            this.panel1.Controls.Add(this.btmy);
+            this.panel1.Controls.Add(this.tbmy);
+            this.panel1.Controls.Add(this.btch);
+            this.panel1.Controls.Add(this.tbch);
+            this.panel1.Controls.Add(this.btpand);
+            this.panel1.Controls.Add(this.tbpanid);
+            this.panel1.Controls.Add(this.tbPortName);
+            this.panel1.Controls.Add(this.button1);
+            this.panel1.Controls.Add(this.tbBaud);
+            this.panel1.Dock = System.Windows.Forms.DockStyle.Top;
+            this.panel1.Location = new System.Drawing.Point(0, 0);
+            this.panel1.Name = "panel1";
+            this.panel1.Size = new System.Drawing.Size(580, 118);
+            this.panel1.TabIndex = 4;
+            // 
+            // button2
+            // 
+            this.button2.Location = new System.Drawing.Point(293, 15);
+            this.button2.Name = "button2";
+            this.button2.Size = new System.Drawing.Size(75, 89);
+            this.button2.TabIndex = 10;
+            this.button2.Text = "Read Setting";
+            this.button2.UseVisualStyleBackColor = true;
+            this.button2.Click += new System.EventHandler(this.button2_Click);
+            // 
+            // btmy
+            // 
+            this.btmy.Location = new System.Drawing.Point(480, 78);
+            this.btmy.Name = "btmy";
+            this.btmy.Size = new System.Drawing.Size(86, 26);
+            this.btmy.TabIndex = 9;
+            this.btmy.Text = "My";
+            this.btmy.UseVisualStyleBackColor = true;
+            this.btmy.Click += new System.EventHandler(this.btmy_Click);
+            // 
+            // tbmy
+            // 
+            this.tbmy.Font = new System.Drawing.Font("굴림", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.tbmy.Location = new System.Drawing.Point(374, 78);
+            this.tbmy.Name = "tbmy";
+            this.tbmy.Size = new System.Drawing.Size(100, 26);
+            this.tbmy.TabIndex = 8;
+            this.tbmy.Text = "9600";
+            this.tbmy.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // btch
+            // 
+            this.btch.Location = new System.Drawing.Point(480, 47);
+            this.btch.Name = "btch";
+            this.btch.Size = new System.Drawing.Size(86, 26);
+            this.btch.TabIndex = 7;
+            this.btch.Text = "Channel";
+            this.btch.UseVisualStyleBackColor = true;
+            this.btch.Click += new System.EventHandler(this.btch_Click);
+            // 
+            // tbch
+            // 
+            this.tbch.Font = new System.Drawing.Font("굴림", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.tbch.Location = new System.Drawing.Point(374, 47);
+            this.tbch.Name = "tbch";
+            this.tbch.Size = new System.Drawing.Size(100, 26);
+            this.tbch.TabIndex = 6;
+            this.tbch.Text = "9600";
+            this.tbch.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // btpand
+            // 
+            this.btpand.Location = new System.Drawing.Point(480, 15);
+            this.btpand.Name = "btpand";
+            this.btpand.Size = new System.Drawing.Size(86, 26);
+            this.btpand.TabIndex = 5;
+            this.btpand.Text = "PanID";
+            this.btpand.UseVisualStyleBackColor = true;
+            this.btpand.Click += new System.EventHandler(this.btpand_Click);
+            // 
+            // tbpanid
+            // 
+            this.tbpanid.Font = new System.Drawing.Font("굴림", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.tbpanid.Location = new System.Drawing.Point(374, 15);
+            this.tbpanid.Name = "tbpanid";
+            this.tbpanid.Size = new System.Drawing.Size(100, 26);
+            this.tbpanid.TabIndex = 4;
+            this.tbpanid.Text = "9600";
+            this.tbpanid.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // panel2
+            // 
+            this.panel2.Controls.Add(this.rtXbee);
+            this.panel2.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.panel2.Location = new System.Drawing.Point(0, 118);
+            this.panel2.Name = "panel2";
+            this.panel2.Size = new System.Drawing.Size(580, 338);
+            this.panel2.TabIndex = 5;
+            // 
+            // rtXbee
+            // 
+            this.rtXbee.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(224)))), ((int)(((byte)(224)))), ((int)(((byte)(224)))));
+            this.rtXbee.ColorList = new arCtl.sLogMessageColor[0];
+            this.rtXbee.DateFormat = "mm:ss.fff";
+            this.rtXbee.DefaultColor = System.Drawing.Color.LightGray;
+            this.rtXbee.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.rtXbee.EnableDisplayTimer = false;
+            this.rtXbee.EnableGubunColor = true;
+            this.rtXbee.Font = new System.Drawing.Font("맑은 고딕", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.rtXbee.ListFormat = "[{0}] {1}";
+            this.rtXbee.Location = new System.Drawing.Point(0, 0);
+            this.rtXbee.MaxListCount = ((ushort)(1000));
+            this.rtXbee.MaxTextLength = ((uint)(400000u));
+            this.rtXbee.MessageInterval = 50;
+            this.rtXbee.Name = "rtXbee";
+            this.rtXbee.Size = new System.Drawing.Size(580, 338);
+            this.rtXbee.TabIndex = 2;
+            this.rtXbee.Text = "";
+            // 
+            // serialPort1
+            // 
+            this.serialPort1.ReadTimeout = 1000;
+            this.serialPort1.WriteTimeout = 1000;
+            // 
+            // fXbeeSetting
+            // 
+            this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.ClientSize = new System.Drawing.Size(580, 456);
+            this.Controls.Add(this.panel2);
+            this.Controls.Add(this.panel1);
+            this.MaximizeBox = false;
+            this.MinimizeBox = false;
+            this.Name = "fXbeeSetting";
+            this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
+            this.Text = "Form1";
+            this.FormClosed += new System.Windows.Forms.FormClosedEventHandler(this.fXbeeSetting_FormClosed);
+            this.Load += new System.EventHandler(this.fXbeeSetting_Load);
+            this.panel1.ResumeLayout(false);
+            this.panel1.PerformLayout();
+            this.panel2.ResumeLayout(false);
+            this.ResumeLayout(false);
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.Button button1;
+        private System.Windows.Forms.TextBox tbBaud;
+        private System.Windows.Forms.ComboBox tbPortName;
+        private System.Windows.Forms.Panel panel1;
+        private System.Windows.Forms.Panel panel2;
+        private arCtl.LogTextBox rtXbee;
+        private System.Windows.Forms.Button btpand;
+        private System.Windows.Forms.TextBox tbpanid;
+        private System.Windows.Forms.Button btmy;
+        private System.Windows.Forms.TextBox tbmy;
+        private System.Windows.Forms.Button btch;
+        private System.Windows.Forms.TextBox tbch;
+        private System.Windows.Forms.Button button2;
+        private System.IO.Ports.SerialPort serialPort1;
+    }
+}

