..

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

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>

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

@@ -815,6 +815,9 @@ namespace AGVNavigationCore.Controls
                     case StationType.Charger:
                         DrawTriangleNodeShape(g, node, brush);
                         break;
+                    case StationType.Limit:
+                        DrawRectangleNodeShape(g, node, brush);
+                        break;
                     default:
                         DrawCircleNodeShape(g, node, brush);
                         break;
@@ -823,6 +826,83 @@ namespace AGVNavigationCore.Controls
         }
 
 
+        private void DrawRectangleNodeShape(Graphics g, MapNode node, Brush brush)
+        {
+            // 드래그 중인 노드는 약간 크게 그리기
+            bool isDraggingThisNode = _isDragging && node == _selectedNode;
+            int sizeAdjustment = isDraggingThisNode ? 4 : 0;
+
+            var rect = new Rectangle(
+                node.Position.X - NODE_RADIUS - sizeAdjustment,
+                node.Position.Y - NODE_RADIUS - sizeAdjustment,
+                NODE_SIZE + sizeAdjustment * 2,
+                NODE_SIZE + sizeAdjustment * 2
+            );
+
+            // 드래그 중인 노드의 그림자 효과
+            if (isDraggingThisNode)
+            {
+                var shadowRect = new Rectangle(rect.X + 3, rect.Y + 3, rect.Width, rect.Height);
+                using (var shadowBrush = new SolidBrush(Color.FromArgb(100, 0, 0, 0)))
+                {
+                    g.FillRectangle(shadowBrush, shadowRect);
+                }
+            }
+
+            // 노드 그리기
+            g.FillRectangle(brush, rect);
+            g.DrawRectangle(Pens.Black, rect);
+
+            // 드래그 중인 노드 강조 (가장 강력한 효과)
+            if (isDraggingThisNode)
+            {
+                // 청록색 두꺼운 테두리
+                g.DrawRectangle(new Pen(Color.Cyan, 3), rect);
+                // 펄스 효과
+                var pulseRect = new Rectangle(rect.X - 4, rect.Y - 4, rect.Width + 8, rect.Height + 8);
+                g.DrawRectangle(new Pen(Color.FromArgb(150, 0, 255, 255), 2) { DashStyle = DashStyle.Dash }, pulseRect);
+            }
+            // 선택된 노드 강조 (단일 또는 다중)
+            else if (node == _selectedNode || (_selectedNodes != null && _selectedNodes.Contains(node)))
+            {
+                g.DrawRectangle(_selectedNodePen, rect);
+            }
+
+            // 목적지 노드 강조
+            if (node == _destinationNode)
+            {
+                // 금색 테두리로 목적지 강조
+                g.DrawRectangle(_destinationNodePen, rect);
+
+                // 펄싱 효과를 위한 추가 원 그리기
+                var pulseRect = new Rectangle(rect.X - 3, rect.Y - 3, rect.Width + 6, rect.Height + 6);
+                g.DrawRectangle(new Pen(Color.Gold, 2) { DashStyle = DashStyle.Dash }, pulseRect);
+            }
+
+            // 호버된 노드 강조 (드래그 중이 아닐 때만)
+            if (node == _hoveredNode && !isDraggingThisNode)
+            {
+                var hoverRect = new Rectangle(rect.X - 2, rect.Y - 2, rect.Width + 4, rect.Height + 4);
+                g.DrawRectangle(new Pen(Color.Orange, 2), hoverRect);
+            }
+
+            // RFID 중복 노드 표시 (빨간 X자)
+            if (_duplicateRfidNodes.Contains(node.Id))
+            {
+                DrawDuplicateRfidMarker(g, node);
+            }
+
+            // CanCross 가능 노드 표시 (교차지점으로 사용 가능)
+            if (node.DisableCross == true)
+            {
+                var crossRect = new Rectangle(rect.X - 3, rect.Y - 3, rect.Width + 6, rect.Height + 6);
+                g.DrawRectangle(new Pen(Color.DeepSkyBlue, 3), crossRect);
+            }
+
+            g.DrawLine(Pens.Black, rect.X, rect.Y, rect.Right, rect.Bottom);
+            g.DrawLine(Pens.Black, rect.Right, rect.Top, rect.X, rect.Bottom);
+
+        }
         private void DrawCircleNodeShape(Graphics g, MapNode node, Brush brush)
         {
             // 드래그 중인 노드는 약간 크게 그리기
@@ -1472,9 +1552,10 @@ namespace AGVNavigationCore.Controls
                 case StationType.Normal: bgColor = Color.DeepSkyBlue; break;
                 case StationType.Charger: bgColor = Color.Tomato; break;
                 case StationType.Loader:
-                case StationType.UnLoader: bgColor = Color.Gold ; break;
+                case StationType.UnLoader: bgColor = Color.Gold; break;
-                case StationType.Clearner: bgColor = Color.DeepSkyBlue ; break;
+                case StationType.Clearner: bgColor = Color.DeepSkyBlue; break;
                 case StationType.Buffer: bgColor = Color.WhiteSmoke; break;
+                case StationType.Limit: bgColor = Color.Red; break;
                 default: bgColor = Color.White; break;
             }
 

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

@@ -119,6 +119,9 @@ namespace AGVNavigationCore.Controls
             var worldPoint = ScreenToWorld(e.Location);
             var hitNode = GetItemAt(worldPoint);
 
+            // 가동 모드에서는 더블클릭 편집 방지
+            if (_canvasMode == CanvasMode.Run) return;
+
             if (hitNode == null) return;
 
             if (hitNode.Type == NodeType.Normal)

Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs

@@ -39,7 +39,8 @@ namespace AGVNavigationCore.Controls
         {
             Edit,       // 편집 가능 (맵 에디터)
             Sync,       // 동기화 모드 (장비 설정 동기화)
-            Emulator    // 에뮬레이터 모드
+            Emulator,   // 에뮬레이터 모드
+            Run         // 가동 모드 (User Request)
         }
 
         /// <summary>

Cs_HMI/AGVLogic/AGVNavigationCore/Models/Enums.cs

@@ -73,7 +73,13 @@ namespace AGVNavigationCore.Models
         /// <summary>버퍼</summary>
         Buffer,
         /// <summary>충전기</summary>
-        Charger
+        Charger,
+
+        /// <summary>
+        /// 끝점(더이상 이동불가)
+        /// </summary>
+        Limit,
+
     }
 
     /// <summary>

Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapNode.cs

@@ -149,7 +149,7 @@ namespace AGVNavigationCore.Models
 
         public override string ToString()
         {
-            return $"{RfidId}({Id}): {AliasName} ({Type}) at ({Position.X}, {Position.Y})";
+            return $"RFID:{RfidId}(NODE:{Id}): AS:{AliasName} ({Type}) at ({Position.X}, {Position.Y})";
         }
 
         public bool IsNavigationNode()

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

@@ -464,6 +464,8 @@ namespace AGVNavigationCore.PathFinding.Planning
                     {
                         nodeInfo.Speed = mapNode.SpeedLimit;
                     }
+
+                    detailedPath1.Add(nodeInfo);
                 }
 
                 // path1에 상세 경로 정보 설정

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

@@ -108,7 +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/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/Project/AGV4.csproj

@@ -186,6 +186,7 @@
     <Compile Include="Device\BMS.cs" />
     <Compile Include="Device\BMSInformationEventArgs.cs" />
     <Compile Include="Device\CFlag.cs" />
+    <Compile Include="Device\BMSSerialComm.cs" />
     <Compile Include="Device\xbee.cs">
       <SubType>Component</SubType>
     </Compile>
@@ -196,6 +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>
@@ -417,6 +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/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 > 7)
-                        if (tempBuffer.Count == queylen)
                         {
-                            if (incomByte != 0x77)
+                            byte len = tempBuffer[3];
+                            if (tempBuffer.Count >= 4 + len + 3) // Start+Reg+Status+Len + Data + Chk(2) + End
+                            {
+                                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();
                                 }
-                            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;
             }
         }
-
+        /// <summary>
-        private bool _autocharge = false;
+        /// 현재 충전중인지?
-        public Boolean AutoCharge
+        /// </summary>
-        {
+        public bool IsCharging { get; private set; }
-            get { return _autocharge; }
+        DateTime ChargeStart = DateTime.Now;
-            set { _autocharge = false; }
+        DateTime ChargeEnd = DateTime.Now;
-        }
-
-        //public void ClearManualChargeCheckValue()
-        //{
-        //    chk_timee = new DateTime(1982, 11, 23);
-        //    chk_times = new DateTime(1982, 11, 23);
-        //    chk_valuee = 0f;
-        //    chk_values = 0f;
-        //}
-
         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);
+                    IsCharging = true;
-                    chk_valuee = 999f;
+                    ChargeStart = DateTime.Now;
-                }
+                    ChargeEnd = new DateTime(1982, 11, 23);
-                if (chk_times.Year != 1982)
-                {
-                    chk_times = new DateTime(1982, 11, 23);
-                    chk_values = 999f;
-                }
-            }
-            if (chk_times.Year == 1982)
-            {
-                chk_times = DateTime.Now;
-                chk_values = Current_Level;
-            }
-            else
-            {
-                if (chk_timee.Year == 1982)
-                {
-                    if ((Current_Level - chk_values) >= 0.1)
-                    {
-                        //충전중이다
-                        chk_timee = DateTime.Now;
-                        chk_valuee = Current_Level;
                     try
                     {
-                            ChargeDetect?.Invoke(this, new ChargetDetectArgs(chk_times, chk_values, chk_timee, chk_valuee));
+                        ChargeDetect?.Invoke(this, new ChargetDetectArgs(ChargeStart, true, Current_Level));
-                        }
-                        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);
-                    }
-                    else
-                    {
-                        //아직 변화가 없으니 종료일을 기록하지 않는다
-                    }
-                }
-                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)
+                else
                 {
-                        //방전중이다
+                    //충전상태가 유지되고 있다.
-                        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
+                //충전이해제되었다.. 단 바로 해제하지않고 1초정도 텀을 주고 OFF한다.
+                if (IsCharging)
+                {
+                    if (ChargeEnd.Year == 1982)
+                    {
+                        ChargeEnd = DateTime.Now;
+                    }
+                    else
+                    {
+                        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
+                {
+                    //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>
@@ -408,6 +420,7 @@ namespace arDev
             cmd.Add(0xFD);
             cmd.Add(0x77);
             //cmd.Add(0x0D);
+            //_device.DiscardInBuffer();
             return WriteData(cmd.ToArray());
         }
 
@@ -424,6 +437,7 @@ namespace arDev
             cmd.Add(0xFC);
             cmd.Add(0x77);
             //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 time { get; set; }
-        public DateTime timee { get; set; }
+        public float level { get; set; }
-        public float values { get; set; }
+        public bool Detected { get; set; }
-        public float valuee { get; set; }
+        public ChargetDetectArgs(DateTime times, bool detected, float values)
-        public ChargetDetectArgs(DateTime times, float values, DateTime timee, float valuee)
         {
-            this.times = times;
+            this.time = times;
-            this.times = timee;
+            this.level = values;
-            this.values = values;
+            this.Detected = detected;
-            this.valuee = valuee;
         }
     }
     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/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.rtAGV = new arCtl.LogTextBox();
-            this.label3 = new System.Windows.Forms.Label();
+            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.panel2, 2, 1);
-            this.tableLayoutPanel1.Controls.Add(this.panel3, 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.panel1.Controls.Add(this.rtXbee);
-            this.rtAGV.ColorList = new arCtl.sLogMessageColor[0];
+            this.panel1.Controls.Add(this.titleXBEE);
-            this.rtAGV.DateFormat = "mm:ss.fff";
+            this.panel1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.rtAGV.DefaultColor = System.Drawing.Color.LightGray;
+            this.panel1.Location = new System.Drawing.Point(173, 349);
-            this.rtAGV.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.panel1.Name = "panel1";
-            this.rtAGV.EnableDisplayTimer = false;
+            this.panel1.Size = new System.Drawing.Size(164, 143);
-            this.rtAGV.EnableGubunColor = true;
+            this.panel1.TabIndex = 3;
-            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 = "";
             // 
             // rtXbee
             // 
@@ -171,73 +139,96 @@
             this.rtXbee.TabIndex = 2;
             this.rtXbee.Text = "";
             // 
-            // panel1
+            // titleXBEE
             // 
-            this.panel1.Controls.Add(this.rtXbee);
+            this.titleXBEE.Dock = System.Windows.Forms.DockStyle.Top;
-            this.panel1.Controls.Add(this.label1);
+            this.titleXBEE.Location = new System.Drawing.Point(0, 0);
-            this.panel1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.titleXBEE.Name = "titleXBEE";
-            this.panel1.Location = new System.Drawing.Point(173, 349);
+            this.titleXBEE.Size = new System.Drawing.Size(164, 14);
-            this.panel1.Name = "panel1";
+            this.titleXBEE.TabIndex = 0;
-            this.panel1.Size = new System.Drawing.Size(164, 143);
+            this.titleXBEE.Text = "MC ID";
-            this.panel1.TabIndex = 3;
+            this.titleXBEE.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            // 
-            // 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;
             // 
             // 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.rtBMS.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(224)))), ((int)(((byte)(224)))), ((int)(((byte)(224)))));
-            this.panel3.Location = new System.Drawing.Point(343, 349);
+            this.rtBMS.ColorList = new arCtl.sLogMessageColor[0];
-            this.panel3.Name = "panel3";
+            this.rtBMS.DateFormat = "mm:ss.fff";
-            this.panel3.Size = new System.Drawing.Size(164, 143);
+            this.rtBMS.DefaultColor = System.Drawing.Color.LightGray;
-            this.panel3.TabIndex = 5;
+            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.rtAGV.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(224)))), ((int)(((byte)(224)))), ((int)(((byte)(224)))));
-            this.label2.Location = new System.Drawing.Point(0, 0);
+            this.rtAGV.ColorList = new arCtl.sLogMessageColor[0];
-            this.label2.Name = "label2";
+            this.rtAGV.DateFormat = "mm:ss.fff";
-            this.label2.Size = new System.Drawing.Size(164, 14);
+            this.rtAGV.DefaultColor = System.Drawing.Color.LightGray;
-            this.label2.TabIndex = 3;
+            this.rtAGV.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.label2.Text = "AGV";
+            this.rtAGV.EnableDisplayTimer = false;
-            this.label2.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            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.titleAGV.Dock = System.Windows.Forms.DockStyle.Top;
-            this.label3.Location = new System.Drawing.Point(0, 0);
+            this.titleAGV.Location = new System.Drawing.Point(0, 0);
-            this.label3.Name = "label3";
+            this.titleAGV.Name = "titleAGV";
-            this.label3.Size = new System.Drawing.Size(165, 14);
+            this.titleAGV.Size = new System.Drawing.Size(164, 14);
-            this.label3.TabIndex = 3;
+            this.titleAGV.TabIndex = 3;
-            this.label3.Text = "BMS";
+            this.titleAGV.Text = "AGV";
-            this.label3.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            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 titleBMS;
-        private System.Windows.Forms.Label label2;
+        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.btOpenDir = new System.Windows.Forms.Button();
-            this.arLabel4 = new arCtl.arLabel();
+            this.arLabel4 = new System.Windows.Forms.Button();
-            this.arLabel9 = new arCtl.arLabel();
+            this.btShutdown = new System.Windows.Forms.Button();
-            this.arLabel10 = new arCtl.arLabel();
+            this.btRestart = new System.Windows.Forms.Button();
-            this.arLabel1 = new arCtl.arLabel();
+            this.btStartMenu = new System.Windows.Forms.Button();
-            this.arLabel6 = new arCtl.arLabel();
+            this.btTaskMgr = new System.Windows.Forms.Button();
-            this.arLabel2 = new arCtl.arLabel();
+            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.btEmulator = new System.Windows.Forms.Button();
-            this.arLabel5 = new arCtl.arLabel();
+            this.btMakePatch = new System.Windows.Forms.Button();
-            this.arLabel7 = new arCtl.arLabel();
+            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.btOpenDir.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.btOpenDir.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.lbMsg.BackgroundImagePadding = new System.Windows.Forms.Padding(0);
+            this.btOpenDir.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.lbMsg.BorderColor = System.Drawing.Color.LightSkyBlue;
+            this.btOpenDir.Font = new System.Drawing.Font("Consolas", 12F);
-            this.lbMsg.BorderColorOver = System.Drawing.Color.Red;
+            this.btOpenDir.ForeColor = System.Drawing.Color.White;
-            this.lbMsg.BorderSize = new System.Windows.Forms.Padding(1);
+            this.btOpenDir.Location = new System.Drawing.Point(5, 5);
-            this.lbMsg.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
+            this.btOpenDir.Margin = new System.Windows.Forms.Padding(5);
-            this.lbMsg.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.btOpenDir.Name = "btOpenDir";
-            this.lbMsg.Font = new System.Drawing.Font("Consolas", 12F);
+            this.btOpenDir.Size = new System.Drawing.Size(201, 79);
-            this.lbMsg.ForeColor = System.Drawing.Color.White;
+            this.btOpenDir.TabIndex = 2;
-            this.lbMsg.GradientEnable = true;
+            this.btOpenDir.Text = "폴더열기";
-            this.lbMsg.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
+            this.btOpenDir.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.lbMsg.GradientRepeatBG = true;
+            this.btOpenDir.Click += new System.EventHandler(this.lbMsg_Click);
-            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);
             // 
             // 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.Location = new System.Drawing.Point(10, 412);
-            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.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.Size = new System.Drawing.Size(633, 51);
-            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.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.btShutdown.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
-            this.arLabel9.BackColor2 = System.Drawing.Color.Red;
+            this.btShutdown.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.arLabel9.BackgroundImagePadding = new System.Windows.Forms.Padding(0);
+            this.btShutdown.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.arLabel9.BorderColor = System.Drawing.Color.LightSkyBlue;
+            this.btShutdown.Font = new System.Drawing.Font("Consolas", 12F);
-            this.arLabel9.BorderColorOver = System.Drawing.Color.Red;
+            this.btShutdown.ForeColor = System.Drawing.Color.White;
-            this.arLabel9.BorderSize = new System.Windows.Forms.Padding(1);
+            this.btShutdown.Location = new System.Drawing.Point(5, 94);
-            this.arLabel9.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
+            this.btShutdown.Margin = new System.Windows.Forms.Padding(5);
-            this.arLabel9.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.btShutdown.Name = "btShutdown";
-            this.arLabel9.Font = new System.Drawing.Font("Consolas", 12F);
+            this.btShutdown.Size = new System.Drawing.Size(201, 79);
-            this.arLabel9.ForeColor = System.Drawing.Color.White;
+            this.btShutdown.TabIndex = 2;
-            this.arLabel9.GradientEnable = true;
+            this.btShutdown.Text = "시스템 종료";
-            this.arLabel9.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
+            this.btShutdown.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.arLabel9.GradientRepeatBG = true;
+            this.btShutdown.Click += new System.EventHandler(this.arLabel9_Click);
-            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);
             // 
-            // arLabel10
+            // btRestart
             // 
-            this.arLabel10.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
+            this.btRestart.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
-            this.arLabel10.BackColor2 = System.Drawing.Color.DarkBlue;
+            this.btRestart.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.arLabel10.BackgroundImagePadding = new System.Windows.Forms.Padding(0);
+            this.btRestart.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.arLabel10.BorderColor = System.Drawing.Color.LightSkyBlue;
+            this.btRestart.Font = new System.Drawing.Font("Consolas", 12F);
-            this.arLabel10.BorderColorOver = System.Drawing.Color.Red;
+            this.btRestart.ForeColor = System.Drawing.Color.White;
-            this.arLabel10.BorderSize = new System.Windows.Forms.Padding(1);
+            this.btRestart.Location = new System.Drawing.Point(216, 94);
-            this.arLabel10.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
+            this.btRestart.Margin = new System.Windows.Forms.Padding(5);
-            this.arLabel10.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.btRestart.Name = "btRestart";
-            this.arLabel10.Font = new System.Drawing.Font("Consolas", 12F);
+            this.btRestart.Size = new System.Drawing.Size(201, 79);
-            this.arLabel10.ForeColor = System.Drawing.Color.White;
+            this.btRestart.TabIndex = 2;
-            this.arLabel10.GradientEnable = true;
+            this.btRestart.Text = "시스템 재시작";
-            this.arLabel10.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
+            this.btRestart.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.arLabel10.GradientRepeatBG = true;
+            this.btRestart.Click += new System.EventHandler(this.arLabel10_Click);
-            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);
             // 
-            // arLabel1
+            // btStartMenu
             // 
-            this.arLabel1.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
+            this.btStartMenu.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.btStartMenu.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.arLabel1.BackgroundImagePadding = new System.Windows.Forms.Padding(0);
+            this.btStartMenu.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.arLabel1.BorderColor = System.Drawing.Color.LightSkyBlue;
+            this.btStartMenu.Font = new System.Drawing.Font("Consolas", 12F);
-            this.arLabel1.BorderColorOver = System.Drawing.Color.Red;
+            this.btStartMenu.ForeColor = System.Drawing.Color.White;
-            this.arLabel1.BorderSize = new System.Windows.Forms.Padding(1);
+            this.btStartMenu.Location = new System.Drawing.Point(427, 5);
-            this.arLabel1.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
+            this.btStartMenu.Margin = new System.Windows.Forms.Padding(5);
-            this.arLabel1.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.btStartMenu.Name = "btStartMenu";
-            this.arLabel1.Font = new System.Drawing.Font("Consolas", 12F);
+            this.btStartMenu.Size = new System.Drawing.Size(201, 79);
-            this.arLabel1.ForeColor = System.Drawing.Color.White;
+            this.btStartMenu.TabIndex = 2;
-            this.arLabel1.GradientEnable = true;
+            this.btStartMenu.Text = "시작메뉴";
-            this.arLabel1.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
+            this.btStartMenu.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.arLabel1.GradientRepeatBG = true;
+            this.btStartMenu.Click += new System.EventHandler(this.arLabel1_Click);
-            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);
             // 
-            // arLabel6
+            // btTaskMgr
             // 
-            this.arLabel6.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
+            this.btTaskMgr.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.btTaskMgr.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.arLabel6.BackgroundImagePadding = new System.Windows.Forms.Padding(0);
+            this.btTaskMgr.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.arLabel6.BorderColor = System.Drawing.Color.LightSkyBlue;
+            this.btTaskMgr.Font = new System.Drawing.Font("Consolas", 12F);
-            this.arLabel6.BorderColorOver = System.Drawing.Color.Red;
+            this.btTaskMgr.ForeColor = System.Drawing.Color.White;
-            this.arLabel6.BorderSize = new System.Windows.Forms.Padding(1);
+            this.btTaskMgr.Location = new System.Drawing.Point(216, 5);
-            this.arLabel6.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
+            this.btTaskMgr.Margin = new System.Windows.Forms.Padding(5);
-            this.arLabel6.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.btTaskMgr.Name = "btTaskMgr";
-            this.arLabel6.Font = new System.Drawing.Font("Consolas", 12F);
+            this.btTaskMgr.Size = new System.Drawing.Size(201, 79);
-            this.arLabel6.ForeColor = System.Drawing.Color.White;
+            this.btTaskMgr.TabIndex = 2;
-            this.arLabel6.GradientEnable = true;
+            this.btTaskMgr.Text = "작업관리자";
-            this.arLabel6.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
+            this.btTaskMgr.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.arLabel6.GradientRepeatBG = true;
+            this.btTaskMgr.Click += new System.EventHandler(this.arLabel6_Click);
-            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);
             // 
-            // arLabel2
+            // btProcessList
             // 
-            this.arLabel2.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
+            this.btProcessList.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
-            this.arLabel2.BackColor2 = System.Drawing.Color.DarkBlue;
+            this.btProcessList.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.arLabel2.BackgroundImagePadding = new System.Windows.Forms.Padding(0);
+            this.btProcessList.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.arLabel2.BorderColor = System.Drawing.Color.LightSkyBlue;
+            this.btProcessList.Font = new System.Drawing.Font("Consolas", 12F);
-            this.arLabel2.BorderColorOver = System.Drawing.Color.Red;
+            this.btProcessList.ForeColor = System.Drawing.Color.White;
-            this.arLabel2.BorderSize = new System.Windows.Forms.Padding(1);
+            this.btProcessList.Location = new System.Drawing.Point(427, 94);
-            this.arLabel2.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
+            this.btProcessList.Margin = new System.Windows.Forms.Padding(5);
-            this.arLabel2.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.btProcessList.Name = "btProcessList";
-            this.arLabel2.Font = new System.Drawing.Font("Consolas", 12F);
+            this.btProcessList.Size = new System.Drawing.Size(201, 79);
-            this.arLabel2.ForeColor = System.Drawing.Color.White;
+            this.btProcessList.TabIndex = 2;
-            this.arLabel2.GradientEnable = true;
+            this.btProcessList.Text = "Process List";
-            this.arLabel2.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
+            this.btProcessList.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.arLabel2.GradientRepeatBG = true;
+            this.btProcessList.Click += new System.EventHandler(this.arLabel2_Click);
-            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);
             // 
             // 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.btEmulator.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.btEmulator.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.arLabel3.BackgroundImagePadding = new System.Windows.Forms.Padding(0);
+            this.btEmulator.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.arLabel3.BorderColor = System.Drawing.Color.LightSkyBlue;
+            this.btEmulator.Font = new System.Drawing.Font("Consolas", 12F);
-            this.arLabel3.BorderColorOver = System.Drawing.Color.Red;
+            this.btEmulator.ForeColor = System.Drawing.Color.White;
-            this.arLabel3.BorderSize = new System.Windows.Forms.Padding(1);
+            this.btEmulator.Location = new System.Drawing.Point(5, 183);
-            this.arLabel3.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
+            this.btEmulator.Margin = new System.Windows.Forms.Padding(5);
-            this.arLabel3.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.btEmulator.Name = "btEmulator";
-            this.arLabel3.Font = new System.Drawing.Font("Consolas", 12F);
+            this.btEmulator.Size = new System.Drawing.Size(201, 79);
-            this.arLabel3.ForeColor = System.Drawing.Color.White;
+            this.btEmulator.TabIndex = 4;
-            this.arLabel3.GradientEnable = true;
+            this.btEmulator.Text = "Emulator";
-            this.arLabel3.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
+            this.btEmulator.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.arLabel3.GradientRepeatBG = true;
+            this.btEmulator.Click += new System.EventHandler(this.arLabel3_Click);
-            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);
             // 
-            // arLabel5
+            // btMakePatch
             // 
-            this.arLabel5.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
+            this.btMakePatch.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
-            this.arLabel5.BackColor2 = System.Drawing.Color.Pink;
+            this.btMakePatch.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.arLabel5.BackgroundImagePadding = new System.Windows.Forms.Padding(0);
+            this.btMakePatch.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.arLabel5.BorderColor = System.Drawing.Color.LightSkyBlue;
+            this.btMakePatch.Font = new System.Drawing.Font("Consolas", 12F);
-            this.arLabel5.BorderColorOver = System.Drawing.Color.Red;
+            this.btMakePatch.ForeColor = System.Drawing.Color.White;
-            this.arLabel5.BorderSize = new System.Windows.Forms.Padding(1);
+            this.btMakePatch.Location = new System.Drawing.Point(216, 183);
-            this.arLabel5.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
+            this.btMakePatch.Margin = new System.Windows.Forms.Padding(5);
-            this.arLabel5.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.btMakePatch.Name = "btMakePatch";
-            this.arLabel5.Font = new System.Drawing.Font("Consolas", 12F);
+            this.btMakePatch.Size = new System.Drawing.Size(201, 79);
-            this.arLabel5.ForeColor = System.Drawing.Color.White;
+            this.btMakePatch.TabIndex = 5;
-            this.arLabel5.GradientEnable = true;
+            this.btMakePatch.Text = "패치파일 생성";
-            this.arLabel5.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
+            this.btMakePatch.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.arLabel5.GradientRepeatBG = true;
+            this.btMakePatch.Click += new System.EventHandler(this.arLabel5_Click);
-            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);
             // 
-            // arLabel7
+            // btAutoRestart
             // 
-            this.arLabel7.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
+            this.btAutoRestart.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(72)))), ((int)(((byte)(72)))), ((int)(((byte)(72)))));
-            this.arLabel7.BackColor2 = System.Drawing.Color.DarkBlue;
+            this.btAutoRestart.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.arLabel7.BackgroundImagePadding = new System.Windows.Forms.Padding(0);
+            this.btAutoRestart.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.arLabel7.BorderColor = System.Drawing.Color.LightSkyBlue;
+            this.btAutoRestart.Font = new System.Drawing.Font("Consolas", 12F);
-            this.arLabel7.BorderColorOver = System.Drawing.Color.Red;
+            this.btAutoRestart.ForeColor = System.Drawing.Color.White;
-            this.arLabel7.BorderSize = new System.Windows.Forms.Padding(1);
+            this.btAutoRestart.Location = new System.Drawing.Point(427, 183);
-            this.arLabel7.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
+            this.btAutoRestart.Margin = new System.Windows.Forms.Padding(5);
-            this.arLabel7.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.btAutoRestart.Name = "btAutoRestart";
-            this.arLabel7.Font = new System.Drawing.Font("Consolas", 12F);
+            this.btAutoRestart.Size = new System.Drawing.Size(201, 79);
-            this.arLabel7.ForeColor = System.Drawing.Color.White;
+            this.btAutoRestart.TabIndex = 6;
-            this.arLabel7.GradientEnable = true;
+            this.btAutoRestart.Text = "자동 재시작";
-            this.arLabel7.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
+            this.btAutoRestart.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.arLabel7.GradientRepeatBG = true;
+            this.btAutoRestart.Click += new System.EventHandler(this.arLabel7_Click);
-            this.arLabel7.isButton = true;
+            // 
-            this.arLabel7.Location = new System.Drawing.Point(347, 216);
+            // tableLayoutPanel1
-            this.arLabel7.Margin = new System.Windows.Forms.Padding(5);
+            // 
-            this.arLabel7.MouseDownColor = System.Drawing.Color.Yellow;
+            this.tableLayoutPanel1.ColumnCount = 3;
-            this.arLabel7.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
-            this.arLabel7.msg = null;
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
-            this.arLabel7.Name = "arLabel7";
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
-            this.arLabel7.ProgressBorderColor = System.Drawing.Color.Black;
+            this.tableLayoutPanel1.Controls.Add(this.btOpenDir, 0, 0);
-            this.arLabel7.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
+            this.tableLayoutPanel1.Controls.Add(this.btAutoRestart, 2, 2);
-            this.arLabel7.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
+            this.tableLayoutPanel1.Controls.Add(this.btTaskMgr, 1, 0);
-            this.arLabel7.ProgressEnable = false;
+            this.tableLayoutPanel1.Controls.Add(this.btMakePatch, 1, 2);
-            this.arLabel7.ProgressFont = new System.Drawing.Font("Consolas", 10F);
+            this.tableLayoutPanel1.Controls.Add(this.btStartMenu, 2, 0);
-            this.arLabel7.ProgressForeColor = System.Drawing.Color.Black;
+            this.tableLayoutPanel1.Controls.Add(this.btEmulator, 0, 2);
-            this.arLabel7.ProgressMax = 100F;
+            this.tableLayoutPanel1.Controls.Add(this.btShutdown, 0, 1);
-            this.arLabel7.ProgressMin = 0F;
+            this.tableLayoutPanel1.Controls.Add(this.btRestart, 1, 1);
-            this.arLabel7.ProgressPadding = new System.Windows.Forms.Padding(0);
+            this.tableLayoutPanel1.Controls.Add(this.btProcessList, 2, 1);
-            this.arLabel7.ProgressValue = 0F;
+            this.tableLayoutPanel1.Controls.Add(this.button1, 0, 3);
-            this.arLabel7.ShadowColor = System.Drawing.Color.Black;
+            this.tableLayoutPanel1.Controls.Add(this.button2, 1, 3);
-            this.arLabel7.Sign = "";
+            this.tableLayoutPanel1.Controls.Add(this.button3, 2, 3);
-            this.arLabel7.SignAlign = System.Drawing.ContentAlignment.BottomRight;
+            this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.arLabel7.SignColor = System.Drawing.Color.Yellow;
+            this.tableLayoutPanel1.Location = new System.Drawing.Point(10, 10);
-            this.arLabel7.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
+            this.tableLayoutPanel1.Name = "tableLayoutPanel1";
-            this.arLabel7.Size = new System.Drawing.Size(165, 100);
+            this.tableLayoutPanel1.RowCount = 4;
-            this.arLabel7.TabIndex = 6;
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 25F));
-            this.arLabel7.Text = "자동 재시작";
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 25F));
-            this.arLabel7.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 25F));
-            this.arLabel7.TextShadow = true;
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 25F));
-            this.arLabel7.TextVisible = true;
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(633, 356);
-            this.arLabel7.Click += new System.EventHandler(this.arLabel7_Click);
+            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.ClientSize = new System.Drawing.Size(653, 473);
-            this.Controls.Add(this.arLabel7);
+            this.Controls.Add(this.tableLayoutPanel1);
-            this.Controls.Add(this.arLabel5);
-            this.Controls.Add(this.arLabel3);
             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 System.Windows.Forms.Button btOpenDir;
-        private arCtl.arLabel arLabel4;
+        private System.Windows.Forms.Button arLabel4;
-        private arCtl.arLabel arLabel6;
+        private System.Windows.Forms.Button btTaskMgr;
-        private arCtl.arLabel arLabel9;
+        private System.Windows.Forms.Button btShutdown;
-        private arCtl.arLabel arLabel10;
+        private System.Windows.Forms.Button btRestart;
-        private arCtl.arLabel arLabel1;
+        private System.Windows.Forms.Button btStartMenu;
-        private arCtl.arLabel arLabel2;
+        private System.Windows.Forms.Button btProcessList;
         private System.Windows.Forms.Label label1;
         private System.Windows.Forms.Label label2;
-        private arCtl.arLabel arLabel3;
+        private System.Windows.Forms.Button btEmulator;
-        private arCtl.arLabel arLabel5;
+        private System.Windows.Forms.Button btMakePatch;
-        private arCtl.arLabel arLabel7;
+        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/StateMachine/Step/_Util.cs

