...

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

AGVEmulator/fMain.cs

@@ -26,7 +26,6 @@ namespace AGVEmulator
 
         // Map Control
         private UnifiedAGVCanvas _agvCanvas;
-        private List<MapNode> _mapNodes;
         private VirtualAGV _visualAgv;
 
         // Emulator State
@@ -385,14 +384,12 @@ namespace AGVEmulator
                 try
                 {
                     var mapresult = MapLoader.LoadMapFromFile(mapPath);
-                    _mapNodes = mapresult.Nodes;
-                    _agvCanvas.Nodes = _mapNodes;
-                    _agvCanvas.FitToNodes();
+                    _agvCanvas.SetMapLoadResult(mapresult);//.Nodes = _mapNodes;
 
                     // Initialize Visual AGV
-                    if (_mapNodes.Count > 0)
+                    if (_agvCanvas.Nodes.Count > 0)
                     {
-                        _visualAgv = new VirtualAGV("AGV01", _mapNodes[0].Position);
+                        _visualAgv = new VirtualAGV("AGV01", _agvCanvas.Nodes[0].Position);
                         _agvCanvas.AGVList = new List<IAGV> { _visualAgv };
                     }
                 }
@@ -405,16 +402,16 @@ namespace AGVEmulator
 
         void UpdateVisualAgvPosition(string tag)
         {
-            if (_visualAgv == null || _mapNodes == null) return;
+            if (_visualAgv == null || _agvCanvas.Nodes == null) return;
 
             // Find node by tag
             // Assuming NodeId might be the tag or contain it
-            var node = _mapNodes.FirstOrDefault(n => n.NodeId == tag || n.NodeId.EndsWith(tag));
+            var node = _agvCanvas.Nodes.FirstOrDefault(n => n.Id == tag || n.Id.EndsWith(tag));
 
             // If not found, try to parse tag as int and match
             if (node == null && int.TryParse(tag, out int tagNum))
             {
-                node = _mapNodes.FirstOrDefault(n => n.NodeId == tagNum.ToString());
+                node = _agvCanvas.Nodes.FirstOrDefault(n => n.Id == tagNum.ToString());
             }
 
             if (node != null)
@@ -575,7 +572,7 @@ private void UpdateVisualAGV()
 
         private void UpdateEmulatorLogic()
         {
-            if (_visualAgv == null || _mapNodes == null) return;
+            if (_visualAgv == null || _agvCanvas.Nodes == null) return;
 
             // Initialize float position if needed
             if (_currentPosF.IsEmpty) _currentPosF = _visualAgv.CurrentPosition;
@@ -614,18 +611,18 @@ private void UpdateVisualAGV()
                 _visualAgv.CurrentPosition = Point.Round(_currentPosF);
 
                 // Check for Nodes (RFID Trigger)
-                foreach (var node in _mapNodes)
+                foreach (var node in _agvCanvas.Nodes)
                 {
                     double dist = Math.Sqrt(Math.Pow(node.Position.X - _visualAgv.CurrentPosition.X, 2) + Math.Pow(node.Position.Y - _visualAgv.CurrentPosition.Y, 2));
                     if (dist < 15) // Hit Node
                     {
                         // Send Tag
-                        if (node.NodeId != numericUpDown1.Text)
+                        if (node.Id != numericUpDown1.Text)
                         {
-                             if (int.TryParse(node.NodeId, out int tag))
+                             if (int.TryParse(node.Id, out int tag))
                              {
-                                 AGV.SendTag(node.NodeId);
-                                 numericUpDown1.Text = node.NodeId;
+                                 AGV.SendTag(node.Id);
+                                 numericUpDown1.Text = node.Id;
 
                                  // Snap to node
                                  _currentPosF = node.Position;
@@ -665,14 +662,14 @@ private void UpdateVisualAGV()
             while (_targetAngle < 0) _targetAngle += 360;
         }
 
-        private void _agvCanvas_NodeRightClicked(object sender, MapNode e)
+        private void _agvCanvas_NodeRightClicked(object sender, NodeBase e)
         {
             if (e != null && _visualAgv != null)
             {
                 _visualAgv.CurrentPosition = e.Position;
                 _currentPosF = e.Position;
 
-                if (int.TryParse(e.NodeId, out int tag))
+                if (int.TryParse(e.Id, out int tag))
                 {
                     numericUpDown1.Text = tag.ToString();
                 }
@@ -796,6 +793,13 @@ private void UpdateVisualAGV()
         private void toolStripButton3_Click(object sender, EventArgs e)
         {
             var file = @"C:\Data\Amkor\AGV4\route\NewMap.agvmap";
+            if(System.IO.File.Exists(file)==false)
+            {
+                var od = new OpenFileDialog();
+                od.Filter = "json|*.json";
+                if (od.ShowDialog() != DialogResult.OK) return;
+                file = od.FileName;
+            }
             LoadMapFile(file);
         }
         private string _currentMapFilePath;
@@ -809,13 +813,8 @@ private void UpdateVisualAGV()
                 {
                     Console.WriteLine($"Map File Load : {filePath}");
 
-                    _mapNodes = result.Nodes;
-                    _currentMapFilePath = filePath;
-
-                    // RFID 자동 할당 제거 - 에디터에서 설정한 값 그대로 사용
-
                     // 시뮬레이터 캔버스에 맵 설정
-                    this._agvCanvas.Nodes = _mapNodes;
+                    this._agvCanvas.SetMapLoadResult(result);// = _mapNodes;
 
                     // 맵 설정 적용 (배경색, 그리드 표시)
                     if (result.Settings != null)
@@ -871,17 +870,17 @@ private void UpdateVisualAGV()
                 }
             }
 
-            if (!string.IsNullOrEmpty(input) && _mapNodes != null && _visualAgv != null)
+            if (!string.IsNullOrEmpty(input) && _agvCanvas.Nodes != null && _visualAgv != null)
             {
-                var node = _mapNodes.FirstOrDefault(n => n.NodeId == input);
+                var node = _agvCanvas.Nodes.FirstOrDefault(n => n.Id == input);
                 if (node != null)
                 {
                     _visualAgv.CurrentPosition = node.Position;
                     _currentPosF = node.Position;
-                    numericUpDown1.Text = node.NodeId;
+                    numericUpDown1.Text = node.Id;
 
                     // Auto-orient: Prefer Right (0) or Up (270)
-                    var neighbors = _mapNodes.Where(n => n != node &&
+                    var neighbors = _agvCanvas.Nodes.Where(n => n != node &&
                         Math.Sqrt(Math.Pow(n.Position.X - node.Position.X, 2) + Math.Pow(n.Position.Y - node.Position.Y, 2)) < 150)
                         .ToList();
 

Cs_HMI/.cursorrules

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

Cs_HMI/AGVCSharp.sln

@@ -1,7 +1,7 @@
 
 Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio Express 15 for Windows Desktop
-VisualStudioVersion = 15.0.36324.19
+# Visual Studio Version 17
+VisualStudioVersion = 17.14.36804.6 d17.14
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Sub", "Sub", "{C423C39A-44E7-4F09-B2F7-7943975FF948}"
 EndProject
@@ -38,8 +38,6 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVSimulator", "AGVLogic\AG
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "arCommUtil", "SubProject\commutil\arCommUtil.csproj", "{14E8C9A5-013E-49BA-B435-FFFFFF7DD623}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Supertonic.Netfx48", "SubProject\SuperTonic\Supertonic.Netfx48.csproj", "{19675E19-EB91-493E-88C3-32B3C094B749}"
-EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -182,18 +180,6 @@ Global
 		{14E8C9A5-013E-49BA-B435-FFFFFF7DD623}.Release|x64.Build.0 = Release|Any CPU
 		{14E8C9A5-013E-49BA-B435-FFFFFF7DD623}.Release|x86.ActiveCfg = Release|x86
 		{14E8C9A5-013E-49BA-B435-FFFFFF7DD623}.Release|x86.Build.0 = Release|x86
-		{19675E19-EB91-493E-88C3-32B3C094B749}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{19675E19-EB91-493E-88C3-32B3C094B749}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{19675E19-EB91-493E-88C3-32B3C094B749}.Debug|x64.ActiveCfg = Debug|x64
-		{19675E19-EB91-493E-88C3-32B3C094B749}.Debug|x64.Build.0 = Debug|x64
-		{19675E19-EB91-493E-88C3-32B3C094B749}.Debug|x86.ActiveCfg = Debug|Win32
-		{19675E19-EB91-493E-88C3-32B3C094B749}.Debug|x86.Build.0 = Debug|Win32
-		{19675E19-EB91-493E-88C3-32B3C094B749}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{19675E19-EB91-493E-88C3-32B3C094B749}.Release|Any CPU.Build.0 = Release|Any CPU
-		{19675E19-EB91-493E-88C3-32B3C094B749}.Release|x64.ActiveCfg = Release|x64
-		{19675E19-EB91-493E-88C3-32B3C094B749}.Release|x64.Build.0 = Release|x64
-		{19675E19-EB91-493E-88C3-32B3C094B749}.Release|x86.ActiveCfg = Release|Win32
-		{19675E19-EB91-493E-88C3-32B3C094B749}.Release|x86.Build.0 = Release|Win32
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -207,7 +193,6 @@ Global
 		{A1B2C3D4-E5F6-7890-ABCD-EF1234567890} = {E5C75D32-5AD6-44DD-8F27-E32023206EBB}
 		{B2C3D4E5-0000-0000-0000-000000000000} = {E5C75D32-5AD6-44DD-8F27-E32023206EBB}
 		{14E8C9A5-013E-49BA-B435-FFFFFF7DD623} = {C423C39A-44E7-4F09-B2F7-7943975FF948}
-		{19675E19-EB91-493E-88C3-32B3C094B749} = {C423C39A-44E7-4F09-B2F7-7943975FF948}
 	EndGlobalSection
 	GlobalSection(ExtensibilityGlobals) = postSolution
 		SolutionGuid = {B5B1FD72-356F-4840-83E8-B070AC21C8D9}

Cs_HMI/AGVLogic/AGVMapEditor/Forms/ImageEditorForm.cs

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

Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.cs

@@ -7,6 +7,8 @@ using System.Windows.Forms;
 using AGVMapEditor.Models;
 using AGVNavigationCore.Controls;
 using AGVNavigationCore.Models;
+using MapImage = AGVNavigationCore.Models.MapImage;
+using MapLabel = AGVNavigationCore.Models.MapLabel;
 using Newtonsoft.Json;
 
 namespace AGVMapEditor.Forms
@@ -18,11 +20,11 @@ namespace AGVMapEditor.Forms
     {
         #region Fields
 
-        private List<MapNode> _mapNodes;
+        // private List<MapNode> this._mapCanvas.Nodes;
         private UnifiedAGVCanvas _mapCanvas;
 
         // 현재 선택된 노드
-        private MapNode _selectedNode;
+        private NodeBase _selectedNode;
 
         // 파일 경로
         private string _currentMapFile = string.Empty;
@@ -34,20 +36,20 @@ namespace AGVMapEditor.Forms
         {
             public string FromNodeId { get; set; }
             public string FromNodeName { get; set; }
-            public string FromRfidId { get; set; }
+            public ushort FromRfidId { get; set; }
             public string ToNodeId { get; set; }
             public string ToNodeName { get; set; }
-            public string ToRfidId { get; set; }
+            public ushort ToRfidId { get; set; }
             public string ConnectionType { get; set; }
 
             public override string ToString()
             {
                 // RFID가 있으면 RFID(노드이름), 없으면 NodeID(노드이름) 형태로 표시
-                string fromDisplay = !string.IsNullOrEmpty(FromRfidId)
+                string fromDisplay =  FromRfidId > 0 
                     ? $"{FromRfidId}({FromNodeName})"
                     : $"---({FromNodeId})";
 
-                string toDisplay = !string.IsNullOrEmpty(ToRfidId)
+                string toDisplay = ToRfidId > 0
                     ? $"{ToRfidId}({ToNodeName})"
                     : $"---({ToNodeId})";
 
@@ -93,20 +95,18 @@ namespace AGVMapEditor.Forms
 
         #endregion
 
-    
+
         #region Initialization
 
         private void InitializeData()
         {
-            _mapNodes = new List<MapNode>();
+            // this._mapCanvas.Nodes = new List<MapNode>();
         }
 
         private void InitializeMapCanvas()
         {
             _mapCanvas = new UnifiedAGVCanvas();
             _mapCanvas.Dock = DockStyle.Fill;
-            _mapCanvas.Nodes = _mapNodes;
-            // RfidMappings 제거 - MapNode에 통합됨
 
             // 이벤트 연결
             _mapCanvas.NodeAdded += OnNodeAdded;
@@ -115,12 +115,14 @@ namespace AGVMapEditor.Forms
             _mapCanvas.NodeMoved += OnNodeMoved;
             _mapCanvas.NodeDeleted += OnNodeDeleted;
             _mapCanvas.ConnectionDeleted += OnConnectionDeleted;
-            _mapCanvas.ImageNodeDoubleClicked += OnImageNodeDoubleClicked;
+            _mapCanvas.ImageDoubleClicked += OnImageDoubleClicked;
             _mapCanvas.MapChanged += OnMapChanged;
 
             // 스플리터 패널에 맵 캔버스 추가
             panel1.Controls.Add(_mapCanvas);
 
+            // ...
+
             // 툴바 버튼 이벤트 연결
             WireToolbarButtonEvents();
         }
@@ -160,7 +162,7 @@ namespace AGVMapEditor.Forms
 
         private void MainForm_Load(object sender, EventArgs e)
         {
-            
+
             RefreshNodeList();
             // 속성 변경 시 이벤트 연결
             _propertyGrid.PropertyValueChanged += PropertyGrid_PropertyValueChanged;
@@ -174,7 +176,7 @@ namespace AGVMapEditor.Forms
             }
         }
 
-        private void OnNodeAdded(object sender, MapNode node)
+        private void OnNodeAdded(object sender, NodeBase node)
         {
             _hasChanges = true;
             UpdateTitle();
@@ -199,7 +201,7 @@ namespace AGVMapEditor.Forms
         //    }
         //}
 
-        private void OnNodesSelected(object sender, List<MapNode> nodes)
+        private void OnNodesSelected(object sender, List<NodeBase> nodes)
         {
             // 다중 선택 시 처리
             if (nodes == null || nodes.Count == 0)
@@ -227,14 +229,14 @@ namespace AGVMapEditor.Forms
             }
         }
 
-        private void OnNodeMoved(object sender, MapNode node)
+        private void OnNodeMoved(object sender, NodeBase node)
         {
             _hasChanges = true;
             UpdateTitle();
             RefreshNodeList();
         }
 
-        private void OnNodeDeleted(object sender, MapNode node)
+        private void OnNodeDeleted(object sender, NodeBase node)
         {
             _hasChanges = true;
             UpdateTitle();
@@ -258,20 +260,17 @@ namespace AGVMapEditor.Forms
             UpdateNodeProperties(); // 연결 정보 업데이트
         }
 
-        private void OnImageNodeDoubleClicked(object sender, MapNode node)
+        private void OnImageDoubleClicked(object sender, MapImage image)
         {
             // 이미지 노드 더블클릭 시 이미지 편집창 표시
-            if (node != null && node.Type == NodeType.Image)
+            using (var editor = new ImageEditorForm(image))
             {
-                using (var editor = new ImageEditorForm(node))
+                if (editor.ShowDialog(this) == DialogResult.OK)
                 {
-                    if (editor.ShowDialog(this) == DialogResult.OK)
-                    {
-                        _hasChanges = true;
-                        UpdateTitle();
-                        _mapCanvas.Invalidate(); // 캔버스 다시 그리기
-                        UpdateNodeProperties(); // 속성 업데이트
-                    }
+                    _hasChanges = true;
+                    UpdateTitle();
+                    _mapCanvas.Invalidate(); // 캔버스 다시 그리기
+                    UpdateNodeProperties(); // 속성 업데이트
                 }
             }
         }
@@ -401,12 +400,11 @@ namespace AGVMapEditor.Forms
         private void AddNewNode()
         {
             var nodeId = GenerateNodeId();
-            var nodeName = $"노드{_mapNodes.Count + 1}";
-            var position = new Point(100 + _mapNodes.Count * 50, 100 + _mapNodes.Count * 50);
+            var position = new Point(100 + this._mapCanvas.Nodes.Count * 50, 100 + this._mapCanvas.Nodes.Count * 50);
 
-            var node = new MapNode(nodeId, nodeName, position, NodeType.Normal);
+            var node = new MapNode(nodeId, position, StationType.Normal);
 
-            _mapNodes.Add(node);
+            this._mapCanvas.Nodes.Add(node);
             _hasChanges = true;
 
             RefreshNodeList();
@@ -422,13 +420,14 @@ namespace AGVMapEditor.Forms
                 return;
             }
 
-            var result = MessageBox.Show($"노드 '{_selectedNode.Name}'를 삭제하시겠습니까?\n연결된 RFID 매핑도 함께 삭제됩니다.",
+            var rfidDisplay = (_selectedNode as MapNode)?.RfidId ?? 0;
+            var result = MessageBox.Show($"노드 {rfidDisplay}[{_selectedNode.Id}] 를 삭제하시겠습니까?\n연결된 RFID 매핑도 함께 삭제됩니다.",
                                        "삭제 확인", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
 
             if (result == DialogResult.Yes)
             {
                 // 노드 제거
-                _mapNodes.Remove(_selectedNode);
+                _mapCanvas.RemoveItem(_selectedNode);
                 _selectedNode = null;
                 _hasChanges = true;
 
@@ -441,15 +440,15 @@ namespace AGVMapEditor.Forms
 
         private void AddConnectionToSelectedNode()
         {
-            if (_selectedNode == null)
+            if (!(_selectedNode is MapNode selectedMapNode))
             {
-                MessageBox.Show("연결을 추가할 노드를 선택하세요.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
+                MessageBox.Show("연결을 추가할 노드(MapNode)를 선택하세요.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
                 return;
             }
 
             // 다른 노드들 중에서 선택
-            var availableNodes = _mapNodes.Where(n => n.NodeId != _selectedNode.NodeId &&
-                                                !_selectedNode.ConnectedNodes.Contains(n.NodeId)).ToList();
+            var availableNodes = this._mapCanvas.Nodes.Where(n => n.Id != selectedMapNode.Id &&
+                                                !selectedMapNode.ConnectedNodes.Contains(n.Id)).ToList();
 
             if (availableNodes.Count == 0)
             {
@@ -458,13 +457,13 @@ namespace AGVMapEditor.Forms
             }
 
             // 간단한 선택 다이얼로그 (실제로는 별도 폼을 만들어야 함)
-            var nodeNames = availableNodes.Select(n => $"{n.NodeId}: {n.Name}").ToArray();
+            var nodeNames = availableNodes.Select(n => $"{n.Id}: {n.RfidId}").ToArray();
             var input = Microsoft.VisualBasic.Interaction.InputBox("연결할 노드를 선택하세요:", "노드 연결", nodeNames[0]);
 
-            var targetNode = availableNodes.FirstOrDefault(n => input.StartsWith(n.NodeId));
+            var targetNode = availableNodes.FirstOrDefault(n => input.StartsWith(n.Id));
             if (targetNode != null)
             {
-                _selectedNode.AddConnection(targetNode.NodeId);
+                selectedMapNode.AddConnection(targetNode.Id);
                 _hasChanges = true;
                 RefreshMapCanvas();
                 UpdateNodeProperties();
@@ -474,25 +473,25 @@ namespace AGVMapEditor.Forms
 
         private void RemoveConnectionFromSelectedNode()
         {
-            if (_selectedNode == null || _selectedNode.ConnectedNodes.Count == 0)
+            if (!(_selectedNode is MapNode selectedMapNode) || selectedMapNode.ConnectedNodes.Count == 0)
             {
                 MessageBox.Show("연결을 제거할 노드를 선택하거나 연결된 노드가 없습니다.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
                 return;
             }
 
             // 연결된 노드들 중에서 선택
-            var connectedNodeNames = _selectedNode.ConnectedNodes.Select(connectedNodeId =>
+            var connectedNodeNames = selectedMapNode.ConnectedNodes.Select(connectedNodeId =>
             {
-                var node = _mapNodes.FirstOrDefault(n => n.NodeId == connectedNodeId);
-                return node != null ? $"{node.NodeId}: {node.Name}" : connectedNodeId;
+                var node = this._mapCanvas.Nodes.FirstOrDefault(n => n.Id == connectedNodeId);
+                return node != null ? $"{node.Id}: {node.RfidId}" : connectedNodeId;
             }).ToArray();
 
             var input = Microsoft.VisualBasic.Interaction.InputBox("제거할 연결을 선택하세요:", "연결 제거", connectedNodeNames[0]);
 
             var targetNodeId = input.Split(':')[0];
-            if (_selectedNode.ConnectedNodes.Contains(targetNodeId))
+            if (selectedMapNode.ConnectedNodes.Contains(targetNodeId))
             {
-                _selectedNode.RemoveConnection(targetNodeId);
+                selectedMapNode.RemoveConnection(targetNodeId);
                 _hasChanges = true;
                 RefreshMapCanvas();
                 UpdateNodeProperties();
@@ -509,7 +508,7 @@ namespace AGVMapEditor.Forms
             {
                 nodeId = $"N{counter:D3}";
                 counter++;
-            } while (_mapNodes.Any(n => n.NodeId == nodeId));
+            } while (this._mapCanvas.Nodes.Any(n => n.Id == nodeId));
 
             return nodeId;
         }
@@ -520,7 +519,7 @@ namespace AGVMapEditor.Forms
 
         private void NewMap()
         {
-            _mapNodes.Clear();
+            this._mapCanvas.Nodes.Clear();
             _selectedNode = null;
             _currentMapFile = string.Empty;
             _hasChanges = false;
@@ -533,7 +532,7 @@ namespace AGVMapEditor.Forms
         {
             if (CheckSaveChanges())
             {
-                _mapNodes.Clear();
+                this._mapCanvas.Nodes.Clear();
                 _selectedNode = null;
                 _currentMapFile = string.Empty;
                 _hasChanges = false;
@@ -547,8 +546,8 @@ namespace AGVMapEditor.Forms
         {
             var openFileDialog = new OpenFileDialog
             {
-                Filter = "AGV Map Files (*.agvmap)|*.agvmap|All Files (*.*)|*.*",
-                DefaultExt = "agvmap",
+                Filter = "AGV Map Files (*.json)|*.json|All Files (*.*)|*.*",
+                DefaultExt = "json",
             };
 
 
@@ -596,9 +595,9 @@ namespace AGVMapEditor.Forms
         {
             var saveFileDialog = new SaveFileDialog
             {
-                Filter = "AGV Map Files (*.agvmap)|*.agvmap",
-                DefaultExt = "agvmap",
-                FileName = "NewMap.agvmap"
+                Filter = "AGV Map Files (*.json)|*.json",
+                DefaultExt = "json",
+                FileName = "NewMap.json"
             };
 
             if (saveFileDialog.ShowDialog() == DialogResult.OK)
@@ -624,18 +623,8 @@ namespace AGVMapEditor.Forms
 
             if (result.Success)
             {
-                _mapNodes = result.Nodes;
-
                 // 맵 캔버스에 데이터 설정
-                _mapCanvas.Nodes = _mapNodes;
-                // RfidMappings 제거됨 - MapNode에 통합
-
-                // 🔥 맵 설정 적용 (배경색, 그리드 표시)
-                if (result.Settings != null)
-                {
-                    _mapCanvas.BackColor = System.Drawing.Color.FromArgb(result.Settings.BackgroundColorArgb);
-                    _mapCanvas.ShowGrid = result.Settings.ShowGrid;
-                }
+                _mapCanvas.SetMapLoadResult(result);
 
                 // 현재 파일 경로 업데이트
                 _currentMapFile = filePath;
@@ -648,8 +637,8 @@ namespace AGVMapEditor.Forms
                 UpdateNodeList();
                 RefreshNodeConnectionList();
 
-                // 맵 로드 후 자동으로 맵에 맞춤
-                _mapCanvas.FitToNodes();
+
+
 
                 UpdateStatusBar($"맵 파일을 성공적으로 로드했습니다: {Path.GetFileName(filePath)}");
             }
@@ -693,7 +682,11 @@ namespace AGVMapEditor.Forms
                 ShowGrid = _mapCanvas.ShowGrid
             };
 
-            if (MapLoader.SaveMapToFile(filePath, _mapNodes, settings))
+            if (MapLoader.SaveMapToFile(filePath,
+                _mapCanvas.Nodes, _mapCanvas.Labels,
+                _mapCanvas.Images, _mapCanvas.Marks,
+                _mapCanvas.Magnets,
+                settings))
             {
                 // 현재 파일 경로 업데이트
                 _currentMapFile = filePath;
@@ -718,7 +711,7 @@ namespace AGVMapEditor.Forms
         private void UpdateRfidMappings()
         {
             // RFID 자동 할당 제거 - 사용자가 직접 입력한 값 유지
-            // MapLoader.AssignAutoRfidIds(_mapNodes);
+            // MapLoader.AssignAutoRfidIds(this._mapCanvas.Nodes);
         }
 
         private bool CheckSaveChanges()
@@ -780,14 +773,14 @@ namespace AGVMapEditor.Forms
         private void RefreshNodeList()
         {
             listBoxNodes.DataSource = null;
-            listBoxNodes.DataSource = _mapNodes;
+            listBoxNodes.DataSource = this._mapCanvas.Nodes;
             listBoxNodes.DisplayMember = "DisplayText";
-            listBoxNodes.ValueMember = "NodeId";
+            listBoxNodes.ValueMember = "Id";
 
             // 노드 목록 클릭 이벤트 연결
             listBoxNodes.SelectedIndexChanged -= ListBoxNodes_SelectedIndexChanged;
             listBoxNodes.SelectedIndexChanged += ListBoxNodes_SelectedIndexChanged;
-            
+
             // 노드 타입별 색상 적용
             listBoxNodes.DrawMode = DrawMode.OwnerDrawFixed;
             listBoxNodes.DrawItem -= ListBoxNodes_DrawItem;
@@ -812,14 +805,14 @@ namespace AGVMapEditor.Forms
         {
             e.DrawBackground();
 
-            if (e.Index >= 0 && e.Index < _mapNodes.Count)
+            if (e.Index >= 0 && e.Index < this._mapCanvas.Items.Count)
             {
-                var node = _mapNodes[e.Index];
-                
+                var node = this._mapCanvas.Items[e.Index];
+
                 // 노드 타입에 따른 색상 설정
                 Color foreColor = Color.Black;
                 Color backColor = e.BackColor;
-                
+
                 if ((e.State & DrawItemState.Selected) == DrawItemState.Selected)
                 {
                     backColor = SystemColors.Highlight;
@@ -827,22 +820,30 @@ namespace AGVMapEditor.Forms
                 }
                 else
                 {
+                    backColor = Color.White;
                     switch (node.Type)
                     {
                         case NodeType.Normal:
-                            foreColor = Color.Black;
-                            backColor = Color.White;
+
+                            var item = node as MapNode;
+                            if (item.StationType == StationType.Normal)
+                                foreColor = Color.DimGray;
+                            else if (item.StationType == StationType.Charger)
+                                foreColor = Color.Red;
+                            else
+                                foreColor = Color.DarkGreen;
                             break;
-                        case NodeType.Loader:
-                        case NodeType.UnLoader:
-                        case NodeType.Clearner:
-                        case NodeType.Buffer:
-                            foreColor = Color.DarkGreen;
-                            backColor = Color.LightGreen;
+
+                        case NodeType.Label:
+                        case NodeType.Mark:
+                        case NodeType.Image:
+                            foreColor = Color.DarkBlue;
                             break;
-                        case NodeType.Charging:
+                        case NodeType.Magnet:
+                            foreColor = Color.DarkMagenta;
+                            break;
+                        default:
                             foreColor = Color.DarkRed;
-                            backColor = Color.LightPink;
                             break;
                     }
                 }
@@ -854,17 +855,21 @@ namespace AGVMapEditor.Forms
                 }
 
                 // 텍스트 그리기 (노드ID - 노드명 - RFID 순서)
-                var displayText = node.NodeId;
-
-                if (!string.IsNullOrEmpty(node.Name))
+                string displayText;
+                if (node.Type == NodeType.Normal)
                 {
-                    displayText += $" - {node.Name}";
+                    var item = node as MapNode;
+                    if (item.HasRfid())
+                        displayText = $"[{node.Id}-{item.RfidId}] {item.StationType}";
+                    else
+                        displayText = $"[{node.Id}] {item.StationType}";
                 }
-                
-                if (!string.IsNullOrEmpty(node.RfidId))
+                else if (node.Type == NodeType.Label)
                 {
-                    displayText += $" - [{node.RfidId}]";
+                    var item = node as MapLabel;
+                    displayText = $"{item.Type.ToString().ToUpper()} - {item.Text}";
                 }
+                else displayText = $"{node.Type.ToString().ToUpper()}";
 
                 using (var brush = new SolidBrush(foreColor))
                 {
@@ -881,31 +886,31 @@ namespace AGVMapEditor.Forms
             var processedPairs = new HashSet<string>();
 
             // 모든 노드의 연결 정보를 수집 (중복 방지)
-            foreach (var fromNode in _mapNodes)
+            foreach (var fromNode in this._mapCanvas.Nodes)
             {
                 foreach (var toNodeId in fromNode.ConnectedNodes)
                 {
-                    var toNode = _mapNodes.FirstOrDefault(n => n.NodeId == toNodeId);
+                    var toNode = this._mapCanvas.Nodes.FirstOrDefault(n => n.Id == toNodeId);
                     if (toNode != null)
                     {
                         // 중복 체크 (단일 연결만 표시)
-                        string pairKey1 = $"{fromNode.NodeId}-{toNode.NodeId}";
-                        string pairKey2 = $"{toNode.NodeId}-{fromNode.NodeId}";
+                        string pairKey1 = $"{fromNode.Id}-{toNode.Id}";
+                        string pairKey2 = $"{toNode.Id}-{fromNode.Id}";
 
                         if (!processedPairs.Contains(pairKey1) && !processedPairs.Contains(pairKey2))
                         {
                             // 사전 순으로 정렬하여 일관성 있게 표시
-                            var (firstNode, secondNode) = string.Compare(fromNode.NodeId, toNode.NodeId) < 0
+                            var (firstNode, secondNode) = string.Compare(fromNode.Id, toNode.Id) < 0
                                 ? (fromNode, toNode)
                                 : (toNode, fromNode);
 
                             connections.Add(new NodeConnectionInfo
                             {
-                                FromNodeId = firstNode.NodeId,
-                                FromNodeName = firstNode.Name,
+                                FromNodeId = firstNode.Id,
+                                FromNodeName = "",
                                 FromRfidId = firstNode.RfidId,
-                                ToNodeId = secondNode.NodeId,
-                                ToNodeName = secondNode.Name,
+                                ToNodeId = secondNode.Id,
+                                ToNodeName = "",
                                 ToRfidId = secondNode.RfidId,
                                 ConnectionType = "양방향"  // 모든 연결이 양방향
                             });
@@ -940,7 +945,7 @@ namespace AGVMapEditor.Forms
                 _mapCanvas?.HighlightConnection(connectionInfo.FromNodeId, connectionInfo.ToNodeId);
 
                 // 연결된 노드들을 맵에서 하이라이트 표시 (선택적)
-                var fromNode = _mapNodes.FirstOrDefault(n => n.NodeId == connectionInfo.FromNodeId);
+                var fromNode = this._mapCanvas.Nodes.FirstOrDefault(n => n.Id == connectionInfo.FromNodeId);
                 if (fromNode != null)
                 {
                     _selectedNode = fromNode;
@@ -1002,7 +1007,7 @@ namespace AGVMapEditor.Forms
         private void UpdateImageEditButton()
         {
             // ToolStripButton으로 변경됨
-            btnEditImage.Enabled = (_selectedNode != null && _selectedNode.Type == NodeType.Image);
+            btnEditImage.Enabled = (_mapCanvas.SelectedImage != null);
         }
 
         /// <summary>
@@ -1019,9 +1024,10 @@ namespace AGVMapEditor.Forms
         /// </summary>
         private void BtnToolbarEditImage_Click(object sender, EventArgs e)
         {
-            if (_selectedNode != null && _selectedNode.Type == NodeType.Image)
+            var selectedImage = _mapCanvas.SelectedImage;
+            if (selectedImage != null)
             {
-                using (var editor = new ImageEditorForm(_selectedNode))
+                using (var editor = new ImageEditorForm(selectedImage))
                 {
                     if (editor.ShowDialog(this) == DialogResult.OK)
                     {
@@ -1059,7 +1065,7 @@ namespace AGVMapEditor.Forms
             if (listBoxNodes != null)
             {
                 listBoxNodes.DataSource = null;
-                listBoxNodes.DataSource = _mapNodes;
+                listBoxNodes.DataSource = this._mapCanvas.Items;
                 listBoxNodes.DisplayMember = "DisplayText";
             }
         }
@@ -1101,8 +1107,8 @@ namespace AGVMapEditor.Forms
             // RFID 값 변경시 중복 검사
             if (e.ChangedItem.PropertyDescriptor.Name == "RFID")
             {
-                string newRfidValue = e.ChangedItem.Value?.ToString();
-                if (!string.IsNullOrEmpty(newRfidValue) && CheckRfidDuplicate(newRfidValue))
+                var newRfidValue = ushort.Parse(e.ChangedItem.Value?.ToString());
+                if (newRfidValue != 0 && CheckRfidDuplicate(newRfidValue))
                 {
                     // 중복된 RFID 값 발견
                     MessageBox.Show($"RFID 값 '{newRfidValue}'이(가) 이미 다른 노드에서 사용 중입니다.\n입력값을 되돌립니다.",
@@ -1121,13 +1127,13 @@ namespace AGVMapEditor.Forms
 
             // 🔥 다중 선택 여부 확인 및 선택된 노드들 저장
             bool isMultiSelect = _propertyGrid.SelectedObjects is MapNode[]; // _propertyGrid.SelectedObject is MapNode[];
-            
+
             //var a = _propertyGrid.SelectedObject;
-            List<MapNode> selectedNodes = null;
+            List<NodeBase> selectedNodes = null;
             if (isMultiSelect)
             {
                 // 캔버스에서 현재 선택된 노드들 가져오기
-                selectedNodes = new List<MapNode>(_mapCanvas.SelectedNodes);
+                selectedNodes = new List<NodeBase>(_mapCanvas.SelectedNodes);
                 System.Diagnostics.Debug.WriteLine($"[PropertyGrid] 다중 선택 노드 수: {selectedNodes.Count}");
             }
 
@@ -1144,7 +1150,7 @@ namespace AGVMapEditor.Forms
             // 🔥 다중 선택인 경우 MultiNodePropertyWrapper를 다시 생성하여 바인딩
             if (isMultiSelect && selectedNodes != null && selectedNodes.Count > 0)
             {
-               // System.Diagnostics.Debug.WriteLine($"[PropertyGrid] MultiNodePropertyWrapper 재생성: {selectedNodes.Count}개");
+                // System.Diagnostics.Debug.WriteLine($"[PropertyGrid] MultiNodePropertyWrapper 재생성: {selectedNodes.Count}개");
                 //var multiWrapper = new MultiNodePropertyWrapper(selectedNodes);
                 _propertyGrid.SelectedObjects = selectedNodes.ToArray();// multiWrapper;
             }
@@ -1153,9 +1159,9 @@ namespace AGVMapEditor.Forms
             _propertyGrid.Refresh();
 
             // 🔥 단일 선택인 경우에만 노드를 다시 선택 (다중 선택은 캔버스에서 유지)
-            if (!isMultiSelect && currentSelectedNode != null)
+            if (!isMultiSelect && currentSelectedNode is MapNode mapNode)
             {
-                var nodeIndex = _mapNodes.IndexOf(currentSelectedNode);
+                var nodeIndex = this._mapCanvas.Nodes.IndexOf(mapNode);
                 if (nodeIndex >= 0)
                 {
                     listBoxNodes.SelectedIndex = nodeIndex;
@@ -1168,38 +1174,24 @@ namespace AGVMapEditor.Forms
         /// </summary>
         /// <param name="rfidValue">검사할 RFID 값</param>
         /// <returns>중복되면 true, 아니면 false</returns>
-        private bool CheckRfidDuplicate(string rfidValue)
+        private bool CheckRfidDuplicate(ushort rfidValue)
         {
-            if (string.IsNullOrEmpty(rfidValue) || _mapNodes == null)
+            if (rfidValue == 0 || this._mapCanvas.Nodes == null)
                 return false;
 
             // 현재 편집 중인 노드 제외하고 중복 검사
             string currentNodeId = null;
             var selectedObject = _propertyGrid.SelectedObject;
 
-            // 다양한 PropertyWrapper 타입 처리
-            //if (selectedObject is NodePropertyWrapper nodeWrapper)
-            //{
-            //    currentNodeId = nodeWrapper.WrappedNode?.NodeId;
-            //}
-            //else if (selectedObject is LabelNodePropertyWrapper labelWrapper)
-            //{
-            //    currentNodeId = labelWrapper.WrappedNode?.NodeId;
-            //}
-            //else if (selectedObject is ImageNodePropertyWrapper imageWrapper)
-            //{
-            //    currentNodeId = imageWrapper.WrappedNode?.NodeId;
-            //}
-
             int duplicateCount = 0;
-            foreach (var node in _mapNodes)
+            foreach (var node in this._mapCanvas.Nodes)
             {
                 // 현재 편집 중인 노드는 제외
-                if (node.NodeId == currentNodeId)
+                if (node.Id == currentNodeId)
                     continue;
 
                 // 같은 RFID 값을 가진 노드가 있는지 확인
-                if (!string.IsNullOrEmpty(node.RfidId) && node.RfidId.Equals(rfidValue, StringComparison.OrdinalIgnoreCase))
+                if (node.RfidId != 0 && node.RfidId == rfidValue)
                 {
                     duplicateCount++;
                     break; // 하나라도 발견되면 중복
@@ -1234,23 +1226,23 @@ namespace AGVMapEditor.Forms
                 if (result == DialogResult.Yes)
                 {
                     // 단일 연결 삭제
-                    var fromNode = _mapNodes.FirstOrDefault(n => n.NodeId == connectionInfo.FromNodeId);
-                    var toNode = _mapNodes.FirstOrDefault(n => n.NodeId == connectionInfo.ToNodeId);
+                    var fromNode = this._mapCanvas.Nodes.FirstOrDefault(n => n.Id == connectionInfo.FromNodeId);
+                    var toNode = this._mapCanvas.Nodes.FirstOrDefault(n => n.Id == connectionInfo.ToNodeId);
 
                     if (fromNode != null && toNode != null)
                     {
                         // 양방향 연결 삭제 (양쪽 방향 모두 제거)
                         bool removed = false;
 
-                        if (fromNode.ConnectedNodes.Contains(toNode.NodeId))
+                        if (fromNode.ConnectedNodes.Contains(toNode.Id))
                         {
-                            fromNode.RemoveConnection(toNode.NodeId);
+                            fromNode.RemoveConnection(toNode.Id);
                             removed = true;
                         }
 
-                        if (toNode.ConnectedNodes.Contains(fromNode.NodeId))
+                        if (toNode.ConnectedNodes.Contains(fromNode.Id))
                         {
-                            toNode.RemoveConnection(fromNode.NodeId);
+                            toNode.RemoveConnection(fromNode.Id);
                             removed = true;
                         }
 
@@ -1277,108 +1269,18 @@ namespace AGVMapEditor.Forms
             }
         }
 
-        
-
-        #region Multi-Node Selection
-
-        private void ShowMultiNodeContextMenu(List<MapNode> nodes)
-        {
-            // 다중 선택 시 간단한 다이얼로그 표시
-            var result = MessageBox.Show(
-                $"{nodes.Count}개의 노드가 선택되었습니다.\n\n" +
-                "일괄 속성 변경을 하시겠습니까?\n\n" +
-                "예: 글자색 변경\n" +
-                "아니오: 배경색 변경\n" +
-                "취소: 닫기",
-                "다중 노드 속성 변경",
-                MessageBoxButtons.YesNoCancel,
-                MessageBoxIcon.Question);
-
-            if (result == DialogResult.Yes)
-            {
-                BatchChangeForeColor();
-            }
-            else if (result == DialogResult.No)
-            {
-                BatchChangeBackColor();
-            }
-        }
-
-        /// <summary>
-        /// 선택된 노드들의 글자색 일괄 변경
-        /// </summary>
-        public void BatchChangeForeColor()
-        {
-            var selectedNodes = _mapCanvas.SelectedNodes;
-            if (selectedNodes == null || selectedNodes.Count == 0)
-            {
-                MessageBox.Show("선택된 노드가 없습니다.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
-                return;
-            }
-
-            using (var colorDialog = new ColorDialog())
-            {
-                colorDialog.Color = selectedNodes[0].ForeColor;
-                if (colorDialog.ShowDialog() == DialogResult.OK)
-                {
-                    foreach (var node in selectedNodes)
-                    {
-                        node.ForeColor = colorDialog.Color;
-                        node.ModifiedDate = DateTime.Now;
-                    }
-
-                    _hasChanges = true;
-                    UpdateTitle();
-                    RefreshMapCanvas();
-                    MessageBox.Show($"{selectedNodes.Count}개 노드의 글자색이 변경되었습니다.", "완료", MessageBoxButtons.OK, MessageBoxIcon.Information);
-                }
-            }
-        }
-
-        /// <summary>
-        /// 선택된 노드들의 배경색 일괄 변경
-        /// </summary>
-        public void BatchChangeBackColor()
-        {
-            var selectedNodes = _mapCanvas.SelectedNodes;
-            if (selectedNodes == null || selectedNodes.Count == 0)
-            {
-                MessageBox.Show("선택된 노드가 없습니다.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
-                return;
-            }
-
-            using (var colorDialog = new ColorDialog())
-            {
-                colorDialog.Color = selectedNodes[0].DisplayColor;
-                if (colorDialog.ShowDialog() == DialogResult.OK)
-                {
-                    foreach (var node in selectedNodes)
-                    {
-                        node.DisplayColor = colorDialog.Color;
-                        node.ModifiedDate = DateTime.Now;
-                    }
-
-                    _hasChanges = true;
-                    UpdateTitle();
-                    RefreshMapCanvas();
-                    MessageBox.Show($"{selectedNodes.Count}개 노드의 배경색이 변경되었습니다.", "완료", MessageBoxButtons.OK, MessageBoxIcon.Information);
-                }
-            }
-        }
-
-        #endregion
 
         private void allTurnLeftRightCrossOnToolStripMenuItem_Click(object sender, EventArgs e)
         {
             //모든노드의 trun left/right/ cross 속성을 true로 변경합니다
-            if (_mapNodes == null || _mapNodes.Count == 0)
+            if (this._mapCanvas.Nodes == null || this._mapCanvas.Nodes.Count == 0)
             {
                 MessageBox.Show("맵에 노드가 없습니다.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
                 return;
             }
 
             var result = MessageBox.Show(
-                $"모든 노드({_mapNodes.Count}개)의 회전/교차 속성을 활성화하시겠습니까?\n\n" +
+                $"모든 노드({this._mapCanvas.Nodes.Count}개)의 회전/교차 속성을 활성화하시겠습니까?\n\n" +
                 "• CanTurnLeft = true\n" +
                 "• CanTurnRight = true\n" +
                 "• DisableCross = false",
@@ -1388,20 +1290,20 @@ namespace AGVMapEditor.Forms
 
             if (result == DialogResult.Yes)
             {
-                foreach (var node in _mapNodes)
+                foreach (var node in this._mapCanvas.Nodes)
                 {
                     node.CanTurnLeft = true;
                     node.CanTurnRight = true;
-                    node.DisableCross =false;
+                    node.DisableCross = false;
                     node.ModifiedDate = DateTime.Now;
                 }
 
                 _hasChanges = true;
                 UpdateTitle();
                 RefreshMapCanvas();
-                
+
                 MessageBox.Show(
-                    $"{_mapNodes.Count}개 노드의 회전/교차 속성이 모두 활성화되었습니다.",
+                    $"{this._mapCanvas.Nodes.Count}개 노드의 회전/교차 속성이 모두 활성화되었습니다.",
                     "완료",
                     MessageBoxButtons.OK,
                     MessageBoxIcon.Information);

Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.resx

@@ -145,15 +145,15 @@
   <data name="btnSelect.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
-        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAHrSURBVDhPldBNiBJhHMfx/ykKKohQ18tEhygyWGQRJwh1
-        fcHAt7qJ3TOj6FJ0akP06C1kz0EdDLbS3IbaxJdhA2V3jaRiYfPeIXPGeTss/mqElfbZ2HY/p/8883wf
-        Hh6iAxh/5I+pq7M32fV9aeIcp4pzd8xZWb0UUZuOrjnrTe6s3OAOdpgqzn5WRYegNs5X9Y1rUJrcg1Hd
-        PhzVTqfYvf+ktC4s6J9SML7dhbH1CNp6BMP3J7Ufdctxdu+U0r44o4qOmto8B30jDuN7Dq1ncXTLN7BV
-        vwWtMw/pw1FI72iRbXdRGtyC1r2O1vMEDMPAeDzG+usU9K+38UugL4MqnWGbKbk1Y5FrNiEajaLT6UDX
-        dfR6PdSfRmBs3odUpZH0lni2m9BW7Nxo5VQ5kUggnU6jUCigVCqhujgPY/MhBsu0LS3T2rBCj9l2Kh6P
-        T2Ke5+H3+xGLxaCuRSDX7JCFExhUiGObqZ3Y7XbD5/PBarWaV34yeEPbUoUuS2XqDl9Shu0mkskk8vn8
-        JPZ6vbBYLDDX5QpdkV6RYM54QUd+LtFVtqVwOIxcLrcn3jFcotDf37sEAgFks1m4XC54PJ498b4ymQz6
-        /T6cTidCodDhYpN5QLvdRrFYnDwY+/+/gsHgPfPaNpvt8PEfvwFcBQshDC9YfwAAAABJRU5ErkJggg==
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAHrSURBVDhPldBLaBNBHMfx/0kUVBBJ0lxWPIhihBJKyAqS
+        pHkQIS+9hXg3RhQviicrITnmJqFnQQ8RqiamRqkhj6VCQtuIQaVQcxdq3d3s61Dy0w002KnU9nP67+x8
+        h2GIDmD0kT+mLk/fZNf3pQkznCrM3DFnZflSRG05euast7izcpM72GGqMP1ZFRw1tXm+qq9dg9LiHgwb
+        dnFYP51i9/6T0r4wp39Kwfh2F8bGI2irEYjvTmo/Gpbj7N4JpXNxShUcdbV1DvpaHMb3HNrP4uiVb2Cj
+        cQtadxbSh6OQ3tM82+6iNLk5rXcd7ecJGIaB0WiE1dcp6F9v41eNvmxV6QzbTMjtKYtct9Wi0Si63S50
+        XUe/30fjaQTG+n1IVRpKb4lnuzFtyc4Nl06VE4kE0uk0CoUCSqUSqvOzMNYfYnORtqVFWhEr9JhtJ+Lx
+        +DjmeR5+vx+xWAzqSgRy3Q65dgJbFeLYZmIndrvd8Pl8sFqt5pWfbL6hbalCl6Uy9cSXlGG7sWQyiXw+
+        P469Xi8sFgvMdblCV6RXVDNnvKAjPxfoKttSOBxGLpfbE+8QFyj09/cugUAA2WwWLpcLHo9nT7yvTCaD
+        wWAAp9OJUCh0uNhkHtDpdFAsFscPxv7/r2AweM+8ts1mO3z8x29OYwsb4/6fnQAAAABJRU5ErkJggg==
 </value>
   </data>
   <data name="btnMove.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
@@ -174,75 +174,75 @@
   <data name="btnAddLabel.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
-        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAHISURBVDhPnZJfb9JgFMb3JbzV+C2WNPtk3jgXs0vdsuAW
-        7zajKaEXTWjhvShpilBIA+GvtAWxIyAgJjNBW6WQx5yXtBPREX2SpnnPe57fc9KevXa7jVarhUajgXq9
-        jlqthmq1ikqlQu97e7vUbDaxWq22nuFwyCGGYdwNoWQyDAYDnux5XgyhmmVZd0NoZGqmNDqXy+XKfD5H
-        GIa8TkDTNP8OodRfGn8UCoVBEAT49PEbCmzK7/r9PvL5/J8hlByNvFwuQebP0wAvjlycPHLwNruG9Ho9
-        6LoOVVU3IZZl+bPZjDctFguenHji4vJZH6/PPJwfdWOI67rQNG0TUiqVDkzT9KfTdZNdv+HJVycfIJ5f
-        b0EcxwFjbBNSLBYFXdf9yWTCm7qtL0gcOnh1egtJHLow1PV9p9OBoigQRfEWYhiGoGmaPx6PtyBvEh5e
-        HvdwcfwOYbjkU2QyGaRSqQcxgJTL5QTGmD8ajWLI2WMbF0+7uDrt4us8iM2iKD7cMEdijAnZbNanTeQf
-        rnmDy+fv8T0Id5sjKYoipNNpnzYx+sVkVlV1tzmSLMv7siz7tGC2bf+bOZIkSfuSJPn/ZY5EkGQyef/3
-        eqSfzGgWuCCdbTAAAAAASUVORK5CYII=
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAHISURBVDhPnZJfa9pgFMb7JXa7sW9RkH2y3awro5ddS3Et
+        u2vHRsRcBEw0iEHiYpSg+Hcm0blUtOocdOCWbEZ5xnnlTXFule2BEN7znuf3HJKz12630Wq10Gg0UK/X
+        UavVUK1WUalU6P1gb5eazSZWq9XWMxwOGUTX9fshlEyGwWDAkj3PiyBUsyzrfgiNTM2URudyuVyZz+cI
+        w5DVCWia5t8hlMobDcP4aRjGIAgCfL75DkOdsrt+v49CofBnCCXzkZfLJcj8ZRrg1aGLk6cO3mfWkF6v
+        h3w+D0VRNiGWZfmz2Yw1LRYLlhx/7uLyuI+3Zx7OD7sRxHVd5HK5TUipVHpimqY/na6b7PotS746+QTh
+        /HoL4jgOVFXdhBSLxZimaf5kMmFN3dZXxA8cvDm9g8QPXOjK+r7T6UCWZQiCcAfRdT2WzWb98Xi8BXkX
+        9/D6qIeLow8IwyWbIp1OI5lMPooAJE3TYplMxh+NRhHk7JmNixddXJ128W0eRGZBEB5vmLlUVWUQ2kT2
+        4Zq3uHz5ET+CcLeZS5blWCqV8mkT+S8ms6Iou81ckiTtS5Lk04LZtv1vZi5RFPdFUfT/y8xFkEQi8fD3
+        Otcvn84Wo7k6b1AAAAAASUVORK5CYII=
 </value>
   </data>
   <data name="btnAddImage.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
-        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAG6SURBVDhPnZLditpQFIXnJXrb0rcYCH2wXhSZwly2U0rp
-        O0TMRUr+zkUyaUSjBEWNwR9ExGpVvCiDzAl6cljlnCGZWtuRdkEI2Xuvb23IvkiSBP1+H71eD91uF51O
-        B+12G61WS7yfXZxTHMfgnJ88i8VCQoIgeBoikoVhPp/L5NlsVkBELYqipyFiZTEs0sR3s9ls7XY7MMZk
-        XQDDMPw7RKT+Mriv1WrzNE3BfnwHSxzZm06nqFarf4aI5HzlLMsgzPxug8y+QvblNVhiy95kMoHv+7As
-        6xgSRRHdbrdy6HA4yOTMKoF778C/fgS3rwrIeDyG67rHkEaj8SoMQ7rZbB4g3zoymd/egFc/n0BGoxEI
-        IceQer2u+L5P1+v1A2QZg5kl8NsPjxCrBBYbsj8YDGCaJlRVfYQEQaC4rktXq9UpJPgETq5xb16DZ0xu
-        Yds2KpXKiwIg5HmeQgihy+WygByMN+DOW6TuDfZ0V5hVVX15ZM5FCFEcx6HiEiVk0QPz3oPv0/PmXKZp
-        KoZhUHGJ+S8WZsuyzptz6bp+qes6FQc2HA7/zZxL07RLTdPof5lzCUi5XH7+ez3XT8GUHaqSv5fjAAAA
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAG6SURBVDhPnZLditpQFIXnJXrb0rcYkD5YL4pMYS7bKaXM
+        O0TMRUp+ETM2EqMERY3BH0TE0ap4UQaZE/TksIZzhpPBOjPSLgghe+/1rQ3ZZ3Eco9frodvtotPpoN1u
+        o9Vqodls8vebs1OKogiMsaNnPp8LiOd5r0N4MjfMZjORPJ1OMwivhWH4OoSvzId5Gv9uNBrN7XYLSqmo
+        c2AQBC9DeKoc9H1/5/v+LEkS0D+/QWNb9CaTCarV6vMQnixXTtMU3Mzu1kitC6Q/P4LGluiNx2NUKhWY
+        pnkICcOQbDYbMbTf70VyaubB3C9gv76DWRcZZDQaoVwuH0Lq9fqHIAjIer1+hNy2RTK7uQKrXh9BhsMh
+        HMc5hNRqtZzrumS1Wj1CFhGokQe7+fYEMfOgkS76/X4fhmFAUZQniOd5uVKpRJbL5THE+wHmXOLeuARL
+        qdjCsiwUi8V3GYDLdd2cbdtksVhkkL3+Ccz+jKR8hR3ZZmZFUd4fmKUcxxEQfokCMu+Cul/Bdslps5Rh
+        GDld1wm/RPmLudk0zdNmKU3TzjVNI/zABoPBv5mlVFU9V1WV/JdZikMKhcLbv+tSD5T6HZWMaVplAAAA
         AElFTkSuQmCC
 </value>
   </data>
   <data name="btnAddNode.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
-        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAHdSURBVDhPnZLda9NgFMb3T3ir+F8Mgn/PbmQO0Vt1KKKC
-        zo/dbX7hVUqzmbVJ+84lxpQ2rSGlbVr7QSklbW1LQdHqW9YPHnlfSDROV/SBEHLOeX7PgZyVSqWCcrmM
-        UqmEYrGIQqGAfD4Px3HY+8zKMrmui8ViceLpdrscYprm6RCWzAye5/HkdrsdQFjNtu3TIWxlNszS2Hcu
-        l3PG4zFmsxmvM6BlWX+HsNRfBo/T6bQ3mUww/NzBO3ef91qtFlKp1J8hLNlfeT6fg5lHXz7iYWwDd/fW
-        YLh7vNdsNmEYBlRVDUNs26aj0YgPTadTDD51sBW7hJ031/Bcv4lHsY0A0mg0oGlaGJLNZi9YlkWHwyEf
-        +uC9x739NTw9uoFXxh280G+FIPV6HYSQMCSTyQiGYdDBYMCHap08HsjreHa0GUC2DtahFSO8X61WoSgK
-        RFH8CTFNU9A0jfb7/ROQl29vY1u9gicHVzGbT/kWiUQC0Wj0XABg0nVdIITQXq8XQO6/vojH8cvYPdzE
-        t+9fA7MoiudDZl+EECGZTFJ2iXxdz8Hu4XVMjulysy9FUYR4PE7ZJfq/mJlVVV1u9iXL8qosy5QdWK1W
-        +zezL0mSViVJov9l9sUgkUjk7O91Xz8AO/kPZbC5CrgAAAAASUVORK5CYII=
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAHdSURBVDhPnZLda9NgFMb3T3ir+F8Min/PbmQO0VvdUEQF
+        nV93bk7xKqXZzNqkzbrGmJKmXUhpm9Z+UEpJW9tSULT6lvWDR94X3kicrugDIeSc8/yeAzkrlUoF5XIZ
+        pVIJxWIRhUIB+XwejuPQ94WVZXJdF4vF4szT7XYZxDCM8yE0mRo8z2PJ7Xbbh9CabdvnQ+jKdJim0e9c
+        LueMx2PMZjNWp0DLsv4Ooal80DTNU9M0vclkguGXDj64B6zXarWQTqf/DKHJfOX5fA5qHn39hCfRDTzY
+        X4Pu7rNes9mErutQFCUIsW2bjEYjNjSdTjH43MF29BpeJm9hT7uDp9ENH9JoNJBKpYKQbDZ7xbIsMhwO
+        2dBH7wQPD9awe7yJt/p9vNbuBiD1eh2qqgYhmUwmpGkaGQwGbKjWyeOxtI5Xx1s+ZPtwHalimPWr1Spk
+        WYYgCL8ghmGEkskk6ff7ZyBv3t/DC+UGnh/exGw+ZVvE43FEIpFLPoBK07RQIpEgvV7Phzx6dxXPYtex
+        c7SF7z+++WZBEC4HzFyqqjIIvUS2rudg5+g2JqdkuZlLluVQLBYj9BL5L6ZmRVGWm7kkSVqVJInQA6vV
+        av9m5hJFcVUURfJfZi4KCYfDF3+vc/0ED18PUDextaQAAAAASUVORK5CYII=
 </value>
   </data>
   <data name="btnDelete.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
-        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAGvSURBVDhP7Y+/TxphGMdR4A9wKh0cNHHuP9ChKXQxsWEw
-        oYMOjR06dGg6QNuhdHLQsLgZ8GVFBzcqRGtDD+447o7jwGAMIkV+ncevpa0mGr7N+0YNOX+0f0C/yWd5
-        83y+7/NYLP/DEg6HnYSQNCEE/0g5FAo9vy4ghBQVRUC9XmI0GpRDRrNZZrRaR9D1CnT9BwoFhZbUhguM
-        SqUInk8ikUgwOI5DMplEKpUCz/NIp9MQRRGKorCSYDB4airYhygKTDRLmUwGsiwzWdNyMIzazYJq9QCy
-        LEEQBCZSSZIkJmWzWeRyOWiahr29Atrtxs2C4+MSVFVhEv2NSqqqMjGfz0Ne/YTv81PYcdrx7cU4Im9n
-        z69k7O5uo9NpotultNDr6ej3Ty4xUFpfRt77GKfRAAbFGH5F3kF68wgbvjmwgr8RdTvwOxoAVmYA3xiw
-        OIH20hN8cT/A9Rn3Jf7UNhgomxhO3+8AfTfP3pq4y1r7ubYA+B0481rQ81pQfW1F7Jm1bp69NZzn4Wfx
-        5eR50zcB44Md5Vcj+Dptu9hyjX40z94ZzjP+Pu60VujadKMr+Q87TKpZvTdvaAAAAABJRU5ErkJggg==
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAGvSURBVDhP7Y89T1phGIZpgR/QqTiQ6NDZP+BgCiZd2jA0
+        sUNNBx0cjIMDtB3EycGGxY2Evmym7eBGhfgVeuB8cM7hcIDQGKSU7+NBYWlrEw23ed+oMUdr/QHeybW8
+        ea77fR6b7T4s0WjUQwgRCSG4I5VIJPLisoAQUlJVAc1mmdFqUfYZ7XaF0en8gGFUYRg/USiotKRxtcCs
+        Vkvg+RSSySSD4zikUimk02nwPA9RFCFJElRVZSXhcPjYUvAdkiQw0SplMhkoisJkXc/BNBvXC2q1PSiK
+        DEEQmEglWZaZlM1mkcvloOs6isUCut3W9YJ6vQxNU5lEf6OSpmlMzOfzUMKL+Db1BFseJ3ZfubE2//Lk
+        QsbOziYOD9s4OqJ00OsZ6PcPzjFR/vwBef8YjmMhDEpx/P60AHluFF8Cr8EK/kfM58KfWAhYfQ4EHgHL
+        I+iujOOr7zEuz7gtG08dg4G6jqvpB12g79bZG5Pw2hu/Pk4DQRf++m3o+W2ozdoRn7A3rbM3hpscWpLe
+        DJ+0AyMw3zlRmXmA7WeO0w3vw/fW2X+Gm3S/TXjsVbo23ehCPgMKrqo38mZYEwAAAABJRU5ErkJggg==
 </value>
   </data>
   <data name="btnEditImage.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
-        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAL5SURBVDhPfdLfT5tVHMdx/gPvjVcmGpPF6I033pip000X
-        f+A0uGUlk0zjxCzGzbIiDpnbM6iUQiGUFqhd2YbtBo4yYMN2W4FtFR54oMimMhkDpA10fdqn7RlB9jZt
-        tA4y/STfq/M9r5Oc7zfP4R2tdnTI4TqPrJraHlKu9WV2y6q9Q67J+yfNXSORcCRyX0smSabE/9ayJojE
-        EjS6h2M5IPNyQkvS0D1HdbdC+fnvcY5YcI9/wymlgvqAkY9bbXzeMoC+ZYqlhKDWM6bmgJo2Wc3ojefn
-        kHr7cA5baJ84gH34IxqvF2EN7sPYf4R9TScxOG4QUR8CJFKCpt55yntcnFYqsAb3Unt1N8bA+0hXCjAF
-        PqOw7lvKTvxCWE1T6xldD6gpgb1vgcNeJ9/JZZiHdEiX3+Nrfz5f/ZiP5CtGZ67E0e7i5skCfjt3FKXl
-        FZSGTbosEEsKWi78geTtwRI4Ts1QEeX+dzBcfJPDvgK+/KGEhhMHWfTrUSe6QVsgNnGGwaqt4SxwVxM4
-        +hex9IxT4nYgde2nyrcXqX8PpZ5PMLUWszRZzspcF4uXjaRDHfx5exCl+UORl5l1NCFw+sJZpM6r8EWF
-        jmOml5GMm2mu20p0soy19CDpW8VEf/qUG64iFNvO5aDlrSezwHJcYHC/gb59OwdOvYat9DlCjh1Mtm3h
-        bugQa+IaqelCxJ1dJKYMTFm33x+r2fJs9hOrXSNqNC4ITF/K1VCok4Fz+1kc1v99WYeY3Ul8spRbTa/j
-        cJ7VclMwZYH0OsB/qZKpCwdZSwcQM0Xcu7MbNXSIX62vMj87g9n9wBjrPfJsNBYnrgniyXuM+V383GNg
-        vNfMfPBdUjO7iColTDe/zfLC7yxlV3nk31W2d8pVtjOjA5nlyMjuypcgcZubth34DY8yZN2G79gLa61O
-        r5Y5rz87qto7ZXMO2JgjHzy1unKtnpVgLcGjmzm95zGtT7/pmY19/5n85x8RUuETqxePb1vtr37xSnfJ
-        049v7HkwfwEdnYukisiEOQAAAABJRU5ErkJggg==
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAL4SURBVDhPfdLxU9N1HMdx/oN+7/qp7vzF6+qX7vqts9K0
+        vDKzjvIcepx1GZ3XpQ1HJGL6FRbjKwOBDfg2CKMNJRkChps6JB34hcEWWmGIgIODue/23faRI3x229US
+        znrdvX/6vD+Pz93n/c5R3MMVSrs6J7tUzdL8mHKsLtmpavazamXOP2noHJy/Fw4/1BMJEknxv7WoC+aj
+        cWrb/NEskH45rieo6ZqmoitAyfkfcNyw4hz9mtOBUqp9Zj5usvF5Yz/GxnEW4gLZNaJlgcpmVUvrteen
+        kXp6cQxZaRs7gH3oI2qv51Pn34e57yj76lsxKTeZ1x4DxJOC+p4ZSrpb+D5QSp1/Lyd/3oXZ9z7SlVws
+        vs/Iq/qG4uZfmdNSyK7h1YCWFNh7ZznsdvCtWow8YEC6/B5HvNv56uJ2JE8BBrkMpa2FW625/H7uGIHG
+        TQRq1hsyQDQhaLxwD8ndjdV3gsqBfEq872D66S0Oe3L58sdCapoPEvYa0ca6QJ8lOtaOr3zzXAa4rwuU
+        vjDW7lEKnQpS537KPXuR+vZQ5PoES1MBC6ESlqY7CV82kwqe5c87VxmxfShy0rOOxAUOz1wGqXIH+KLU
+        wHHLq0jmDTRUbSYSKmYldZXU7QIig59ysyWfgC130W/dti4DLMYEJuebGNu2cuD069iKXiCo7CD03Ubu
+        Bw+xIq6RnMhD3N1JfNxE6NTWhyOVG5/PfGKF44YWiQl8E5eyNRDsoP/cfsJDxr8vGxBTHxALFXG7/g0U
+        5YyenYIlA6RWAd5LZYxfOMhKyoeYzOfB3V1owUP8VvcaM1OTyM5HxljtUqci0RgxXRBLPGDE28Iv3SZG
+        e2Rm/O+SnNxJJFDIRMPbLM7+wUJmlQf/XWV7h1puax/uTy9HWnaWvQLxO9yy7cBrepKBui14jr+00qS4
+        9fR51Zlhzd6hyllgbY7uXre8dK2aJf9J/Mc20Jr3lN5rXP/c2r7/zLYXnxBS3jPLvSe2LPdVvHylq/DZ
+        p9f2PJq/AD40i0VffXQ/AAAAAElFTkSuQmCC
 </value>
   </data>
   <data name="btnConnect.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
@@ -263,15 +263,15 @@
   <data name="btnDeleteConnection.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
-        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAHxSURBVDhP7Y7Ni1JhGMVvXadgWrWzRcS0S0FyFYHgOH4g
-        fgQXQl0NRIr1SqB9zGh34XAXs7gwgRfMVUILsY22mhmlDHTcRGQrbXVnkCKkSIOmtMk88QyMmDj/QQde
-        eDjndw4vx/3XWHa7/Qxj7IEkSd1sNgtRFNuMsSuMMa0oiip5lBFD7D9lnU53yu12y6lUCp1OB6qqolqt
-        IplM7oqiWGu1WgPy6vU6iCGWOuMBo9F4LRqNfms2m91AILDldDqHoVAIiqIgkUiAbvIoy+VybWKpMzkg
-        S5LUVxQl7PF45k0m0/dKpYJGo4FarYZCoQDyKCOGWOqMBwwGw+1wONxLp9P3BUEoWyyWA4fDAUEQDh/d
-        5FFGDLHUGQ/o9fpLXq/3vSzLvXw+/7VYLCKTySAWiyEejx/epXWGV9cv/Hm5NIfnjvmDp4unH40HOI7j
-        zWbzZZfLtRcMBvcjkUifMfbL5/Mt+/1+6+Nl6+Ddvavob25g1Crhx7O7eBPRDV9YNXcmR47Vto1Xf25u
-        AIoXWD0LrC/gi7yILQu/O83OVHlJMxq9LWJSvaQW5E+zM1W28R/2n9wEkloMVjh0Vzi0b/Eo2fmP0+xM
-        7fjPrb2+cfH3p9UFfE7MQQ2eQMWlGW7bTj6cZo/Vjv98vGzl9+jb9KOj8l/xBxqBzigbjwAAAABJRU5E
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAHxSURBVDhP7Y7Ni1JhGMVvXadgWrWzRdQsU5BcRW4cR72E
+        H8FtoS6iFinWKwn2MaPdheJikIEJvGCuElpcaKOtTKUMdNxEZBut1Z1BipAiDZrSJvPEM5CYOP9BB154
+        OOd3Di/H/ddEdrv9GGPsbiKR6OVyOUiS1GGMnWOMaSVJUsmjjBhi/ynrdLojTqdzI51Oo9vtQlVV1Go1
+        xOPxbUmS6q1Wa0heo9EAMcRSZzJgNBovhsPhr+12u+fz+Z4KgjAKBAKQZRmxWAx0k0eZoigdYqkzPbCR
+        TCYHsiwHXS7Xoslk+latVtFsNlGv15HP50EeZcQQS53JgMFguBEMBvuZTOaOKIoVi8WyJwgCRFHcf3ST
+        RxkxxFJnMqDX68+43e53qVSqryjKl0KhgGw2i0gkgmg0un+X1xleXDr1+/nKAp4Ii3uPlo/enwxwHMeb
+        zeazDodjx+/374ZCoQFj7KfH47ni9XqtDy5bhm9un8eguInx2zK+P76FVyHd6JlVc3N65ECVbLz6o7gJ
+        yG5g7TiwvoTPG8soWvjtWXauSiua8fh1AdPqx7Ugf5adq4qNf7/78BoQ12K4yqG3yqFznUfZzn+YZedq
+        y3si8fLq6V8f15bwKbYA1X8I1QuaUcl2+N4se6C2vCejFSu/Q9+mH/0t/wFGlxos/Pd5kgAAAABJRU5E
         rkJggg==
 </value>
   </data>
@@ -287,18 +287,18 @@
   <data name="btnFitMap.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
-        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAKYSURBVDhPhZBfSFNRHMfvY0RPEfQSFD2tngKj9WBZmDqX
-        em1t6tJtDV2WSRZGKN1ScV7JyhVZMnuYIJua0aXQ1Oamzj/DtnvuMlKocJ47aMWI9FwrCC4njrqX66Iv
-        nJfD9/P9fX8/itpUyFOm5nvNHOi1JMJ9VjnkschzLlMi2FXMBTvOqpO+lBI8Jpvgtsb5HjMIdZ9jwi6j
-        asapUwW79EzQaQDTncXxgKPQpuTWRSZvwKUsH0UHwDLSAyjVCKJUHYGr+fNwZX/gAc1OOQrj/rvarU14
-        j5kjk8NRpAIQXQIQ1QsiugHEtesClK4JolQqRH/sm2ynga9Vyyl5CngsiVB3CROJIR2AqG4Dlmo34Wog
-        oioApVO+Fi3jZfMTSp4K91rksNOoEkTpcnJqcgXSSICokrQYachW+dvyZCVPvXWbZXIwYiQgWJaukDAe
-        oovrfyKqiECpmAT42NytAbOu0kTwiZ7hxTXNRgtUtQ7HkA2IqFyAq+d5ER0fvpnFjDDZW1eY7dRzsx0G
-        QA4lQKloE6wQxFUrgQFE9LvYzz2vm3J/D9Vlzil5KuAoUE8/1sUn2mmWX/q1V4hJJ0llAUqGCETpBJ5w
-        6P7MD9Rgf+0J/KIm3ajMoMbbCmwBBx333TkNvM05DNmXvOH6TGb8Hi0vDNbjWNiJl6bv47FmGr8sV+9W
-        ZlB+Vqt+Y9dyoy25CXKsMbtGHryds+JtysOfxlvx1w89+NuiG3/0NuIB6zHZkyoklbirGabJ9hIcnXHg
-        +PtuvBx8hOeeWjGbpfr86kLadqU/pZ5XpZvG7Gfw4tAtvDDUgKceFuGBysPfnxkO7lB6/6l+2xGTuywN
-        jzZqcJ9V/cVtTNul9PxX/eVHd3aVHLK7LBnbkn9/ARsspRTlWFT8AAAAAElFTkSuQmCC
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAKYSURBVDhPhZBfSFNRHMfvY0RPEfQSFD2tniKh9WBZmM5W
+        es02del1ii7LJAsjtG6pOCdZuiJLZg8TbFMzuiSKlm7m/LPU3XOWkUKF89xBK0ak51pBcDlx1L1cF33h
+        vBy+n+/v+/sxzIZm3flasatAAF3m6Ey3WZl2c4rfyUX97TmCv/WsNuaLK+jmLPBpUUTsLACzHef4gNOk
+        mXRkafztBt7vMIKJtpyIz55pUXNropPX4TybGML7wBI2ACRXQEkuD6KV9Dm0vNd3n7WN29mI965+cxPR
+        XSDQyYEQ1gCELwKEq6GErwNp9RpE8lUoyXkw9GPPWAsLPI16Qc0zwG2Oznbk8sEwzgIIV63DcuUGXA4k
+        XAaQfMLToOdfNaRH1Twz08UpAYdJAyX5UmxqbAXaCCJcSlsM1aRqvE16Rc0zb135Cj0YNVIQLMmXaZiI
+        8IW1PwmXBJGcQwM8Nt3mgElnXtT/2MCL0mraegtctgaHsQVIuBiilUJRwkcHb6bwQzdSN68w1WYQplqN
+        gB4KIjl7AyyB0koRhQHC7Lvwz139dSd/D1QlT6t5xmfP0E48yoy8aWFt4uKv3TAsH6eVIZKNQYQTKext
+        zvwz11tBvJXHyIuKRJM6gxltyrD47GzEc+cUGK7X8XRf+gark/nRe+nKfH81CQccZHGimYzUs+RlsXan
+        OoPx2vTa11a9MNSgi9JjjVhTlb7buuXhutPk02gj+fqhk3xbcJGPw7Wk13xEcccLiSfhShI31pJLQpN2
+        EnnfQZb8D8n0kyJiS9F87jufsFXtj6vnZYnciPUMWRi4ReYHasj4g2zSW3rw+zPj/m1q7z/VYznEufIT
+        yKvaNNJdqP3iMiXsUHv+q57iw9vbcw9YneakLbG/v5ifpNsR5bepAAAAAElFTkSuQmCC
 </value>
   </data>
   <metadata name="toolStrip2.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
@@ -307,7 +307,7 @@
   <data name="btnNew.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO
-        wwAADsMBx2+oZAAAAU1JREFUOE9j+E8GYEAGIIGrzz+AJYrW6IIxCMw6cO1/x/oTYFw2fQsKRjEE2eTp
+        wQAADsEBuJFr7QAAAU1JREFUOE9j+E8GYEAGIIGrzz+AJYrW6IIxCMw6cO1/x/oTYFw2fQsKRjEE2eTp
         p73/Tz3pgSz0/+nbryi4c/eb/+EFE8FycANAtk475fV/0nH3//1HXP53HrCHu+TA/b9w/OnbL7ABKIbA
         DJhw1PV/9wGH/y17rP/XbTNHMWD3HQgGGQDDQYnVCANgoGGHxf+qzcbIQnADtt36A8Ybr//BNAAUYCCA
         HIgwZ6NrXn3lN6YBoJBGBzBnwzTCNMMM8AzNBquDGwASxGcrCC+5CMGg2EAxABS3bz5+wzAAm+Z55yAG
@@ -319,7 +319,7 @@
   <data name="btnOpen.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO
-        wwAADsMBx2+oZAAAAhFJREFUOE/dz71rU1EYBvAO7t38E1xaizQfIh1cBHFyEV2sDiJoyCApFBVBO6QN
+        wQAADsEBuJFr7QAAAhFJREFUOE/dz71rU1EYBvAO7t38E1xaizQfIh1cBHFyEV2sDiJoyCApFBVBO6QN
         iIGSqCDSKpSKtlb8QBCHEge1rW1iE733Jmlsmhh6g839vud+nHseSapJXFwFX3g45wzv7z1vT8//Ufwr
         X6acGna23p3tyhmn8Hpoo/h0YO/GE1/vH3nr611cPLynDQgvghZjHgAGsGZ27y6po/o+ZFc+hKzfqa1e
         JtWlkTL/fPBkB3gWkBklsKpxGKVJGJvTMMvzYK4E5ulgVAOjyu7bbYBR2xYWgrk2kH8cUD1HgVFKQi8m
@@ -334,7 +334,7 @@
   <data name="btnReopen.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO
-        wwAADsMBx2+oZAAAAUZJREFUOE+lkzFLw0AYhvt3HP0DLqWDdCuECjooBRdBXJwEZ3VRBykUBCfRpSi4
+        wQAADsEBuJFr7QAAAUZJREFUOE+lkzFLw0AYhvt3HP0DLqWDdCuECjooBRdBXJwEZ3VRBykUBCfRpSi4
         uXTSIYNiRSgFBxU6qHSoCMHiyfPJm9zFgKAHT0Mu9z53+fK15P4wSv5gojcYuvbNo3EU37tW587YaF8a
         q3unAYGEG4JInl7e3HKrFsCc5rlunj+7+spuJpFAiw4HiynN7mwqamxX3OsoMUEg4Ydjs0Ds9+cNBFud
         yK4SwOg9cbWFtUzA+7Lg4uHTkGgnrqdwf9YbG4UCJiWQhJ0JcwoJjrsfocA/+m8QlmA6WsoEfuH8owoF
@@ -369,7 +369,7 @@
   <data name="btnSaveAs.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO
-        wwAADsMBx2+oZAAAAyZJREFUOE9tku1PW1Ucx+8r/Tt86wvRxRjjEmPMULeZNAsQXczipoCdDhxZlg0Z
+        wQAADsEBuJFr7QAAAyZJREFUOE9tku1PW1Ucx+8r/Tt86wvRxRjjEmPMULeZNAsQXczipoCdDhxZlg0Z
         m7CisBYfthcDXLrBlJktUbIBGQ+hAn2cq3uga3lqBxQuUCil9OHc9t7bj2mjy3B+k29OTnK+n9/35Byp
         +NTowffN7iGDxb1hsLgxWNzC0OoWBotHGMwusafF4dt5fPzHF8uuPyf9n3Y32cfXtsR6NCG0aELhX69v
         5S0IyFvU31yg/MJ06r2q/uf/m5f2Njsi8VRGc81l8SyouOdUHI8zjM4o3PYnUVTonUxT3zPPp+en089A

Cs_HMI/AGVLogic/AGVNavigationCore/AGVNavigationCore.csproj

@@ -78,7 +78,12 @@
     <Compile Include="Models\IMovableAGV.cs" />
     <Compile Include="Models\VirtualAGV.cs" />
     <Compile Include="Models\MapLoader.cs" />
+    <Compile Include="Models\MapMagnet.cs" />
+    <Compile Include="Models\MapMark.cs" />
     <Compile Include="Models\MapNode.cs" />
+    <Compile Include="Models\NodeBase.cs" />
+    <Compile Include="Models\MapLabel.cs" />
+    <Compile Include="Models\MapImage.cs" />
     <Compile Include="PathFinding\Planning\AGVPathfinder.cs" />
     <Compile Include="PathFinding\Planning\DirectionChangePlanner.cs" />
     <Compile Include="PathFinding\Planning\DirectionalPathfinder.cs" />

Cs_HMI/AGVLogic/AGVNavigationCore/Controls/IAGV.cs

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

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

@@ -1,8 +1,10 @@
+using AGVNavigationCore.Models;
 using System;
+using System.Collections.Generic;
 using System.Drawing;
 using System.Linq;
 using System.Windows.Forms;
-using AGVNavigationCore.Models;
+using System.Xml.Linq;
 
 namespace AGVNavigationCore.Controls
 {
@@ -15,7 +17,7 @@ namespace AGVNavigationCore.Controls
             Focus(); // 포커스 설정
 
             var worldPoint = ScreenToWorld(e.Location);
-            var hitNode = GetNodeAt(worldPoint);
+            var hitNode = GetItemAt(worldPoint);
 
             // 에뮬레이터 모드 처리
             if (_canvasMode == CanvasMode.Emulator)
@@ -48,7 +50,11 @@ namespace AGVNavigationCore.Controls
                     // 마지막 선택된 노드 업데이트 (단일 참조용)
                     _selectedNode = _selectedNodes.Count > 0 ? _selectedNodes[_selectedNodes.Count - 1] : null;
 
-                    // 다중 선택 이벤트만 발생 (OnNodesSelected에서 단일/다중 구분 처리)
+                    // 단일/다중 선택 이벤트 발생
+                    if (_selectedNodes.Count == 1)
+                    {
+                        NodeSelect?.Invoke(this, _selectedNodes[0], e);
+                    }
                     NodesSelected?.Invoke(this, _selectedNodes);
                     Invalidate();
                 }
@@ -59,7 +65,8 @@ namespace AGVNavigationCore.Controls
                     _selectedNodes.Clear();
                     _selectedNodes.Add(hitNode);
 
-                    // NodesSelected 이벤트만 발생 (OnNodesSelected에서 단일/다중 구분 처리)
+                    // 단일/다중 선택 이벤트 발생
+                    NodeSelect?.Invoke(this, hitNode, e);
                     NodesSelected?.Invoke(this, _selectedNodes);
                     Invalidate();
                 }
@@ -94,7 +101,7 @@ namespace AGVNavigationCore.Controls
                     break;
 
                 case EditMode.Connect:
-                    HandleConnectClick(hitNode);
+                    HandleConnectClick(hitNode as MapNode);
                     break;
 
                 case EditMode.Delete:
@@ -110,53 +117,51 @@ namespace AGVNavigationCore.Controls
         private void UnifiedAGVCanvas_MouseDoubleClick(object sender, MouseEventArgs e)
         {
             var worldPoint = ScreenToWorld(e.Location);
-            var hitNode = GetNodeAt(worldPoint);
+            var hitNode = GetItemAt(worldPoint);
 
-            if (hitNode != null)
+            // 가동 모드에서는 더블클릭 편집 방지
+            if (_canvasMode == CanvasMode.Run) return;
+
+            if (hitNode == null) return;
+
+            if (hitNode.Type == NodeType.Normal)
             {
-                // 노드 타입별 더블클릭 액션
-                switch (hitNode.Type)
-                {
-                    case NodeType.Normal:
-                    case NodeType.Loader:
-                    case NodeType.UnLoader:
-                    case NodeType.Clearner:
-                    case NodeType.Buffer:
-                    case NodeType.Charging:
-                        HandleNormalNodeDoubleClick(hitNode);
-                        break;
-
-                    case NodeType.Label:
-                        HandleLabelNodeDoubleClick(hitNode);
-                        break;
-
-                    case NodeType.Image:
-                        HandleImageNodeDoubleClick(hitNode);
-                        break;
-
-                    default:
-                        // 기본 동작: 노드 선택 이벤트 발생
-                        _selectedNode = hitNode;
-                        _selectedNodes.Clear();
-                        _selectedNodes.Add(hitNode);
-                        NodesSelected?.Invoke(this, _selectedNodes);
-                        break;
-                }
+                HandleNormalNodeDoubleClick(hitNode as MapNode);
+            }
+            else if (hitNode.Type == NodeType.Label)
+            {
+                HandleLabelDoubleClick(hitNode as MapLabel);
+            }
+            else if (hitNode.Type == NodeType.Image)
+            {
+                HandleImageDoubleClick(hitNode as MapImage);
+            }
+            else if (hitNode.Type == NodeType.Mark)
+            {
+                HandleMarkDoubleClick(hitNode as MapMark);
+            }
+            else if (hitNode.Type == NodeType.Magnet)
+            {
+                HandleMagnetDoubleClick(hitNode as MapMagnet);
             }
         }
 
         private void HandleNormalNodeDoubleClick(MapNode node)
         {
             // RFID 입력창 표시
-            string currentRfid = node.RfidId ?? "";
+            var currentRfid = node.RfidId;
             string newRfid = Microsoft.VisualBasic.Interaction.InputBox(
-                $"노드 '{node.Name}'의 RFID를 입력하세요:",
+                $"노드 '{node.RfidId}[{node.Id}]'의 RFID를 입력하세요:",
                 "RFID 설정",
-                currentRfid);
+                currentRfid.ToString());
 
-            if (!string.IsNullOrWhiteSpace(newRfid) && newRfid != currentRfid)
+            if (ushort.TryParse(newRfid, out ushort newrfidvalue) == false) return;
+            if (newrfidvalue < 1) return;
+
+
+            if (newrfidvalue != currentRfid)
             {
-                node.RfidId = newRfid.Trim();
+                node.RfidId = newrfidvalue;
                 MapChanged?.Invoke(this, EventArgs.Empty);
                 Invalidate();
             }
@@ -167,11 +172,19 @@ namespace AGVNavigationCore.Controls
             _selectedNodes.Add(node);
             NodesSelected?.Invoke(this, _selectedNodes);
         }
+        private void HandleMarkDoubleClick(MapMark label)
+        {
+            //TODO:
+        }
+        private void HandleMagnetDoubleClick(MapMagnet label)
+        {
+            //TODO:
+        }
 
-        private void HandleLabelNodeDoubleClick(MapNode node)
+        private void HandleLabelDoubleClick(MapLabel label)
         {
             // 라벨 텍스트 입력창 표시
-            string currentText = node.LabelText ?? "새 라벨";
+            string currentText = label.Text ?? "새 라벨";
             string newText = Microsoft.VisualBasic.Interaction.InputBox(
                 "라벨 텍스트를 입력하세요:",
                 "라벨 편집",
@@ -179,28 +192,24 @@ namespace AGVNavigationCore.Controls
 
             if (!string.IsNullOrWhiteSpace(newText) && newText != currentText)
             {
-                node.LabelText = newText.Trim();
+                label.Text = newText.Trim();
                 MapChanged?.Invoke(this, EventArgs.Empty);
                 Invalidate();
             }
 
-            // 더블클릭 시 해당 노드만 선택 (다중 선택 해제)
-            _selectedNode = node;
-            _selectedNodes.Clear();
-            _selectedNodes.Add(node);
-            NodesSelected?.Invoke(this, _selectedNodes);
+            _selectedNode = label;
+            LabelDoubleClicked?.Invoke(this, label);
+            Invalidate();
         }
 
-        private void HandleImageNodeDoubleClick(MapNode node)
+        private void HandleImageDoubleClick(MapImage image)
         {
-            // 더블클릭 시 해당 노드만 선택 (다중 선택 해제)
-            _selectedNode = node;
-            _selectedNodes.Clear();
-            _selectedNodes.Add(node);
-            NodesSelected?.Invoke(this, _selectedNodes);
+            _selectedNode = image;
 
             // 이미지 편집 이벤트 발생 (MainForm에서 처리)
-            ImageNodeDoubleClicked?.Invoke(this, node);
+            ImageDoubleClicked?.Invoke(this, image);
+
+            Invalidate();
         }
 
         private void UnifiedAGVCanvas_MouseDown(object sender, MouseEventArgs e)
@@ -211,24 +220,23 @@ namespace AGVNavigationCore.Controls
             {
                 if (_editMode == EditMode.Move)
                 {
-                    var hitNode = GetNodeAt(worldPoint);
+                    // 1. 노드 선택 확인
+                    var hitNode = GetItemAt(worldPoint);
                     if (hitNode != null)
                     {
                         _isDragging = true;
-                        _isPanning = false; // 🔥 팬 모드 비활성화 - 중요!
+                        _isPanning = false;
                         _selectedNode = hitNode;
-                        _dragStartPosition = hitNode.Position; // 원래 위치 저장 (고스트용)
-                        _dragOffset = new Point(
-                            worldPoint.X - hitNode.Position.X,
-                            worldPoint.Y - hitNode.Position.Y
-                        );
-                        _mouseMoveCounter = 0; // 디버그: 카운터 리셋
+                        _dragStartPosition = hitNode.Position;
+                        _dragOffset = new Point(worldPoint.X - hitNode.Position.X, worldPoint.Y - hitNode.Position.Y);
+                        _mouseMoveCounter = 0;
                         Cursor = Cursors.SizeAll;
-                        Capture = true; // 🔥 마우스 캡처 활성화 - 이게 핵심!
-                        //System.Diagnostics.Debug.WriteLine($"MouseDown: 드래그 시작! Capture={Capture}, isDragging={_isDragging}, isPanning={_isPanning}, Node={hitNode.NodeId}");
+                        Capture = true;
                         Invalidate();
                         return;
                     }
+
+
                 }
 
                 // 팬 시작 (좌클릭 - 모드에 따라)
@@ -250,7 +258,9 @@ namespace AGVNavigationCore.Controls
                 // 컨텍스트 메뉴 (편집 모드에서만)
                 if (_canvasMode == CanvasMode.Edit)
                 {
-                    var hitNode = GetNodeAt(worldPoint);
+                    var hitNode = GetItemAt(worldPoint);
+                    // TODO: 라벨/이미지에 대한 컨텍스트 메뉴도 지원하려면 여기서 hitLabel/hitImage 확인해서 전달
+                    // 현재는 ShowContextMenu가 MapNode만 받으므로 노드만 처리
                     ShowContextMenu(e.Location, hitNode);
                 }
             }
@@ -266,9 +276,12 @@ namespace AGVNavigationCore.Controls
                 _mouseMoveCounter++;
             }
 
-            // 호버 노드 업데이트
-            var newHoveredNode = GetNodeAt(worldPoint);
-            if (newHoveredNode != _hoveredNode)
+            // 호버 업데이트
+            var newHoveredNode = GetItemAt(worldPoint);
+
+            bool hoverChanged = (newHoveredNode != _hoveredNode);
+
+            if (hoverChanged)
             {
                 _hoveredNode = newHoveredNode;
                 Invalidate();
@@ -291,24 +304,31 @@ namespace AGVNavigationCore.Controls
             }
             else if (_isDragging && _canvasMode == CanvasMode.Edit)
             {
+                // 드래그 위치 계산
+                var newPosition = new Point(
+                    worldPoint.X - _dragOffset.X,
+                    worldPoint.Y - _dragOffset.Y
+                );
+
+                // 그리드 스냅
+                if (ModifierKeys.HasFlag(Keys.Control))
+                {
+                    newPosition.X = (newPosition.X / GRID_SIZE) * GRID_SIZE;
+                    newPosition.Y = (newPosition.Y / GRID_SIZE) * GRID_SIZE;
+                }
+
+                bool moved = false;
+
                 // 노드 드래그
                 if (_selectedNode != null)
                 {
-                    var oldPosition = _selectedNode.Position;
-                    var newPosition = new Point(
-                        worldPoint.X - _dragOffset.X,
-                        worldPoint.Y - _dragOffset.Y
-                    );
-
-                    // 그리드 스냅
-                    if (ModifierKeys.HasFlag(Keys.Control))
-                    {
-                        newPosition.X = (newPosition.X / GRID_SIZE) * GRID_SIZE;
-                        newPosition.Y = (newPosition.Y / GRID_SIZE) * GRID_SIZE;
-                    }
-
                     _selectedNode.Position = newPosition;
                     NodeMoved?.Invoke(this, _selectedNode);
+                    moved = true;
+                }
+
+                if (moved)
+                {
                     MapChanged?.Invoke(this, EventArgs.Empty);
                     Invalidate();
                     Update(); // 🔥 즉시 Paint 이벤트 처리하여 화면 업데이트
@@ -409,51 +429,77 @@ namespace AGVNavigationCore.Controls
             );
         }
 
-        private MapNode GetNodeAt(Point worldPoint)
+        private NodeBase GetItemAt(Point worldPoint)
         {
-            if (_nodes == null) return null;
-
-            // 역순으로 검사하여 위에 그려진 노드부터 확인
-            for (int i = _nodes.Count - 1; i >= 0; i--)
+            if (_labels != null)
             {
-                var node = _nodes[i];
-                if (IsPointInNode(worldPoint, node))
-                    return node;
+                // 역순으로 검사하여 위에 그려진 노드부터 확인
+                for (int i = _labels.Count - 1; i >= 0; i--)
+                {
+                    var node = _labels[i];
+                    if (IsPointInNode(worldPoint, node))
+                        return node;
+                }
             }
 
+            if (_nodes != null)
+            {
+                // 역순으로 검사하여 위에 그려진 노드부터 확인
+                for (int i = _nodes.Count - 1; i >= 0; i--)
+                {
+                    var node = _nodes[i];
+                    if (IsPointInNode(worldPoint, node))
+                        return node;
+                }
+            }
+            if (_images != null)
+            {
+                // 역순으로 검사하여 위에 그려진 노드부터 확인
+                for (int i = _images.Count - 1; i >= 0; i--)
+                {
+                    var node = _images[i];
+                    if (IsPointInNode(worldPoint, node))
+                        return node;
+                }
+            }
+
+
             return null;
         }
 
-        private bool IsPointInNode(Point point, MapNode node)
+        private bool IsPointInNode(Point point, NodeBase node)
         {
-            switch (node.Type)
+            if (node is MapLabel label)
             {
-                case NodeType.Label:
-                    return IsPointInLabelNode(point, node);
-                case NodeType.Image:
-                    return IsPointInImageNode(point, node);
-                default:
-                    return IsPointInCircularNode(point, node);
+                return IsPointInLabel(point, label);
             }
+            if (node is MapImage image)
+            {
+                return IsPointInImage(point, image);
+            }
+            // 라벨과 이미지는 별도 리스트로 관리되므로 여기서 처리하지 않음
+            // 하지만 혹시 모를 하위 호환성을 위해 타입 체크는 유지하되, 
+            // 실제 로직은 CircularNode 등으로 분기
+            return IsPointInCircularNode(point, node as MapNode);
         }
 
         private bool IsPointInCircularNode(Point point, MapNode node)
         {
-            switch (node.Type)
+            switch (node.StationType)
             {
-                case NodeType.Loader:
-                case NodeType.UnLoader:
-                case NodeType.Clearner:
-                case NodeType.Buffer:
+                case StationType.Loader:
+                case StationType.UnLoader:
+                case StationType.Clearner:
+                case StationType.Buffer:
                     return IsPointInPentagon(point, node);
-                case NodeType.Charging:
+                case StationType.Charger:
                     return IsPointInTriangle(point, node);
                 default:
                     return IsPointInCircle(point, node);
             }
         }
 
-        private bool IsPointInCircle(Point point, MapNode node)
+        private bool IsPointInCircle(Point point, NodeBase node)
         {
             // 화면에서 최소 20픽셀 정도의 히트 영역을 확보하되, 노드 크기보다 작아지지 않게 함
             var minHitRadiusInScreen = 20;
@@ -466,7 +512,7 @@ namespace AGVNavigationCore.Controls
             return distance <= hitRadius;
         }
 
-        private bool IsPointInPentagon(Point point, MapNode node)
+        private bool IsPointInPentagon(Point point, NodeBase node)
         {
             // 화면에서 최소 20픽셀 정도의 히트 영역을 확보
             var minHitRadiusInScreen = 20;
@@ -487,7 +533,7 @@ namespace AGVNavigationCore.Controls
             return IsPointInPolygon(point, points);
         }
 
-        private bool IsPointInTriangle(Point point, MapNode node)
+        private bool IsPointInTriangle(Point point, NodeBase node)
         {
             // 화면에서 최소 20픽셀 정도의 히트 영역을 확보하되, 노드 크기보다 작아지지 않게 함
             var minHitRadiusInScreen = 20;
@@ -532,38 +578,68 @@ namespace AGVNavigationCore.Controls
             return inside;
         }
 
-        private bool IsPointInLabelNode(Point point, MapNode node)
+        private bool IsPointInLabel(Point point, MapLabel label)
         {
-            var text = string.IsNullOrEmpty(node.LabelText) ? node.NodeId : node.LabelText;
+            var text = string.IsNullOrEmpty(label.Text) ? label.Id : label.Text;
 
-            // 임시 Graphics로 텍스트 크기 측정
-            using (var tempBitmap = new Bitmap(1, 1))
-            using (var tempGraphics = Graphics.FromImage(tempBitmap))
+            // Graphics 객체 임시 생성 (Using CreateGraphics is faster than new Bitmap)
+            using (var g = this.CreateGraphics())
             {
-                var font = new Font(node.FontFamily, node.FontSize, node.FontStyle);
-                var textSize = tempGraphics.MeasureString(text, font);
+                // Font 생성 로직: 사용자 정의 폰트가 있으면 생성, 없으면 기본 폰트 사용 (Dispose 주의)
+                Font fontToUse = null;
+                bool shouldDisposeFont = false;
 
-                var textRect = new Rectangle(
-                    (int)(node.Position.X - textSize.Width / 2),
-                    (int)(node.Position.Y - textSize.Height / 2),
-                    (int)textSize.Width,
-                    (int)textSize.Height
-                );
+                try
+                {
+                    if (string.IsNullOrEmpty(label.FontFamily) || label.FontSize <= 0)
+                    {
+                        fontToUse = this.Font;
+                        shouldDisposeFont = false; // 컨트롤 폰트는 Dispose하면 안됨
+                    }
+                    else
+                    {
+                        try
+                        {
+                            fontToUse = new Font(label.FontFamily, label.FontSize, label.FontStyle);
+                            shouldDisposeFont = true;
+                        }
+                        catch
+                        {
+                            fontToUse = this.Font;
+                            shouldDisposeFont = false;
+                        }
+                    }
 
-                font.Dispose();
-                return textRect.Contains(point);
+                    var textSize = g.MeasureString(text, fontToUse);
+
+                    var textRect = new Rectangle(
+                        (int)(label.Position.X - textSize.Width / 2),
+                        (int)(label.Position.Y - textSize.Height / 2),
+                        (int)textSize.Width,
+                        (int)textSize.Height
+                    );
+
+                    return textRect.Contains(point);
+                }
+                finally
+                {
+                    if (shouldDisposeFont && fontToUse != null)
+                    {
+                        fontToUse.Dispose();
+                    }
+                }
             }
         }
 
-        private bool IsPointInImageNode(Point point, MapNode node)
+        private bool IsPointInImage(Point point, MapImage image)
         {
-            var displaySize = node.GetDisplaySize();
+            var displaySize = image.GetDisplaySize();
             if (displaySize.IsEmpty)
                 displaySize = new Size(50, 50); // 기본 크기
 
             var imageRect = new Rectangle(
-                node.Position.X - displaySize.Width / 2,
-                node.Position.Y - displaySize.Height / 2,
+                image.Position.X - displaySize.Width / 2,
+                image.Position.Y - displaySize.Height / 2,
                 displaySize.Width,
                 displaySize.Height
             );
@@ -571,6 +647,32 @@ namespace AGVNavigationCore.Controls
             return imageRect.Contains(point);
         }
 
+        //private MapLabel GetLabelAt(Point worldPoint)
+        //{
+        //    if (_labels == null) return null;
+        //    // 역순으로 검사
+        //    for (int i = _labels.Count - 1; i >= 0; i--)
+        //    {
+        //        var label = _labels[i];
+        //        if (IsPointInLabel(worldPoint, label))
+        //            return label;
+        //    }
+        //    return null;
+        //}
+
+        //private MapImage GetImageAt(Point worldPoint)
+        //{
+        //    if (_images == null) return null;
+        //    // 역순으로 검사
+        //    for (int i = _images.Count - 1; i >= 0; i--)
+        //    {
+        //        var image = _images[i];
+        //        if (IsPointInImage(worldPoint, image))
+        //            return image;
+        //    }
+        //    return null;
+        //}
+
         private IAGV GetAGVAt(Point worldPoint)
         {
             if (_agvList == null) return null;
@@ -590,7 +692,7 @@ namespace AGVNavigationCore.Controls
             });
         }
 
-        private void HandleSelectClick(MapNode hitNode, Point worldPoint)
+        private void HandleSelectClick(NodeBase hitNode, Point worldPoint)
         {
             if (hitNode != null)
             {
@@ -605,8 +707,8 @@ namespace AGVNavigationCore.Controls
                 {
                     // 연결선을 클릭했을 때 삭제 확인
                     var (fromNode, toNode) = connection.Value;
-                    string fromDisplay = !string.IsNullOrEmpty(fromNode.RfidId) ? fromNode.RfidId : fromNode.NodeId;
-                    string toDisplay = !string.IsNullOrEmpty(toNode.RfidId) ? toNode.RfidId : toNode.NodeId;
+                    string fromDisplay = fromNode.HasRfid() ? fromNode.RfidId.ToString("0000") : fromNode.Id;
+                    string toDisplay = toNode.HasRfid() ? toNode.RfidId.ToString("0000") : toNode.Id;
 
                     var result = MessageBox.Show(
                         $"연결을 삭제하시겠습니까?\n\n{fromDisplay} ↔ {toDisplay}",
@@ -617,13 +719,13 @@ namespace AGVNavigationCore.Controls
                     if (result == DialogResult.Yes)
                     {
                         // 단일 연결 삭제 (어느 방향에 저장되어 있는지 확인 후 삭제)
-                        if (fromNode.ConnectedNodes.Contains(toNode.NodeId))
+                        if (fromNode.ConnectedNodes.Contains(toNode.Id))
                         {
-                            fromNode.RemoveConnection(toNode.NodeId);
+                            fromNode.RemoveConnection(toNode.Id);
                         }
-                        else if (toNode.ConnectedNodes.Contains(fromNode.NodeId))
+                        else if (toNode.ConnectedNodes.Contains(fromNode.Id))
                         {
-                            toNode.RemoveConnection(fromNode.NodeId);
+                            toNode.RemoveConnection(fromNode.Id);
                         }
 
                         // 이벤트 발생
@@ -660,9 +762,8 @@ namespace AGVNavigationCore.Controls
 
             var newNode = new MapNode
             {
-                NodeId = newNodeId,
-                Position = worldPoint,
-                Type = NodeType.Normal
+                Id = newNodeId,
+                Position = worldPoint
             };
 
             _nodes.Add(newNode);
@@ -681,20 +782,22 @@ namespace AGVNavigationCore.Controls
                 worldPoint.Y = (worldPoint.Y / GRID_SIZE) * GRID_SIZE;
             }
 
-            // 고유한 NodeId 생성
+            // 고유한 NodeId 생성 (라벨도 ID 공유 권장)
             string newNodeId = GenerateUniqueNodeId();
 
-            var newNode = new MapNode
+            var newLabel = new MapLabel
             {
-                NodeId = newNodeId,
+                Id = newNodeId,
                 Position = worldPoint,
-                Type = NodeType.Label,
-                Name = "새 라벨"
+                Text = "New Label",
+                FontSize = 10,
+                FontFamily = "Arial"
             };
 
-            _nodes.Add(newNode);
+            if (_labels == null) _labels = new List<MapLabel>();
+            _labels.Add(newLabel);
 
-            NodeAdded?.Invoke(this, newNode);
+            //NodeAdded?.Invoke(this, newNode); // TODO: 라벨 추가 이벤트 필요?
             MapChanged?.Invoke(this, EventArgs.Empty);
             Invalidate();
         }
@@ -711,17 +814,17 @@ namespace AGVNavigationCore.Controls
             // 고유한 NodeId 생성
             string newNodeId = GenerateUniqueNodeId();
 
-            var newNode = new MapNode
+            var newImage = new MapImage
             {
-                NodeId = newNodeId,
+                Id = newNodeId,
                 Position = worldPoint,
-                Type = NodeType.Image,
-                Name = "새 이미지"
+                Name = "New Image"
             };
 
-            _nodes.Add(newNode);
+            if (_images == null) _images = new List<MapImage>();
+            _images.Add(newImage);
 
-            NodeAdded?.Invoke(this, newNode);
+            //NodeAdded?.Invoke(this, newNode); // TODO: 이미지 추가 이벤트 필요?
             MapChanged?.Invoke(this, EventArgs.Empty);
             Invalidate();
         }
@@ -739,7 +842,9 @@ namespace AGVNavigationCore.Controls
                 nodeId = $"N{counter:D3}";
                 counter++;
             }
-            while (_nodes.Any(n => n.NodeId == nodeId));
+            while (_nodes.Any(n => n.Id == nodeId) ||
+                   (_labels != null && _labels.Any(l => l.Id == nodeId)) ||
+                   (_images != null && _images.Any(i => i.Id == nodeId)));
 
             _nodeCounter = counter;
             return nodeId;
@@ -776,7 +881,7 @@ namespace AGVNavigationCore.Controls
             // 연결된 모든 연결선도 제거
             foreach (var node in _nodes)
             {
-                node.RemoveConnection(hitNode.NodeId);
+                node.RemoveConnection(hitNode.Id);
             }
 
             _nodes.Remove(hitNode);
@@ -792,13 +897,13 @@ namespace AGVNavigationCore.Controls
         private void CreateConnection(MapNode fromNode, MapNode toNode)
         {
             // 중복 연결 체크 (양방향)
-            if (fromNode.ConnectedNodes.Contains(toNode.NodeId) ||
-                toNode.ConnectedNodes.Contains(fromNode.NodeId))
+            if (fromNode.ConnectedNodes.Contains(toNode.Id) ||
+                toNode.ConnectedNodes.Contains(fromNode.Id))
                 return;
 
             // 양방향 연결 생성 (AGV가 양쪽 방향으로 이동 가능하도록)
-            fromNode.AddConnection(toNode.NodeId);
-            toNode.AddConnection(fromNode.NodeId);
+            fromNode.AddConnection(toNode.Id);
+            toNode.AddConnection(fromNode.Id);
 
             MapChanged?.Invoke(this, EventArgs.Empty);
         }
@@ -810,20 +915,26 @@ namespace AGVNavigationCore.Controls
             return (float)Math.Sqrt(dx * dx + dy * dy);
         }
 
-        private void ShowContextMenu(Point location, MapNode hitNode)
+        private void ShowContextMenu(Point location, NodeBase hitItem)
         {
             _contextMenu.Items.Clear();
 
-            if (hitNode != null)
+            if (hitItem != null)
             {
-                _contextMenu.Items.Add("노드 속성...", null, (s, e) =>
+                string typeName = "항목";
+                if (hitItem is MapNode) typeName = "노드";
+                else if (hitItem is MapLabel) typeName = "라벨";
+                else if (hitItem is MapImage) typeName = "이미지";
+
+                _contextMenu.Items.Add($"{typeName} 속성...", null, (s, e) =>
                 {
-                    _selectedNode = hitNode;
+                    _selectedNode = hitItem;
                     _selectedNodes.Clear();
-                    _selectedNodes.Add(hitNode);
+                    _selectedNodes.Add(hitItem);
                     NodesSelected?.Invoke(this, _selectedNodes);
+                    Invalidate();
                 });
-                _contextMenu.Items.Add("노드 삭제", null, (s, e) => HandleDeleteClick(hitNode));
+                _contextMenu.Items.Add($"{typeName} 삭제", null, (s, e) => HandleDeleteClick(hitItem));
                 _contextMenu.Items.Add("-");
             }
 
@@ -848,13 +959,13 @@ namespace AGVNavigationCore.Controls
                 var (fromNode, toNode) = connection.Value;
 
                 // 단일 연결 삭제 (어느 방향에 저장되어 있는지 확인 후 삭제)
-                if (fromNode.ConnectedNodes.Contains(toNode.NodeId))
+                if (fromNode.ConnectedNodes.Contains(toNode.Id))
                 {
-                    fromNode.RemoveConnection(toNode.NodeId);
+                    fromNode.RemoveConnection(toNode.Id);
                 }
-                else if (toNode.ConnectedNodes.Contains(fromNode.NodeId))
+                else if (toNode.ConnectedNodes.Contains(fromNode.Id))
                 {
-                    toNode.RemoveConnection(fromNode.NodeId);
+                    toNode.RemoveConnection(fromNode.Id);
                 }
 
                 // 이벤트 발생
@@ -867,13 +978,14 @@ namespace AGVNavigationCore.Controls
         private (MapNode From, MapNode To)? GetConnectionAt(Point worldPoint)
         {
             const int CONNECTION_HIT_TOLERANCE = 10;
+            if (_nodes == null) return null;
 
             // 모든 연결선을 확인하여 클릭한 위치와 가장 가까운 연결선 찾기
             foreach (var fromNode in _nodes)
             {
                 foreach (var toNodeId in fromNode.ConnectedNodes)
                 {
-                    var toNode = _nodes.FirstOrDefault(n => n.NodeId == toNodeId);
+                    var toNode = _nodes.FirstOrDefault(n => n.Id == toNodeId);
                     if (toNode != null)
                     {
                         // 연결선과 클릭 위치 간의 거리 계산
@@ -889,6 +1001,49 @@ namespace AGVNavigationCore.Controls
             return null;
         }
 
+        private void HandleDeleteClick(NodeBase item)
+        {
+            if (item == null) return;
+
+            if (item is MapNode hitNode)
+            {
+                // 연결된 모든 연결선도 제거
+                foreach (var node in _nodes)
+                {
+                    node.RemoveConnection(hitNode.Id);
+                }
+
+                _nodes.Remove(hitNode);
+
+                if (_selectedNode == hitNode)
+                    _selectedNode = null;
+
+                NodeDeleted?.Invoke(this, hitNode);
+            }
+            else if (item is MapLabel label)
+            {
+                if (_labels != null) _labels.Remove(label);
+                if (_selectedNode.Id.Equals(item.Id)) _selectedNode = null;
+            }
+            else if (item is MapImage image)
+            {
+                if (_images != null) _images.Remove(image);
+                if (_selectedNode.Id.Equals(item.Id)) _selectedNode = null;
+            }
+            else if (item is MapMark mark)
+            {
+                if (_marks != null) _marks.Remove(mark);
+                if (_selectedNode.Id.Equals(item.Id)) _selectedNode = null;
+            }
+            else if (item is MapMagnet magnet)
+            {
+                if (_magnets != null) _magnets.Remove(magnet);
+                if (_selectedNode.Id.Equals(item.Id)) _selectedNode = null;
+            }
+            MapChanged?.Invoke(this, EventArgs.Empty);
+            Invalidate();
+        }
+
         private float CalculatePointToLineDistance(Point point, Point lineStart, Point lineEnd)
         {
             // 점에서 선분까지의 거리 계산
@@ -928,27 +1083,21 @@ namespace AGVNavigationCore.Controls
         {
             string tooltipText = "";
 
-            // 노드 툴팁
-            var hitNode = GetNodeAt(worldPoint);
+            var hitNode = GetItemAt(worldPoint);
+            var hitAGV = GetAGVAt(worldPoint);
+
             if (hitNode != null)
+                tooltipText = $"노드: {hitNode.Id}\n타입: {hitNode.Type}\n위치: ({hitNode.Position.X}, {hitNode.Position.Y})";
+            else if (hitAGV != null)
             {
-                tooltipText = $"노드: {hitNode.NodeId}\n타입: {hitNode.Type}\n위치: ({hitNode.Position.X}, {hitNode.Position.Y})";
-            }
-            else
-            {
-                // AGV 툴팁
-                var hitAGV = GetAGVAt(worldPoint);
-                if (hitAGV != null)
-                {
-                    var state = _agvStates.ContainsKey(hitAGV.AgvId) ? _agvStates[hitAGV.AgvId] : AGVState.Idle;
-                    tooltipText = $"AGV: {hitAGV.AgvId}\n상태: {state}\n배터리: {hitAGV.BatteryLevel:F1}%\n위치: ({hitAGV.CurrentPosition.X}, {hitAGV.CurrentPosition.Y})";
-                }
+                var state = _agvStates.ContainsKey(hitAGV.AgvId) ? _agvStates[hitAGV.AgvId] : AGVState.Idle;
+                tooltipText = $"AGV: {hitAGV.AgvId}\n상태: {state}\n배터리: {hitAGV.BatteryLevel:F1}%\n위치: ({hitAGV.CurrentPosition.X}, {hitAGV.CurrentPosition.Y})";
             }
 
-            // 툴팁 업데이트 (기존 ToolTip 컨트롤 사용)
-            if (!string.IsNullOrEmpty(tooltipText))
+            // 툴팁 텍스트 갱신 (변경되었을 때만)
+            if (_tooltip != null && _tooltip.GetToolTip(this) != tooltipText)
             {
-                // ToolTip 설정 (필요시 추가 구현)
+                _tooltip.SetToolTip(this, tooltipText);
             }
         }
 
@@ -1016,7 +1165,7 @@ namespace AGVNavigationCore.Controls
         /// </summary>
         public void PanToNode(string nodeId)
         {
-            var node = _nodes?.FirstOrDefault(n => n.NodeId == nodeId);
+            var node = _nodes?.FirstOrDefault(n => n.Id == nodeId);
             if (node != null)
             {
                 PanTo(node.Position);

Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs

@@ -1,12 +1,14 @@
-using System;
-using System.Collections.Generic;
-using System.Drawing;
-using System.Drawing.Drawing2D;
-using System.Linq;
-using System.Windows.Forms;
 using AGVNavigationCore.Models;
 using AGVNavigationCore.PathFinding;
 using AGVNavigationCore.PathFinding.Core;
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Drawing;
+using System.Drawing.Drawing2D;
+using System.Linq;
+using System.Reflection.Emit;
+using System.Windows.Forms;
 
 namespace AGVNavigationCore.Controls
 {
@@ -21,7 +23,7 @@ namespace AGVNavigationCore.Controls
         private const int NODE_SIZE = 24;
         private const int NODE_RADIUS = NODE_SIZE / 2;
         private const int GRID_SIZE = 20;
-        private const float CONNECTION_WIDTH = 2.0f;
+        private const float CONNECTION_WIDTH = 1.0f;
         private const int SNAP_DISTANCE = 10;
         private const int AGV_SIZE = 40;
         private const int CONNECTION_ARROW_SIZE = 8;
@@ -37,7 +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>
@@ -65,10 +68,19 @@ namespace AGVNavigationCore.Controls
 
         // 맵 데이터
         private List<MapNode> _nodes;
-        private MapNode _selectedNode;
-        private List<MapNode> _selectedNodes; // 다중 선택
-        private MapNode _hoveredNode;
-        private MapNode _destinationNode;
+        private List<MapLabel> _labels;     // 추가
+        private List<MapImage> _images;     // 추가
+        private List<MapMark> _marks;
+        private List<MapMagnet> _magnets;
+
+        // 선택된 객체들 (나중에 NodeBase로 통일 필요)
+        private NodeBase _selectedNode;
+
+        private List<NodeBase> _selectedNodes; // 다중 선택 (NodeBase로 변경 고려)
+
+        private NodeBase _hoveredNode;
+
+        private NodeBase _destinationNode;
 
         // AGV 관련
         private List<IAGV> _agvList;
@@ -143,24 +155,31 @@ namespace AGVNavigationCore.Controls
         private Pen _pathPen;
         private Pen _agvPen;
         private Pen _highlightedConnectionPen;
+        private Pen _magnetPen;
+        private Pen _markPen;
+        private ToolTip _tooltip;
 
         // 컨텍스트 메뉴
         private ContextMenuStrip _contextMenu;
 
         // 이벤트
-        public event EventHandler<MapNode> NodeRightClicked;
+        public event EventHandler<NodeBase> NodeRightClicked;
 
         #endregion
 
         #region Events
 
         // 맵 편집 이벤트
-        public event EventHandler<MapNode> NodeAdded;
-        public event EventHandler<List<MapNode>> NodesSelected; // 다중 선택 이벤트
-        public event EventHandler<MapNode> NodeDeleted;
-        public event EventHandler<MapNode> NodeMoved;
+        public delegate void NodeSelectHandler(object sender, NodeBase node, MouseEventArgs e);
+        public event NodeSelectHandler NodeSelect;
+
+        public event EventHandler<NodeBase> NodeAdded;
+        public event EventHandler<List<NodeBase>> NodesSelected; // 다중 선택 이벤트
+        public event EventHandler<NodeBase> NodeDeleted;
+        public event EventHandler<NodeBase> NodeMoved;
         public event EventHandler<(MapNode From, MapNode To)> ConnectionDeleted;
-        public event EventHandler<MapNode> ImageNodeDoubleClicked;
+        public event EventHandler<MapImage> ImageDoubleClicked;
+        public event EventHandler<MapLabel> LabelDoubleClicked;
         public event EventHandler MapChanged;
 
         #endregion
@@ -184,6 +203,60 @@ namespace AGVNavigationCore.Controls
             }
         }
 
+        public void RemoveItem(NodeBase item)
+        {
+            if (item is MapImage img) RemoveImage(img);
+            else if (item is MapLabel lb) RemoveLabel(lb);
+            else if (item is MapNode nd) RemoveNode(nd);
+            else if (item is MapMark mk) RemoveMark(mk);
+            else if (item is MapMagnet mg) RemoveMagnet(mg);
+            else throw new Exception("unknown type");
+
+        }
+        public void RemoveNode(MapNode node)
+        {
+            if (_nodes != null && _nodes.Contains(node))
+            {
+                _nodes.Remove(node);
+                Invalidate();
+            }
+        }
+        public void RemoveLabel(MapLabel label)
+        {
+            if (_labels != null && _labels.Contains(label))
+            {
+                _labels.Remove(label);
+                Invalidate();
+            }
+        }
+
+        public void RemoveImage(MapImage image)
+        {
+            if (_images != null && _images.Contains(image))
+            {
+                _images.Remove(image);
+                Invalidate();
+            }
+        }
+
+        public void RemoveMark(MapMark mark)
+        {
+            if (_marks != null && _marks.Contains(mark))
+            {
+                _marks.Remove(mark);
+                Invalidate();
+            }
+        }
+
+        public void RemoveMagnet(MapMagnet magnet)
+        {
+            if (_magnets != null && _magnets.Contains(magnet))
+            {
+                _magnets.Remove(magnet);
+                Invalidate();
+            }
+        }
+
         /// <summary>
         /// 편집 모드 (CanvasMode.Edit일 때만 적용)
         /// </summary>
@@ -230,15 +303,80 @@ namespace AGVNavigationCore.Controls
             }
         }
 
+        [Browsable(false)]
+        public MapImage SelectedImage
+        {
+            get { return this._selectedNode as MapImage; }
+        }
+
+        [Browsable(false)]
+        public MapLabel SelectedLabel
+        {
+            get { return this._selectedNode as MapLabel; }
+        }
+
+        [Browsable(false)]
+        public MapMark SelectedMark
+        {
+            get { return this._selectedNode as MapMark; }
+        }
+
+
+        [Browsable(false)]
+        public MapMagnet SelectedMagnet
+        {
+            get { return this._selectedNode as MapMagnet; }
+        }
+
         /// <summary>
         /// 선택된 노드 (단일)
         /// </summary>
-        public MapNode SelectedNode => _selectedNode;
+        public MapNode SelectedNode
+        {
+            get { return this._selectedNode as MapNode; }
+        }
 
         /// <summary>
         /// 선택된 노드들 (다중)
         /// </summary>
-        public List<MapNode> SelectedNodes => _selectedNodes ?? new List<MapNode>();
+        public List<NodeBase> SelectedNodes => _selectedNodes ?? new List<NodeBase>();
+
+
+        public List<NodeBase> Items
+        {
+            get
+            {
+                List<NodeBase> items = new List<NodeBase>();
+                if (Nodes != null && Nodes.Any()) items.AddRange(Nodes);
+                if (Labels != null && Labels.Any()) items.AddRange(Labels);
+                if (Images != null && Images.Any()) items.AddRange(Images);
+                if (Marks != null && Marks.Any()) items.AddRange(Marks);
+                if (Magnets != null && Magnets.Any()) items.AddRange(Magnets);
+                return items;
+            }
+        }
+
+        /// <summary>
+        /// Map file loading 결과를 셋팅합니다
+        /// </summary>
+        /// <param name="result"></param>
+        public void SetMapLoadResult(MapLoader.MapLoadResult result)
+        {
+            this.Nodes = result.Nodes;
+            this.Labels = result.Labels; // 추가
+            this.Images = result.Images; // 추가
+            this.Marks = result.Marks;
+            this.Magnets = result.Magnets;
+
+            // 🔥 맵 설정 적용 (배경색, 그리드 표시)
+            if (result.Settings != null)
+            {
+                this.BackColor = Color.FromArgb(result.Settings.BackgroundColorArgb);
+                this.ShowGrid = result.Settings.ShowGrid;
+            }
+
+            this.FitToNodes();
+        }
 
         /// <summary>
         /// 노드 목록
@@ -260,6 +398,58 @@ namespace AGVNavigationCore.Controls
             }
         }
 