Cs_HMI/Project/Dialog/fXbeeSetting.cs

@@ -0,0 +1,193 @@
+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;
+using AR;
+using COMM;
+namespace Project.Dialog
+{
+    public partial class fXbeeSetting : Form
+    {
+        public fXbeeSetting()
+        {
+            InitializeComponent();
+            VAR.BOOL[eVarBool.DISABLE_AUTOCONN_XBEE] = true;
+            PUB.XBE.Close();
+            this.serialPort1.DataReceived += SerialPort1_DataReceived;
+        }
+        private void fXbeeSetting_Load(object sender, EventArgs e)
+        {
+            this.tbPortName.Items.Clear();
+            foreach (var item in System.IO.Ports.SerialPort.GetPortNames())
+            {
+                this.tbPortName.Items.Add(item);
+            }
+
+            this.tbPortName.Text = PUB.setting.Port_XBE;
+            this.tbBaud.Text = PUB.setting.Baud_XBE.ToString();
+            
+        }
+        void showlog(string Message)
+        {
+            if (rtXbee.Visible)
+            {
+                rtXbee.AddMsg(DateTime.Now, "NORMAL", Message);
+            }
+        }
+
+        void showlog(arCtl.LogTextBox rtRx, DateTime LogTime, string TypeStr, string Message)
+        {
+            if (rtRx.Visible)
+            {
+                rtRx.AddMsg(LogTime, TypeStr, Message);
+            }
+        }
+        private void button1_Click(object sender, EventArgs e)
+        {
+            if (this.serialPort1.IsOpen)
+            {
+                serialPort1.Close();
+                showlog("closed");
+            }   
+            else
+            {
+                serialPort1.PortName = tbPortName.Text;
+                serialPort1.BaudRate = int.Parse(tbBaud.Text);
+                serialPort1.Open();
+                showlog("open");
+            }
+        }
+
+        private void fXbeeSetting_FormClosed(object sender, FormClosedEventArgs e)
+        {
+            VAR.BOOL[eVarBool.DISABLE_AUTOCONN_XBEE] =  false;
+        }
+
+	private volatile bool isCommandExecuting = false;
+
+        private void SerialPort1_DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e)
+        {
+            if (isCommandExecuting) return;
+
+            try
+            {
+                string data = serialPort1.ReadExisting();
+                var hexdata = System.Text.Encoding.Default.GetBytes(data);
+                var hexstr = string.Join(" ", hexdata.Select(t => t.ToString("X2")));
+                if (!string.IsNullOrEmpty(data))
+                {
+                    this.BeginInvoke(new Action(() =>
+                    {
+                        showlog($"RxAsync: {hexstr}");
+                    }));
+                }
+            }
+            catch { }
+        }
+
+        private string Cmd(string cmd, int timeout = 1000)
+        {
+            isCommandExecuting = true;
+            try
+            {
+                if (!serialPort1.IsOpen) return "Error: Port Closed";
+
+                serialPort1.DiscardInBuffer();
+                serialPort1.Write(cmd);
+
+                System.Threading.Thread.Sleep(20);
+                serialPort1.ReadTimeout = timeout;
+                string res = serialPort1.ReadTo("\r");
+                System.Threading.Thread.Sleep(20);
+                showlog($"Tx:{cmd.Trim()}, Rx:{res}");
+
+                //명령수신호 10ms 대기후 다음 명령을 전송
+                System.Threading.Thread.Sleep(20);
+
+                return res;
+            }
+            catch (Exception ex)
+            {
+                showlog($"Err: {ex.Message}");
+                return "Error";
+            }
+            finally
+            {
+                isCommandExecuting = false;
+            }
+        }
+        private void btpand_Click(object sender, EventArgs e)
+        {
+            //각명령마다 회신을 확인하고 다음명령을 실행해야함
+            //명령수신호 10ms 대기후 다음 명령을 전송
+            //명령을 설정하면 응답은 OK\d 형태로 입력된다.
+            var cmds = new string[] { 
+                "+++",
+                $"ATID{tbpanid.Text}\r" ,
+                $"ATCN\r"};
+
+            foreach (var cmd in cmds)
+            {
+                if(!Cmd(cmd).Contains("OK"))
+                {
+                    showlog("FAIL");
+                    break;
+                }
+            }
+        }
+
+        private void btch_Click(object sender, EventArgs e)
+        {
+            var cmds = new string[] {
+                "+++",
+                $"ATCH{tbch.Text}\r" ,
+                $"ATCN\r"};
+            foreach (var cmd in cmds)
+            {
+                if (!Cmd(cmd).Contains("OK"))
+                {
+                    showlog("FAIL");
+                    break;
+                }
+            }
+        }
+
+        private void btmy_Click(object sender, EventArgs e)
+        {
+            var cmds = new string[] {
+                "+++",
+                $"ATMY{tbmy.Text}\r" ,
+                $"ATCN\r"};
+            foreach (var cmd in cmds)
+            {
+                if (!Cmd(cmd).Contains("OK"))
+                {
+                    showlog("FAIL");
+                    break;
+                }
+            }
+        }
+
+        private void button2_Click(object sender, EventArgs e)
+        {
+            //read all(id,ch,my)
+            if (Cmd("+++").Contains("OK"))
+            {
+               var id  = Cmd("ATID\r");
+                var ch = Cmd("ATCH\r");
+                var my = Cmd("ATMY\r");
+                Cmd("ATCN\r");
+                this.BeginInvoke(new Action(() => {
+                    this.tbpanid.Text = id;
+                    this.tbch.Text = ch;
+                    this.tbmy.Text = my;
+                }));
+            }
+        }
+    }
+}

Cs_HMI/Project/Dialog/fXbeeSetting.resx

@@ -0,0 +1,123 @@
+<?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="serialPort1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 17</value>
+  </metadata>
+</root>