@@ -117,6 +117,11 @@ namespace Project
                     PUB.sm.SetNewRunStep(ERunStep.READY);
                     return false;
                 }
+                else
+                {
+                    PUB._mapCanvas.CurrentPath = PathResult.result;
+                    PUB._virtualAGV.SetPath(PathResult.result);
+                }
 
                 PUB.log.AddI($"경로생성 {PUB._virtualAGV.StartNode.RfidId} -> {PUB._virtualAGV.TargetNode.RfidId}");
             }
@@ -133,8 +138,16 @@ namespace Project
                 return false;
             }
 
+       
+
             //predict 를 이용하여 다음 이동을 모두 확인한다.
             var nextAction = PUB._virtualAGV.Predict();
+            if(nextAction.Reason == AGVNavigationCore.Models.eAGVCommandReason.PathOut)
+            {
+                //경로이탈
+                PUB._virtualAGV.CurrentPath.DetailedPath.Clear();
+                return false;
+            }
 
             var message = $"[다음 행동 예측]\n\n" +
                          $"모터: {nextAction.Motor}\n" +

Cs_HMI/Project/StateMachine/_AGV.cs

@@ -106,8 +106,7 @@ namespace Project
                                 PUB.log.Add($"충전상태전환 {agv_chg}");
                                 VAR.BOOL[eVarBool.FLAG_CHARGEONA] = agv_chg;
                             }
-                            //자동충전해제시 곧바로 수동 충전되는 경우가 있어 자동 상태를 BMS에 넣는다 230118
+                    
-                            PUB.BMS.AutoCharge = agv_chg;
 
                             if (PUB.AGV.error.Charger_pos_error != VAR.BOOL[eVarBool.CHG_POSERR])
                             {

Cs_HMI/Project/StateMachine/_BMS.cs

@@ -25,15 +25,18 @@ namespace Project
         DateTime lastbmstime = DateTime.Now;
         private void Bms_Message(object sender, arDev.BMS.MessageEventArgs e)
         {
-            if (e.MsgType == arDev.arRS232.MessageType.Error) PUB.logbms.AddE( e.Message);
+
+            if (e.MsgType == arDev.BMSSerialComm.MessageType.Error) PUB.logbms.AddE(e.Message);
             else
             {
+                VAR.TIME[eVarTime.LastRecv_BAT] = DateTime.Now;
+
                 var hexstr = e.Data.GetHexString().Trim();
                 bool addlog = false;
                 var logtimesec = 30;
                 if (hexstr.StartsWith("DD 04"))
                 {
-                    if (lastbms04.Equals(hexstr.Substring(0,5)) == false)
+                    if (lastbms04.Equals(hexstr.Substring(0, 5)) == false)
                     {
                         addlog = true;
                         lastbms04 = "DD 04";
@@ -133,32 +136,44 @@ namespace Project
                     }
                 }
 
-                if(addlog)
+                if (addlog)
-                    PUB.logbms.Add("BMS:" + hexstr);
+                {
+                    //if (e.MsgType == arDev.arRS232.MessageType.Recv)
+                    //    PUB.logbms.Add("RX", e.Data.GetHexString());
+                    //else if (e.MsgType == arDev.arRS232.MessageType.Send)
+                    //    PUB.logbms.Add("TX", e.Data.GetHexString());
+                    //else
+                    {
+                        PUB.logbms.Add(e.MsgType.ToString(),e.Message);
+                    }
+                        
+                }
+
+
 
             }
         }
         private void BMS_ChargeDetect(object sender, arDev.ChargetDetectArgs e)
         {
             //자동충전중이아니고 멈춰있다면 수동 충전으로 전환한다
-            if (PUB.AGV.system1.Battery_charging == false && PUB.AGV.system1.agv_stop == true && VAR.BOOL[eVarBool.FLAG_CHARGEONM] == false)
+            VAR.TIME[eVarTime.LastRecv_BAT] = DateTime.Now;
+            if (e.Detected == true)  //충전이 감지되었다.
             {
-                if (PUB.setting.DetectManualCharge)
+                if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == false && VAR.BOOL[eVarBool.FLAG_CHARGEONM] == false)
                 {
                     VAR.BOOL[eVarBool.FLAG_CHARGEONM] = true;
                     PUB.Speak(Lang.충전이감지되어수동충전으로전환합니다);
+                    if (PUB.AGV.system1.agv_run == true) PUB.AGV.AGVMoveStop("수동충전감지");
                 }
-                else
-                {
-                    PUB.log.Add($"충전이 감지되었지만 메뉴얼 전환 비활성화됨");
             }
+            else PUB.logbms.AddI("Battery Charge Off");
 
         }
-        }
 
         private void Bms_BMSDataReceive(object sender, EventArgs e)
         {
 
+            VAR.TIME[eVarTime.LastRecv_BAT] = DateTime.Now;
             //PUB.mapctl.Manager.agv.BatteryLevel = PUB.BMS.Current_Level;
             //PUB.mapctl.Manager.agv.BatteryTemp1 = PUB.BMS.Current_temp1;
             //PUB.mapctl.Manager.agv.BatteryTemp2 = PUB.BMS.Current_temp2;
@@ -188,6 +203,7 @@ namespace Project
         }
         private void BMS_BMSCellDataReceive(object sender, arDev.BMSCelvoltageEventArgs e)
         {
+            VAR.TIME[eVarTime.LastRecv_BAT] = DateTime.Now;
             EEMStatus.MakeBMSInformation_Cell();
         }
     }

Cs_HMI/Project/StateMachine/_SPS.cs

@@ -46,9 +46,12 @@ namespace Project
 
                 // XBee 연결
                 lock (connectobj)
+                {
+                    if (VAR.BOOL[eVarBool.DISABLE_AUTOCONN_XBEE] == false)
                     {
                         ConnectSerialPort(PUB.XBE, PUB.setting.Port_XBE, PUB.setting.Baud_XBE,
-               eVarTime.LastConn_XBE, eVarTime.LastConnTry_XBE, eVarTime.LastRecv_XBE);
+               eVarTime.LastConn_XBE, eVarTime.LastConnTry_XBE, null);
+                    }
                 }
 
 
@@ -72,7 +75,7 @@ namespace Project
                     else if (PUB.BMS.IsValid == false)
                     {
                         var ts = VAR.TIME.RUN(eVarTime.LastConnTry_BAT);
-                        if (ts.TotalSeconds > (PUB.setting.interval_bms * 2.5))
+                        if (ts.TotalSeconds > (Math.Max(10, PUB.setting.interval_bms) * 2.5))
                         {
                             this.BeginInvoke(new Action(() =>
                             {
@@ -84,7 +87,6 @@ namespace Project
                     }
                 }
 
-
                 // ========== 2. XBee 상태 전송 ==========
                 if (PUB.XBE != null && PUB.XBE.IsOpen)
                 {
@@ -147,7 +149,7 @@ namespace Project
         /// <summary>
         /// 시리얼 포트 연결 (arDev.arRS232)
         /// </summary>
-        bool ConnectSerialPort(arDev.ISerialComm dev, string port, int baud, eVarTime conn, eVarTime conntry, eVarTime recvtime)
+        bool ConnectSerialPort(arDev.ISerialComm dev, string port, int baud, eVarTime conn, eVarTime conntry, eVarTime? recvtime)
         {
             if (port.isEmpty()) return false;
 
@@ -159,13 +161,13 @@ namespace Project
                     VAR.TIME.Update(conntry);
                     try
                     {
-                        VAR.TIME.Update(recvtime);
+                        if (recvtime != null) VAR.TIME.Update(recvtime);
                         dev.PortName = port;
                         dev.BaudRate = baud;
                         PUB.log.Add($"Connect to {port}:{baud}");
                         if (dev.Open())
                         {
-                            VAR.TIME[recvtime] = DateTime.Now; //값을 수신한것처럼한다
+                            if (recvtime != null) VAR.TIME[recvtime] = DateTime.Now; //값을 수신한것처럼한다
                             PUB.log.Add(port, $"[{port}:{baud}] 연결 완료");
                         }
                         else
@@ -202,12 +204,12 @@ namespace Project
 
                 VAR.TIME.Update(conntry);
             }
-            else if (dev.IsOpen)
+            else if (dev.IsOpen && recvtime != null)
             {
                 //연결은 되었으나 통신이 지난지 10초가 지났다면 자동종료한다
                 var tsRecv = VAR.TIME.RUN(recvtime);
                 var tsConn = VAR.TIME.RUN(conntry);
-                if (tsRecv.TotalSeconds > 10 && tsConn.TotalSeconds > 5)
+                if (tsRecv.TotalSeconds > 30 && tsConn.TotalSeconds > 5)
                 {
                     this.BeginInvoke(new Action(() =>
                     {

Cs_HMI/Project/StateMachine/_TMDisplay.cs

@@ -566,10 +566,14 @@ namespace Project
             if (PUB.sm.Step > eSMStep.INIT)
             {
                 //오류가 있다면 오류를 표시해준다.
-                if (PUB.AGV.IsOpen == false)
+                if (PUB.AGV.IsOpen == false )
                 {
                     UpdateStatusMessage("AGV 연결실패", Color.Tomato, Color.Black);
                 }
+                else if(PUB.AGV.IsValid==false)
+                {
+                    UpdateStatusMessage("AGV 통신상태 불량", Color.Tomato, Color.Black);
+                }
                 else if (PUB.AGV.error.Emergency)
                 {
                     if (PUB.AGV.error.runerror_by_no_magent_line)
@@ -581,6 +585,14 @@ namespace Project
                         UpdateStatusMessage("비상 정지", Color.Tomato, Color.Black);
                     }
                 }
+                else if (PUB.BMS != null || PUB.BMS.IsOpen==false)
+                {
+                    UpdateStatusMessage("BMS가 연결되지 않았습니다", Color.Tomato, Color.Black);
+                }
+                else if (PUB.BMS != null || PUB.BMS.IsValid == false)
+                {
+                    UpdateStatusMessage("BMS 통신상태 불량", Color.Tomato, Color.Black);
+                }
                 //else if (PUB.PLC.IsOpen == false)
                 //{
                 //    UpdateStatusMessage(Lang.PLC연결실패, Color.Tomato, Color.Black);

Cs_HMI/Project/StateMachine/_Xbee.cs

@@ -113,7 +113,7 @@ namespace Project
 
                     case ENIGProtocol.AGVCommandHE.GotoAlias:
                     case ENIGProtocol.AGVCommandHE.Goto:  //move to tag
-                        var datalength = cmd == ENIGProtocol.AGVCommandHE.GotoAlias ? 1 : 4;
+                        var datalength = cmd == ENIGProtocol.AGVCommandHE.GotoAlias ? 2 : 1;
                         if (data.Length > datalength)
                         {
                             var currTag = System.Text.Encoding.Default.GetString(data, 1, data.Length - 1).Trim();
@@ -172,6 +172,23 @@ namespace Project
                         else PUB.log.AddE($"[{logPrefix}-{cmd}] Length Error:{data.Length}");
                         break;
 