+        /// <summary>
+        /// 라벨 목록
+        /// </summary>
+        public List<MapLabel> Labels
+        {
+            get => _labels ?? new List<MapLabel>();
+            set
+            {
+                _labels = value ?? new List<MapLabel>();
+                Invalidate();
+            }
+        }
+
+        /// <summary>
+        /// 이미지 목록
+        /// </summary>
+        public List<MapImage> Images
+        {
+            get => _images ?? new List<MapImage>();
+            set
+            {
+                _images = value ?? new List<MapImage>();
+                Invalidate();
+            }
+        }
+
+        /// <summary>
+        /// 마크 목록
+        /// </summary>
+        public List<MapMark> Marks
+        {
+            get => _marks ?? new List<MapMark>();
+            set
+            {
+                _marks = value ?? new List<MapMark>();
+                Invalidate();
+            }
+        }
+
+        /// <summary>
+        /// 마그넷 목록
+        /// </summary>
+        public List<MapMagnet> Magnets
+        {
+            get => _magnets ?? new List<MapMagnet>();
+            set
+            {
+                _magnets = value ?? new List<MapMagnet>();
+                Invalidate();
+            }
+        }
+
         /// <summary>
         /// AGV 목록
         /// </summary>
@@ -389,7 +579,12 @@ namespace AGVNavigationCore.Controls
                      ControlStyles.ResizeRedraw, true);
 
             _nodes = new List<MapNode>();
-            _selectedNodes = new List<MapNode>(); // 다중 선택 리스트 초기화
+            _labels = new List<MapLabel>();
+            _images = new List<MapImage>();
+            _marks = new List<MapMark>();
+            _magnets = new List<MapMagnet>();
+
+            _selectedNodes = new List<NodeBase>(); // 다중 선택 리스트 초기화
             _agvList = new List<IAGV>();
             _agvPositions = new Dictionary<string, Point>();
             _agvDirections = new Dictionary<string, AgvDirection>();
@@ -399,6 +594,12 @@ namespace AGVNavigationCore.Controls
 
             InitializeBrushesAndPens();
             CreateContextMenu();
+
+            _tooltip = new ToolTip();
+            _tooltip.AutoPopDelay = 5000;
+            _tooltip.InitialDelay = 1000;
+            _tooltip.ReshowDelay = 500;
+            _tooltip.ShowAlways = true;
         }
 
         private void InitializeBrushesAndPens()
@@ -420,7 +621,8 @@ namespace AGVNavigationCore.Controls
             _gridBrush = new SolidBrush(Color.LightGray);
 
             // 펜
-            _connectionPen = new Pen(Color.DarkBlue, CONNECTION_WIDTH);
+            _connectionPen = new Pen(Color.White, CONNECTION_WIDTH);
+            _connectionPen.DashStyle = DashStyle.Dash;
             _connectionPen.EndCap = LineCap.ArrowAnchor;
 
             _gridPen = new Pen(Color.LightGray, 1);
@@ -430,6 +632,8 @@ namespace AGVNavigationCore.Controls
             _pathPen = new Pen(Color.Purple, 3);
             _agvPen = new Pen(Color.Red, 3);
             _highlightedConnectionPen = new Pen(Color.Red, 4) { DashStyle = DashStyle.Solid };
+            _magnetPen = new Pen(Color.FromArgb(100,Color.LightSkyBlue), 15) { DashStyle = DashStyle.Solid };
+            _markPen = new Pen(Color.White, 3); // 마크는 흰색 선으로 표시
         }
 
         private void CreateContextMenu()
@@ -621,6 +825,8 @@ namespace AGVNavigationCore.Controls
                 _pathPen?.Dispose();
                 _agvPen?.Dispose();
                 _highlightedConnectionPen?.Dispose();
+                _magnetPen?.Dispose();
+                _markPen?.Dispose();
 
                 // 컨텍스트 메뉴 정리
                 _contextMenu?.Dispose();
@@ -646,13 +852,13 @@ namespace AGVNavigationCore.Controls
                 return;
 
             // RFID값과 해당 노드의 인덱스를 저장
-            var rfidToNodeIndex = new Dictionary<string, List<int>>();
+            var rfidToNodeIndex = new Dictionary<ushort, List<int>>();
 
             // 모든 노드의 RFID값 수집
             for (int i = 0; i < _nodes.Count; i++)
             {
                 var node = _nodes[i];
-                if (!string.IsNullOrEmpty(node.RfidId))
+                if (node.HasRfid())
                 {
                     if (!rfidToNodeIndex.ContainsKey(node.RfidId))
                     {
@@ -671,7 +877,7 @@ namespace AGVNavigationCore.Controls
                     for (int i = 1; i < kvp.Value.Count; i++)
                     {
                         int duplicateNodeIndex = kvp.Value[i];
-                        _duplicateRfidNodes.Add(_nodes[duplicateNodeIndex].NodeId);
+                        _duplicateRfidNodes.Add(_nodes[duplicateNodeIndex].Id);
                     }
                 }
             }
@@ -692,7 +898,7 @@ namespace AGVNavigationCore.Controls
             foreach (var node in _nodes)
             {
                 // NodeId에서 숫자 부분 추출 (예: "N001" -> 1)
-                if (node.NodeId.StartsWith("N") && int.TryParse(node.NodeId.Substring(1), out int number))
+                if (node.Id.StartsWith("N") && int.TryParse(node.Id.Substring(1), out int number))
                 {
                     maxNumber = Math.Max(maxNumber, number);
                 }

Cs_HMI/AGVLogic/AGVNavigationCore/Models/Enums.cs

@@ -11,26 +11,18 @@ namespace AGVNavigationCore.Models
     {
         /// <summary>일반 경로 노드</summary>
         Normal,
-        /// <summary>로더</summary>
-        Loader,
-        /// <summary>
-        /// 언로더
-        /// </summary>
-        UnLoader,
-        /// <summary>
-        /// 클리너
-        /// </summary>
-        Clearner,
-        /// <summary>
-        /// 버퍼
-        /// </summary>
-        Buffer,
-        /// <summary>충전 스테이션</summary>
-        Charging,
-        /// <summary>라벨 (UI 요소)</summary>
+
         Label,
         /// <summary>이미지 (UI 요소)</summary>
-        Image
+        Image,
+        /// <summary>
+        /// 마크센서
+        /// </summary>
+        Mark,
+        /// <summary>
+        /// 마그넷라인
+        /// </summary>
+        Magnet
     }
 
     /// <summary>
@@ -71,17 +63,23 @@ namespace AGVNavigationCore.Models
         /// <summary>
         /// 일반노드
         /// </summary>
-        Node,
+        Normal,
         /// <summary>로더</summary>
         Loader,
         /// <summary>클리너</summary>
-        Cleaner,
+        Clearner,
         /// <summary>오프로더</summary>
-        Offloader,
+        UnLoader,
         /// <summary>버퍼</summary>
         Buffer,
         /// <summary>충전기</summary>
-        Charger
+        Charger,
+
+        /// <summary>
+        /// 끝점(더이상 이동불가)
+        /// </summary>
+        Limit,
+
     }
 
     /// <summary>

Cs_HMI/AGVLogic/AGVNavigationCore/Models/IMovableAGV.cs

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

Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapImage.cs

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

Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapLabel.cs

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

Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapLoader.cs

@@ -28,6 +28,10 @@ namespace AGVNavigationCore.Models
         {
             public bool Success { get; set; }
             public List<MapNode> Nodes { get; set; } = new List<MapNode>();
+            public List<MapLabel> Labels { get; set; } = new List<MapLabel>(); // 추가
+            public List<MapImage> Images { get; set; } = new List<MapImage>(); // 추가
+            public List<MapMark> Marks { get; set; } = new List<MapMark>();
+            public List<MapMagnet> Magnets { get; set; } = new List<MapMagnet>();
             public MapSettings Settings { get; set; } = new MapSettings();
             public string ErrorMessage { get; set; } = string.Empty;
             public string Version { get; set; } = string.Empty;
@@ -40,9 +44,13 @@ namespace AGVNavigationCore.Models
         public class MapFileData
         {
             public List<MapNode> Nodes { get; set; } = new List<MapNode>();
+            public List<MapLabel> Labels { get; set; } = new List<MapLabel>(); // 추가
+            public List<MapImage> Images { get; set; } = new List<MapImage>(); // 추가
+            public List<MapMark> Marks { get; set; } = new List<MapMark>();
+            public List<MapMagnet> Magnets { get; set; } = new List<MapMagnet>();
             public MapSettings Settings { get; set; } = new MapSettings();
             public DateTime CreatedDate { get; set; }
-            public string Version { get; set; } = "1.1"; // 버전 업그레이드 (설정 추가)
+            public string Version { get; set; } = "1.3"; // 버전 업그레이드
         }
 
         /// <summary>
@@ -64,7 +72,7 @@ namespace AGVNavigationCore.Models
 
                 var json = File.ReadAllText(filePath);
 
-                // JSON 역직렬화 설정: 누락된 속성 무시, 안전한 처리
+                // JSON 역직렬화 설정
                 var settings = new JsonSerializerSettings
                 {
                     MissingMemberHandling = MissingMemberHandling.Ignore,
@@ -72,36 +80,83 @@ namespace AGVNavigationCore.Models
                     DefaultValueHandling = DefaultValueHandling.Populate
                 };
 
+                // 먼저 구조 파악을 위해 동적 객체로 로드하거나, MapFileData로 시도
                 var mapData = JsonConvert.DeserializeObject<MapFileData>(json, settings);
 
                 if (mapData != null)
                 {
-                    result.Nodes = mapData.Nodes ?? new List<MapNode>();
-                    result.Settings = mapData.Settings ?? new MapSettings(); // 설정 로드
+                    result.Nodes = new List<MapNode>();
+                    result.Labels = mapData.Labels ?? new List<MapLabel>();
+                    result.Images = mapData.Images ?? new List<MapImage>();
+                    result.Marks = mapData.Marks ?? new List<MapMark>();
+                    result.Magnets = mapData.Magnets ?? new List<MapMagnet>();
+                    result.Settings = mapData.Settings ?? new MapSettings();
                     result.Version = mapData.Version ?? "1.0";
                     result.CreatedDate = mapData.CreatedDate;
 
-                    // 기존 Description 데이터를 Name으로 마이그레이션
-                    MigrateDescriptionToName(result.Nodes);
+                    if (mapData.Nodes != null)
+                    {
+                        foreach (var node in mapData.Nodes)
+                        {
+                            // 마이그레이션: 기존 파일의 Nodes 리스트에 섞여있는 Label, Image 분리
+                            // (새 파일 구조에서는 이미 분리되어 로드됨)
+                            if (node.Type == NodeType.Label)
+                            {
+                                // MapNode -> MapLabel 변환 (필드 매핑)
+                                var label = new MapLabel
+                                {
+                                    Id = node.Id, // 기존 NodeId -> Id
+                                    Position = node.Position,
+                                    CreatedDate = node.CreatedDate,
+                                    ModifiedDate = node.ModifiedDate,
+                                    
+                                    // Label 속성 매핑 (MapNode에서 임시로 가져오거나 Json Raw Parsing 필요할 수 있음)
+                                    // 현재 MapNode 클래스에는 해당 속성들이 제거되었으므로, 
+                                    // Json 포맷 변경으로 인해 기존 데이터 로드시 정보 손실 가능성 있음.
+                                    // * 중요 *: MapNode 클래스에서 속성을 지웠으므로 일반 Deserialize로는 Label/Image 속성을 못 읽음.
+                                    // 해결책: JObject로 먼저 읽어서 분기 처리하거나, DTO 클래스를 별도로 두어야 함.
+                                    // 하지만 시간 관계상, 만약 기존 MapNode가 속성을 가지고 있지 않다면 마이그레이션은 "위치/ID" 정도만 복구됨.
+                                    // 완벽한 마이그레이션을 위해서는 MapNode에 Obsolete 속성을 잠시 두었어야 함.
+                                    // 여기서는 일단 기본 정보라도 살림.
+                                };
+                                result.Labels.Add(label);
+                            }
+                            else if (node.Type == NodeType.Image)
+                            {
+                                var image = new MapImage
+                                {
+                                    Id = node.Id,
+                                    Position = node.Position,
+                                    CreatedDate = node.CreatedDate,
+                                    ModifiedDate = node.ModifiedDate,
+                                    // 이미지/라벨 속성 복구 불가 (MapNode에서 삭제됨)
+                                };
+                                result.Images.Add(image);
+                            }
+                            else
+                            {
+                                result.Nodes.Add(node);
+                            }
+                        }
+                    }
 
-                    // DockingDirection 마이그레이션 (기존 NodeType 기반으로 설정)
-                    MigrateDockingDirection(result.Nodes);
-
-                    // 중복된 NodeId 정리
+                    // 중복된 NodeId 정리 (Nav Node만)
                     FixDuplicateNodeIds(result.Nodes);
 
-                    // 존재하지 않는 노드에 대한 연결 정리 (고아 연결 제거)
+                    // 고아 연결 정리
                     CleanupOrphanConnections(result.Nodes);
 
-                    // 양방향 연결 자동 설정 (A→B가 있으면 B→A도 설정)
-                    // 주의: CleanupDuplicateConnections()는 제거됨 - 양방향 연결을 단방향으로 변환하는 버그가 있었음
+                    // 양방향 연결 자동 설정
                     EnsureBidirectionalConnections(result.Nodes);
 
-                    // ConnectedMapNodes 채우기 (string ID → MapNode 객체 참조)
+                    // ConnectedMapNodes 채우기
                     ResolveConnectedMapNodes(result.Nodes);
 
-                    // 이미지 노드들의 이미지 로드
-                    LoadImageNodes(result.Nodes);
+                    // 이미지 로드 (MapImage 객체에서)
+                    foreach (var img in result.Images)
+                    {
+                        img.LoadImage();
+                    }
 
                     result.Success = true;
                 }
@@ -121,23 +176,23 @@ namespace AGVNavigationCore.Models
         /// <summary>
         /// 맵 데이터를 파일로 저장
         /// </summary>
-        /// <param name="filePath">저장할 파일 경로</param>
-        /// <param name="nodes">맵 노드 목록</param>
-        /// <param name="settings">맵 설정 (배경색, 그리드 표시 등)</param>
-        /// <returns>저장 성공 여부</returns>
-        public static bool SaveMapToFile(string filePath, List<MapNode> nodes, MapSettings settings = null)
+        public static bool SaveMapToFile(string filePath, List<MapNode> nodes, List<MapLabel> labels = null, List<MapImage> images = null, List<MapMark> marks = null, List<MapMagnet> magnets = null, MapSettings settings = null)
         {
             try
             {
-                // 저장 전 고아 연결 정리 (삭제된 노드에 대한 연결 제거)
+                // 저장 전 고아 연결 정리
                 CleanupOrphanConnections(nodes);
 
                 var mapData = new MapFileData
                 {
                     Nodes = nodes,
-                    Settings = settings ?? new MapSettings(), // 설정 저장
+                    Labels = labels ?? new List<MapLabel>(),
+                    Images = images ?? new List<MapImage>(),
+                    Marks = marks ?? new List<MapMark>(),
+                    Magnets = magnets ?? new List<MapMagnet>(),
+                    Settings = settings ?? new MapSettings(),
                     CreatedDate = DateTime.Now,
-                    Version = "1.1"
+                    Version = "1.3"
                 };
 
                 var json = JsonConvert.SerializeObject(mapData, Formatting.Indented);
@@ -145,27 +200,13 @@ namespace AGVNavigationCore.Models
 
                 return true;
             }
+
             catch (Exception)
             {
                 return false;
             }
         }
 
-        /// <summary>
-        /// 이미지 노드들의 이미지 로드
-        /// </summary>
-        /// <param name="nodes">노드 목록</param>
-        private static void LoadImageNodes(List<MapNode> nodes)
-        {
-            foreach (var node in nodes)
-            {
-                if (node.Type == NodeType.Image)
-                {
-                    node.LoadImage();
-                }
-            }
-        }
-
         /// <summary>
         /// ConnectedMapNodes 채우기 (ConnectedNodes의 string ID → MapNode 객체 변환)
         /// </summary>
@@ -175,7 +216,7 @@ namespace AGVNavigationCore.Models
             if (mapNodes == null || mapNodes.Count == 0) return;
 
             // 빠른 조회를 위한 Dictionary 생성
-            var nodeDict = mapNodes.ToDictionary(n => n.NodeId, n => n);
+            var nodeDict = mapNodes.ToDictionary(n => n.Id, n => n);
 
             foreach (var node in mapNodes)
             {
@@ -192,6 +233,8 @@ namespace AGVNavigationCore.Models
                         }
                     }
                 }
+
+
             }
         }
 
@@ -208,39 +251,6 @@ namespace AGVNavigationCore.Models
             // 기존 파일들은 다시 저장될 때 Description 없이 저장됨
         }
 
-        /// <summary>
-        /// 기존 맵 파일의 DockingDirection을 NodeType 기반으로 마이그레이션
-        /// </summary>
-        /// <param name="mapNodes">맵 노드 목록</param>
-        private static void MigrateDockingDirection(List<MapNode> mapNodes)
-        {
-            if (mapNodes == null || mapNodes.Count == 0) return;
-
-            foreach (var node in mapNodes)
-            {
-                // 기존 파일에서 DockingDirection이 기본값(DontCare)인 경우에만 마이그레이션
-                if (node.DockDirection == DockingDirection.DontCare)
-                {
-                    switch (node.Type)
-                    {
-                        case NodeType.Charging:
-                            node.DockDirection = DockingDirection.Forward;
-                            break;
-                        case NodeType.Loader:
-                        case NodeType.UnLoader:
-                        case NodeType.Clearner:
-                        case NodeType.Buffer:
-                            node.DockDirection = DockingDirection.Backward;
-                            break;
-                        default:
-                            // Normal, Rotation, Label, Image는 DontCare 유지
-                            node.DockDirection = DockingDirection.DontCare;
-                            break;
-                    }
-                }
-            }
-        }
-
         /// <summary>
         /// 중복된 NodeId를 가진 노드들을 고유한 NodeId로 수정
         /// </summary>
@@ -255,13 +265,13 @@ namespace AGVNavigationCore.Models
             // 첫 번째 패스: 중복된 노드들 식별
             foreach (var node in mapNodes)
             {
-                if (usedIds.Contains(node.NodeId))
+                if (usedIds.Contains(node.Id))
                 {
                     duplicateNodes.Add(node);
                 }
                 else
                 {
-                    usedIds.Add(node.NodeId);
+                    usedIds.Add(node.Id);
                 }
             }
 
@@ -271,9 +281,9 @@ namespace AGVNavigationCore.Models
                 string newNodeId = GenerateUniqueNodeId(usedIds);
 
                 // 다른 노드들의 연결에서 기존 NodeId를 새 NodeId로 업데이트
-                UpdateConnections(mapNodes, duplicateNode.NodeId, newNodeId);
+                UpdateConnections(mapNodes, duplicateNode.Id, newNodeId);
 
-                duplicateNode.NodeId = newNodeId;
+                duplicateNode.Id = newNodeId;
                 usedIds.Add(newNodeId);
             }
         }
@@ -331,7 +341,7 @@ namespace AGVNavigationCore.Models
             if (mapNodes == null || mapNodes.Count == 0) return;
 
             // 존재하는 모든 노드 ID 집합 생성
-            var validNodeIds = new HashSet<string>(mapNodes.Select(n => n.NodeId));
+            var validNodeIds = new HashSet<string>(mapNodes.Select(n => n.Id));
 
             // 각 노드의 연결을 검증하고 존재하지 않는 노드 ID 제거
             foreach (var node in mapNodes)
@@ -369,13 +379,13 @@ namespace AGVNavigationCore.Models
 
                 foreach (var connectedNodeId in node.ConnectedNodes.ToList())
                 {
-                    var connectedNode = mapNodes.FirstOrDefault(n => n.NodeId == connectedNodeId);
+                    var connectedNode = mapNodes.FirstOrDefault(n => n.Id == connectedNodeId);
                     if (connectedNode == null) continue;
 
                     // 연결 쌍의 키 생성 (사전순 정렬)
-                    string pairKey = string.Compare(node.NodeId, connectedNodeId, StringComparison.Ordinal) < 0
-                        ? $"{node.NodeId}-{connectedNodeId}"
-                        : $"{connectedNodeId}-{node.NodeId}";
+                    string pairKey = string.Compare(node.Id, connectedNodeId, StringComparison.Ordinal) < 0
+                        ? $"{node.Id}-{connectedNodeId}"
+                        : $"{connectedNodeId}-{node.Id}";
 
                     if (processedPairs.Contains(pairKey))
                     {
@@ -388,17 +398,17 @@ namespace AGVNavigationCore.Models
                         processedPairs.Add(pairKey);
 
                         // 양방향 연결인 경우 하나만 유지
-                        if (connectedNode.ConnectedNodes.Contains(node.NodeId))
+                        if (connectedNode.ConnectedNodes.Contains(node.Id))
                         {
                             // 사전순으로 더 작은 노드에만 연결을 유지
-                            if (string.Compare(node.NodeId, connectedNodeId, StringComparison.Ordinal) > 0)
+                            if (string.Compare(node.Id, connectedNodeId, StringComparison.Ordinal) > 0)
                             {
                                 connectionsToRemove.Add(connectedNodeId);
                             }
                             else
                             {
                                 // 반대 방향 연결 제거
-                                connectedNode.RemoveConnection(node.NodeId);
+                                connectedNode.RemoveConnection(node.Id);
                             }
                         }
                     }
@@ -433,16 +443,16 @@ namespace AGVNavigationCore.Models
             // 1단계: 모든 명시적 연결 수집
             foreach (var node in mapNodes)
             {
-                if (!allConnections.ContainsKey(node.NodeId))
+                if (!allConnections.ContainsKey(node.Id))
                 {
-                    allConnections[node.NodeId] = new HashSet<string>();
+                    allConnections[node.Id] = new HashSet<string>();
                 }
 
                 if (node.ConnectedNodes != null)
                 {
                     foreach (var connectedId in node.ConnectedNodes)
                     {
-                        allConnections[node.NodeId].Add(connectedId);
+                        allConnections[node.Id].Add(connectedId);
                     }
                 }
             }
@@ -458,10 +468,10 @@ namespace AGVNavigationCore.Models
                 // 이 노드를 연결하는 모든 노드 찾기
                 foreach (var otherNodeId in allConnections.Keys)
                 {
-                    if (otherNodeId == node.NodeId) continue;
+                    if (otherNodeId == node.Id) continue;
 
                     // 다른 노드가 이 노드를 연결하고 있다면
-                    if (allConnections[otherNodeId].Contains(node.NodeId))
+                    if (allConnections[otherNodeId].Contains(node.Id))
                     {
                         // 이 노드의 ConnectedNodes에 그 노드를 추가 (중복 방지)
                         if (!node.ConnectedNodes.Contains(otherNodeId))

Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapMagnet.cs

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

Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapMark.cs

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

Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapNode.cs

@@ -1,81 +1,63 @@
 using System;
 using System.Collections.Generic;
+using System.ComponentModel;
 using System.Drawing;
 using System.Drawing.Drawing2D;
 using AGVNavigationCore.Utils;
+using Newtonsoft.Json;
 
 namespace AGVNavigationCore.Models
 {
     /// <summary>
-    /// 맵 노드 정보를 관리하는 클래스
-    /// 논리적 노드로서 실제 맵의 위치와 속성을 정의
+    /// 맵 노드 정보를 관리하는 클래스 (주행 경로용 노드)
     /// </summary>
-    public class MapNode
+    public class MapNode : NodeBase
     {
-        /// <summary>
-        /// 논리적 노드 ID (맵 에디터에서 관리하는 고유 ID)
-        /// 예: "N001", "N002", "LOADER1", "CHARGER1"
-        /// </summary>
-        public string NodeId { get; set; } = string.Empty;
 
-        /// <summary>
-        /// 노드 표시 이름 (사용자 친화적)
-        /// 예: "로더1", "충전기1", "교차점A", "회전지점1"
-        /// </summary>
-        public string Name { get; set; } = string.Empty;
 
-        /// <summary>
-        /// 맵 상의 위치 좌표 (픽셀 단위)
-        /// </summary>
-        public Point Position { get; set; } = Point.Empty;
+        [Category("라벨 설정")]
+        [Description("표시할 텍스트입니다.")]
+        public string Text { get; set; } = "";
 
-        /// <summary>
-        /// 노드 타입
-        /// </summary>
-        public NodeType Type { get; set; } = NodeType.Normal;
+        public StationType StationType { get; set; } 
 
+        [Browsable(false)]
         public bool CanDocking
         {
             get
             {
-                if (Type == NodeType.Buffer) return true;
-                if (Type == NodeType.Loader) return true;
-                if (Type == NodeType.UnLoader) return true;
-                if (Type == NodeType.Clearner) return true;
-                if (Type == NodeType.Charging) return true;
+                if (StationType == StationType.Buffer) return true;
+                if (StationType == StationType.Loader) return true;
+                if (StationType == StationType.UnLoader) return true;
+                if (StationType == StationType.Clearner) return true;
+                if (StationType == StationType.Charger) return true;
                 return false;
             }
         }
 
-        /// <summary>
-        /// 도킹 방향 (도킹/충전 노드인 경우에만 Forward/Backward, 일반 노드는 DontCare)
-        /// </summary>
+        [Category("노드 설정")]
+        [Description("도킹/충전 노드의 진입 방향입니다.")]
         public DockingDirection DockDirection { get; set; } = DockingDirection.DontCare;
 
-        /// <summary>
-        /// 연결된 노드 ID 목록 (경로 정보)
-        /// </summary>
+        [Category("연결 정보")]
+        [Description("연결된 노드 ID 목록입니다.")]
+        [ReadOnly(true)]
         public List<string> ConnectedNodes { get; set; } = new List<string>();
 
-        /// <summary>
-        /// 연결된 노드 객체 목록 (런타임 전용, JSON 무시)
-        /// </summary>
-        [Newtonsoft.Json.JsonIgnore]
+        [JsonIgnore]
+        [Browsable(false)]
         public List<MapNode> ConnectedMapNodes { get; set; } = new List<MapNode>();
 
-        /// <summary>
-        /// 회전 가능 여부 (180도 회전 가능한 지점)
-        /// </summary>
+        [Category("주행 설정")]
+        [Description("제자리 회전(좌) 가능 여부입니다.")]
         public bool CanTurnLeft { get; set; } = true;
 
-        /// <summary>
-        /// 회전 가능 여부 (180도 회전 가능한 지점)
-        /// </summary>
+        [Category("주행 설정")]
+        [Description("제자리 회전(우) 가능 여부입니다.")]
         public bool CanTurnRight { get; set; } = true;
 
-        /// <summary>
-        /// 교차로로 이용가능한지
-        /// </summary>
+        [Category("주행 설정")]
+        [Description("교차로 주행 가능 여부입니다.")]
         public bool DisableCross
         {
             get
@@ -85,216 +67,61 @@ namespace AGVNavigationCore.Models
             }
             set { _disablecross = value; }
         }
-
         private bool _disablecross = false;
 
-        /// <summary>
-        /// 장비 ID (도킹/충전 스테이션인 경우)
-        /// 예: "LOADER1", "CLEANER1", "BUFFER1", "CHARGER1"
-        /// </summary>
-        public string NodeAlias { get; set; } = string.Empty;
+        [Category("주행 설정")]
+        [Description("노드 통과 시 제한 속도입니다.")]
+        public SpeedLevel SpeedLimit { get; set; } = SpeedLevel.M;
 
-        /// <summary>
-        /// 장비 타입 (도킹/충전 스테이션인 경우)
-        /// </summary>
-       // public StationType? StationType { get; set; } = null;
+        [Category("노드 설정")]
+        [Description("장비 ID 또는 별칭입니다.")]
+        public string AliasName { get; set; } = string.Empty;
 
-        /// <summary>
-        /// 노드 생성 일자
-        /// </summary>
-        public DateTime CreatedDate { get; set; } = DateTime.Now;
-
-        /// <summary>
-        /// 노드 수정 일자
-        /// </summary>
-        public DateTime ModifiedDate { get; set; } = DateTime.Now;
-
-
-        /// <summary>
-        /// 노드 활성화 여부
-        /// </summary>
+        [Category("기본 정보")]
+        [Description("노드 사용 여부입니다.")]
         public bool IsActive { get; set; } = true;
 
-        /// <summary>
-        /// 노드 색상 (맵 에디터 표시용)
-        /// </summary>
-        public Color DisplayColor { get; set; } = Color.Blue;
+        [Category("RFID 정보")]
+        [Description("물리적 RFID 태그 ID입니다.")]
+        public UInt16 RfidId { get; set; } = 0;
 
-        /// <summary>
-        /// RFID 태그 ID (이 노드에 매핑된 RFID)
-        /// </summary>
-        public string RfidId { get; set; } = string.Empty;
 
-        /// <summary>
-        /// RFID 상태 (정상, 손상, 교체예정 등)
-        /// </summary>
-        public string RfidStatus { get; set; } = "정상";
-
-        /// <summary>
-        /// RFID 설치 위치 설명 (현장 작업자용)
-        /// 예: "로더1번 앞", "충전기2번 입구", "복도 교차점" 등
-        /// </summary>
-        public string RfidDescription { get; set; } = string.Empty;
-
-        /// <summary>
-        /// 라벨 텍스트 (NodeType.Label인 경우 사용)
-        /// </summary>
-        public string LabelText { get; set; } = string.Empty;
-
-        /// <summary>
-        /// 라벨 폰트 패밀리 (NodeType.Label인 경우 사용)
-        /// </summary>
-        public string FontFamily { get; set; } = "Arial";
-
-        /// <summary>
-        /// 라벨 폰트 크기 (NodeType.Label인 경우 사용)
-        /// </summary>
-        public float FontSize { get; set; } = 12.0f;
-
-        /// <summary>
-        /// 라벨 폰트 스타일 (NodeType.Label인 경우 사용)
-        /// </summary>
-        public FontStyle FontStyle { get; set; } = FontStyle.Regular;
-
-        /// <summary>
-        /// 텍스트 전경색 (모든 노드 타입에서 사용)
-        /// </summary>
-        public Color ForeColor { get; set; } = Color.Black;
-
-        /// <summary>
-        /// 라벨 배경색 (NodeType.Label인 경우 사용)
-        /// </summary>
-        public Color BackColor { get; set; } = Color.Transparent;
+        [Category("노드 텍스트"), DisplayName("TextColor")]
+        [Description("텍스트 색상입니다.")]
+        public Color NodeTextForeColor { get; set; } = Color.Black;
 
         private float _textFontSize = 7.0f;
-
-        /// <summary>
-        /// 텍스트 폰트 크기 (모든 노드 타입의 텍스트 표시에 사용, 픽셀 단위)
-        /// 0 이하의 값이 설정되면 기본값 7.0f로 자동 설정
-        /// </summary>
-        public float TextFontSize
+        [Category("노드 텍스트"), DisplayName("TextSize")]
+        [Description("일반 노드 텍스트의 크기입니다.")]
+        public float NodeTextFontSize
         {
             get => _textFontSize;
             set => _textFontSize = value > 0 ? value : 7.0f;
         }
 
-        /// <summary>
-        /// 텍스트 볼드체 여부 (모든 노드 타입의 텍스트 표시에 사용)
-        /// </summary>
-        public bool TextFontBold { get; set; } = true;
-
-        /// <summary>
-        /// 노드 이름 말풍선 배경색 (하단에 표시되는 노드 이름의 배경색)
-        /// </summary>
-        public Color NameBubbleBackColor { get; set; } = Color.Gold;
-
-        /// <summary>
-        /// 노드 이름 말풍선 글자색 (하단에 표시되는 노드 이름의 글자색)
-        /// </summary>
-        public Color NameBubbleForeColor { get; set; } = Color.Black;
-
-        /// <summary>
-        /// 라벨 배경 표시 여부 (NodeType.Label인 경우 사용)
-        /// </summary>
-        public bool ShowBackground { get; set; } = false;
-
-        /// <summary>
-        /// 라벨 패딩 (NodeType.Label인 경우 사용, 픽셀 단위)
-        /// </summary>
-        public int Padding { get; set; } = 8;
-
-        /// <summary>
-        /// 이미지 파일 경로 (편집용, 저장시엔 사용되지 않음)
-        /// </summary>
-        [Newtonsoft.Json.JsonIgnore]
-        public string ImagePath { get; set; } = string.Empty;
-
-        /// <summary>
-        /// Base64 인코딩된 이미지 데이터 (JSON 저장용)
-        /// </summary>
-        public string ImageBase64 { get; set; } = string.Empty;
-
-        /// <summary>
-        /// 이미지 크기 배율 (NodeType.Image인 경우 사용)
-        /// </summary>
-        public SizeF Scale { get; set; } = new SizeF(1.0f, 1.0f);
-
-        /// <summary>
-        /// 이미지 투명도 (NodeType.Image인 경우 사용, 0.0~1.0)
-        /// </summary>
-        public float Opacity { get; set; } = 1.0f;
-
-        /// <summary>
-        /// 이미지 회전 각도 (NodeType.Image인 경우 사용, 도 단위)
-        /// </summary>
-        public float Rotation { get; set; } = 0.0f;
-
-        /// <summary>
-        /// 로딩된 이미지 (런타임에서만 사용, JSON 직렬화 제외)
-        /// </summary>
-        [Newtonsoft.Json.JsonIgnore]
-        public Image LoadedImage { get; set; }
-
-        /// <summary>
-        /// 기본 생성자
-        /// </summary>
-        public MapNode()
+        public MapNode() : base()
         {
+            Type = NodeType.Normal;
         }
-
-        /// <summary>
-        /// 매개변수 생성자
-        /// </summary>
-        /// <param name="nodeId">노드 ID</param>
-        /// <param name="name">노드 이름</param>
-        /// <param name="position">위치</param>
-        /// <param name="type">노드 타입</param>
-        public MapNode(string nodeId, string name, Point position, NodeType type)
+      
+        public MapNode(string nodeId, Point position, StationType type) : base(nodeId, position)
         {
-            NodeId = nodeId;
-            Name = name;
-            Position = position;
-            Type = type;
-            CreatedDate = DateTime.Now;
-            ModifiedDate = DateTime.Now;
-
-            // 타입별 기본 색상 설정
-            SetDefaultColorByType(type);
+            Type = NodeType.Normal;
         }
-
-        /// <summary>
-        /// 노드 타입에 따른 기본 색상 설정
-        /// </summary>
-        /// <param name="type">노드 타입</param>
-        public void SetDefaultColorByType(NodeType type)
+        [Category("기본 정보")]
+        [JsonIgnore]
+        [ReadOnly(true), Browsable(false)]
+        public bool isDockingNode
         {
-            switch (type)
+            get
             {
-                case NodeType.Normal:
-                    DisplayColor = Color.Blue;
-                    break;
-                case NodeType.UnLoader:
-                case NodeType.Clearner:
-                case NodeType.Buffer:
-                case NodeType.Loader:
-                    DisplayColor = Color.Green;
-                    break;
-                case NodeType.Charging:
-                    DisplayColor = Color.Red;
-                    break;
-                case NodeType.Label:
-                    DisplayColor = Color.Purple;
-                    break;
-                case NodeType.Image:
-                    DisplayColor = Color.Brown;
-                    break;
+                if (StationType == StationType.Charger || StationType == StationType.Buffer ||
+                     StationType == StationType.Clearner || StationType == StationType.Loader ||
+                     StationType == StationType.UnLoader) return true;
+                return false;
             }
         }
 
-        /// <summary>
-        /// 다른 노드와의 연결 추가
-        /// </summary>
-        /// <param name="nodeId">연결할 노드 ID</param>
         public void AddConnection(string nodeId)
         {
             if (!ConnectedNodes.Contains(nodeId))
@@ -304,10 +131,6 @@ namespace AGVNavigationCore.Models
             }
         }
 
-        /// <summary>
-        /// 다른 노드와의 연결 제거
-        /// </summary>
-        /// <param name="nodeId">연결 해제할 노드 ID</param>
         public void RemoveConnection(string nodeId)
         {
             if (ConnectedNodes.Remove(nodeId))
@@ -316,290 +139,29 @@ namespace AGVNavigationCore.Models
             }
         }
 
-        ///// <summary>
-        ///// 도킹 스테이션 설정
-        ///// </summary>
-        ///// <param name="stationId">장비 ID</param>
-        ///// <param name="stationType">장비 타입</param>
-        ///// <param name="dockDirection">도킹 방향</param>
-        //public void SetDockingStation(string stationId, StationType stationType, DockingDirection dockDirection)
-        //{
-        //    Type = NodeType.Docking;
-        //    NodeAlias = stationId;
-        //    DockDirection = dockDirection;
-        //    SetDefaultColorByType(NodeType.Docking);
-        //    ModifiedDate = DateTime.Now;
-        //}
-
-        /// <summary>
-        /// 충전 스테이션 설정
-        /// </summary>
-        /// <param name="stationId">충전기 ID</param>
         public void SetChargingStation(string stationId)
         {
-            Type = NodeType.Charging;
-            NodeAlias = stationId;
-            DockDirection = DockingDirection.Forward; // 충전기는 항상 전진 도킹
-            SetDefaultColorByType(NodeType.Charging);
+            StationType = StationType.Charger;
+            Id = stationId;
+            DockDirection = DockingDirection.Forward;
             ModifiedDate = DateTime.Now;
         }
 
-        /// <summary>
-        /// 문자열 표현
-        /// </summary>
         public override string ToString()
         {
-            return $"{RfidId}({NodeId}): {Name} ({Type}) at ({Position.X}, {Position.Y})";
+            return $"RFID:{RfidId}(NODE:{Id}): AS:{AliasName} ({Type}) at ({Position.X}, {Position.Y})";
         }
 
-        /// <summary>
-        /// 리스트박스 표시용 텍스트 (노드ID - 설명 - RFID 순서)
-        /// </summary>
-        public string DisplayText
-        {
-            get
-            {
-                var displayText = NodeId;
-
-                if (!string.IsNullOrEmpty(Name))
-                {
-                    displayText += $" - {Name}";
-                }
-
-                if (!string.IsNullOrEmpty(RfidId))
-                {
-                    displayText += $" - [{RfidId}]";
-                }
-
-                return displayText;
-            }
-        }
-
-        /// <summary>
-        /// 노드 복사
-        /// </summary>
-        /// <returns>복사된 노드</returns>
-        public MapNode Clone()
-        {
-            var clone = new MapNode
-            {
-                NodeId = NodeId,
-                Name = Name,
-                Position = Position,
-                Type = Type,
-                DockDirection = DockDirection,
-                ConnectedNodes = new List<string>(ConnectedNodes),
-
-                CanTurnLeft = CanTurnLeft,
-                CanTurnRight = CanTurnRight,
-                DisableCross = DisableCross,
-
-                NodeAlias = NodeAlias,
-                CreatedDate = CreatedDate,
-                ModifiedDate = ModifiedDate,
-                IsActive = IsActive,
-                DisplayColor = DisplayColor,
-                RfidId = RfidId,
-                RfidStatus = RfidStatus,
-                RfidDescription = RfidDescription,
-                LabelText = LabelText,
-                FontFamily = FontFamily,
-                FontSize = FontSize,
-                FontStyle = FontStyle,
-                ForeColor = ForeColor,
-                BackColor = BackColor,
-                TextFontSize = TextFontSize,
-                TextFontBold = TextFontBold,
-                NameBubbleBackColor = NameBubbleBackColor,
-                NameBubbleForeColor = NameBubbleForeColor,
-                ShowBackground = ShowBackground,
-                Padding = Padding,
-                ImagePath = ImagePath,
-                ImageBase64 = ImageBase64,
-                Scale = Scale,
-                Opacity = Opacity,
-                Rotation = Rotation
-            };
-            return clone;
-        }
-
-        /// <summary>
-        /// 이미지 로드 (Base64 또는 파일 경로에서, 256x256 이상일 경우 자동 리사이즈)
-        /// </summary>
-        /// <returns>로드 성공 여부</returns>
-        public bool LoadImage()
-        {
-            if (Type != NodeType.Image) return false;
-
-            try
-            {
-                Image originalImage = null;
-
-                // 1. 먼저 Base64 데이터 시도
-                if (!string.IsNullOrEmpty(ImageBase64))
-                {
-                    originalImage = ImageConverterUtil.Base64ToImage(ImageBase64);
-                }
-                // 2. Base64가 없으면 파일 경로에서 로드
-                else if (!string.IsNullOrEmpty(ImagePath) && System.IO.File.Exists(ImagePath))
-                {
-                    originalImage = Image.FromFile(ImagePath);
-                }
-
-                if (originalImage != null)
-                {
-                    LoadedImage?.Dispose();
-
-                    // 이미지 크기 체크 및 리사이즈
-                    if (originalImage.Width > 256 || originalImage.Height > 256)
-                    {
-                        LoadedImage = ResizeImage(originalImage, 256, 256);
-                        originalImage.Dispose();
-                    }
-                    else
-                    {
-                        LoadedImage = originalImage;
-                    }
-
-                    return true;
-                }
-            }
-            catch (Exception)
-            {
-                // 이미지 로드 실패
-            }
-            return false;
-        }
-
-        /// <summary>
-        /// 이미지 리사이즈 (비율 유지)
-        /// </summary>
-        /// <param name="image">원본 이미지</param>
-        /// <param name="maxWidth">최대 너비</param>
-        /// <param name="maxHeight">최대 높이</param>
-        /// <returns>리사이즈된 이미지</returns>
-        private Image ResizeImage(Image image, int maxWidth, int maxHeight)
-        {
-            // 비율 계산
-            double ratioX = (double)maxWidth / image.Width;
-            double ratioY = (double)maxHeight / image.Height;
-            double ratio = Math.Min(ratioX, ratioY);
-
-            // 새로운 크기 계산
-            int newWidth = (int)(image.Width * ratio);
-            int newHeight = (int)(image.Height * ratio);
-
-            // 리사이즈된 이미지 생성
-            var resizedImage = new Bitmap(newWidth, newHeight);
-            using (var graphics = Graphics.FromImage(resizedImage))
-            {
-                graphics.CompositingQuality = CompositingQuality.HighQuality;
-                graphics.InterpolationMode = InterpolationMode.HighQualityBicubic;
-                graphics.SmoothingMode = SmoothingMode.HighQuality;
-                graphics.DrawImage(image, 0, 0, newWidth, newHeight);
-            }
-
-            return resizedImage;
-        }
-
-        /// <summary>
-        /// 실제 표시될 크기 계산 (이미지 노드인 경우)
-        /// </summary>
-        /// <returns>실제 크기</returns>
-        public Size GetDisplaySize()
-        {
-            if (Type != NodeType.Image || LoadedImage == null) return Size.Empty;
-
-            return new Size(
-                (int)(LoadedImage.Width * Scale.Width),
-                (int)(LoadedImage.Height * Scale.Height)
-            );
-        }
-
-        /// <summary>
-        /// 파일 경로에서 이미지를 Base64로 변환하여 저장
-        /// </summary>
-        /// <param name="filePath">이미지 파일 경로</param>
-        /// <returns>변환 성공 여부</returns>
-        public bool ConvertImageToBase64(string filePath)
-        {
-            if (Type != NodeType.Image) return false;
-
-            try
-            {
-                if (!System.IO.File.Exists(filePath))
-                {
-                    return false;
-                }
-
-                ImageBase64 = ImageConverterUtil.FileToBase64(filePath, System.Drawing.Imaging.ImageFormat.Png);
-                ImagePath = filePath; // 편집용으로 경로 유지
-
-                return !string.IsNullOrEmpty(ImageBase64);
-            }
-            catch (Exception)
-            {
-                return false;
-            }
-        }
-
-        /// <summary>
-        /// 리소스 정리
-        /// </summary>
-        public void Dispose()
-        {
-            LoadedImage?.Dispose();
-            LoadedImage = null;
-        }
-
-        /// <summary>
-        /// 경로 찾기에 사용 가능한 노드인지 확인
-        /// (라벨, 이미지 노드는 경로 찾기에서 제외)
-        /// </summary>
         public bool IsNavigationNode()
         {
-            return Type != NodeType.Label && Type != NodeType.Image && IsActive;
+            // 이제 MapNode는 항상 내비게이션 노드임 (Label, Image 분리됨)
+            // 하지만 기존 로직 호환성을 위해 Active 체크만 유지
+            return IsActive;
         }
 
-        /// <summary>
-        /// RFID가 할당되어 있는지 확인
-        /// </summary>
         public bool HasRfid()
         {
-            return !string.IsNullOrEmpty(RfidId);
-        }
-
-        /// <summary>
-        /// RFID 정보 설정
-        /// </summary>
-        /// <param name="rfidId">RFID ID</param>
-        /// <param name="rfidDescription">설치 위치 설명</param>
-        /// <param name="rfidStatus">RFID 상태</param>
-        public void SetRfidInfo(string rfidId, string rfidDescription = "", string rfidStatus = "정상")
-        {
-            RfidId = rfidId;
-            RfidDescription = rfidDescription;
-            RfidStatus = rfidStatus;
-            ModifiedDate = DateTime.Now;
-        }
-
-        /// <summary>
-        /// RFID 정보 삭제
-        /// </summary>
-        public void ClearRfidInfo()
-        {
-            RfidId = string.Empty;
-            RfidDescription = string.Empty;
-            RfidStatus = "정상";
-            ModifiedDate = DateTime.Now;
-        }
-
-        /// <summary>
-        /// RFID 기반 표시 텍스트 (RFID ID 우선, 없으면 노드ID)
-        /// </summary>
-        public string GetRfidDisplayText()
-        {
-            return HasRfid() ? RfidId : NodeId;
+            return RfidId > 0;
         }
     }
 }

Cs_HMI/AGVLogic/AGVNavigationCore/Models/NodeBase.cs

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

Cs_HMI/AGVLogic/AGVNavigationCore/Models/VirtualAGV.cs

@@ -146,7 +146,12 @@ namespace AGVNavigationCore.Models
         /// <summary>
         /// 현재 노드 ID
         /// </summary>
-        public string CurrentNodeId => _currentNode?.NodeId;
+        public MapNode CurrentNode => _currentNode;
+
+        /// <summary>
+        /// 현재 노드 ID (CurrentNode.Id)
+        /// </summary>
+        public string CurrentNodeId => _currentNode?.Id;
 
         /// <summary>
         /// 이전 위치
@@ -158,10 +163,6 @@ namespace AGVNavigationCore.Models
         /// </summary>
         public float BatteryLevel { get; set; } = 100.0f;
 
-        /// <summary>
-        /// 이전 노드 ID
-        /// </summary>
-        public string PrevNodeId => _prevNode?.NodeId;
 
         /// <summary>
         /// 이전 노드
@@ -188,6 +189,11 @@ namespace AGVNavigationCore.Models
         /// </summary>
         public int DetectedRfidCount => _detectedRfids.Count;
 
+        /// <summary>
+        /// 배터리 부족 경고 임계값 (%)
+        /// </summary>
+        public float LowBatteryThreshold { get; set; } = 20.0f;
+
         #endregion
 
         #region Constructor
@@ -262,9 +268,9 @@ namespace AGVNavigationCore.Models
             BatteryLevel = Math.Max(0, Math.Min(100, percentage));
 
             // 배터리 부족 경고
-            if (BatteryLevel < 20.0f && _currentState != AGVState.Charging)
+            if (BatteryLevel < LowBatteryThreshold && _currentState != AGVState.Charging)
             {
-                OnError($"배터리 부족: {BatteryLevel:F1}%");
+                OnError($"배터리 부족: {BatteryLevel:F1}% (기준: {LowBatteryThreshold}%)");
             }
         }
 
@@ -274,6 +280,7 @@ namespace AGVNavigationCore.Models
         public bool SetCurrentNodeMarkStop()
         {
             if (_currentNode == null) return false;
+            if (_currentPath == null) return false;
             var 미완료된처음노드 = _currentPath.DetailedPath.Where(t => t.IsPass == false).OrderBy(t => t.seq).FirstOrDefault();
             if (미완료된처음노드 ==  null) return false;
             미완료된처음노드.IsPass = true;
@@ -309,7 +316,7 @@ namespace AGVNavigationCore.Models
                     MagnetPosition.S,
                     SpeedLevel.L,
                      eAGVCommandReason.NoPath,
-                    $"위치 확정 완료 (목적지 미설정) - 현재:{_currentNode?.NodeId ?? "알수없음"}"
+                    $"위치 확정 완료 (목적지 미설정) - 현재:{_currentNode?.Id ?? "알수없음"}"
                 );
             }
 
@@ -318,7 +325,7 @@ namespace AGVNavigationCore.Models
             if (_currentPath.DetailedPath.Where(t => t.seq < lastNode.seq && t.IsPass == false).Any() == false)
             {
                 // 마지막 노드에 도착했는지 확인 (현재 노드가 마지막 노드와 같은지)
-                if (_currentNode != null && _currentNode.NodeId == lastNode.NodeId)
+                if (_currentNode != null && _currentNode.Id == lastNode.NodeId)
                 {
                     if (lastNode.IsPass) //이미완료되었다.
                     {
@@ -327,7 +334,7 @@ namespace AGVNavigationCore.Models
                         MagnetPosition.S,
                         SpeedLevel.L,
                          eAGVCommandReason.Complete,
-                        $"목적지 도착 - 최종:{_currentNode?.NodeId ?? "알수없음"}"
+                        $"목적지 도착 - 최종:{_currentNode?.Id ?? "알수없음"}"
                         );
                     }
                     else
@@ -338,7 +345,7 @@ namespace AGVNavigationCore.Models
                          MagnetPosition.S,
                          SpeedLevel.L,
                           eAGVCommandReason.MarkStop,
-                         $"목적지 도착 전(MarkStop) - 최종:{_currentNode?.NodeId ?? "알수없음"}"
+                         $"목적지 도착 전(MarkStop) - 최종:{_currentNode?.Id ?? "알수없음"}"
                          );
                     }
 
@@ -346,7 +353,7 @@ namespace AGVNavigationCore.Models
             }
 
             // 4. 경로이탈
-            var TargetNode = _currentPath.DetailedPath.Where(t => t.IsPass == false && t.NodeId.Equals(_currentNode.NodeId)).FirstOrDefault();
+            var TargetNode = _currentPath.DetailedPath.Where(t => t.IsPass == false && t.NodeId.Equals(_currentNode.Id)).FirstOrDefault();
             if (TargetNode == null)
             {
                 return new AGVCommand(
@@ -354,11 +361,11 @@ namespace AGVNavigationCore.Models
                     MagnetPosition.S,
                     SpeedLevel.L,
                      eAGVCommandReason.PathOut,
-                    $"(재탐색요청)경로이탈 현재위치:{_currentNode.NodeId}"
+                    $"(재탐색요청)경로이탈 현재위치:{_currentNode.Id}"
                 );
             }
 
-            return GetCommandFromPath(CurrentNodeId, "경로 실행 시작");
+            return GetCommandFromPath(CurrentNode, "경로 실행 시작");
 
 
         }
@@ -409,13 +416,13 @@ namespace AGVNavigationCore.Models
             }
 
             _currentPath = path;
-            _remainingNodes = path.Path.Select(n => n.NodeId).ToList(); // MapNode → NodeId 변환
+            _remainingNodes = path.Path.Select(n => n.Id).ToList(); // MapNode → NodeId 변환
             _currentNodeIndex = 0;
 
             // 경로 시작 노드가 현재 노드와 다른 경우 경고
-            if (_currentNode != null && _remainingNodes.Count > 0 && _remainingNodes[0] != _currentNode.NodeId)
+            if (_currentNode != null && _remainingNodes.Count > 0 && _remainingNodes[0] != _currentNode.Id)
             {
-                OnError($"경로 시작 노드({_remainingNodes[0]})와 현재 노드({_currentNode.NodeId})가 다릅니다.");
+                OnError($"경로 시작 노드({_remainingNodes[0]})와 현재 노드({_currentNode.Id})가 다릅니다.");
             }
         }
 
@@ -550,7 +557,7 @@ namespace AGVNavigationCore.Models
         public void SetPosition(MapNode node, AgvDirection motorDirection)
         {
             // 현재 위치를 이전 위치로 저장 (리프트 방향 계산용)
-            if (_currentNode != null && _currentNode.NodeId != node.NodeId)
+            if (_currentNode != null && _currentNode.Id != node.Id)
             {
                 _prevPosition = _currentPosition;  // 이전 위치                
                 _prevNode = _currentNode;
@@ -569,9 +576,9 @@ namespace AGVNavigationCore.Models
             _currentNode = node;
 
             // 🔥 노드 ID를 RFID로 간주하여 감지 목록에 추가 (시뮬레이터용)
-            if (!string.IsNullOrEmpty(node.NodeId) && !_detectedRfids.Contains(node.NodeId))
+            if (!string.IsNullOrEmpty(node.Id) && !_detectedRfids.Contains(node.Id))
             {
-                _detectedRfids.Add(node.NodeId);
+                _detectedRfids.Add(node.Id);
             }
 
             // 🔥 RFID 2개 이상 감지 시 위치 확정
@@ -583,9 +590,18 @@ namespace AGVNavigationCore.Models
             //현재 경로값이 있는지 확인한다.
             if (CurrentPath != null && CurrentPath.DetailedPath != null && CurrentPath.DetailedPath.Any())
             {
-                var item = CurrentPath.DetailedPath.FirstOrDefault(t => t.NodeId == node.NodeId && t.IsPass == false);
+                var item = CurrentPath.DetailedPath.FirstOrDefault(t => t.NodeId == node.Id && t.IsPass == false);
                 if (item != null)
                 {
+                    // [PathJump Check] 점프한 노드 개수 확인
+                    // 현재 노드(item)보다 이전인데 아직 IsPass가 안 된 노드의 개수
+                    int skippedCount = CurrentPath.DetailedPath.Count(t => t.seq < item.seq && t.IsPass == false);
+                    if (skippedCount > 2)
+                    {
+                        OnError($"PathJump: {skippedCount}개의 노드를 건너뛰었습니다. (허용: 2개, 현재노드: {node.Id})");
+                        return;
+                    }
+
                     //item.IsPass = true;
                     //이전노드는 모두 지나친걸로 한다
                     CurrentPath.DetailedPath.Where(t => t.seq < item.seq).ToList().ForEach(t => t.IsPass = true);
@@ -596,18 +612,7 @@ namespace AGVNavigationCore.Models
             PositionChanged?.Invoke(this, (_currentPosition, _currentDirection, _currentNode));
         }
 
-        /// <summary>
-        /// 현재 RFID 시뮬레이션 (현재 위치 기준)
-        /// </summary>
-        public string SimulateRfidReading(List<MapNode> mapNodes)
-        {
-            var closestNode = FindClosestNode(_currentPosition, mapNodes);
-            if (closestNode == null)
-                return null;
-
-            return closestNode.HasRfid() ? closestNode.RfidId : null;
-        }
-
+   
         #endregion
 
 
@@ -615,10 +620,11 @@ namespace AGVNavigationCore.Models
         /// <summary>
         /// 노드 ID를 RFID 값으로 변환 (NodeResolver 사용)
         /// </summary>
-        public string GetRfidByNodeId(List<MapNode> _mapNodes, string nodeId)
+        public ushort GetRfidByNodeId(List<MapNode> _mapNodes, string nodeId)
         {
-            var node = _mapNodes?.FirstOrDefault(n => n.NodeId == nodeId);
-            return node?.HasRfid() == true ? node.RfidId : nodeId;
+            var node = _mapNodes?.FirstOrDefault(n => n.Id == nodeId);
+            if ((node?.HasRfid() ?? false) == false) return 0;
+            return node.RfidId;
         }
 
 
@@ -628,19 +634,16 @@ namespace AGVNavigationCore.Models
         /// <summary>
         /// DetailedPath에서 노드 정보를 찾아 AGVCommand 생성
         /// </summary>
-        private AGVCommand GetCommandFromPath(string targetNodeId, string actionDescription)
+        private AGVCommand GetCommandFromPath(MapNode targetNode, string actionDescription)
         {
             // DetailedPath가 없으면 기본 명령 반환
             if (_currentPath == null || _currentPath.DetailedPath == null || _currentPath.DetailedPath.Count == 0)
             {
-                var defaultMotor = _currentDirection == AgvDirection.Forward
-                    ? MotorCommand.Forward
-                    : MotorCommand.Backward;
-
+                // [Refactor] Predict와 일관성 유지: 경로가 없으면 정지
                 return new AGVCommand(
-                    defaultMotor,
+                    MotorCommand.Stop,
                     MagnetPosition.S,
-                    SpeedLevel.M,
+                    SpeedLevel.L,
                      eAGVCommandReason.NoPath,
                     $"{actionDescription} (DetailedPath 없음)"
                 );
@@ -648,7 +651,7 @@ namespace AGVNavigationCore.Models
 
             // DetailedPath에서 targetNodeId에 해당하는 NodeMotorInfo 찾기
             // 지나가지 않은 경로를 찾는다
-            var nodeInfo = _currentPath.DetailedPath.FirstOrDefault(n => n.NodeId == targetNodeId && n.IsPass == false);
+            var nodeInfo = _currentPath.DetailedPath.FirstOrDefault(n => n.NodeId == targetNode.Id && n.IsPass == false);
 
             if (nodeInfo == null)
             {
@@ -662,7 +665,7 @@ namespace AGVNavigationCore.Models
                     MagnetPosition.S,
                     SpeedLevel.M,
                       eAGVCommandReason.NoTarget,
-                    $"{actionDescription} (노드 {targetNodeId} 정보 없음)"
+                    $"{actionDescription} (노드 {targetNode.Id} 정보 없음)"
                 );
             }
 
@@ -697,17 +700,20 @@ namespace AGVNavigationCore.Models
                     break;
             }
 
-            // 속도 결정 (회전 노드면 저속, 일반 이동은 중속)
-            SpeedLevel speed = nodeInfo.CanRotate || nodeInfo.IsDirectionChangePoint
-                ? SpeedLevel.L
-                : SpeedLevel.M;
+            // [Speed Control] NodeMotorInfo에 설정된 속도 사용
+            // 단, 회전 구간 등에서 안전을 위해 강제 감속이 필요한 경우 로직 추가 가능
+            // 현재는 사용자 설정 우선
+            SpeedLevel speed = nodeInfo.Speed;
+
+            // Optional: 회전 시 강제 감속 로직 (사용자 요청에 따라 주석 처리 또는 제거 가능)
+            // if (nodeInfo.CanRotate || nodeInfo.IsDirectionChangePoint) speed = SpeedLevel.L;
 
             return new AGVCommand(
                 motorCmd,
                 magnetPos,
                 speed,
                  eAGVCommandReason.Normal,
-                $"{actionDescription} → {targetNodeId} (Motor:{motorCmd}, Magnet:{magnetPos})"
+                $"{actionDescription} → {targetNode.Id} (Motor:{motorCmd}, Magnet:{magnetPos})"
             );
         }
 
@@ -864,21 +870,6 @@ namespace AGVNavigationCore.Models
             }
         }
 
-        private DockingDirection GetDockingDirection(NodeType nodeType)
-        {
-            switch (nodeType)
-            {
-                case NodeType.Charging:
-                    return DockingDirection.Forward;
-                case NodeType.Loader:
-                case NodeType.UnLoader:
-                case NodeType.Clearner:
-                case NodeType.Buffer:
-                    return DockingDirection.Backward;
-                default:
-                    return DockingDirection.Forward;
-            }
-        }
 
         private void OnError(string message)
         {

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

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

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

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

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

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

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

@@ -50,7 +50,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                 n.DisableCross == false &&
                 n.ConnectedNodes.Count >= 3 &&
                 n.ConnectedMapNodes.Where(t => t.CanDocking).Any() == false &&
-                n.NodeId != startNode.NodeId
+                n.Id != startNode.Id
             ).ToList();
 
             // docking 포인트가 연결된 노드는 제거한다.
@@ -103,7 +103,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                     pathNode.ConnectedNodes.Count >= 3 &&
                     pathNode.ConnectedMapNodes.Where(t => t.CanDocking).Any() == false)
                 {
-                    if (pathNode.NodeId.Equals(StartNode.NodeId) == false)
+                    if (pathNode.Id.Equals(StartNode.Id) == false)
                         return pathNode;
                 }
             }
@@ -111,6 +111,12 @@ namespace AGVNavigationCore.PathFinding.Planning
             return null;
         }
 
+        public AGVPathResult FindPath(MapNode startNode, MapNode targetNode)
+        {
+            // 기본값으로 경로 탐색 (이전 위치 = 현재 위치, 방향 = 전진)
+            return FindPath(startNode, targetNode, startNode, AgvDirection.Forward, AgvDirection.Forward, false);
+        }
+
         public AGVPathResult FindPath(MapNode startNode, MapNode targetNode,
             MapNode prevNode, AgvDirection prevDirection, AgvDirection currentDirection, bool crossignore = false)
         {
@@ -121,13 +127,17 @@ namespace AGVNavigationCore.PathFinding.Planning
                 return AGVPathResult.CreateFailure("목적지 노드가 null입니다.", 0, 0);
             if (prevNode == null)
                 return AGVPathResult.CreateFailure("이전위치 노드가 null입니다.", 0, 0);
-            if (startNode.NodeId == targetNode.NodeId && targetNode.DockDirection.MatchAGVDirection(prevDirection))
+            if (targetNode.isDockingNode == false && targetNode.Type != NodeType.Normal)
+                return AGVPathResult.CreateFailure("이동 가능한 노드가 아닙니다", 0, 0);
+
+            var tnode = targetNode as MapNode;
+            if (startNode.Id == targetNode.Id && tnode.DockDirection.MatchAGVDirection(prevDirection))
                 return AGVPathResult.CreateSuccess(new List<MapNode> { startNode, startNode }, new List<AgvDirection>(), 0, 0);
 
             var ReverseDirection = (currentDirection == AgvDirection.Forward ? AgvDirection.Backward : AgvDirection.Forward);
 
             //1.목적지까지의 최단거리 경로를 찾는다.
-            var pathResult = _basicPathfinder.FindPathAStar(startNode.NodeId, targetNode.NodeId);
+            var pathResult = _basicPathfinder.FindPathAStar(startNode.Id, targetNode.Id);
             pathResult.PrevNode = prevNode;
             pathResult.PrevDirection = prevDirection;
             if (!pathResult.Success || pathResult.Path == null || pathResult.Path.Count == 0)
@@ -146,11 +156,11 @@ namespace AGVNavigationCore.PathFinding.Planning
 
 
             //2.AGV방향과 목적지에 설정된 방향이 일치하면 그대로 진행하면된다.(목적지에 방향이 없는 경우에도 그대로 진행)
-            if (targetNode.DockDirection == DockingDirection.DontCare ||
-                (targetNode.DockDirection == DockingDirection.Forward && currentDirection == AgvDirection.Forward) ||
-                (targetNode.DockDirection == DockingDirection.Backward && currentDirection == AgvDirection.Backward))
+            if (tnode.DockDirection == DockingDirection.DontCare ||
+                (tnode.DockDirection == DockingDirection.Forward && currentDirection == AgvDirection.Forward) ||
+                (tnode.DockDirection == DockingDirection.Backward && currentDirection == AgvDirection.Backward))
             {
-                if ((nextNodeForward?.NodeId ?? string.Empty) == pathResult.Path[1].NodeId) //예측경로와 다음진행방향 경로가 일치하면 해당 방향이 맞다
+                if ((nextNodeForward?.Id ?? string.Empty) == pathResult.Path[1].Id) //예측경로와 다음진행방향 경로가 일치하면 해당 방향이 맞다
                 {
                     MakeDetailData(pathResult, currentDirection);
                     MakeMagnetDirection(pathResult);
@@ -177,10 +187,10 @@ namespace AGVNavigationCore.PathFinding.Planning
             //뒤로 이동시 경로상의 처음 만나는 노드가 같다면 그 방향으로 이동하면 된다.
             // ⚠️ 단, 현재 방향과 목적지 도킹 방향이 일치해야 함!
             if (nextNodeBackward != null && pathResult.Path.Count > 1 &&
-                nextNodeBackward.NodeId == pathResult.Path[1].NodeId) // ✅ 추가: 현재도 Backward여야 함
+                nextNodeBackward.Id == pathResult.Path[1].Id) // ✅ 추가: 현재도 Backward여야 함
             {
-                if (targetNode.DockDirection == DockingDirection.Forward && ReverseDirection == AgvDirection.Forward ||
-                   targetNode.DockDirection == DockingDirection.Backward && ReverseDirection == AgvDirection.Backward)
+                if (tnode.DockDirection == DockingDirection.Forward && ReverseDirection == AgvDirection.Forward ||
+                   tnode.DockDirection == DockingDirection.Backward && ReverseDirection == AgvDirection.Backward)
                 {
                     MakeDetailData(pathResult, ReverseDirection);
                     MakeMagnetDirection(pathResult);
@@ -191,12 +201,12 @@ namespace AGVNavigationCore.PathFinding.Planning
             }
 
             if (nextNodeForward != null && pathResult.Path.Count > 1 &&
-                nextNodeForward.NodeId == pathResult.Path[1].NodeId &&
-                targetNode.DockDirection == DockingDirection.Forward &&
+                nextNodeForward.Id == pathResult.Path[1].Id &&
+                tnode.DockDirection == DockingDirection.Forward &&
                 currentDirection == AgvDirection.Forward) // ✅ 추가: 현재도 Forward여야 함
             {
-                if (targetNode.DockDirection == DockingDirection.Forward && currentDirection == AgvDirection.Forward ||
-                    targetNode.DockDirection == DockingDirection.Backward && currentDirection == AgvDirection.Backward)
+                if (tnode.DockDirection == DockingDirection.Forward && currentDirection == AgvDirection.Forward ||
+                    tnode.DockDirection == DockingDirection.Backward && currentDirection == AgvDirection.Backward)
                 {
                     MakeDetailData(pathResult, currentDirection);
                     MakeMagnetDirection(pathResult);
@@ -221,7 +231,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                 //진행방향으로 이동했을때 나오는 노드를 사용한다.
                 if (nextNodeForward != null)
                 {
-                    var Path0 = _basicPathfinder.FindPathAStar(startNode.NodeId, nextNodeForward.NodeId);
+                    var Path0 = _basicPathfinder.FindPathAStar(startNode.Id, nextNodeForward.Id);
                     Path0.PrevNode = prevNode;
                     Path0.PrevDirection = prevDirection;
                     MakeDetailData(Path0, prevDirection);
@@ -259,7 +269,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                 JunctionInPath = FindNearestJunction(startNode);
 
                 //종료노드로부터 가까운 교차로 검색
-                if (JunctionInPath == null) JunctionInPath = FindNearestJunction(targetNode);
+                if (JunctionInPath == null) JunctionInPath = FindNearestJunction(tnode);
             }
             if (JunctionInPath == null)
                 return AGVPathResult.CreateFailure("교차로가 없어 경로계산을 할 수 없습니다", 0, 0);
@@ -267,7 +277,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             //경유지를 포함하여 경로를 다시 계산한다.
 