Cs_HMI/Project/PUB.cs

@@ -8,7 +8,11 @@ using System.Media;
 using System.Runtime.InteropServices;
 using System.Windows.Forms;
 using System;
+
+#if SPEECH
 using Microsoft.Speech.Synthesis;
+#endif
+
 using System.Threading.Tasks;
 using System.Data.SqlClient;
 using System.Linq;
@@ -27,7 +31,12 @@ namespace Project
         public static bool AutRebootAlreay = false;
         public static bool DriveSpeed = false;
         public static AGVNavigationCore.Controls.UnifiedAGVCanvas _mapCanvas;
-        public static List<MapNode> _mapNodes;
+        //public static List<MapNode> _mapNodes;
+
+        /// <summary>
+        /// 다음 작업 명령 (PickOn/PickOff)
+        /// </summary>
+        public static ENIGProtocol.AGVCommandHE NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop;
 
         /// <summary>
         /// 가상 AGV (시뮬레이션용)
@@ -69,8 +78,9 @@ namespace Project
         /// 디버그모니터용 소켓(데이터를 전송만 한다)
         /// </summary>
         public static Device.Socket sock_debug;
-
+#if SPEECH
         private static SpeechSynthesizer voice;
+#endif
         public static SoundPlayer mplayer;
 
         [DllImport("winmm.dll")]
@@ -94,18 +104,33 @@ 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)
             {
                 Console.WriteLine("speech disabled");
                 return;
             }
+#if SPEECH
             if (force)
                 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);
+            }
+#else
+            PUB.log.Add($"스피치컴파일상수OFF");
+#endif
         }
 
         /// <summary>
@@ -118,7 +143,7 @@ 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 +175,7 @@ namespace Project
         public static AR.Log log, logagv, logplc, logbms, logxbee;
 
         public static Boolean bPlayMusic = false;
-    
+
 
         /// <summary>
         /// 사용자 인풋 감지 시간
@@ -217,7 +242,7 @@ namespace Project
                     PUB.mplayer.SoundLocation = PUB.setting.musicfile;
                     SetVolume(PUB.setting.musicvol);
                 }
-
+#if SPEECH
             voice = new SpeechSynthesizer();
             try
             {
@@ -245,7 +270,7 @@ namespace Project
                 // 음성 설정 실패 시 기본값 사용
             }
             voice.SetOutputToDefaultAudioDevice();
-
+#endif
             var file_version = System.IO.Path.Combine(UTIL.CurrentPath, "version.txt");
             if (System.IO.File.Exists(file_version))
             {
@@ -382,6 +407,9 @@ 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();
@@ -582,15 +610,46 @@ namespace Project
         }
 
         #region VirtualAGV 실제 데이터 동기화
-
+        public static MapNode FindByNodeID(string nodeidx)
+        {
+            var _mapNodes = PUB._mapCanvas.Nodes;
+            if (_mapNodes == null || _mapNodes.Any() == false) return null;
+            if (nodeidx.isEmpty()) return null;
+            return _mapNodes.Where(t => t.Id.Equals(nodeidx)).FirstOrDefault();
+        }
+        public static MapNode FindByRFID(string rfidValue)
+        {
+            var _mapNodes = PUB._mapCanvas.Nodes;
+            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)
+        {
+            var _mapNodes = PUB._mapCanvas.Nodes;
+            if (_mapNodes == null || _mapNodes.Any() == false) return null;
+            if (alias.isEmpty()) return null;
+            var lst = _mapNodes.Where(t => t.AliasName.Equals(alias));
+            if (lst.Any() == false) return null;
+            return lst.ToList();
+        }
+        public static List<MapNode> FindByNodeType(AGVNavigationCore.Models.MapNode type)
+        {
+            var _mapNodes = PUB._mapCanvas.Nodes;
+            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>
         /// <param name="rfidId">읽은 RFID ID</param>
         /// <param name="motorDirection">모터 방향 (Forward/Backward)</param>
         /// <returns>업데이트 성공 여부</returns>
-        public static bool UpdateAGVFromRFID(string rfidId, AgvDirection motorDirection = AgvDirection.Forward)
+        public static bool UpdateAGVFromRFID(ushort rfidId, AgvDirection motorDirection = AgvDirection.Forward)
         {
+            var _mapNodes = PUB._mapCanvas.Nodes;
             if (_virtualAGV == null || _mapNodes == null) return false;
 
             // RFID에 해당하는 노드 찾기
@@ -600,7 +659,7 @@ namespace Project
                 _virtualAGV.SetPosition(node, motorDirection);
                 RefreshAGVCanvas();
 
-                log.Add($"[AGV] RFID {rfidId} 감지 → 노드 {node.NodeId} 위치 업데이트 (방향: {motorDirection})");
+                log.Add($"[AGV] RFID {rfidId} 감지 → 노드 {node.Id} 위치 업데이트 (방향: {motorDirection})");
                 return true;
             }
 
@@ -616,9 +675,10 @@ namespace Project
         /// <returns>업데이트 성공 여부</returns>
         public static bool UpdateAGVToNode(string nodeId, AgvDirection motorDirection = AgvDirection.Forward)
         {
+            var _mapNodes = PUB._mapCanvas.Nodes;
             if (_virtualAGV == null || _mapNodes == null) return false;
 
-            var node = _mapNodes.FirstOrDefault(n => n.NodeId == nodeId);
+            var node = _mapNodes.FirstOrDefault(n => n.Id == nodeId);
             if (node != null)
             {
                 _virtualAGV.SetPosition(node, motorDirection);
@@ -675,7 +735,7 @@ namespace Project
         {
             if (_virtualAGV == null) return;
 
-            _virtualAGV.BatteryLevel = batteryLevel;
+            _virtualAGV.SetBatteryLevel(batteryLevel);
             RefreshAGVCanvas();
         }
 