+                    case ENIGProtocol.AGVCommandHE.LTurn180:
+                        PUB.log.Add($"[{logPrefix}-LTurn180]");
+                        PUB.AGV.AGVMoveLeft180Turn();
+                        break;
+                    case ENIGProtocol.AGVCommandHE.RTurn180:
+                        PUB.log.Add($"[{logPrefix}-RTurn180]");
+                        PUB.AGV.AGVMoveRight180Turn();
+                        break;
+
+                    case ENIGProtocol.AGVCommandHE.LTurn:
+                        PUB.log.Add($"[{logPrefix}-LTurn]");
+                        PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.LT, arDev.Narumi.Speed.Low, arDev.Narumi.Sensor.AllOn);
+                        break;
+                    case ENIGProtocol.AGVCommandHE.RTurn:
+                        PUB.log.Add($"[{logPrefix}-RTurn]");
+                        PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.RT, arDev.Narumi.Speed.Low, arDev.Narumi.Sensor.AllOn);
+                        break;
                     case ENIGProtocol.AGVCommandHE.Stop:  //stop
                         PUB.log.Add($"[{logPrefix}-Stop]");
                         PUB.AGV.AGVMoveStop("xbee");
@@ -205,6 +222,7 @@ namespace Project
                         var MotDirection = data[1];     //0=back, 1=forward
                         var MagDirection = data[2];     //0=straight, 1=left, 2=right
                         var AutSpeed = data[3];         //0=slow, 1=normal, 2=fast
+                        var Lidar = data[4];            //0=off, 1=on
 
                         var bunkidata = new arDev.Narumi.BunkiData();
 
@@ -221,6 +239,9 @@ namespace Project
                         else if (MagDirection == 1) bunkidata.Bunki = arDev.Narumi.eBunki.Left;
                         else bunkidata.Bunki = arDev.Narumi.eBunki.Strate;
 
+                        if (Lidar == 0) bunkidata.PBSSensor = 0;
+                        else bunkidata.PBSSensor = 2;
+
                             PUB.log.Add($"[{logPrefix}-AutoMove] DIR:{bunkidata.Direction}-{bunkidata.Bunki},SPD:{bunkidata.Speed}");
                         PUB.AGV.AGVMoveSet(bunkidata);
                         PUB.AGV.AGVMoveRun((MotDirection == 0 ? arDev.Narumi.eRunOpt.Backward : arDev.Narumi.eRunOpt.Forward));
@@ -255,7 +276,7 @@ namespace Project
                         break;
             
                     default:
-                        PUB.logagv.AddE($"Unknown Command : {cmd}");
+                        PUB.logagv.AddE($"Unknown Command : {cmd} Sender:{e.ReceivedPacket.ID}, Target:{data[0]}");
                         PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.UnknownCommand, $"{cmd}");
                         break;
                 }
@@ -301,6 +322,19 @@ namespace Project
                 if (advancedResult.DockingValidation == null || !advancedResult.DockingValidation.IsValidationRequired)
                     advancedResult.DockingValidation = DockingValidator.ValidateDockingDirection(advancedResult, _mapNodes);
 
+                //마지막대상이 버퍼라면 시퀀스처리를 해야한다
+                if (targetNode.StationType == StationType.Buffer&& advancedResult.DetailedPath.Any())
+                {
+                    var lastDetailPath = advancedResult.DetailedPath.Last();
+                    if (lastDetailPath.NodeId == targetNode.Id)  //마지막노드 재확인
+                    {
+                        //버퍼에 도킹할때에는 마지막 노드에서 멈추고 시퀀스를 적용해야한다
+                        advancedResult.DetailedPath = advancedResult.DetailedPath.Take(advancedResult.DetailedPath.Count - 1).ToList();
+                        Console.WriteLine("최종위치가 버퍼이므로 마지막 RFID에서 멈추도록 합니다");
+                    }
+                }
+
+
                 _simulatorCanvas.CurrentPath = advancedResult;
                 //_pathLengthLabel.Text = $"경로 길이: {advancedResult.TotalDistance:F1}";
                 //_statusLabel.Text = $"경로 계산 완료 ({advancedResult.CalculationTimeMs}ms)";

Cs_HMI/Project/ViewForm/fAuto.cs

@@ -43,11 +43,19 @@ namespace Project.ViewForm
 
         private void OnNodeSelected(object sender, NodeBase node, MouseEventArgs e)
         {
-            if (e.Button != MouseButtons.Right) return;
             if (node == null) return;
             var mapnode = node as MapNode;
             if (mapnode == null) return;
 
+            // [Run Mode] Left Click: AGV Operation
+            if (PUB._mapCanvas.Mode == AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Run && e.Button == MouseButtons.Left)
+            {
+                 HandleRunModeClick(mapnode);
+                 return;
+            }
+
+            if (e.Button != MouseButtons.Right) return;
+
             // 도킹 가능한 노드인지 또는 작업 노드인지 확인
             if (mapnode.isDockingNode == false) return;
 
@@ -129,35 +137,15 @@ namespace Project.ViewForm
         private void fAuto_Load(object sender, EventArgs e)
         {
             ctlAuto1.dev_agv = PUB.AGV;
-            //     ctlAuto1.dev_plc = PUB.PLC;
             ctlAuto1.dev_bms = PUB.BMS;
             ctlAuto1.dev_xbe = PUB.XBE;
 
             PUB.AGV.DataReceive += AGV_DataReceive;
 
-
-            
-            //var fn = string.Empty;
-            //if (files.Any() == false)
-            //{
-            //    fn = AR.UTIL.MakePath("sample.route");
-            //}
-            //else if (files.Count() == 1)
-            //{
-            //    fn = files.First().FullName;
-            //}
-            //if (fn.isEmpty() == false)
-            //{
-            //    var fi = new System.IO.FileInfo(AR.UTIL.CurrentPath + "\\sample.route");
-            //    if (fi.Exists)
-            //    {
-            //        PUB.log.Add($"autoload : {fi.FullName}");
-            //        var rlt = PUB.mapctl.LoadFromFile(fi.FullName, out string errmsg);
-            //        if (rlt == false) AR.UTIL.MsgE(errmsg);
-            //    }
-            //}
-
             this.timer1.Start();
+
+            // Set Run Mode
+            PUB._mapCanvas.Mode = AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Run;
         }
         private void AGV_DataReceive(object sender, arDev.Narumi.DataEventArgs e)
         {
@@ -194,6 +182,9 @@ namespace Project.ViewForm
             PUB.sm.StepChanged -= Sm_StepChanged;
             this.ctlAuto1.ButtonClick -= CtlAuto1_ButtonClick;
             PUB.AGV.DataReceive -= AGV_DataReceive;
+
+            // Reset Mode to Edit
+            PUB._mapCanvas.Mode = AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Edit;
         }
 
         bool tmrun = false;
@@ -201,7 +192,15 @@ namespace Project.ViewForm
         private void fAuto_VisibleChanged(object sender, EventArgs e)
         {
             this.timer1.Enabled = this.Visible;
-            if (timer1.Enabled) timer1.Start();
+            if (timer1.Enabled) 
+            {
+                timer1.Start();
+                // 화면이 보일 때 Run 모드로 강제 설정
+                if (PUB._mapCanvas.Mode != AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Run)
+                {
+                    PUB._mapCanvas.Mode = AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Run;
+                }
+            }
             else timer1.Stop();
         }
 
@@ -236,5 +235,49 @@ namespace Project.ViewForm
 
             //tmrun = false;
         }
+
+        private void HandleRunModeClick(MapNode targetNode)
+        {
+            if (targetNode == null) return;
+
+            ENIGProtocol.AGVCommandHE targetCmd = ENIGProtocol.AGVCommandHE.Goto;
+            string confirmMsg = "";
+
+            if (targetNode.StationType == StationType.Charger)
+            {
+                if (MessageBox.Show($"[{targetNode.Id}] 충전기로 이동하여 충전을 진행하시겠습니까?", "작업 확인", MessageBoxButtons.YesNo) == DialogResult.Yes)
+                {
+                    targetCmd = ENIGProtocol.AGVCommandHE.Charger;
+                    ExecuteManualCommand(targetNode, targetCmd);
+                }
+                return;
+            }
+            else if (targetNode.isDockingNode)
+            {
+                // Loader, Unloader, Buffer, Cleaner - Pick/Drop Selection
+                ContextMenuStrip menu = new ContextMenuStrip();
+                
+                var pickOn = new ToolStripMenuItem("Pick On (Move & Pick)");
+                pickOn.Click += (s, args) => ExecuteManualCommand(targetNode, ENIGProtocol.AGVCommandHE.PickOn);
+                menu.Items.Add(pickOn);
+
+                var pickOff = new ToolStripMenuItem("Pick Off (Move & Drop)");
+                pickOff.Click += (s, args) => ExecuteManualCommand(targetNode, ENIGProtocol.AGVCommandHE.PickOff);
+                menu.Items.Add(pickOff);
+
+                menu.Show(Cursor.Position);
+                return;
+            }
+            else
+            {
+                // Normal Node
+                if (MessageBox.Show($"[{targetNode.Id}] 노드로 이동하시겠습니까?", "이동 확인", MessageBoxButtons.YesNo) == DialogResult.Yes)
+                {
+                    targetCmd = ENIGProtocol.AGVCommandHE.Goto;
+                    ExecuteManualCommand(targetNode, targetCmd);
+                }
+                return;
+            }
+        }
     }
 }

Cs_HMI/Project/ViewForm/fBms.cs

@@ -64,7 +64,7 @@ namespace Project.ViewForm
         {
             timer1.Stop();
             this.arLabel1.Text = PUB.BMS.Current_Level.ToString("N1") + "%";
-            this.arLabel1.Sign = PUB.BMS.Current_Volt.ToString() + "v";
+            this.arLabel1.Sign = $"{PUB.BMS.Current_Volt}v, {PUB.BMS.Charge_watt}w";// PUB.BMS.Current_Volt.ToString() + "v";
             this.cv1.Text = PUB.BMS.CellVoltage[0].ToString("N3") + "v";
             this.cv2.Text = PUB.BMS.CellVoltage[1].ToString("N3") + "v";
             this.cv3.Text = PUB.BMS.CellVoltage[2].ToString("N3") + "v";

Cs_HMI/Project/ViewForm/fFlag.Designer.cs

@@ -29,34 +29,42 @@
         private void InitializeComponent()
         {
             this.components = new System.ComponentModel.Container();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle4 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle3 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle2 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle1 = new System.Windows.Forms.DataGridViewCellStyle();
             this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
-            this.listView1 = new System.Windows.Forms.ListView();
-            this.columnHeader1 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
-            this.columnHeader2 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
-            this.listView2 = new System.Windows.Forms.ListView();
-            this.columnHeader3 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
-            this.columnHeader4 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
-            this.listView3 = new System.Windows.Forms.ListView();
-            this.columnHeader5 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
-            this.columnHeader6 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
-            this.listView4 = new System.Windows.Forms.ListView();
-            this.columnHeader7 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
-            this.columnHeader8 = ((System.Windows.Forms.ColumnHeader)(new System.Windows.Forms.ColumnHeader()));
             this.timer1 = new System.Windows.Forms.Timer(this.components);
+            this.dv1 = new System.Windows.Forms.DataGridView();
+            this.Column1 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column2 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.dv2 = new System.Windows.Forms.DataGridView();
+            this.dataGridViewTextBoxColumn1 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.dataGridViewTextBoxColumn2 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.dv3 = new System.Windows.Forms.DataGridView();
+            this.dataGridViewTextBoxColumn3 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.dataGridViewTextBoxColumn4 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.dv4 = new System.Windows.Forms.DataGridView();
+            this.dataGridViewTextBoxColumn5 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.dataGridViewTextBoxColumn6 = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.tableLayoutPanel1.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.dv1)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.dv2)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.dv3)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.dv4)).BeginInit();
             this.SuspendLayout();
             // 
             // tableLayoutPanel1
             // 
             this.tableLayoutPanel1.ColumnCount = 4;
-            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 25F));
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 30F));
-            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 25F));
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 30F));
-            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 25F));
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 20F));
-            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 25F));
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 20F));
-            this.tableLayoutPanel1.Controls.Add(this.listView1, 0, 0);
+            this.tableLayoutPanel1.Controls.Add(this.dv4, 2, 1);
-            this.tableLayoutPanel1.Controls.Add(this.listView2, 1, 0);
+            this.tableLayoutPanel1.Controls.Add(this.dv3, 2, 0);
-            this.tableLayoutPanel1.Controls.Add(this.listView3, 2, 0);
+            this.tableLayoutPanel1.Controls.Add(this.dv2, 1, 0);
-            this.tableLayoutPanel1.Controls.Add(this.listView4, 3, 0);
+            this.tableLayoutPanel1.Controls.Add(this.dv1, 0, 0);
             this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
             this.tableLayoutPanel1.Location = new System.Drawing.Point(3, 3);
             this.tableLayoutPanel1.Name = "tableLayoutPanel1";
@@ -66,92 +74,167 @@
             this.tableLayoutPanel1.Size = new System.Drawing.Size(1050, 577);
             this.tableLayoutPanel1.TabIndex = 6;
             // 
-            // listView1
-            // 
-            this.listView1.Columns.AddRange(new System.Windows.Forms.ColumnHeader[] {
-            this.columnHeader1,
-            this.columnHeader2});
-            this.listView1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.listView1.HideSelection = false;
-            this.listView1.Location = new System.Drawing.Point(3, 3);
-            this.listView1.Name = "listView1";
-            this.tableLayoutPanel1.SetRowSpan(this.listView1, 2);
-            this.listView1.Size = new System.Drawing.Size(256, 571);
-            this.listView1.TabIndex = 0;
-            this.listView1.UseCompatibleStateImageBehavior = false;
-            this.listView1.View = System.Windows.Forms.View.Details;
-            this.listView1.SelectedIndexChanged += new System.EventHandler(this.listView1_SelectedIndexChanged);
-            // 
-            // columnHeader1
-            // 
-            this.columnHeader1.Width = 120;
-            // 
-            // columnHeader2
-            // 
-            this.columnHeader2.Width = 120;
-            // 
-            // listView2
-            // 
-            this.listView2.Columns.AddRange(new System.Windows.Forms.ColumnHeader[] {
-            this.columnHeader3,
-            this.columnHeader4});
-            this.listView2.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.listView2.HideSelection = false;
-            this.listView2.Location = new System.Drawing.Point(265, 3);
-            this.listView2.Name = "listView2";
-            this.tableLayoutPanel1.SetRowSpan(this.listView2, 2);
-            this.listView2.Size = new System.Drawing.Size(256, 571);
-            this.listView2.TabIndex = 0;
-            this.listView2.UseCompatibleStateImageBehavior = false;
-            this.listView2.View = System.Windows.Forms.View.Details;
-            // 
-            // columnHeader3
-            // 
-            this.columnHeader3.Width = 120;
-            // 
-            // listView3
-            // 
-            this.listView3.Columns.AddRange(new System.Windows.Forms.ColumnHeader[] {
-            this.columnHeader5,
-            this.columnHeader6});
-            this.listView3.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.listView3.HideSelection = false;
-            this.listView3.Location = new System.Drawing.Point(527, 3);
-            this.listView3.Name = "listView3";
-            this.tableLayoutPanel1.SetRowSpan(this.listView3, 2);
-            this.listView3.Size = new System.Drawing.Size(256, 571);
-            this.listView3.TabIndex = 0;
-            this.listView3.UseCompatibleStateImageBehavior = false;
-            this.listView3.View = System.Windows.Forms.View.Details;
-            // 
-            // columnHeader5
-            // 
-            this.columnHeader5.Width = 120;
-            // 
-            // listView4
-            // 
-            this.listView4.Columns.AddRange(new System.Windows.Forms.ColumnHeader[] {
-            this.columnHeader7,
-            this.columnHeader8});
-            this.listView4.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.listView4.HideSelection = false;
-            this.listView4.Location = new System.Drawing.Point(789, 3);
-            this.listView4.Name = "listView4";
-            this.tableLayoutPanel1.SetRowSpan(this.listView4, 2);
-            this.listView4.Size = new System.Drawing.Size(258, 571);
-            this.listView4.TabIndex = 0;
-            this.listView4.UseCompatibleStateImageBehavior = false;
-            this.listView4.View = System.Windows.Forms.View.Details;
-            // 
-            // columnHeader7
-            // 
-            this.columnHeader7.Width = 120;
-            // 
             // timer1
             // 
             this.timer1.Interval = 500;
             this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
             // 
+            // dv1
+            // 
+            this.dv1.AllowUserToAddRows = false;
+            this.dv1.AllowUserToDeleteRows = false;
+            this.dv1.AllowUserToResizeRows = false;
+            this.dv1.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
+            this.dv1.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
+            this.Column1,
+            this.Column2});
+            dataGridViewCellStyle4.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
+            dataGridViewCellStyle4.BackColor = System.Drawing.SystemColors.Window;
+            dataGridViewCellStyle4.Font = new System.Drawing.Font("Calibri", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            dataGridViewCellStyle4.ForeColor = System.Drawing.SystemColors.ControlText;
+            dataGridViewCellStyle4.SelectionBackColor = System.Drawing.SystemColors.Highlight;
+            dataGridViewCellStyle4.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
+            dataGridViewCellStyle4.WrapMode = System.Windows.Forms.DataGridViewTriState.False;
+            this.dv1.DefaultCellStyle = dataGridViewCellStyle4;
+            this.dv1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.dv1.Location = new System.Drawing.Point(3, 3);
+            this.dv1.Name = "dv1";
+            this.dv1.ReadOnly = true;
+            this.dv1.RowHeadersVisible = false;
+            this.tableLayoutPanel1.SetRowSpan(this.dv1, 2);
+            this.dv1.RowTemplate.Height = 23;
+            this.dv1.Size = new System.Drawing.Size(309, 571);
+            this.dv1.TabIndex = 1;
+            // 
+            // Column1
+            // 
+            this.Column1.HeaderText = "Column1";
+            this.Column1.Name = "Column1";
+            this.Column1.ReadOnly = true;
+            // 
+            // Column2
+            // 
+            this.Column2.HeaderText = "Column2";
+            this.Column2.Name = "Column2";
+            this.Column2.ReadOnly = true;
+            // 
+            // dv2
+            // 
+            this.dv2.AllowUserToAddRows = false;
+            this.dv2.AllowUserToDeleteRows = false;
+            this.dv2.AllowUserToResizeRows = false;
+            this.dv2.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
+            this.dv2.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
+            this.dataGridViewTextBoxColumn1,
+            this.dataGridViewTextBoxColumn2});
+            dataGridViewCellStyle3.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
+            dataGridViewCellStyle3.BackColor = System.Drawing.SystemColors.Window;
+            dataGridViewCellStyle3.Font = new System.Drawing.Font("Calibri", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            dataGridViewCellStyle3.ForeColor = System.Drawing.SystemColors.ControlText;
+            dataGridViewCellStyle3.SelectionBackColor = System.Drawing.SystemColors.Highlight;
+            dataGridViewCellStyle3.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
+            dataGridViewCellStyle3.WrapMode = System.Windows.Forms.DataGridViewTriState.False;
+            this.dv2.DefaultCellStyle = dataGridViewCellStyle3;
+            this.dv2.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.dv2.Location = new System.Drawing.Point(318, 3);
+            this.dv2.Name = "dv2";
+            this.dv2.ReadOnly = true;
+            this.dv2.RowHeadersVisible = false;
+            this.tableLayoutPanel1.SetRowSpan(this.dv2, 2);
+            this.dv2.RowTemplate.Height = 23;
+            this.dv2.Size = new System.Drawing.Size(309, 571);
+            this.dv2.TabIndex = 2;
+            // 
+            // dataGridViewTextBoxColumn1
+            // 
+            this.dataGridViewTextBoxColumn1.HeaderText = "Column1";
+            this.dataGridViewTextBoxColumn1.Name = "dataGridViewTextBoxColumn1";
+            this.dataGridViewTextBoxColumn1.ReadOnly = true;
+            // 
+            // dataGridViewTextBoxColumn2
+            // 
+            this.dataGridViewTextBoxColumn2.HeaderText = "Column2";
+            this.dataGridViewTextBoxColumn2.Name = "dataGridViewTextBoxColumn2";
+            this.dataGridViewTextBoxColumn2.ReadOnly = true;
+            // 
+            // dv3
+            // 
+            this.dv3.AllowUserToAddRows = false;
+            this.dv3.AllowUserToDeleteRows = false;
+            this.dv3.AllowUserToResizeRows = false;
+            this.dv3.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
+            this.dv3.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
+            this.dataGridViewTextBoxColumn3,
+            this.dataGridViewTextBoxColumn4});
+            this.tableLayoutPanel1.SetColumnSpan(this.dv3, 2);
+            dataGridViewCellStyle2.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
+            dataGridViewCellStyle2.BackColor = System.Drawing.SystemColors.Window;
+            dataGridViewCellStyle2.Font = new System.Drawing.Font("Calibri", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            dataGridViewCellStyle2.ForeColor = System.Drawing.SystemColors.ControlText;
+            dataGridViewCellStyle2.SelectionBackColor = System.Drawing.SystemColors.Highlight;
+            dataGridViewCellStyle2.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
+            dataGridViewCellStyle2.WrapMode = System.Windows.Forms.DataGridViewTriState.False;
+            this.dv3.DefaultCellStyle = dataGridViewCellStyle2;
+            this.dv3.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.dv3.Location = new System.Drawing.Point(633, 3);
+            this.dv3.Name = "dv3";
+            this.dv3.ReadOnly = true;
+            this.dv3.RowHeadersVisible = false;
+            this.dv3.RowTemplate.Height = 23;
+            this.dv3.Size = new System.Drawing.Size(414, 282);
+            this.dv3.TabIndex = 3;
+            // 
+            // dataGridViewTextBoxColumn3
+            // 
+            this.dataGridViewTextBoxColumn3.HeaderText = "Column1";
+            this.dataGridViewTextBoxColumn3.Name = "dataGridViewTextBoxColumn3";
+            this.dataGridViewTextBoxColumn3.ReadOnly = true;
+            // 
+            // dataGridViewTextBoxColumn4
+            // 
+            this.dataGridViewTextBoxColumn4.HeaderText = "Column2";
+            this.dataGridViewTextBoxColumn4.Name = "dataGridViewTextBoxColumn4";
+            this.dataGridViewTextBoxColumn4.ReadOnly = true;
+            // 
+            // dv4
+            // 
+            this.dv4.AllowUserToAddRows = false;
+            this.dv4.AllowUserToDeleteRows = false;
+            this.dv4.AllowUserToResizeRows = false;
+            this.dv4.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
+            this.dv4.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
+            this.dataGridViewTextBoxColumn5,
+            this.dataGridViewTextBoxColumn6});
+            this.tableLayoutPanel1.SetColumnSpan(this.dv4, 2);
+            dataGridViewCellStyle1.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
+            dataGridViewCellStyle1.BackColor = System.Drawing.SystemColors.Window;
+            dataGridViewCellStyle1.Font = new System.Drawing.Font("Calibri", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            dataGridViewCellStyle1.ForeColor = System.Drawing.SystemColors.ControlText;
+            dataGridViewCellStyle1.SelectionBackColor = System.Drawing.SystemColors.Highlight;
+            dataGridViewCellStyle1.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
+            dataGridViewCellStyle1.WrapMode = System.Windows.Forms.DataGridViewTriState.False;
+            this.dv4.DefaultCellStyle = dataGridViewCellStyle1;
+            this.dv4.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.dv4.Location = new System.Drawing.Point(633, 291);
+            this.dv4.Name = "dv4";
+            this.dv4.ReadOnly = true;
+            this.dv4.RowHeadersVisible = false;
+            this.dv4.RowTemplate.Height = 23;
+            this.dv4.Size = new System.Drawing.Size(414, 283);
+            this.dv4.TabIndex = 4;
+            // 
+            // dataGridViewTextBoxColumn5
+            // 
+            this.dataGridViewTextBoxColumn5.HeaderText = "Column1";
+            this.dataGridViewTextBoxColumn5.Name = "dataGridViewTextBoxColumn5";
+            this.dataGridViewTextBoxColumn5.ReadOnly = true;
+            // 
+            // dataGridViewTextBoxColumn6
+            // 
+            this.dataGridViewTextBoxColumn6.HeaderText = "Column2";
+            this.dataGridViewTextBoxColumn6.Name = "dataGridViewTextBoxColumn6";
+            this.dataGridViewTextBoxColumn6.ReadOnly = true;
+            // 
             // fFlag
             // 
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
@@ -165,6 +248,10 @@
             this.Load += new System.EventHandler(this.fFlag_Load);
             this.VisibleChanged += new System.EventHandler(this.fFlag_VisibleChanged);
             this.tableLayoutPanel1.ResumeLayout(false);
+            ((System.ComponentModel.ISupportInitialize)(this.dv1)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.dv2)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.dv3)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.dv4)).EndInit();
             this.ResumeLayout(false);
 