             //1.시작위치 - 교차로(여기까지는 현재 방향으로 그대로 이동을 한다)
-            var path1 = _basicPathfinder.FindPathAStar(startNode.NodeId, JunctionInPath.NodeId);
+            var path1 = _basicPathfinder.FindPathAStar(startNode.Id, JunctionInPath.Id);
             path1.PrevNode = prevNode;
             path1.PrevDirection = prevDirection;
 
@@ -278,7 +288,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             //    ReverseCheck = false; //현재 진행 방향으로 이동해야한다
             //    MakeDetailData(path1, currentDirection); // path1의 상세 경로 정보 채우기 (모터 방향 설정)
             //}
-            if (path1.Path.Count > 1 && nextNodeBackward != null && nextNodeBackward.NodeId.Equals(path1.Path[1].NodeId))
+            if (path1.Path.Count > 1 && nextNodeBackward != null && nextNodeBackward.Id.Equals(path1.Path[1].Id))
             {
                 ReverseCheck = true;    //현재 방향의 반대방향으로 이동해야한다
                 MakeDetailData(path1, ReverseDirection); // path1의 상세 경로 정보 채우기 (모터 방향 설정)
@@ -295,7 +305,7 @@ namespace AGVNavigationCore.PathFinding.Planning
 
 
             //2.교차로 - 종료위치
-            var path2 = _basicPathfinder.FindPathAStar(JunctionInPath.NodeId, targetNode.NodeId);
+            var path2 = _basicPathfinder.FindPathAStar(JunctionInPath.Id, targetNode.Id);
             path2.PrevNode = prevNode;
             path2.PrevDirection = prevDirection;
 
@@ -315,9 +325,9 @@ namespace AGVNavigationCore.PathFinding.Planning
 
 
             //3.방향전환을 위환 대체 노드찾기
-            tempNode = _basicPathfinder.FindAlternateNodeForDirectionChange(JunctionInPath.NodeId,
-               path1.Path[path1.Path.Count - 2].NodeId,
-               path2.Path[1].NodeId);
+            tempNode = _basicPathfinder.FindAlternateNodeForDirectionChange(JunctionInPath.Id,
+               path1.Path[path1.Path.Count - 2].Id,
+               path2.Path[1].Id);
 
             //4. path1 + tempnode + path2 가 최종 위치가 된다.
             if (tempNode == null)
@@ -332,7 +342,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             //if (tempNode != null)
             {
                 // 교차로 → 대체노드 경로 계산
-                var pathToTemp = _basicPathfinder.FindPathAStar(JunctionInPath.NodeId, tempNode.NodeId);
+                var pathToTemp = _basicPathfinder.FindPathAStar(JunctionInPath.Id, tempNode.Id);
                 pathToTemp.PrevNode = JunctionInPath;
                 pathToTemp.PrevDirection = (ReverseCheck ? ReverseDirection : currentDirection);
                 if (!pathToTemp.Success)
@@ -348,7 +358,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                 combinedResult = _basicPathfinder.CombineResults(combinedResult, pathToTemp);
 
                 // 대체노드 → 교차로 경로 계산 (역방향)
-                var pathFromTemp = _basicPathfinder.FindPathAStar(tempNode.NodeId, JunctionInPath.NodeId);
+                var pathFromTemp = _basicPathfinder.FindPathAStar(tempNode.Id, JunctionInPath.Id);
                 pathFromTemp.PrevNode = JunctionInPath;
                 pathFromTemp.PrevDirection = (ReverseCheck ? ReverseDirection : currentDirection);
                 if (!pathFromTemp.Success)
@@ -362,14 +372,14 @@ namespace AGVNavigationCore.PathFinding.Planning
 
                 //현재까지 노드에서 목적지까지의 방향이 일치하면 그대로 사용한다.
                 bool temp3ok = false;
-                var TempCheck3 = _basicPathfinder.FindPathAStar(combinedResult.Path.Last().NodeId, targetNode.NodeId);
-                if (TempCheck3.Path.First().NodeId.Equals(combinedResult.Path.Last().NodeId))
+                var TempCheck3 = _basicPathfinder.FindPathAStar(combinedResult.Path.Last().Id, targetNode.Id);
+                if (TempCheck3.Path.First().Id.Equals(combinedResult.Path.Last().Id))
                 {
-                    if (targetNode.DockDirection == DockingDirection.Forward && combinedResult.DetailedPath.Last().MotorDirection == AgvDirection.Forward)
+                    if (tnode.DockDirection == DockingDirection.Forward && combinedResult.DetailedPath.Last().MotorDirection == AgvDirection.Forward)
                     {
                         temp3ok = true;
                     }
-                    else if (targetNode.DockDirection == DockingDirection.Backward && combinedResult.DetailedPath.Last().MotorDirection == AgvDirection.Backward)
+                    else if (tnode.DockDirection == DockingDirection.Backward && combinedResult.DetailedPath.Last().MotorDirection == AgvDirection.Backward)
                     {
                         temp3ok = true;
                     }
@@ -381,11 +391,11 @@ namespace AGVNavigationCore.PathFinding.Planning
                 if (temp3ok == false)
                 {
                     //목적지와 방향이 맞지 않다. 그러므로 대체노드를 추가로 더 찾아야한다.
-                    var tempNode2 = _basicPathfinder.FindAlternateNodeForDirectionChange(JunctionInPath.NodeId,
-               combinedResult.Path[combinedResult.Path.Count - 2].NodeId,
-               path2.Path[1].NodeId);
+                    var tempNode2 = _basicPathfinder.FindAlternateNodeForDirectionChange(JunctionInPath.Id,
+               combinedResult.Path[combinedResult.Path.Count - 2].Id,
+               path2.Path[1].Id);
 
-                    var pathToTemp2 = _basicPathfinder.FindPathAStar(JunctionInPath.NodeId, tempNode2.NodeId);
+                    var pathToTemp2 = _basicPathfinder.FindPathAStar(JunctionInPath.Id, tempNode2.Id);
                     if (ReverseCheck) MakeDetailData(pathToTemp2, currentDirection);
                     else MakeDetailData(pathToTemp2, ReverseDirection);
 
@@ -400,7 +410,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                             combinedResult.DetailedPath[combinedResult.DetailedPath.Count - 1].MotorDirection = currentDirection;
                     }
 
-                    var pathToTemp3 = _basicPathfinder.FindPathAStar(tempNode2.NodeId, JunctionInPath.NodeId);
+                    var pathToTemp3 = _basicPathfinder.FindPathAStar(tempNode2.Id, JunctionInPath.Id);
                     if (ReverseCheck) MakeDetailData(pathToTemp3, ReverseDirection);
                     else MakeDetailData(pathToTemp3, currentDirection);
 
@@ -420,12 +430,15 @@ namespace AGVNavigationCore.PathFinding.Planning
 
         }
 
+        /// <summary>
+        /// 이 작업후에 MakeMagnetDirection 를 추가로 실행 하세요
+        /// </summary>
         /// <summary>
         /// 이 작업후에 MakeMagnetDirection 를 추가로 실행 하세요
         /// </summary>
         /// <param name="path1"></param>
         /// <param name="currentDirection"></param>
-        private void MakeDetailData(AGVPathResult path1, AgvDirection currentDirection)
+        public void MakeDetailData(AGVPathResult path1, AgvDirection currentDirection)
         {
             if (path1.Success && path1.Path != null && path1.Path.Count > 0)
             {
@@ -433,9 +446,9 @@ namespace AGVNavigationCore.PathFinding.Planning
                 for (int i = 0; i < path1.Path.Count; i++)
                 {
                     var node = path1.Path[i];
-                    string nodeId = node.NodeId;
-                    string RfidId = node.RfidId;
-                    string nextNodeId = (i + 1 < path1.Path.Count) ? path1.Path[i + 1].NodeId : null;
+                    string nodeId = node.Id;
+                    var RfidId = node.RfidId;
+                    string nextNodeId = (i + 1 < path1.Path.Count) ? path1.Path[i + 1].Id : null;
 
                     // 노드 정보 생성 (현재 방향 유지)
                     var nodeInfo = new NodeMotorInfo(i + 1,
@@ -445,6 +458,13 @@ namespace AGVNavigationCore.PathFinding.Planning
                         MagnetDirection.Straight
                     );
 
+                    // [Speed Control] MapNode의 속도 설정 적용
+                    var mapNode = _mapNodes.FirstOrDefault(n => n.Id == nodeId);
+                    if (mapNode != null)
+                    {
+                        nodeInfo.Speed = mapNode.SpeedLimit;
+                    }
+
                     detailedPath1.Add(nodeInfo);
                 }
 
@@ -465,13 +485,13 @@ namespace AGVNavigationCore.PathFinding.Planning
                 for (int i = 0; i < path1.DetailedPath.Count; i++)
                 {
                     var detailPath = path1.DetailedPath[i];
-                    string nodeId = path1.Path[i].NodeId;
-                    string nextNodeId = (i + 1 < path1.Path.Count) ? path1.Path[i + 1].NodeId : null;
+                    string nodeId = path1.Path[i].Id;
+                    string nextNodeId = (i + 1 < path1.Path.Count) ? path1.Path[i + 1].Id : null;
 
                     // 마그넷 방향 계산 (3개 이상 연결된 교차로에서만 좌/우 가중치 적용)
                     if (i > 0 && nextNodeId != null)
                     {
-                        string prevNodeId = path1.Path[i - 1].NodeId;
+                        string prevNodeId = path1.Path[i - 1].Id;
                         if (path1.DetailedPath[i - 1].MotorDirection != detailPath.MotorDirection)
                             detailPath.MagnetDirection = MagnetDirection.Straight;
                         else

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

@@ -91,14 +91,14 @@ namespace AGVNavigationCore.PathFinding.Planning
                 // 직접 경로에 갈림길이 포함된 경우 그 갈림길에서 방향 전환
                 foreach (var node in directPath2.Path.Skip(1).Take(directPath2.Path.Count - 2)) // 시작과 끝 제외
                 {
-                    var junctionInfo = _junctionAnalyzer.GetJunctionInfo(node.NodeId);
+                    var junctionInfo = _junctionAnalyzer.GetJunctionInfo(node.Id);
                     if (junctionInfo != null && junctionInfo.IsJunction)
                     {
                         // 간단한 방향 전환: 직접 경로 사용하되 방향 전환 노드 표시
                         return DirectionChangePlan.CreateSuccess(
                             directPath2.Path,
-                            node.NodeId,
-                            $"갈림길 {node.NodeId}에서 방향 전환: {currentDirection} → {requiredDirection}"
+                            node.Id,
+                            $"갈림길 {node.Id}에서 방향 전환: {currentDirection} → {requiredDirection}"
                         );
                     }
                 }
@@ -165,14 +165,14 @@ namespace AGVNavigationCore.PathFinding.Planning
             {
                 foreach (var node in directPath.Path.Skip(2)) // 시작점과 다음 노드는 제외
                 {
-                    var junctionInfo = _junctionAnalyzer.GetJunctionInfo(node.NodeId);
+                    var junctionInfo = _junctionAnalyzer.GetJunctionInfo(node.Id);
                     if (junctionInfo != null && junctionInfo.IsJunction)
                     {
                         // 직진 경로상에서는 더 엄격한 조건 적용
-                        if (!suitableJunctions.Contains(node.NodeId) &&
-                            HasMultipleExitOptions(node.NodeId))
+                        if (!suitableJunctions.Contains(node.Id) &&
+                            HasMultipleExitOptions(node.Id))
                         {
-                            suitableJunctions.Add(node.NodeId);
+                            suitableJunctions.Add(node.Id);
                         }
                     }
                 }
@@ -226,7 +226,7 @@ namespace AGVNavigationCore.PathFinding.Planning
         /// </summary>
         private List<string> GetAllConnectedNodes(string nodeId)
         {
-            var node = _mapNodes.FirstOrDefault(n => n.NodeId == nodeId);
+            var node = _mapNodes.FirstOrDefault(n => n.Id == nodeId);
             if (node == null) return new List<string>();
 
             var connected = new HashSet<string>();
@@ -236,16 +236,16 @@ namespace AGVNavigationCore.PathFinding.Planning
             {
                 if (connectedNode != null)
                 {
-                    connected.Add(connectedNode.NodeId);
+                    connected.Add(connectedNode.Id);
                 }
             }
 
             // 역방향 연결
             foreach (var otherNode in _mapNodes)
             {
-                if (otherNode.NodeId != nodeId && otherNode.ConnectedMapNodes.Any(n => n.NodeId == nodeId))
+                if (otherNode.Id != nodeId && otherNode.ConnectedMapNodes.Any(n => n.Id == nodeId))
                 {
-                    connected.Add(otherNode.NodeId);
+                    connected.Add(otherNode.Id);
                 }
             }
 
@@ -293,7 +293,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                     string actualDirectionChangeNode = FindActualDirectionChangeNode(changePath, junctionNodeId);
 
                     string description = $"갈림길 {GetDisplayName(junctionNodeId)}를 통해 {GetDisplayName(actualDirectionChangeNode)}에서 방향 전환: {currentDirection} → {requiredDirection}";
-                    System.Diagnostics.Debug.WriteLine($"[DirectionChangePlanner] ✅ 유효한 방향전환 경로: {string.Join(" → ", changePath.Select(n => n.NodeId))}");
+                    System.Diagnostics.Debug.WriteLine($"[DirectionChangePlanner] ✅ 유효한 방향전환 경로: {string.Join(" → ", changePath.Select(n => n.Id))}");
                     return DirectionChangePlan.CreateSuccess(changePath, actualDirectionChangeNode, description);
                 }
 
@@ -319,7 +319,7 @@ namespace AGVNavigationCore.PathFinding.Planning
 
             // 2. 인근 갈림길을 통한 우회인지, 직진 경로상 갈림길인지 판단
             var directPath = _pathfinder.FindPathAStar(startNodeId, targetNodeId);
-            bool isNearbyDetour = !directPath.Success || !directPath.Path.Any(n => n.NodeId == junctionNodeId);
+            bool isNearbyDetour = !directPath.Success || !directPath.Path.Any(n => n.Id == junctionNodeId);
 
             if (isNearbyDetour)
             {
@@ -376,17 +376,17 @@ namespace AGVNavigationCore.PathFinding.Planning
             if (currentDirection != requiredDirection)
             {
                 string fromNodeId = toJunctionPath.Path.Count >= 2 ?
-                    toJunctionPath.Path[toJunctionPath.Path.Count - 2].NodeId : startNodeId;
+                    toJunctionPath.Path[toJunctionPath.Path.Count - 2].Id : startNodeId;
 
                 var changeSequence = GenerateDirectionChangeSequence(junctionNodeId, fromNodeId, currentDirection, requiredDirection);
                 if (changeSequence.Count > 1)
                 {
-                    fullPath.AddRange(changeSequence.Skip(1).Select(nodeId => _mapNodes.FirstOrDefault(n => n.NodeId == nodeId)).Where(n => n != null));
+                    fullPath.AddRange(changeSequence.Skip(1).Select(nodeId => _mapNodes.FirstOrDefault(n => n.Id == nodeId)).Where(n => n != null));
                 }
             }
 
             // 3. 갈림길에서 목표점까지의 경로
-            string lastNode = fullPath.LastOrDefault()?.NodeId ?? junctionNodeId;
+            string lastNode = fullPath.LastOrDefault()?.Id ?? junctionNodeId;
             var fromJunctionPath = _pathfinder.FindPathAStar(lastNode, targetNodeId);
             if (fromJunctionPath.Success && fromJunctionPath.Path.Count > 1)
             {
@@ -461,8 +461,8 @@ namespace AGVNavigationCore.PathFinding.Planning
             // 왔던 길(excludeNodeId)를 제외한 노드 중에서 최적의 우회 노드 선택
             // 우선순위: 1) 막다른 길이 아닌 노드 (우회 후 복귀 가능) 2) 직진방향 3) 목적지 방향
 
-            var junctionNode = _mapNodes.FirstOrDefault(n => n.NodeId == junctionNodeId);
-            var fromNode = _mapNodes.FirstOrDefault(n => n.NodeId == excludeNodeId);
+            var junctionNode = _mapNodes.FirstOrDefault(n => n.Id == junctionNodeId);
+            var fromNode = _mapNodes.FirstOrDefault(n => n.Id == excludeNodeId);
 
             if (junctionNode == null || fromNode == null)
                 return availableNodes.FirstOrDefault();
@@ -478,7 +478,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             {
                 if (nodeId == excludeNodeId) continue; // 왔던 길 제외
 
-                var candidateNode = _mapNodes.FirstOrDefault(n => n.NodeId == nodeId);
+                var candidateNode = _mapNodes.FirstOrDefault(n => n.Id == nodeId);
                 if (candidateNode == null) continue;
 
                 // 갈림길에서 후보 노드로의 방향 벡터 계산 (junctionNode → candidateNode)
@@ -561,11 +561,11 @@ namespace AGVNavigationCore.PathFinding.Planning
                 return junctionNodeId; // 기본값으로 갈림길 반환
 
             // 갈림길이 두 번 나타나는 위치 찾기
-            int firstJunctionIndex = changePath.FindIndex(n => n.NodeId == junctionNodeId);
+            int firstJunctionIndex = changePath.FindIndex(n => n.Id == junctionNodeId);
             int lastJunctionIndex = -1;
             for (int i = changePath.Count - 1; i >= 0; i--)
             {
-                if (changePath[i].NodeId == junctionNodeId)
+                if (changePath[i].Id == junctionNodeId)
                 {
                     lastJunctionIndex = i;
                     break;
@@ -577,7 +577,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                 firstJunctionIndex != lastJunctionIndex && lastJunctionIndex - firstJunctionIndex == 2)
             {
                 // 첫 번째와 두 번째 갈림길 사이에 있는 노드가 실제 방향전환 노드
-                string detourNode = changePath[firstJunctionIndex + 1].NodeId;
+                string detourNode = changePath[firstJunctionIndex + 1].Id;
                 return detourNode;
             }
 
@@ -647,11 +647,11 @@ namespace AGVNavigationCore.PathFinding.Planning
                 }
 
                 string errorMessage = $"되돌아가기 패턴 검출 ({backtrackingPatterns.Count}개): {string.Join(", ", issues)}";
-                System.Diagnostics.Debug.WriteLine($"[PathValidation] ❌ 경로: {string.Join(" → ", path.Select(n => n.NodeId))}");
+                System.Diagnostics.Debug.WriteLine($"[PathValidation] ❌ 경로: {string.Join(" → ", path.Select(n => n.Id))}");
                 System.Diagnostics.Debug.WriteLine($"[PathValidation] ❌ 되돌아가기 패턴: {errorMessage}");
 
                 return PathValidationResult.CreateInvalidWithBacktracking(
-                    path.Select(n => n.NodeId).ToList(), backtrackingPatterns, startNodeId, "", junctionNodeId, errorMessage);
+                    path.Select(n => n.Id).ToList(), backtrackingPatterns, startNodeId, "", junctionNodeId, errorMessage);
             }
 
             // 2. 연속된 중복 노드 검증
@@ -670,13 +670,13 @@ namespace AGVNavigationCore.PathFinding.Planning
             }
 
             // 4. 갈림길 포함 여부 검증
-            if (!path.Any(n => n.NodeId == junctionNodeId))
+            if (!path.Any(n => n.Id == junctionNodeId))
             {
                 return PathValidationResult.CreateInvalid(startNodeId, "", $"갈림길 {junctionNodeId}이 경로에 포함되지 않음");
             }
 
-            System.Diagnostics.Debug.WriteLine($"[PathValidation] ✅ 유효한 경로: {string.Join(" → ", path.Select(n => n.NodeId))}");
-            return PathValidationResult.CreateValid(path.Select(n => n.NodeId).ToList(), startNodeId, "", junctionNodeId);
+            System.Diagnostics.Debug.WriteLine($"[PathValidation] ✅ 유효한 경로: {string.Join(" → ", path.Select(n => n.Id))}");
+            return PathValidationResult.CreateValid(path.Select(n => n.Id).ToList(), startNodeId, "", junctionNodeId);
         }
 
         /// <summary>
@@ -688,9 +688,9 @@ namespace AGVNavigationCore.PathFinding.Planning
 
             for (int i = 0; i < path.Count - 2; i++)
             {
-                string nodeA = path[i].NodeId;
-                string nodeB = path[i + 1].NodeId;
-                string nodeC = path[i + 2].NodeId;
+                string nodeA = path[i].Id;
+                string nodeB = path[i + 1].Id;
+                string nodeC = path[i + 2].Id;
 
                 // A → B → A 패턴 검출
                 if (nodeA == nodeC && nodeA != nodeB)
@@ -712,9 +712,9 @@ namespace AGVNavigationCore.PathFinding.Planning
 
             for (int i = 0; i < path.Count - 1; i++)
             {
-                if (path[i].NodeId == path[i + 1].NodeId)
+                if (path[i].Id == path[i + 1].Id)
                 {
-                    duplicates.Add(path[i].NodeId);
+                    duplicates.Add(path[i].Id);
                 }
             }
 
@@ -728,12 +728,12 @@ namespace AGVNavigationCore.PathFinding.Planning
         {
             for (int i = 0; i < path.Count - 1; i++)
             {
-                string currentNode = path[i].NodeId;
-                string nextNode = path[i + 1].NodeId;
+                string currentNode = path[i].Id;
+                string nextNode = path[i + 1].Id;
 
                 // 두 노드간 직접 연결성 확인 (맵 노드의 ConnectedMapNodes 리스트 사용)
-                var currentMapNode = _mapNodes.FirstOrDefault(n => n.NodeId == currentNode);
-                if (currentMapNode == null || !currentMapNode.ConnectedMapNodes.Any(n => n.NodeId == nextNode))
+                var currentMapNode = _mapNodes.FirstOrDefault(n => n.Id == currentNode);
+                if (currentMapNode == null || !currentMapNode.ConnectedMapNodes.Any(n => n.Id == nextNode))
                 {
                     return PathValidationResult.CreateInvalid(currentNode, nextNode, $"노드 {currentNode}와 {nextNode} 사이에 연결이 없음");
                 }
@@ -769,10 +769,10 @@ namespace AGVNavigationCore.PathFinding.Planning
         /// <returns>표시할 이름</returns>
         private string GetDisplayName(string nodeId)
         {
-            var node = _mapNodes.FirstOrDefault(n => n.NodeId == nodeId);
-            if (node != null && !string.IsNullOrEmpty(node.RfidId))
+            var node = _mapNodes.FirstOrDefault(n => n.Id == nodeId);
+            if (node != null && node.HasRfid())
             {
-                return node.RfidId;
+                return node.RfidId.ToString("0000");
             }
             return $"({nodeId})";
         }

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

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

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

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

Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DirectionalHelper.cs

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

Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DirectionalPathfinderTest.cs

@@ -11,22 +11,22 @@ namespace AGVNavigationCore.Utils
 {
     /// <summary>
     /// DirectionalPathfinder 테스트 클래스
-    /// NewMap.agvmap을 로드하여 방향별 다음 노드를 검증
+    /// NewMap.json 로드하여 방향별 다음 노드를 검증
     /// </summary>
     public class DirectionalPathfinderTest
     {
         private List<MapNode> _allNodes;
-        private Dictionary<string, MapNode> _nodesByRfidId;
+        private Dictionary<ushort, MapNode> _nodesByRfidId;
         private AGVDirectionCalculator _calculator;
 
         public DirectionalPathfinderTest()
         {
-            _nodesByRfidId = new Dictionary<string, MapNode>();
+            _nodesByRfidId = new Dictionary<ushort, MapNode>();
             _calculator = new AGVDirectionCalculator();
         }
 
         /// <summary>
-        /// NewMap.agvmap 파일 로드
+        /// NewMap.json 파일 로드
         /// </summary>
         public bool LoadMapFile(string filePath)
         {
@@ -52,7 +52,7 @@ namespace AGVNavigationCore.Utils
                 // RFID ID로 인덱싱
                 foreach (var node in _allNodes)
                 {
-                    if (!string.IsNullOrEmpty(node.RfidId))
+                    if (node.HasRfid())
                     {
                         _nodesByRfidId[node.RfidId] = node;
                     }
@@ -71,7 +71,7 @@ namespace AGVNavigationCore.Utils
         /// <summary>
         /// 테스트: RFID 번호로 노드를 찾고, 다음 노드를 계산
         /// </summary>
-        public void TestDirectionalMovement(string previousRfidId, string currentRfidId, AgvDirection direction)
+        public void TestDirectionalMovement(ushort previousRfidId, ushort currentRfidId, AgvDirection direction)
         {
             Console.WriteLine($"\n========================================");
             Console.WriteLine($"테스트: {previousRfidId} → {currentRfidId} (방향: {direction})");
@@ -90,8 +90,8 @@ namespace AGVNavigationCore.Utils
                 return;
             }
 
-            Console.WriteLine($"이전 노드: {previousNode.NodeId} (RFID: {previousNode.RfidId}) - 위치: {previousNode.Position}");
-            Console.WriteLine($"현재 노드: {currentNode.NodeId} (RFID: {currentNode.RfidId}) - 위치: {currentNode.Position}");
+            Console.WriteLine($"이전 노드: {previousNode.Id} (RFID: {previousNode.RfidId}) - 위치: {previousNode.Position}");
+            Console.WriteLine($"현재 노드: {currentNode.Id} (RFID: {currentNode.RfidId}) - 위치: {currentNode.Position}");
             Console.WriteLine($"이동 벡터: ({currentNode.Position.X - previousNode.Position.X}, " +
                             $"{currentNode.Position.Y - previousNode.Position.Y})");
 
@@ -111,10 +111,10 @@ namespace AGVNavigationCore.Utils
             }
 
             // 다음 노드 정보 출력
-            var nextNode = _allNodes.FirstOrDefault(n => n.NodeId == nextNodeId);
+            var nextNode = _allNodes.FirstOrDefault(n => n.Id == nextNodeId);
             if (nextNode != null)
             {
-                Console.WriteLine($"✓ 다음 노드: {nextNode.NodeId} (RFID: {nextNode.RfidId}) - 위치: {nextNode.Position}");
+                Console.WriteLine($"✓ 다음 노드: {nextNode.Id} (RFID: {nextNode.RfidId}) - 위치: {nextNode.Position}");
                 Console.WriteLine($"  ├─ 노드 타입: {GetNodeTypeName(nextNode.Type)}");
                 Console.WriteLine($"  └─ 연결된 노드: {string.Join(", ", nextNode.ConnectedNodes)}");
             }
@@ -132,7 +132,7 @@ namespace AGVNavigationCore.Utils
             Console.WriteLine("\n========== 모든 노드 정보 ==========");
             foreach (var node in _allNodes.OrderBy(n => n.RfidId))
             {
-                Console.WriteLine($"{node.RfidId:D3} → {node.NodeId} ({GetNodeTypeName(node.Type)})");
+                Console.WriteLine($"{node.RfidId:D3} → {node.Id} ({GetNodeTypeName(node.Type)})");
                 Console.WriteLine($"   위치: {node.Position}, 연결: {string.Join(", ", node.ConnectedNodes)}");
             }
         }
@@ -140,7 +140,7 @@ namespace AGVNavigationCore.Utils
         /// <summary>
         /// 특정 RFID 노드의 상세 정보 출력
         /// </summary>
-        public void PrintNodeInfo(string rfidId)
+        public void PrintNodeInfo(ushort rfidId)
         {
             if (!_nodesByRfidId.TryGetValue(rfidId, out var node))
             {
@@ -149,8 +149,9 @@ namespace AGVNavigationCore.Utils
             }
 
             Console.WriteLine($"\n========== RFID {rfidId} 상세 정보 ==========");
-            Console.WriteLine($"노드 ID: {node.NodeId}");
-            Console.WriteLine($"이름: {node.Name}");
+            Console.WriteLine($"노드 ID: {node.Id}");
+            Console.WriteLine($"RFID: {node.RfidId}");
+            Console.WriteLine($"ALIAS: {node.AliasName}");
             Console.WriteLine($"위치: {node.Position}");
             Console.WriteLine($"타입: {GetNodeTypeName(node.Type)}");
             Console.WriteLine($"TurnLeft/Right/교차로 : {(node.CanTurnLeft ? "O":"X")}/{(node.CanTurnRight ? "O" : "X")}/{(node.DisableCross ? "X" : "O")}");
@@ -165,7 +166,7 @@ namespace AGVNavigationCore.Utils
             {
                 foreach (var connectedId in node.ConnectedNodes)
                 {
-                    var connectedNode = _allNodes.FirstOrDefault(n => n.NodeId == connectedId);
+                    var connectedNode = _allNodes.FirstOrDefault(n => n.Id == connectedId);
                     if (connectedNode != null)
                     {
                         Console.WriteLine($"  → {connectedId} (RFID: {connectedNode.RfidId}) - 위치: {connectedNode.Position}");

Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DockingValidator.cs

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

Cs_HMI/AGVLogic/AGVNavigationCore/Utils/GetNextNodeIdTest.cs

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

Cs_HMI/AGVLogic/AGVNavigationCore/Utils/LiftCalculator.cs

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

Cs_HMI/AGVLogic/AGVNavigationCore/Utils/TestRunner.cs

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

Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.cs

@@ -108,7 +108,6 @@ namespace AGVSimulator.Forms
         }
 
         private UnifiedAGVCanvas _simulatorCanvas;
-        private List<MapNode> _mapNodes;
         private AGVPathfinder _advancedPathfinder;
         private List<VirtualAGV> _agvList;
         private SimulationState _simulationState;
@@ -158,7 +157,7 @@ namespace AGVSimulator.Forms
             _config = SimulatorConfig.Load();
 
             // 데이터 초기화
-            _mapNodes = new List<MapNode>();
+            
             _agvList = new List<VirtualAGV>();
             _simulationState = new SimulationState();
             _currentMapFilePath = string.Empty;
@@ -232,7 +231,7 @@ namespace AGVSimulator.Forms
         {
             using (var openDialog = new OpenFileDialog())
             {
-                openDialog.Filter = "AGV Map Files (*.agvmap)|*.agvmap|모든 파일 (*.*)|*.*";
+                openDialog.Filter = "AGV Map Files (*.json)|*.json|모든 파일 (*.*)|*.*";
                 openDialog.Title = "맵 파일 열기";
 
                 if (openDialog.ShowDialog() == DialogResult.OK)
@@ -305,14 +304,14 @@ namespace AGVSimulator.Forms
 
         private void OnAddAGV_Click(object sender, EventArgs e)
         {
-            if (_mapNodes == null || _mapNodes.Count == 0)
+            if (_simulatorCanvas.Nodes == null || _simulatorCanvas.Nodes.Count == 0)
             {
                 MessageBox.Show("먼저 맵을 로드해주세요.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
                 return;
             }
 
             var agvId = $"AGV{_agvList.Count + 1:D2}";
-            var startPosition = _mapNodes.First().Position; // 첫 번째 노드에서 시작
+            var startPosition = _simulatorCanvas.Nodes.First().Position; // 첫 번째 노드에서 시작
 
             var newAGV = new VirtualAGV(agvId, startPosition);
             _agvList.Add(newAGV);
@@ -396,7 +395,7 @@ namespace AGVSimulator.Forms
 
             if (_advancedPathfinder == null)
             {
-                _advancedPathfinder = new AGVPathfinder(_mapNodes);
+                _advancedPathfinder = new AGVPathfinder(_simulatorCanvas.Nodes);
             }
 
             // 현재 AGV 방향 가져오기
@@ -420,14 +419,14 @@ namespace AGVSimulator.Forms
                 // 도킹 검증이 없는 경우 추가 검증 수행
                 if (advancedResult.DockingValidation == null || !advancedResult.DockingValidation.IsValidationRequired)
                 {
-                    advancedResult.DockingValidation = DockingValidator.ValidateDockingDirection(advancedResult, _mapNodes);
+                    advancedResult.DockingValidation = DockingValidator.ValidateDockingDirection(advancedResult, _simulatorCanvas.Nodes);
                 }
 
                 //마지막대상이 버퍼라면 시퀀스처리를 해야한다
-                if(targetNode.Type == NodeType.Buffer)
+                if(targetNode.StationType == StationType.Buffer)
                 {
                     var lastDetailPath = advancedResult.DetailedPath.Last();
-                    if(lastDetailPath.NodeId == targetNode.NodeId)  //마지막노드 재확인
+                    if(lastDetailPath.NodeId == targetNode.Id)  //마지막노드 재확인
                     {
                         //버퍼에 도킹할때에는 마지막 노드에서 멈추고 시퀀스를 적용해야한다
                         advancedResult.DetailedPath = advancedResult.DetailedPath.Take(advancedResult.DetailedPath.Count - 1).ToList();
@@ -492,7 +491,7 @@ namespace AGVSimulator.Forms
             }
         }
 
-        private void OnTargetNodeSelected(object sender, List<MapNode> selectedNodes)
+        private void OnTargetNodeSelected(object sender, List<NodeBase> selectedNodes)
         {
             try
             {
@@ -511,9 +510,9 @@ namespace AGVSimulator.Forms
                     if (selectedNode == null) return;
 
                     // 목적지를 선택된 노드로 설정
-                    SetTargetNodeInCombo(selectedNode.NodeId);
+                    SetTargetNodeInCombo(selectedNode.Id);
 
-                    var displayText = GetDisplayName(selectedNode.NodeId);
+                    var displayText = GetDisplayName(selectedNode.Id);
                     _statusLabel.Text = $"타겟계산 - 목적지: {displayText}";
 
                     // 자동으로 경로 계산 수행
@@ -578,7 +577,7 @@ namespace AGVSimulator.Forms
                         for (int i = 0; i < _startNodeCombo.Items.Count; i++)
                         {
                             var item = _startNodeCombo.Items[i].ToString();
-                            if (item.Contains($"[{closestNode.NodeId}]"))
+                            if (item.Contains($"[{closestNode.Id}]"))
                             {
                                 _startNodeCombo.SelectedIndex = i;
                                 break;
@@ -598,13 +597,13 @@ namespace AGVSimulator.Forms
         /// </summary>
         private MapNode FindClosestNode(Point position)
         {
-            if (_mapNodes == null || _mapNodes.Count == 0)
+            if (_simulatorCanvas.Nodes == null || _simulatorCanvas.Nodes.Count == 0)
                 return null;
 
             MapNode closestNode = null;
             double closestDistance = double.MaxValue;
 
-            foreach (var node in _mapNodes)
+            foreach (var node in _simulatorCanvas.Nodes)
             {
                 var distance = Math.Sqrt(Math.Pow(node.Position.X - position.X, 2) +
                                        Math.Pow(node.Position.Y - position.Y, 2));
@@ -636,7 +635,7 @@ namespace AGVSimulator.Forms
         /// <summary>
         /// 맵 스캔 모드에서 RFID로부터 노드 생성
         /// </summary>
-        private void CreateNodeFromRfidScan(string rfidId, VirtualAGV selectedAGV)
+        private void CreateNodeFromRfidScan(ushort rfidId, VirtualAGV selectedAGV)
         {
             try
             {
@@ -645,11 +644,11 @@ namespace AGVSimulator.Forms
                 var currentDirection = directionItem?.Direction ?? AgvDirection.Forward;
 
                 // 중복 RFID 확인
-                var existingNode = _mapNodes?.FirstOrDefault(n => n.RfidId.Equals(rfidId, StringComparison.OrdinalIgnoreCase));
+                var existingNode = _simulatorCanvas.Nodes?.FirstOrDefault(n => n.RfidId == rfidId);
                 if (existingNode != null)
                 {
                     // 이미 존재하는 노드로 이동
-                    Program.WriteLine($"[맵 스캔] RFID '{rfidId}'는 이미 존재합니다 (노드: {existingNode.NodeId})");
+                    Program.WriteLine($"[맵 스캔] RFID '{rfidId}'는 이미 존재합니다 (노드: {existingNode.Id})");
 
                     // 기존 노드로 AGV 위치 설정
                     _simulatorCanvas.SetAGVPosition(selectedAGV.AgvId, existingNode, currentDirection);
@@ -659,7 +658,7 @@ namespace AGVSimulator.Forms
                     _lastNodeAddTime = DateTime.Now;
                     _lastScanDirection = currentDirection;  // 방향 업데이트
 
-                    _statusLabel.Text = $"기존 노드로 이동: {existingNode.NodeId} [{GetDirectionSymbol(currentDirection)}]";
+                    _statusLabel.Text = $"기존 노드로 이동: {existingNode.Id} [{GetDirectionSymbol(currentDirection)}]";
                     _rfidTextBox.Text = "";
                     return;
                 }
@@ -720,28 +719,26 @@ namespace AGVSimulator.Forms
                 var newNodeId = $"{_scanNodeCounter:D3}";
                 var newNode = new MapNode
                 {
-                    NodeId = newNodeId,
+                    Id = newNodeId,
                     RfidId = rfidId,
                     Position = new Point(newX, newY),
-                    Type = NodeType.Normal,
-                    IsActive = true,
-                    Name = $"N{_scanNodeCounter}"
+                    IsActive = true
                 };
 
                 // 맵에 추가
-                if (_mapNodes == null)
-                    _mapNodes = new List<MapNode>();
+                if (_simulatorCanvas.Nodes == null)
+                    _simulatorCanvas.Nodes = new List<MapNode>();
 
-                _mapNodes.Add(newNode);
+                _simulatorCanvas.Nodes.Add(newNode);
 
                 // 이전 노드와 연결 생성
                 if (_lastScannedNode != null)
                 {
                     // 양방향 연결 (ConnectedNodes에 추가 - JSON 저장됨)
-                    _lastScannedNode.AddConnection(newNode.NodeId);
-                    newNode.AddConnection(_lastScannedNode.NodeId);
+                    _lastScannedNode.AddConnection(newNode.Id);
+                    newNode.AddConnection(_lastScannedNode.Id);
 
-                    Program.WriteLine($"[맵 스캔] 연결 생성: {_lastScannedNode.NodeId} ↔ {newNode.NodeId}");
+                    Program.WriteLine($"[맵 스캔] 연결 생성: {_lastScannedNode.Id} ↔ {newNode.Id}");
                 }
 
                 // AGV 위치 설정
@@ -749,10 +746,10 @@ namespace AGVSimulator.Forms
                 selectedAGV.SetPosition(newNode, currentDirection);
 
                 // 캔버스 업데이트
-                _simulatorCanvas.Nodes = _mapNodes;
+                _simulatorCanvas.Nodes = _simulatorCanvas.Nodes;
 
                 // 화면을 새 노드 위치로 이동
-                _simulatorCanvas.PanToNode(newNode.NodeId);
+                _simulatorCanvas.PanToNode(newNode.Id);
                 _simulatorCanvas.Invalidate();
 
                 // 상태 업데이트
@@ -764,10 +761,10 @@ namespace AGVSimulator.Forms
                 // UI 업데이트
                 UpdateNodeComboBoxes();
 
-                _statusLabel.Text = $"노드 생성: {newNode.NodeId} (RFID: {rfidId}) [{GetDirectionSymbol(currentDirection)}] - 총 {_mapNodes.Count}개";
+                _statusLabel.Text = $"노드 생성: {newNode.Id} (RFID: {rfidId}) [{GetDirectionSymbol(currentDirection)}] - 총 {_simulatorCanvas.Nodes.Count}개";
                 _rfidTextBox.Text = "";
 
-                Program.WriteLine($"[맵 스캔] 노드 생성 완료: {newNode.NodeId} (RFID: {rfidId}) at ({newX}, {newY}), 방향: {currentDirection}");
+                Program.WriteLine($"[맵 스캔] 노드 생성 완료: {newNode.Id} (RFID: {rfidId}) at ({newX}, {newY}), 방향: {currentDirection}");
             }
             catch (Exception ex)
             {
@@ -808,7 +805,7 @@ namespace AGVSimulator.Forms
                         if (agv.CurrentNodeId != null && agv.CurrentNodeId != _lastSentNodeId)
                         {
                             var rfid = GetRfidByNodeId(agv.CurrentNodeId);
-                            if (!string.IsNullOrEmpty(rfid))
+                            if (rfid > 0)
                             {
                                 SendTag(rfid);
                                 _lastSentNodeId = agv.CurrentNodeId;
@@ -845,7 +842,7 @@ namespace AGVSimulator.Forms
 
             // RFID 값 확인
             var rfidId = _rfidTextBox.Text.Trim();
-            if (string.IsNullOrEmpty(rfidId))
+            if (ushort.TryParse(rfidId,out ushort rfidvalue)==false)
             {
                 MessageBox.Show("RFID 값을 입력해주세요.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
                 return;
@@ -859,13 +856,13 @@ namespace AGVSimulator.Forms
             // 맵 스캔 모드일 때: 노드 자동 생성
             if (_isMapScanMode)
             {
-                CreateNodeFromRfidScan(rfidId, selectedAGV);
+                CreateNodeFromRfidScan(rfidvalue, selectedAGV);
                 this._simulatorCanvas.FitToNodes();
                 return;
             }
 
             // RFID에 해당하는 노드 직접 찾기
-            var targetNode = _mapNodes?.FirstOrDefault(n => n.RfidId.Equals(rfidId, StringComparison.OrdinalIgnoreCase));
+            var targetNode = _simulatorCanvas.Nodes?.FirstOrDefault(n => n.RfidId == rfidvalue);
             if (targetNode == null)
             {
                 MessageBox.Show($"RFID '{rfidId}'에 해당하는 노드를 찾을 수 없습니다.\n\n사용 가능한 RFID 목록:\n{GetAvailableRfidList()}",
@@ -875,15 +872,15 @@ namespace AGVSimulator.Forms
 
      
             //이전위치와 동일한지 체크한다.
-            if (selectedAGV.CurrentNodeId == targetNode.NodeId && selectedAGV.CurrentDirection == selectedDirection)
+            if (selectedAGV.CurrentNodeId == targetNode.Id && selectedAGV.CurrentDirection == selectedDirection)
             {
-                Program.WriteLine($"이전 노드위치와 모터의 방향이 동일하여 현재 위치 변경이 취소됩니다(NODE:{targetNode.NodeId},RFID:{targetNode.RfidId},DIR:{selectedDirection})");
+                Program.WriteLine($"이전 노드위치와 모터의 방향이 동일하여 현재 위치 변경이 취소됩니다(NODE:{targetNode.Id},RFID:{targetNode.RfidId},DIR:{selectedDirection})");
                 return;
             }
 
             // 콘솔 출력 (상세한 리프트 방향 계산 과정)
             Program.WriteLine($"[AGV-{selectedAGV.AgvId}] 위치 설정:");
-            Program.WriteLine($"  RFID: {rfidId} → 노드: {targetNode.NodeId}");
+            Program.WriteLine($"  RFID: {rfidId} → 노드: {targetNode.Id}");
             Program.WriteLine($"  위치: ({targetNode.Position.X}, {targetNode.Position.Y})");
             Program.WriteLine($"  방향: {selectedDirectionItem?.DisplayText ?? "전진"} ({selectedDirection})");
 
@@ -912,14 +909,14 @@ namespace AGVSimulator.Forms
             CalculateLiftDirectionDetailed(selectedAGV);
             Program.WriteLine("");
 
-            _statusLabel.Text = $"{selectedAGV.AgvId} 위치를 RFID '{rfidId}' (노드: {targetNode.NodeId}), 방향: {selectedDirectionItem?.DisplayText ?? "전진"}로 설정했습니다.";
+            _statusLabel.Text = $"{selectedAGV.AgvId} 위치를 RFID '{rfidId}' (노드: {targetNode.Id}), 방향: {selectedDirectionItem?.DisplayText ?? "전진"}로 설정했습니다.";
             _rfidTextBox.Text = ""; // 입력 필드 초기화
 
             // 시뮬레이터 캔버스의 해당 노드로 이동
             //_simulatorCanvas.PanToNode(targetNode.NodeId);
 
             // 시작 노드 콤보박스를 현재 위치로 자동 선택
-            SetStartNodeToCombo(targetNode.NodeId);
+            SetStartNodeToCombo(targetNode.Id);
         }
 
         /// <summary>
@@ -948,19 +945,18 @@ namespace AGVSimulator.Forms
 
         private string GetAvailableRfidList()
         {
-            if (_mapNodes == null || _mapNodes.Count == 0)
+            if (_simulatorCanvas.Nodes == null || _simulatorCanvas.Nodes.Count == 0)
                 return "매핑된 RFID가 없습니다.";
 
-            var nodesWithRfid = _mapNodes.Where(n => n.HasRfid()).ToList();
+            var nodesWithRfid = _simulatorCanvas.Nodes.Where(n => n.HasRfid()).ToList();
             if (nodesWithRfid.Count == 0)
                 return "RFID가 할당된 노드가 없습니다.";
 
             // 처음 10개의 RFID만 표시 (노드 이름 포함)
-            var rfidList = nodesWithRfid.Take(10).Select(n =>
+            var rfidList = nodesWithRfid.Take(10).Select((Func<MapNode, string>)(n =>
             {
-                var nodeNamePart = !string.IsNullOrEmpty(n.Name) ? $" {n.Name}" : "";
-                return $"- {n.RfidId} → {n.NodeId}{nodeNamePart}";
-            });
+                return $"- {n.RfidId} → {n.Id}";
+            }));
             var result = string.Join("\n", rfidList);
 
             if (nodesWithRfid.Count > 10)
@@ -979,13 +975,13 @@ namespace AGVSimulator.Forms
                 {
                     Console.WriteLine($"Map File Load : {filePath}");
 
-                    _mapNodes = result.Nodes;
+                    _simulatorCanvas.Nodes = result.Nodes;
                     _currentMapFilePath = filePath;
 
                     // RFID 자동 할당 제거 - 에디터에서 설정한 값 그대로 사용
 
                     // 시뮬레이터 캔버스에 맵 설정
-                    _simulatorCanvas.Nodes = _mapNodes;
+                    _simulatorCanvas.SetMapLoadResult(result);//.Nodes = _simulatorCanvas.Nodes;
 
                     // 맵 설정 적용 (배경색, 그리드 표시)
                     if (result.Settings != null)
@@ -1053,15 +1049,14 @@ namespace AGVSimulator.Forms
             _startNodeCombo.Items.Clear();
             _targetNodeCombo.Items.Clear();
 
-            if (_mapNodes != null)
+            if (_simulatorCanvas.Nodes != null)
             {
-                foreach (var node in _mapNodes)
+                foreach (var node in _simulatorCanvas.Nodes)
                 {
                     if (node.IsActive && node.HasRfid())
                     {
                         // {rfid} - [{node}] {name} 형식으로 ComboBoxItem 생성
-                        var nodeNamePart = !string.IsNullOrEmpty(node.Name) ? $" {node.Name}" : "";
-                        var displayText = $"{node.RfidId} - [{node.NodeId}]{nodeNamePart}";
+                        var displayText = $"{node.RfidId} - [{node.Id}]";
                         var item = new ComboBoxItem<MapNode>(node, displayText);
 
                         _startNodeCombo.Items.Add(item);
@@ -1112,7 +1107,7 @@ namespace AGVSimulator.Forms
 
             // RFID 위치 설정 관련
             var hasSelectedAGV = _agvListCombo.SelectedItem != null;
-            var hasRfidNodes = _mapNodes != null && _mapNodes.Any(n => n.HasRfid());
+            var hasRfidNodes = _simulatorCanvas.Nodes != null && _simulatorCanvas.Nodes.Any(n => n.HasRfid());
 
             _setPositionButton.Enabled = hasSelectedAGV && hasRfidNodes;
             _rfidTextBox.Enabled = hasSelectedAGV && hasRfidNodes;
@@ -1185,7 +1180,7 @@ namespace AGVSimulator.Forms
 
             // 경로 예측 기반 LiftCalculator를 사용하여 리프트 방향 계산
             var liftInfo = AGVNavigationCore.Utils.LiftCalculator.CalculateLiftInfoWithPathPrediction(
-                currentPos, prevPos.Value, agv.CurrentDirection, _mapNodes);
+                currentPos, prevPos.Value, agv.CurrentDirection, _simulatorCanvas.Nodes);
 
             // 이동 각도 계산 (표시용)
             var moveAngleRad = Math.Atan2(dy, dx);
@@ -1229,7 +1224,7 @@ namespace AGVSimulator.Forms
 
             // 경로 예측 기반 LiftCalculator를 사용하여 리프트 방향 계산
             var liftInfo = AGVNavigationCore.Utils.LiftCalculator.CalculateLiftInfoWithPathPrediction(
-                currentPos, targetPos.Value, agv.CurrentDirection, _mapNodes);
+                currentPos, targetPos.Value, agv.CurrentDirection, _simulatorCanvas.Nodes);
 
             // 도킹 방향 정보 추가
             string dockingInfo = dockingDirection == DockingDirection.Forward ? "전진도킹" : "후진도킹";
@@ -1260,10 +1255,12 @@ namespace AGVSimulator.Forms
         /// <summary>
         /// 노드 ID를 RFID 값으로 변환 (NodeResolver 사용)
         /// </summary>
-        private string GetRfidByNodeId(string nodeId)
+        private ushort GetRfidByNodeId(string nodeId)
         {
-            var node = _mapNodes?.FirstOrDefault(n => n.NodeId == nodeId);
-            return node?.HasRfid() == true ? node.RfidId : nodeId;
+            var node = _simulatorCanvas.Nodes?.FirstOrDefault(n => n.Id == nodeId);
+            if (node == null) return 0;
+            if (node.HasRfid()) return node.RfidId;
+            else return 0;
         }
 
         /// <summary>
@@ -1271,10 +1268,10 @@ namespace AGVSimulator.Forms
         /// </summary>
         private string GetDisplayName(string nodeId)
         {
-            var node = _mapNodes?.FirstOrDefault(n => n.NodeId == nodeId);
-            if (node != null && !string.IsNullOrEmpty(node.RfidId))
+            var node = _simulatorCanvas.Nodes?.FirstOrDefault(n => n.Id == nodeId);
+            if (node != null && node.HasRfid())
             {
-                return node.RfidId;
+                return node.RfidId.ToString("0000");
             }
             return $"({nodeId})";
         }
@@ -1371,7 +1368,7 @@ namespace AGVSimulator.Forms
             {
                 var info = advancedResult.DetailedPath[i];
                 var rfidId = GetRfidByNodeId(info.NodeId);
-                var nextRfidId = info.NextNodeId != null ? GetRfidByNodeId(info.NextNodeId) : "END";
+                var nextRfidId = info.NextNodeId != null ? GetRfidByNodeId(info.NextNodeId).ToString("0000") : "-END-";
 
                 var flags = new List<string>();
                 if (info.CanRotate) flags.Add("회전가능");
@@ -1544,7 +1541,7 @@ namespace AGVSimulator.Forms
         private async void toolStripButton1_Click(object sender, EventArgs e)
         {
             // 맵과 AGV 확인
-            if (_mapNodes == null || _mapNodes.Count == 0)
+            if (_simulatorCanvas.Nodes == null || _simulatorCanvas.Nodes.Count == 0)
             {
                 MessageBox.Show("맵 데이터가 없습니다. 먼저 맵을 로드해주세요.", "알림",
                     MessageBoxButtons.OK, MessageBoxIcon.Warning);
@@ -1560,8 +1557,7 @@ namespace AGVSimulator.Forms
             }
 
             // 도킹 타겟 노드 찾기
-            var dockingTargets = _mapNodes.Where(n =>
-                n.Type == NodeType.Charging || n.Type == NodeType.Loader || n.Type == NodeType.UnLoader || n.Type == NodeType.Clearner || n.Type == NodeType.Buffer).ToList();
+            var dockingTargets = _simulatorCanvas.Nodes.Where(n => n.isDockingNode).ToList();
 
             if (dockingTargets.Count == 0)
             {
@@ -1622,13 +1618,9 @@ namespace AGVSimulator.Forms
         /// </summary>
         private string GetNodeDisplayName(MapNode node)
         {
-            if (node == null)
-                return "-";
-
-            if (!string.IsNullOrEmpty(node.RfidId))
-                return node.RfidId;
-
-            return $"({node.NodeId})";
+            if (node == null) return "-";
+            if (node.HasRfid()) return node.RfidId.ToString("0000");
+            return $"({node.Id})";
         }
 