@@ -690,42 +750,7 @@ namespace Project
             }
         }
 
-        /// <summary>
-        /// 현재 AGV의 노드 ID 가져오기
-        /// </summary>
-        /// <returns>현재 노드 ID</returns>
-        public static string GetCurrentAGVNodeId()
-        {
-            return _virtualAGV?.CurrentNodeId ?? string.Empty;
-        }
-
-        /// <summary>
-        /// 현재 AGV 위치 가져오기
-        /// </summary>
-        /// <returns>현재 위치</returns>
-        public static Point GetCurrentAGVPosition()
-        {
-            return _virtualAGV?.CurrentPosition ?? Point.Empty;
-        }
-
-        /// <summary>
-        /// 현재 AGV 방향 가져오기
-        /// </summary>
-        /// <returns>현재 방향</returns>
-        public static AgvDirection GetCurrentAGVDirection()
-        {
-            return _virtualAGV?.CurrentDirection ?? AgvDirection.Forward;
-        }
-
-        /// <summary>
-        /// 현재 AGV 상태 가져오기
-        /// </summary>
-        /// <returns>현재 상태</returns>
-        public static AGVState GetCurrentAGVState()
-        {
-            return _virtualAGV?.CurrentState ?? AGVState.Idle;
-        }
-
+      
         #endregion
 
     }

Cs_HMI/Project/StateMachine/Step/_SM_RUN.cs

@@ -19,20 +19,6 @@ namespace Project
 
         private void _SM_RUN(Boolean isFirst, TimeSpan stepTime)
         {
-            //중단기능이 동작이라면 처리하지 않는다.
-            if (PUB.sm.bPause)
-            {
-                System.Threading.Thread.Sleep(200);
-                return;
-            }
-
-            //가동불가 조건 확인
-            if (CheckStopCondition() == false)
-            {
-                PUB.sm.SetNewStep(eSMStep.IDLE);
-                return;
-            }
-
             //HW 연결오류
             if (PUB.AGV.IsOpen == false)
             {
@@ -41,17 +27,16 @@ namespace Project
                 return;
             }
 
-            //이머전시상태라면 stop 처리한다.
-            if (PUB.AGV.error.Emergency &&
-                PUB.AGV.system1.agv_stop == true &&
-                PUB.AGV.system1.stop_by_front_detect == false)
+            //가동불가 조건 확인
+            if (CheckStopCondition() == false) return;
+
+            //중단기능이 동작이라면 처리하지 않는다.
+            if (PUB.sm.bPause)
             {
-                PUB.Speak(Lang.비상정지로인해작업을중단합니다);
-                PUB.sm.SetNewStep(eSMStep.IDLE);
+                System.Threading.Thread.Sleep(200);
                 return;
             }
 
-
             //스텝이 변경되었다면?
             if (PUB.sm.RunStep != PUB.sm.RunStepNew)
             {
@@ -84,7 +69,7 @@ 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 +77,74 @@ 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}");
+
+                        switch (target.StationType)
+                        {
+                            case AGVNavigationCore.Models.StationType.Buffer:
+                                //현재위치가 마지막경로의 NODEID와 일치해야한다
+                                if (PUB._virtualAGV.CurrentPath == null)
+                                {
+                                    PUB.log.AddAT("목적지 버퍼이동완료 했지만 상세경로가 없습니다");
+                                    PUB.XBE.BufferInComplete = false;
+                                    PUB.XBE.BufferOutComplete = false;
+                                    break;
+                                }
+                                var lastPath = PUB._virtualAGV.CurrentPath.DetailedPath.LastOrDefault();
+                                if (lastPath.NodeId.Equals(PUB._virtualAGV.CurrentNode.Id))
+                                {
+                                    //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;
+                                break;
+                        }
+
+                        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 +217,173 @@ 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");
+                        }
+                    }
+                    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.LOADER_IN: //로더도킹
+                    if (_SM_RUN_LOADER_IN(runStepisFirst, PUB.sm.GetRunSteptime))
+                    {
+                        PUB.Speak(Lang.버퍼도킹이완료되었습니다);
+
+                        //도킹완료상태를 업데이트한다. 
+                        PUB.XBE.LoaderInComplete = true;
+
+                        //로더아웃으로 자동 진행하지 않음 (ACS 명령 대기)
+                        if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn || PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
+                        {
+                            PUB.sm.SetNewRunStep(ERunStep.READY);
+                            PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop; // Command consumed
                         }
                         else
                         {
-                            //홈 이동 명령처리
+                            // Legacy behavior or Goto command: Auto-exit? 
+                            // User said separation is key. Let's Stop here too or keep legacy for GOTO?
+                            // Assuming GOTO might rely on this, but safer to STOP if we want strict separation.
+                            // However, let's keep legacy behavior for GOTO if possible, but for PickOn/Off we STOP.
                             PUB.sm.ClearRunStep();
-                            PUB.Result.TargetPos = ePosition.QC;
-                            PUB.sm.SetNewRunStep(ERunStep.GOHOME);
-                            PUB.Speak(Lang.홈위치로이동합니다);
+                            PUB.sm.SetNewRunStep(ERunStep.LOADER_OUT);
                         }
                         return;
                     }
                     break;
 
-                case ERunStep.GOHOME:
-                    if (runStepisFirst)
+                case ERunStep.UNLOADER_OUT: //언로더아웃
+                    if (_SM_RUN_UNLOADER_OUT(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.버퍼도킹해제완료);
 
-                        PUB.Speak(Lang.홈이동완료대기상태로전환합니다);
-                        VAR.TIME.Update(eVarTime.ChargeTry);
-                        PUB.sm.SetNewRunStep(ERunStep.READY); //대기상태로 전환한다
+                        //도킹완료상태를 업데이트한다. 
+                        PUB.XBE.UnloaderInComplete = false;
+                        PUB.XBE.UnloaderOutComplete = true;
+
+                        //대기상태로 전환
+                        PUB.sm.SetNewRunStep(ERunStep.READY);
                         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)
+                case ERunStep.UNLOADER_IN: //언로더도킹
+                    if (_SM_RUN_UNLOADER_IN(runStepisFirst, PUB.sm.GetRunSteptime))
                     {
-                        if (PUB.AGV.data.Direction == 'B')
+                        PUB.Speak(Lang.버퍼도킹이완료되었습니다);
+
+                        //도킹완료상태를 업데이트한다. 
+                        PUB.XBE.UnloaderInComplete = true;
+
+                        //언로더아웃으로 자동 진행하지 않음
+                        if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn || PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
                         {
-                            PUB.log.Add($"방향이 맞지 않아 정지 합니다({dir})");
-                            PUB.AGV.AGVMoveStop("CheckAGVMoveTo");
+                            PUB.sm.SetNewRunStep(ERunStep.READY);
+                            PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop;
                         }
-                        else if (PUB.AGV.data.Speed == 'S')
-                        {
-                            PUB.log.Add($"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);
-                            }
+                            PUB.sm.ClearRunStep();
+                            PUB.sm.SetNewRunStep(ERunStep.UNLOADER_OUT);
                         }
+                        return;
                     }
+                    break;
 