         }
@@ -173,17 +260,17 @@
 
         private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1;
         private System.Windows.Forms.Timer timer1;
-        private System.Windows.Forms.ListView listView1;
+        private System.Windows.Forms.DataGridView dv4;
-        private System.Windows.Forms.ListView listView2;
+        private System.Windows.Forms.DataGridViewTextBoxColumn dataGridViewTextBoxColumn5;
-        private System.Windows.Forms.ListView listView3;
+        private System.Windows.Forms.DataGridViewTextBoxColumn dataGridViewTextBoxColumn6;
-        private System.Windows.Forms.ListView listView4;
+        private System.Windows.Forms.DataGridView dv3;
-        private System.Windows.Forms.ColumnHeader columnHeader1;
+        private System.Windows.Forms.DataGridViewTextBoxColumn dataGridViewTextBoxColumn3;
-        private System.Windows.Forms.ColumnHeader columnHeader2;
+        private System.Windows.Forms.DataGridViewTextBoxColumn dataGridViewTextBoxColumn4;
-        private System.Windows.Forms.ColumnHeader columnHeader3;
+        private System.Windows.Forms.DataGridView dv2;
-        private System.Windows.Forms.ColumnHeader columnHeader4;
+        private System.Windows.Forms.DataGridViewTextBoxColumn dataGridViewTextBoxColumn1;
-        private System.Windows.Forms.ColumnHeader columnHeader5;
+        private System.Windows.Forms.DataGridViewTextBoxColumn dataGridViewTextBoxColumn2;
-        private System.Windows.Forms.ColumnHeader columnHeader6;
+        private System.Windows.Forms.DataGridView dv1;
-        private System.Windows.Forms.ColumnHeader columnHeader7;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column1;
-        private System.Windows.Forms.ColumnHeader columnHeader8;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column2;
     }
 }

Cs_HMI/Project/ViewForm/fFlag.cs

@@ -30,16 +30,18 @@ namespace Project.ViewForm
 
         void MakeControl()
         {
-            ListView[] lvs = new ListView[] { listView1, listView2, listView3, listView4 };
+            DataGridView[] dvs = new DataGridView[] { dv1, dv2, dv3, dv4 };
-            foreach (var lv in lvs)
+          
+            foreach(var lv in dvs)
             {
                 lv.Columns.Clear();
-                lv.Columns.Add("Idx");
+                lv.Columns.Add("idx", "*");
-                lv.Columns.Add("Title");
+                lv.Columns.Add("Title", "Title");
-                lv.Columns.Add("Value");
+                lv.Columns.Add("Value", "Value");
                 lv.Columns[0].Width = 25;
                 lv.Columns[1].Width = 150;
-                lv.Columns[2].Width = 100;
+                lv.Columns[2].AutoSizeMode = DataGridViewAutoSizeColumnMode.Fill;
+                 
             }
             Array valuelist;
 
@@ -47,38 +49,33 @@ namespace Project.ViewForm
             foreach (var item in valuelist)
             {
                 var v = (COMM.eVarBool)item;
-                var lv = listView1.Items.Add($"{(int)v}");
+                dv1.Rows.Add($"{(int)v}", item, "--");
-                lv.SubItems.Add($"{item}");
-                lv.SubItems.Add("--");
             }
 
             valuelist = Enum.GetValues(typeof(COMM.eVarInt32));
             foreach (var item in valuelist)
             {
                 var v = (COMM.eVarInt32)item;
-                var lv = listView2.Items.Add($"{(int)v}");
+                dv2.Rows.Add($"{(int)v}", item, "--");
-                lv.SubItems.Add($"{item}");
-                lv.SubItems.Add("--");
             }
 
             valuelist = Enum.GetValues(typeof(COMM.eVarString));
             foreach (var item in valuelist)
             {
                 var v = (COMM.eVarString)item;
-                var lv = listView3.Items.Add($"{(int)v}");
+                dv3.Rows.Add($"{(int)v}", item, "--");
-                lv.SubItems.Add($"{item}");
-                lv.SubItems.Add("--");
             }
 
             valuelist = Enum.GetValues(typeof(COMM.eVarTime));
             foreach (var item in valuelist)
             {
                 var v = (COMM.eVarString)item;
-                var lv = listView4.Items.Add($"{(int)v}");
+                dv4.Rows.Add($"{(int)v}", item, "--");
-                lv.SubItems.Add($"{item}");
-                lv.SubItems.Add("--");
             }
 
+            foreach (var dv in dvs)
+                dv.AutoResizeColumns();
+
 
         }
 
@@ -91,42 +88,32 @@ namespace Project.ViewForm
         private void timer1_Tick(object sender, EventArgs e)
         {
             timer1.Stop();
-            listView1.SuspendLayout();
+            foreach(DataGridViewRow item in this.dv1.Rows)
-            foreach (ListViewItem item in listView1.Items)
             {
-                var idx = int.Parse(item.SubItems[0].Text);
+                var idx = int.Parse(item.Cells["idx"].Value.ToString());
                 var v = VAR.BOOL.Get(idx);
-                var desc = VAR.BOOL.GetCodeDesc(idx);
+                item.Cells["value"].Value = v ? "O" : "X";
-                item.SubItems[2].Text = v ? "O" : "X";
             }
-            listView1.ResumeLayout();
+
-            listView2.SuspendLayout();
+            foreach (DataGridViewRow item in this.dv2.Rows)
-            foreach (ListViewItem item in listView2.Items)
             {
-                var idx = int.Parse(item.SubItems[0].Text);
+                var idx = int.Parse(item.Cells["idx"].Value.ToString());
                 var v = VAR.I32.Get(idx);
-                var desc = VAR.I32.GetCodeDesc(idx);
+                item.Cells["value"].Value = v.ToString();
-                item.SubItems[2].Text = v.ToString();
             }
-            listView2.ResumeLayout();
+
-            listView3.SuspendLayout();
+            foreach (DataGridViewRow item in this.dv3.Rows)
-            foreach (ListViewItem item in listView3.Items)
             {
-                var idx = int.Parse(item.SubItems[0].Text);
+                var idx = int.Parse(item.Cells["idx"].Value.ToString());
                 var v = VAR.STR.Get(idx);
-                var desc = VAR.STR.GetCodeDesc(idx);
+                item.Cells["value"].Value = v;
-                item.SubItems[2].Text = v;
             }
-            listView3.ResumeLayout();
+            foreach (DataGridViewRow item in this.dv4.Rows)
-            listView4.SuspendLayout();
-            foreach (ListViewItem item in listView4.Items)
             {
-                var idx = int.Parse(item.SubItems[0].Text);
+                var idx = int.Parse(item.Cells["idx"].Value.ToString());
                 var v = VAR.TIME.Get(idx);
-                var desc = VAR.TIME.GetCodeDesc(idx);
+                item.Cells["value"].Value = v.ToString("HH:mm:ss.fff");
-                item.SubItems[2].Text = v.ToString("HH:mm:ss.fff");
             }
-            listView4.ResumeLayout();
             timer1.Start();
         }
 

Cs_HMI/Project/ViewForm/fFlag.resx

@@ -117,6 +117,30 @@
   <resheader name="writer">
     <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
+  <metadata name="dataGridViewTextBoxColumn5.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
+  <metadata name="dataGridViewTextBoxColumn6.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
+  <metadata name="dataGridViewTextBoxColumn3.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
+  <metadata name="dataGridViewTextBoxColumn4.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
+  <metadata name="dataGridViewTextBoxColumn1.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
+  <metadata name="dataGridViewTextBoxColumn2.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
+  <metadata name="Column1.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
+  <metadata name="Column2.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
   <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>17, 17</value>
   </metadata>

Cs_HMI/Project/ViewForm/fManual.cs

@@ -79,8 +79,9 @@ namespace Project.ViewForm
             }
             if (PUB.CheckManualChargeMode() == false) return;
             arDev.Narumi.Speed spd = arDev.Narumi.Speed.Low;
+
             if (radspdh.Checked) spd = arDev.Narumi.Speed.High;
-            else if (radspdl.Checked) spd = arDev.Narumi.Speed.Mid;
+            else if (radspdm.Checked) spd = arDev.Narumi.Speed.Mid;
             arDev.Narumi.Sensor ss = arDev.Narumi.Sensor.PBSOff;
             if (radpbs0.Checked) ss = arDev.Narumi.Sensor.PBSOn;
             PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.BS, spd, ss);
@@ -109,7 +110,7 @@ namespace Project.ViewForm
             if (PUB.CheckManualChargeMode() == false) return;
             arDev.Narumi.Speed spd = arDev.Narumi.Speed.Low;
             if (radspdh.Checked) spd = arDev.Narumi.Speed.High;
-            else if (radspdl.Checked) spd = arDev.Narumi.Speed.Mid;
+            else if (radspdm.Checked) spd = arDev.Narumi.Speed.Mid;
             arDev.Narumi.Sensor ss = arDev.Narumi.Sensor.PBSOff;
             if (radpbs0.Checked) ss = arDev.Narumi.Sensor.PBSOn;
             PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.FS, spd, ss);

Cs_HMI/Project/fMain.Designer.cs

@@ -109,6 +109,7 @@ namespace Project
             this.lbIDLE = new arCtl.arLabel();
             this.lbStStep = new arCtl.arLabel();
             this.panTopMenu = new System.Windows.Forms.Panel();
+            this.lbBat = new AGVControl.BatteryLevelGauge();
             this.pictureBox1 = new System.Windows.Forms.PictureBox();
             this.cmDebug = new System.Windows.Forms.ContextMenuStrip(this.components);
             this.mapFileToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
@@ -121,12 +122,12 @@ namespace Project
             this.debugtestToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.pandBottomDIO = new System.Windows.Forms.Panel();
             this.panel9 = new System.Windows.Forms.Panel();
+            this.IOState = new arFrame.Control.GridView();
+            this.SSInfo = new arFrame.Control.GridView();
             this.panDlg = new System.Windows.Forms.Panel();
             this.arPanel2 = new arCtl.arPanel();
             this.arPanel1 = new arCtl.arPanel();
-            this.IOState = new arFrame.Control.GridView();
+            this.xbeeSettingToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
-            this.SSInfo = new arFrame.Control.GridView();
-            this.lbBat = new AGVControl.BatteryLevelGauge();
             this.panRight.SuspendLayout();
             this.tableLayoutPanel1.SuspendLayout();
             this.panel4.SuspendLayout();
@@ -1622,6 +1623,26 @@ namespace Project
             this.panTopMenu.Size = new System.Drawing.Size(1278, 50);
             this.panTopMenu.TabIndex = 134;
             // 
+            // lbBat
+            // 
+            this.lbBat.BorderColor = System.Drawing.Color.DimGray;
+            this.lbBat.CurA = 0F;
+            this.lbBat.Dock = System.Windows.Forms.DockStyle.Right;
+            this.lbBat.Font = new System.Drawing.Font("Microsoft Sans Serif", 11.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lbBat.ForeColor = System.Drawing.Color.Gray;
+            this.lbBat.IsOpen = true;
+            this.lbBat.Location = new System.Drawing.Point(830, 0);
+            this.lbBat.MaxA = 0F;
+            this.lbBat.Name = "lbBat";
+            this.lbBat.Padding = new System.Windows.Forms.Padding(0, 12, 0, 12);
+            this.lbBat.sign = "%";
+            this.lbBat.Size = new System.Drawing.Size(48, 50);
+            this.lbBat.TabIndex = 23;
+            this.lbBat.Text = "12";
+            this.lbBat.VLevel = 50F;
+            this.lbBat.Volt = 0F;
+            this.lbBat.Click += new System.EventHandler(this.lbBat_Click);
+            // 
             // pictureBox1
             // 
             this.pictureBox1.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(40)))), ((int)(((byte)(40)))), ((int)(((byte)(40)))));
@@ -1652,9 +1673,10 @@ namespace Project
             this.선택상태보기ToolStripMenuItem,
             this.demoListLotToolStripMenuItem,
             this.toolStripMenuItem5,
-            this.refreshListToolStripMenuItem});
+            this.refreshListToolStripMenuItem,
+            this.xbeeSettingToolStripMenuItem});
             this.cmDebug.Name = "cmVision";
-            this.cmDebug.Size = new System.Drawing.Size(229, 324);
+            this.cmDebug.Size = new System.Drawing.Size(229, 368);
             // 
             // mapFileToolStripMenuItem
             // 
@@ -1732,70 +1754,6 @@ namespace Project
             this.panel9.Size = new System.Drawing.Size(1278, 35);
             this.panel9.TabIndex = 0;
             // 
-            // panDlg
-            // 
-            this.panDlg.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(0)))), ((int)(((byte)(0)))), ((int)(((byte)(64)))));
-            this.panDlg.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.panDlg.Location = new System.Drawing.Point(1, 58);
-            this.panDlg.Margin = new System.Windows.Forms.Padding(0);
-            this.panDlg.Name = "panDlg";
-            this.panDlg.Size = new System.Drawing.Size(1014, 706);
-            this.panDlg.TabIndex = 146;
-            // 
-            // arPanel2
-            // 
-            this.arPanel2.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(5)))), ((int)(((byte)(5)))), ((int)(((byte)(5)))));
-            this.arPanel2.BackColor2 = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(20)))));
-            this.arPanel2.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(25)))), ((int)(((byte)(25)))), ((int)(((byte)(25)))));
-            this.arPanel2.BorderSize = new System.Windows.Forms.Padding(0, 0, 0, 5);
-            this.arPanel2.Dock = System.Windows.Forms.DockStyle.Top;
-            this.arPanel2.Font = new System.Drawing.Font("Consolas", 10F, System.Drawing.FontStyle.Italic);
-            this.arPanel2.ForeColor = System.Drawing.Color.Khaki;
-            this.arPanel2.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
-            this.arPanel2.GradientRepeatBG = false;
-            this.arPanel2.Location = new System.Drawing.Point(1, 55);
-            this.arPanel2.Name = "arPanel2";
-            this.arPanel2.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
-            this.arPanel2.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
-            this.arPanel2.ProgressMax = 100F;
-            this.arPanel2.ProgressMin = 0F;
-            this.arPanel2.ProgressPadding = new System.Windows.Forms.Padding(0);
-            this.arPanel2.ProgressValue = 0F;
-            this.arPanel2.ShadowColor = System.Drawing.Color.Black;
-            this.arPanel2.ShowBorder = true;
-            this.arPanel2.Size = new System.Drawing.Size(1278, 3);
-            this.arPanel2.TabIndex = 145;
-            this.arPanel2.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
-            this.arPanel2.TextShadow = false;
-            this.arPanel2.UseProgressBar = false;
-            // 
-            // arPanel1
-            // 
-            this.arPanel1.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(5)))), ((int)(((byte)(5)))), ((int)(((byte)(5)))));
-            this.arPanel1.BackColor2 = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(20)))));
-            this.arPanel1.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(25)))), ((int)(((byte)(25)))), ((int)(((byte)(25)))));
-            this.arPanel1.BorderSize = new System.Windows.Forms.Padding(0, 0, 0, 5);
-            this.arPanel1.Dock = System.Windows.Forms.DockStyle.Top;
-            this.arPanel1.Font = new System.Drawing.Font("Consolas", 10F, System.Drawing.FontStyle.Italic);
-            this.arPanel1.ForeColor = System.Drawing.Color.Khaki;
-            this.arPanel1.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
-            this.arPanel1.GradientRepeatBG = false;
-            this.arPanel1.Location = new System.Drawing.Point(1, 51);
-            this.arPanel1.Name = "arPanel1";
-            this.arPanel1.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
-            this.arPanel1.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
-            this.arPanel1.ProgressMax = 100F;
-            this.arPanel1.ProgressMin = 0F;
-            this.arPanel1.ProgressPadding = new System.Windows.Forms.Padding(0);
-            this.arPanel1.ProgressValue = 0F;
-            this.arPanel1.ShadowColor = System.Drawing.Color.Black;
-            this.arPanel1.ShowBorder = true;
-            this.arPanel1.Size = new System.Drawing.Size(1278, 4);
-            this.arPanel1.TabIndex = 135;
-            this.arPanel1.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
-            this.arPanel1.TextShadow = false;
-            this.arPanel1.UseProgressBar = false;
-            // 
             // IOState
             // 
             this.IOState.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(50)))), ((int)(((byte)(50)))), ((int)(((byte)(50)))));
@@ -1948,25 +1906,76 @@ namespace Project
         ((ushort)(0))};
             this.SSInfo.Click += new System.EventHandler(this.SSInfo_Click);
             // 
-            // lbBat
+            // panDlg
             // 
-            this.lbBat.BorderColor = System.Drawing.Color.DimGray;
+            this.panDlg.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(0)))), ((int)(((byte)(0)))), ((int)(((byte)(64)))));
-            this.lbBat.CurA = 0F;
+            this.panDlg.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.lbBat.Dock = System.Windows.Forms.DockStyle.Right;
+            this.panDlg.Location = new System.Drawing.Point(1, 58);
-            this.lbBat.Font = new System.Drawing.Font("Microsoft Sans Serif", 11.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.panDlg.Margin = new System.Windows.Forms.Padding(0);
-            this.lbBat.ForeColor = System.Drawing.Color.Gray;
+            this.panDlg.Name = "panDlg";
-            this.lbBat.IsOpen = true;
+            this.panDlg.Size = new System.Drawing.Size(1014, 706);
-            this.lbBat.Location = new System.Drawing.Point(830, 0);
+            this.panDlg.TabIndex = 146;
-            this.lbBat.MaxA = 0F;
+            // 
-            this.lbBat.Name = "lbBat";
+            // arPanel2
-            this.lbBat.Padding = new System.Windows.Forms.Padding(0, 12, 0, 12);
+            // 
-            this.lbBat.sign = "%";
+            this.arPanel2.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(5)))), ((int)(((byte)(5)))), ((int)(((byte)(5)))));
-            this.lbBat.Size = new System.Drawing.Size(48, 50);
+            this.arPanel2.BackColor2 = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(20)))));
-            this.lbBat.TabIndex = 23;
+            this.arPanel2.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(25)))), ((int)(((byte)(25)))), ((int)(((byte)(25)))));
-            this.lbBat.Text = "12";
+            this.arPanel2.BorderSize = new System.Windows.Forms.Padding(0, 0, 0, 5);
-            this.lbBat.VLevel = 50F;
+            this.arPanel2.Dock = System.Windows.Forms.DockStyle.Top;
-            this.lbBat.Volt = 0F;
+            this.arPanel2.Font = new System.Drawing.Font("Consolas", 10F, System.Drawing.FontStyle.Italic);
-            this.lbBat.Click += new System.EventHandler(this.lbBat_Click);
+            this.arPanel2.ForeColor = System.Drawing.Color.Khaki;
+            this.arPanel2.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
+            this.arPanel2.GradientRepeatBG = false;
+            this.arPanel2.Location = new System.Drawing.Point(1, 55);
+            this.arPanel2.Name = "arPanel2";
+            this.arPanel2.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
+            this.arPanel2.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
+            this.arPanel2.ProgressMax = 100F;
+            this.arPanel2.ProgressMin = 0F;
+            this.arPanel2.ProgressPadding = new System.Windows.Forms.Padding(0);
+            this.arPanel2.ProgressValue = 0F;
+            this.arPanel2.ShadowColor = System.Drawing.Color.Black;
+            this.arPanel2.ShowBorder = true;
+            this.arPanel2.Size = new System.Drawing.Size(1278, 3);
+            this.arPanel2.TabIndex = 145;
+            this.arPanel2.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.arPanel2.TextShadow = false;
+            this.arPanel2.UseProgressBar = false;
+            // 
+            // arPanel1
+            // 
+            this.arPanel1.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(5)))), ((int)(((byte)(5)))), ((int)(((byte)(5)))));
+            this.arPanel1.BackColor2 = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(20)))));
+            this.arPanel1.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(25)))), ((int)(((byte)(25)))), ((int)(((byte)(25)))));
+            this.arPanel1.BorderSize = new System.Windows.Forms.Padding(0, 0, 0, 5);
+            this.arPanel1.Dock = System.Windows.Forms.DockStyle.Top;
+            this.arPanel1.Font = new System.Drawing.Font("Consolas", 10F, System.Drawing.FontStyle.Italic);
+            this.arPanel1.ForeColor = System.Drawing.Color.Khaki;
+            this.arPanel1.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
+            this.arPanel1.GradientRepeatBG = false;
+            this.arPanel1.Location = new System.Drawing.Point(1, 51);
+            this.arPanel1.Name = "arPanel1";
+            this.arPanel1.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
+            this.arPanel1.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
+            this.arPanel1.ProgressMax = 100F;
+            this.arPanel1.ProgressMin = 0F;
+            this.arPanel1.ProgressPadding = new System.Windows.Forms.Padding(0);
+            this.arPanel1.ProgressValue = 0F;
+            this.arPanel1.ShadowColor = System.Drawing.Color.Black;
+            this.arPanel1.ShowBorder = true;
+            this.arPanel1.Size = new System.Drawing.Size(1278, 4);
+            this.arPanel1.TabIndex = 135;
+            this.arPanel1.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.arPanel1.TextShadow = false;
+            this.arPanel1.UseProgressBar = false;
+            // 
+            // xbeeSettingToolStripMenuItem
+            // 
+            this.xbeeSettingToolStripMenuItem.Name = "xbeeSettingToolStripMenuItem";
+            this.xbeeSettingToolStripMenuItem.Size = new System.Drawing.Size(228, 22);
+            this.xbeeSettingToolStripMenuItem.Text = "xbee setting";
+            this.xbeeSettingToolStripMenuItem.Click += new System.EventHandler(this.xbeeSettingToolStripMenuItem_Click);
             // 
             // fMain
             // 
@@ -2089,6 +2098,7 @@ namespace Project
         private ToolStripMenuItem saveToolStripMenuItem;
         private ToolStripMenuItem loadToolStripMenuItem;
         private ToolStripMenuItem editorToolStripMenuItem;
+        private ToolStripMenuItem xbeeSettingToolStripMenuItem;
     }
 }
 