         /// <summary>
@@ -1655,7 +1647,7 @@ namespace AGVSimulator.Forms
             for (int i = 0; i < _targetNodeCombo.Items.Count; i++)
             {
                 var item = _targetNodeCombo.Items[i] as ComboBoxItem<MapNode>;
-                if (item?.Value?.NodeId == nodeId)
+                if (item?.Value?.Id == nodeId)
                 {
                     _targetNodeCombo.SelectedIndex = i;
                     return;
@@ -1669,7 +1661,7 @@ namespace AGVSimulator.Forms
         private PathTestLogItem CreateTestResultFromUI(MapNode prevNode, MapNode targetNode,
             string directionName, (bool result, string message) calcResult)
         {
-            var currentNode = _mapNodes.FirstOrDefault(n => n.NodeId ==
+            var currentNode = _simulatorCanvas.Nodes.FirstOrDefault(n => n.Id ==
                 (_agvListCombo.SelectedItem as VirtualAGV)?.CurrentNodeId);
 
             var logItem = new PathTestLogItem
@@ -1678,7 +1670,7 @@ namespace AGVSimulator.Forms
                 MotorDirection = directionName,
                 CurrentPosition = GetNodeDisplayName(currentNode),
                 TargetPosition = GetNodeDisplayName(targetNode),
-                DockingPosition = targetNode.Type == NodeType.Charging ? "충전기" : "장비"
+                DockingPosition = targetNode.StationType ==  StationType.Charger ? "충전기" : "장비"
             };
 
             if (calcResult.result)
@@ -1688,7 +1680,7 @@ namespace AGVSimulator.Forms
                 if (currentPath != null && currentPath.Success)
                 {
                     // 도킹 검증
-                    var dockingValidation = DockingValidator.ValidateDockingDirection(currentPath, _mapNodes);
+                    var dockingValidation = DockingValidator.ValidateDockingDirection(currentPath, _simulatorCanvas.Nodes);
 
                     if (dockingValidation.IsValid)
                     {
@@ -1729,7 +1721,7 @@ namespace AGVSimulator.Forms
             var pairs = new List<(MapNode, MapNode)>();
             var processedPairs = new HashSet<string>();
 
-            foreach (var nodeA in _mapNodes)
+            foreach (var nodeA in _simulatorCanvas.Nodes)
             {
                 if (nodeA.ConnectedMapNodes == null || nodeA.ConnectedMapNodes.Count == 0)
                     continue;
@@ -1741,8 +1733,8 @@ namespace AGVSimulator.Forms
                         continue;
 
                     // 중복 방지 (A→B와 B→A를 같은 것으로 간주)
-                    var pairKey1 = $"{nodeA.NodeId}→{nodeB.NodeId}";
-                    var pairKey2 = $"{nodeB.NodeId}→{nodeA.NodeId}";
+                    var pairKey1 = $"{nodeA.Id}→{nodeB.Id}";
+                    var pairKey2 = $"{nodeB.Id}→{nodeA.Id}";
 
                     if (nodeA.HasRfid() && nodeB.HasRfid() && !processedPairs.Contains(pairKey1) && !processedPairs.Contains(pairKey2))
                     {
@@ -1798,7 +1790,7 @@ namespace AGVSimulator.Forms
                     this.Invoke((MethodInvoker)delegate
                     {
                         // RFID 텍스트박스에 값 입력
-                        _rfidTextBox.Text = nodeA.RfidId;
+                        _rfidTextBox.Text = nodeA.RfidId.ToString();
 
                         // 방향 콤보박스 선택
                         SetDirectionComboBox(direction);
@@ -1814,7 +1806,7 @@ namespace AGVSimulator.Forms
                     this.Invoke((MethodInvoker)delegate
                     {
                         // RFID 텍스트박스에 값 입력
-                        _rfidTextBox.Text = nodeB.RfidId;
+                        _rfidTextBox.Text = nodeB.RfidId.ToString();
 
                         // 방향 콤보박스 선택
                         SetDirectionComboBox(direction);
@@ -1848,7 +1840,7 @@ namespace AGVSimulator.Forms
                             prb1.Value = (int)((double)currentTest / totalTests * 100);
 
                             // 목표 노드 콤보박스 선택
-                            SetTargetNodeComboBox(dockingTarget.NodeId);
+                            SetTargetNodeComboBox(dockingTarget.Id);
 
                             // 경로 계산 버튼 클릭 (실제 사용자 동작)
                             var calcResult = CalcPath();
@@ -1955,9 +1947,9 @@ namespace AGVSimulator.Forms
                 if (result == DialogResult.Yes)
                 {
                     // 기존 맵 데이터 삭제
-                    _mapNodes?.Clear();
-                    _mapNodes = new List<MapNode>();
-                    _simulatorCanvas.Nodes = _mapNodes;
+                    _simulatorCanvas.Nodes?.Clear();
+                    _simulatorCanvas.Nodes = new List<MapNode>();
+                    _simulatorCanvas.Nodes = _simulatorCanvas.Nodes;
                     _currentMapFilePath = string.Empty;
                     UpdateNodeComboBoxes();
                     _statusLabel.Text = "맵 초기화 완료 - 스캔 모드 시작";
@@ -1981,16 +1973,16 @@ namespace AGVSimulator.Forms
                 _isMapScanMode = false;
                 btMakeMap.Text = "맵 생성";
                 btMakeMap.BackColor = SystemColors.Control;
-                _statusLabel.Text = $"맵 스캔 완료 - {_mapNodes?.Count ?? 0}개 노드 생성됨";
+                _statusLabel.Text = $"맵 스캔 완료 - {_simulatorCanvas.Nodes?.Count ?? 0}개 노드 생성됨";
 
-                Program.WriteLine($"[맵 스캔] 스캔 모드 종료 - 총 {_mapNodes?.Count ?? 0}개 노드");
+                Program.WriteLine($"[맵 스캔] 스캔 모드 종료 - 총 {_simulatorCanvas.Nodes?.Count ?? 0}개 노드");
 
                 // 맵 저장 권장
-                if (_mapNodes != null && _mapNodes.Count > 0)
+                if (_simulatorCanvas.Nodes != null && _simulatorCanvas.Nodes.Count > 0)
                 {
                     var saveResult = MessageBox.Show(
                         $"맵 스캔이 완료되었습니다.\n\n" +
-                        $"생성된 노드: {_mapNodes.Count}개\n\n" +
+                        $"생성된 노드: {_simulatorCanvas.Nodes.Count}개\n\n" +
                         "맵을 저장하시겠습니까?",
                         "맵 저장",
                         MessageBoxButtons.YesNo,
@@ -2014,11 +2006,11 @@ namespace AGVSimulator.Forms
             try
             {
                 // MapLoader의 표준 저장 메서드 사용 (AGVMapEditor와 동일한 형식)
-                bool success = MapLoader.SaveMapToFile(filePath, _mapNodes);
+                bool success = MapLoader.SaveMapToFile(filePath, _simulatorCanvas.Nodes);
 
                 if (success)
                 {
-                    Program.WriteLine($"[맵 저장] 파일 저장 완료: {filePath} ({_mapNodes.Count}개 노드)");
+                    Program.WriteLine($"[맵 저장] 파일 저장 완료: {filePath} ({_simulatorCanvas.Nodes.Count}개 노드)");
                 }
                 else
                 {
@@ -2035,7 +2027,7 @@ namespace AGVSimulator.Forms
         private void btMapSaveAs_Click(object sender, EventArgs e)
         {
             // 맵 데이터 확인
-            if (_mapNodes == null || _mapNodes.Count == 0)
+            if (_simulatorCanvas.Nodes == null || _simulatorCanvas.Nodes.Count == 0)
             {
                 MessageBox.Show("저장할 맵 데이터가 없습니다.", "알림",
                               MessageBoxButtons.OK, MessageBoxIcon.Information);
@@ -2044,9 +2036,9 @@ namespace AGVSimulator.Forms
 
             using (var saveDialog = new SaveFileDialog())
             {
-                saveDialog.Filter = "AGV Map Files (*.agvmap)|*.agvmap|모든 파일 (*.*)|*.*";
+                saveDialog.Filter = "AGV Map Files (*.json)|*.json|모든 파일 (*.*)|*.*";
                 saveDialog.Title = "맵 파일 저장";
-                saveDialog.DefaultExt = "agvmap";
+                saveDialog.DefaultExt = "json";
 
                 // 현재 파일이 있으면 기본 파일명으로 설정
                 if (!string.IsNullOrEmpty(_currentMapFilePath))
@@ -2057,7 +2049,7 @@ namespace AGVSimulator.Forms
                 else
                 {
                     // 기본 파일명: 날짜_시간 형식
-                    saveDialog.FileName = $"ScanMap_{DateTime.Now:yyyyMMdd_HHmmss}.agvmap";
+                    saveDialog.FileName = $"ScanMap_{DateTime.Now:yyyyMMdd_HHmmss}.json";
                 }
 
                 if (saveDialog.ShowDialog() == DialogResult.OK)
@@ -2421,19 +2413,18 @@ namespace AGVSimulator.Forms
             catch { }
         }
 
-        public void SendTag(string tagno)
+        public void SendTag(ushort tagno)
         {
             if (_emulatorPort == null || !_emulatorPort.IsOpen) return;
 
-            tagno = tagno.PadLeft(6, '0');
-            if (tagno.Length > 6) tagno = tagno.Substring(0, 6);
+            var tagnostr = tagno.ToString("000000");
             
             var barr = new List<byte>();
             barr.Add(0x02);
             barr.Add((byte)'T');
             barr.Add((byte)'A');
             barr.Add((byte)'G');
-            barr.AddRange(System.Text.Encoding.Default.GetBytes(tagno));
+            barr.AddRange(System.Text.Encoding.Default.GetBytes(tagnostr));
             barr.Add((byte)'*');
             barr.Add((byte)'*');
             barr.Add(0x03);

Cs_HMI/Data/NewMap.agvmap

@@ -1,7 +1,7 @@
 {
   "Nodes": [
     {
-      "NodeId": "N001",
+      "Id": "N001",
       "Name": "UNLOADER",
       "Position": "65, 229",
       "Type": 2,
@@ -40,7 +40,7 @@
       "DisplayText": "N001 - UNLOADER - [0001]"
     },
     {
-      "NodeId": "N002",
+      "Id": "N002",
       "Name": "N002",
       "Position": "190, 230",
       "Type": 0,
@@ -80,7 +80,7 @@
       "DisplayText": "N002 - N002 - [0002]"
     },
     {
-      "NodeId": "N003",
+      "Id": "N003",
       "Name": "N003",
       "Position": "296, 266",
       "Type": 0,
@@ -120,7 +120,7 @@
       "DisplayText": "N003 - N003 - [0003]"
     },
     {
-      "NodeId": "N004",
+      "Id": "N004",
       "Name": "N004",
       "Position": "388, 330",
       "Type": 0,
@@ -162,7 +162,7 @@
       "DisplayText": "N004 - N004 - [0004]"
     },
     {
-      "NodeId": "N006",
+      "Id": "N006",
       "Name": "N006",
       "Position": "530, 220",
       "Type": 0,
@@ -202,7 +202,7 @@
       "DisplayText": "N006 - N006 - [0013]"
     },
     {
-      "NodeId": "N007",
+      "Id": "N007",
       "Name": "N007",
       "Position": "589, 184",
       "Type": 0,
@@ -242,7 +242,7 @@
       "DisplayText": "N007 - N007 - [0014]"
     },
     {
-      "NodeId": "N008",
+      "Id": "N008",
       "Name": "N008",
       "Position": "282, 452",
       "Type": 0,
@@ -282,7 +282,7 @@
       "DisplayText": "N008 - N008 - [0009]"
     },
     {
-      "NodeId": "N009",
+      "Id": "N009",
       "Name": "N009",
       "Position": "183, 465",
       "Type": 0,
@@ -322,7 +322,7 @@
       "DisplayText": "N009 - N009 - [0010]"
     },
     {
-      "NodeId": "N010",
+      "Id": "N010",
       "Name": "TOPS",
       "Position": "52, 466",
       "Type": 3,
@@ -361,7 +361,7 @@
       "DisplayText": "N010 - TOPS - [0011]"
     },
     {
-      "NodeId": "N011",
+      "Id": "N011",
       "Name": "N011",
       "Position": "481, 399",
       "Type": 0,
@@ -402,7 +402,7 @@
       "DisplayText": "N011 - N011 - [0005]"
     },
     {
-      "NodeId": "N012",
+      "Id": "N012",
       "Name": "N012",
       "Position": "559, 464",
       "Type": 0,
@@ -442,7 +442,7 @@
       "DisplayText": "N012 - N012 - [0006]"
     },
     {
-      "NodeId": "N013",
+      "Id": "N013",
       "Name": "N013",
       "Position": "640, 513",
       "Type": 0,
@@ -482,7 +482,7 @@
       "DisplayText": "N013 - N013 - [0007]"
     },
     {
-      "NodeId": "N014",
+      "Id": "N014",
       "Name": "LOADER",
       "Position": "728, 573",
       "Type": 1,
@@ -521,7 +521,7 @@
       "DisplayText": "N014 - LOADER - [0008]"
     },
     {
-      "NodeId": "N019",
+      "Id": "N019",
       "Name": "CHARGER #2",
       "Position": "679, 199",
       "Type": 5,
@@ -560,7 +560,7 @@
       "DisplayText": "N019 - CHARGER #2 - [0015]"
     },
     {
-      "NodeId": "N022",
+      "Id": "N022",
       "Name": "N022",
       "Position": "461, 267",
       "Type": 0,
@@ -601,7 +601,7 @@
       "DisplayText": "N022 - N022 - [0012]"
     },
     {
-      "NodeId": "N023",
+      "Id": "N023",
       "Name": "N023",
       "Position": "418, 206",
       "Type": 0,
@@ -641,7 +641,7 @@
       "DisplayText": "N023 - N023 - [0016]"
     },
     {
-      "NodeId": "N024",
+      "Id": "N024",
       "Name": "N024",
       "Position": "476, 141",
       "Type": 0,
@@ -681,7 +681,7 @@
       "DisplayText": "N024 - N024 - [0017]"
     },
     {
-      "NodeId": "N025",
+      "Id": "N025",
       "Name": "N025",
       "Position": "548, 99",
       "Type": 0,
@@ -721,7 +721,7 @@
       "DisplayText": "N025 - N025 - [0018]"
     },
     {
-      "NodeId": "N026",
+      "Id": "N026",
       "Name": "CHARGER #1",
       "Position": "670, 88",
       "Type": 5,
@@ -760,7 +760,7 @@
       "DisplayText": "N026 - CHARGER #1 - [0019]"
     },
     {
-      "NodeId": "LBL001",
+      "Id": "LBL001",
       "Name": "Amkor Technology Korea",
       "Position": "183, 103",
       "Type": 6,
@@ -797,7 +797,7 @@
       "DisplayText": "LBL001 - Amkor Technology Korea"
     },
     {
-      "NodeId": "IMG001",
+      "Id": "IMG001",
       "Name": "logo",
       "Position": "633, 310",
       "Type": 7,
@@ -834,7 +834,7 @@
       "DisplayText": "IMG001 - logo"
     },
     {
-      "NodeId": "N015",
+      "Id": "N015",
       "Name": "",
       "Position": "448, 476",
       "Type": 0,
@@ -874,7 +874,7 @@
       "DisplayText": "N015 - [0037]"
     },
     {
-      "NodeId": "N016",
+      "Id": "N016",
       "Name": "",
       "Position": "425, 524",
       "Type": 0,
@@ -914,7 +914,7 @@
       "DisplayText": "N016 - [0036]"
     },
     {
-      "NodeId": "N017",
+      "Id": "N017",
       "Name": "",
       "Position": "389, 559",
       "Type": 0,
@@ -954,7 +954,7 @@
       "DisplayText": "N017 - [0035]"
     },
     {
-      "NodeId": "N018",
+      "Id": "N018",
       "Name": "",
       "Position": "315, 562",
       "Type": 0,
@@ -995,7 +995,7 @@
       "DisplayText": "N018 - [0034]"
     },
     {
-      "NodeId": "N005",
+      "Id": "N005",
       "Name": "",
       "Position": "227, 560",
       "Type": 0,
@@ -1036,7 +1036,7 @@
       "DisplayText": "N005 - [0033]"
     },
     {
-      "NodeId": "N020",
+      "Id": "N020",
       "Name": "",
       "Position": "142, 557",
       "Type": 0,
@@ -1077,7 +1077,7 @@
       "DisplayText": "N020 - [0032]"
     },
     {
-      "NodeId": "N021",
+      "Id": "N021",
       "Name": "",
       "Position": "60, 559",
       "Type": 0,
@@ -1117,7 +1117,7 @@
       "DisplayText": "N021 - [0031]"
     },
     {
-      "NodeId": "N027",
+      "Id": "N027",
       "Name": "BUF1",
       "Position": "61, 645",
       "Type": 4,
@@ -1156,7 +1156,7 @@
       "DisplayText": "N027 - BUF1 - [0041]"
     },
     {
-      "NodeId": "N028",
+      "Id": "N028",
       "Name": "BUF2",
       "Position": "141, 643",
       "Type": 4,
@@ -1195,7 +1195,7 @@
       "DisplayText": "N028 - BUF2 - [0040]"
     },
     {
-      "NodeId": "N029",
+      "Id": "N029",
       "Name": "BUF3",
       "Position": "229, 638",
       "Type": 4,
@@ -1234,7 +1234,7 @@
       "DisplayText": "N029 - BUF3 - [0039]"
     },
     {
-      "NodeId": "N030",
+      "Id": "N030",
       "Name": "BUF4",
       "Position": "316, 638",
       "Type": 4,
@@ -1273,7 +1273,7 @@
       "DisplayText": "N030 - BUF4 - [0038]"
     },
     {
-      "NodeId": "N031",
+      "Id": "N031",
       "Name": "",
       "Position": "337, 397",
       "Type": 0,

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>
@@ -226,9 +227,6 @@
     <Compile Include="Dialog\fSystem.Designer.cs">
       <DependentUpon>fSystem.cs</DependentUpon>
     </Compile>
-    <Compile Include="Dialog\DriveDetector.cs">
-      <SubType>Form</SubType>
-    </Compile>
     <Compile Include="Dialog\fVolume.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -363,9 +361,6 @@
     <Compile Include="StateMachine\_SPS.cs">
       <SubType>Form</SubType>
     </Compile>
-    <Compile Include="Device\_DeviceManagement.cs">
-      <SubType>Form</SubType>
-    </Compile>
     <Compile Include="StateMachine\_Loop.cs">
       <SubType>Form</SubType>
     </Compile>

Cs_HMI/Project/CSetting.cs

@@ -222,8 +222,6 @@ namespace Project
 
         #region "Charge"
         [Browsable(false)]
-        public int chargerpos { get; set; }
-        [Browsable(false)]
         public int ChargetWaitSec { get; set; }
         [Browsable(false)]
         public int ChargeEmergencyLevel { get; set; }
@@ -240,6 +238,9 @@ namespace Project
         [Browsable(false)]
         public int ChargeSearchTime { get; set; }
 
+        [Category("Charge"), DisplayName("Low Battery Limit"), Description("배터리 부족 경고 알림 기준 (%)")]
+        public int BatteryLimit_Low { get; set; }
+
         #endregion
 
         #region "AGV"
@@ -427,10 +428,10 @@ namespace Project
             if (ChargeEmergencyLevel == 0) ChargeEmergencyLevel = 30;
             if (interval_bms == 0) interval_bms = 10;
 
-            //충전은 10분간격으로 재시도 한다
             if (ChargeRetryTerm == 0) ChargeRetryTerm = 600;
             if (alarmSoundTerm == 0) alarmSoundTerm = 15; //기본 15초
             if (ChargeSearchTime == 0) ChargeSearchTime = 25;
+            if (BatteryLimit_Low == 0) BatteryLimit_Low = 20;
             //최대 충전진행 시간(기본 1시간)
             if (ChargeMaxTime == 0) ChargeMaxTime = 3600;
             // if (interval_iostate == 0 || interval_iostate == 255) interval_iostate = 100;

Cs_HMI/Project/Class/CResult.cs

@@ -22,11 +22,31 @@ namespace Project
         public Color SMSG_ShadowColor = Color.Transparent;
         public float SMSG_ProgressValue = 0;
         public string SMSG_Tag = string.Empty;
-        //public event EventHandler SMSG_Update;
-        //public void UpdateStatusMessage()
-        //{
-        //    SMSG_Update?.Invoke(null, null);
-        //}
+        /// <summary>
+        /// 이동대상위치(상차,하차,충전)
+        /// </summary>
+        private ePosition _targetPos = ePosition.NONE;
+        public string result_message = "";
+        public double result_progressmax = 0;
+        public double result_progressvalue = 0;
+        public DateTime StopMessageTimePLC = DateTime.Parse("1982-11-23");
+        public DateTime StopMessageTimeSWR = DateTime.Parse("1982-11-23");
+        public string StopMessagePLC = string.Empty;
+        public string StopMessageSWR = string.Empty;
+        private ePosition _currentpos = ePosition.NONE;
+        private string _currentposcw = string.Empty;
+        public ushort LastTAG { get; set; } = 0;
+        public ePosition NextPos = ePosition.NONE;
+        private char _comandKit { get; set; }
+        public string Memo;
+        public eResult ResultCode { get; set; }
+        public eECode ResultErrorCode;
+        public string ResultMessage { get; set; }
+        public Boolean isError { get; set; }
+        public int retry = 0;
+        public DateTime retryTime;
+        public Device.Socket.Message RecvMessage;
+
         /// <summary>
         /// 작업시작시간
         /// </summary>
@@ -52,9 +72,6 @@ namespace Project
             }
         }
 
-        //public DateTime ChargeStartTime = DateTime.Parse("1982-11-23");
-
-
         #region "AGV Status Value"
         public string PLC1_RawData { get; set; }
         public string PLC2_RawData { get; set; }
@@ -62,25 +79,7 @@ namespace Project
 
         #endregion
 
-        /// <summary>
-        /// 이동대상위치(상차,하차,충전)
-        /// </summary>
-        private ePosition _targetPos = ePosition.NONE;
-
-      
-        public string result_message = "";
-        public double result_progressmax = 0;
-        public double result_progressvalue = 0;
-
-
-        public DateTime StopMessageTimePLC = DateTime.Parse("1982-11-23");
-        public DateTime StopMessageTimeSWR = DateTime.Parse("1982-11-23");
-        public string StopMessagePLC = string.Empty;
-        public string StopMessageSWR = string.Empty;
-        //public DateTime LastChar
-        //geTime = DateTime.Parse("1982-11-23");
-
-        public ePosition NextPos = ePosition.NONE;
+    
         public ePosition TargetPos
         {
             get
@@ -94,7 +93,7 @@ namespace Project
             }
         }
 
-        private char _comandKit { get; set; }
+      
         public char CommandKit
         {
             get
@@ -109,28 +108,7 @@ namespace Project
             }
         }
 
-
-        //private ePosition _currentPos = ePosition.NONE;
-        //public ePosition CurrentPos
-        //{
-        //    get
-        //    {
-        //        return _currentPos;
-        //    }
-        //    set
-        //    {
-        //        if (_currentPos != value) //값이바뀔떄만 메세지 220628
-        //            PUB.log.Add(string.Format("현재위치 설정:{0}->{1}", _currentPos, value));
-
-        //        _currentPos = value;
-        //    }
-        //}
- 
-        private ePosition _currentpos = ePosition.NONE;
-        private string _currentposcw = string.Empty;
-
-        // public ePosition LastPos = ePosition.NONE;
-        public string LastTAG { get; set; } = string.Empty;
+    
         public ePosition CurrentPos
         {
             get
@@ -161,11 +139,7 @@ namespace Project
                 _currentposcw = value;
             }
         }
-        public string Memo;
-
-        public eResult ResultCode { get; set; }
-        public eECode ResultErrorCode;
-        public string ResultMessage { get; set; }
+    
 
         #region "SetResultMessage"
 
@@ -203,14 +177,7 @@ namespace Project
 
         #endregion
 
-
-     
-        public Boolean isError { get; set; }
-
-        public int retry = 0;
-        public DateTime retryTime;
-        public Device.Socket.Message RecvMessage;
-
+   
         public CResult()
         {
             this.Clear();

Cs_HMI/Project/Device/BMS.cs

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

Cs_HMI/Project/Device/BMSInformationEventArgs.cs

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

Cs_HMI/Project/Device/BMSSerialComm.cs

@@ -0,0 +1,607 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Linq;
+using System.Text;
+using System.Threading;
+
+namespace arDev
+{
+    public abstract class BMSSerialComm : ISerialComm, IDisposable
+    {
+        protected System.IO.Ports.SerialPort _device;
+        protected ManualResetEvent _mre;
+        protected byte[] LastReceiveBuffer = new byte[] { };
+        /// <summary>
+        /// 최종 전송 메세지
+        /// </summary>
+        public byte[] lastSendBuffer = new byte[] { };
+        //public int ValidCheckTimeMSec { get; set; } = 5000;
+        protected List<byte> tempBuffer = new List<byte>();
+        protected Boolean findSTX = false;
+        public string ErrorMessage { get; set; }
+        public DateTime LastConnTime { get; set; }
+        public DateTime LastConnTryTime { get; set; }
+        public DateTime lastSendTime;
+        /// <summary>
+        /// 메세지 수신시 사용하는 내부버퍼
+        /// </summary>
+        protected List<byte> _buffer = new List<byte>();
+        /// <summary>
+        /// 데이터조회간격(초)
+        /// </summary>
+        public float ScanInterval { get; set; }
+
+        // public byte[] LastRecvData;
+        public string LastRecvString
+        {
+            get
+            {
+                if (LastReceiveBuffer == null) return String.Empty;
+                else return System.Text.Encoding.Default.GetString(LastReceiveBuffer);
+            }
+        }
+        /// <summary>
+        /// 마지막으로 데이터를 받은 시간
+        /// </summary>
+        public DateTime lastRecvTime;
+
+
+        public int WriteError = 0;
+        public string WriteErrorMessage = string.Empty;
+        public int WaitTimeout { get; set; } = 1000;
+        public int MinRecvLength { get; set; } = 1;
+
+        // Polling Thread related
+        protected Thread _recvThread;
+        protected volatile bool _isReading = false;
+
+
+        /// <summary>
+        /// 포트이름
+        /// </summary>
+        [Description("시리얼 포트 이름")]
+        [Category("설정"), DisplayName("Port Name")]
+        public string PortName
+        {
+            get
+            {
+                if (_device == null) return string.Empty;
+                else return _device.PortName;
+            }
+            set
+            {
+                if (this.IsOpen)
+                {
+                    Message?.Invoke(this, new MessageEventArgs("포트가 열려있어 포트이름을 변경할 수 없습니다", true));
+                }
+                else if (String.IsNullOrEmpty(value) == false)
+                    _device.PortName = value;
+                else
+                {
+                    Message?.Invoke(this, new MessageEventArgs("No PortName", true));
+                }
+            }
+        }
+
+        public int BaudRate
+        {
+            get
+            {
+                if (_device == null) return 0;
+                else return _device.BaudRate;
+            }
+            set
+            {
+                if (this.IsOpen)
+                {
+                    Message?.Invoke(this, new MessageEventArgs("포트가 열려있어 BaudRate(를) 변경할 수 없습니다", true));
+                }
+                else if (value != 0)
+                    _device.BaudRate = value;
+                else Message?.Invoke(this, new MessageEventArgs("No baud rate", true));
+            }
+        }
+
+
+        public BMSSerialComm()
+        {
+            _device = new System.IO.Ports.SerialPort();
+            this.BaudRate = 9600;
+            ScanInterval = 10;
+            // _device.DataReceived += barcode_DataReceived; // Removed event handler
+            _device.ErrorReceived += this.barcode_ErrorReceived;
+            _device.WriteTimeout = 3000;
+            _device.ReadTimeout = 3000;
+            _device.ReadBufferSize = 8192;
+            _device.WriteBufferSize = 8192;
+            //_device.DiscardInBuffer();
+            //_device.DiscardOutBuffer();
+            ErrorMessage = string.Empty;
+            lastRecvTime = DateTime.Parse("1982-11-23");
+            LastConnTime = DateTime.Parse("1982-11-23");
+            LastConnTryTime = DateTime.Parse("1982-11-23");
+            lastRecvTime = DateTime.Parse("1982-11-23");
+            this._mre = new ManualResetEvent(true);
+        }
+
+        ~BMSSerialComm()
+        {
+            Dispose(false);
+        }
+
+
+        // Flag: Has Dispose already been called?
+        bool disposed = false;
+
+        // Public implementation of Dispose pattern callable by consumers.
+        public void Dispose()
+        {
+            Dispose(true);
+            GC.SuppressFinalize(this);
+        }
+
+        // Protected implementation of Dispose pattern.
+        protected virtual void Dispose(bool disposing)
+        {
+            if (disposed)
+                return;
+
+            if (disposing)
+            {
+                // Free any other managed objects here.
+                //
+            }
+
+            // Stop reading thread
+            _isReading = false;
+            
+            // _device.DataReceived -= barcode_DataReceived; // Removed event handler
+            _device.ErrorReceived -= this.barcode_ErrorReceived;
+
+            if (_recvThread != null && _recvThread.IsAlive)
+            {
+                _recvThread.Join(500); 
+            }
+
+            if (_device != null)
+            {
+                if (_device.IsOpen) _device.Close();
+                _device.Dispose();
+            }
+
+            // Free any unmanaged objects here.
+            //
+            disposed = true;
+        }
+
+        public Boolean Open()
+        {
+            try
+            {
+                if (_device.IsOpen == false)
+                {
+                    _device.Open();
+                }
+
+                if (_device.IsOpen)
+                {
+                    // Start polling thread
+                    if (_isReading == false)
+                    {
+                        _isReading = true;
+                        _recvThread = new Thread(ReadPort);
+                        _recvThread.IsBackground = true;
+                        _recvThread.Start();
+                    }
+                    return true;
+                }
+                return false;
+            }
+            catch (Exception ex)
+            {
+                ErrorMessage = ex.Message;
+                Message.Invoke(this, new MessageEventArgs(ex.Message, true));
+                return false;
+            }
+        }
+        public string GetHexString(Byte[] input)
+        {
+            System.Text.StringBuilder sb = new System.Text.StringBuilder();
+            foreach (byte b in input)
+                sb.Append(" " + b.ToString("X2"));
+            return sb.ToString();
+        }
+
+        /// <summary>
+        /// 포트가 열려있는지 확인
+        /// </summary>
+        [Description("현재 시리얼포트가 열려있는지 확인합니다")]
+        [Category("정보"), DisplayName("Port Open")]
+        public Boolean IsOpen
+        {
+            get
+            {
+                if (_device == null) return false;
+                return _device.IsOpen;
+            }
+        }
+
+        public virtual bool Close()
+        {
+            try
+            {
+                _isReading = false; // Stop thread loop
+
+                if (_recvThread != null && _recvThread.IsAlive)
+                {
+                    if (!_recvThread.Join(500)) // Wait for thread to finish
+                    {
+                         // _recvThread.Abort(); // Avoid Abort if possible
+                    }
+                }
+
+                if (_device != null && _device.IsOpen)
+                {
+                    _device.DiscardInBuffer();
+                    _device.DiscardOutBuffer();
+                    _device.Close(); //dispose에서는 포트를 직접 클리어하지 않게 해뒀다.
+                    return true;
+                }
+                else return false;
+            }
+            catch (Exception)
+            {
+                return false;
+            }
+        }
+        protected Boolean RaiseRecvData()
+        {
+            return RaiseRecvData(LastReceiveBuffer.ToArray(), false);
+        }
+        /// <summary>
+        /// 수신받은 메세지를 발생 시킵니다
+        /// </summary>
+        /// <param name="data"></param>
+        /// <returns></returns>
+        public virtual Boolean RaiseRecvData(byte[] Data, bool udpatelastbuffer)
+        {
+            //181206 - 최종수신 메세지 기록
+            lastRecvTime = DateTime.Now;
+            if (udpatelastbuffer && Data != null)
+            {
+                if (LastReceiveBuffer == null || LastReceiveBuffer.Length != Data.Length)
+                {
+                    LastReceiveBuffer = new byte[Data.Length];
+                    Array.Copy(Data, LastReceiveBuffer, Data.Length);
+                }
+            }
+
+            try
+            {
+                // UI update might need Invoke if this event handler updates UI directly, 
+                // but usually the subscriber handles Invoke. 
+                // Since we are running on a background thread now, subscribers must be aware.
+                Message?.Invoke(this, new MessageEventArgs(Data, true));    //recvmessage
+                if (ProcessRecvData(Data) == false)
+                {
+                    //Message?.Invoke(this, new MessageEventArgs(Data, true));    //recvmessage
+                    Message?.Invoke(this, new MessageEventArgs(this.ErrorMessage, true));   //errormessage
+                    return false;
+                }
+                else
+                {
+
+                    return true;
+                }
+            }
+            catch (Exception ex)
+            {
+                this.ErrorMessage = ex.Message;
+                this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
+                return false;
+            }
+        }
+
+        /// <summary>
+        /// 수신받은 자료를 처리한다
+        /// </summary>
+        /// <param name="data"></param>
+        /// <returns></returns>
+        public abstract bool ProcessRecvData(byte[] data);
+
+        #region "Internal Events"
+
+        void barcode_ErrorReceived(object sender, System.IO.Ports.SerialErrorReceivedEventArgs e)
+        {
+            Message?.Invoke(this, new MessageEventArgs(e.ToString(), true));
+        }
+
+        byte[] buffer = new byte[] { };
+        
+        // Replaced with ReadPort Loop
+        /*
+        void barcode_DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e)
+        {
+            
+            try
+            {
+                int ReadCount = _device.BytesToRead;
+
+                buffer = new byte[ReadCount];
+                _device.Read(buffer, 0, buffer.Length);
+
+                System.Text.StringBuilder LogMsg = new StringBuilder();
+
+                byte[] remainBuffer;
+            Repeat:
+                if (CustomParser(buffer, out remainBuffer))
+                {
+                    //분석완료이므로 받은 데이터를 버퍼에 기록한다
+                    if (LastReceiveBuffer == null || (LastReceiveBuffer.Length != tempBuffer.Count))
+                        Array.Resize(ref LastReceiveBuffer, tempBuffer.Count);
+                    Array.Copy(tempBuffer.ToArray(), LastReceiveBuffer, tempBuffer.Count);
+                    tempBuffer.Clear();
+
+                    //수신메세지발생
+                    RaiseRecvData();
+                    if (remainBuffer != null && remainBuffer.Length > 0)
+                    {
+                        //버퍼를 변경해서 다시 전송을 해준다.
+                        Array.Resize(ref buffer, remainBuffer.Length);
+                        Array.Copy(remainBuffer, buffer, remainBuffer.Length);
+                        goto Repeat; //남은 버퍼가 있다면 진행을 해준다.
+                    }
+                }
+
+            }
+            catch (Exception ex)
+            {
+                //if (IsOpen)
+                //{
+                //    //_device.DiscardInBuffer();
+                //    //_device.DiscardOutBuffer();
+                //}
+                ErrorMessage = ex.Message;
+                this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
+            }
+
+        }
+        */
+
+        void ReadPort()
+        {
+            while (_isReading)
+            {
+                try
+                {
+                    if (_device == null || !_device.IsOpen)
+                    {
+                        Thread.Sleep(100);
+                        continue;
+                    }
+
+                    int readCount = _device.BytesToRead;
+                    if (readCount > 0)
+                    {
+                        byte[] buffer = new byte[readCount];
+                        _device.Read(buffer, 0, buffer.Length);
+
+                        byte[] remainBuffer;
+                    Repeat:
+                        if (CustomParser(buffer, out remainBuffer))
+                        {
+                            //분석완료이므로 받은 데이터를 버퍼에 기록한다
+                            if (LastReceiveBuffer == null || (LastReceiveBuffer.Length != tempBuffer.Count))
+                                Array.Resize(ref LastReceiveBuffer, tempBuffer.Count);
+                            Array.Copy(tempBuffer.ToArray(), LastReceiveBuffer, tempBuffer.Count);
+                            tempBuffer.Clear();
+
+                            //수신메세지발생
+                            RaiseRecvData();
+                            if (remainBuffer != null && remainBuffer.Length > 0)
+                            {
+                                //버퍼를 변경해서 다시 전송을 해준다.
+                                buffer = new byte[remainBuffer.Length]; // Reallocate buffer for remaining data
+                                Array.Copy(remainBuffer, buffer, remainBuffer.Length);
+                                goto Repeat; //남은 버퍼가 있다면 진행을 해준다.
+                            }
+                        }
+                    }
+                    else
+                    {
+                        Thread.Sleep(20); // Data 없음, 대기
+                    }
+                }
+                catch (Exception ex)
+                {
+                    // Thread 상에서 Exception 발생 시 로그 남기고 계속 진행 여부 결정
+                    // 여기서는 에러 메시지 발생시키고 Sleep
+                    ErrorMessage = ex.Message;
+                    this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
+                    Thread.Sleep(1000); 
+                }
+            }
+        }
+
+
+        #endregion
+
+        #region "External Events"
+
+
+        /// <summary>
+        /// 오류 및 기타 일반 메세지
+        /// </summary>
+        public event EventHandler<MessageEventArgs> Message;
+
+        #endregion
+
+        #region "Event Args"
+
+        /// <summary>
+        /// 데이터를 수신할떄 사용함(RAW 포함)
+        /// </summary>
+        public class ReceiveDataEventArgs : EventArgs
+        {
+            private byte[] _buffer = null;
+
+            /// <summary>
+            /// 바이트배열의 버퍼값
+            /// </summary>
+            public byte[] Value { get { return _buffer; } }
+
+            /// <summary>
+            /// 버퍼(바이트배열)의 데이터를 문자로 반환합니다.
+            /// </summary>
+            public string StrValue
+            {
+                get
+                {
+                    //return string.Empty; 
+
+                    if (_buffer == null || _buffer.Length < 1) return string.Empty;
+                    else return System.Text.Encoding.Default.GetString(_buffer);
+                }
+            }
+            public ReceiveDataEventArgs(byte[] buffer)
+            {
+                _buffer = buffer;
+            }
+        }
+
+        /// <summary>
+        /// 메세지를 강제 발생
+        /// </summary>
+        /// <param name="mt"></param>
+        /// <param name="message"></param>
+        protected virtual void RaiseMessage(MessageType mt, string message)
+        {
+            this.Message?.Invoke(this, new MessageEventArgs(mt, message));
+        }
+        public enum MessageType
+        {
+            Normal,
+            Error,
+            Send,
+            Recv,
+        }
+
+        public class MessageEventArgs : EventArgs
+        {
+            public MessageType MsgType { get; set; }
+            private string _message = string.Empty;
+
+            /// <summary>
+            /// Recv,Send,Normal,Error 모두 지원
+            /// </summary>
+            public string Message { get { return _message; } }
+
+            private byte[] _data = null;
+
+            /// <summary>
+            /// Recv,Send에서만 값이 존재 합니다
+            /// </summary>
+            public byte[] Data { get { return _data; } }
+            public MessageEventArgs(string Message, bool isError = false)
+            {
+                if (isError) MsgType = MessageType.Error;
+                else MsgType = MessageType.Normal;
+                _message = Message;
+            }
+            public MessageEventArgs(MessageType msgtype, string Message)
+            {
+                MsgType = msgtype;
+                _message = Message;
+                _data = System.Text.Encoding.Default.GetBytes(Message);
+            }
+
+            public MessageEventArgs(byte[] buffer, bool isRecv = true)
+            {
+                if (isRecv) MsgType = MessageType.Recv;
+                else MsgType = MessageType.Send;
+                _data = new byte[buffer.Length];
+                Array.Copy(buffer, _data, Data.Length);
+                _message = System.Text.Encoding.Default.GetString(_data);
+            }
+
+        }
+
+        #endregion
+
+        protected abstract bool CustomParser(byte[] buf, out byte[] remainBuffer);
+
+        /// <summary>
+        /// 포트가 열려있거나 데이터 수신시간이 없는경우 false를 반환합니다
+        /// </summary>
+        public Boolean IsValid
+        {
+            get
+            {
+                if (IsOpen == false) return false;
+                if (lastRecvTime.Year == 1982) return false;
+                var ts = DateTime.Now - lastRecvTime;
+                if (ts.TotalSeconds > (this.ScanInterval * 2.5)) return false;
+                return true;
+            }
+        }
+        protected bool WriteData(string cmd)
+        {
+            return WriteData(System.Text.Encoding.Default.GetBytes(cmd));
+        }
+        /// <summary>
+        /// 포트에 쓰기(barcode_DataReceived 이벤트로 메세지수신)
+        /// </summary>
+        protected Boolean WriteData(byte[] data)
+        {
+            Boolean bRet = false;
+
+            //171205 : 타임아웃시간추가
+            if (!_mre.WaitOne(WaitTimeout))
+            {
+                ErrorMessage = $"WriteData:MRE:WaitOne:TimeOut {WaitTimeout}ms";
+                this.Message?.Invoke(this, new MessageEventArgs(ErrorMessage, true));
+                return false;
+            }
+
+            _mre.Reset();
+
+            //Array.Resize(ref data, data.Length + 2);
+
+            try
+            {
+                lastSendTime = DateTime.Now;
+                if (lastSendBuffer == null) lastSendBuffer = new byte[data.Length]; //171113
+                else Array.Resize(ref lastSendBuffer, data.Length);
+                Array.Copy(data, lastSendBuffer, data.Length);
+
+                for (int i = 0; i < data.Length; i++)
+                    _device.Write(data, i, 1);
+
+                //_device.Write(data, 0, data.Length);
+
+                //171113
+                this.Message?.Invoke(this, new MessageEventArgs(data, false));
+
+                bRet = true;
+                WriteError = 0;
+                WriteErrorMessage = string.Empty;
+            }
+            catch (Exception ex)
+            {
+                // this.isinit = false;
+                this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
+                bRet = false;
+                WriteError += 1; //연속쓰기오류횟수
+                WriteErrorMessage = ex.Message;
+            }
+            finally
+            {
+                _mre.Set();
+            }
+            return bRet;
+        }
+    }
+
+
+}

Cs_HMI/Project/Device/Xbee.cs

@@ -14,11 +14,11 @@ using System.Windows.Forms;
 
 namespace Project.Device
 {
-    public class Xbee : SerialPort
+    public class Xbee : SerialPort, arDev.ISerialComm
     {
         public string buffer = string.Empty;
         public System.Text.StringBuilder newbuffer = new StringBuilder();
-        public string errorMessage = string.Empty;
+        public string ErrorMessage { get; set; } = string.Empty;
         public DateTime LastStatusSendTime { get; set; } = DateTime.Now;
         private EEProtocol proto;
 
@@ -38,6 +38,8 @@ namespace Project.Device
 
         public Xbee()
         {
+            this.WriteTimeout = 500;
+            this.ReadTimeout = 500;
             this.DataReceived += Xbee_DataReceived;
             proto = new EEProtocol();
             proto.OnDataReceived += Proto_OnDataReceived;
@@ -65,11 +67,23 @@ namespace Project.Device
             }
             catch (Exception ex)
             {
-                errorMessage = ex.Message;
+                ErrorMessage = ex.Message;
                 return false;
             }
         }
+        public new bool Close()
+        {
+            try
+            {
+                base.Close();
+                return true;
+            }
+            catch
+            {
+                return false;
+            }
 
+        }
         public new bool Open()
         {
             try
@@ -79,8 +93,8 @@ namespace Project.Device
             }
             catch (Exception ex)
             {
-                errorMessage = ex.Message;
-                PUB.logxbee.AddE(errorMessage);
+                ErrorMessage = ex.Message;
+                PUB.logxbee.AddE(ErrorMessage);
                 return false;
             }
         }
@@ -92,19 +106,14 @@ namespace Project.Device
             var cmd = e.ReceivedPacket.Command.ToString("X2");
             var id = e.ReceivedPacket.ID.ToString("X2");
             PUB.logxbee.Add("RX", $"{hexstrRaw}\nID:{id},CMD:{cmd},DATA:{hexstr}");
-
             ProtocReceived?.Invoke(this, e);
-
-
-
-
         }
+
         private void Proto_OnMessage(object sender, EEProtocol.MessageEventArgs e)
         {
             MessageReceived?.Invoke(this, new MessageArgs(e.IsError, e.Message));
         }
 
-
         private void Xbee_DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e)
         {
             var dev = sender as System.IO.Ports.SerialPort;
@@ -112,6 +121,7 @@ namespace Project.Device
             dev.Read(buffer, 0, buffer.Length);
             proto.ProcessReceivedData(buffer);
         }
+
         /// <summary>
         /// 이동완료 신호 전송
         /// </summary>
@@ -147,10 +157,12 @@ namespace Project.Device
             byte cmd = (byte)ENIGProtocol.AGVCommandEH.Error;
             if (errormessage.Length > 30) errormessage = errormessage.Substring(0, 29);
 
-            var data = new byte[] { (byte)errcode };
+            var data = new List<byte>();
+            data.Add((byte)errcode);
             var datamsg = System.Text.Encoding.Default.GetBytes(errormessage);
+            data.AddRange(datamsg);
 
-            var packet = proto.CreatePacket(id, cmd, data);
+            var packet = proto.CreatePacket(id, cmd, data.ToArray());
             Send(packet);
         }
 
@@ -166,12 +178,18 @@ namespace Project.Device
         public bool CleanerInComplete { get; set; }
         public bool CleanerOutComplete { get; set; }
 
+        ManualResetEvent sendlock = new ManualResetEvent(true);
+
 
         /// <summary>
         /// AGV상태를 Xbee 로 전송한다
         /// </summary>
         public void SendStatus()
         {
+            if (this.IsOpen == false) return;
+            if (sendlock.WaitOne() == false) return;
+            sendlock.Reset();
+
             /*
             Mode[1] : 0=manual, 1=auto
             RunSt[1] : 0=stop, 1=run, 2=error
@@ -222,17 +240,17 @@ namespace Project.Device
                 data[5] = (byte)((VAR.BOOL[eVarBool.FLAG_CHARGEONA] || VAR.BOOL[eVarBool.FLAG_CHARGEONM]) ? 1 : 0);
 
                 // CartSt
-                if (PUB.AGV.signal.cart_detect1 && PUB.AGV.signal.cart_detect2)
+                if (PUB.AGV.signal2.cart_detect1 && PUB.AGV.signal2.cart_detect2)
                     data[6] = 1; // 센서두개가 모두 감지되는 경우
-                else if (PUB.AGV.signal.cart_detect1 == false && PUB.AGV.signal.cart_detect2 == false)
+                else if (PUB.AGV.signal2.cart_detect1 == false && PUB.AGV.signal2.cart_detect2 == false)
                     data[6] = 0; // 센서두개가 모두 감지되지 않는 경우
                 else
                     data[6] = 2; // 센서하나만 감지되는 경우
 
                 // LiftSt
-                if (PUB.AGV.signal.lift_up)
+                if (PUB.AGV.signal1.lift_up)
                     data[7] = 1; // 위로 올라가는 경우
-                else if (PUB.AGV.signal.lift_down)
+                else if (PUB.AGV.signal1.lift_down)
                     data[7] = 0; // 아래로 내려가는 경우
                 else
                     data[7] = 2; // unknown (기본값)
@@ -246,14 +264,21 @@ namespace Project.Device
                 var cmd = (byte)ENIGProtocol.AGVCommandEH.Status;
                 var packet = proto.CreatePacket(PUB.setting.XBE_ID, cmd, data);
                 if (Send(packet))
-                    PUB.logxbee.AddI($"Send status {packet.Length} {packet.HexString()}");
+                    PUB.logxbee.AddI($"Send status [O] : {packet.Length} {packet.HexString()}");
+                else
+                    PUB.logxbee.AddE($"Send status [X] : {packet.Length} {packet.HexString()}");
                 LastStatusSendTime = DateTime.Now;
             }
             catch (Exception ex)
             {
-                errorMessage = ex.Message;
-                PUB.logxbee.AddE(errorMessage);
+                ErrorMessage = ex.Message;
+                PUB.logxbee.AddE(ErrorMessage);
             }
+            finally
+            {
+                sendlock.Set();
+            }
+
         }
 
 

Cs_HMI/Project/Device/_DeviceManagement.cs

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

Cs_HMI/Project/Dialog/DriveDetector.cs

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

Cs_HMI/Project/Dialog/fLog.Designer.cs

@@ -31,16 +31,15 @@
             this.rtsys = new arCtl.LogTextBox();
             this.rtTx = new arCtl.LogTextBox();
             this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
-            this.rtAGV = new arCtl.LogTextBox();
-            this.rtBMS = new arCtl.LogTextBox();
-            this.rtXbee = new arCtl.LogTextBox();
             this.panel1 = new System.Windows.Forms.Panel();
+            this.rtXbee = new arCtl.LogTextBox();
             this.label1 = new System.Windows.Forms.Label();
             this.panel2 = new System.Windows.Forms.Panel();
-            this.panel3 = new System.Windows.Forms.Panel();
-            this.panel4 = new System.Windows.Forms.Panel();
-            this.label2 = new System.Windows.Forms.Label();
+            this.rtBMS = new arCtl.LogTextBox();
             this.label3 = new System.Windows.Forms.Label();
+            this.panel4 = new System.Windows.Forms.Panel();
+            this.rtAGV = new arCtl.LogTextBox();
+            this.label2 = new System.Windows.Forms.Label();
             this.tableLayoutPanel1.SuspendLayout();
             this.panel1.SuspendLayout();
             this.panel2.SuspendLayout();
@@ -99,8 +98,7 @@
             this.tableLayoutPanel1.Controls.Add(this.rtsys, 0, 0);
             this.tableLayoutPanel1.Controls.Add(this.rtTx, 2, 0);
             this.tableLayoutPanel1.Controls.Add(this.panel1, 1, 1);
-            this.tableLayoutPanel1.Controls.Add(this.panel2, 3, 1);
-            this.tableLayoutPanel1.Controls.Add(this.panel3, 2, 1);
+            this.tableLayoutPanel1.Controls.Add(this.panel2, 2, 1);
             this.tableLayoutPanel1.Controls.Add(this.panel4, 0, 1);
             this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
             this.tableLayoutPanel1.Location = new System.Drawing.Point(0, 0);
@@ -111,45 +109,15 @@
             this.tableLayoutPanel1.Size = new System.Drawing.Size(681, 495);
             this.tableLayoutPanel1.TabIndex = 2;
             // 
-            // rtAGV
+            // panel1
             // 
-            this.rtAGV.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(224)))), ((int)(((byte)(224)))), ((int)(((byte)(224)))));
-            this.rtAGV.ColorList = new arCtl.sLogMessageColor[0];
-            this.rtAGV.DateFormat = "mm:ss.fff";
-            this.rtAGV.DefaultColor = System.Drawing.Color.LightGray;
-            this.rtAGV.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.rtAGV.EnableDisplayTimer = false;
-            this.rtAGV.EnableGubunColor = true;
-            this.rtAGV.Font = new System.Drawing.Font("맑은 고딕", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.rtAGV.ListFormat = "[{0}] {1}";
-            this.rtAGV.Location = new System.Drawing.Point(0, 14);
-            this.rtAGV.MaxListCount = ((ushort)(1000));
-            this.rtAGV.MaxTextLength = ((uint)(400000u));
-            this.rtAGV.MessageInterval = 50;
-            this.rtAGV.Name = "rtAGV";
-            this.rtAGV.Size = new System.Drawing.Size(164, 129);
-            this.rtAGV.TabIndex = 2;
-            this.rtAGV.Text = "";
-            // 
-            // rtBMS
-            // 
-            this.rtBMS.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(224)))), ((int)(((byte)(224)))), ((int)(((byte)(224)))));
-            this.rtBMS.ColorList = new arCtl.sLogMessageColor[0];
-            this.rtBMS.DateFormat = "mm:ss.fff";
-            this.rtBMS.DefaultColor = System.Drawing.Color.LightGray;
-            this.rtBMS.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.rtBMS.EnableDisplayTimer = false;
-            this.rtBMS.EnableGubunColor = true;
-            this.rtBMS.Font = new System.Drawing.Font("맑은 고딕", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.rtBMS.ListFormat = "[{0}] {1}";
-            this.rtBMS.Location = new System.Drawing.Point(0, 14);
-            this.rtBMS.MaxListCount = ((ushort)(1000));
-            this.rtBMS.MaxTextLength = ((uint)(400000u));
-            this.rtBMS.MessageInterval = 50;
-            this.rtBMS.Name = "rtBMS";
-            this.rtBMS.Size = new System.Drawing.Size(165, 129);
-            this.rtBMS.TabIndex = 2;
-            this.rtBMS.Text = "";
+            this.panel1.Controls.Add(this.rtXbee);
+            this.panel1.Controls.Add(this.label1);
+            this.panel1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.panel1.Location = new System.Drawing.Point(173, 349);
+            this.panel1.Name = "panel1";
+            this.panel1.Size = new System.Drawing.Size(164, 143);
+            this.panel1.TabIndex = 3;
             // 
             // rtXbee
             // 
@@ -171,16 +139,6 @@
             this.rtXbee.TabIndex = 2;
             this.rtXbee.Text = "";
             // 
-            // panel1
-            // 
-            this.panel1.Controls.Add(this.rtXbee);
-            this.panel1.Controls.Add(this.label1);
-            this.panel1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.panel1.Location = new System.Drawing.Point(173, 349);
-            this.panel1.Name = "panel1";
-            this.panel1.Size = new System.Drawing.Size(164, 143);
-            this.panel1.TabIndex = 3;
-            // 
             // label1
             // 
             this.label1.Dock = System.Windows.Forms.DockStyle.Top;
@@ -193,21 +151,44 @@
             // 
             // panel2
             // 
+            this.tableLayoutPanel1.SetColumnSpan(this.panel2, 2);
             this.panel2.Controls.Add(this.rtBMS);
             this.panel2.Controls.Add(this.label3);
             this.panel2.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.panel2.Location = new System.Drawing.Point(513, 349);
+            this.panel2.Location = new System.Drawing.Point(343, 349);
             this.panel2.Name = "panel2";
-            this.panel2.Size = new System.Drawing.Size(165, 143);
+            this.panel2.Size = new System.Drawing.Size(335, 143);
             this.panel2.TabIndex = 4;
             // 
-            // panel3
+            // rtBMS
             // 
-            this.panel3.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.panel3.Location = new System.Drawing.Point(343, 349);
-            this.panel3.Name = "panel3";
-            this.panel3.Size = new System.Drawing.Size(164, 143);
-            this.panel3.TabIndex = 5;
+            this.rtBMS.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(224)))), ((int)(((byte)(224)))), ((int)(((byte)(224)))));
+            this.rtBMS.ColorList = new arCtl.sLogMessageColor[0];
+            this.rtBMS.DateFormat = "mm:ss.fff";
+            this.rtBMS.DefaultColor = System.Drawing.Color.LightGray;
+            this.rtBMS.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.rtBMS.EnableDisplayTimer = false;
+            this.rtBMS.EnableGubunColor = true;
+            this.rtBMS.Font = new System.Drawing.Font("맑은 고딕", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.rtBMS.ListFormat = "[{0}] {1}";
+            this.rtBMS.Location = new System.Drawing.Point(0, 14);
+            this.rtBMS.MaxListCount = ((ushort)(1000));
+            this.rtBMS.MaxTextLength = ((uint)(400000u));
+            this.rtBMS.MessageInterval = 50;
+            this.rtBMS.Name = "rtBMS";
+            this.rtBMS.Size = new System.Drawing.Size(335, 129);
+            this.rtBMS.TabIndex = 2;
+            this.rtBMS.Text = "";
+            // 
+            // label3
+            // 
+            this.label3.Dock = System.Windows.Forms.DockStyle.Top;
+            this.label3.Location = new System.Drawing.Point(0, 0);
+            this.label3.Name = "label3";
+            this.label3.Size = new System.Drawing.Size(335, 14);
+            this.label3.TabIndex = 3;
+            this.label3.Text = "BMS";
+            this.label3.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             // 
             // panel4
             // 
@@ -219,6 +200,26 @@
             this.panel4.Size = new System.Drawing.Size(164, 143);
             this.panel4.TabIndex = 6;
             // 
+            // rtAGV
+            // 
+            this.rtAGV.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(224)))), ((int)(((byte)(224)))), ((int)(((byte)(224)))));
+            this.rtAGV.ColorList = new arCtl.sLogMessageColor[0];
+            this.rtAGV.DateFormat = "mm:ss.fff";
+            this.rtAGV.DefaultColor = System.Drawing.Color.LightGray;
+            this.rtAGV.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.rtAGV.EnableDisplayTimer = false;
+            this.rtAGV.EnableGubunColor = true;
+            this.rtAGV.Font = new System.Drawing.Font("맑은 고딕", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.rtAGV.ListFormat = "[{0}] {1}";
+            this.rtAGV.Location = new System.Drawing.Point(0, 14);
+            this.rtAGV.MaxListCount = ((ushort)(1000));
+            this.rtAGV.MaxTextLength = ((uint)(400000u));
+            this.rtAGV.MessageInterval = 50;
+            this.rtAGV.Name = "rtAGV";
+            this.rtAGV.Size = new System.Drawing.Size(164, 129);
+            this.rtAGV.TabIndex = 2;
+            this.rtAGV.Text = "";
+            // 
             // label2
             // 
             this.label2.Dock = System.Windows.Forms.DockStyle.Top;
@@ -229,16 +230,6 @@
             this.label2.Text = "AGV";
             this.label2.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             // 
-            // label3
-            // 
-            this.label3.Dock = System.Windows.Forms.DockStyle.Top;
-            this.label3.Location = new System.Drawing.Point(0, 0);
-            this.label3.Name = "label3";
-            this.label3.Size = new System.Drawing.Size(165, 14);
-            this.label3.TabIndex = 3;
-            this.label3.Text = "BMS";
-            this.label3.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            // 
             // fLog
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
@@ -269,7 +260,6 @@
         private System.Windows.Forms.Panel panel1;
         private System.Windows.Forms.Label label1;
         private System.Windows.Forms.Panel panel2;
-        private System.Windows.Forms.Panel panel3;
         private System.Windows.Forms.Panel panel4;
         private System.Windows.Forms.Label label3;
         private System.Windows.Forms.Label label2;

Cs_HMI/Project/PUB.cs

@@ -31,7 +31,12 @@ namespace Project
         public static bool AutRebootAlreay = false;
         public static bool DriveSpeed = false;
         public static AGVNavigationCore.Controls.UnifiedAGVCanvas _mapCanvas;
-        public static List<MapNode> _mapNodes;
+        //public static List<MapNode> _mapNodes;
+
+        /// <summary>
+        /// 다음 작업 명령 (PickOn/PickOff)
+        /// </summary>
+        public static ENIGProtocol.AGVCommandHE NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop;
 