-
-                }
-            }
-            //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)
+                case ERunStep.CLEANER_OUT: //클리너아웃
+                    if (_SM_RUN_CLEANER_OUT(runStepisFirst, PUB.sm.GetRunSteptime))
                     {
-                        //PUB.PLC.Move(Device.PLC.Rundirection.Backward, "UpdateMotionPosition #1(" + sender + ")");
-                        PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);//
-                        LastCommandTime = DateTime.Now;
+                        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 진행하지 않음
+                        if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn || PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
+                        {
+                            PUB.sm.SetNewRunStep(ERunStep.READY);
+                            PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop;
+                        }
+                        else
+                        {
+                            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 진행하지 않음
+                        if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn || PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
+                        {
+                            PUB.sm.SetNewRunStep(ERunStep.READY);
+                            PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop;
+                        }
+                        else
+                        {
+                            PUB.sm.ClearRunStep();
+                            PUB.sm.SetNewRunStep(ERunStep.BUFFER_OUT);
+                        }
+                        return;
+                    }
+                    break;
+
+
             }
 
-            return false;
+
+
         }
 
-
-
     }//cvass
 }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_IN.cs

@@ -0,0 +1,268 @@
+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++)
+            {
+                // [PickOn/PickOff] 초기 리프트 동작
+                var liftCmd = arDev.Narumi.LiftCommand.DN; 
+                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
+                {
+                    liftCmd = arDev.Narumi.LiftCommand.UP;
+                }
+
+                PUB.AGV.LiftControl(liftCmd);
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //리프트 센서 확인 
+                 var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                 if (ts.TotalSeconds > 10)
+                 {
+                        // Timebound check
+                 }
+                PUB.log.Add("리프트 동작 확인 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 (후진 진입)
+                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++)
+            {
+                // [Action] 진입 완료 후 리프트 동작 (Pick/Drop)
+                PUB.log.Add("버퍼 진입 완료. 작업 수행(Lift Pick/Drop)");
+                
+                var liftCmd = arDev.Narumi.LiftCommand.UP; 
+                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
+                {
+                    liftCmd = arDev.Narumi.LiftCommand.DN; 
+                }
+
+                PUB.AGV.LiftControl(liftCmd);
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                 // 리프트 동작 대기 
+                 // TODO: 실제 센서 확인 로직 추가 필요
+                 var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                 if (ts.TotalSeconds < 2) return false; 
+                 
+                 PUB.log.Add("작업(Pick/Drop) 완료. 대기 상태로 전환 (퇴출 명령 대기)");
+                 PUB.sm.UpdateRunStepSeq();
+                 return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //완료되었다. (ACS에 보내야함)
+                PUB.log.Add("버퍼 진입 및 작업 완료");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+
+            // 작업을 마치고 설비 안에 멈춰있는 상태.
+            // ACS가 이 상태를 확인하고 NextWorkCmd로 퇴출(Out) 명령을 보내야 함.
+            PUB.AddEEDB($"버퍼작업완료({PUB.Result.TargetPos})");
+            return true;
+
+            PUB.AddEEDB($"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 +1,180 @@
+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++)
+            {
+                // [PickOn/PickOff] 초기 리프트 동작
+                var liftCmd = arDev.Narumi.LiftCommand.DN; 
+                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
+                {
+                    liftCmd = arDev.Narumi.LiftCommand.UP;
+                }
+
+                PUB.AGV.LiftControl(liftCmd);
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //리프트 센서 확인 
+                 var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                 if (ts.TotalSeconds > 10)
+                 {
+                        // Timebound check
+                 }
+                PUB.log.Add("리프트 동작 확인 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 (후진 진입)
+                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++)
+            {
+                // [Action] 진입 완료 후 리프트 동작 (Pick/Drop)
+                PUB.log.Add("클리너 진입 완료. 작업 수행(Lift Pick/Drop)");
+                
+                var liftCmd = arDev.Narumi.LiftCommand.UP; 
+                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
+                {
+                    liftCmd = arDev.Narumi.LiftCommand.DN; 
+                }
+
+                PUB.AGV.LiftControl(liftCmd);
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                 // 리프트 동작 대기 
+                 var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                 if (ts.TotalSeconds < 2) return false; 
+                 
+                 PUB.log.Add("작업(Pick/Drop) 완료. 대기 상태로 전환");
+                 PUB.sm.UpdateRunStepSeq();
+                 return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //완료되었다.
+                PUB.log.Add("클리너 진입 및 작업 완료");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+
+            PUB.AddEEDB($"클리너작업완료({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

@@ -27,7 +27,18 @@ namespace Project
                 PUB.Result.SetResultMessage(eResult.Hardware, eECode.AGVCONN, eNextStep.ERROR);
                 return false;
             }
-         
+
+
+            //이미 충전중이라면 바로 완료 처리한다 (사용자 요청)
+            if (VAR.BOOL[eVarBool.FLAG_CHARGEONA] == true || PUB.AGV.system1.Battery_charging == true)
+            {
+                if (isFirst)
+                {
+                    PUB.log.Add("이미 충전 중이므로 충전 시퀀스를 종료하고 준비 상태로 전환합니다.");
+                    PUB.sm.SetNewRunStep(ERunStep.READY);
+                }
+                return false;
+            }
 