Cs_HMI/Project/fMain.cs

@@ -267,9 +267,11 @@ namespace Project
             if (mapPath.Exists == false) mapPath.Create();
 
             //맵파일로딩
-            if (PUB.setting.LastMapFile.isEmpty()) PUB.setting.LastMapFile = System.IO.Path.Combine(mapPath.FullName, "default.json");
+            var basefile = System.IO.Path.Combine(mapPath.FullName, "default.json"); 
-            System.IO.FileInfo filePath = new System.IO.FileInfo(PUB.setting.LastMapFile);
+            if (System.IO.File.Exists(basefile) == false)
-            if (filePath.Exists == false) filePath = new System.IO.FileInfo(System.IO.Path.Combine(mapPath.FullName, "default.json"));
+                if (PUB.setting.LastMapFile.isEmpty() == false) basefile = PUB.setting.LastMapFile;
+
+            System.IO.FileInfo filePath = new System.IO.FileInfo(basefile);
             if (filePath.Exists == false)  //그래도없다면 맵폴더에서 파일을 찾아본다.
             {
                 var files = mapPath.GetFiles("*.json");
@@ -780,6 +782,12 @@ namespace Project
         {
             if (VAR.BOOL[eVarBool.FLAG_CHARGEONM])
             {
+                if (PUB.BMS.IsValid && PUB.BMS.IsCharging)
+                {
+                    UTIL.MsgE("현재 배터리에서 충전 상태가 감지되고 있어 해제할 수 없습니다");
+                    return;
+                }
+
                 var dlg = UTIL.MsgQ("수동 충전을 해제 할까요?");
                 if (dlg != DialogResult.Yes) return;
                 VAR.BOOL[eVarBool.FLAG_CHARGEONM] = false;
@@ -1026,5 +1034,11 @@ namespace Project
                               MessageBoxButtons.OK, MessageBoxIcon.Error);
             }
         }
+
+        private void xbeeSettingToolStripMenuItem_Click(object sender, EventArgs e)
+        {
+            var f = new Dialog.fXbeeSetting();
+            f.Show();
+        }
     }
 }

Cs_HMI/Project/fMain.resx

@@ -126,160 +126,163 @@
   <assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <data name="btDebug.BackgroundImage" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
-        iVBORw0KGgoAAAANSUhEUgAAACAAAAAgCAYAAABzenr0AAAABGdBTUEAALGPC/xhBQAAA0lJREFUWEfV
+        iVBORw0KGgoAAAANSUhEUgAAACAAAAAgCAYAAABzenr0AAAABGdBTUEAALGPC/xhBQAAA2xJREFUWEfV
-        ll+IVVUUxm/+Q0ECQUUwBzEiLKTQEPPJSHsrIqiHCHwIIiiZHiVhHtQiBPWhl9QiB5maLsZMQk9BNwyG
+        l01IVFEUx1+fFEQQVASVRBFREYVGVKvCaldEYIsQWgQRmNgyClxkRQTZok0fRknYx1BoQaugiQKZRp0Z
-        21m/te+dGedVa6TpbUQpKitvrDt7Lues2TP3zNAIffBxD9/e+1vr7HP3WrtS+T8DWG30+rJDVXeq6jfA
+        x2bbh5HtjMJIzZp+53oc38cd51Yk9Ic/955zz/mfM/e9d98b779GZ2fnDKGak4eurq7V8AnFvwtlLj5d
-        X0Z7Ns3PWxbU6/WHgCngOtCMtOcpG/Pz/3OMjIysa7VaK7xumo15vRSAE8Bhr+dhAYDnRORs3H5788nI
+        /rdIJBJLKNoHX8OMUuZ9sqZh/w7t7e2z8/n8VDULEJ+sqfl7oPsGeFBNK6QAMbs6Ojou6vbLL+9VZvQy
-        ZvwMZ0TkUCrBPETkdeB4R1DVyyJyrjArB1XdA1wDWiU5Duz2PrMAzlvMjqCqn4jIYGFWBNAD3EoE6cbp
+        NLK+09agH8QcIueUmuaa3sd5Rc0IWK8g4RXMO7IHlmt6BKxdlZpqmgLXaeCumgEQXAY/QVuhidifTCaX
-        LMu2eT8D8AXwcUcQkfeAemFWBPBBwrws3/d+BuAH++x54UXg99SZBoYSxmU5lPCz2vGHiLzQEUdHRzfH
+        qkwArN2DTWqaLTmDI6FmAPjPQVsBF55VmQDwv4QNahrHXvgNRp5pfK3QJu7CVpUpAJ+cHYP86D3q8rzu
-        8/x8YfbMgoGEcVkOeD8LDNwNIWzyA4Oq+l2r1Xogr8fdaQB/JwIsxD9V9Y28l3lbDOCzvN5GlmWPA78B
+        7u6FOOV53q2uAvC3QJu4C1tUpgApjH84lUotUNco5B6ggWfcwVPUZUCw7E4ajkBbkWIcQu+wyhiIttRg
-        fbPaxMTEGmBjfF4fQnhWRI4B/fEo1oHvVfUr4FNVPQm8LCKP1mq1VYUAMy/TB/waQnjMj7Whqq/E8jqs
+        7ba6xsENs5aFr7BeXV4ul5uJPV/nc+i6kkZP4mtGSB7FBHzB/CHjDcbTjFXErIrH49ONiA+s1cMBdNao
-        qm8Bt+Pb/ARUgd4QwtN++yzRLMu2hBCeUNXXROQU8DUwISKXgFdF5IptvSWYXzsHIrI3Trbd8NvqOW1v
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Cs_HMI/StateMachine/StateMachine.cs

@@ -256,11 +256,8 @@ namespace Project.StateMachine
                     if (handler != null)
                     {
                         var args = new StepChangeEventArgs(OldStep, newstep_);
-                        System.Threading.ThreadPool.QueueUserWorkItem(_ =>
-                        {
                         try { handler(this, args); }
                         catch { /* 이벤트 핸들러 예외 무시 */ }
-                        });
                     }
                 }
                 else
@@ -378,11 +375,8 @@ namespace Project.StateMachine
             if (handler != null)
             {
                 var args = new StepChangeEventArgs(ostep, _step);
-                System.Threading.ThreadPool.QueueUserWorkItem(_ =>
-                {
                 try { handler(this, args); }
                 catch { /* 이벤트 핸들러 예외 무시 */ }
-                });
             }
         }    //171214
 

Cs_HMI/SubProject/AGV/Narumi.cs

@@ -229,7 +229,7 @@ namespace arDev
         private void RevSTS(Dataframe frame)
         {
             LastSTS = frame.DataString;
-            string rcvdNow = frame.DataString;
+            string rcvdNow = frame.DataString.Replace("\0","");
             byte[] bRcvData = frame.Buffer;
             var encoding = System.Text.Encoding.Default;
             try
@@ -267,8 +267,12 @@ namespace arDev
                 nDataTemp = Convert.ToByte(rcvdNow.Substring(idx, 2), 16);
                 signal1.SetValue(nDataTemp);  idx += 2;
 
+                if(idx <= rcvdNow.Length-2)
+                {
                     nDataTemp = Convert.ToByte(rcvdNow.Substring(idx, 2), 16);
                     signal2.SetValue(nDataTemp);
+                }
+          
 
                 DataReceive?.Invoke(this, new DataEventArgs(DataType.STS));
 

Cs_HMI/SubProject/AGV/NarumiSerialComm.cs

@@ -51,6 +51,12 @@ namespace arDev
         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>
@@ -101,9 +107,9 @@ namespace arDev
         public NarumiSerialComm()
         {
             _device = new System.IO.Ports.SerialPort();
-            this.BaudRate = 9600;
+            this.BaudRate = 57600;
             ScanInterval = 10;
-            _device.DataReceived += barcode_DataReceived;
+            // _device.DataReceived += barcode_DataReceived; // Removed event handler
             _device.ErrorReceived += this.barcode_ErrorReceived;
             _device.WriteTimeout = 3000;
             _device.ReadTimeout = 3000;
@@ -147,9 +153,23 @@ namespace arDev
                 //
             }
 
-            _device.DataReceived -= barcode_DataReceived;
+            // 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;
@@ -158,9 +178,25 @@ namespace arDev
         public Boolean Open()
         {
             try
+            {
+                if (_device.IsOpen == false)
                 {
                     _device.Open();
-                return IsOpen;
+                }
+
+                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)
             {
@@ -193,6 +229,18 @@ namespace arDev
 
         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();
@@ -202,6 +250,11 @@ namespace arDev
                 }
                 else return false;
             }
+            catch (Exception)
+            {
+                return false;
+            }
+        }
         protected Boolean RaiseRecvData()
         {
             return RaiseRecvData(LastReceiveBuffer.ToArray(), false);
@@ -226,6 +279,9 @@ namespace arDev
 
             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)
                 {
@@ -262,6 +318,9 @@ namespace arDev
         }
 
         byte[] buffer = new byte[] { };
+        
+        // Replaced with ReadPort Loop
+        /*
         void barcode_DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e)
         {
             
@@ -308,6 +367,62 @@ namespace arDev
             }
 
         }
+        */
+
+        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

Cs_HMI/SubProject/CommData/Enum.cs

@@ -114,7 +114,7 @@ namespace COMM
         WAIT_CHARGEACK,
       
         //agv area start ( 64 ~ 95)
-
+        DISABLE_AUTOCONN_XBEE,
 
         //area start (96~127)
 