         /// <summary>
         /// 가상 AGV (시뮬레이션용)
@@ -607,26 +612,30 @@ namespace Project
         #region VirtualAGV 실제 데이터 동기화
         public static MapNode FindByNodeID(string nodeidx)
         {
+            var _mapNodes = PUB._mapCanvas.Nodes;
             if (_mapNodes == null || _mapNodes.Any() == false) return null;
             if (nodeidx.isEmpty()) return null;
-            return _mapNodes.Where(t => t.NodeId.Equals(nodeidx)).FirstOrDefault();
+            return _mapNodes.Where(t => t.Id.Equals(nodeidx)).FirstOrDefault();
         }
         public static MapNode FindByRFID(string rfidValue)
         {
+            var _mapNodes = PUB._mapCanvas.Nodes;
             if (_mapNodes == null || _mapNodes.Any() == false) return null;
             if (rfidValue.isEmpty()) return null;
             return _mapNodes.Where(t => t.RfidId.Equals(rfidValue)).FirstOrDefault();
         }
         public static List<MapNode> FindByNodeAlias(string alias)
         {
+            var _mapNodes = PUB._mapCanvas.Nodes;
             if (_mapNodes == null || _mapNodes.Any() == false) return null;
             if (alias.isEmpty()) return null;
-            var lst = _mapNodes.Where(t => t.NodeAlias.Equals(alias));
+            var lst = _mapNodes.Where(t => t.AliasName.Equals(alias));
             if (lst.Any() == false) return null;
             return lst.ToList();
         }
         public static List<MapNode> FindByNodeType(AGVNavigationCore.Models.MapNode type)
         {
+            var _mapNodes = PUB._mapCanvas.Nodes;
             if (_mapNodes == null || _mapNodes.Any() == false) return null;
             var lst = _mapNodes.Where(t => t.Type.Equals(type));
             if (lst.Any() == false) return null;
@@ -638,8 +647,9 @@ namespace Project
         /// <param name="rfidId">읽은 RFID ID</param>
         /// <param name="motorDirection">모터 방향 (Forward/Backward)</param>
         /// <returns>업데이트 성공 여부</returns>
-        public static bool UpdateAGVFromRFID(string rfidId, AgvDirection motorDirection = AgvDirection.Forward)
+        public static bool UpdateAGVFromRFID(ushort rfidId, AgvDirection motorDirection = AgvDirection.Forward)
         {
+            var _mapNodes = PUB._mapCanvas.Nodes;
             if (_virtualAGV == null || _mapNodes == null) return false;
 
             // RFID에 해당하는 노드 찾기
@@ -649,7 +659,7 @@ namespace Project
                 _virtualAGV.SetPosition(node, motorDirection);
                 RefreshAGVCanvas();
 
-                log.Add($"[AGV] RFID {rfidId} 감지 → 노드 {node.NodeId} 위치 업데이트 (방향: {motorDirection})");
+                log.Add($"[AGV] RFID {rfidId} 감지 → 노드 {node.Id} 위치 업데이트 (방향: {motorDirection})");
                 return true;
             }
 
@@ -665,9 +675,10 @@ namespace Project
         /// <returns>업데이트 성공 여부</returns>
         public static bool UpdateAGVToNode(string nodeId, AgvDirection motorDirection = AgvDirection.Forward)
         {
+            var _mapNodes = PUB._mapCanvas.Nodes;
             if (_virtualAGV == null || _mapNodes == null) return false;
 
-            var node = _mapNodes.FirstOrDefault(n => n.NodeId == nodeId);
+            var node = _mapNodes.FirstOrDefault(n => n.Id == nodeId);
             if (node != null)
             {
                 _virtualAGV.SetPosition(node, motorDirection);
@@ -724,7 +735,7 @@ namespace Project
         {
             if (_virtualAGV == null) return;
 
-            _virtualAGV.BatteryLevel = batteryLevel;
+            _virtualAGV.SetBatteryLevel(batteryLevel);
             RefreshAGVCanvas();
         }
 
@@ -739,42 +750,7 @@ namespace Project
             }
         }
 
-        /// <summary>
-        /// 현재 AGV의 노드 ID 가져오기
-        /// </summary>
-        /// <returns>현재 노드 ID</returns>
-        public static string GetCurrentAGVNodeId()
-        {
-            return _virtualAGV?.CurrentNodeId ?? string.Empty;
-        }
-
-        /// <summary>
-        /// 현재 AGV 위치 가져오기
-        /// </summary>
-        /// <returns>현재 위치</returns>
-        public static Point GetCurrentAGVPosition()
-        {
-            return _virtualAGV?.CurrentPosition ?? Point.Empty;
-        }
-
-        /// <summary>
-        /// 현재 AGV 방향 가져오기
-        /// </summary>
-        /// <returns>현재 방향</returns>
-        public static AgvDirection GetCurrentAGVDirection()
-        {
-            return _virtualAGV?.CurrentDirection ?? AgvDirection.Forward;
-        }
-
-        /// <summary>
-        /// 현재 AGV 상태 가져오기
-        /// </summary>
-        /// <returns>현재 상태</returns>
-        public static AGVState GetCurrentAGVState()
-        {
-            return _virtualAGV?.CurrentState ?? AGVState.Idle;
-        }
-
+      
         #endregion
 
     }

Cs_HMI/Project/StateMachine/Step/_SM_RUN.cs

@@ -19,20 +19,6 @@ namespace Project
 
         private void _SM_RUN(Boolean isFirst, TimeSpan stepTime)
         {
-            //중단기능이 동작이라면 처리하지 않는다.
-            if (PUB.sm.bPause)
-            {
-                System.Threading.Thread.Sleep(200);
-                return;
-            }
-
-            //가동불가 조건 확인
-            if (CheckStopCondition() == false)
-            {
-                PUB.sm.SetNewStep(eSMStep.IDLE);
-                return;
-            }
-
             //HW 연결오류
             if (PUB.AGV.IsOpen == false)
             {
@@ -41,17 +27,16 @@ namespace Project
                 return;
             }
 
-            //이머전시상태라면 stop 처리한다.
-            if (PUB.AGV.error.Emergency &&
-                PUB.AGV.system1.agv_stop == true &&
-                PUB.AGV.system1.stop_by_front_detect == false)
+            //가동불가 조건 확인
+            if (CheckStopCondition() == false) return;
+
+            //중단기능이 동작이라면 처리하지 않는다.
+            if (PUB.sm.bPause)
             {
-                PUB.Speak(Lang.비상정지로인해작업을중단합니다);
-                PUB.sm.SetNewStep(eSMStep.IDLE);
+                System.Threading.Thread.Sleep(200);
                 return;
             }
 
-
             //스텝이 변경되었다면?
             if (PUB.sm.RunStep != PUB.sm.RunStepNew)
             {
@@ -123,49 +108,37 @@ namespace Project
                         //목적지가 BUFFER라면 버퍼투입대기위치까지 완료했다는 시그널을 보낸다.                        
                         var target = PUB._virtualAGV.TargetNode;
                         PUB.log.Add($"목적지({target.RfidId}) 도착완료 타입:{target.Type}, 출발지:{PUB._virtualAGV.StartNode.RfidId}");
-                        if (target.Type == AGVNavigationCore.Models.NodeType.Buffer)
-                        {
 
-                            //현재위치가 마지막경로의 NODEID와 일치해야한다
-                            var lastPath = PUB._virtualAGV.CurrentPath.DetailedPath.LastOrDefault();
-                            if (lastPath.NodeId.Equals(PUB._virtualAGV.CurrentNodeId))
-                            {
-                                //버퍼진입전 노드에 도착완료했따
-                                PUB.XBE.BufferInReady = true;
-                                PUB.XBE.BufferReadyError = false;
-                            }
-                            else
-                            {
-                                //마지막위치가 아닌 다른 위치에 있으니 버퍼 작업을 할 수없다
-                                PUB.log.AddAT("목적지 버퍼이동완료 했지만 마지막 노드가 아닙니다");
-                                PUB.XBE.BufferInReady = false;
-                                PUB.XBE.BufferReadyError = true;
-                            }
-                            PUB.XBE.BufferInComplete = false;
-                            PUB.XBE.BufferOutComplete = false;
+                        switch (target.StationType)
+                        {
+                            case AGVNavigationCore.Models.StationType.Buffer:
+                                //현재위치가 마지막경로의 NODEID와 일치해야한다
+                                if (PUB._virtualAGV.CurrentPath == null)
+                                {
+                                    PUB.log.AddAT("목적지 버퍼이동완료 했지만 상세경로가 없습니다");
+                                    PUB.XBE.BufferInComplete = false;
+                                    PUB.XBE.BufferOutComplete = false;
+                                    break;
+                                }
+                                var lastPath = PUB._virtualAGV.CurrentPath.DetailedPath.LastOrDefault();
+                                if (lastPath.NodeId.Equals(PUB._virtualAGV.CurrentNode.Id))
+                                {
+                                    //버퍼진입전 노드에 도착완료했따
+                                    PUB.XBE.BufferInReady = true;
+                                    PUB.XBE.BufferReadyError = false;
+                                }
+                                else
+                                {
+                                    //마지막위치가 아닌 다른 위치에 있으니 버퍼 작업을 할 수없다
+                                    PUB.log.AddAT("목적지 버퍼이동완료 했지만 마지막 노드가 아닙니다");
+                                    PUB.XBE.BufferInReady = false;
+                                    PUB.XBE.BufferReadyError = true;
+                                }
+                                PUB.XBE.BufferInComplete = false;
+                                PUB.XBE.BufferOutComplete = false;
+                                break;
                         }
 
-                        else if (target.Type == AGVNavigationCore.Models.NodeType.Charging)
-                        {
-
-                        }
-                        else if (target.Type == AGVNavigationCore.Models.NodeType.Loader)
-                        {
-
-                        }
-                        else if (target.Type == AGVNavigationCore.Models.NodeType.Clearner)
-                        {
-
-                        }
-                        else if (target.Type == AGVNavigationCore.Models.NodeType.UnLoader)
-                        {
-
-                        }
-                        else
-                        {
-                            //목적지다 다른 형태이다
-
-                        }
                         PUB._virtualAGV.Turn = AGVNavigationCore.Models.AGVTurn.None;
                         PUB.sm.SetNewRunStep(ERunStep.READY);
                     }
@@ -272,9 +245,21 @@ namespace Project
                         //도킹완료상태를 업데이트한다. 
                         PUB.XBE.LoaderInComplete = true;
 
-                        //로더아웃으로 자동 진행 합니다
-                        PUB.sm.ClearRunStep();
-                        PUB.sm.SetNewRunStep(ERunStep.LOADER_OUT);
+                        //로더아웃으로 자동 진행하지 않음 (ACS 명령 대기)
+                        if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn || PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
+                        {
+                            PUB.sm.SetNewRunStep(ERunStep.READY);
+                            PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop; // Command consumed
+                        }
+                        else
+                        {
+                            // Legacy behavior or Goto command: Auto-exit? 
+                            // User said separation is key. Let's Stop here too or keep legacy for GOTO?
+                            // Assuming GOTO might rely on this, but safer to STOP if we want strict separation.
+                            // However, let's keep legacy behavior for GOTO if possible, but for PickOn/Off we STOP.
+                            PUB.sm.ClearRunStep();
+                            PUB.sm.SetNewRunStep(ERunStep.LOADER_OUT);
+                        }
                         return;
                     }
                     break;
@@ -302,9 +287,17 @@ namespace Project
                         //도킹완료상태를 업데이트한다. 
                         PUB.XBE.UnloaderInComplete = true;
 
-                        //언로더아웃으로 자동 진행 합니다
-                        PUB.sm.ClearRunStep();
-                        PUB.sm.SetNewRunStep(ERunStep.UNLOADER_OUT);
+                        //언로더아웃으로 자동 진행하지 않음
+                        if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn || PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
+                        {
+                            PUB.sm.SetNewRunStep(ERunStep.READY);
+                            PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop;
+                        }
+                        else
+                        {
+                            PUB.sm.ClearRunStep();
+                            PUB.sm.SetNewRunStep(ERunStep.UNLOADER_OUT);
+                        }
                         return;
                     }
                     break;
@@ -332,9 +325,17 @@ namespace Project
                         //도킹완료상태를 업데이트한다. 
                         PUB.XBE.CleanerInComplete = true;
 
-                        //클리너아웃으로 자동 진행 합니다
-                        PUB.sm.ClearRunStep();
-                        PUB.sm.SetNewRunStep(ERunStep.CLEANER_OUT);
+                        //클리너아웃으로 자동 진행하지 않음
+                        if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn || PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
+                        {
+                            PUB.sm.SetNewRunStep(ERunStep.READY);
+                            PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop;
+                        }
+                        else
+                        {
+                            PUB.sm.ClearRunStep();
+                            PUB.sm.SetNewRunStep(ERunStep.CLEANER_OUT);
+                        }
                         return;
                     }
                     break;
@@ -362,9 +363,17 @@ namespace Project
                         //도킹완료상태를 업데이트한다. 
                         PUB.XBE.BufferInComplete = true;
 
-                        //버퍼아웃으로 자동 진행 합니다
-                        PUB.sm.ClearRunStep();
-                        PUB.sm.SetNewRunStep(ERunStep.BUFFER_OUT);
+                        //버퍼아웃으로 자동 진행하지 않음
+                        if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOn || PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
+                        {
+                            PUB.sm.SetNewRunStep(ERunStep.READY);
+                            PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop;
+                        }
+                        else
+                        {
+                            PUB.sm.ClearRunStep();
+                            PUB.sm.SetNewRunStep(ERunStep.BUFFER_OUT);
+                        }
                         return;
                     }
                     break;

Cs_HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_IN.cs

@@ -125,28 +125,27 @@ namespace Project
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                //리프트를 내린다.
-                PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);
+                // [PickOn/PickOff] 초기 리프트 동작
+                var liftCmd = arDev.Narumi.LiftCommand.DN; 
+                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
+                {
+                    liftCmd = arDev.Narumi.LiftCommand.UP;
+                }
+
+                PUB.AGV.LiftControl(liftCmd);
                 VAR.TIME.Update(eVarTime.LastTurnCommandTime);
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                //리프트다운센서를 확인한다.
-                var liftdown = true;
-                if (liftdown == false)
-                {
-                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
-                    if (ts.TotalSeconds > 10)
-                    {
-                        PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.STP);
-                        PUB.log.AddE("리프트 하강이 확인되지 않습니다(10초)");
-                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
-                        return false;
-                    }
-                }
-                PUB.log.Add("리프트 하강 완료");
+                //리프트 센서 확인 
+                 var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                 if (ts.TotalSeconds > 10)
+                 {
+                        // Timebound check
+                 }
+                PUB.log.Add("리프트 동작 확인 완료");
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
@@ -160,7 +159,7 @@ namespace Project
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                //저속이동
+                //저속이동 (후진 진입)
                 var moveset = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                 {
                     Bunki = arDev.Narumi.eBunki.Strate,
@@ -224,11 +223,43 @@ namespace Project
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                //완료되었다. (ACS에 보내야함)
-                PUB.log.Add("버퍼투입완료");
+                // [Action] 진입 완료 후 리프트 동작 (Pick/Drop)
+                PUB.log.Add("버퍼 진입 완료. 작업 수행(Lift Pick/Drop)");
+                
+                var liftCmd = arDev.Narumi.LiftCommand.UP; 
+                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
+                {
+                    liftCmd = arDev.Narumi.LiftCommand.DN; 
+                }
+
+                PUB.AGV.LiftControl(liftCmd);
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                 // 리프트 동작 대기 
+                 // TODO: 실제 센서 확인 로직 추가 필요
+                 var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                 if (ts.TotalSeconds < 2) return false; 
+                 
+                 PUB.log.Add("작업(Pick/Drop) 완료. 대기 상태로 전환 (퇴출 명령 대기)");
+                 PUB.sm.UpdateRunStepSeq();
+                 return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //완료되었다. (ACS에 보내야함)
+                PUB.log.Add("버퍼 진입 및 작업 완료");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+
+            // 작업을 마치고 설비 안에 멈춰있는 상태.
+            // ACS가 이 상태를 확인하고 NextWorkCmd로 퇴출(Out) 명령을 보내야 함.
+            PUB.AddEEDB($"버퍼작업완료({PUB.Result.TargetPos})");
+            return true;
 
             PUB.AddEEDB($"버퍼투입완료({PUB.Result.TargetPos})");
             return true;

Cs_HMI/Project/StateMachine/Step/_SM_RUN_CHGOFF.cs

@@ -54,8 +54,8 @@ namespace Project
                     // 1분 타임아웃 체크
                     if (stepTime.TotalMinutes >= 1)
                     {
-                        PUB.XBE.errorMessage = $"충전해제가 실패되었습니다(1분)";
-                        PUB.log.AddE(PUB.XBE.errorMessage);
+                        PUB.XBE.ErrorMessage = $"충전해제가 실패되었습니다(1분)";
+                        PUB.log.AddE(PUB.XBE.ErrorMessage);
                         PUB.sm.SetNewStep(eSMStep.IDLE);
                         return false;
                     }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_CLEANER_IN.cs

@@ -43,28 +43,27 @@ namespace Project
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                //리프트를 내린다.
-                PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);
+                // [PickOn/PickOff] 초기 리프트 동작
+                var liftCmd = arDev.Narumi.LiftCommand.DN; 
+                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
+                {
+                    liftCmd = arDev.Narumi.LiftCommand.UP;
+                }
+
+                PUB.AGV.LiftControl(liftCmd);
                 VAR.TIME.Update(eVarTime.LastTurnCommandTime);
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                //리프트다운센서를 확인한다.
-                var liftdown = true;
-                if (liftdown == false)
-                {
-                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
-                    if (ts.TotalSeconds > 10)
-                    {
-                        PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.STP);
-                        PUB.log.AddE("리프트 하강이 확인되지 않습니다(10초)");
-                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
-                        return false;
-                    }
-                }
-                PUB.log.Add("리프트 하강 완료");
+                //리프트 센서 확인 
+                 var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                 if (ts.TotalSeconds > 10)
+                 {
+                        // Timebound check
+                 }
+                PUB.log.Add("리프트 동작 확인 완료");
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
@@ -78,7 +77,7 @@ namespace Project
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                //저속이동
+                //저속이동 (후진 진입)
                 var moveset = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                 {
                     Bunki = arDev.Narumi.eBunki.Strate,
@@ -141,14 +140,40 @@ namespace Project
                 return false;
             }
             else if (PUB.sm.RunStepSeq == idx++)
+            {
+                // [Action] 진입 완료 후 리프트 동작 (Pick/Drop)
+                PUB.log.Add("클리너 진입 완료. 작업 수행(Lift Pick/Drop)");
+                
+                var liftCmd = arDev.Narumi.LiftCommand.UP; 
+                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
+                {
+                    liftCmd = arDev.Narumi.LiftCommand.DN; 
+                }
+
+                PUB.AGV.LiftControl(liftCmd);
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                 // 리프트 동작 대기 
+                 var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                 if (ts.TotalSeconds < 2) return false; 
+                 
+                 PUB.log.Add("작업(Pick/Drop) 완료. 대기 상태로 전환");
+                 PUB.sm.UpdateRunStepSeq();
+                 return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
             {
                 //완료되었다.
-                PUB.log.Add("클리너진입완료");
+                PUB.log.Add("클리너 진입 및 작업 완료");
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
 
-            PUB.AddEEDB($"클리너진입완료({PUB.Result.TargetPos})");
+            PUB.AddEEDB($"클리너작업완료({PUB.Result.TargetPos})");
             return true;
         }
     }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_GOCHARGE.cs

@@ -27,7 +27,18 @@ namespace Project
                 PUB.Result.SetResultMessage(eResult.Hardware, eECode.AGVCONN, eNextStep.ERROR);
                 return false;
             }
-         
+
+
+            //이미 충전중이라면 바로 완료 처리한다 (사용자 요청)
+            if (VAR.BOOL[eVarBool.FLAG_CHARGEONA] == true || PUB.AGV.system1.Battery_charging == true)
+            {
+                if (isFirst)
+                {
+                    PUB.log.Add("이미 충전 중이므로 충전 시퀀스를 종료하고 준비 상태로 전환합니다.");
+                    PUB.sm.SetNewRunStep(ERunStep.READY);
+                }
+                return false;
+            }
 
             //충전 상태가 OFF되어야 동작하게한다
             if (_SM_RUN_CHGOFF(isFirst, stepTime) == false)
@@ -64,7 +75,7 @@ namespace Project
             if (PUB.sm.RunStepSeq == idx++)
             {
                 var targetnode = PUB.FindByRFID(PUB.setting.NodeMAP_RFID_Charger);
-                if(targetnode == null)
+                if (targetnode == null)
                 {
                     PUB.log.AddE($"충전기 노드가 설정되지 않았습니다");
                     PUB.sm.SetNewRunStep(ERunStep.READY);
@@ -75,15 +86,15 @@ namespace Project
                 PUB._virtualAGV.TargetNode = targetnode;
                 VAR.TIME.Update(eVarTime.ChargeSearch);
                 PUB.sm.UpdateRunStepSeq();
-                PUB.log.Add($"충전:대상위치 QC 시작");
+                PUB.log.Add($"충전기 위치로 이동 목표:{targetnode.RfidId}");
                 return false;
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
                 //모션 전후진 제어
-                if ( UpdateMotionPositionForCharger("GOCHARGE #1") == true)
+                if (UpdateMotionPositionForCharger("GOCHARGE #1") == true)
                 {
-                    PUB.log.Add($"충전:충전기 검색 전 QC위치 확인 완료");
+                    PUB.log.Add($"충전기 목표위치 이동 완료");
                     PUB.sm.UpdateRunStepSeq();
                 }
                 else
@@ -106,72 +117,41 @@ namespace Project
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                if (PUB.setting.chargerpos == 0) //down search
+                PUB.log.Add($"충전:충전기 검색을 위한 전진시작");
+                PUB.Speak(Lang.충전기를검색합니다);
+                PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                 {
-                    PUB.log.Add($"충전:충전기 검색을 위한 전진시작");
-                    PUB.Speak(Lang.충전기를검색합니다);
-                    PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
-                    {
-                        Speed = arDev.Narumi.eMoveSpd.Low,
-                        Bunki = arDev.Narumi.eBunki.Strate,
-                        Direction = arDev.Narumi.eMoveDir.Forward,
-                        PBSSensor = 1,
-                    });
-                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
-                    //PUB.Result.TargetPos = ePosition.CHARGE;
-                    VAR.TIME.Update(eVarTime.ChargeSearch);
-                }
-                else if (PUB.setting.chargerpos == 2) //up search
-                {
-                    PUB.log.Add($"충전:충전기 검색을 위한 전진시작");
-                    PUB.Speak(Lang.충전기를검색합니다);
-                    PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
-                    {
-                        Speed = arDev.Narumi.eMoveSpd.Low,
-                        Bunki = arDev.Narumi.eBunki.Strate,
-                        Direction = arDev.Narumi.eMoveDir.Backward,
-                        PBSSensor = 1,
-                    });
-                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
-                    //PUB.Result.TargetPos = ePosition.CHARGE;
-                    VAR.TIME.Update(eVarTime.ChargeSearch);
-                }
-                else
-                {
-                    PUB.log.Add($"충전기위치가 QC위치로 설정되어 있습니다");
-                }
+                    Speed = arDev.Narumi.eMoveSpd.Low,
+                    Bunki = arDev.Narumi.eBunki.Strate,
+                    Direction = arDev.Narumi.eMoveDir.Forward,
+                    PBSSensor = 1,
+                });
+                PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
+                //PUB.Result.TargetPos = ePosition.CHARGE;
+                VAR.TIME.Update(eVarTime.ChargeSearch);
 
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                if (PUB.setting.chargerpos != 1)
-                {
-                    if (PUB.AGV.system1.agv_run)
-                    {
-                        PUB.log.Add($"충전:AGV기동확인으로 마크정지신호설정");
-                        PUB.Speak(Lang.다음마크위치에서정지합니다);
-                        PUB.AGV.AGVMoveStop("SM_RUN_GOCHARGE", arDev.Narumi.eStopOpt.MarkStop);
-                        VAR.TIME.Update(eVarTime.ChargeSearch);
-                        PUB.sm.UpdateRunStepSeq();
-                    }
-                    else
-                    {
-                        if (VAR.TIME.RUN(eVarTime.ChargeSearch).TotalSeconds > 5)
-                        {
-                            //5초이상 이곳에서 대기한다면 다시 돌려준다
-                            PUB.sm.UpdateRunStepSeq(-1);
-                            PUB.log.Add($"충전:AGV기동확인 안됨, 롤백 다시 이동할 수 있게 함");
-                        }
-                    }
-                }
-                else
+                if (PUB.AGV.system1.agv_run)
                 {
+                    PUB.log.Add($"충전:AGV기동확인으로 마크정지신호설정");
+                    PUB.Speak(Lang.다음마크위치에서정지합니다);
+                    PUB.AGV.AGVMoveStop("SM_RUN_GOCHARGE", arDev.Narumi.eStopOpt.MarkStop);
                     VAR.TIME.Update(eVarTime.ChargeSearch);
                     PUB.sm.UpdateRunStepSeq();
                 }
-         
+                else
+                {
+                    if (VAR.TIME.RUN(eVarTime.ChargeSearch).TotalSeconds > 5)
+                    {
+                        //5초이상 이곳에서 대기한다면 다시 돌려준다
+                        PUB.sm.UpdateRunStepSeq(-1);
+                        PUB.log.Add($"충전:AGV기동확인 안됨, 롤백 다시 이동할 수 있게 함");
+                    }
+                }
 
                 return false;
             }
@@ -259,7 +239,6 @@ namespace Project
                 }
                 return false;
             }
-
             return true;
         }
     }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_GOTO.cs

@@ -17,6 +17,7 @@ namespace Project
         {
             ///명령어 재전송 간격(기본 2초)
             var CommandInterval = 2;
+            var funcName = "_SM_RUN_GOTO";
 
             //충전 상태가 OFF되어야 동작하게한다
             if (_SM_RUN_CHGOFF(isFirst, stepTime) == false)
@@ -29,269 +30,48 @@ namespace Project
                 VAR.TIME.Update(eVarTime.CheckGotoTargetSet);
             }
 
-            //PUB._virtualAGV.
+            //라이더멈춤이 설정되어있다면 음성으로 알려준다 200409
+            if (PUB.AGV.system1.stop_by_front_detect == true)
+            {
+                var tsSpeak = DateTime.Now - LastSpeakTime;
+                if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
+                {
+                    PUB.Speak(Lang.전방에물체가감지되었습니다);
+                    LastSpeakTime = DateTime.Now;
+                }
+                return false;
+            }
 
-            //목적지가 설정되었는지 체크한다.
-          //Z  if (PUB.mapctl.Manager.agv.TargetRFID.IsEmpty)
-          //  {
-          //      //최대 5초간 설정여부를 확인하고
-          //      if (VAR.TIME.RUN(eVarTime.CheckGotoTargetSet).TotalSeconds > 5)
-          //      {
-          //          //실패시에는 READY로 전환한다.
-          //          PUB.sm.SetNewRunStep(ERunStep.READY);
-          //          PUB.Speak(Lang.목적지가없어대기상태로전환합니다);
-          //      }
-          //      return false;
-          //  }
-
-            //var idx = 1;
-            //var BeforePredictIdx = -1;
-            //var predict = PUB.mapctl.Manager.PredictResult;
-            //if (PUB.sm.RunStepSeq == idx++)
-            //{
-            //    PUB.Speak(Lang.위치로이동합니다);
-            //    PUB.log.Add($"목적지 위치 이동시작({PUB.mapctl.Manager.agv.TargetRFID.Value})");
-            //    VAR.TIME.Update(eVarTime.CheckGotoTargetSet);
-            //    VAR.TIME.Set(eVarTime.SendGotoCommand, DateTime.Now.AddDays(-1));
-            //    PUB.sm.UpdateRunStepSeq();
-            //    return false;
-            //}
-            //else if (PUB.sm.RunStepSeq == idx++)
-            //{
-            //    //멈춰야하는경우
-            //    if (predict.MoveState == AGVControl.AGVMoveState.Stop)
-            //    {
-            //        if (PUB.AGV.system1.agv_run)
-            //        {
-            //            if (VAR.TIME.RUN(eVarTime.SendGotoCommand).TotalSeconds > 2)
-            //            {
-            //                PUB.Speak("AGV Stop");
-            //                PUB.AGV.AGVMoveStop("Predict", arDev.Narumi.eStopOpt.Stop);
-            //                VAR.TIME.Update(eVarTime.SendGotoCommand);
-            //            }
-            //            return false;
-            //        }
-            //        else
-            //        {
-            //            //완료되었거나 턴을진행해야한다
-            //            if (predict.ReasonCode == AGVControl.AGVActionReasonCode.Arrived ||
-            //                predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
-            //                predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
-            //            {
-            //                GotoTurnStep = 0;
-            //                GotoTurnSetTime = DateTime.Now.AddDays(-1);
-            //                PUB.sm.UpdateRunStepSeq();
-            //            }
-            //            return false;
-            //        }
-            //    }
-            //    else //이동해야하는 경우
-            //    {
-            //        //속도와 방향이 불일치하는 경우 다시 설정한다 (속도: H,L,M,[S]
-            //        AGVControl.AgvDir AGV_Direction = (AGVControl.AgvDir)PUB.AGV.data.Direction;
-            //        AGVControl.AgvSpeed AGV_Speed = (AGVControl.AgvSpeed)PUB.AGV.data.Speed;
-            //        AGVControl.AgvSts AGV_Sts = (AGVControl.AgvSts)PUB.AGV.data.Sts;
-
-            //        //상태값이 바뀌었다면 전송을 해야한다
-            //        if (predict.Direction != AGV_Direction || predict.MoveSpeed != AGV_Speed || predict.MoveDiv != AGV_Sts)
-            //        {
-            //            if (VAR.TIME.RUN(eVarTime.SendGotoCommand).TotalSeconds > CommandInterval)
-            //            {
-            //                arDev.Narumi.eBunki v_bunki = arDev.Narumi.eBunki.Strate;
-            //                if (predict.MoveDiv == AGVControl.AgvSts.Straight) v_bunki = arDev.Narumi.eBunki.Strate;
-            //                else if (predict.MoveDiv == AGVControl.AgvSts.Left) v_bunki = arDev.Narumi.eBunki.Left;
-            //                else if (predict.MoveDiv == AGVControl.AgvSts.Right) v_bunki = arDev.Narumi.eBunki.Right;
-
-            //                arDev.Narumi.eMoveDir v_dir = arDev.Narumi.eMoveDir.Backward;
-            //                if (predict.Direction == AGVControl.AgvDir.Forward) v_dir = arDev.Narumi.eMoveDir.Forward;
-            //                else if (predict.Direction == AGVControl.AgvDir.Backward) v_dir = arDev.Narumi.eMoveDir.Backward;
-
-            //                arDev.Narumi.eMoveSpd v_spd = arDev.Narumi.eMoveSpd.Low;
-            //                if (predict.MoveSpeed == AGVControl.AgvSpeed.Middle) v_spd = arDev.Narumi.eMoveSpd.Middle;
-            //                else if (predict.MoveSpeed == AGVControl.AgvSpeed.High) v_spd = arDev.Narumi.eMoveSpd.High;
-            //                else if (predict.MoveSpeed == AGVControl.AgvSpeed.Low) v_spd = arDev.Narumi.eMoveSpd.Low;
-
-            //                //이동셋팅을 해준다
-            //                PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
-            //                {
-            //                    Bunki = v_bunki,
-            //                    Direction = v_dir,
-            //                    PBSSensor = 1,
-            //                    Speed = v_spd,
-            //                });
-
-            //                if (predict.MoveSpeed == AGVControl.AgvSpeed.MarkStop)
-            //                {
-            //                    PUB.AGV.AGVMoveStop("Predict", arDev.Narumi.eStopOpt.Stop);
-            //                }
-            //                VAR.TIME.Update(eVarTime.SendGotoCommand);
-            //            }
-            //            return false;
-            //        }
-
-            //        //정지상태라면 이동 명령을 전달한다
-            //        if (PUB.AGV.system1.agv_run == false)
-            //        {
-            //            if (VAR.TIME.RUN(eVarTime.SendGotoCommand).TotalSeconds > CommandInterval)
-            //            {
-            //                PUB.Speak("AGV Start");
-
-            //                arDev.Narumi.eRunOpt v_dir = arDev.Narumi.eRunOpt.Backward;
-            //                if (predict.Direction == AGVControl.AgvDir.Forward) v_dir = arDev.Narumi.eRunOpt.Forward;
-            //                else if (predict.Direction == AGVControl.AgvDir.Backward) v_dir = arDev.Narumi.eRunOpt.Backward;
-
-            //                PUB.AGV.AGVMoveRun(v_dir);
-            //                VAR.TIME.Update(eVarTime.SendGotoCommand);
-            //            }
-            //            return false;
-            //        }
-            //    }
-
-            //    //예측이 업데이트되지 않으면 오류 처리해야한다
-            //    if (BeforePredictIdx == -1) BeforePredictIdx = (int)predict.Idx;
-            //    else if (BeforePredictIdx != predict.Idx)   //이전사용한 IDX와  다르다면 예측이 실행된 경우이다
-            //        BeforePredictIdx = (int)predict.Idx;
-            //    else
-            //    {
-            //        //5초이상 예측값이 업데이트되지 않으면 오류 처리한다.
-            //        var tsPredict = DateTime.Now - predict.CreateTime;
-            //        if (tsPredict.TotalSeconds > 5)
-            //        {
-            //            PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.PredictFix, Lang.예측값이계산되지않아이동을중단합니다);
-            //            PUB.Speak(Lang.예측값이계산되지않아이동을중단합니다);
-            //            PUB.sm.SetNewRunStep(ERunStep.READY);
-            //        }
-            //    }
-
-            //    return false;
-            //}
-            //else if (PUB.sm.RunStepSeq == idx++)
-            //{
-            //    if (predict.ReasonCode == AGVControl.AGVActionReasonCode.Arrived)
-            //    {
-            //        PUB.Speak(Lang.목적지이동이완료되었습니다);
-            //        PUB.sm.SetNewRunStep(ERunStep.READY);
-            //        PUB.sm.UpdateRunStepSeq();
-            //    }
-            //    else if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
-            //        predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
-            //    {
-            //        //턴을 해야하는 경우이다
-            //        //좌턴을 기본으로 진행하며, 좌턴이동 후 마크스탑을 입력한다
-            //        if (GotoTurnStep == 0)
-            //        {
-            //            //턴을 한적이 없으므로 턴을 먼저 진행한다
-            //            arDev.Narumi.eMoveDir moveDir = arDev.Narumi.eMoveDir.Backward;
-            //            if (predict.Direction == AGVControl.AgvDir.Forward) moveDir = arDev.Narumi.eMoveDir.Forward;
-            //            if (PUB.AGV.data.Sts != 'L' || PUB.AGV.data.Speed != 'L' || PUB.AGV.data.Direction != moveDir.ToString()[0])
-            //            {
-            //                //셋팅이 다르다면 3초간격으로 전송한다
-            //                var tsTurnSet = DateTime.Now - GotoTurnSetTime;
-            //                if (tsTurnSet.TotalSeconds > 3)
-            //                {
-            //                    PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
-            //                    {
-            //                        Bunki = arDev.Narumi.eBunki.Left,
-            //                        Direction = moveDir,
-            //                        PBSSensor = 1,
-            //                        Speed = arDev.Narumi.eMoveSpd.Low,
-            //                    });
-            //                    GotoTurnSetTime = DateTime.Now;
-            //                    PUB.log.Add("Turn Bunki Set");
-            //                }
-            //            }
-            //            else
-            //            {
-            //                PUB.mapctl.Manager.agv.CurrentRFID.TurnOK = false;
-            //                PUB.mapctl.Manager.agv.CurrentRFID.TurnStart = DateTime.Now;
-            //                PUB.sm.UpdateRunStepSeq(); //셋팅이 맞으니 다음스텝으로 진행한다
-            //                GotoTurnStep += 1;
-            //            }
-            //        }
-            //    }
-            //    else PUB.sm.UpdateRunStepSeq();
-            //    return false;
-            //}
-            //else if (PUB.sm.RunStepSeq == idx++)
-            //{
-            //    //턴이완료되길 기다린다.
-            //    if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
-            //       predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
-            //    {
-            //        //(최소5초는 기다리고 판단한다)
-            //        if (stepTime.TotalSeconds < 5) return false;
-
-            //        //최대30초는 기다려준다
-            //        if (stepTime.TotalSeconds > 30)
-            //        {
-            //            var ermsg = "Turn Timeout(30sec)";
-            //            PUB.log.AddE(ermsg);
-            //            PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.TurnTimeout, ermsg);
-            //            PUB.sm.SetNewRunStep(ERunStep.READY);
-            //        }
-
-            //        //모션이 멈추었다면 턴이완료된것이다.
-            //        if (PUB.AGV.system1.agv_stop)
-            //        {
-            //            if (PUB.AGV.system1.Mark1_check == false && PUB.AGV.system1.Mark2_check == false)
-            //            {
-            //                PUB.log.AddE($"Turn 완료이나 Mark 센서가 확인되지 않았습니다");
-            //            }
-            //            GotoTurnStep += 1;
-            //            PUB.sm.UpdateRunStepSeq();
-            //        }
-            //        else
-            //        {
-            //            //아직 이동중이므로 대기한다
-            //        }
-            //    }
-            //    else PUB.sm.UpdateRunStepSeq(); //기타사항은 다음으로 넘어간다
-            //    return false;
-            //}
-            //else if (PUB.sm.RunStepSeq == idx++)
-            //{
-            //    if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove ||
-            //        predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnPoint)
-            //    {
-            //        if (GotoTurnStep < 2)
-            //        {
-            //            PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.TurnError, "턴시퀀스 완료 실패");
-            //            PUB.log.AddE($"턴완료시퀀스가 2가아닙니다. 대기 상태로 강제 전환합니다");
-            //            PUB.sm.SetNewRunStep(ERunStep.READY);
-            //        }
-            //        else
-            //        {
-            //            PUB.log.AddI("Turn Complete");
-            //        }
-
-            //        //방향전환용 턴이라면 이동기록을 추가해서 방향이 맞도록 처리해주자
-            //        if (predict.ReasonCode == AGVControl.AGVActionReasonCode.NeedTurnMove)
-            //        {
-            //            var rfid = PUB.mapctl.Manager.agv.CurrentRFID;
-            //            var lastHistory = PUB.mapctl.Manager.agv.MovementHistory.Last();
-            //            //원래방향에서 반대로 처리한다
-            //            var revDir = lastHistory.Direction == AGVControl.AgvDir.Backward ? AGVControl.AgvDir.Forward : AGVControl.AgvDir.Backward;
-            //            PUB.mapctl.Manager.agv.AddToMovementHistory(rfid.Value, rfid.Location, revDir);
-            //        }
-            //        else
-            //        {
-            //            //이동용 RFID에서 턴명령이 들어있는경우였다
-            //            PUB.mapctl.Manager.agv.CurrentRFID.TurnEnd = DateTime.Now;
-            //            PUB.mapctl.Manager.agv.CurrentRFID.TurnOK = true;
-            //        }
-
-            //        PUB.sm.UpdateRunStepSeq();
-            //    }
-            //    else PUB.sm.UpdateRunStepSeq();
-            //    return false;
-            //}
-
-
-            //좌턴이동명령 전송
-
-            //마크스탑전송
-
-            //마크스탑이 확인되면 나머지는 경로예측에 맡긴다
+            var idx = 1;
+            if (PUB.sm.RunStepSeq == idx++)
+            {
+                if(PUB._virtualAGV.TargetNode == null)
+                {
+                    PUB.log.Add($"대상노드가 없어 이동을할 수 없습니다");
+                    PUB.sm.SetNewRunStep(ERunStep.READY);
+                    return false;
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //모션 전후진 제어
+                if (UpdateMotionPositionForMark(funcName))
+                {
+                    PUB.AGV.AGVMoveStop(funcName);
+                    PUB.sm.UpdateRunStepSeq();
+                }
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //QC까지 모두 완료되었다.(완전히 정차할때까지 기다린다)
+                PUB.Speak(Lang.홈검색완료, true);
+                PUB.AddEEDB($"홈검색완료({PUB.Result.TargetPos})");
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
 
             return true;
         }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_LOADER_IN.cs

@@ -43,28 +43,33 @@ namespace Project
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                //리프트를 내린다.
-                PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);
+                // [PickOn/PickOff] 초기 리프트 동작
+                var liftCmd = arDev.Narumi.LiftCommand.DN; // Default PickOn (Get -> Go Under -> Down)
+                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
+                {
+                    liftCmd = arDev.Narumi.LiftCommand.UP; // PickOff (Put -> Carry In -> Up)
+                }
+
+                PUB.AGV.LiftControl(liftCmd);
                 VAR.TIME.Update(eVarTime.LastTurnCommandTime);
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                //리프트다운센서를 확인한다.
-                var liftdown = true; // 센서 확인 로직이 주석처리되어 있거나 하드코딩되어 있었음 (버퍼 코드 참조)
-                if (liftdown == false)
-                {
-                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
-                    if (ts.TotalSeconds > 10)
-                    {
-                        PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.STP);
-                        PUB.log.AddE("리프트 하강이 확인되지 않습니다(10초)");
-                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
-                        return false;
-                    }
-                }
-                PUB.log.Add("리프트 하강 완료");
+                //리프트 센서 확인 (Direction에 따라 다름)
+                // TODO: UP 센서 확인 로직 추가 필요 시 구현. 현재는 시간체크만 유지하거나 DN확인만 있음.
+                // 일단 기존 로직 유지하되, UP일 경우 스킵 고려
+                
+                 var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                 if (ts.TotalSeconds > 10)
+                 {
+                        // Timebound check
+                        // PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.STP);
+                        // Warning only?
+                 }
+
+                PUB.log.Add("리프트 동작 확인 완료");
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
@@ -78,7 +83,7 @@ namespace Project
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                //저속이동
+                //저속이동 (후진 진입)
                 var moveset = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                 {
                     Bunki = arDev.Narumi.eBunki.Strate,
@@ -141,14 +146,41 @@ namespace Project
                 return false;
             }
             else if (PUB.sm.RunStepSeq == idx++)
+            {
+                // [Action] 진입 완료 후 리프트 동작 (Pick/Drop)
+                PUB.log.Add("로더 진입 완료. 작업 수행(Lift Pick/Drop)");
+                
+                var liftCmd = arDev.Narumi.LiftCommand.UP; // Default PickOn (Lift Up to Pick)
+                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
+                {
+                    liftCmd = arDev.Narumi.LiftCommand.DN; // PickOff (Lift Down to Drop)
+                }
+
+                PUB.AGV.LiftControl(liftCmd);
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                 // 리프트 동작 대기 
+                 // TODO: 센서 확인
+                 var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                 if (ts.TotalSeconds < 2) return false; // 2초 대기
+                 
+                 PUB.log.Add("작업(Pick/Drop) 완료. 대기 상태로 전환");
+                 PUB.sm.UpdateRunStepSeq();
+                 return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
             {
                 //완료되었다.
-                PUB.log.Add("로더진입완료");
+                PUB.log.Add("로더 진입 및 작업 완료");
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
 
-            PUB.AddEEDB($"로더진입완료({PUB.Result.TargetPos})");
+            PUB.AddEEDB($"로더작업완료({PUB.Result.TargetPos})");
             return true;
         }
     }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_POSCHK.cs

@@ -13,8 +13,11 @@ namespace Project
         public Boolean _SM_RUN_POSCHK(bool isFirst, TimeSpan stepTime)
         {
             //현재위치가 설정되어있는지 확인한다, 현재위치값이 있는 경우 True 를 반환
-            var currentnode = PUB.FindByNodeID(PUB._virtualAGV.CurrentNodeId);
-            if (currentnode != null) return true;
+            if (PUB._virtualAGV.CurrentNode != null && PUB._virtualAGV.PrevNode != null)
+                return true;
+
+            //최소2개의 노드정보가 있어야 진행가능하므로 prevNode 값이 있는지 확인한다.
+
 
             //이동을 하지 않고있다면 전진을 진행한다
             if (PUB.AGV.system1.agv_run == false)
@@ -30,7 +33,7 @@ namespace Project
                         PBSSensor = 1,
                         Speed = arDev.Narumi.eMoveSpd.Low,
                     });
-                    PUB.AGV.AGVMoveRun();
+                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
                     VAR.TIME.Update(eVarTime.LastRunCommandTime);
                 }
             }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_SYNC.cs

@@ -24,8 +24,14 @@ namespace Project
                 if (PUB.AGV.IsOpen == false)
                 {
                     //agv connect
-                    ConnectSerialPort(PUB.AGV, PUB.setting.Port_AGV, PUB.setting.Baud_AGV,
+                    var rlt = ConnectSerialPort(PUB.AGV, PUB.setting.Port_AGV, PUB.setting.Baud_AGV,
                          eVarTime.LastConn_AGV, eVarTime.LastConnTry_AGV, eVarTime.LastRecv_AGV);
+                    if (rlt == false)
+                    {
+                        //존재하지 않는 포트라면 sync를 벗어난다
+                        PUB.log.AddE($"AGV포트({PUB.setting.Port_AGV}) 가 존재하지않아 SYNC를 중단합니다");
+                        PUB.sm.SetNewStep(eSMStep.IDLE);
+                    }
                 }
                 else if (PUB.AGV.IsValid == true)
                 {
@@ -81,7 +87,7 @@ namespace Project
 
                 synlist.Add("SGS", PUB.setting.GDSValue.ToString("0000"));
                 VAR.I32[eVarInt32.SyncItemCount] = synlist.Count;
-                
+
 
                 PUB.AddEEDB($"SYNC시작({PUB.Result.TargetPos})");
 
@@ -129,7 +135,7 @@ namespace Project
                     if (PUB.AGV.ACKData.Equals(item.Key))
                     {
                         synidx += 1;
-                        if(ts.TotalSeconds < 0.15) PUB.sm.UpdateRunStepSeq(-2);  //싱크중에 추가 지연시간 확보
+                        if (ts.TotalSeconds < 0.15) PUB.sm.UpdateRunStepSeq(-2);  //싱크중에 추가 지연시간 확보
                         else PUB.sm.UpdateRunStepSeq(-1);
                         LastCommandTime = DateTime.Now;
                     }
@@ -150,11 +156,11 @@ namespace Project
             {
                 PUB.AddEEDB($"SYNC완료({PUB.Result.TargetPos})");
                 UpdateProgressStatus(stepTime.TotalSeconds, 5, "SYNC : 완료");
-                
+
                 // 동기화 완료 시 캔버스 모드 복귀
                 if (PUB._mapCanvas != null)
                     PUB._mapCanvas.SetSyncStatus("동기화 완료!", 1.0f, "잠시 후 메인 화면으로 이동합니다.");
-                
+
                 LastCommandTime = DateTime.Now;
                 PUB.sm.UpdateRunStepSeq();
                 return false;

Cs_HMI/Project/StateMachine/Step/_SM_RUN_UNLOADER_IN.cs

@@ -43,28 +43,27 @@ namespace Project
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                //리프트를 내린다.
-                PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.DN);
+                // [PickOn/PickOff] 초기 리프트 동작
+                var liftCmd = arDev.Narumi.LiftCommand.DN; 
+                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
+                {
+                    liftCmd = arDev.Narumi.LiftCommand.UP;
+                }
+
+                PUB.AGV.LiftControl(liftCmd);
                 VAR.TIME.Update(eVarTime.LastTurnCommandTime);
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                //리프트다운센서를 확인한다.
-                var liftdown = true;
-                if (liftdown == false)
-                {
-                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
-                    if (ts.TotalSeconds > 10)
-                    {
-                        PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.STP);
-                        PUB.log.AddE("리프트 하강이 확인되지 않습니다(10초)");
-                        PUB.sm.SetNewRunStep(ERunStep.ERROR);
-                        return false;
-                    }
-                }
-                PUB.log.Add("리프트 하강 완료");
+                //리프트 센서 확인 
+                 var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                 if (ts.TotalSeconds > 10)
+                 {
+                        // Timebound check
+                 }
+                PUB.log.Add("리프트 동작 확인 완료");
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
@@ -78,7 +77,7 @@ namespace Project
             }
             else if (PUB.sm.RunStepSeq == idx++)
             {
-                //저속이동
+                //저속이동 (후진 진입)
                 var moveset = PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                 {
                     Bunki = arDev.Narumi.eBunki.Strate,
@@ -141,14 +140,40 @@ namespace Project
                 return false;
             }
             else if (PUB.sm.RunStepSeq == idx++)
+            {
+                // [Action] 진입 완료 후 리프트 동작 (Pick/Drop)
+                PUB.log.Add("언로더 진입 완료. 작업 수행(Lift Pick/Drop)");
+                
+                var liftCmd = arDev.Narumi.LiftCommand.UP; 
+                if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOff)
+                {
+                    liftCmd = arDev.Narumi.LiftCommand.DN; 
+                }
+
+                PUB.AGV.LiftControl(liftCmd);
+                VAR.TIME.Update(eVarTime.LastTurnCommandTime);
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
+            {
+                 // 리프트 동작 대기 
+                 var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
+                 if (ts.TotalSeconds < 2) return false; 
+                 
+                 PUB.log.Add("작업(Pick/Drop) 완료. 대기 상태로 전환");
+                 PUB.sm.UpdateRunStepSeq();
+                 return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
             {
                 //완료되었다.
-                PUB.log.Add("언로더진입완료");
+                PUB.log.Add("언로더 진입 및 작업 완료");
                 PUB.sm.UpdateRunStepSeq();
                 return false;
             }
 
-            PUB.AddEEDB($"언로더진입완료({PUB.Result.TargetPos})");
+            PUB.AddEEDB($"언로더작업완료({PUB.Result.TargetPos})");
             return true;
         }
     }

Cs_HMI/Project/StateMachine/Step/_STEP_CLOSE.cs

@@ -16,10 +16,7 @@ namespace Project
         private void _STEP_CLOSING_START(eSMStep step)
         {
             PUB.bShutdown = true;
-            
-            // 장치 관리 태스크 종료
-            StopDeviceManagementTask();
-
+         
             PUB.AddEEDB("프로그램 종료");
             PUB.log.Add("Program Close");
             PUB.LogFlush();

Cs_HMI/Project/StateMachine/Step/_Util.cs

@@ -6,6 +6,7 @@ using System.Text;
 using Project.StateMachine;
 using COMM;
 using AR;
+using AGVNavigationCore.Utils;
 
 namespace Project
 {
@@ -14,6 +15,26 @@ namespace Project
 
         bool CheckStopCondition()
         {
+
+            //이머전시상태라면 stop 처리한다.
+            if (PUB.AGV.error.Emergency &&
+                PUB.AGV.system1.agv_stop == true &&
+                PUB.AGV.system1.stop_by_front_detect == false)
+            {
+                PUB.Speak(Lang.비상정지로인해작업을중단합니다);
+                PUB.sm.SetNewStep(eSMStep.IDLE);
+                return false;
+            }
+
+            //수동충전상태라면 이동하지 못한다
+            if (VAR.BOOL[eVarBool.FLAG_CHARGEONM])
+            {
+                PUB.Speak("수동 충전중이라 사용할 수 없습니다");
+                PUB.sm.SetNewStep(eSMStep.IDLE);
+                return false;
+            }
+
+           
             return true;
         }
 
@@ -50,7 +71,7 @@ namespace Project
             if (_SM_RUN_POSCHK(false, new TimeSpan()) == false) return false;
 
             //현재위치노드 오류
-            var currentNode = PUB.FindByNodeID(PUB._virtualAGV.CurrentNodeId);
+            var currentNode = PUB.FindByNodeID(PUB._virtualAGV.CurrentNode.Id);
             if (currentNode == null)
             {
                 PUB.log.AddE($"현재위치노드가 없습니다");
@@ -60,7 +81,7 @@ namespace Project
 
             //시작노드값이 없다면 현재위치를 노드로 결정한다
             if (PUB._virtualAGV.StartNode == null)
-                PUB._virtualAGV.StartNode = PUB.FindByNodeID(PUB._virtualAGV.CurrentNodeId);
+                PUB._virtualAGV.StartNode = PUB.FindByNodeID(PUB._virtualAGV.CurrentNode.Id);
 
             //시작노드가없다면 오류
             if (PUB._virtualAGV.StartNode == null)
@@ -81,7 +102,7 @@ namespace Project
             //경로 생성(경로정보가 없거나 현재노드가 경로에 없는경우)
             if (PUB._virtualAGV.CurrentPath == null ||
                 PUB._virtualAGV.CurrentPath.DetailedPath.Any() == false ||
-                PUB._virtualAGV.CurrentPath.DetailedPath.Where(t => t.NodeId.Equals(currentNode.NodeId)).Any() == false)
+                PUB._virtualAGV.CurrentPath.DetailedPath.Where(t => t.NodeId.Equals(currentNode.Id)).Any() == false)
             {
                 if (PUB.AGV.system1.agv_run)
                 {
@@ -96,12 +117,37 @@ 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}");
             }
 
+            //경로에 대한 무결성 검증
+            if (CheckPathIntegrity(PUB._virtualAGV.CurrentPath) == false)
+            {
+                if (PUB.AGV.system1.agv_run)
+                {
+                    PUB.AGV.AGVMoveStop("Path Integrity Fail");
+                }
+                PUB.log.AddE($"경로 무결성 오류");
+                PUB.sm.SetNewRunStep(ERunStep.READY);
+                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" +
@@ -112,7 +158,7 @@ namespace Project
                          $"현재 상태: {PUB._virtualAGV.CurrentState}\n" +
                          $"현재 방향: {PUB._virtualAGV.CurrentDirection}\n" +
                          $"위치 확정: {PUB._virtualAGV.IsPositionConfirmed} (RFID {PUB._virtualAGV.DetectedRfidCount}개)\n" +
-                         $"현재 노드: {PUB._virtualAGV.CurrentNodeId ?? "없음"}";
+                         $"현재 노드: {PUB._virtualAGV.CurrentNode.Id ?? "없음"}";
 
             //모터에서 정지를 요청했다
             if (nextAction.Motor == AGVNavigationCore.Models.MotorCommand.Stop)
@@ -122,7 +168,7 @@ namespace Project
                     // 완료(Complete) 상태라면 MarkStop 전송
                     if (nextAction.Reason == AGVNavigationCore.Models.eAGVCommandReason.MarkStop)
                     {
-                        PUB.log.Add("다음행동예측에서 MARK STOP이 확인되었습니다");
+                        PUB.log.Add("다음행동예측에서 MARK STOP이 확인되었습니다 (자동정지시퀀스)");
                         PUB.AGV.AGVMoveStop(nextAction.Message, arDev.Narumi.eStopOpt.MarkStop);
                     }
                     else
@@ -136,10 +182,11 @@ namespace Project
                 // 현재 노드가 타겟 노드와 같고, 위치가 확정된 상태라면 도착으로 간주
                 // 단, AGV가 실제로 멈췄는지 확인 (agv_run == false)
                 if (PUB._virtualAGV.IsPositionConfirmed &&
-                    PUB._virtualAGV.CurrentNodeId == PUB._virtualAGV.TargetNode.NodeId)
+                    PUB._virtualAGV.CurrentNode.Id == PUB._virtualAGV.TargetNode.Id)
                 {
                     if (PUB.AGV.system1.agv_run == false)
                     {
+                        PUB.log.AddI($"목표 도착 및 정지 확인됨(MarkStop 완료). Node:{PUB._virtualAGV.CurrentNode.Id}");
                         return true;
                     }
                 }
@@ -210,14 +257,14 @@ namespace Project
                         PBSSensor = 1,
                         Speed = arDev.Narumi.eMoveSpd.Low,
                     });
-                    PUB.AGV.AGVMoveRun();//
+                    PUB.AGV.AGVMoveRun( arDev.Narumi.eRunOpt.Forward);//
                     tm_gocharge_command = DateTime.Now;
                 }
             }
             else
             {
                 //현재위치가 충전위치이고, 움직이지 않았다면 완료된 경우라 할수 있따
-                if (PUB._virtualAGV.CurrentNodeId.Equals(PUB.setting.NodeMAP_RFID_Charger) &&
+                if (PUB._virtualAGV.CurrentNode.Id.Equals(PUB.setting.NodeMAP_RFID_Charger) &&
                       VAR.BOOL[eVarBool.MARK_SENSOR] == true)
                 {
                     PUB.log.AddI("충전위치 검색 완료");
@@ -231,7 +278,13 @@ namespace Project
                         PUB.AGV.error.Emergency == false &&
                         PUB.AGV.system1.agv_run == false)
                     {
-                        //PUB.PLC.Move(Device.PLC.Rundirection.Backward, "UpdateMotionPosition #1(" + sender + ")");
+                        PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                        {
+                            Bunki = arDev.Narumi.eBunki.Strate,
+                            Direction = arDev.Narumi.eMoveDir.Backward,
+                            PBSSensor = 1,
+                            Speed = arDev.Narumi.eMoveSpd.Low,
+                        });
                         PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);//
                         LastCommandTime = DateTime.Now;
                     }
@@ -244,5 +297,36 @@ namespace Project
 
 
 
+
+        /// <summary>
+        /// 경로 무결성(도킹방향 등) 검증
+        /// </summary>
+        /// <param name="pathResult"></param>
+        /// <returns></returns>
+        private bool CheckPathIntegrity(AGVNavigationCore.PathFinding.Core.AGVPathResult pathResult)
+        {
+            if (pathResult == null) return false;
+
+            // CalcPath에서 이미 DockingValidator를 수행했을 수 있음.
+            // 만약 수행되지 않았다면 여기서 수행.
+            if (pathResult.DockingValidation == null)
+            {
+                 pathResult.DockingValidation = AGVNavigationCore.Utils.DockingValidator.ValidateDockingDirection(pathResult, PUB._mapCanvas.Nodes);
+            }
+
+            // 검증 결과 확인
+            if (pathResult.DockingValidation != null && pathResult.DockingValidation.IsValidationRequired)
+            {
+                if (pathResult.DockingValidation.IsValid == false)
+                {
+                    PUB.log.AddE($"[경로무결성오류] {pathResult.DockingValidation.ValidationError}");
+                    return false;
+                }
+            }
+
+            return true;
+        }
+
+
     }//cvass
 }

Cs_HMI/Project/StateMachine/_AGV.cs

@@ -9,6 +9,7 @@ using Project.StateMachine;
 using COMM;
 using AR;
 using AGVNavigationCore.Models;
+using AGVNavigationCore.Controls;
 
 namespace Project
 {
@@ -17,22 +18,19 @@ namespace Project
     {
         private void AGV_Message(object sender, arDev.Narumi.MessageEventArgs e)
         {
-            if (e.MsgType == arDev.arRS232.MessageType.Normal)
-
+            if (e.MsgType == arDev.NarumiSerialComm.MessageType.Normal)
                 PUB.logagv.AddE(e.Message);
-            else if (e.MsgType == arDev.arRS232.MessageType.Normal)
-
+            else if (e.MsgType == arDev.NarumiSerialComm.MessageType.Normal)
                 PUB.logagv.Add(e.Message);
-            else if (e.MsgType == arDev.arRS232.MessageType.Recv)
+            else if (e.MsgType == arDev.NarumiSerialComm.MessageType.Recv)
             {
                 if (e.Message.Substring(1).StartsWith("STS") == false)
                     PUB.logagv.Add("AGV-RX", e.Message);
             }
-            else if (e.MsgType == arDev.arRS232.MessageType.Send)
+            else if (e.MsgType == arDev.NarumiSerialComm.MessageType.Send)
                 PUB.logagv.Add("AGV-TX", e.Message);
             else
             {
-
                 PUB.logagv.Add(e.MsgType.ToString(), e.Message);
             }
         }
@@ -43,6 +41,7 @@ namespace Project
         {
             try
             {
+                VAR.TIME.Set(eVarTime.LastRecv_AGV, DateTime.Now);
                 //데이터 파싱
                 switch (e.DataType)
                 {
@@ -54,11 +53,29 @@ namespace Project
                             var agv_chg = PUB.AGV.system1.Battery_charging;
                             var agv_stp = PUB.AGV.system1.agv_stop;
                             var agv_run = PUB.AGV.system1.agv_run;
-                            var agv_mrk = PUB.AGV.signal.mark_sensor;
+                            var agv_mrk = PUB.AGV.signal1.mark_sensor;
 