             //충전 상태가 OFF되어야 동작하게한다
             if (_SM_RUN_CHGOFF(isFirst, stepTime) == false)
@@ -38,7 +49,7 @@ 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;
@@ -63,19 +74,27 @@ 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");
+                PUB.log.Add($"충전기 위치로 이동 목표:{targetnode.RfidId}");
                 return false;
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 //모션 전후진 제어
-                if (UpdateMotionPositionForMark("GOCHARGE #1") == true)
+                if (UpdateMotionPositionForCharger("GOCHARGE #1") == true)
                 {
-                    PUB.log.Add($"충전:충전기 검색 전 QC위치 확인 완료");
+                    PUB.log.Add($"충전기 목표위치 이동 완료");
                     PUB.sm.UpdateRunStepSeq();
                 }
                 else
@@ -98,72 +117,41 @@ namespace Project
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                if (PUB.setting.chargerpos == 0) //down search
+                PUB.log.Add($"충전:충전기 검색을 위한 전진시작");
+                PUB.Speak(Lang.충전기를검색합니다);
+                PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                 {
-                    PUB.log.Add($"충전:충전기 검색을 위한 전진시작");
-                    PUB.Speak(Lang.충전기를검색합니다);
-                    PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
-                    {
-                        Speed = arDev.Narumi.eMoveSpd.Low,
-                        Bunki = arDev.Narumi.eBunki.Strate,
-                        Direction = arDev.Narumi.eMoveDir.Forward,
-                        PBSSensor = 1,
-                    });
-                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
-                    //PUB.Result.TargetPos = ePosition.CHARGE;
-                    VAR.TIME.Update(eVarTime.ChargeSearch);
-                }
-                else if (PUB.setting.chargerpos == 2) //up search
-                {
-                    PUB.log.Add($"충전:충전기 검색을 위한 전진시작");
-                    PUB.Speak(Lang.충전기를검색합니다);
-                    PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
-                    {
-                        Speed = arDev.Narumi.eMoveSpd.Low,
-                        Bunki = arDev.Narumi.eBunki.Strate,
-                        Direction = arDev.Narumi.eMoveDir.Backward,
-                        PBSSensor = 1,
-                    });
-                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
-                    //PUB.Result.TargetPos = ePosition.CHARGE;
-                    VAR.TIME.Update(eVarTime.ChargeSearch);
-                }
-                else
-                {
-                    PUB.log.Add($"충전기위치가 QC위치로 설정되어 있습니다");
-                }
+                    Speed = arDev.Narumi.eMoveSpd.Low,
+                    Bunki = arDev.Narumi.eBunki.Strate,
+                    Direction = arDev.Narumi.eMoveDir.Forward,
+                    PBSSensor = 1,
+                });
+                PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
+                //PUB.Result.TargetPos = ePosition.CHARGE;
+                VAR.TIME.Update(eVarTime.ChargeSearch);
 
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                if (PUB.setting.chargerpos != 1)
-                {
-                    if (PUB.AGV.system1.agv_run)
-                    {
-                        PUB.log.Add($"충전:AGV기동확인으로 마크정지신호설정");
-                        PUB.Speak(Lang.다음마크위치에서정지합니다);
-                        PUB.AGV.AGVMoveStop("SM_RUN_GOCHARGE", arDev.Narumi.eStopOpt.MarkStop);
-                        VAR.TIME.Update(eVarTime.ChargeSearch);
-                        PUB.sm.UpdateRunStepSeq();
-                    }
-                    else
-                    {
-                        if (VAR.TIME.RUN(eVarTime.ChargeSearch).TotalSeconds > 5)
-                        {
-                            //5초이상 이곳에서 대기한다면 다시 돌려준다
-                            PUB.sm.UpdateRunStepSeq(-1);
-                            PUB.log.Add($"충전:AGV기동확인 안됨, 롤백 다시 이동할 수 있게 함");
-                        }
-                    }
-                }
-                else
+                if (PUB.AGV.system1.agv_run)
                 {
+                    PUB.log.Add($"충전:AGV기동확인으로 마크정지신호설정");
+                    PUB.Speak(Lang.다음마크위치에서정지합니다);
+                    PUB.AGV.AGVMoveStop("SM_RUN_GOCHARGE", arDev.Narumi.eStopOpt.MarkStop);
                     VAR.TIME.Update(eVarTime.ChargeSearch);
                     PUB.sm.UpdateRunStepSeq();
                 }
-         
+                else
+                {
+                    if (VAR.TIME.RUN(eVarTime.ChargeSearch).TotalSeconds > 5)
+                    {
+                        //5초이상 이곳에서 대기한다면 다시 돌려준다
+                        PUB.sm.UpdateRunStepSeq(-1);
+                        PUB.log.Add($"충전:AGV기동확인 안됨, 롤백 다시 이동할 수 있게 함");
+                    }
+                }
 
                 return false;
             }
@@ -200,9 +188,6 @@ 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;
             }
@@ -254,7 +239,6 @@ namespace Project
                 }
                 return false;
             }
-
             return true;
         }
     }

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

@@ -17,6 +17,7 @@ namespace Project
         {
             ///명령어 재전송 간격(기본 2초)
             var CommandInterval = 2;
+            var funcName = "_SM_RUN_GOTO";
 
             //충전 상태가 OFF되어야 동작하게한다
             if (_SM_RUN_CHGOFF(isFirst, stepTime) == false)
@@ -29,267 +30,48 @@ namespace Project
                 VAR.TIME.Update(eVarTime.CheckGotoTargetSet);
             }
 
-            //목적지가 설정되었는지 체크한다.
-          //Z  if (PUB.mapctl.Manager.agv.TargetRFID.IsEmpty)
-          //  {
-          //      //최대 5초간 설정여부를 확인하고
-          //      if (VAR.TIME.RUN(eVarTime.CheckGotoTargetSet).TotalSeconds > 5)
-          //      {
-          //          //실패시에는 READY로 전환한다.
-          //          PUB.sm.SetNewRunStep(ERunStep.READY);
-          //          PUB.Speak(Lang.목적지가없어대기상태로전환합니다);
-          //      }
-          //      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.alarmSoundTerm)
+                {
+                    PUB.Speak(Lang.전방에물체가감지되었습니다);
+                    LastSpeakTime = DateTime.Now;
+                }
+                return false;
+            }
 