Cs_HMI/TestProject/Test_ACS/MainForm.Designer.cs

@@ -29,10 +29,33 @@ namespace Test_ACS
             this.rbAGV2 = new System.Windows.Forms.RadioButton();
             this.rbAGV1 = new System.Windows.Forms.RadioButton();
             this.grpCommands = new System.Windows.Forms.GroupBox();
+            this.button8 = new System.Windows.Forms.Button();
+            this.button10 = new System.Windows.Forms.Button();
+            this.button7 = new System.Windows.Forms.Button();
+            this.button9 = new System.Windows.Forms.Button();
+            this.groupBox2 = new System.Windows.Forms.GroupBox();
+            this.radSpdL = new System.Windows.Forms.RadioButton();
+            this.radSpdM = new System.Windows.Forms.RadioButton();
+            this.radSpdH = new System.Windows.Forms.RadioButton();
             this.groupBox1 = new System.Windows.Forms.GroupBox();
+            this.panel3 = new System.Windows.Forms.Panel();
+            this.radLidarOff = new System.Windows.Forms.RadioButton();
+            this.radLidarOn = new System.Windows.Forms.RadioButton();
+            this.button6 = new System.Windows.Forms.Button();
+            this.panel2 = new System.Windows.Forms.Panel();
+            this.radRight = new System.Windows.Forms.RadioButton();
+            this.radLeft = new System.Windows.Forms.RadioButton();
+            this.radStraight = new System.Windows.Forms.RadioButton();
+            this.panel1 = new System.Windows.Forms.Panel();
+            this.radForw = new System.Windows.Forms.RadioButton();
+            this.radBack = new System.Windows.Forms.RadioButton();
             this.btAMove = new System.Windows.Forms.Button();
             this.grpManual = new System.Windows.Forms.GroupBox();
-            this.chkMarkStop = new System.Windows.Forms.CheckBox();
+            this.button5 = new System.Windows.Forms.Button();
+            this.button4 = new System.Windows.Forms.Button();
+            this.button3 = new System.Windows.Forms.Button();
+            this.button2 = new System.Windows.Forms.Button();
+            this.button1 = new System.Windows.Forms.Button();
             this.btnMarkStop = new System.Windows.Forms.Button();
             this.btnReset = new System.Windows.Forms.Button();
             this.btnStop = new System.Windows.Forms.Button();
@@ -76,26 +99,15 @@ namespace Test_ACS
             this.lblRunSt = new System.Windows.Forms.Label();
             this.lblModeValue = new System.Windows.Forms.Label();
             this.lblMode = new System.Windows.Forms.Label();
-            this.radSpdL = new System.Windows.Forms.RadioButton();
+            this.tableLayoutPanel2 = new System.Windows.Forms.TableLayoutPanel();
-            this.radSpdM = new System.Windows.Forms.RadioButton();
-            this.radSpdH = new System.Windows.Forms.RadioButton();
-            this.button1 = new System.Windows.Forms.Button();
-            this.button2 = new System.Windows.Forms.Button();
-            this.button3 = new System.Windows.Forms.Button();
-            this.button4 = new System.Windows.Forms.Button();
-            this.button5 = new System.Windows.Forms.Button();
-            this.groupBox2 = new System.Windows.Forms.GroupBox();
-            this.panel1 = new System.Windows.Forms.Panel();
-            this.radBack = new System.Windows.Forms.RadioButton();
-            this.radForw = new System.Windows.Forms.RadioButton();
-            this.panel2 = new System.Windows.Forms.Panel();
-            this.radLeft = new System.Windows.Forms.RadioButton();
-            this.radStraight = new System.Windows.Forms.RadioButton();
-            this.radRight = new System.Windows.Forms.RadioButton();
             this.grpConnection.SuspendLayout();
             this.grpAGV.SuspendLayout();
             this.grpCommands.SuspendLayout();
+            this.groupBox2.SuspendLayout();
             this.groupBox1.SuspendLayout();
+            this.panel3.SuspendLayout();
+            this.panel2.SuspendLayout();
+            this.panel1.SuspendLayout();
             this.grpManual.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.txtRFID)).BeginInit();
             this.grpLift.SuspendLayout();
@@ -106,9 +118,7 @@ namespace Test_ACS
             this.tabInfo.SuspendLayout();
             this.tabPage1.SuspendLayout();
             this.grpAGVStatus.SuspendLayout();
-            this.groupBox2.SuspendLayout();
+            this.tableLayoutPanel2.SuspendLayout();
-            this.panel1.SuspendLayout();
-            this.panel2.SuspendLayout();
             this.SuspendLayout();
             // 
             // grpConnection
@@ -121,7 +131,7 @@ namespace Test_ACS
             this.grpConnection.Controls.Add(this.lblPort);
             this.grpConnection.Location = new System.Drawing.Point(12, 12);
             this.grpConnection.Name = "grpConnection";
-            this.grpConnection.Size = new System.Drawing.Size(260, 120);
+            this.grpConnection.Size = new System.Drawing.Size(260, 82);
             this.grpConnection.TabIndex = 0;
             this.grpConnection.TabStop = false;
             this.grpConnection.Text = "연결 설정";
@@ -138,9 +148,9 @@ namespace Test_ACS
             // 
             // btnConnect
             // 
-            this.btnConnect.Location = new System.Drawing.Point(15, 81);
+            this.btnConnect.Location = new System.Drawing.Point(179, 53);
             this.btnConnect.Name = "btnConnect";
-            this.btnConnect.Size = new System.Drawing.Size(234, 30);
+            this.btnConnect.Size = new System.Drawing.Size(70, 21);
             this.btnConnect.TabIndex = 4;
             this.btnConnect.Text = "연결";
             this.btnConnect.UseVisualStyleBackColor = true;
@@ -150,7 +160,7 @@ namespace Test_ACS
             // 
             this.txtBaudRate.Location = new System.Drawing.Point(85, 53);
             this.txtBaudRate.Name = "txtBaudRate";
-            this.txtBaudRate.Size = new System.Drawing.Size(164, 21);
+            this.txtBaudRate.Size = new System.Drawing.Size(88, 21);
             this.txtBaudRate.TabIndex = 3;
             this.txtBaudRate.Text = "9600";
             this.txtBaudRate.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
@@ -190,7 +200,7 @@ namespace Test_ACS
             this.grpAGV.Controls.Add(this.rbAGV1);
             this.grpAGV.Location = new System.Drawing.Point(278, 12);
             this.grpAGV.Name = "grpAGV";
-            this.grpAGV.Size = new System.Drawing.Size(200, 120);
+            this.grpAGV.Size = new System.Drawing.Size(167, 82);
             this.grpAGV.TabIndex = 1;
             this.grpAGV.TabStop = false;
             this.grpAGV.Text = "AGV 선택";
@@ -198,7 +208,7 @@ namespace Test_ACS
             // rbAGV2
             // 
             this.rbAGV2.AutoSize = true;
-            this.rbAGV2.Location = new System.Drawing.Point(20, 60);
+            this.rbAGV2.Location = new System.Drawing.Point(20, 51);
             this.rbAGV2.Name = "rbAGV2";
             this.rbAGV2.Size = new System.Drawing.Size(95, 16);
             this.rbAGV2.TabIndex = 1;
@@ -210,7 +220,7 @@ namespace Test_ACS
             // 
             this.rbAGV1.AutoSize = true;
             this.rbAGV1.Checked = true;
-            this.rbAGV1.Location = new System.Drawing.Point(20, 30);
+            this.rbAGV1.Location = new System.Drawing.Point(20, 21);
             this.rbAGV1.Name = "rbAGV1";
             this.rbAGV1.Size = new System.Drawing.Size(95, 16);
             this.rbAGV1.TabIndex = 0;
@@ -221,11 +231,13 @@ namespace Test_ACS
             // 
             // grpCommands
             // 
+            this.grpCommands.Controls.Add(this.button8);
+            this.grpCommands.Controls.Add(this.button10);
+            this.grpCommands.Controls.Add(this.button7);
+            this.grpCommands.Controls.Add(this.button9);
             this.grpCommands.Controls.Add(this.groupBox2);
             this.grpCommands.Controls.Add(this.groupBox1);
             this.grpCommands.Controls.Add(this.grpManual);
-            this.grpCommands.Controls.Add(this.chkMarkStop);
-            this.grpCommands.Controls.Add(this.btnMarkStop);
             this.grpCommands.Controls.Add(this.btnReset);
             this.grpCommands.Controls.Add(this.btnStop);
             this.grpCommands.Controls.Add(this.btnGotoAlias);
@@ -235,30 +247,238 @@ namespace Test_ACS
             this.grpCommands.Controls.Add(this.lblAlias);
             this.grpCommands.Controls.Add(this.txtRFID);
             this.grpCommands.Controls.Add(this.lblRFID);
-            this.grpCommands.Location = new System.Drawing.Point(12, 138);
+            this.grpCommands.Location = new System.Drawing.Point(12, 98);
             this.grpCommands.Name = "grpCommands";
-            this.grpCommands.Size = new System.Drawing.Size(466, 312);
+            this.grpCommands.Size = new System.Drawing.Size(433, 307);
             this.grpCommands.TabIndex = 2;
             this.grpCommands.TabStop = false;
             this.grpCommands.Text = "ACS 명령";
             // 
+            // button8
+            // 
+            this.button8.Location = new System.Drawing.Point(102, 264);
+            this.button8.Name = "button8";
+            this.button8.Size = new System.Drawing.Size(93, 35);
+            this.button8.TabIndex = 14;
+            this.button8.Text = "RT180";
+            this.button8.UseVisualStyleBackColor = true;
+            this.button8.Click += new System.EventHandler(this.button8_Click);
+            // 
+            // button10
+            // 
+            this.button10.Location = new System.Drawing.Point(102, 229);
+            this.button10.Name = "button10";
+            this.button10.Size = new System.Drawing.Size(93, 35);
+            this.button10.TabIndex = 16;
+            this.button10.Text = "R-turn";
+            this.button10.UseVisualStyleBackColor = true;
+            this.button10.Click += new System.EventHandler(this.button10_Click);
+            // 
+            // button7
+            // 
+            this.button7.Location = new System.Drawing.Point(15, 264);
+            this.button7.Name = "button7";
+            this.button7.Size = new System.Drawing.Size(85, 35);
+            this.button7.TabIndex = 13;
+            this.button7.Text = "LT180";
+            this.button7.UseVisualStyleBackColor = true;
+            this.button7.Click += new System.EventHandler(this.button7_Click);
+            // 
+            // button9
+            // 
+            this.button9.Location = new System.Drawing.Point(15, 228);
+            this.button9.Name = "button9";
+            this.button9.Size = new System.Drawing.Size(85, 35);
+            this.button9.TabIndex = 15;
+            this.button9.Text = "L-Turn";
+            this.button9.UseVisualStyleBackColor = true;
+            this.button9.Click += new System.EventHandler(this.button9_Click);
+            // 
+            // groupBox2
+            // 
+            this.groupBox2.Controls.Add(this.radSpdL);
+            this.groupBox2.Controls.Add(this.radSpdM);
+            this.groupBox2.Controls.Add(this.radSpdH);
+            this.groupBox2.Location = new System.Drawing.Point(146, 117);
+            this.groupBox2.Name = "groupBox2";
+            this.groupBox2.Size = new System.Drawing.Size(49, 106);
+            this.groupBox2.TabIndex = 12;
+            this.groupBox2.TabStop = false;
+            this.groupBox2.Text = "속도";
+            this.groupBox2.Enter += new System.EventHandler(this.groupBox2_Enter);
+            // 
+            // radSpdL
+            // 
+            this.radSpdL.AutoSize = true;
+            this.radSpdL.Location = new System.Drawing.Point(9, 20);
+            this.radSpdL.Name = "radSpdL";
+            this.radSpdL.Size = new System.Drawing.Size(30, 16);
+            this.radSpdL.TabIndex = 7;
+            this.radSpdL.TabStop = true;
+            this.radSpdL.Tag = "0";
+            this.radSpdL.Text = "L";
+            this.radSpdL.UseVisualStyleBackColor = true;
+            // 
+            // radSpdM
+            // 
+            this.radSpdM.AutoSize = true;
+            this.radSpdM.Location = new System.Drawing.Point(9, 47);
+            this.radSpdM.Name = "radSpdM";
+            this.radSpdM.Size = new System.Drawing.Size(34, 16);
+            this.radSpdM.TabIndex = 7;
+            this.radSpdM.TabStop = true;
+            this.radSpdM.Tag = "1";
+            this.radSpdM.Text = "M";
+            this.radSpdM.UseVisualStyleBackColor = true;
+            // 
+            // radSpdH
+            // 
+            this.radSpdH.AutoSize = true;
+            this.radSpdH.Location = new System.Drawing.Point(9, 74);
+            this.radSpdH.Name = "radSpdH";
+            this.radSpdH.Size = new System.Drawing.Size(31, 16);
+            this.radSpdH.TabIndex = 7;
+            this.radSpdH.TabStop = true;
+            this.radSpdH.Tag = "2";
+            this.radSpdH.Text = "H";
+            this.radSpdH.UseVisualStyleBackColor = true;
+            // 
             // groupBox1
             // 
+            this.groupBox1.Controls.Add(this.panel3);
+            this.groupBox1.Controls.Add(this.button6);
             this.groupBox1.Controls.Add(this.panel2);
             this.groupBox1.Controls.Add(this.panel1);
             this.groupBox1.Controls.Add(this.btAMove);
-            this.groupBox1.Location = new System.Drawing.Point(201, 153);
+            this.groupBox1.Controls.Add(this.btnMarkStop);
+            this.groupBox1.Location = new System.Drawing.Point(201, 117);
             this.groupBox1.Name = "groupBox1";
-            this.groupBox1.Size = new System.Drawing.Size(244, 106);
+            this.groupBox1.Size = new System.Drawing.Size(225, 183);
             this.groupBox1.TabIndex = 8;
             this.groupBox1.TabStop = false;
             this.groupBox1.Text = "자동 이동";
             // 
+            // panel3
+            // 
+            this.panel3.Controls.Add(this.radLidarOff);
+            this.panel3.Controls.Add(this.radLidarOn);
+            this.panel3.Location = new System.Drawing.Point(10, 98);
+            this.panel3.Name = "panel3";
+            this.panel3.Size = new System.Drawing.Size(139, 33);
+            this.panel3.TabIndex = 12;
+            // 
+            // radLidarOff
+            // 
+            this.radLidarOff.AutoSize = true;
+            this.radLidarOff.Location = new System.Drawing.Point(60, 9);
+            this.radLidarOff.Name = "radLidarOff";
+            this.radLidarOff.Size = new System.Drawing.Size(38, 16);
+            this.radLidarOff.TabIndex = 0;
+            this.radLidarOff.Text = "Off";
+            this.radLidarOff.UseVisualStyleBackColor = true;
+            // 
+            // radLidarOn
+            // 
+            this.radLidarOn.AutoSize = true;
+            this.radLidarOn.Checked = true;
+            this.radLidarOn.Location = new System.Drawing.Point(12, 9);
+            this.radLidarOn.Name = "radLidarOn";
+            this.radLidarOn.Size = new System.Drawing.Size(39, 16);
+            this.radLidarOn.TabIndex = 0;
+            this.radLidarOn.TabStop = true;
+            this.radLidarOn.Tag = "On";
+            this.radLidarOn.Text = "On";
+            this.radLidarOn.UseVisualStyleBackColor = true;
+            // 
+            // button6
+            // 
+            this.button6.Location = new System.Drawing.Point(155, 94);
+            this.button6.Name = "button6";
+            this.button6.Size = new System.Drawing.Size(65, 83);
+            this.button6.TabIndex = 12;
+            this.button6.Text = "정지";
+            this.button6.UseVisualStyleBackColor = true;
+            this.button6.Click += new System.EventHandler(this.button6_Click);
+            // 
+            // panel2
+            // 
+            this.panel2.Controls.Add(this.radRight);
+            this.panel2.Controls.Add(this.radLeft);
+            this.panel2.Controls.Add(this.radStraight);
+            this.panel2.Location = new System.Drawing.Point(10, 59);
+            this.panel2.Name = "panel2";
+            this.panel2.Size = new System.Drawing.Size(139, 33);
+            this.panel2.TabIndex = 11;
+            // 
+            // radRight
+            // 
+            this.radRight.AutoSize = true;
+            this.radRight.Location = new System.Drawing.Point(93, 9);
+            this.radRight.Name = "radRight";
+            this.radRight.Size = new System.Drawing.Size(31, 16);
+            this.radRight.TabIndex = 1;
+            this.radRight.TabStop = true;
+            this.radRight.Text = "R";
+            this.radRight.UseVisualStyleBackColor = true;
+            // 
+            // radLeft
+            // 
+            this.radLeft.AutoSize = true;
+            this.radLeft.Location = new System.Drawing.Point(51, 9);
+            this.radLeft.Name = "radLeft";
+            this.radLeft.Size = new System.Drawing.Size(30, 16);
+            this.radLeft.TabIndex = 0;
+            this.radLeft.TabStop = true;
+            this.radLeft.Text = "L";
+            this.radLeft.UseVisualStyleBackColor = true;
+            // 
+            // radStraight
+            // 
+            this.radStraight.AutoSize = true;
+            this.radStraight.Location = new System.Drawing.Point(12, 9);
+            this.radStraight.Name = "radStraight";
+            this.radStraight.Size = new System.Drawing.Size(31, 16);
+            this.radStraight.TabIndex = 0;
+            this.radStraight.TabStop = true;
+            this.radStraight.Text = "S";
+            this.radStraight.UseVisualStyleBackColor = true;
+            // 
+            // panel1
+            // 
+            this.panel1.Controls.Add(this.radForw);
+            this.panel1.Controls.Add(this.radBack);
+            this.panel1.Location = new System.Drawing.Point(10, 20);
+            this.panel1.Name = "panel1";
+            this.panel1.Size = new System.Drawing.Size(139, 33);
+            this.panel1.TabIndex = 10;
+            // 
+            // radForw
+            // 
+            this.radForw.AutoSize = true;
+            this.radForw.Location = new System.Drawing.Point(51, 9);
+            this.radForw.Name = "radForw";
+            this.radForw.Size = new System.Drawing.Size(30, 16);
+            this.radForw.TabIndex = 0;
+            this.radForw.TabStop = true;
+            this.radForw.Text = "F";
+            this.radForw.UseVisualStyleBackColor = true;
+            // 
+            // radBack
+            // 
+            this.radBack.AutoSize = true;
+            this.radBack.Location = new System.Drawing.Point(12, 9);
+            this.radBack.Name = "radBack";
+            this.radBack.Size = new System.Drawing.Size(31, 16);
+            this.radBack.TabIndex = 0;
+            this.radBack.TabStop = true;
+            this.radBack.Text = "B";
+            this.radBack.UseVisualStyleBackColor = true;
+            // 
             // btAMove
             // 
             this.btAMove.Location = new System.Drawing.Point(155, 16);
             this.btAMove.Name = "btAMove";
-            this.btAMove.Size = new System.Drawing.Size(81, 76);
+            this.btAMove.Size = new System.Drawing.Size(65, 76);
             this.btAMove.TabIndex = 6;
             this.btAMove.Text = "실행";
             this.btAMove.UseVisualStyleBackColor = true;
@@ -271,30 +491,75 @@ namespace Test_ACS
             this.grpManual.Controls.Add(this.button3);
             this.grpManual.Controls.Add(this.button2);
             this.grpManual.Controls.Add(this.button1);
-            this.grpManual.Location = new System.Drawing.Point(15, 153);
+            this.grpManual.Location = new System.Drawing.Point(15, 117);
             this.grpManual.Name = "grpManual";
             this.grpManual.Size = new System.Drawing.Size(125, 106);
             this.grpManual.TabIndex = 8;
             this.grpManual.TabStop = false;
             this.grpManual.Text = "수동 이동";
             // 
-            // chkMarkStop
+            // button5
             // 
-            this.chkMarkStop.AutoSize = true;
+            this.button5.Location = new System.Drawing.Point(43, 72);
-            this.chkMarkStop.Location = new System.Drawing.Point(193, 125);
+            this.button5.Name = "button5";
-            this.chkMarkStop.Name = "chkMarkStop";
+            this.button5.Size = new System.Drawing.Size(34, 27);
-            this.chkMarkStop.Size = new System.Drawing.Size(76, 16);
+            this.button5.TabIndex = 12;
-            this.chkMarkStop.TabIndex = 7;
+            this.button5.Tag = "1";
-            this.chkMarkStop.Text = "정지 설정";
+            this.button5.Text = "F";
-            this.chkMarkStop.UseVisualStyleBackColor = true;
+            this.button5.UseVisualStyleBackColor = true;
+            this.button5.Click += new System.EventHandler(this.btnManual_Click);
+            // 
+            // button4
+            // 
+            this.button4.Location = new System.Drawing.Point(81, 44);
+            this.button4.Name = "button4";
+            this.button4.Size = new System.Drawing.Size(34, 27);
+            this.button4.TabIndex = 11;
+            this.button4.Tag = "3";
+            this.button4.Text = "R";
+            this.button4.UseVisualStyleBackColor = true;
+            this.button4.Click += new System.EventHandler(this.btnManual_Click);
+            // 
+            // button3
+            // 
+            this.button3.Location = new System.Drawing.Point(8, 44);
+            this.button3.Name = "button3";
+            this.button3.Size = new System.Drawing.Size(34, 27);
+            this.button3.TabIndex = 10;
+            this.button3.Tag = "2";
+            this.button3.Text = "L";
+            this.button3.UseVisualStyleBackColor = true;
+            this.button3.Click += new System.EventHandler(this.btnManual_Click);
+            // 
+            // button2
+            // 
+            this.button2.Location = new System.Drawing.Point(43, 44);
+            this.button2.Name = "button2";
+            this.button2.Size = new System.Drawing.Size(34, 27);
+            this.button2.TabIndex = 9;
+            this.button2.Tag = "S";
+            this.button2.Text = "S";
+            this.button2.UseVisualStyleBackColor = true;
+            this.button2.Click += new System.EventHandler(this.button2_Click);
+            // 
+            // button1
+            // 
+            this.button1.Location = new System.Drawing.Point(43, 14);
+            this.button1.Name = "button1";
+            this.button1.Size = new System.Drawing.Size(34, 27);
+            this.button1.TabIndex = 8;
+            this.button1.Tag = "0";
+            this.button1.Text = "B";
+            this.button1.UseVisualStyleBackColor = true;
+            this.button1.Click += new System.EventHandler(this.btnManual_Click);
             // 
             // btnMarkStop
             // 
-            this.btnMarkStop.Location = new System.Drawing.Point(10, 117);
+            this.btnMarkStop.Location = new System.Drawing.Point(10, 137);
             this.btnMarkStop.Name = "btnMarkStop";
-            this.btnMarkStop.Size = new System.Drawing.Size(177, 30);
+            this.btnMarkStop.Size = new System.Drawing.Size(139, 40);
             this.btnMarkStop.TabIndex = 6;
-            this.btnMarkStop.Text = "마크센서 정지";
+            this.btnMarkStop.Text = "마크 정지";
             this.btnMarkStop.UseVisualStyleBackColor = true;
             this.btnMarkStop.Click += new System.EventHandler(this.btnMarkStop_Click);
             // 
@@ -399,21 +664,20 @@ namespace Test_ACS
             // 
             // grpLift
             // 
-            this.grpLift.Controls.Add(this.btnLiftStop);
+            this.grpLift.Controls.Add(this.tableLayoutPanel2);
-            this.grpLift.Controls.Add(this.btnLiftDown);
+            this.grpLift.Location = new System.Drawing.Point(12, 535);
-            this.grpLift.Controls.Add(this.btnLiftUp);
-            this.grpLift.Location = new System.Drawing.Point(298, 456);
             this.grpLift.Name = "grpLift";
-            this.grpLift.Size = new System.Drawing.Size(180, 120);
+            this.grpLift.Size = new System.Drawing.Size(433, 79);
             this.grpLift.TabIndex = 9;
             this.grpLift.TabStop = false;
             this.grpLift.Text = "리프트 제어";
             // 
             // btnLiftStop
             // 
-            this.btnLiftStop.Location = new System.Drawing.Point(121, 20);
+            this.btnLiftStop.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.btnLiftStop.Location = new System.Drawing.Point(287, 3);
             this.btnLiftStop.Name = "btnLiftStop";
-            this.btnLiftStop.Size = new System.Drawing.Size(48, 90);
+            this.btnLiftStop.Size = new System.Drawing.Size(137, 53);
             this.btnLiftStop.TabIndex = 2;
             this.btnLiftStop.Text = "정지";
             this.btnLiftStop.UseVisualStyleBackColor = true;
@@ -421,9 +685,10 @@ namespace Test_ACS
             // 
             // btnLiftDown
             // 
-            this.btnLiftDown.Location = new System.Drawing.Point(65, 20);
+            this.btnLiftDown.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.btnLiftDown.Location = new System.Drawing.Point(145, 3);
             this.btnLiftDown.Name = "btnLiftDown";
-            this.btnLiftDown.Size = new System.Drawing.Size(48, 90);
+            this.btnLiftDown.Size = new System.Drawing.Size(136, 53);
             this.btnLiftDown.TabIndex = 1;
             this.btnLiftDown.Text = "하강";
             this.btnLiftDown.UseVisualStyleBackColor = true;
@@ -431,9 +696,10 @@ namespace Test_ACS
             // 
             // btnLiftUp
             // 
-            this.btnLiftUp.Location = new System.Drawing.Point(9, 20);
+            this.btnLiftUp.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.btnLiftUp.Location = new System.Drawing.Point(3, 3);
             this.btnLiftUp.Name = "btnLiftUp";
-            this.btnLiftUp.Size = new System.Drawing.Size(48, 90);
+            this.btnLiftUp.Size = new System.Drawing.Size(136, 53);
             this.btnLiftUp.TabIndex = 0;
             this.btnLiftUp.Text = "상승";
             this.btnLiftUp.UseVisualStyleBackColor = true;
@@ -451,9 +717,9 @@ namespace Test_ACS
             // grpLogs
             // 
             this.grpLogs.Controls.Add(this.tabLogs);
-            this.grpLogs.Location = new System.Drawing.Point(484, 12);
+            this.grpLogs.Location = new System.Drawing.Point(451, 12);
             this.grpLogs.Name = "grpLogs";
-            this.grpLogs.Size = new System.Drawing.Size(520, 564);
+            this.grpLogs.Size = new System.Drawing.Size(520, 602);
             this.grpLogs.TabIndex = 3;
             this.grpLogs.TabStop = false;
             this.grpLogs.Text = "로그";
@@ -467,7 +733,7 @@ namespace Test_ACS
             this.tabLogs.Location = new System.Drawing.Point(3, 17);
             this.tabLogs.Name = "tabLogs";
             this.tabLogs.SelectedIndex = 0;
-            this.tabLogs.Size = new System.Drawing.Size(514, 544);
+            this.tabLogs.Size = new System.Drawing.Size(514, 582);
             this.tabLogs.TabIndex = 0;
             // 
             // tabRX
@@ -476,7 +742,7 @@ namespace Test_ACS
             this.tabRX.Location = new System.Drawing.Point(4, 22);
             this.tabRX.Name = "tabRX";
             this.tabRX.Padding = new System.Windows.Forms.Padding(3);
-            this.tabRX.Size = new System.Drawing.Size(506, 518);
+            this.tabRX.Size = new System.Drawing.Size(506, 556);
             this.tabRX.TabIndex = 1;
             this.tabRX.Text = "패킷";
             this.tabRX.UseVisualStyleBackColor = true;
@@ -497,19 +763,19 @@ namespace Test_ACS
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 20F));
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.tableLayoutPanel1.Size = new System.Drawing.Size(500, 512);
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(500, 550);
             this.tableLayoutPanel1.TabIndex = 1;
             // 
             // txtRxLog
             // 
             this.txtRxLog.Dock = System.Windows.Forms.DockStyle.Fill;
             this.txtRxLog.Font = new System.Drawing.Font("Consolas", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.txtRxLog.Location = new System.Drawing.Point(3, 279);
+            this.txtRxLog.Location = new System.Drawing.Point(3, 298);
             this.txtRxLog.Multiline = true;
             this.txtRxLog.Name = "txtRxLog";
             this.txtRxLog.ReadOnly = true;
             this.txtRxLog.ScrollBars = System.Windows.Forms.ScrollBars.Vertical;
-            this.txtRxLog.Size = new System.Drawing.Size(494, 230);
+            this.txtRxLog.Size = new System.Drawing.Size(494, 249);
             this.txtRxLog.TabIndex = 0;
             this.txtRxLog.Text = "1";
             // 
@@ -522,7 +788,7 @@ namespace Test_ACS
             this.txtTxLog.Name = "txtTxLog";
             this.txtTxLog.ReadOnly = true;
             this.txtTxLog.ScrollBars = System.Windows.Forms.ScrollBars.Vertical;
-            this.txtTxLog.Size = new System.Drawing.Size(494, 230);
+            this.txtTxLog.Size = new System.Drawing.Size(494, 249);
             this.txtTxLog.TabIndex = 0;
             // 
             // label1
@@ -538,7 +804,7 @@ namespace Test_ACS
             // label2
             // 
             this.label2.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.label2.Location = new System.Drawing.Point(3, 256);
+            this.label2.Location = new System.Drawing.Point(3, 275);
             this.label2.Name = "label2";
             this.label2.Size = new System.Drawing.Size(494, 20);
             this.label2.TabIndex = 1;
@@ -607,9 +873,9 @@ namespace Test_ACS
             this.grpAGVStatus.Controls.Add(this.lblRunSt);
             this.grpAGVStatus.Controls.Add(this.lblModeValue);
             this.grpAGVStatus.Controls.Add(this.lblMode);
-            this.grpAGVStatus.Location = new System.Drawing.Point(12, 456);
+            this.grpAGVStatus.Location = new System.Drawing.Point(12, 409);
             this.grpAGVStatus.Name = "grpAGVStatus";
-            this.grpAGVStatus.Size = new System.Drawing.Size(280, 120);
+            this.grpAGVStatus.Size = new System.Drawing.Size(433, 120);
             this.grpAGVStatus.TabIndex = 4;
             this.grpAGVStatus.TabStop = false;
             this.grpAGVStatus.Text = "AGV 상태";
@@ -757,189 +1023,28 @@ namespace Test_ACS
             this.lblMode.TabIndex = 0;
             this.lblMode.Text = "모드:";
             // 
-            // radSpdL
+            // tableLayoutPanel2
             // 
-            this.radSpdL.AutoSize = true;
+            this.tableLayoutPanel2.ColumnCount = 3;
-            this.radSpdL.Location = new System.Drawing.Point(9, 20);
+            this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
-            this.radSpdL.Name = "radSpdL";
+            this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
-            this.radSpdL.Size = new System.Drawing.Size(30, 16);
+            this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
-            this.radSpdL.TabIndex = 7;
+            this.tableLayoutPanel2.Controls.Add(this.btnLiftStop, 2, 0);
-            this.radSpdL.TabStop = true;
+            this.tableLayoutPanel2.Controls.Add(this.btnLiftUp, 0, 0);
-            this.radSpdL.Tag = "0";
+            this.tableLayoutPanel2.Controls.Add(this.btnLiftDown, 1, 0);
-            this.radSpdL.Text = "L";
+            this.tableLayoutPanel2.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.radSpdL.UseVisualStyleBackColor = true;
+            this.tableLayoutPanel2.Location = new System.Drawing.Point(3, 17);
-            // 
+            this.tableLayoutPanel2.Name = "tableLayoutPanel2";
-            // radSpdM
+            this.tableLayoutPanel2.RowCount = 1;
-            // 
+            this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.radSpdM.AutoSize = true;
+            this.tableLayoutPanel2.Size = new System.Drawing.Size(427, 59);
-            this.radSpdM.Location = new System.Drawing.Point(9, 47);
+            this.tableLayoutPanel2.TabIndex = 0;
-            this.radSpdM.Name = "radSpdM";
-            this.radSpdM.Size = new System.Drawing.Size(34, 16);
-            this.radSpdM.TabIndex = 7;
-            this.radSpdM.TabStop = true;
-            this.radSpdM.Tag = "1";
-            this.radSpdM.Text = "M";
-            this.radSpdM.UseVisualStyleBackColor = true;
-            // 
-            // radSpdH
-            // 
-            this.radSpdH.AutoSize = true;
-            this.radSpdH.Location = new System.Drawing.Point(9, 74);
-            this.radSpdH.Name = "radSpdH";
-            this.radSpdH.Size = new System.Drawing.Size(31, 16);
-            this.radSpdH.TabIndex = 7;
-            this.radSpdH.TabStop = true;
-            this.radSpdH.Tag = "2";
-            this.radSpdH.Text = "H";
-            this.radSpdH.UseVisualStyleBackColor = true;
-            // 
-            // button1
-            // 
-            this.button1.Location = new System.Drawing.Point(43, 14);
-            this.button1.Name = "button1";
-            this.button1.Size = new System.Drawing.Size(34, 27);
-            this.button1.TabIndex = 8;
-            this.button1.Tag = "0";
-            this.button1.Text = "B";
-            this.button1.UseVisualStyleBackColor = true;
-            this.button1.Click += new System.EventHandler(this.btnManual_Click);
-            // 
-            // button2
-            // 
-            this.button2.Location = new System.Drawing.Point(43, 44);
-            this.button2.Name = "button2";
-            this.button2.Size = new System.Drawing.Size(34, 27);
-            this.button2.TabIndex = 9;
-            this.button2.Tag = "S";
-            this.button2.Text = "S";
-            this.button2.UseVisualStyleBackColor = true;
-            this.button2.Click += new System.EventHandler(this.button2_Click);
-            // 
-            // button3
-            // 
-            this.button3.Location = new System.Drawing.Point(8, 44);
-            this.button3.Name = "button3";
-            this.button3.Size = new System.Drawing.Size(34, 27);
-            this.button3.TabIndex = 10;
-            this.button3.Tag = "2";
-            this.button3.Text = "L";
-            this.button3.UseVisualStyleBackColor = true;
-            this.button3.Click += new System.EventHandler(this.btnManual_Click);
-            // 
-            // button4
-            // 
-            this.button4.Location = new System.Drawing.Point(81, 44);
-            this.button4.Name = "button4";
-            this.button4.Size = new System.Drawing.Size(34, 27);
-            this.button4.TabIndex = 11;
-            this.button4.Tag = "3";
-            this.button4.Text = "R";
-            this.button4.UseVisualStyleBackColor = true;
-            this.button4.Click += new System.EventHandler(this.btnManual_Click);
-            // 
-            // button5
-            // 
-            this.button5.Location = new System.Drawing.Point(43, 72);
-            this.button5.Name = "button5";
-            this.button5.Size = new System.Drawing.Size(34, 27);
-            this.button5.TabIndex = 12;
-            this.button5.Tag = "1";
-            this.button5.Text = "F";
-            this.button5.UseVisualStyleBackColor = true;
-            this.button5.Click += new System.EventHandler(this.btnManual_Click);
-            // 
-            // groupBox2
-            // 
-            this.groupBox2.Controls.Add(this.radSpdL);
-            this.groupBox2.Controls.Add(this.radSpdM);
-            this.groupBox2.Controls.Add(this.radSpdH);
-            this.groupBox2.Location = new System.Drawing.Point(146, 153);
-            this.groupBox2.Name = "groupBox2";
-            this.groupBox2.Size = new System.Drawing.Size(49, 106);
-            this.groupBox2.TabIndex = 12;
-            this.groupBox2.TabStop = false;
-            this.groupBox2.Text = "속도";
-            this.groupBox2.Enter += new System.EventHandler(this.groupBox2_Enter);
-            // 
-            // panel1
-            // 
-            this.panel1.Controls.Add(this.radForw);
-            this.panel1.Controls.Add(this.radBack);
-            this.panel1.Location = new System.Drawing.Point(10, 20);
-            this.panel1.Name = "panel1";
-            this.panel1.Size = new System.Drawing.Size(139, 33);
-            this.panel1.TabIndex = 10;
-            // 
-            // radBack
-            // 
-            this.radBack.AutoSize = true;
-            this.radBack.Location = new System.Drawing.Point(12, 9);
-            this.radBack.Name = "radBack";
-            this.radBack.Size = new System.Drawing.Size(31, 16);
-            this.radBack.TabIndex = 0;
-            this.radBack.TabStop = true;
-            this.radBack.Text = "B";
-            this.radBack.UseVisualStyleBackColor = true;
-            // 
-            // radForw
-            // 
-            this.radForw.AutoSize = true;
-            this.radForw.Location = new System.Drawing.Point(51, 9);
-            this.radForw.Name = "radForw";
-            this.radForw.Size = new System.Drawing.Size(30, 16);
-            this.radForw.TabIndex = 0;
-            this.radForw.TabStop = true;
-            this.radForw.Text = "F";
-            this.radForw.UseVisualStyleBackColor = true;
-            // 
-            // panel2
-            // 
-            this.panel2.Controls.Add(this.radRight);
-            this.panel2.Controls.Add(this.radLeft);
-            this.panel2.Controls.Add(this.radStraight);
-            this.panel2.Location = new System.Drawing.Point(10, 59);
-            this.panel2.Name = "panel2";
-            this.panel2.Size = new System.Drawing.Size(139, 33);
-            this.panel2.TabIndex = 11;
-            // 
-            // radLeft
-            // 
-            this.radLeft.AutoSize = true;
-            this.radLeft.Location = new System.Drawing.Point(51, 9);
-            this.radLeft.Name = "radLeft";
-            this.radLeft.Size = new System.Drawing.Size(30, 16);
-            this.radLeft.TabIndex = 0;
-            this.radLeft.TabStop = true;
-            this.radLeft.Text = "L";
-            this.radLeft.UseVisualStyleBackColor = true;
-            // 
-            // radStraight
-            // 
-            this.radStraight.AutoSize = true;
-            this.radStraight.Location = new System.Drawing.Point(12, 9);
-            this.radStraight.Name = "radStraight";
-            this.radStraight.Size = new System.Drawing.Size(31, 16);
-            this.radStraight.TabIndex = 0;
-            this.radStraight.TabStop = true;
-            this.radStraight.Text = "S";
-            this.radStraight.UseVisualStyleBackColor = true;
-            // 
-            // radRight
-            // 
-            this.radRight.AutoSize = true;
-            this.radRight.Location = new System.Drawing.Point(93, 9);
-            this.radRight.Name = "radRight";
-            this.radRight.Size = new System.Drawing.Size(31, 16);
-            this.radRight.TabIndex = 1;
-            this.radRight.TabStop = true;
-            this.radRight.Text = "R";
-            this.radRight.UseVisualStyleBackColor = true;
             // 
             // MainForm
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(1016, 585);
+            this.ClientSize = new System.Drawing.Size(979, 621);
             this.Controls.Add(this.grpLift);
             this.Controls.Add(this.grpAGVStatus);
             this.Controls.Add(this.grpLogs);
@@ -957,7 +1062,15 @@ namespace Test_ACS
             this.grpAGV.PerformLayout();
             this.grpCommands.ResumeLayout(false);
             this.grpCommands.PerformLayout();
+            this.groupBox2.ResumeLayout(false);
+            this.groupBox2.PerformLayout();
             this.groupBox1.ResumeLayout(false);
+            this.panel3.ResumeLayout(false);
+            this.panel3.PerformLayout();
+            this.panel2.ResumeLayout(false);
+            this.panel2.PerformLayout();
+            this.panel1.ResumeLayout(false);
+            this.panel1.PerformLayout();
             this.grpManual.ResumeLayout(false);
             ((System.ComponentModel.ISupportInitialize)(this.txtRFID)).EndInit();
             this.grpLift.ResumeLayout(false);
@@ -971,12 +1084,7 @@ namespace Test_ACS
             this.tabPage1.ResumeLayout(false);
             this.grpAGVStatus.ResumeLayout(false);
             this.grpAGVStatus.PerformLayout();
-            this.groupBox2.ResumeLayout(false);
+            this.tableLayoutPanel2.ResumeLayout(false);
-            this.groupBox2.PerformLayout();
-            this.panel1.ResumeLayout(false);
-            this.panel1.PerformLayout();
-            this.panel2.ResumeLayout(false);
-            this.panel2.PerformLayout();
             this.ResumeLayout(false);
 