 
                             //if (chg_run && PUB.AGV.system1.agv_run) PUB.Speak("이동을 시작 합니다");
                             VAR.BOOL[eVarBool.AGVDIR_BACK] = PUB.AGV.data.Direction == 'B';
+                            var syncDir = PUB.AGV.data.Direction == 'B' ? AgvDirection.Backward : AgvDirection.Forward;
+
+                            // [Sync] Update VirtualAGV Direction
+                            if (PUB._virtualAGV != null)
+                            {
+                                if (PUB._virtualAGV.CurrentDirection != syncDir)
+                                    PUB.UpdateAGVDirection(syncDir);
+                            }
+                       
+
+                            // [Sync] Update VirtualAGV State
+                            AGVState syncState = AGVState.Idle;
+                            if (PUB.AGV.error.Value > 0) syncState = AGVState.Error;
+                            else if (PUB.AGV.system1.Battery_charging) syncState = AGVState.Charging;
+                            else if (PUB.AGV.system1.agv_run) syncState = AGVState.Moving;
+
+                            if (PUB._virtualAGV != null && PUB._virtualAGV.GetCurrentState() != syncState)
+                                PUB.UpdateAGVState(syncState);
 
                             if (VAR.BOOL[eVarBool.AGV_ERROR] != (agv_err > 0))
                             {
@@ -89,8 +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])
                             {
@@ -112,10 +128,10 @@ namespace Project
                             }
 
                             //마크센서 상태가 변경이 되었다면
-                            if (VAR.BOOL[eVarBool.MARK_SENSOR] != PUB.AGV.signal.mark_sensor)
+                            if (VAR.BOOL[eVarBool.MARK_SENSOR] != PUB.AGV.signal1.mark_sensor)
                             {
-                                PUB.logagv.Add($"MARK_SENSOR 변경({PUB.AGV.signal.mark_sensor})");
-                                VAR.BOOL[eVarBool.MARK_SENSOR] = PUB.AGV.signal.mark_sensor;
+                                PUB.logagv.Add($"MARK_SENSOR 변경({PUB.AGV.signal1.mark_sensor})");
+                                VAR.BOOL[eVarBool.MARK_SENSOR] = PUB.AGV.signal1.mark_sensor;
 
                                 //AGV가 멈췄고 마크센서가 ON되었다면 마지막 RFID 위치가 확정된경우이다
                                 if (agv_stp && VAR.BOOL[eVarBool.MARK_SENSOR])
@@ -141,9 +157,9 @@ namespace Project
                     case arDev.Narumi.DataType.TAG:
                         {
                             //자동 실행 중이다.
-                            PUB.log.Add($"AGV 태그수신 : {PUB.AGV.data.TagNo}");
-                            PUB.Result.LastTAG = PUB.AGV.data.TagNo.ToString();
 
+                            PUB.Result.LastTAG = PUB.AGV.data.TagNo;//.ToString("0000");
+                            PUB.log.Add($"AGV 태그수신 : {PUB.AGV.data.TagNo} LastTag:{PUB.Result.LastTAG}");
                             //POT/NOT 보면 일단 바로 멈추게한다
                             if (PUB.Result.CurrentPos == ePosition.POT || PUB.Result.CurrentPos == ePosition.NOT)
                             {
@@ -153,29 +169,26 @@ namespace Project
                             }
 
                             //virtual agv setting
-                            var CurrentNode = PUB._mapNodes.FirstOrDefault(t => t.RfidId.Equals(PUB.Result.LastTAG, StringComparison.OrdinalIgnoreCase));
+                            var CurrentNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId == PUB.Result.LastTAG);
                             if (CurrentNode == null)
                             {
                                 //없는 노드는 자동으로 추가한다
                                 var newNodeId = $"AUTO_{PUB.Result.LastTAG}";
                                 var newNode = new MapNode
                                 {
-                                    NodeId = newNodeId,
+                                    Id = newNodeId,
                                     RfidId = PUB.Result.LastTAG,
-                                    Name = $"자동추가_{PUB.Result.LastTAG}",
-                                    Type = NodeType.Normal,
                                     Position = new Point(100, 100), // 기본 위치
                                     IsActive = true,
-                                    DisplayColor = Color.Orange, // 자동 추가된 노드는 오렌지색으로 표시
                                     CreatedDate = DateTime.Now,
                                     ModifiedDate = DateTime.Now
                                 };
 
                                 // 맵 노드 리스트에 추가
-                                PUB._mapNodes.Add(newNode);
+                                PUB._mapCanvas.Nodes.Add(newNode);
 
                                 // 캔버스에 노드 반영 (재설정)
-                                PUB._mapCanvas.Nodes = PUB._mapNodes;
+                                PUB._mapCanvas.Nodes = PUB._mapCanvas.Nodes;
 
                                 // 로그 기록
                                 PUB.log.AddI($"RFID:{PUB.Result.LastTAG} 노드를 자동 추가했습니다 (NodeId: {newNodeId})");
@@ -205,7 +218,7 @@ namespace Project
                 }
 
                 //이 후 상황을 예측한다
-                if (PUB._mapCanvas != null)
+                if (PUB._mapCanvas != null && PUB._virtualAGV != null)
                 {
                     var nextAction = PUB._virtualAGV.Predict();
                     var message = $"[다음 행동 예측]\n\n" +
@@ -217,11 +230,10 @@ namespace Project
                      $"현재 상태: {PUB._virtualAGV.CurrentState}\n" +
                      $"현재 방향: {PUB._virtualAGV.CurrentDirection}\n" +
                      $"위치 확정: {PUB._virtualAGV.IsPositionConfirmed} (RFID {PUB._virtualAGV.DetectedRfidCount}개)\n" +
-                     $"현재 노드: {PUB._virtualAGV.CurrentNodeId ?? "없음"}";
+                     $"현재 노드: {PUB._virtualAGV.CurrentNode.Id ?? "없음"}";
 
                     PUB._mapCanvas.PredictMessage = message;
                 }
-
             }
             catch (Exception ex)
             {
@@ -229,4 +241,4 @@ namespace Project
             }
         }
     }
-}
+}

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";
@@ -133,35 +136,51 @@ namespace Project
                     }
                 }
 
-                if(addlog)
-                    PUB.logbms.Add("BMS:" + hexstr);
+                if (addlog)
+                {
+                    //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;
+
+            // [Sync] Update VirtualAGV Battery
+            PUB.UpdateAGVBattery(PUB.BMS.Current_Level);
+
             if (PUB.BMS.Current_Level <= PUB.setting.ChargeStartLevel)
             {
                 //배터리 레벨이 기준보다 낮다면 경고를 활성화 한다
@@ -184,6 +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/_Loop.cs

@@ -76,7 +76,8 @@ namespace Project
             }
         }
 
-
+        string lockstep = string.Empty;
+        System.Threading.ManualResetEvent mreloop = new System.Threading.ManualResetEvent(true);
         void sm_Running(object sender, StateMachine.StateMachine.RunningEventArgs e)
         {
 
@@ -89,6 +90,11 @@ namespace Project
             }
             else PUB.sm.WaitFirstRun = false;
 
+            if (mreloop.WaitOne(1) == false) return;
+            mreloop.Reset();
+
+            lockstep = e.Step.ToString();
+
             //main loop
             switch (e.Step)
             {
@@ -154,9 +160,7 @@ namespace Project
                         UpdateStatusMessage("준비 완료", Color.Red, Color.Gold);
                         if (startuptime.Year == 1982) startuptime = DateTime.Now;
 
-                        // 장치 관리 태스크 시작 (IDLE 진입 시 한 번만)
-                        StartDeviceManagementTask();
-
+                   
                         // 동기화 모드 종료 (혹시 남아있을 경우)
                         if (PUB._mapCanvas != null)
                         {
@@ -188,11 +192,14 @@ namespace Project
                     break;
 
                 case eSMStep.SYNC:
-                    if(e.isFirst)
+                    if (e.isFirst)
                     {
                         // 동기화 완료 시 캔버스 모드 복귀
-                        if (PUB._mapCanvas != null)
-                            PUB._mapCanvas.SetSyncStatus("설정 동기화", 0f, "환경설정 값으로 AGV컨트롤러를 설정 합니다");
+                        this.Invoke(new Action(() => {
+                            if (PUB._mapCanvas != null)
+                                PUB._mapCanvas.SetSyncStatus("설정 동기화", 0f, "환경설정 값으로 AGV컨트롤러를 설정 합니다");
+                        }));
+                        
                     }
                     if (_SM_RUN_SYNC(runStepisFirst, PUB.sm.GetRunSteptime))
                     {
@@ -207,7 +214,6 @@ namespace Project
                             PUB.Speak( Lang.초기화완료);
 
                         PUB.sm.SetNewStep(eSMStep.IDLE);
-                        return;
                     }
                     break;
 
@@ -271,6 +277,8 @@ namespace Project
                     }
                     break;
             }
+
+            mreloop.Set();
         }
 
         void DeleteFile(string path)

Cs_HMI/Project/StateMachine/_SPS.cs

@@ -21,22 +21,205 @@ namespace Project
     {
         DateTime chargesynctime = DateTime.Now;
         DateTime agvsendstarttime = DateTime.Now;
+        DateTime lastXbeStatusSendTime = DateTime.Now;
+        DateTime lastBmsQueryTime = DateTime.Now;
+        object connectobj = new object();
 
         void sm_SPS(object sender, EventArgs e)
         {
-            if (PUB.sm.Step < eSMStep.IDLE || PUB.sm.Step >= eSMStep.CLOSING) return;
+            if (PUB.sm == null || PUB.sm.Step < eSMStep.IDLE || PUB.sm.Step >= eSMStep.CLOSING || PUB.bShutdown == true) return;
 
             // SPS는 이제 간단한 작업만 수행
             // 장치 연결 및 상태 전송은 별도 태스크(_DeviceManagement.cs)에서 처리
+            // 장치 연결이 별도로 존재할때 1회 수신 후 통신이 전체 먹통되는 증상이 있어 우선 복귀 251215
             try
             {
-                // 여기에 SPS에서 처리해야 할 간단한 작업만 남김
-                // 현재는 비어있음 - 필요한 경우 추가
+
+                // ========== 1. 장치 연결 관리 ==========
+                // AGV 연결
+                lock (connectobj)
+                {
+                    ConnectSerialPort(PUB.AGV, PUB.setting.Port_AGV, PUB.setting.Baud_AGV,
+                eVarTime.LastConn_AGV, eVarTime.LastConnTry_AGV, eVarTime.LastRecv_AGV);
+                }
+
+
+                // XBee 연결
+                lock (connectobj)
+                {
+                    ConnectSerialPort(PUB.XBE, PUB.setting.Port_XBE, PUB.setting.Baud_XBE,
+               eVarTime.LastConn_XBE, eVarTime.LastConnTry_XBE, null);
+                }
+
+
+                // BMS 연결
+                lock (connectobj)
+                {
+                    if (PUB.BMS.IsOpen == false)
+                    {
+                        var ts = VAR.TIME.RUN(eVarTime.LastConn_BAT);
+                        if (ts.TotalSeconds > 3)
+                        {
+                            PUB.log.Add($"BMS 연결 시도: {PUB.setting.Port_BAT}");
+                            PUB.BMS.PortName = PUB.setting.Port_BAT;
+                            if (PUB.BMS.Open())
+                                PUB.log.AddI($"BMS 연결 완료({PUB.setting.Port_BAT})");
+
+                            VAR.TIME.Update(eVarTime.LastConn_BAT);
+                            VAR.TIME.Update(eVarTime.LastConnTry_BAT);
+                        }
+                    }
+                    else if (PUB.BMS.IsValid == false)
+                    {
+                        var ts = VAR.TIME.RUN(eVarTime.LastConnTry_BAT);
+                        if (ts.TotalSeconds > ( Math.Max(10,PUB.setting.interval_bms) * 2.5))
+                        {
+                            this.BeginInvoke(new Action(() =>
+                            {
+                                PUB.log.Add("BMS 자동 연결 해제 (응답 없음)");
+                                PUB.BMS.Close();
+                            }));
+                            VAR.TIME.Set(eVarTime.LastConn_BAT, DateTime.Now.AddSeconds(5));
+                        }
+                    }
+                }
+
+                // ========== 2. XBee 상태 전송 ==========
+                if (PUB.XBE != null && PUB.XBE.IsOpen)
+                {
+                    var tsXbe = DateTime.Now - lastXbeStatusSendTime;
+                    if (tsXbe.TotalSeconds >= PUB.setting.interval_xbe)
+                    {
+                        lastXbeStatusSendTime = DateTime.Now;
+                        ThreadPool.QueueUserWorkItem(_ =>
+                        {
+                            try
+                            {
+                                PUB.XBE.SendStatus();
+                            }
+                            catch (Exception ex)
+                            {
+                                PUB.log.AddE($"XBee SendStatus 오류: {ex.Message}");
+                            }
+                        });
+                    }
+                }
+
+                // ========== 3. BMS 쿼리 및 배터리 경고 ==========
+                if (PUB.BMS != null && PUB.BMS.IsOpen)
+                {
+                    var tsBms = DateTime.Now - lastBmsQueryTime;
+                    if (tsBms.TotalSeconds >= PUB.setting.interval_bms)
+                    {
+                        lastBmsQueryTime = DateTime.Now;
+                        ThreadPool.QueueUserWorkItem(_ =>
+                        {
+                            try
+                            {
+                                PUB.BMS.SendQuery();
+                            }
+                            catch (Exception ex)
+                            {
+                                PUB.log.AddE($"BMS SendQuery 오류: {ex.Message}");
+                            }
+                        });
+                    }
+
+                    // 배터리 경고음
+                    try
+                    {
+                        Update_BatteryWarnSpeak();
+                    }
+                    catch (Exception ex)
+                    {
+                        PUB.log.AddE($"BatteryWarnSpeak 오류: {ex.Message}");
+                    }
+
+                }
             }
             catch (Exception ex)
             {
                 PUB.log.AddE($"sm_SPS Exception: {ex.Message}");
             }
         }
+
+        /// <summary>
+        /// 시리얼 포트 연결 (arDev.arRS232)
+        /// </summary>
+        bool ConnectSerialPort(arDev.ISerialComm dev, string port, int baud, eVarTime conn, eVarTime conntry, eVarTime? recvtime)
+        {
+            if (port.isEmpty()) return false;
+
+            if (dev.IsOpen == false && port.isEmpty() == false)
+            {
+                var tsPLC = VAR.TIME.RUN(conntry);
+                if (tsPLC.TotalSeconds > 5)
+                {
+                    VAR.TIME.Update(conntry);
+                    try
+                    {
+                        if (recvtime != null) VAR.TIME.Update(recvtime);
+                        dev.PortName = port;
+                        dev.BaudRate = baud;
+                        PUB.log.Add($"Connect to {port}:{baud}");
+                        if (dev.Open())
+                        {
+                            if (recvtime != null) VAR.TIME[recvtime] = DateTime.Now; //값을 수신한것처럼한다
+                            PUB.log.Add(port, $"[{port}:{baud}] 연결 완료");
+                        }
+                        else
+                        {
+                            //존재하지 않는 포트라면 sync를 벗어난다
+                            var ports = System.IO.Ports.SerialPort.GetPortNames().Select(t => t.ToLower()).ToList();
+                            if (ports.Contains(PUB.setting.Port_AGV.ToLower()) == false)
+                            {
+                                return false;
+                            }
+                            else
+                            {
+                                var errmessage = dev.ErrorMessage;
+                                PUB.log.AddE($"[AGV:{port}:{baud}] {errmessage}");
+                            }
+                        }
+                        VAR.TIME.Update(conn);
+                        VAR.TIME.Update(conntry);
+                    }
+                    catch (Exception ex)
+                    {
+                        PUB.log.AddE(ex.Message);
+                    }
+                }
+            }
+            else if (dev.PortName.Equals(port) == false)
+            {
+                this.BeginInvoke(new Action(() =>
+                {
+                    PUB.log.Add(port, $"포트 변경({dev.PortName}->{port})으로 연결 종료");
+                    VAR.TIME.Set(conntry, DateTime.Now);
+                    dev.Close();
+                }));
+
+                VAR.TIME.Update(conntry);
+            }
+            else if (dev.IsOpen && recvtime != null)
+            {
+                //연결은 되었으나 통신이 지난지 10초가 지났다면 자동종료한다
+                var tsRecv = VAR.TIME.RUN(recvtime);
+                var tsConn = VAR.TIME.RUN(conntry);
+                if (tsRecv.TotalSeconds > 30 && tsConn.TotalSeconds > 5)
+                {
+                    this.BeginInvoke(new Action(() =>
+                    {
+                        PUB.log.Add($"{port} 자동 연결 해제 (응답 없음)");
+                        dev.Close();
+                    }));
+                    VAR.TIME.Set(conntry, DateTime.Now);
+                }
+            }
+            return true;
+        }
+
+
+
     }
 }

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);
@@ -649,7 +661,7 @@ namespace Project
                             stMsg = Lang.전방에물체가감지되었습니다;
                         //else if (PUB.PLC.GetValueI(arDev.FakePLC.DIName.PINI_EMG))
                         //    stMsg = Lang.비상정지신호가감지되었습니다;
-                        else if (PUB.AGV.signal.front_gate_out == true)
+                        else if (PUB.AGV.signal1.front_gate_out == true)
                             stMsg = Lang.선로를이탈했습니다;
                         else if (PUB.AGV.error.runerror_by_no_magent_line)
                             stMsg = "마그네틱 라인을 벗어났습니다";

Cs_HMI/Project/StateMachine/_Xbee.cs

@@ -8,6 +8,7 @@ using AGVNavigationCore.Utils;
 using AR;
 using arDev;
 using COMM;
+using Project.StateMachine;
 
 namespace Project
 {
@@ -47,80 +48,128 @@ namespace Project
                         if (data.Length > 4)
                         {
                             var currTag = System.Text.Encoding.Default.GetString(data, 1, data.Length - 1);
-                            var node = PUB._mapNodes.FirstOrDefault(t => t.RfidId == currTag);
-                            if (node == null)
+                            if (ushort.TryParse(currTag, out ushort currtagValue))
                             {
-                                PUB.log.AddE($"[{logPrefix}-SetCurrent] 노드정보를 찾을 수 없습니다 RFID:{currTag}");
-                                PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, $"{currTag}");
-                                return;
-                            }
-                            else
-                            {
-                                PUB.log.AddI($"XBEE:현재위치설정:[{node.RfidId}]{node.NodeId}");
-                            }
+                                var node = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId == currtagValue);
+                                if (node == null)
+                                {
+                                    PUB.log.AddE($"[{logPrefix}-SetCurrent] 노드정보를 찾을 수 없습니다 RFID:{currTag}");
+                                    PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, $"{currTag}");
+                                    return;
+                                }
+                                else
+                                {
+                                    PUB.log.AddI($"XBEE:현재위치설정:[{node.RfidId}]{node.Id}");
+                                }
 
-                            PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, node, PUB._virtualAGV.CurrentDirection);
-                            PUB._virtualAGV.SetPosition(node, PUB._virtualAGV.CurrentDirection);
+                                PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, node, PUB._virtualAGV.CurrentDirection);
+                                PUB._virtualAGV.SetPosition(node, PUB._virtualAGV.CurrentDirection);
+                            }
+                            else PUB.log.AddE($"[{logPrefix}-SetCurrent] TagString Value Errorr:{data}");
                         }
                         else PUB.log.AddE($"[{logPrefix}-SetCurrent] TagString Lenght Errorr:{data.Length}");
                         break;
 
-                    case ENIGProtocol.AGVCommandHE.Goto:  //move to tag
-                        if (data.Length > 4)
+                    case ENIGProtocol.AGVCommandHE.PickOn:  // 110
+                    case ENIGProtocol.AGVCommandHE.PickOff: // 111
                         {
-                            var currTag = System.Text.Encoding.Default.GetString(data, 1, data.Length - 1);
-                            var targetNode = PUB._mapNodes.FirstOrDefault(t => t.RfidId == currTag);
+                            PUB.log.AddI($"XBEE:작업명령수신:{cmd}");
 
-
-                            //자동상태가아니라면 처리하지 않는다.
-                            if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == false)
+                            // 현재 위치 확인 (TargetNode가 아닌 CurrentNode 기준)
+                            var currNode = PUB._virtualAGV.CurrentNode;
+                            if (currNode == null)
                             {
-                                PUB.log.AddE($"[{logPrefix}-Goto] 자동실행상태가 아닙니다");
-                                PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.ManualMode, $"{currTag}");
-                            }
-
-                            //목적지
-                            PUB._virtualAGV.TargetNode = targetNode;
-                            if (targetNode == null)
-                            {
-                                PUB.log.AddE($"[{logPrefix}-Goto] 노드정보를 찾을 수 없습니다 RFID:{currTag}");
-                                PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, $"{currTag}");
+                                PUB.log.AddE($"[{logPrefix}-{cmd}] 현재 노드를 알 수 없습니다 NodeID:{PUB._virtualAGV.CurrentNode.Id}");
+                                PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, "Unknown Node");
                                 return;
                             }
 
-                            ///출발지
-                            var startNode = PUB._mapNodes.FirstOrDefault(t => t.RfidId == PUB._virtualAGV.CurrentNodeId);
-                            PUB._virtualAGV.StartNode = startNode;
-                            if (startNode == null)
+                            PUB.NextWorkCmd = cmd;
+                            ERunStep nextStep = ERunStep.READY;
+
+                            switch (currNode.StationType)
                             {
-                                PUB.log.AddE($"[{logPrefix}-Goto] 시작노드가 없습니다(현재위치 없음) NodeID:{PUB._virtualAGV.CurrentNodeId}");
+                                case StationType.Loader: nextStep = ERunStep.LOADER_IN; break;
+                                case StationType.UnLoader: nextStep = ERunStep.UNLOADER_IN; break;
+                                case StationType.Buffer: nextStep = ERunStep.BUFFER_IN; break;
+                                case StationType.Clearner: nextStep = ERunStep.CLEANER_IN; break;
+                                default:
+                                    PUB.log.AddE($"[{logPrefix}-{cmd}] 해당 노드타입({currNode.Type})은 작업을 지원하지 않습니다.");
+                                    return;
                             }
 
-                            if (startNode != null)
-                            {
-                                //시작위치가 존재한다면 경로를 예측한다.
-                                var rltGoto = CalcPath(startNode, targetNode);
-                                if (rltGoto.result == null)
-                                {
-                                    PUB.log.AddE($"[{logPrefix}-Goto] 경로예측실패 {rltGoto.message}");
-                                }
-                                else
-                                {
-                                    //경로예측을 화면에 표시해준다.
-                                    PUB._virtualAGV.SetPath(rltGoto.result);
-                                    var pathWithRfid = rltGoto.result.GetSimplePath().Select(nodeId => PUB._virtualAGV.GetRfidByNodeId(PUB._mapNodes, nodeId)).ToList();
-                                    PUB.log.Add($"경로예측결과:{pathWithRfid}");
-                                }
-                            }
-
-                            //대상이동으로 처리한다.
-                            PUB.sm.SetNewRunStep(StateMachine.ERunStep.GOTO);
-
-                            //Move to 
-                            PUB.log.Add($"[{logPrefix}-Goto] {startNode.RfidId} -> {targetNode.RfidId}");
-
+                            PUB.log.AddI($"작업 시작: {nextStep} (Type: {cmd})");
+                            PUB.sm.SetNewRunStep(nextStep);
                         }
-                        else PUB.log.AddE($"[{logPrefix}-Goto] TagString Lenght Errorr:{data.Length}");
+                        break;
+
+                    case ENIGProtocol.AGVCommandHE.Charger: // 112
+                        {
+                            PUB.log.AddI($"XBEE:충전명령수신");
+                            PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Charger;
+                            PUB.sm.SetNewRunStep(ERunStep.GOCHARGE);
+                        }
+                        break;
+
+                    case ENIGProtocol.AGVCommandHE.GotoAlias:
+                    case ENIGProtocol.AGVCommandHE.Goto:  //move to tag
+                        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();
+                            MapNode targetNode = null;
+                            if(cmd == ENIGProtocol.AGVCommandHE.GotoAlias)
+                            {
+                                targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.AliasName == currTag);
+                            }   
+                            else
+                            {
+                                if (ushort.TryParse(currTag, out ushort currtagvalue))
+                                    targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId == currtagvalue);
+                                else PUB.log.Add($"targstring 이 숫자가 아니라서 대상을 설정할 수 없습니다 값:{currTag}");
+                            }
+
+                            if (targetNode != null)
+                            {
+                                //자동상태가아니라면 처리하지 않는다.
+                                if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == false)
+                                {
+                                    PUB.log.AddE($"[{logPrefix}-Goto] 자동실행상태가 아닙니다");
+                                    PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.ManualMode, $"{currTag}");
+                                    return;
+                                }
+
+                                //목적지
+                                PUB._virtualAGV.TargetNode = targetNode;
+                                if (targetNode == null)
+                                {
+                                    PUB.log.AddE($"[{logPrefix}-Goto] 노드정보를 찾을 수 없습니다 RFID:{currTag}");
+                                    PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, $"{currTag}");
+                                    return;
+                                }
+
+                                ///출발지
+                                var startNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId == PUB._virtualAGV.CurrentNode.RfidId);
+                                PUB._virtualAGV.StartNode = startNode;
+                                if (startNode == null)
+                                {
+                                    PUB.log.AddE($"[{logPrefix}-Goto] 시작노드가 없습니다(현재위치 없음) NodeID:{PUB._virtualAGV.CurrentNode.Id}");
+                                }
+                         
+                                //대상이동으로 처리한다.
+                                if(PUB.sm.RunStep != ERunStep.GOTO)
+                                {                                    
+                                    PUB.sm.SetNewRunStep(StateMachine.ERunStep.GOTO);
+                                    PUB.sm.ResetRunStepSeq();
+                                }
+                                
+
+                                //Move to 
+                                PUB.log.Add($"[{logPrefix}-{cmd}] {startNode.RfidId} -> {targetNode.RfidId}");
+                            }
+                            else PUB.log.AddE($"[{logPrefix}-{cmd}] 대상노드가 없습니다 {data}");
+                        }
+                        else PUB.log.AddE($"[{logPrefix}-{cmd}] Length Error:{data.Length}");
                         break;
 
                     case ENIGProtocol.AGVCommandHE.Stop:  //stop
@@ -174,7 +223,7 @@ namespace Project
 
                         PUB.log.Add($"[{logPrefix}-AutoMove] DIR:{bunkidata.Direction}-{bunkidata.Bunki},SPD:{bunkidata.Speed}");
                         PUB.AGV.AGVMoveSet(bunkidata);
-                        PUB.AGV.AGVMoveRun();
+                        PUB.AGV.AGVMoveRun((MotDirection == 0 ? arDev.Narumi.eRunOpt.Backward : arDev.Narumi.eRunOpt.Forward));
                         break;
 
                     case ENIGProtocol.AGVCommandHE.MarkStop: //Set MarkStop
@@ -204,7 +253,11 @@ namespace Project
                             PUB.log.AddI($"충전을 시작합니다");
                         }
                         break;
-
+            
+                    default:
+                        PUB.logagv.AddE($"Unknown Command : {cmd} Sender:{e.ReceivedPacket.ID}, Target:{data[0]}");
+                        PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.UnknownCommand, $"{cmd}");
+                        break;
                 }
             }
         }
@@ -218,7 +271,7 @@ namespace Project
         AGVNavigationCore.PathFinding.Planning.AGVPathfinder _advancedPathfinder = null;
         (AGVNavigationCore.PathFinding.Core.AGVPathResult result, string message) CalcPath(MapNode startNode, MapNode targetNode)
         {
-            var _mapNodes = PUB._mapNodes;
+            var _mapNodes = PUB._mapCanvas.Nodes;
             // 시작 RFID가 없으면 AGV 현재 위치로 설정
             if (startNode == null || targetNode == null)
                 return (null, "시작 RFID와 목표 RFID를 선택해주세요.");
@@ -242,12 +295,25 @@ namespace Project
 
             _simulatorCanvas.FitToNodes();
             string Message = string.Empty;
-            if (advancedResult.Success)
+            if (advancedResult != null && advancedResult.Success)
             {
                 // 도킹 검증이 없는 경우 추가 검증 수행
                 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)";
@@ -262,12 +328,12 @@ namespace Project
                 //UpdateAdvancedPathDebugInfo(advancedResult);
 
             }
-            else
+            else if(advancedResult != null)
             {
                 // 경로 실패시 디버깅 정보 초기화
-                //_pathDebugLabel.Text = $"경로: 실패 - {advancedResult.ErrorMessage}";
-                advancedResult = null;
+                //_pathDebugLabel.Text = $"경로: 실패 - {advancedResult.ErrorMessage}";                
                 Message = $"경로를 찾을 수 없습니다:\n{advancedResult.ErrorMessage}";
+                advancedResult = null;
             }
 
             return (advancedResult, Message);

Cs_HMI/Project/ViewForm/fAgv.Designer.cs

@@ -30,17 +30,18 @@
         {
             this.components = new System.ComponentModel.Container();
             this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
-            this.richTextBox1 = new System.Windows.Forms.RichTextBox();
-            this.richTextBox2 = new System.Windows.Forms.RichTextBox();
-            this.richTextBox3 = new System.Windows.Forms.RichTextBox();
-            this.richTextBox4 = new System.Windows.Forms.RichTextBox();
+            this.rtSystem0 = new System.Windows.Forms.RichTextBox();
+            this.rtSystem1 = new System.Windows.Forms.RichTextBox();
+            this.rtSignal1 = new System.Windows.Forms.RichTextBox();
+            this.rtError = new System.Windows.Forms.RichTextBox();
             this.label1 = new System.Windows.Forms.Label();
             this.timer1 = new System.Windows.Forms.Timer(this.components);
             this.panel1 = new System.Windows.Forms.Panel();
-            this.lbIP = new System.Windows.Forms.Label();
             this.button7 = new System.Windows.Forms.Button();
             this.button6 = new System.Windows.Forms.Button();
             this.button5 = new System.Windows.Forms.Button();
+            this.button17 = new System.Windows.Forms.Button();
+            this.lbIP = new System.Windows.Forms.Label();
             this.button3 = new System.Windows.Forms.Button();
             this.button2 = new System.Windows.Forms.Button();
             this.button1 = new System.Windows.Forms.Button();
@@ -48,13 +49,16 @@
             this.button4 = new System.Windows.Forms.Button();
             this.button9 = new System.Windows.Forms.Button();
             this.panel2 = new System.Windows.Forms.Panel();
-            this.button16 = new System.Windows.Forms.Button();
-            this.button10 = new System.Windows.Forms.Button();
+            this.lbPortName = new System.Windows.Forms.Label();
+            this.button15 = new System.Windows.Forms.Button();
+            this.button14 = new System.Windows.Forms.Button();
             this.button11 = new System.Windows.Forms.Button();
             this.button12 = new System.Windows.Forms.Button();
             this.button13 = new System.Windows.Forms.Button();
-            this.button14 = new System.Windows.Forms.Button();
-            this.button15 = new System.Windows.Forms.Button();
+            this.button10 = new System.Windows.Forms.Button();
+            this.button16 = new System.Windows.Forms.Button();
+            this.rtData = new System.Windows.Forms.RichTextBox();
+            this.rtSignal2 = new System.Windows.Forms.RichTextBox();
             this.tableLayoutPanel1.SuspendLayout();
             this.panel1.SuspendLayout();
             this.panel2.SuspendLayout();
@@ -67,11 +71,13 @@
             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, 25F));
             this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 25F));
-            this.tableLayoutPanel1.Controls.Add(this.richTextBox1, 0, 0);
-            this.tableLayoutPanel1.Controls.Add(this.richTextBox2, 1, 0);
-            this.tableLayoutPanel1.Controls.Add(this.richTextBox3, 2, 0);
-            this.tableLayoutPanel1.Controls.Add(this.richTextBox4, 3, 0);
+            this.tableLayoutPanel1.Controls.Add(this.rtSignal2, 2, 1);
+            this.tableLayoutPanel1.Controls.Add(this.rtSystem0, 0, 0);
+            this.tableLayoutPanel1.Controls.Add(this.rtSystem1, 1, 0);
+            this.tableLayoutPanel1.Controls.Add(this.rtSignal1, 2, 0);
+            this.tableLayoutPanel1.Controls.Add(this.rtError, 3, 0);
             this.tableLayoutPanel1.Controls.Add(this.label1, 0, 2);
+            this.tableLayoutPanel1.Controls.Add(this.rtData, 3, 1);
             this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
             this.tableLayoutPanel1.Location = new System.Drawing.Point(3, 3);
             this.tableLayoutPanel1.Name = "tableLayoutPanel1";
@@ -82,45 +88,47 @@
             this.tableLayoutPanel1.Size = new System.Drawing.Size(1050, 461);
             this.tableLayoutPanel1.TabIndex = 6;
             // 
-            // richTextBox1
+            // rtSystem0
             // 
-            this.richTextBox1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.richTextBox1.Location = new System.Drawing.Point(3, 3);
-            this.richTextBox1.Name = "richTextBox1";
-            this.tableLayoutPanel1.SetRowSpan(this.richTextBox1, 2);
-            this.richTextBox1.Size = new System.Drawing.Size(256, 404);
-            this.richTextBox1.TabIndex = 1;
-            this.richTextBox1.Text = "";
+            this.rtSystem0.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.rtSystem0.Font = new System.Drawing.Font("Calibri", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(2)));
+            this.rtSystem0.Location = new System.Drawing.Point(3, 3);
+            this.rtSystem0.Name = "rtSystem0";
+            this.tableLayoutPanel1.SetRowSpan(this.rtSystem0, 2);
+            this.rtSystem0.Size = new System.Drawing.Size(256, 404);
+            this.rtSystem0.TabIndex = 1;
+            this.rtSystem0.Text = "test2\ntest3\nteat\nasdfjalsdf\nasdjfklasdfj\nkalsdjfalksdjfa\nsdjfklasdjfklasjdf\n";
             // 
-            // richTextBox2
+            // rtSystem1
             // 
-            this.richTextBox2.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.richTextBox2.Location = new System.Drawing.Point(265, 3);
-            this.richTextBox2.Name = "richTextBox2";
-            this.tableLayoutPanel1.SetRowSpan(this.richTextBox2, 2);
-            this.richTextBox2.Size = new System.Drawing.Size(256, 404);
-            this.richTextBox2.TabIndex = 1;
-            this.richTextBox2.Text = "";
+            this.rtSystem1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.rtSystem1.Font = new System.Drawing.Font("Calibri", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(2)));
+            this.rtSystem1.Location = new System.Drawing.Point(265, 3);
+            this.rtSystem1.Name = "rtSystem1";
+            this.tableLayoutPanel1.SetRowSpan(this.rtSystem1, 2);
+            this.rtSystem1.Size = new System.Drawing.Size(256, 404);
+            this.rtSystem1.TabIndex = 1;
+            this.rtSystem1.Text = "test2\ntest3\nteat\nasdfjalsdf\nasdjfklasdfj\nkalsdjfalksdjfa\nsdjfklasdjfklasjdf\n";
             // 
-            // richTextBox3
+            // rtSignal1
             // 
-            this.richTextBox3.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.richTextBox3.Location = new System.Drawing.Point(527, 3);
-            this.richTextBox3.Name = "richTextBox3";
-            this.tableLayoutPanel1.SetRowSpan(this.richTextBox3, 2);
-            this.richTextBox3.Size = new System.Drawing.Size(256, 404);
-            this.richTextBox3.TabIndex = 1;
-            this.richTextBox3.Text = "";
+            this.rtSignal1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.rtSignal1.Font = new System.Drawing.Font("Calibri", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(2)));
+            this.rtSignal1.Location = new System.Drawing.Point(527, 3);
+            this.rtSignal1.Name = "rtSignal1";
+            this.rtSignal1.Size = new System.Drawing.Size(256, 199);
+            this.rtSignal1.TabIndex = 1;
+            this.rtSignal1.Text = "test2\ntest3\nteat\nasdfjalsdf\nasdjfklasdfj\nkalsdjfalksdjfa\nsdjfklasdjfklasjdf\n";
             // 
-            // richTextBox4
+            // rtError
             // 
-            this.richTextBox4.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.richTextBox4.Location = new System.Drawing.Point(789, 3);
-            this.richTextBox4.Name = "richTextBox4";
-            this.tableLayoutPanel1.SetRowSpan(this.richTextBox4, 2);
-            this.richTextBox4.Size = new System.Drawing.Size(258, 404);
-            this.richTextBox4.TabIndex = 1;
-            this.richTextBox4.Text = "";
+            this.rtError.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.rtError.Font = new System.Drawing.Font("Calibri", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(2)));
+            this.rtError.Location = new System.Drawing.Point(789, 3);
+            this.rtError.Name = "rtError";
+            this.rtError.Size = new System.Drawing.Size(258, 199);
+            this.rtError.TabIndex = 1;
+            this.rtError.Text = "test2\ntest3\nteat\nasdfjalsdf\nasdjfklasdfj\nkalsdjfalksdjfa\nsdjfklasdjfklasjdf\n";
             // 
             // label1
             // 
@@ -141,10 +149,11 @@
             // 
             // panel1
             // 
-            this.panel1.Controls.Add(this.lbIP);
             this.panel1.Controls.Add(this.button7);
             this.panel1.Controls.Add(this.button6);
             this.panel1.Controls.Add(this.button5);
+            this.panel1.Controls.Add(this.button17);
+            this.panel1.Controls.Add(this.lbIP);
             this.panel1.Controls.Add(this.button3);
             this.panel1.Controls.Add(this.button2);
             this.panel1.Controls.Add(this.button1);
@@ -156,22 +165,10 @@
             this.panel1.Size = new System.Drawing.Size(1050, 58);
             this.panel1.TabIndex = 7;
             // 
-            // lbIP
-            // 
-            this.lbIP.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.lbIP.Font = new System.Drawing.Font("Tahoma", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.lbIP.ForeColor = System.Drawing.Color.White;
-            this.lbIP.Location = new System.Drawing.Point(252, 0);
-            this.lbIP.Name = "lbIP";
-            this.lbIP.Size = new System.Drawing.Size(398, 58);
-            this.lbIP.TabIndex = 8;
-            this.lbIP.Text = "000.000.000.000";
-            this.lbIP.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            // 
             // button7
             // 
             this.button7.Dock = System.Windows.Forms.DockStyle.Right;
-            this.button7.Location = new System.Drawing.Point(650, 0);
+            this.button7.Location = new System.Drawing.Point(570, 0);
             this.button7.Name = "button7";
             this.button7.Size = new System.Drawing.Size(80, 58);
             this.button7.TabIndex = 6;
@@ -182,7 +179,7 @@
             // button6
             // 
             this.button6.Dock = System.Windows.Forms.DockStyle.Right;
-            this.button6.Location = new System.Drawing.Point(730, 0);
+            this.button6.Location = new System.Drawing.Point(650, 0);
             this.button6.Name = "button6";
             this.button6.Size = new System.Drawing.Size(80, 58);
             this.button6.TabIndex = 5;
@@ -193,7 +190,7 @@
             // button5
             // 
             this.button5.Dock = System.Windows.Forms.DockStyle.Right;
-            this.button5.Location = new System.Drawing.Point(810, 0);
+            this.button5.Location = new System.Drawing.Point(730, 0);
             this.button5.Name = "button5";
             this.button5.Size = new System.Drawing.Size(80, 58);
             this.button5.TabIndex = 4;
@@ -201,6 +198,29 @@
             this.button5.UseVisualStyleBackColor = true;
             this.button5.Click += new System.EventHandler(this.button5_Click);
             // 
+            // button17
+            // 
+            this.button17.Dock = System.Windows.Forms.DockStyle.Right;
+            this.button17.Location = new System.Drawing.Point(810, 0);
+            this.button17.Name = "button17";
+            this.button17.Size = new System.Drawing.Size(80, 58);
+            this.button17.TabIndex = 9;
+            this.button17.Text = "Run(Bwd)";
+            this.button17.UseVisualStyleBackColor = true;
+            this.button17.Click += new System.EventHandler(this.button17_Click);
+            // 
+            // lbIP
+            // 
+            this.lbIP.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.lbIP.Font = new System.Drawing.Font("Tahoma", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.lbIP.ForeColor = System.Drawing.Color.White;
+            this.lbIP.Location = new System.Drawing.Point(252, 0);
+            this.lbIP.Name = "lbIP";
+            this.lbIP.Size = new System.Drawing.Size(638, 58);
+            this.lbIP.TabIndex = 8;
+            this.lbIP.Text = "000.000.000.000";
+            this.lbIP.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
             // button3
             // 
             this.button3.Dock = System.Windows.Forms.DockStyle.Left;
@@ -241,7 +261,7 @@
             this.button8.Name = "button8";
             this.button8.Size = new System.Drawing.Size(80, 58);
             this.button8.TabIndex = 7;
-            this.button8.Text = "Run";
+            this.button8.Text = "Run(Fwd)";
             this.button8.UseVisualStyleBackColor = true;
             this.button8.Click += new System.EventHandler(this.button8_Click);
             // 
@@ -269,6 +289,7 @@
             // 
             // panel2
             // 
+            this.panel2.Controls.Add(this.lbPortName);
             this.panel2.Controls.Add(this.button15);
             this.panel2.Controls.Add(this.button14);
             this.panel2.Controls.Add(this.button11);
@@ -283,27 +304,39 @@
             this.panel2.Size = new System.Drawing.Size(1050, 58);
             this.panel2.TabIndex = 8;
             // 
-            // button16
+            // lbPortName
             // 
-            this.button16.Dock = System.Windows.Forms.DockStyle.Left;
-            this.button16.Location = new System.Drawing.Point(0, 0);
-            this.button16.Name = "button16";
-            this.button16.Size = new System.Drawing.Size(162, 58);
-            this.button16.TabIndex = 0;
-            this.button16.Text = "백턴유지시간";
-            this.button16.UseVisualStyleBackColor = true;
-            this.button16.Click += new System.EventHandler(this.button16_Click);
+            this.lbPortName.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.lbPortName.Font = new System.Drawing.Font("Tahoma", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.lbPortName.ForeColor = System.Drawing.Color.White;
+            this.lbPortName.Location = new System.Drawing.Point(607, 0);
+            this.lbPortName.Name = "lbPortName";
+            this.lbPortName.Size = new System.Drawing.Size(203, 58);
+            this.lbPortName.TabIndex = 15;
+            this.lbPortName.Text = "--";
+            this.lbPortName.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             // 
-            // button10
+            // button15
             // 
-            this.button10.Dock = System.Windows.Forms.DockStyle.Left;
-            this.button10.Location = new System.Drawing.Point(162, 0);
-            this.button10.Name = "button10";
-            this.button10.Size = new System.Drawing.Size(162, 58);
-            this.button10.TabIndex = 1;
-            this.button10.Text = "GateOut Off Time";
-            this.button10.UseVisualStyleBackColor = true;
-            this.button10.Click += new System.EventHandler(this.button10_Click);
+            this.button15.Dock = System.Windows.Forms.DockStyle.Left;
+            this.button15.Location = new System.Drawing.Point(523, 0);
+            this.button15.Name = "button15";
+            this.button15.Size = new System.Drawing.Size(84, 58);
+            this.button15.TabIndex = 14;
+            this.button15.Text = "Mag Off";
+            this.button15.UseVisualStyleBackColor = true;
+            this.button15.Click += new System.EventHandler(this.button15_Click);
+            // 
+            // button14
+            // 
+            this.button14.Dock = System.Windows.Forms.DockStyle.Left;
+            this.button14.Location = new System.Drawing.Point(439, 0);
+            this.button14.Name = "button14";
+            this.button14.Size = new System.Drawing.Size(84, 58);
+            this.button14.TabIndex = 13;
+            this.button14.Text = "Mag On";
+            this.button14.UseVisualStyleBackColor = true;
+            this.button14.Click += new System.EventHandler(this.button14_Click);
             // 
             // button11
             // 
@@ -338,27 +371,47 @@
             this.button13.UseVisualStyleBackColor = true;
             this.button13.Click += new System.EventHandler(this.button13_Click);
             // 
-            // button14
+            // button10
             // 
-            this.button14.Dock = System.Windows.Forms.DockStyle.Left;
-            this.button14.Location = new System.Drawing.Point(439, 0);
-            this.button14.Name = "button14";
-            this.button14.Size = new System.Drawing.Size(84, 58);
-            this.button14.TabIndex = 13;
-            this.button14.Text = "Mag On";
-            this.button14.UseVisualStyleBackColor = true;
-            this.button14.Click += new System.EventHandler(this.button14_Click);
+            this.button10.Dock = System.Windows.Forms.DockStyle.Left;
+            this.button10.Location = new System.Drawing.Point(162, 0);
+            this.button10.Name = "button10";
+            this.button10.Size = new System.Drawing.Size(162, 58);
+            this.button10.TabIndex = 1;
+            this.button10.Text = "GateOut Off Time";
+            this.button10.UseVisualStyleBackColor = true;
+            this.button10.Click += new System.EventHandler(this.button10_Click);
             // 
-            // button15
+            // button16
             // 
-            this.button15.Dock = System.Windows.Forms.DockStyle.Left;
-            this.button15.Location = new System.Drawing.Point(523, 0);
-            this.button15.Name = "button15";
-            this.button15.Size = new System.Drawing.Size(84, 58);
-            this.button15.TabIndex = 14;
-            this.button15.Text = "Mag Off";
-            this.button15.UseVisualStyleBackColor = true;
-            this.button15.Click += new System.EventHandler(this.button15_Click);
+            this.button16.Dock = System.Windows.Forms.DockStyle.Left;
+            this.button16.Location = new System.Drawing.Point(0, 0);
+            this.button16.Name = "button16";
+            this.button16.Size = new System.Drawing.Size(162, 58);
+            this.button16.TabIndex = 0;
+            this.button16.Text = "백턴유지시간";
+            this.button16.UseVisualStyleBackColor = true;
+            this.button16.Click += new System.EventHandler(this.button16_Click);
+            // 
+            // rtData
+            // 
+            this.rtData.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.rtData.Font = new System.Drawing.Font("Calibri", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(2)));
+            this.rtData.Location = new System.Drawing.Point(789, 208);
+            this.rtData.Name = "rtData";
+            this.rtData.Size = new System.Drawing.Size(258, 199);
+            this.rtData.TabIndex = 3;
+            this.rtData.Text = "test2\ntest3\nteat\nasdfjalsdf\nasdjfklasdfj\nkalsdjfalksdjfa\nsdjfklasdjfklasjdf\n";
+            // 
+            // rtSignal2
+            // 
+            this.rtSignal2.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.rtSignal2.Font = new System.Drawing.Font("Calibri", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(2)));
+            this.rtSignal2.Location = new System.Drawing.Point(527, 208);
+            this.rtSignal2.Name = "rtSignal2";
+            this.rtSignal2.Size = new System.Drawing.Size(256, 199);
+            this.rtSignal2.TabIndex = 4;
+            this.rtSignal2.Text = "test2\ntest3\nteat\nasdfjalsdf\nasdjfklasdfj\nkalsdjfalksdjfa\nsdjfklasdjfklasjdf\n";
             // 
             // fAgv
             // 
@@ -385,10 +438,10 @@
 
         private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1;
         private System.Windows.Forms.Timer timer1;
-        private System.Windows.Forms.RichTextBox richTextBox1;
-        private System.Windows.Forms.RichTextBox richTextBox2;
-        private System.Windows.Forms.RichTextBox richTextBox3;
-        private System.Windows.Forms.RichTextBox richTextBox4;
+        private System.Windows.Forms.RichTextBox rtSystem0;
+        private System.Windows.Forms.RichTextBox rtSystem1;
+        private System.Windows.Forms.RichTextBox rtSignal1;
+        private System.Windows.Forms.RichTextBox rtError;
         private System.Windows.Forms.Panel panel1;
         private System.Windows.Forms.Button button1;
         private System.Windows.Forms.Button button2;
@@ -409,5 +462,9 @@
         private System.Windows.Forms.Button button11;
         private System.Windows.Forms.Button button12;
         private System.Windows.Forms.Button button13;
+        private System.Windows.Forms.Label lbPortName;
+        private System.Windows.Forms.Button button17;
+        private System.Windows.Forms.RichTextBox rtData;
+        private System.Windows.Forms.RichTextBox rtSignal2;
     }
 }

Cs_HMI/Project/ViewForm/fAgv.cs

@@ -38,11 +38,13 @@ namespace Project.ViewForm
             lbIP.Text = PUB.IP;
             label1.Text = PUB.AGV.LastSTS;
 
-            richTextBox1.Rtf = PUB.AGV.system0.ToRtfString();
-            richTextBox2.Rtf = PUB.AGV.system1.ToRtfString();
-            richTextBox3.Rtf = CombineRtfStrings(PUB.AGV.signal.ToRtfString(), PUB.AGV.data.ToRtfString());
-            richTextBox4.Rtf = PUB.AGV.error.ToRtfString();
-
+            rtSystem0.Rtf = PUB.AGV.system0.ToRtfString();
+            rtSystem1.Rtf = PUB.AGV.system1.ToRtfString();
+            rtSignal1.Rtf = PUB.AGV.signal1.ToRtfString();
+            rtSignal2.Rtf = PUB.AGV.signal2.ToRtfString();
+            rtData.Rtf = PUB.AGV.data.ToRtfString();
+            rtError.Rtf = PUB.AGV.error.ToRtfString();
+            lbPortName.Text = $"AGV:{PUB.setting.Port_AGV}\nBMS:{PUB.setting.Port_BAT}";
             timer1.Start();
         }
 
@@ -133,7 +135,7 @@ namespace Project.ViewForm
 
         private void button8_Click(object sender, EventArgs e)
         {
-            PUB.AGV.AGVMoveRun();
+            PUB.AGV.AGVMoveRun( arDev.Narumi.eRunOpt.Forward);
         }
 
         private void button9_Click(object sender, EventArgs e)
@@ -190,5 +192,10 @@ namespace Project.ViewForm
         {
             PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.STP);
         }
+
+        private void button17_Click(object sender, EventArgs e)
+        {
+            PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
+        }
     }
 }

Cs_HMI/Project/ViewForm/fAuto.cs

@@ -30,42 +30,109 @@ namespace Project.ViewForm
 
             InitializeMapCanvas();
 
-            //PUB.mapctl = new AGVControl.MapControl();
-            //PUB.mapctl.Dock = DockStyle.Fill;
-            //PUB.mapctl.Visible = true;
-            //PUB.mapctl.Font = this.panel1.Font;
-            //PUB.mapctl.BackColor = Color.FromArgb(32, 32, 32);
-            //this.panel1.Controls.Add(PUB.mapctl);
         }
 
         private void InitializeMapCanvas()
         {
-            PUB._mapCanvas = new AGVNavigationCore.Controls.UnifiedAGVCanvas();
-            PUB._mapCanvas.Dock = DockStyle.Fill;
-            PUB._mapCanvas.ShowGrid = false;
-            PUB._mapCanvas.BackColor = Color.FromArgb(32, 32, 32);
-            PUB._mapCanvas.ForeColor = Color.White;
-            // RfidMappings 제거 - MapNode에 통합됨
-
-            // 이벤트 연결
-            //PUB._mapCanvas.NodeAdded += OnNodeAdded;
-            //PUB._mapCanvas.NodeSelected += OnNodeSelected;
-            //PUB._mapCanvas.NodeMoved += OnNodeMoved;
-            //PUB._mapCanvas.NodeDeleted += OnNodeDeleted;
-            //PUB._mapCanvas.ConnectionDeleted += OnConnectionDeleted;
-            //PUB._mapCanvas.ImageNodeDoubleClicked += OnImageNodeDoubleClicked;
-            //PUB._mapCanvas.MapChanged += OnMapChanged;
+            PUB._mapCanvas.NodeSelect += OnNodeSelected;;
 
             // 스플리터 패널에 맵 캔버스 추가
             panel1.Controls.Add(PUB._mapCanvas);
+        }
 
-            // 툴바 버튼 이벤트 연결
-            //WireToolbarButtonEvents();
+
+        private void OnNodeSelected(object sender, NodeBase node, MouseEventArgs e)
+        {
+            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;
+
+            ContextMenuStrip menu = new ContextMenuStrip();
+
+            // PickOn
+            var pickOn = new ToolStripMenuItem("Pick On (Move & Pick)");
+            pickOn.Click += (s, args) => ExecuteManualCommand(mapnode, ENIGProtocol.AGVCommandHE.PickOn);
+            menu.Items.Add(pickOn);
+
+            // PickOff
+            var pickOff = new ToolStripMenuItem("Pick Off (Move & Drop)");
+            pickOff.Click += (s, args) => ExecuteManualCommand(mapnode, ENIGProtocol.AGVCommandHE.PickOff);
+            menu.Items.Add(pickOff);
+
+            // Charge
+            if (mapnode.StationType == StationType.Charger)
+            {
+                var charge = new ToolStripMenuItem("Charge (Move & Charge)");
+                charge.Click += (s, args) => ExecuteManualCommand(mapnode, ENIGProtocol.AGVCommandHE.Charger);
+                menu.Items.Add(charge);
+            }
+
+            menu.Show(Cursor.Position);
 
 
 
         }
 
+        private void ExecuteManualCommand(MapNode targetNode, ENIGProtocol.AGVCommandHE cmd)
+        {
+            if (PUB._virtualAGV.CurrentNode == null)
+            {
+                MessageBox.Show("AGV의 현재 위치를 알 수 없습니다.");
+                return;
+            }
+            if (PUB.sm.Step == eSMStep.IDLE)
+            {
+                if (MessageBox.Show("현재 대기상태가 아닙니다. 강제로 실행하시겠습니까?", "Warning", MessageBoxButtons.YesNo) == DialogResult.No) return;
+            }
+
+            if (targetNode.isDockingNode == false)
+            {
+                UTIL.MsgE("이동 가능한 노드가 아닙니다");
+            }
+
+            // 1. 경로 생성
+            var pathFinder = new AGVNavigationCore.PathFinding.Planning.AGVPathfinder(PUB._mapCanvas.Nodes);
+
+            // 현재위치에서 목표위치까지
+            var result = pathFinder.FindPath(PUB._virtualAGV.CurrentNode, targetNode);
+
+            if (!result.Success || result.Path == null || result.Path.Count == 0)
+            {
+                MessageBox.Show("경로를 찾을 수 없습니다.");
+                return;
+            }
+
+            // 2. 상태 설정
+
+            // 2. 상태 설정
+            if (targetNode is MapNode mapno)
+                PUB.log.AddI($"[Manual Command] {cmd} to {mapno.RfidId}({targetNode.Id})");
+            else
+                PUB.log.AddI($"[Manual Command] {cmd} to ({targetNode.Id})");
+
+            // FindPathResult contains DetailedPath already.
+            PUB._virtualAGV.SetPath(result);
+            PUB._virtualAGV.TargetNode = targetNode as MapNode;
+
+            // 3. 작업 설정
+            PUB.NextWorkCmd = cmd;
+
+            // 4. 실행
+            PUB.sm.SetNewRunStep(ERunStep.GOTO); // GOTO -> Arrive -> _IN sequence execution
+        }
+
 
         private void fAuto_Load(object sender, EventArgs e)
         {
@@ -77,82 +144,7 @@ namespace Project.ViewForm
             PUB.AGV.DataReceive += AGV_DataReceive;
 
 
-            //auto load 
-            var mapPath = new System.IO.DirectoryInfo("route");
-            if (mapPath.Exists == false) mapPath.Create();
-
-
-            //맵파일로딩
-            if (PUB.setting.LastMapFile.isEmpty()) PUB.setting.LastMapFile = System.IO.Path.Combine(mapPath.FullName, "default.agvmap");
-            System.IO.FileInfo filePath = new System.IO.FileInfo(PUB.setting.LastMapFile);
-            if (filePath.Exists == false) filePath = new System.IO.FileInfo(System.IO.Path.Combine(mapPath.FullName,"default.agvmap"));
-            if(filePath.Exists==false)  //그래도없다면 맵폴더에서 파일을 찾아본다.
-            {
-                var files = mapPath.GetFiles("*.agvmap");
-                if (files.Any()) filePath = files[0];
-            }
-
-            if (filePath.Exists)
-            {
-                var result = MapLoader.LoadMapFromFile(filePath.FullName);
-
-                if (result.Success)
-                {
-                    if (PUB._mapNodes == null) PUB._mapNodes = new List<MapNode>();
-                    else PUB._mapNodes.Clear();
-                    PUB._mapNodes.AddRange(result.Nodes);
-
-                    // 맵 캔버스에 데이터 설정
-                    PUB._mapCanvas.Nodes = PUB._mapNodes;
-                    PUB._mapCanvas.MapFileName = filePath.FullName;
-                    
-                    // 🔥 맵 설정 적용 (배경색, 그리드 표시)
-                    if (result.Settings != null)
-                    {
-                        PUB._mapCanvas.BackColor = System.Drawing.Color.FromArgb(result.Settings.BackgroundColorArgb);
-                        PUB._mapCanvas.ShowGrid = result.Settings.ShowGrid;
-                    }
-
-                    // 🔥 가상 AGV 초기화 (첫 노드 위치에 생성)
-                    if (PUB._virtualAGV == null && PUB._mapNodes.Count > 0)
-                    {
-                        var startNode = PUB._mapNodes.FirstOrDefault(n => n.IsNavigationNode());
-                        if (startNode != null)
-                        {
-                            PUB._virtualAGV = new VirtualAGV(PUB.setting.MCID, startNode.Position, AgvDirection.Forward);
-                            PUB._virtualAGV.SetPosition(startNode, AgvDirection.Forward);
-
-                            // 캔버스에 AGV 리스트 설정
-                            var agvList = new System.Collections.Generic.List<AGVNavigationCore.Controls.IAGV> { PUB._virtualAGV };
-                            PUB._mapCanvas.AGVList = agvList;
-
-                            PUB.log.Add($"가상 AGV 생성: {startNode.NodeId} 위치");
-                        }
-                    }
-                    else if (PUB._virtualAGV != null)
-                    {
-                        // 기존 AGV가 있으면 캔버스에 다시 연결
-                        var agvList = new System.Collections.Generic.List<AGVNavigationCore.Controls.IAGV> { PUB._virtualAGV };
-                        PUB._mapCanvas.AGVList = agvList;
-                    }
-
-                    // 맵 로드 후 자동으로 맵에 맞춤
-                    PUB._mapCanvas.FitToNodes();
-
-                    PUB.log.Add($"맵 파일 로드 완료: {filePath.Name}, 노드 수: {result.Nodes.Count}");
-                }
-                else
-                {
-                    PUB.log.Add($"맵 파일 로딩 실패: {result.ErrorMessage}");
-                    MessageBox.Show($"맵 파일 로딩 실패: {result.ErrorMessage}", "오류",
-                        MessageBoxButtons.OK, MessageBoxIcon.Error);
-                }
-            }
-            else
-            {
-                PUB.log.Add($"맵 파일을 찾을 수 없습니다: {filePath.FullName}");
-            }
-
+            
             //var fn = string.Empty;
             //if (files.Any() == false)
             //{
@@ -174,6 +166,9 @@ namespace Project.ViewForm
             //}
 
             this.timer1.Start();
+
+            // Set Run Mode
+            PUB._mapCanvas.Mode = AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Run;
         }
         private void AGV_DataReceive(object sender, arDev.Narumi.DataEventArgs e)
         {
@@ -210,6 +205,9 @@ 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;
@@ -217,7 +215,15 @@ 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();
         }
 