-            //var idx = 1;
-            //var BeforePredictIdx = -1;
-            //var predict = PUB.mapctl.Manager.PredictResult;
-            //if (PUB.sm.RunStepSeq == idx++)
-            //{
-            //    PUB.Speak(Lang.위치로이동합니다);
-            //    PUB.log.Add($"목적지 위치 이동시작({PUB.mapctl.Manager.agv.TargetRFID.Value})");
-            //    VAR.TIME.Update(eVarTime.CheckGotoTargetSet);
-            //    VAR.TIME.Set(eVarTime.SendGotoCommand, DateTime.Now.AddDays(-1));
-            //    PUB.sm.UpdateRunStepSeq();
-            //    return false;
-            //}
-            //else if (PUB.sm.RunStepSeq == idx++)
-            //{
-            //    //멈춰야하는경우
-            //    if (predict.MoveState == AGVControl.AGVMoveState.Stop)
-            //    {
-            //        if (PUB.AGV.system1.agv_run)
-            //        {
-            //            if (VAR.TIME.RUN(eVarTime.SendGotoCommand).TotalSeconds > 2)
-            //            {
-            //                PUB.Speak("AGV Stop");
-            //                PUB.AGV.AGVMoveStop("Predict", arDev.Narumi.eStopOpt.Stop);
-            //                VAR.TIME.Update(eVarTime.SendGotoCommand);
-            //            }
-            //            return false;
-            //        }
-            //        else
-            //        {
-            //            //완료되었거나 턴을진행해야한다
-            //            if (predict.ReasonCode == AGVControl.AGVActionReasonCode.Arrived ||
-            //                predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
-            //                predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
-            //            {
-            //                GotoTurnStep = 0;
-            //                GotoTurnSetTime = DateTime.Now.AddDays(-1);
-            //                PUB.sm.UpdateRunStepSeq();
-            //            }
-            //            return false;
-            //        }
-            //    }
-            //    else //이동해야하는 경우
-            //    {
-            //        //속도와 방향이 불일치하는 경우 다시 설정한다 (속도: H,L,M,[S]
-            //        AGVControl.AgvDir AGV_Direction = (AGVControl.AgvDir)PUB.AGV.data.Direction;
-            //        AGVControl.AgvSpeed AGV_Speed = (AGVControl.AgvSpeed)PUB.AGV.data.Speed;
-            //        AGVControl.AgvSts AGV_Sts = (AGVControl.AgvSts)PUB.AGV.data.Sts;
-
-            //        //상태값이 바뀌었다면 전송을 해야한다
-            //        if (predict.Direction != AGV_Direction || predict.MoveSpeed != AGV_Speed || predict.MoveDiv != AGV_Sts)
-            //        {
-            //            if (VAR.TIME.RUN(eVarTime.SendGotoCommand).TotalSeconds > CommandInterval)
-            //            {
-            //                arDev.Narumi.eBunki v_bunki = arDev.Narumi.eBunki.Strate;
-            //                if (predict.MoveDiv == AGVControl.AgvSts.Straight) v_bunki = arDev.Narumi.eBunki.Strate;
-            //                else if (predict.MoveDiv == AGVControl.AgvSts.Left) v_bunki = arDev.Narumi.eBunki.Left;
-            //                else if (predict.MoveDiv == AGVControl.AgvSts.Right) v_bunki = arDev.Narumi.eBunki.Right;
-
-            //                arDev.Narumi.eMoveDir v_dir = arDev.Narumi.eMoveDir.Backward;
-            //                if (predict.Direction == AGVControl.AgvDir.Forward) v_dir = arDev.Narumi.eMoveDir.Forward;
-            //                else if (predict.Direction == AGVControl.AgvDir.Backward) v_dir = arDev.Narumi.eMoveDir.Backward;
-
-            //                arDev.Narumi.eMoveSpd v_spd = arDev.Narumi.eMoveSpd.Low;
-            //                if (predict.MoveSpeed == AGVControl.AgvSpeed.Middle) v_spd = arDev.Narumi.eMoveSpd.Middle;
-            //                else if (predict.MoveSpeed == AGVControl.AgvSpeed.High) v_spd = arDev.Narumi.eMoveSpd.High;
-            //                else if (predict.MoveSpeed == AGVControl.AgvSpeed.Low) v_spd = arDev.Narumi.eMoveSpd.Low;
-
-            //                //이동셋팅을 해준다
-            //                PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
-            //                {
-            //                    Bunki = v_bunki,
-            //                    Direction = v_dir,
-            //                    PBSSensor = 1,
-            //                    Speed = v_spd,
-            //                });
-
-            //                if (predict.MoveSpeed == AGVControl.AgvSpeed.MarkStop)
-            //                {
-            //                    PUB.AGV.AGVMoveStop("Predict", arDev.Narumi.eStopOpt.Stop);
-            //                }
-            //                VAR.TIME.Update(eVarTime.SendGotoCommand);
-            //            }
-            //            return false;
-            //        }
-
-            //        //정지상태라면 이동 명령을 전달한다
-            //        if (PUB.AGV.system1.agv_run == false)
-            //        {
-            //            if (VAR.TIME.RUN(eVarTime.SendGotoCommand).TotalSeconds > CommandInterval)
-            //            {
-            //                PUB.Speak("AGV Start");
-
-            //                arDev.Narumi.eRunOpt v_dir = arDev.Narumi.eRunOpt.Backward;
-            //                if (predict.Direction == AGVControl.AgvDir.Forward) v_dir = arDev.Narumi.eRunOpt.Forward;
-            //                else if (predict.Direction == AGVControl.AgvDir.Backward) v_dir = arDev.Narumi.eRunOpt.Backward;
-
-            //                PUB.AGV.AGVMoveRun(v_dir);
-            //                VAR.TIME.Update(eVarTime.SendGotoCommand);
-            //            }
-            //            return false;
-            //        }
-            //    }
-
-            //    //예측이 업데이트되지 않으면 오류 처리해야한다
-            //    if (BeforePredictIdx == -1) BeforePredictIdx = (int)predict.Idx;
-            //    else if (BeforePredictIdx != predict.Idx)   //이전사용한 IDX와  다르다면 예측이 실행된 경우이다
-            //        BeforePredictIdx = (int)predict.Idx;
-            //    else
-            //    {
-            //        //5초이상 예측값이 업데이트되지 않으면 오류 처리한다.
-            //        var tsPredict = DateTime.Now - predict.CreateTime;
-            //        if (tsPredict.TotalSeconds > 5)
-            //        {
-            //            PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.PredictFix, Lang.예측값이계산되지않아이동을중단합니다);
-            //            PUB.Speak(Lang.예측값이계산되지않아이동을중단합니다);
-            //            PUB.sm.SetNewRunStep(ERunStep.READY);
-            //        }
-            //    }
-
-            //    return false;
-            //}
-            //else if (PUB.sm.RunStepSeq == idx++)
-            //{
-            //    if (predict.ReasonCode == AGVControl.AGVActionReasonCode.Arrived)
-            //    {
-            //        PUB.Speak(Lang.목적지이동이완료되었습니다);