         }
@@ -1000,7 +1108,6 @@ namespace Test_ACS
         private System.Windows.Forms.Button btnStop;
         private System.Windows.Forms.Button btnReset;
         private System.Windows.Forms.Button btnMarkStop;
-        private System.Windows.Forms.CheckBox chkMarkStop;
         private System.Windows.Forms.GroupBox grpManual;
         private System.Windows.Forms.GroupBox grpLift;
         private System.Windows.Forms.Button btnLiftStop;
@@ -1057,5 +1164,14 @@ namespace Test_ACS
         private System.Windows.Forms.RadioButton radStraight;
         private System.Windows.Forms.RadioButton radForw;
         private System.Windows.Forms.RadioButton radBack;
+        private System.Windows.Forms.Button button6;
+        private System.Windows.Forms.Button button8;
+        private System.Windows.Forms.Button button7;
+        private System.Windows.Forms.Button button9;
+        private System.Windows.Forms.Button button10;
+        private System.Windows.Forms.Panel panel3;
+        private System.Windows.Forms.RadioButton radLidarOff;
+        private System.Windows.Forms.RadioButton radLidarOn;
+        private System.Windows.Forms.TableLayoutPanel tableLayoutPanel2;
     }
 }

Cs_HMI/TestProject/Test_ACS/MainForm.cs

@@ -299,7 +299,7 @@ namespace Test_ACS
         {
             // MarkStop: data = TargetID(2 hex) + MarkStop(1 byte)
             var targetID = selectedAGV.ToString("X2");
-            var markStop = chkMarkStop.Checked ? "01" : "00";
+            var markStop = "01";// chkMarkStop.Checked ? "01" : "00";
             SendCommand(AGVCommandHE.MarkStop, targetID + markStop);
         }
 
@@ -556,7 +556,10 @@ namespace Test_ACS
             if (radSpdM.Checked) speed = 1;
             else if (radSpdH.Checked) speed = 2;
 
-            var dataBytes = new byte[] { Motdirection, Magdirection, speed };
+            byte lidar = 2;
+            if (radLidarOff.Checked) lidar = 0;
+
+            var dataBytes = new byte[] { Motdirection, Magdirection, speed ,lidar};
             var dataStr = targetID + string.Join("", dataBytes.Select(b => b.ToString("X2")));
             SendCommand(AGVCommandHE.AutoMove, dataStr);
         }
@@ -572,5 +575,39 @@ namespace Test_ACS
         {
 
         }
+
+        private void button6_Click(object sender, EventArgs e)
+        {
+            var targetID = selectedAGV.ToString("X2");
+            SendCommand(AGVCommandHE.Stop, targetID);
+        }
+
+        private void button7_Click(object sender, EventArgs e)
+        {
+            //lt180
+            var targetID = selectedAGV.ToString("X2");
+            SendCommand(AGVCommandHE.LTurn180, targetID);
+        }
+
+        private void button8_Click(object sender, EventArgs e)
+        {
+            //rt180
+            var targetID = selectedAGV.ToString("X2");
+            SendCommand(AGVCommandHE.RTurn180, targetID);
+        }
+
+        private void button9_Click(object sender, EventArgs e)
+        {
+            //l turn
+            var targetID = selectedAGV.ToString("X2");
+            SendCommand(AGVCommandHE.LTurn, targetID);
+        }
+
+        private void button10_Click(object sender, EventArgs e)
+        {
+            ///r-turn
+            var targetID = selectedAGV.ToString("X2");
+            SendCommand(AGVCommandHE.RTurn, targetID);
+        }
     }
 }

Cs_HMI/TestProject/Test_ACS/Test_ACS.csproj

@@ -18,7 +18,7 @@
     <DebugSymbols>true</DebugSymbols>
     <DebugType>full</DebugType>
     <Optimize>false</Optimize>
-    <OutputPath>..\..\..\..\..\..\Amkor\AGV4\Test\</OutputPath>
+    <OutputPath>..\..\..\..\..\..\Amkor\AGV4\Test\ACS\</OutputPath>
     <DefineConstants>DEBUG;TRACE</DefineConstants>
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>

Cs_HMI/TestProject/Test_BMS/Form1.cs

@@ -38,7 +38,7 @@ namespace Test_BMS
 
 
 
-        private void Bms_Message(object sender, arDev.arRS232.MessageEventArgs e)
+        private void Bms_Message(object sender, arDev.BMSSerialComm.MessageEventArgs e)
         {
             var sb = new System.Text.StringBuilder();
             if (e.Data != null)
@@ -48,13 +48,13 @@ namespace Test_BMS
             }
             else sb.Append(e.Message);
 
-            if (e.MsgType == arDev.arRS232.MessageType.Error)
+            if (e.MsgType == arDev.BMSSerialComm.MessageType.Error)
                 addmsg(e.Message);
-            else if(e.MsgType == arDev.arRS232.MessageType.Send)
+            else if(e.MsgType == arDev.BMSSerialComm.MessageType.Send)
             {
                 addmsg($"Tx:{sb}");
             }
-            else if(e.MsgType == arDev.arRS232.MessageType.Recv)
+            else if(e.MsgType == arDev.BMSSerialComm.MessageType.Recv)
             {
                 addmsg($"Rx:{sb}");
             }

Cs_HMI/TestProject/Test_BMS/Test_BMS.csproj

@@ -56,6 +56,9 @@
     <Compile Include="..\..\Project\Device\BMSInformationEventArgs.cs">
       <Link>BMSInformationEventArgs.cs</Link>
     </Compile>
+    <Compile Include="..\..\Project\Device\BMSSerialComm.cs">
+      <Link>BMSSerialComm.cs</Link>
+    </Compile>
     <Compile Include="Form1.cs">
       <SubType>Form</SubType>
     </Compile>

Cs_HMI/TestProject/Test_Narumi/Form1.cs

@@ -31,7 +31,7 @@ namespace Test_BMS
             log2.Flush();
         }
 
-        private void Dev_Message(object sender, arDev.arRS232.MessageEventArgs e)
+        private void Dev_Message(object sender, arDev.NarumiSerialComm.MessageEventArgs e)
         {
             addmsg(e.MsgType.ToString(), e.Message);// $"{e.MsgType}:{e.Message}");
         }
@@ -53,7 +53,7 @@ namespace Test_BMS
             this.rt0.Text = $"system0-{dev.system0.Value:X2}\n" + dev.system0.ToString();
             this.rt1.Text = $"system1-{dev.system1.Value:X2}\n" + dev.system1.ToString();
             this.rt2.Text = $"error-{dev.error.Value:X2}\n" + dev.error.ToString();
-            this.rt3.Text = $"iosignal-{dev.signal.Value:X2}\n" + dev.signal.ToString() + "data\n" + dev.data.ToString();
+            this.rt3.Text = $"iosignal-{dev.signal1.Value:X2}\n" + dev.signal1.ToString() + "data\n" + dev.data.ToString();
            //this.rt4.Text = "data\n" + dev.data.ToString();
 
 

Cs_HMI/TestProject/Test_Narumi/Test_Narumi.csproj

@@ -18,7 +18,7 @@
     <DebugSymbols>true</DebugSymbols>
     <DebugType>full</DebugType>
     <Optimize>false</Optimize>
-    <OutputPath>..\..\..\..\..\..\Amkor\AGV4\Test\</OutputPath>
+    <OutputPath>..\..\..\..\..\..\Amkor\AGV4\Test\AGV\</OutputPath>
     <DefineConstants>DEBUG;TRACE</DefineConstants>
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>
@@ -36,7 +36,7 @@
   </PropertyGroup>
   <ItemGroup>
     <Reference Include="arControl.Net4">
-      <HintPath>..\Sub\arCtl\obj\Debug\arControl.Net4.dll</HintPath>
+      <HintPath>..\..\DLL\arControl.Net4.dll</HintPath>
     </Reference>
     <Reference Include="ArLog.Net4">
       <HintPath>..\..\DLL\ArLog.Net4.dll</HintPath>

Cs_HMI/TestProject/Test_Port/Test_Port.csproj

@@ -18,7 +18,7 @@
     <DebugSymbols>true</DebugSymbols>
     <DebugType>full</DebugType>
     <Optimize>false</Optimize>
-    <OutputPath>..\..\..\..\..\..\Amkor\AGV4\Test\</OutputPath>
+    <OutputPath>..\..\..\..\..\..\Amkor\AGV4\Test\PortScan\</OutputPath>
     <DefineConstants>DEBUG;TRACE</DefineConstants>
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>

Document/지그비셋팅패킷.txt

@@ -0,0 +1,368 @@
+[10:09:51] RX (3 bytes): 2B 2B 2B | +++
+[10:09:52] FWD→TX (10 bytes): 02 0E FF 09 00 00 00 00 01 00 | 	[10:09:52] FWD→TX (9 bytes): 00 00 30 30 30 30 D5 03 03 | [10:09:52] FWD→TX (3 bytes): 4F 4B 0D | OK
+[10:09:52] RX (5 bytes): 41 54 43 48 0D | ATCH
+[10:09:52] FWD→TX (3 bytes): 31 32 0D | 12
+[10:09:52] RX (5 bytes): 41 54 43 4E 0D | ATCN
+[10:09:52] FWD→TX (3 bytes): 4F 4B 0D | OK
+[10:10:09] 포트 닫힘
+[10:10:10] 전달 포트 닫힘
+[10:38:01] 포트 열림: COM21 @ 9600
+[10:38:01] 전달 포트 열림: COM4 @ 9600
+[10:38:02] FWD→TX (17 bytes): 02 0E FF 09 00 00 00 00 01 00 00 00 30 30 30 30 D5 | 	[10:38:02] FWD→TX (2 bytes): 03 03 | 
+[10:38:02] RX (5 bytes): 2B 2B 41 54 0D | ++AT
+[10:38:02] RX (5 bytes): 41 54 43 4E 0D | ATCN
+[10:38:05] RX (3 bytes): 2B 2B 2B | +++
+[10:38:06] FWD→TX (3 bytes): 4F 4B 0D | OK
+[10:38:06] RX (5 bytes): 41 54 43 48 0D | ATCH
+[10:38:06] FWD→TX (2 bytes): 31 32 | 12
+[10:38:06] FWD→TX (1 bytes): 0D | 
+[10:38:06] RX (5 bytes): 41 54 49 44 0D | ATID
+[10:38:06] FWD→TX (5 bytes): 34 36 41 35 0D | 46A5
+[10:38:07] RX (5 bytes): 41 54 44 48 0D | ATDH
+[10:38:07] FWD→TX (2 bytes): 30 0D | 0
+[10:38:07] RX (5 bytes): 41 54 44 4C 0D | ATDL
+[10:38:07] FWD→TX (5 bytes): 46 46 46 46 0D | FFFF
+[10:38:07] RX (5 bytes): 41 54 4D 59 0D | ATMY
+[10:38:07] FWD→TX (3 bytes): 38 37 0D | 87
+[10:38:07] RX (5 bytes): 41 54 53 48 0D | ATSH
+[10:38:07] FWD→TX (2 bytes): 31 33 | 13
+[10:38:07] FWD→TX (5 bytes): 41 32 30 30 0D | A200
+[10:38:07] RX (5 bytes): 41 54 53 4C 0D | ATSL
+[10:38:07] FWD→TX (5 bytes): 34 32 30 39 35 | 42095
+[10:38:07] FWD→TX (4 bytes): 31 34 33 0D | 143
+[10:38:07] RX (5 bytes): 41 54 4D 4D 0D | ATMM
+[10:38:07] FWD→TX (2 bytes): 30 0D | 0
+[10:38:07] RX (5 bytes): 41 54 4E 50 0D | ATNP
+[10:38:07] FWD→TX (3 bytes): 36 43 0D | 6C
+[10:38:07] RX (5 bytes): 41 54 52 52 0D | ATRR
+[10:38:07] FWD→TX (2 bytes): 30 0D | 0
+[10:38:07] RX (5 bytes): 41 54 52 4E 0D | ATRN
+[10:38:07] FWD→TX (1 bytes): 30 | 0
+[10:38:07] FWD→TX (1 bytes): 0D | 
+[10:38:08] RX (5 bytes): 41 54 4E 54 0D | ATNT
+[10:38:08] FWD→TX (3 bytes): 31 39 0D | 19
+[10:38:08] RX (5 bytes): 41 54 4E 4F 0D | ATNO
+[10:38:08] FWD→TX (2 bytes): 30 0D | 0
+[10:38:08] RX (5 bytes): 41 54 54 4F 0D | ATTO
+[10:38:08] FWD→TX (2 bytes): 30 0D | 0
+[10:38:08] RX (5 bytes): 41 54 43 38 0D | ATC8
+[10:38:08] FWD→TX (2 bytes): 30 0D | 0
+[10:38:08] RX (5 bytes): 41 54 43 45 0D | ATCE
+[10:38:08] FWD→TX (2 bytes): 30 0D | 0
+[10:38:08] RX (5 bytes): 41 54 53 43 0D | ATSC
+[10:38:08] FWD→TX (5 bytes): 31 46 46 45 0D | 1FFE
+[10:38:08] RX (5 bytes): 41 54 53 44 0D | ATSD
+[10:38:08] FWD→TX (2 bytes): 34 0D | 4
+[10:38:08] RX (5 bytes): 41 54 41 31 0D | ATA1
+[10:38:08] FWD→TX (2 bytes): 30 0D | 0
+[10:38:08] RX (5 bytes): 41 54 41 32 0D | ATA2
+[10:38:08] FWD→TX (2 bytes): 30 0D | 0
+[10:38:08] RX (5 bytes): 41 54 41 49 0D | ATAI
+[10:38:08] FWD→TX (2 bytes): 30 0D | 0
+[10:38:08] RX (5 bytes): 41 54 45 45 0D | ATEE
+[10:38:08] FWD→TX (2 bytes): 30 0D | 0
+[10:38:08] RX (5 bytes): 41 54 4B 59 0D | ATKY
+[10:38:08] FWD→TX (3 bytes): 4F 4B 0D | OK
+[10:38:08] RX (5 bytes): 41 54 4E 49 0D | ATNI
+[10:38:08] FWD→TX (2 bytes): 20 0D |  
+[10:38:08] RX (5 bytes): 41 54 50 4C 0D | ATPL
+[10:38:08] FWD→TX (2 bytes): 34 0D | 4
+[10:38:08] RX (5 bytes): 41 54 50 4D 0D | ATPM
+[10:38:08] FWD→TX (2 bytes): 30 0D | 0
+[10:38:09] RX (5 bytes): 41 54 43 41 0D | ATCA
+[10:38:09] FWD→TX (3 bytes): 32 43 0D | 2C
+[10:38:09] RX (5 bytes): 41 54 53 4D 0D | ATSM
+[10:38:09] FWD→TX (2 bytes): 30 0D | 0
+[10:38:09] RX (5 bytes): 41 54 53 54 0D | ATST
+[10:38:09] FWD→TX (5 bytes): 31 33 38 38 0D | 1388
+[10:38:09] RX (5 bytes): 41 54 53 50 0D | ATSP
+[10:38:09] FWD→TX (2 bytes): 30 0D | 0
+[10:38:09] RX (5 bytes): 41 54 44 50 0D | ATDP
+[10:38:09] FWD→TX (2 bytes): 33 45 | 3E
+[10:38:09] FWD→TX (2 bytes): 38 0D | 8
+[10:38:09] RX (5 bytes): 41 54 53 4F 0D | ATSO
+[10:38:09] FWD→TX (2 bytes): 30 0D | 0
+[10:38:09] RX (5 bytes): 41 54 42 44 0D | ATBD
+[10:38:09] FWD→TX (2 bytes): 33 0D | 3
+[10:38:09] RX (5 bytes): 41 54 4E 42 0D | ATNB
+[10:38:09] FWD→TX (2 bytes): 30 0D | 0
+[10:38:09] RX (5 bytes): 41 54 52 4F 0D | ATRO
+[10:38:09] FWD→TX (2 bytes): 33 0D | 3
+[10:38:09] RX (5 bytes): 41 54 44 37 0D | ATD7
+[10:38:09] FWD→TX (2 bytes): 31 0D | 1
+[10:38:09] RX (5 bytes): 41 54 44 36 0D | ATD6
+[10:38:09] FWD→TX (2 bytes): 30 0D | 0
+[10:38:09] RX (5 bytes): 41 54 41 50 0D | ATAP
+[10:38:09] FWD→TX (2 bytes): 30 0D | 0
+[10:38:09] RX (5 bytes): 41 54 44 30 0D | ATD0
+[10:38:09] FWD→TX (2 bytes): 30 0D | 0
+[10:38:10] RX (5 bytes): 41 54 44 31 0D | ATD1
+[10:38:10] FWD→TX (2 bytes): 30 0D | 0
+[10:38:10] RX (5 bytes): 41 54 44 32 0D | ATD2
+[10:38:10] FWD→TX (2 bytes): 30 0D | 0
+[10:38:10] RX (5 bytes): 41 54 44 33 0D | ATD3
+[10:38:10] FWD→TX (2 bytes): 30 0D | 0
+[10:38:10] RX (5 bytes): 41 54 44 34 0D | ATD4
+[10:38:10] FWD→TX (2 bytes): 30 0D | 0
+[10:38:10] RX (5 bytes): 41 54 44 35 0D | ATD5
+[10:38:10] FWD→TX (2 bytes): 31 0D | 1
+[10:38:10] RX (5 bytes): 41 54 44 38 0D | ATD8
+[10:38:10] FWD→TX (2 bytes): 30 0D | 0
+[10:38:10] RX (5 bytes): 41 54 50 30 0D | ATP0
+[10:38:10] FWD→TX (2 bytes): 31 0D | 1
+[10:38:10] RX (5 bytes): 41 54 4D 30 0D | ATM0
+[10:38:10] FWD→TX (2 bytes): 30 0D | 0
+[10:38:10] RX (5 bytes): 41 54 50 31 0D | ATP1
+[10:38:10] FWD→TX (2 bytes): 30 0D | 0
+[10:38:10] RX (5 bytes): 41 54 4D 31 0D | ATM1
+[10:38:10] FWD→TX (2 bytes): 30 0D | 0
+[10:38:10] RX (5 bytes): 41 54 50 32 0D | ATP2
+[10:38:10] FWD→TX (2 bytes): 30 0D | 0
+[10:38:10] RX (5 bytes): 41 54 50 52 0D | ATPR
+[10:38:10] FWD→TX (3 bytes): 46 46 0D | FF
+[10:38:10] RX (5 bytes): 41 54 50 44 0D | ATPD
+[10:38:10] FWD→TX (3 bytes): 46 46 0D | FF
+[10:38:10] RX (5 bytes): 41 54 49 55 0D | ATIU
+[10:38:10] FWD→TX (2 bytes): 31 0D | 1
+[10:38:11] RX (5 bytes): 41 54 49 54 0D | ATIT
+[10:38:11] FWD→TX (2 bytes): 31 0D | 1
+[10:38:11] RX (5 bytes): 41 54 49 43 0D | ATIC
+[10:38:11] FWD→TX (2 bytes): 30 0D | 0
+[10:38:11] RX (5 bytes): 41 54 49 52 0D | ATIR
+[10:38:11] FWD→TX (2 bytes): 30 0D | 0
+[10:38:11] RX (5 bytes): 41 54 50 54 0D | ATPT
+[10:38:11] FWD→TX (3 bytes): 46 46 0D | FF
+[10:38:11] RX (5 bytes): 41 54 52 50 0D | ATRP
+[10:38:11] FWD→TX (3 bytes): 32 38 0D | 28
+[10:38:11] RX (5 bytes): 41 54 49 41 0D | ATIA
+[10:38:11] FWD→TX (12 bytes): 46 46 46 46 46 46 46 46 46 46 46 46 | FFFFFFFFFFFF
+[10:38:11] FWD→TX (5 bytes): 46 46 46 46 0D | FFFF
+[10:38:11] RX (5 bytes): 41 54 54 30 0D | ATT0
+[10:38:11] FWD→TX (3 bytes): 46 46 0D | FF
+[10:38:11] RX (5 bytes): 41 54 54 31 0D | ATT1
+[10:38:11] FWD→TX (3 bytes): 46 46 0D | FF
+[10:38:11] RX (5 bytes): 41 54 54 32 0D | ATT2
+[10:38:11] FWD→TX (3 bytes): 46 46 0D | FF
+[10:38:11] RX (5 bytes): 41 54 54 33 0D | ATT3
+[10:38:11] FWD→TX (3 bytes): 46 46 0D | FF
+[10:38:11] RX (5 bytes): 41 54 54 34 0D | ATT4
+[10:38:11] FWD→TX (3 bytes): 46 46 0D | FF
+[10:38:11] RX (5 bytes): 41 54 54 35 0D | ATT5
+[10:38:11] FWD→TX (3 bytes): 46 46 0D | FF
+[10:38:11] RX (5 bytes): 41 54 54 36 0D | ATT6
+[10:38:11] FWD→TX (3 bytes): 46 46 0D | FF
+[10:38:12] RX (5 bytes): 41 54 54 37 0D | ATT7
+[10:38:12] FWD→TX (3 bytes): 46 46 0D | FF
+[10:38:12] RX (5 bytes): 41 54 56 52 0D | ATVR
+[10:38:12] FWD→TX (3 bytes): 32 30 30 | 200
+[10:38:12] FWD→TX (2 bytes): 33 0D | 3
+[10:38:12] RX (5 bytes): 41 54 48 56 0D | ATHV
+[10:38:12] FWD→TX (5 bytes): 32 45 34 45 0D | 2E4E
+[10:38:12] RX (5 bytes): 41 54 44 42 0D | ATDB
+[10:38:12] FWD→TX (3 bytes): 35 44 0D | 5D
+[10:38:12] RX (5 bytes): 41 54 45 43 0D | ATEC
+[10:38:12] FWD→TX (2 bytes): 30 0D | 0
+[10:38:12] RX (5 bytes): 41 54 45 41 0D | ATEA
+[10:38:12] FWD→TX (2 bytes): 30 0D | 0
+[10:38:12] RX (5 bytes): 41 54 44 44 0D | ATDD
+[10:38:12] FWD→TX (6 bytes): 31 30 30 30 30 0D | 10000
+[10:38:12] RX (5 bytes): 41 54 43 54 0D | ATCT
+[10:38:12] FWD→TX (3 bytes): 36 34 0D | 64
+[10:38:12] RX (5 bytes): 41 54 47 54 0D | ATGT
+[10:38:12] FWD→TX (4 bytes): 33 45 38 0D | 3E8
+[10:38:12] RX (5 bytes): 41 54 43 43 0D | ATCC
+[10:38:12] FWD→TX (3 bytes): 32 42 0D | 2B
+[10:38:12] RX (5 bytes): 41 54 43 4E 0D | ATCN
+[10:38:12] FWD→TX (3 bytes): 4F 4B 0D | OK
+[10:38:14] RX (3 bytes): 2B 2B 2B | +++
+[10:38:15] FWD→TX (3 bytes): 4F 4B 0D | OK
+[10:38:15] RX (5 bytes): 41 54 43 45 0D | ATCE
+[10:38:15] FWD→TX (2 bytes): 30 0D | 0
+[10:38:15] RX (5 bytes): 41 54 43 4E 0D | ATCN
+[10:38:15] FWD→TX (3 bytes): 4F 4B 0D | OK
+[10:38:17] FWD→TX (3 bytes): 02 0E FF | 
+[10:38:17] 역방향 전달 실패: 쓰기 시간이 초과되었습니다.
+[10:38:18] 포트 닫힘
+[10:38:18] 전달 포트 닫힘
+
+
+[10:09:51] TX (3 bytes): 2B 2B 2B | +++
+[10:09:52] RX (10 bytes): 02 0E FF 09 00 00 00 00 01 00 | 	[10:09:52] RX (9 bytes): 00 00 30 30 30 30 D5 03 03 | [10:09:52] RX (3 bytes): 4F 4B 0D | OK
+[10:09:52] TX (5 bytes): 41 54 43 48 0D | ATCH
+[10:09:52] RX (3 bytes): 31 32 0D | 12
+[10:09:52] TX (5 bytes): 41 54 43 4E 0D | ATCN
+[10:09:52] RX (3 bytes): 4F 4B 0D | OK
+[10:38:02] RX (17 bytes): 02 0E FF 09 00 00 00 00 01 00 00 00 30 30 30 30 D5 | 	[10:38:02] RX (2 bytes): 03 03 | 
+[10:38:02] TX (5 bytes): 2B 2B 41 54 0D | ++AT
+[10:38:02] TX (5 bytes): 41 54 43 4E 0D | ATCN
+[10:38:05] TX (3 bytes): 2B 2B 2B | +++
+[10:38:06] RX (3 bytes): 4F 4B 0D | OK
+[10:38:06] TX (5 bytes): 41 54 43 48 0D | ATCH
+[10:38:06] RX (2 bytes): 31 32 | 12
+[10:38:06] RX (1 bytes): 0D | 
+[10:38:06] TX (5 bytes): 41 54 49 44 0D | ATID
+[10:38:06] RX (5 bytes): 34 36 41 35 0D | 46A5
+[10:38:07] TX (5 bytes): 41 54 44 48 0D | ATDH
+[10:38:07] RX (2 bytes): 30 0D | 0
+[10:38:07] TX (5 bytes): 41 54 44 4C 0D | ATDL
+[10:38:07] RX (5 bytes): 46 46 46 46 0D | FFFF
+[10:38:07] TX (5 bytes): 41 54 4D 59 0D | ATMY
+[10:38:07] RX (3 bytes): 38 37 0D | 87
+[10:38:07] TX (5 bytes): 41 54 53 48 0D | ATSH
+[10:38:07] RX (2 bytes): 31 33 | 13
+[10:38:07] RX (5 bytes): 41 32 30 30 0D | A200
+[10:38:07] TX (5 bytes): 41 54 53 4C 0D | ATSL
+[10:38:07] RX (5 bytes): 34 32 30 39 35 | 42095
+[10:38:07] RX (4 bytes): 31 34 33 0D | 143
+[10:38:07] TX (5 bytes): 41 54 4D 4D 0D | ATMM
+[10:38:07] RX (2 bytes): 30 0D | 0
+[10:38:07] TX (5 bytes): 41 54 4E 50 0D | ATNP
+[10:38:07] RX (3 bytes): 36 43 0D | 6C
+[10:38:07] TX (5 bytes): 41 54 52 52 0D | ATRR
+[10:38:07] RX (2 bytes): 30 0D | 0
+[10:38:07] TX (5 bytes): 41 54 52 4E 0D | ATRN
+[10:38:07] RX (1 bytes): 30 | 0
+[10:38:07] RX (1 bytes): 0D | 
+[10:38:08] TX (5 bytes): 41 54 4E 54 0D | ATNT
+[10:38:08] RX (3 bytes): 31 39 0D | 19
+[10:38:08] TX (5 bytes): 41 54 4E 4F 0D | ATNO
+[10:38:08] RX (2 bytes): 30 0D | 0
+[10:38:08] TX (5 bytes): 41 54 54 4F 0D | ATTO
+[10:38:08] RX (2 bytes): 30 0D | 0
+[10:38:08] TX (5 bytes): 41 54 43 38 0D | ATC8
+[10:38:08] RX (2 bytes): 30 0D | 0
+[10:38:08] TX (5 bytes): 41 54 43 45 0D | ATCE
+[10:38:08] RX (2 bytes): 30 0D | 0
+[10:38:08] TX (5 bytes): 41 54 53 43 0D | ATSC
+[10:38:08] RX (5 bytes): 31 46 46 45 0D | 1FFE
+[10:38:08] TX (5 bytes): 41 54 53 44 0D | ATSD
+[10:38:08] RX (2 bytes): 34 0D | 4
+[10:38:08] TX (5 bytes): 41 54 41 31 0D | ATA1
+[10:38:08] RX (2 bytes): 30 0D | 0
+[10:38:08] TX (5 bytes): 41 54 41 32 0D | ATA2
+[10:38:08] RX (2 bytes): 30 0D | 0
+[10:38:08] TX (5 bytes): 41 54 41 49 0D | ATAI
+[10:38:08] RX (2 bytes): 30 0D | 0
+[10:38:08] TX (5 bytes): 41 54 45 45 0D | ATEE
+[10:38:08] RX (2 bytes): 30 0D | 0
+[10:38:08] TX (5 bytes): 41 54 4B 59 0D | ATKY
+[10:38:08] RX (3 bytes): 4F 4B 0D | OK
+[10:38:08] TX (5 bytes): 41 54 4E 49 0D | ATNI
+[10:38:08] RX (2 bytes): 20 0D |  
+[10:38:08] TX (5 bytes): 41 54 50 4C 0D | ATPL
+[10:38:08] RX (2 bytes): 34 0D | 4
+[10:38:08] TX (5 bytes): 41 54 50 4D 0D | ATPM
+[10:38:08] RX (2 bytes): 30 0D | 0
+[10:38:09] TX (5 bytes): 41 54 43 41 0D | ATCA
+[10:38:09] RX (3 bytes): 32 43 0D | 2C
+[10:38:09] TX (5 bytes): 41 54 53 4D 0D | ATSM
+[10:38:09] RX (2 bytes): 30 0D | 0
+[10:38:09] TX (5 bytes): 41 54 53 54 0D | ATST
+[10:38:09] RX (5 bytes): 31 33 38 38 0D | 1388
+[10:38:09] TX (5 bytes): 41 54 53 50 0D | ATSP
+[10:38:09] RX (2 bytes): 30 0D | 0
+[10:38:09] TX (5 bytes): 41 54 44 50 0D | ATDP
+[10:38:09] RX (2 bytes): 33 45 | 3E
+[10:38:09] RX (2 bytes): 38 0D | 8
+[10:38:09] TX (5 bytes): 41 54 53 4F 0D | ATSO
+[10:38:09] RX (2 bytes): 30 0D | 0
+[10:38:09] TX (5 bytes): 41 54 42 44 0D | ATBD
+[10:38:09] RX (2 bytes): 33 0D | 3
+[10:38:09] TX (5 bytes): 41 54 4E 42 0D | ATNB
+[10:38:09] RX (2 bytes): 30 0D | 0
+[10:38:09] TX (5 bytes): 41 54 52 4F 0D | ATRO
+[10:38:09] RX (2 bytes): 33 0D | 3
+[10:38:09] TX (5 bytes): 41 54 44 37 0D | ATD7
+[10:38:09] RX (2 bytes): 31 0D | 1
+[10:38:09] TX (5 bytes): 41 54 44 36 0D | ATD6
+[10:38:09] RX (2 bytes): 30 0D | 0
+[10:38:09] TX (5 bytes): 41 54 41 50 0D | ATAP
+[10:38:09] RX (2 bytes): 30 0D | 0
+[10:38:09] TX (5 bytes): 41 54 44 30 0D | ATD0
+[10:38:09] RX (2 bytes): 30 0D | 0
+[10:38:10] TX (5 bytes): 41 54 44 31 0D | ATD1
+[10:38:10] RX (2 bytes): 30 0D | 0
+[10:38:10] TX (5 bytes): 41 54 44 32 0D | ATD2
+[10:38:10] RX (2 bytes): 30 0D | 0
+[10:38:10] TX (5 bytes): 41 54 44 33 0D | ATD3
+[10:38:10] RX (2 bytes): 30 0D | 0
+[10:38:10] TX (5 bytes): 41 54 44 34 0D | ATD4
+[10:38:10] RX (2 bytes): 30 0D | 0
+[10:38:10] TX (5 bytes): 41 54 44 35 0D | ATD5
+[10:38:10] RX (2 bytes): 31 0D | 1
+[10:38:10] TX (5 bytes): 41 54 44 38 0D | ATD8
+[10:38:10] RX (2 bytes): 30 0D | 0
+[10:38:10] TX (5 bytes): 41 54 50 30 0D | ATP0
+[10:38:10] RX (2 bytes): 31 0D | 1
+[10:38:10] TX (5 bytes): 41 54 4D 30 0D | ATM0
+[10:38:10] RX (2 bytes): 30 0D | 0
+[10:38:10] TX (5 bytes): 41 54 50 31 0D | ATP1
+[10:38:10] RX (2 bytes): 30 0D | 0
+[10:38:10] TX (5 bytes): 41 54 4D 31 0D | ATM1
+[10:38:10] RX (2 bytes): 30 0D | 0
+[10:38:10] TX (5 bytes): 41 54 50 32 0D | ATP2
+[10:38:10] RX (2 bytes): 30 0D | 0
+[10:38:10] TX (5 bytes): 41 54 50 52 0D | ATPR
+[10:38:10] RX (3 bytes): 46 46 0D | FF
+[10:38:10] TX (5 bytes): 41 54 50 44 0D | ATPD
+[10:38:10] RX (3 bytes): 46 46 0D | FF
+[10:38:10] TX (5 bytes): 41 54 49 55 0D | ATIU
+[10:38:10] RX (2 bytes): 31 0D | 1
+[10:38:11] TX (5 bytes): 41 54 49 54 0D | ATIT
+[10:38:11] RX (2 bytes): 31 0D | 1
+[10:38:11] TX (5 bytes): 41 54 49 43 0D | ATIC
+[10:38:11] RX (2 bytes): 30 0D | 0
+[10:38:11] TX (5 bytes): 41 54 49 52 0D | ATIR
+[10:38:11] RX (2 bytes): 30 0D | 0
+[10:38:11] TX (5 bytes): 41 54 50 54 0D | ATPT
+[10:38:11] RX (3 bytes): 46 46 0D | FF
+[10:38:11] TX (5 bytes): 41 54 52 50 0D | ATRP
+[10:38:11] RX (3 bytes): 32 38 0D | 28
+[10:38:11] TX (5 bytes): 41 54 49 41 0D | ATIA
+[10:38:11] RX (12 bytes): 46 46 46 46 46 46 46 46 46 46 46 46 | FFFFFFFFFFFF
+[10:38:11] RX (5 bytes): 46 46 46 46 0D | FFFF
+[10:38:11] TX (5 bytes): 41 54 54 30 0D | ATT0
+[10:38:11] RX (3 bytes): 46 46 0D | FF
+[10:38:11] TX (5 bytes): 41 54 54 31 0D | ATT1
+[10:38:11] RX (3 bytes): 46 46 0D | FF
+[10:38:11] TX (5 bytes): 41 54 54 32 0D | ATT2
+[10:38:11] RX (3 bytes): 46 46 0D | FF
+[10:38:11] TX (5 bytes): 41 54 54 33 0D | ATT3
+[10:38:11] RX (3 bytes): 46 46 0D | FF
+[10:38:11] TX (5 bytes): 41 54 54 34 0D | ATT4
+[10:38:11] RX (3 bytes): 46 46 0D | FF
+[10:38:11] TX (5 bytes): 41 54 54 35 0D | ATT5
+[10:38:11] RX (3 bytes): 46 46 0D | FF
+[10:38:11] TX (5 bytes): 41 54 54 36 0D | ATT6
+[10:38:11] RX (3 bytes): 46 46 0D | FF
+[10:38:12] TX (5 bytes): 41 54 54 37 0D | ATT7
+[10:38:12] RX (3 bytes): 46 46 0D | FF
+[10:38:12] TX (5 bytes): 41 54 56 52 0D | ATVR
+[10:38:12] RX (3 bytes): 32 30 30 | 200
+[10:38:12] RX (2 bytes): 33 0D | 3
+[10:38:12] TX (5 bytes): 41 54 48 56 0D | ATHV
+[10:38:12] RX (5 bytes): 32 45 34 45 0D | 2E4E
+[10:38:12] TX (5 bytes): 41 54 44 42 0D | ATDB
+[10:38:12] RX (3 bytes): 35 44 0D | 5D
+[10:38:12] TX (5 bytes): 41 54 45 43 0D | ATEC
+[10:38:12] RX (2 bytes): 30 0D | 0
+[10:38:12] TX (5 bytes): 41 54 45 41 0D | ATEA
+[10:38:12] RX (2 bytes): 30 0D | 0
+[10:38:12] TX (5 bytes): 41 54 44 44 0D | ATDD
+[10:38:12] RX (6 bytes): 31 30 30 30 30 0D | 10000
+[10:38:12] TX (5 bytes): 41 54 43 54 0D | ATCT
+[10:38:12] RX (3 bytes): 36 34 0D | 64
+[10:38:12] TX (5 bytes): 41 54 47 54 0D | ATGT
+[10:38:12] RX (4 bytes): 33 45 38 0D | 3E8
+[10:38:12] TX (5 bytes): 41 54 43 43 0D | ATCC
+[10:38:12] RX (3 bytes): 32 42 0D | 2B
+[10:38:12] TX (5 bytes): 41 54 43 4E 0D | ATCN
+[10:38:12] RX (3 bytes): 4F 4B 0D | OK
+[10:38:14] TX (3 bytes): 2B 2B 2B | +++
+[10:38:15] RX (3 bytes): 4F 4B 0D | OK
+[10:38:15] TX (5 bytes): 41 54 43 45 0D | ATCE
+[10:38:15] RX (2 bytes): 30 0D | 0
+[10:38:15] TX (5 bytes): 41 54 43 4E 0D | ATCN
+[10:38:15] RX (3 bytes): 4F 4B 0D | OK
+[10:38:17] RX (3 bytes): 02 0E FF | 
+[10:38:17] RX (16 bytes): 09 00 00 00 00 01 00 00 00 30 30 30 30 D5 03 03 |