-            //        PUB.sm.SetNewRunStep(ERunStep.READY);
-            //        PUB.sm.UpdateRunStepSeq();
-            //    }
-            //    else if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
-            //        predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
-            //    {
-            //        //턴을 해야하는 경우이다
-            //        //좌턴을 기본으로 진행하며, 좌턴이동 후 마크스탑을 입력한다
-            //        if (GotoTurnStep == 0)
-            //        {
-            //            //턴을 한적이 없으므로 턴을 먼저 진행한다
-            //            arDev.Narumi.eMoveDir moveDir = arDev.Narumi.eMoveDir.Backward;
-            //            if (predict.Direction == AGVControl.AgvDir.Forward) moveDir = arDev.Narumi.eMoveDir.Forward;
-            //            if (PUB.AGV.data.Sts != 'L' || PUB.AGV.data.Speed != 'L' || PUB.AGV.data.Direction != moveDir.ToString()[0])
-            //            {
-            //                //셋팅이 다르다면 3초간격으로 전송한다
-            //                var tsTurnSet = DateTime.Now - GotoTurnSetTime;
-            //                if (tsTurnSet.TotalSeconds > 3)
-            //                {
-            //                    PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
-            //                    {
-            //                        Bunki = arDev.Narumi.eBunki.Left,
-            //                        Direction = moveDir,
-            //                        PBSSensor = 1,
-            //                        Speed = arDev.Narumi.eMoveSpd.Low,
-            //                    });
-            //                    GotoTurnSetTime = DateTime.Now;
-            //                    PUB.log.Add("Turn Bunki Set");
-            //                }
-            //            }
-            //            else
-            //            {
-            //                PUB.mapctl.Manager.agv.CurrentRFID.TurnOK = false;
-            //                PUB.mapctl.Manager.agv.CurrentRFID.TurnStart = DateTime.Now;
-            //                PUB.sm.UpdateRunStepSeq(); //셋팅이 맞으니 다음스텝으로 진행한다
-            //                GotoTurnStep += 1;
-            //            }
-            //        }
-            //    }
-            //    else PUB.sm.UpdateRunStepSeq();
-            //    return false;
-            //}
-            //else if (PUB.sm.RunStepSeq == idx++)
-            //{
-            //    //턴이완료되길 기다린다.
-            //    if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
-            //       predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
-            //    {
-            //        //(최소5초는 기다리고 판단한다)
-            //        if (stepTime.TotalSeconds < 5) return false;
-
-            //        //최대30초는 기다려준다
-            //        if (stepTime.TotalSeconds > 30)
-            //        {
-            //            var ermsg = "Turn Timeout(30sec)";
-            //            PUB.log.AddE(ermsg);
-            //            PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.TurnTimeout, ermsg);
-            //            PUB.sm.SetNewRunStep(ERunStep.READY);
-            //        }
-
-            //        //모션이 멈추었다면 턴이완료된것이다.
-            //        if (PUB.AGV.system1.agv_stop)
-            //        {
-            //            if (PUB.AGV.system1.Mark1_check == false && PUB.AGV.system1.Mark2_check == false)
-            //            {
-            //                PUB.log.AddE($"Turn 완료이나 Mark 센서가 확인되지 않았습니다");
-            //            }
-            //            GotoTurnStep += 1;
-            //            PUB.sm.UpdateRunStepSeq();
-            //        }
-            //        else
-            //        {
-            //            //아직 이동중이므로 대기한다
-            //        }
-            //    }
-            //    else PUB.sm.UpdateRunStepSeq(); //기타사항은 다음으로 넘어간다
-            //    return false;
-            //}
-            //else if (PUB.sm.RunStepSeq == idx++)
-            //{
-            //    if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
-            //        predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
-            //    {
-            //        if (GotoTurnStep < 2)
-            //        {
-            //            PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.TurnError, "턴시퀀스 완료 실패");
-            //            PUB.log.AddE($"턴완료시퀀스가 2가아닙니다. 대기 상태로 강제 전환합니다");
-            //            PUB.sm.SetNewRunStep(ERunStep.READY);
-            //        }
-            //        else
-            //        {
-            //            PUB.log.AddI("Turn Complete");
-            //        }
-
-            //        //방향전환용 턴이라면 이동기록을 추가해서 방향이 맞도록 처리해주자
-            //        if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove)
-            //        {
-            //            var rfid = PUB.mapctl.Manager.agv.CurrentRFID;
-            //            var lastHistory = PUB.mapctl.Manager.agv.MovementHistory.Last();
-            //            //원래방향에서 반대로 처리한다
-            //            var revDir = lastHistory.Direction == AGVControl.AgvDir.Backward ? AGVControl.AgvDir.Forward : AGVControl.AgvDir.Backward;
-            //            PUB.mapctl.Manager.agv.AddToMovementHistory(rfid.Value, rfid.Location, revDir);
-            //        }
-            //        else
-            //        {
-            //            //이동용 RFID에서 턴명령이 들어있는경우였다
-            //            PUB.mapctl.Manager.agv.CurrentRFID.TurnEnd = DateTime.Now;
-            //            PUB.mapctl.Manager.agv.CurrentRFID.TurnOK = true;
-            //        }
-
-            //        PUB.sm.UpdateRunStepSeq();
-            //    }
-            //    else PUB.sm.UpdateRunStepSeq();
-            //    return false;
-            //}
-
-
-            //좌턴이동명령 전송
-
-            //마크스탑전송
-
-            //마크스탑이 확인되면 나머지는 경로예측에 맡긴다
+            var idx = 1;
+            if (PUB.sm.RunStepSeq == idx++)
+            {
+                if(PUB._virtualAGV.TargetNode == null)
+                {
+                    PUB.log.Add($"대상노드가 없어 이동을할 수 없습니다");
+                    PUB.sm.SetNewRunStep(ERunStep.READY);
+                    return false;
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //모션 전후진 제어
+                if (UpdateMotionPositionForMark(funcName))
+                {
+                    PUB.AGV.AGVMoveStop(funcName);
+                    PUB.sm.UpdateRunStepSeq();
+                }
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //QC까지 모두 완료되었다.(완전히 정차할때까지 기다린다)
+                PUB.Speak(Lang.홈검색완료, true);
+                PUB.AddEEDB($"홈검색완료({PUB.Result.TargetPos})");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
 
             return true;
         }

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;
-        }
-    }
-}