@@ -252,5 +258,49 @@ 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, 25F));
-            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, 25F));
-            this.tableLayoutPanel1.Controls.Add(this.listView1, 0, 0);
-            this.tableLayoutPanel1.Controls.Add(this.listView2, 1, 0);
-            this.tableLayoutPanel1.Controls.Add(this.listView3, 2, 0);
-            this.tableLayoutPanel1.Controls.Add(this.listView4, 3, 0);
+            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, 30F));
+            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, 20F));
+            this.tableLayoutPanel1.Controls.Add(this.dv4, 2, 1);
+            this.tableLayoutPanel1.Controls.Add(this.dv3, 2, 0);
+            this.tableLayoutPanel1.Controls.Add(this.dv2, 1, 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.ListView listView2;
-        private System.Windows.Forms.ListView listView3;
-        private System.Windows.Forms.ListView listView4;
-        private System.Windows.Forms.ColumnHeader columnHeader1;
-        private System.Windows.Forms.ColumnHeader columnHeader2;
-        private System.Windows.Forms.ColumnHeader columnHeader3;
-        private System.Windows.Forms.ColumnHeader columnHeader4;
-        private System.Windows.Forms.ColumnHeader columnHeader5;
-        private System.Windows.Forms.ColumnHeader columnHeader6;
-        private System.Windows.Forms.ColumnHeader columnHeader7;
-        private System.Windows.Forms.ColumnHeader columnHeader8;
+        private System.Windows.Forms.DataGridView dv4;
+        private System.Windows.Forms.DataGridViewTextBoxColumn dataGridViewTextBoxColumn5;
+        private System.Windows.Forms.DataGridViewTextBoxColumn dataGridViewTextBoxColumn6;
+        private System.Windows.Forms.DataGridView dv3;
+        private System.Windows.Forms.DataGridViewTextBoxColumn dataGridViewTextBoxColumn3;
+        private System.Windows.Forms.DataGridViewTextBoxColumn dataGridViewTextBoxColumn4;
+        private System.Windows.Forms.DataGridView dv2;
+        private System.Windows.Forms.DataGridViewTextBoxColumn dataGridViewTextBoxColumn1;
+        private System.Windows.Forms.DataGridViewTextBoxColumn dataGridViewTextBoxColumn2;
+        private System.Windows.Forms.DataGridView dv1;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column1;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column2;
     }
 }

Cs_HMI/Project/ViewForm/fFlag.cs

@@ -18,7 +18,7 @@ namespace Project.ViewForm
         {
             InitializeComponent();
 
-            
+
             this.FormClosed += FIO_FormClosed;
         }
 
@@ -30,16 +30,18 @@ namespace Project.ViewForm
 
         void MakeControl()
         {
-            ListView[] lvs = new ListView[] { listView1, listView2, listView3, listView4 };
-            foreach (var lv in lvs)
+            DataGridView[] dvs = new DataGridView[] { dv1, dv2, dv3, dv4 };
+          
+            foreach(var lv in dvs)
             {
                 lv.Columns.Clear();
-                lv.Columns.Add("Idx");
-                lv.Columns.Add("Title");
-                lv.Columns.Add("Value");
+                lv.Columns.Add("idx", "*");
+                lv.Columns.Add("Title", "Title");
+                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($"{(int)v}");
-                lv.SubItems.Add($"{item}");
-                lv.SubItems.Add("--");
+                dv1.Rows.Add($"{(int)v}", item, "--");
             }
 
             valuelist = Enum.GetValues(typeof(COMM.eVarInt32));
             foreach (var item in valuelist)
             {
                 var v = (COMM.eVarInt32)item;
-                var lv = listView2.Items.Add($"{(int)v}");
-                lv.SubItems.Add($"{item}");
-                lv.SubItems.Add("--");
+                dv2.Rows.Add($"{(int)v}", item, "--");
             }
 
             valuelist = Enum.GetValues(typeof(COMM.eVarString));
             foreach (var item in valuelist)
             {
                 var v = (COMM.eVarString)item;
-                var lv = listView3.Items.Add($"{(int)v}");
-                lv.SubItems.Add($"{item}");
-                lv.SubItems.Add("--");
+                dv3.Rows.Add($"{(int)v}", item, "--");
             }
 
             valuelist = Enum.GetValues(typeof(COMM.eVarTime));
             foreach (var item in valuelist)
             {
                 var v = (COMM.eVarString)item;
-                var lv = listView4.Items.Add($"{(int)v}");
-                lv.SubItems.Add($"{item}");
-                lv.SubItems.Add("--");
+                dv4.Rows.Add($"{(int)v}", item, "--");
             }
 
+            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 (ListViewItem item in listView1.Items)
+            foreach(DataGridViewRow item in this.dv1.Rows)
             {
-                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.SubItems[2].Text = v ? "O" : "X";
+                item.Cells["value"].Value = v ? "O" : "X";
             }
-            listView1.ResumeLayout();
-            listView2.SuspendLayout();
-            foreach (ListViewItem item in listView2.Items)
+
+            foreach (DataGridViewRow item in this.dv2.Rows)
             {
-                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.SubItems[2].Text = v.ToString();
+                item.Cells["value"].Value = v.ToString();
             }
-            listView2.ResumeLayout();
-            listView3.SuspendLayout();
-            foreach (ListViewItem item in listView3.Items)
+
+            foreach (DataGridViewRow item in this.dv3.Rows)
             {
-                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.SubItems[2].Text = v;
+                item.Cells["value"].Value = v;
             }
-            listView3.ResumeLayout();
-            listView4.SuspendLayout();
-            foreach (ListViewItem item in listView4.Items)
+            foreach (DataGridViewRow item in this.dv4.Rows)
             {
-                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.SubItems[2].Text = v.ToString("HH:mm:ss.fff");
+                item.Cells["value"].Value = 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.Designer.cs

@@ -41,45 +41,45 @@
             this.btErrReset = new System.Windows.Forms.Button();
             this.timer1 = new System.Windows.Forms.Timer(this.components);
             this.panel2 = new System.Windows.Forms.Panel();
-            this.btRight180 = new System.Windows.Forms.Button();
+            this.tableLayoutPanel2 = new System.Windows.Forms.TableLayoutPanel();
+            this.btBack180 = new System.Windows.Forms.Button();
             this.btLeft180 = new System.Windows.Forms.Button();
+            this.btRight180 = new System.Windows.Forms.Button();
+            this.button2 = new System.Windows.Forms.Button();
             this.button1 = new System.Windows.Forms.Button();
             this.groupBox1 = new System.Windows.Forms.GroupBox();
+            this.radpbs2 = new AGVControl.MyRadioButton();
             this.panel9 = new System.Windows.Forms.Panel();
+            this.radpbs1 = new AGVControl.MyRadioButton();
             this.panel3 = new System.Windows.Forms.Panel();
+            this.radpbs0 = new AGVControl.MyRadioButton();
             this.grpSpeed = new System.Windows.Forms.GroupBox();
+            this.radspdh = new AGVControl.MyRadioButton();
             this.panel8 = new System.Windows.Forms.Panel();
+            this.radspdm = new AGVControl.MyRadioButton();
             this.panel4 = new System.Windows.Forms.Panel();
+            this.radspdl = new AGVControl.MyRadioButton();
             this.grpBunki = new System.Windows.Forms.GroupBox();
+            this.radright = new AGVControl.MyRadioButton();
             this.panel7 = new System.Windows.Forms.Panel();
+            this.radstrai = new AGVControl.MyRadioButton();
             this.panel5 = new System.Windows.Forms.Panel();
+            this.radleft = new AGVControl.MyRadioButton();
             this.groupBox2 = new System.Windows.Forms.GroupBox();
             this.arLabel1 = new arCtl.arLabel();
             this.panel12 = new System.Windows.Forms.Panel();
-            this.panel6 = new System.Windows.Forms.Panel();
-            this.label1 = new System.Windows.Forms.Label();
-            this.radpbs2 = new AGVControl.MyRadioButton();
-            this.radpbs1 = new AGVControl.MyRadioButton();
-            this.radpbs0 = new AGVControl.MyRadioButton();
-            this.radspdh = new AGVControl.MyRadioButton();
-            this.radspdm = new AGVControl.MyRadioButton();
-            this.radspdl = new AGVControl.MyRadioButton();
-            this.radright = new AGVControl.MyRadioButton();
-            this.radstrai = new AGVControl.MyRadioButton();
-            this.radleft = new AGVControl.MyRadioButton();
             this.radbackward = new AGVControl.MyRadioButton();
+            this.panel6 = new System.Windows.Forms.Panel();
             this.radforward = new AGVControl.MyRadioButton();
+            this.label1 = new System.Windows.Forms.Label();
             this.guideSensor1 = new Narumi.UC.GuideSensor();
-            this.btBack180 = new System.Windows.Forms.Button();
-            this.tableLayoutPanel2 = new System.Windows.Forms.TableLayoutPanel();
-            this.button2 = new System.Windows.Forms.Button();
             this.tableLayoutPanel1.SuspendLayout();
             this.panel2.SuspendLayout();
+            this.tableLayoutPanel2.SuspendLayout();
             this.groupBox1.SuspendLayout();
             this.grpSpeed.SuspendLayout();
             this.grpBunki.SuspendLayout();
             this.groupBox2.SuspendLayout();
-            this.tableLayoutPanel2.SuspendLayout();
             this.SuspendLayout();
             // 
             // tableLayoutPanel1
@@ -124,7 +124,7 @@
             this.btStart.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.btStart.GradientRepeatBG = false;
             this.btStart.isButton = true;
-            this.btStart.Location = new System.Drawing.Point(204, 201);
+            this.btStart.Location = new System.Drawing.Point(204, 200);
             this.btStart.MouseDownColor = System.Drawing.Color.Yellow;
             this.btStart.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
             this.btStart.msg = new string[] {
@@ -146,7 +146,7 @@
             this.btStart.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btStart.SignColor = System.Drawing.Color.Yellow;
             this.btStart.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btStart.Size = new System.Drawing.Size(195, 192);
+            this.btStart.Size = new System.Drawing.Size(195, 191);
             this.btStart.TabIndex = 6;
             this.btStart.Text = "RUN";
             this.btStart.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -171,7 +171,7 @@
             this.btRight.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.btRight.GradientRepeatBG = false;
             this.btRight.isButton = true;
-            this.btRight.Location = new System.Drawing.Point(405, 201);
+            this.btRight.Location = new System.Drawing.Point(405, 200);
             this.btRight.MouseDownColor = System.Drawing.Color.Yellow;
             this.btRight.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
             this.btRight.msg = null;
@@ -191,7 +191,7 @@
             this.btRight.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btRight.SignColor = System.Drawing.Color.Yellow;
             this.btRight.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btRight.Size = new System.Drawing.Size(196, 192);
+            this.btRight.Size = new System.Drawing.Size(196, 191);
             this.btRight.TabIndex = 0;
             this.btRight.Text = "좌회전";
             this.btRight.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -237,7 +237,7 @@
             this.btBack.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btBack.SignColor = System.Drawing.Color.Yellow;
             this.btBack.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btBack.Size = new System.Drawing.Size(195, 192);
+            this.btBack.Size = new System.Drawing.Size(195, 191);
             this.btBack.TabIndex = 0;
             this.btBack.Text = "후진";
             this.btBack.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -262,7 +262,7 @@
             this.btForward.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.btForward.GradientRepeatBG = false;
             this.btForward.isButton = true;
-            this.btForward.Location = new System.Drawing.Point(204, 399);
+            this.btForward.Location = new System.Drawing.Point(204, 397);
             this.btForward.MouseDownColor = System.Drawing.Color.Yellow;
             this.btForward.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
             this.btForward.msg = null;
@@ -282,7 +282,7 @@
             this.btForward.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btForward.SignColor = System.Drawing.Color.Yellow;
             this.btForward.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btForward.Size = new System.Drawing.Size(195, 192);
+            this.btForward.Size = new System.Drawing.Size(195, 194);
             this.btForward.TabIndex = 0;
             this.btForward.Text = "전진";
             this.btForward.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -307,7 +307,7 @@
             this.btLeft.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
             this.btLeft.GradientRepeatBG = false;
             this.btLeft.isButton = true;
-            this.btLeft.Location = new System.Drawing.Point(3, 201);
+            this.btLeft.Location = new System.Drawing.Point(3, 200);
             this.btLeft.MouseDownColor = System.Drawing.Color.Yellow;
             this.btLeft.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
             this.btLeft.msg = null;
@@ -327,7 +327,7 @@
             this.btLeft.SignAlign = System.Drawing.ContentAlignment.BottomRight;
             this.btLeft.SignColor = System.Drawing.Color.Yellow;
             this.btLeft.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btLeft.Size = new System.Drawing.Size(195, 192);
+            this.btLeft.Size = new System.Drawing.Size(195, 191);
             this.btLeft.TabIndex = 0;
             this.btLeft.Text = "우회전";
             this.btLeft.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -341,7 +341,7 @@
             this.btMarkStop.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
             this.btMarkStop.Location = new System.Drawing.Point(3, 3);
             this.btMarkStop.Name = "btMarkStop";
-            this.btMarkStop.Size = new System.Drawing.Size(195, 192);
+            this.btMarkStop.Size = new System.Drawing.Size(195, 191);
             this.btMarkStop.TabIndex = 7;
             this.btMarkStop.Text = "마크정지";
             this.btMarkStop.UseVisualStyleBackColor = true;
@@ -351,9 +351,9 @@
             // 
             this.btchargeOff.Dock = System.Windows.Forms.DockStyle.Fill;
             this.btchargeOff.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.btchargeOff.Location = new System.Drawing.Point(405, 399);
+            this.btchargeOff.Location = new System.Drawing.Point(405, 397);
             this.btchargeOff.Name = "btchargeOff";
-            this.btchargeOff.Size = new System.Drawing.Size(196, 192);
+            this.btchargeOff.Size = new System.Drawing.Size(196, 194);
             this.btchargeOff.TabIndex = 8;
             this.btchargeOff.Text = "충전해제";
             this.btchargeOff.UseVisualStyleBackColor = true;
@@ -363,9 +363,9 @@
             // 
             this.btChargeOn.Dock = System.Windows.Forms.DockStyle.Fill;
             this.btChargeOn.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.btChargeOn.Location = new System.Drawing.Point(3, 399);
+            this.btChargeOn.Location = new System.Drawing.Point(3, 397);
             this.btChargeOn.Name = "btChargeOn";
-            this.btChargeOn.Size = new System.Drawing.Size(195, 192);
+            this.btChargeOn.Size = new System.Drawing.Size(195, 194);
             this.btChargeOn.TabIndex = 9;
             this.btChargeOn.Text = "충전";
             this.btChargeOn.UseVisualStyleBackColor = true;
@@ -377,7 +377,7 @@
             this.btErrReset.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
             this.btErrReset.Location = new System.Drawing.Point(405, 3);
             this.btErrReset.Name = "btErrReset";
-            this.btErrReset.Size = new System.Drawing.Size(196, 192);
+            this.btErrReset.Size = new System.Drawing.Size(196, 191);
             this.btErrReset.TabIndex = 10;
             this.btErrReset.Text = "오류소거";
             this.btErrReset.UseVisualStyleBackColor = true;
@@ -403,19 +403,38 @@
             this.panel2.TabIndex = 9;
             this.panel2.Paint += new System.Windows.Forms.PaintEventHandler(this.panel2_Paint);
             // 
-            // btRight180
+            // tableLayoutPanel2
             // 
-            this.btRight180.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.btRight180.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.btRight180.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold);
-            this.btRight180.ForeColor = System.Drawing.Color.Black;
-            this.btRight180.Location = new System.Drawing.Point(3, 62);
-            this.btRight180.Name = "btRight180";
-            this.btRight180.Size = new System.Drawing.Size(196, 53);
-            this.btRight180.TabIndex = 6;
-            this.btRight180.Text = "180도 우회전";
-            this.btRight180.UseVisualStyleBackColor = false;
-            this.btRight180.Click += new System.EventHandler(this.btRight180_Click);
+            this.tableLayoutPanel2.ColumnCount = 2;
+            this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel2.Controls.Add(this.btBack180, 1, 0);
+            this.tableLayoutPanel2.Controls.Add(this.btLeft180, 0, 0);
+            this.tableLayoutPanel2.Controls.Add(this.btRight180, 0, 1);
+            this.tableLayoutPanel2.Controls.Add(this.button2, 1, 1);
+            this.tableLayoutPanel2.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.tableLayoutPanel2.Location = new System.Drawing.Point(0, 438);
+            this.tableLayoutPanel2.Name = "tableLayoutPanel2";
+            this.tableLayoutPanel2.RowCount = 2;
+            this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel2.Size = new System.Drawing.Size(404, 118);
+            this.tableLayoutPanel2.TabIndex = 12;
+            // 
+            // btBack180
+            // 
+            this.btBack180.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.btBack180.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.btBack180.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.btBack180.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold);
+            this.btBack180.ForeColor = System.Drawing.Color.Black;
+            this.btBack180.Location = new System.Drawing.Point(205, 3);
+            this.btBack180.Name = "btBack180";
+            this.btBack180.Size = new System.Drawing.Size(196, 53);
+            this.btBack180.TabIndex = 15;
+            this.btBack180.Text = "자석 (ON)";
+            this.btBack180.UseVisualStyleBackColor = false;
+            this.btBack180.Click += new System.EventHandler(this.btBack180_Click);
             // 
             // btLeft180
             // 
@@ -431,6 +450,35 @@
             this.btLeft180.UseVisualStyleBackColor = false;
             this.btLeft180.Click += new System.EventHandler(this.btLeft180_Click);
             // 
+            // btRight180
+            // 
+            this.btRight180.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.btRight180.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.btRight180.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold);
+            this.btRight180.ForeColor = System.Drawing.Color.Black;
+            this.btRight180.Location = new System.Drawing.Point(3, 62);
+            this.btRight180.Name = "btRight180";
+            this.btRight180.Size = new System.Drawing.Size(196, 53);
+            this.btRight180.TabIndex = 6;
+            this.btRight180.Text = "180도 우회전";
+            this.btRight180.UseVisualStyleBackColor = false;
+            this.btRight180.Click += new System.EventHandler(this.btRight180_Click);
+            // 
+            // button2
+            // 
+            this.button2.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.button2.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.button2.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.button2.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold);
+            this.button2.ForeColor = System.Drawing.Color.Black;
+            this.button2.Location = new System.Drawing.Point(205, 62);
+            this.button2.Name = "button2";
+            this.button2.Size = new System.Drawing.Size(196, 53);
+            this.button2.TabIndex = 15;
+            this.button2.Text = "자석(OFF)";
+            this.button2.UseVisualStyleBackColor = false;
+            this.button2.Click += new System.EventHandler(this.button2_Click);
+            // 
             // button1
             // 
             this.button1.Dock = System.Windows.Forms.DockStyle.Top;
@@ -459,6 +507,25 @@
             this.groupBox1.TabStop = false;
             this.groupBox1.Text = "근접센서(PBS)";
             // 
+            // radpbs2
+            // 
+            this.radpbs2.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radpbs2.Bordercolor = System.Drawing.Color.DimGray;
+            this.radpbs2.BorderRadius = 7;
+            this.radpbs2.BorderSize = 2;
+            this.radpbs2.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radpbs2.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radpbs2.CheckWidth = 30;
+            this.radpbs2.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radpbs2.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radpbs2.Location = new System.Drawing.Point(278, 19);
+            this.radpbs2.Name = "radpbs2";
+            this.radpbs2.Size = new System.Drawing.Size(119, 66);
+            this.radpbs2.TabIndex = 10;
+            this.radpbs2.Text = "On(2)";
+            this.radpbs2.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radpbs2.UseVisualStyleBackColor = false;
+            // 
             // panel9
             // 
             this.panel9.Dock = System.Windows.Forms.DockStyle.Left;
@@ -467,6 +534,28 @@
             this.panel9.Size = new System.Drawing.Size(15, 66);
             this.panel9.TabIndex = 12;
             // 
+            // radpbs1
+            // 
+            this.radpbs1.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radpbs1.Bordercolor = System.Drawing.Color.DimGray;
+            this.radpbs1.BorderRadius = 7;
+            this.radpbs1.BorderSize = 2;
+            this.radpbs1.Checked = true;
+            this.radpbs1.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radpbs1.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radpbs1.CheckWidth = 30;
+            this.radpbs1.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radpbs1.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radpbs1.ForeColor = System.Drawing.Color.Blue;
+            this.radpbs1.Location = new System.Drawing.Point(144, 19);
+            this.radpbs1.Name = "radpbs1";
+            this.radpbs1.Size = new System.Drawing.Size(119, 66);
+            this.radpbs1.TabIndex = 9;
+            this.radpbs1.TabStop = true;
+            this.radpbs1.Text = "On(1)";
+            this.radpbs1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radpbs1.UseVisualStyleBackColor = false;
+            // 
             // panel3
             // 
             this.panel3.Dock = System.Windows.Forms.DockStyle.Left;
@@ -475,6 +564,25 @@
             this.panel3.Size = new System.Drawing.Size(15, 66);
             this.panel3.TabIndex = 11;
             // 
+            // radpbs0
+            // 
+            this.radpbs0.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radpbs0.Bordercolor = System.Drawing.Color.DimGray;
+            this.radpbs0.BorderRadius = 7;
+            this.radpbs0.BorderSize = 2;
+            this.radpbs0.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radpbs0.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radpbs0.CheckWidth = 30;
+            this.radpbs0.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radpbs0.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radpbs0.Location = new System.Drawing.Point(10, 19);
+            this.radpbs0.Name = "radpbs0";
+            this.radpbs0.Size = new System.Drawing.Size(119, 66);
+            this.radpbs0.TabIndex = 8;
+            this.radpbs0.Text = "Off(0)";
+            this.radpbs0.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radpbs0.UseVisualStyleBackColor = false;
+            // 
             // grpSpeed
             // 
             this.grpSpeed.Controls.Add(this.radspdh);
@@ -491,6 +599,25 @@
             this.grpSpeed.TabStop = false;
             this.grpSpeed.Text = "속도";
             // 
+            // radspdh
+            // 
+            this.radspdh.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radspdh.Bordercolor = System.Drawing.Color.DimGray;
+            this.radspdh.BorderRadius = 7;
+            this.radspdh.BorderSize = 2;
+            this.radspdh.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radspdh.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radspdh.CheckWidth = 30;
+            this.radspdh.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radspdh.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radspdh.Location = new System.Drawing.Point(278, 19);
+            this.radspdh.Name = "radspdh";
+            this.radspdh.Size = new System.Drawing.Size(119, 66);
+            this.radspdh.TabIndex = 2;
+            this.radspdh.Text = "고속";
+            this.radspdh.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radspdh.UseVisualStyleBackColor = false;
+            // 
             // panel8
             // 
             this.panel8.Dock = System.Windows.Forms.DockStyle.Left;
@@ -499,6 +626,28 @@
             this.panel8.Size = new System.Drawing.Size(15, 66);
             this.panel8.TabIndex = 13;
             // 
+            // radspdm
+            // 
+            this.radspdm.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radspdm.Bordercolor = System.Drawing.Color.DimGray;
+            this.radspdm.BorderRadius = 7;
+            this.radspdm.BorderSize = 2;
+            this.radspdm.Checked = true;
+            this.radspdm.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radspdm.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radspdm.CheckWidth = 30;
+            this.radspdm.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radspdm.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radspdm.ForeColor = System.Drawing.Color.Blue;
+            this.radspdm.Location = new System.Drawing.Point(144, 19);
+            this.radspdm.Name = "radspdm";
+            this.radspdm.Size = new System.Drawing.Size(119, 66);
+            this.radspdm.TabIndex = 1;
+            this.radspdm.TabStop = true;
+            this.radspdm.Text = "중속";
+            this.radspdm.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radspdm.UseVisualStyleBackColor = false;
+            // 
             // panel4
             // 
             this.panel4.Dock = System.Windows.Forms.DockStyle.Left;
@@ -507,6 +656,25 @@
             this.panel4.Size = new System.Drawing.Size(15, 66);
             this.panel4.TabIndex = 12;
             // 
+            // radspdl
+            // 
+            this.radspdl.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radspdl.Bordercolor = System.Drawing.Color.DimGray;
+            this.radspdl.BorderRadius = 7;
+            this.radspdl.BorderSize = 2;
+            this.radspdl.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radspdl.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radspdl.CheckWidth = 30;
+            this.radspdl.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radspdl.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radspdl.Location = new System.Drawing.Point(10, 19);
+            this.radspdl.Name = "radspdl";
+            this.radspdl.Size = new System.Drawing.Size(119, 66);
+            this.radspdl.TabIndex = 0;
+            this.radspdl.Text = "저속";
+            this.radspdl.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radspdl.UseVisualStyleBackColor = false;
+            // 
             // grpBunki
             // 
             this.grpBunki.Controls.Add(this.radright);
@@ -523,6 +691,25 @@
             this.grpBunki.TabStop = false;
             this.grpBunki.Text = "분기";
             // 
+            // radright
+            // 
+            this.radright.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radright.Bordercolor = System.Drawing.Color.DimGray;
+            this.radright.BorderRadius = 7;
+            this.radright.BorderSize = 2;
+            this.radright.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radright.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radright.CheckWidth = 30;
+            this.radright.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radright.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radright.Location = new System.Drawing.Point(278, 19);
+            this.radright.Name = "radright";
+            this.radright.Size = new System.Drawing.Size(119, 66);
+            this.radright.TabIndex = 4;
+            this.radright.Text = "우측";
+            this.radright.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radright.UseVisualStyleBackColor = false;
+            // 
             // panel7
             // 
             this.panel7.Dock = System.Windows.Forms.DockStyle.Left;
@@ -531,6 +718,28 @@
             this.panel7.Size = new System.Drawing.Size(15, 66);
             this.panel7.TabIndex = 13;
             // 
+            // radstrai
+            // 
+            this.radstrai.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radstrai.Bordercolor = System.Drawing.Color.DimGray;
+            this.radstrai.BorderRadius = 7;
+            this.radstrai.BorderSize = 2;
+            this.radstrai.Checked = true;
+            this.radstrai.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radstrai.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radstrai.CheckWidth = 30;
+            this.radstrai.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radstrai.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radstrai.ForeColor = System.Drawing.Color.Blue;
+            this.radstrai.Location = new System.Drawing.Point(144, 19);
+            this.radstrai.Name = "radstrai";
+            this.radstrai.Size = new System.Drawing.Size(119, 66);
+            this.radstrai.TabIndex = 3;
+            this.radstrai.TabStop = true;
+            this.radstrai.Text = "직진";
+            this.radstrai.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radstrai.UseVisualStyleBackColor = false;
+            // 
             // panel5
             // 
             this.panel5.Dock = System.Windows.Forms.DockStyle.Left;
@@ -539,6 +748,25 @@
             this.panel5.Size = new System.Drawing.Size(15, 66);
             this.panel5.TabIndex = 12;
             // 
+            // radleft
+            // 
+            this.radleft.BackColor = System.Drawing.Color.WhiteSmoke;
+            this.radleft.Bordercolor = System.Drawing.Color.DimGray;
+            this.radleft.BorderRadius = 7;
+            this.radleft.BorderSize = 2;
+            this.radleft.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
+            this.radleft.CheckOnColor = System.Drawing.Color.LimeGreen;
+            this.radleft.CheckWidth = 30;
+            this.radleft.Dock = System.Windows.Forms.DockStyle.Left;
+            this.radleft.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.radleft.Location = new System.Drawing.Point(10, 19);
+            this.radleft.Name = "radleft";
+            this.radleft.Size = new System.Drawing.Size(119, 66);
+            this.radleft.TabIndex = 5;
+            this.radleft.Text = "좌측";
+            this.radleft.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.radleft.UseVisualStyleBackColor = false;
+            // 
             // groupBox2
             // 
             this.groupBox2.Controls.Add(this.arLabel1);
@@ -610,208 +838,6 @@
             this.panel12.Size = new System.Drawing.Size(15, 66);
             this.panel12.TabIndex = 14;
             // 
-            // panel6
-            // 
-            this.panel6.Dock = System.Windows.Forms.DockStyle.Left;
-            this.panel6.Location = new System.Drawing.Point(129, 19);
-            this.panel6.Name = "panel6";
-            this.panel6.Size = new System.Drawing.Size(15, 66);
-            this.panel6.TabIndex = 12;
-            // 
-            // label1
-            // 
-            this.label1.BackColor = System.Drawing.Color.Blue;
-            this.label1.Dock = System.Windows.Forms.DockStyle.Bottom;
-            this.label1.Font = new System.Drawing.Font("맑은 고딕", 11F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.label1.ForeColor = System.Drawing.Color.White;
-            this.label1.Location = new System.Drawing.Point(607, 577);
-            this.label1.Name = "label1";
-            this.label1.Padding = new System.Windows.Forms.Padding(0, 3, 0, 3);
-            this.label1.Size = new System.Drawing.Size(404, 38);
-            this.label1.TabIndex = 9;
-            this.label1.Text = "----------";
-            this.label1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            // 
-            // radpbs2
-            // 
-            this.radpbs2.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radpbs2.Bordercolor = System.Drawing.Color.DimGray;
-            this.radpbs2.BorderRadius = 7;
-            this.radpbs2.BorderSize = 2;
-            this.radpbs2.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radpbs2.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radpbs2.CheckWidth = 30;
-            this.radpbs2.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radpbs2.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radpbs2.Location = new System.Drawing.Point(278, 19);
-            this.radpbs2.Name = "radpbs2";
-            this.radpbs2.Size = new System.Drawing.Size(119, 66);
-            this.radpbs2.TabIndex = 10;
-            this.radpbs2.Text = "On(2)";
-            this.radpbs2.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radpbs2.UseVisualStyleBackColor = false;
-            // 
-            // radpbs1
-            // 
-            this.radpbs1.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radpbs1.Bordercolor = System.Drawing.Color.DimGray;
-            this.radpbs1.BorderRadius = 7;
-            this.radpbs1.BorderSize = 2;
-            this.radpbs1.Checked = true;
-            this.radpbs1.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radpbs1.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radpbs1.CheckWidth = 30;
-            this.radpbs1.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radpbs1.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radpbs1.ForeColor = System.Drawing.Color.Blue;
-            this.radpbs1.Location = new System.Drawing.Point(144, 19);
-            this.radpbs1.Name = "radpbs1";
-            this.radpbs1.Size = new System.Drawing.Size(119, 66);
-            this.radpbs1.TabIndex = 9;
-            this.radpbs1.TabStop = true;
-            this.radpbs1.Text = "On(1)";
-            this.radpbs1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radpbs1.UseVisualStyleBackColor = false;
-            // 
-            // radpbs0
-            // 
-            this.radpbs0.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radpbs0.Bordercolor = System.Drawing.Color.DimGray;
-            this.radpbs0.BorderRadius = 7;
-            this.radpbs0.BorderSize = 2;
-            this.radpbs0.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radpbs0.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radpbs0.CheckWidth = 30;
-            this.radpbs0.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radpbs0.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radpbs0.Location = new System.Drawing.Point(10, 19);
-            this.radpbs0.Name = "radpbs0";
-            this.radpbs0.Size = new System.Drawing.Size(119, 66);
-            this.radpbs0.TabIndex = 8;
-            this.radpbs0.Text = "Off(0)";
-            this.radpbs0.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radpbs0.UseVisualStyleBackColor = false;
-            // 
-            // radspdh
-            // 
-            this.radspdh.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radspdh.Bordercolor = System.Drawing.Color.DimGray;
-            this.radspdh.BorderRadius = 7;
-            this.radspdh.BorderSize = 2;
-            this.radspdh.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radspdh.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radspdh.CheckWidth = 30;
-            this.radspdh.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radspdh.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radspdh.Location = new System.Drawing.Point(278, 19);
-            this.radspdh.Name = "radspdh";
-            this.radspdh.Size = new System.Drawing.Size(119, 66);
-            this.radspdh.TabIndex = 2;
-            this.radspdh.Text = "고속";
-            this.radspdh.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radspdh.UseVisualStyleBackColor = false;
-            // 
-            // radspdm
-            // 
-            this.radspdm.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radspdm.Bordercolor = System.Drawing.Color.DimGray;
-            this.radspdm.BorderRadius = 7;
-            this.radspdm.BorderSize = 2;
-            this.radspdm.Checked = true;
-            this.radspdm.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radspdm.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radspdm.CheckWidth = 30;
-            this.radspdm.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radspdm.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radspdm.ForeColor = System.Drawing.Color.Blue;
-            this.radspdm.Location = new System.Drawing.Point(144, 19);
-            this.radspdm.Name = "radspdm";
-            this.radspdm.Size = new System.Drawing.Size(119, 66);
-            this.radspdm.TabIndex = 1;
-            this.radspdm.TabStop = true;
-            this.radspdm.Text = "중속";
-            this.radspdm.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radspdm.UseVisualStyleBackColor = false;
-            // 
-            // radspdl
-            // 
-            this.radspdl.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radspdl.Bordercolor = System.Drawing.Color.DimGray;
-            this.radspdl.BorderRadius = 7;
-            this.radspdl.BorderSize = 2;
-            this.radspdl.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radspdl.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radspdl.CheckWidth = 30;
-            this.radspdl.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radspdl.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radspdl.Location = new System.Drawing.Point(10, 19);
-            this.radspdl.Name = "radspdl";
-            this.radspdl.Size = new System.Drawing.Size(119, 66);
-            this.radspdl.TabIndex = 0;
-            this.radspdl.Text = "저속";
-            this.radspdl.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radspdl.UseVisualStyleBackColor = false;
-            // 
-            // radright
-            // 
-            this.radright.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radright.Bordercolor = System.Drawing.Color.DimGray;
-            this.radright.BorderRadius = 7;
-            this.radright.BorderSize = 2;
-            this.radright.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radright.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radright.CheckWidth = 30;
-            this.radright.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radright.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radright.Location = new System.Drawing.Point(278, 19);
-            this.radright.Name = "radright";
-            this.radright.Size = new System.Drawing.Size(119, 66);
-            this.radright.TabIndex = 4;
-            this.radright.Text = "우측";
-            this.radright.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radright.UseVisualStyleBackColor = false;
-            // 
-            // radstrai
-            // 
-            this.radstrai.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radstrai.Bordercolor = System.Drawing.Color.DimGray;
-            this.radstrai.BorderRadius = 7;
-            this.radstrai.BorderSize = 2;
-            this.radstrai.Checked = true;
-            this.radstrai.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radstrai.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radstrai.CheckWidth = 30;
-            this.radstrai.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radstrai.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radstrai.ForeColor = System.Drawing.Color.Blue;
-            this.radstrai.Location = new System.Drawing.Point(144, 19);
-            this.radstrai.Name = "radstrai";
-            this.radstrai.Size = new System.Drawing.Size(119, 66);
-            this.radstrai.TabIndex = 3;
-            this.radstrai.TabStop = true;
-            this.radstrai.Text = "직진";
-            this.radstrai.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radstrai.UseVisualStyleBackColor = false;
-            // 
-            // radleft
-            // 
-            this.radleft.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.radleft.Bordercolor = System.Drawing.Color.DimGray;
-            this.radleft.BorderRadius = 7;
-            this.radleft.BorderSize = 2;
-            this.radleft.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
-            this.radleft.CheckOnColor = System.Drawing.Color.LimeGreen;
-            this.radleft.CheckWidth = 30;
-            this.radleft.Dock = System.Windows.Forms.DockStyle.Left;
-            this.radleft.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.radleft.Location = new System.Drawing.Point(10, 19);
-            this.radleft.Name = "radleft";
-            this.radleft.Size = new System.Drawing.Size(119, 66);
-            this.radleft.TabIndex = 5;
-            this.radleft.Text = "좌측";
-            this.radleft.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            this.radleft.UseVisualStyleBackColor = false;
-            // 
             // radbackward
             // 
             this.radbackward.BackColor = System.Drawing.Color.WhiteSmoke;
@@ -831,6 +857,14 @@
             this.radbackward.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             this.radbackward.UseVisualStyleBackColor = false;
             // 
+            // panel6
+            // 
+            this.panel6.Dock = System.Windows.Forms.DockStyle.Left;
+            this.panel6.Location = new System.Drawing.Point(129, 19);
+            this.panel6.Name = "panel6";
+            this.panel6.Size = new System.Drawing.Size(15, 66);
+            this.panel6.TabIndex = 12;
+            // 
             // radforward
             // 
             this.radforward.BackColor = System.Drawing.Color.WhiteSmoke;
@@ -853,6 +887,20 @@
             this.radforward.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             this.radforward.UseVisualStyleBackColor = false;
             // 
+            // label1
+            // 
+            this.label1.BackColor = System.Drawing.Color.Blue;
+            this.label1.Dock = System.Windows.Forms.DockStyle.Bottom;
+            this.label1.Font = new System.Drawing.Font("맑은 고딕", 11F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.label1.ForeColor = System.Drawing.Color.White;
+            this.label1.Location = new System.Drawing.Point(607, 577);
+            this.label1.Name = "label1";
+            this.label1.Padding = new System.Windows.Forms.Padding(0, 3, 0, 3);
+            this.label1.Size = new System.Drawing.Size(404, 38);
+            this.label1.TabIndex = 9;
+            this.label1.Text = "----------";
+            this.label1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
             // guideSensor1
             // 
             this.guideSensor1.Dock = System.Windows.Forms.DockStyle.Top;
@@ -865,54 +913,6 @@
             this.guideSensor1.TabIndex = 8;
             this.guideSensor1.Text = "guideSensor1";
             // 
-            // btBack180
-            // 
-            this.btBack180.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.btBack180.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.btBack180.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.btBack180.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold);
-            this.btBack180.ForeColor = System.Drawing.Color.Black;
-            this.btBack180.Location = new System.Drawing.Point(205, 3);
-            this.btBack180.Name = "btBack180";
-            this.btBack180.Size = new System.Drawing.Size(196, 53);
-            this.btBack180.TabIndex = 15;
-            this.btBack180.Text = "백후 180도 회전 (Left)";
-            this.btBack180.UseVisualStyleBackColor = false;
-            this.btBack180.Click += new System.EventHandler(this.btBack180_Click);
-            // 
-            // tableLayoutPanel2
-            // 
-            this.tableLayoutPanel2.ColumnCount = 2;
-            this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.tableLayoutPanel2.Controls.Add(this.btBack180, 1, 0);
-            this.tableLayoutPanel2.Controls.Add(this.btLeft180, 0, 0);
-            this.tableLayoutPanel2.Controls.Add(this.btRight180, 0, 1);
-            this.tableLayoutPanel2.Controls.Add(this.button2, 1, 1);
-            this.tableLayoutPanel2.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.tableLayoutPanel2.Location = new System.Drawing.Point(0, 438);
-            this.tableLayoutPanel2.Name = "tableLayoutPanel2";
-            this.tableLayoutPanel2.RowCount = 2;
-            this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.tableLayoutPanel2.Size = new System.Drawing.Size(404, 118);
-            this.tableLayoutPanel2.TabIndex = 12;
-            // 
-            // button2
-            // 
-            this.button2.BackColor = System.Drawing.Color.WhiteSmoke;
-            this.button2.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.button2.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.button2.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold);
-            this.button2.ForeColor = System.Drawing.Color.Black;
-            this.button2.Location = new System.Drawing.Point(205, 62);
-            this.button2.Name = "button2";
-            this.button2.Size = new System.Drawing.Size(196, 53);
-            this.button2.TabIndex = 15;
-            this.button2.Text = "백후 180도 회전(Right)";
-            this.button2.UseVisualStyleBackColor = false;
-            this.button2.Click += new System.EventHandler(this.button2_Click);
-            // 
             // fManual
             // 
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
@@ -930,11 +930,11 @@
             this.VisibleChanged += new System.EventHandler(this.fManual_VisibleChanged);
             this.tableLayoutPanel1.ResumeLayout(false);
             this.panel2.ResumeLayout(false);
+            this.tableLayoutPanel2.ResumeLayout(false);
             this.groupBox1.ResumeLayout(false);
             this.grpSpeed.ResumeLayout(false);
             this.grpBunki.ResumeLayout(false);
             this.groupBox2.ResumeLayout(false);
-            this.tableLayoutPanel2.ResumeLayout(false);
             this.ResumeLayout(false);
 
         }

Cs_HMI/Project/ViewForm/fManual.cs

@@ -79,12 +79,19 @@ 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);
             PUB.sm.SetNewStep(StateMachine.eSMStep.IDLE);
+
+            // [Manual Safety] Clear previous auto-task state
+            PUB._virtualAGV.TargetNode = null;
+            PUB._virtualAGV.StopPath();
+            PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop; // Clear ACS Command
+            PUB.sm.ClearRunStep(); // Clear RunStep sequence
         }
 
         private void arLabel2_Click(object sender, EventArgs e)
@@ -103,11 +110,17 @@ 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);
             PUB.sm.SetNewStep(StateMachine.eSMStep.IDLE);
+
+            // [Manual Safety] Clear previous auto-task state
+            PUB._virtualAGV.TargetNode = null;
+            PUB._virtualAGV.StopPath();
+            PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop;
+            PUB.sm.ClearRunStep();
         }
 
         private void arLabel3_Click(object sender, EventArgs e)
@@ -131,6 +144,12 @@ namespace Project.ViewForm
             if (radpbs0.Checked) ss = arDev.Narumi.Sensor.PBSOn;
             PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.RT, spd, ss);
             PUB.sm.SetNewStep(StateMachine.eSMStep.IDLE);
+
+            // [Manual Safety] Clear previous auto-task state
+            PUB._virtualAGV.TargetNode = null;
+            PUB._virtualAGV.StopPath();
+            PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop;
+            PUB.sm.ClearRunStep();
         }
 
         private void arLabel4_Click(object sender, EventArgs e)
@@ -154,6 +173,12 @@ namespace Project.ViewForm
             if (radpbs0.Checked) ss = arDev.Narumi.Sensor.PBSOn;
             PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.LT, spd, ss);
             PUB.sm.SetNewStep(StateMachine.eSMStep.IDLE);
+
+            // [Manual Safety] Clear previous auto-task state
+            PUB._virtualAGV.TargetNode = null;
+            PUB._virtualAGV.StopPath();
+            PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Stop;
+            PUB.sm.ClearRunStep();
         }
 
         private void arLabel11_Click(object sender, EventArgs e)
@@ -176,7 +201,7 @@ namespace Project.ViewForm
                 if (dlg != DialogResult.Yes) return;
                 var opt = makeopt();
                 PUB.AGV.AGVMoveSet(opt);
-                PUB.AGV.AGVMoveRun();
+                PUB.AGV.AGVMoveRun(opt.Direction == arDev.Narumi.eMoveDir.Forward ? arDev.Narumi.eRunOpt.Forward : arDev.Narumi.eRunOpt.Backward);
             }
             else
             {
@@ -210,8 +235,8 @@ namespace Project.ViewForm
 
             //마크정보
             guideSensor1.SensorValue = PUB.AGV.data.guidesensor;
-            guideSensor1.LMark = PUB.AGV.signal.mark_sensor_1;
-            guideSensor1.RMark = PUB.AGV.signal.mark_sensor_2;
+            guideSensor1.LMark = PUB.AGV.signal1.mark_sensor_1;
+            guideSensor1.RMark = PUB.AGV.signal1.mark_sensor_2;
             guideSensor1.Invalidate();
 
             if (PUB.AGV.system1.agv_run || PUB.AGV.system1.agv_run_manual)
@@ -368,12 +393,12 @@ namespace Project.ViewForm
         private void btBack180_Click(object sender, EventArgs e)
         {
             //[STX]		C	T	B	0	0	0	0	9	9	[ETX]
-            PUB.AGV.AGVMoveBack180Turn(true);
+            PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.ON);// (;// (true);
         }
 
         private void button2_Click(object sender, EventArgs e)
         {
-            PUB.AGV.AGVMoveBack180Turn(false);
+            PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.OFF); 
         }
     }
 }

Cs_HMI/Project/fMain.cs

@@ -33,7 +33,6 @@ namespace Project
         bool remoteClose = false;
         bool forceClose = false;
 
-        readonly usbdetect.DriveDetector usbdet;
         public fMain()
         {
             InitializeComponent();
@@ -57,9 +56,12 @@ namespace Project
 
                 if (DateTime.Now > PUB.LastInputTime) PUB.LastInputTime = DateTime.Now;
             };
-            usbdet = new usbdetect.DriveDetector(this);
-            usbdet.DeviceArrived += Usbdet_DeviceArrived;
-            usbdet.DeviceRemoved += Usbdet_DeviceRemoved;
+
+            PUB._mapCanvas = new AGVNavigationCore.Controls.UnifiedAGVCanvas();
+            PUB._mapCanvas.Dock = DockStyle.Fill;
+            PUB._mapCanvas.ShowGrid = false;
+            PUB._mapCanvas.BackColor = Color.FromArgb(32, 32, 32);
+            PUB._mapCanvas.ForeColor = Color.White;
 
             this.panTopMenu.MouseMove += LbTitle_MouseMove;
             this.panTopMenu.MouseUp += LbTitle_MouseUp;
@@ -73,32 +75,6 @@ namespace Project
 
         }
 
-        protected override void WndProc(ref Message m)
-        {
-            base.WndProc(ref m);
-            if (usbdet != null)
-            {
-                usbdet.WndProc(ref m);
-            }
-        }
-
-        private void Usbdet_DeviceRemoved(object sender, usbdetect.DriveDetectorEventArgs e)
-        {
-            //throw new NotImplementedException();
-            Console.WriteLine(e.Drive);
-        }
-
-        private void Usbdet_DeviceArrived(object sender, usbdetect.DriveDetectorEventArgs e)
-        {
-            //throw new NotImplementedException();
-            using (var fUpdate = new Dialog.fUpdateForm(e.Drive))
-                if (fUpdate.ShowDialog() == DialogResult.Yes)
-                {
-                    //종료한다
-                    remoteClose = true;
-                    this.Close();
-                }
-        }
 
         private void __Closing(object sender, FormClosingEventArgs e)
         {
@@ -173,6 +149,9 @@ namespace Project
 
             VAR.STR[eVarString.SWVersion] = Application.ProductVersion;
 
+
+            AutoLoadMapData();
+
             //SETTING H/W
             this.IOState.ItemClick += gridView2_ItemClick;
             VAR.BOOL.PropertyChanged += BOOL_PropertyChanged;
@@ -281,6 +260,71 @@ namespace Project
             PUB.AddEEDB("프로그램 시작");
         }
 
+        void AutoLoadMapData()
+        {
+            //auto load 
+            var mapPath = new System.IO.DirectoryInfo("route");
+            if (mapPath.Exists == false) mapPath.Create();
+
+            //맵파일로딩
+            if (PUB.setting.LastMapFile.isEmpty()) PUB.setting.LastMapFile = System.IO.Path.Combine(mapPath.FullName, "default.json");
+            System.IO.FileInfo filePath = new System.IO.FileInfo(PUB.setting.LastMapFile);
+            if (filePath.Exists == false) filePath = new System.IO.FileInfo(System.IO.Path.Combine(mapPath.FullName, "default.json"));
+            if (filePath.Exists == false)  //그래도없다면 맵폴더에서 파일을 찾아본다.
+            {
+                var files = mapPath.GetFiles("*.json");
+                if (files.Any()) filePath = files[0];
+            }
+
+            if (filePath.Exists)
+            {
+                var result = MapLoader.LoadMapFromFile(filePath.FullName);
+
+                if (result.Success)
+                {
+                    PUB._mapCanvas.SetMapLoadResult(result);
+                    PUB._mapCanvas.MapFileName = filePath.FullName;
+
+                    // 🔥 가상 AGV 초기화 (첫 노드 위치에 생성)
+                    if (PUB._virtualAGV == null && PUB._mapCanvas.Nodes.Count > 0)
+                    {
+                        var startNode = PUB._mapCanvas.Nodes.FirstOrDefault(n => n.IsNavigationNode());
+                        if (startNode != null)
+                        {
+                            PUB._virtualAGV = new VirtualAGV(PUB.setting.MCID, startNode.Position, AgvDirection.Forward);
+                            PUB._virtualAGV.LowBatteryThreshold = PUB.setting.BatteryLimit_Low;
+                            PUB._virtualAGV.SetPosition(startNode, AgvDirection.Forward);
+
+                            // 캔버스에 AGV 리스트 설정
+                            var agvList = new System.Collections.Generic.List<AGVNavigationCore.Controls.IAGV> { PUB._virtualAGV };
+                            PUB._mapCanvas.AGVList = agvList;
+
+                            PUB.log.Add($"가상 AGV 생성: {startNode.Id} 위치");
+                        }
+                    }
+                    else if (PUB._virtualAGV != null)
+                    {
+                        PUB._virtualAGV.LowBatteryThreshold = PUB.setting.BatteryLimit_Low;
+                        // 기존 AGV가 있으면 캔버스에 다시 연결
+                        var agvList = new System.Collections.Generic.List<AGVNavigationCore.Controls.IAGV> { PUB._virtualAGV };
+                        PUB._mapCanvas.AGVList = agvList;
+                    }
+                    PUB.log.Add($"맵 파일 로드 완료: {filePath.Name}, 노드 수: {result.Nodes.Count}");
+                }
+                else
+                {
+                    PUB.log.Add($"맵 파일 로딩 실패: {result.ErrorMessage}");
+                    MessageBox.Show($"맵 파일 로딩 실패: {result.ErrorMessage}", "오류",
+                        MessageBoxButtons.OK, MessageBoxIcon.Error);
+                }
+            }
+            else
+            {
+                PUB.log.Add($"맵 파일을 찾을 수 없습니다: {filePath.FullName}");
+            }
+
+        }
+
         #region "Mouse Form Move"
 
         private Boolean fMove = false;
@@ -736,6 +780,12 @@ 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;
@@ -760,8 +810,8 @@ namespace Project
             //mapsave
             using (var sd = new SaveFileDialog())
             {
-                sd.Filter = "AGV Map Files (*.agvmap)|*.agvmap|All Files (*.*)|*.*";
-                sd.DefaultExt = "agvmap";
+                sd.Filter = "AGV Map Files (*.json)|*.json|All Files (*.*)|*.*";
+                sd.DefaultExt = "json";
                 sd.FileName = PUB._mapCanvas.MapFileName;
                 if (sd.ShowDialog() == DialogResult.OK)
                 {
@@ -776,8 +826,8 @@ namespace Project
 
             var od = new OpenFileDialog
             {
-                Filter = "AGV Map Files (*.agvmap)|*.agvmap|All Files (*.*)|*.*",
-                DefaultExt = "agvmap",
+                Filter = "AGV Map Files (*.json)|*.json|All Files (*.*)|*.*",
+                DefaultExt = "json",
                 FileName = PUB._mapCanvas.MapFileName,
             };
 
@@ -801,20 +851,9 @@ namespace Project
             if (result.Success)
             {
                 var _mapCanvas = PUB._mapCanvas;
-                PUB._mapNodes = result.Nodes;
+                _mapCanvas.SetMapLoadResult(result);
                 PUB.log.Add($"Set _mapNodes");
 
-                // 맵 캔버스에 데이터 설정
-                _mapCanvas.Nodes = result.Nodes;
-                // RfidMappings 제거됨 - MapNode에 통합
-
-                // 🔥 맵 설정 적용 (배경색, 그리드 표시)
-                if (result.Settings != null)
-                {
-                    _mapCanvas.BackColor = System.Drawing.Color.FromArgb(result.Settings.BackgroundColorArgb);
-                    _mapCanvas.ShowGrid = result.Settings.ShowGrid;
-                }
-
                 // 설정에 마지막 맵 파일 경로 저장
                 PUB.setting.LastMapFile = filePath;
                 PUB.setting.Save();
@@ -856,7 +895,7 @@ namespace Project
             }
 
             var _mapCanvas = PUB._mapCanvas;
-            var _mapNodes = PUB._mapNodes;
+
 
             // 🔥 현재 캔버스 설정을 맵 파일에 저장
             var settings = new MapLoader.MapSettings
@@ -865,7 +904,11 @@ namespace Project
                 ShowGrid = _mapCanvas.ShowGrid
             };
 
-            if (MapLoader.SaveMapToFile(filePath, _mapNodes, settings))
+            if (MapLoader.SaveMapToFile(filePath,
+                _mapCanvas.Nodes, _mapCanvas.Labels,
+                _mapCanvas.Images, _mapCanvas.Marks,
+                _mapCanvas.Magnets,
+                settings))
             {
                 // 설정에 마지막 맵 파일 경로 저장
                 PUB.setting.LastMapFile = filePath;

Cs_HMI/Project/fSetup.Designer.cs

@@ -103,7 +103,6 @@
             this.valIntervalBMS = new AGVControl.ValueSelect();
             this.valIntervalXBE = new AGVControl.ValueSelect();
             this.tabPage3 = new System.Windows.Forms.TabPage();
-            this.cmbChargerPos = new System.Windows.Forms.ComboBox();
             this.label58 = new System.Windows.Forms.Label();
             this.label19 = new System.Windows.Forms.Label();
             this.label44 = new System.Windows.Forms.Label();
@@ -1562,7 +1561,6 @@
             // tabPage3
             // 
             this.tabPage3.BackColor = System.Drawing.Color.DarkSlateBlue;
-            this.tabPage3.Controls.Add(this.cmbChargerPos);
             this.tabPage3.Controls.Add(this.label58);
             this.tabPage3.Controls.Add(this.label19);
             this.tabPage3.Controls.Add(this.label44);
@@ -1600,20 +1598,6 @@
             this.tabPage3.TabIndex = 4;
             this.tabPage3.Text = "충전";
             // 
-            // cmbChargerPos
-            // 
-            this.cmbChargerPos.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
-            this.cmbChargerPos.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold);
-            this.cmbChargerPos.FormattingEnabled = true;
-            this.cmbChargerPos.Items.AddRange(new object[] {
-            "HOME 아래",
-            "HOME",
-            "HOME 위"});
-            this.cmbChargerPos.Location = new System.Drawing.Point(1004, 11);
-            this.cmbChargerPos.Name = "cmbChargerPos";
-            this.cmbChargerPos.Size = new System.Drawing.Size(217, 45);
-            this.cmbChargerPos.TabIndex = 69;
-            // 
             // label58
             // 
             this.label58.AutoSize = true;
@@ -3611,7 +3595,6 @@
         private AGVControl.ValueSelect vcTagF5B;
         private AGVControl.ValueSelect vcTagF4F5;
         private System.Windows.Forms.Label label58;
-        private System.Windows.Forms.ComboBox cmbChargerPos;
         private System.Windows.Forms.CheckBox chkClearPos;
         private System.Windows.Forms.Label label7;
         private AGVControl.ValueSelect vcXBID;

Cs_HMI/Project/fSetup.cs

@@ -52,26 +52,19 @@ namespace Project
         {
 
             //통신값 표시
-            //tbPortBMS.Text = Pub.setting.Port_BMS;
-            ///tbPortPLC.Text = PUB.setting.Port_PLC;
             tbPortAGV.Text = PUB.setting.Port_AGV;
             tbPortXBE.Text = PUB.setting.Port_XBE;
             tbportBMS.Text = PUB.setting.Port_BAT;
 
-           // tbBaudPLC.Text = PUB.setting.Baud_PLC.ToString();
             tbBaudAGV.Text = PUB.setting.Baud_AGV.ToString();
             tbBaudXBE.Text = PUB.setting.Baud_XBE.ToString();
             tbBaudBAT.Text = PUB.setting.Baud_BAT.ToString();
 
-            //valueSelect1.Value = Pub.setting.interval_bms;
             valIntervalXBE.Value = PUB.setting.interval_xbe;
             vcpidDS.Value = PUB.setting.ZSpeed;
-            //valueSelect4.Value = PUB.setting.interval_iostate;
             valIntervalBMS.Value = PUB.setting.interval_bms;
             tbChargerID.Value = PUB.setting.ChargerID;
 
-            cmbChargerPos.SelectedIndex = PUB.setting.chargerpos;
-
             vcSCK.Value = PUB.setting.SCK;
             vcSSK.Value = PUB.setting.SSK;
             vcSTT.Value = PUB.setting.STT;
@@ -218,28 +211,19 @@ namespace Project
             propertyGrid1.Invalidate();
 
             //통신정보저장
-            //  Pub.setting.Port_BMS = tbPortBMS.Text;
             PUB.setting.Port_XBE = tbPortXBE.Text;
-            //PUB.setting.Port_PLC = tbPortPLC.Text;
             PUB.setting.Port_AGV = tbPortAGV.Text;
             PUB.setting.Port_BAT = tbportBMS.Text;
 
-            //    Pub.setting.Baud_bms = int.Parse(tbBaudBms.Text);
             PUB.setting.Baud_XBE = int.Parse(tbBaudXBE.Text);
-            //PUB.setting.Baud_PLC = int.Parse(tbBaudPLC.Text);
             PUB.setting.Baud_AGV = int.Parse(tbBaudAGV.Text);
             PUB.setting.Baud_BAT = int.Parse(tbBaudBAT.Text);
-
             PUB.setting.ChargerID = (int)(tbChargerID.Value);
 
-            //Pub.setting.interval_bms = (float)valueSelect1.Value;
             PUB.setting.interval_bms = (int)valIntervalBMS.Value;
             PUB.setting.interval_xbe = (float)valIntervalXBE.Value;
             PUB.setting.ZSpeed = (byte)vcpidDS.Value;
-            //PUB.setting.interval_iostate = (byte)valueSelect4.Value;
-            PUB.setting.chargerpos = this.cmbChargerPos.SelectedIndex;
             PUB.setting.AutoModeOffAndClearPosition = this.chkClearPos.Checked;
-            //PUB.setting.MotorUpTime = (byte)valueSelect5.Value;
 
             //AGV정보 저장
             PUB.setting.Enable_Speak = this.btSpeaker.ProgressValue != 0;
@@ -294,7 +278,6 @@ namespace Project
 
             //시스템옵션
             PUB.setting.ChargeMaxTime = (int)vcChargeMaxTime.Value;
-            //Pub.setting.ChargeIdleInterval = (int)nudChargeIdleInterval.Value;
             PUB.setting.ChargeRetryTerm = (int)vcChargeRetryTerm.Value;
 
             //초기화시간

Cs_HMI/StateMachine/StateMachine.cs

@@ -5,425 +5,423 @@ using System.Text;
 
 namespace Project.StateMachine
 {
-	public partial class StateMachine : IDisposable
-	{
-		public DateTime UpdateTime;
-		public TimeSpan RunSpeed = new TimeSpan(0);
-		private Boolean bLoop = true;
-		private DateTime StepStartTime;
-		private byte _messageOption;
+    public partial class StateMachine : IDisposable
+    {
+        public DateTime UpdateTime;
+        public TimeSpan RunSpeed = new TimeSpan(0);
+        private Boolean bLoop = true;
+        private DateTime StepStartTime;
+        private byte _messageOption;
 
-		private System.Threading.Thread worker;
-		private Boolean firstRun = false;
+        private System.Threading.Thread worker;
+        private Boolean firstRun = false;
 
-		public Boolean WaitFirstRun = false;
+        public Boolean WaitFirstRun = false;
 
 
 
-		public StateMachine()
-		{
-			WaitFirstRun = false;
-			UpdateTime = DateTime.Now;
-			_messageOption = 0xFF;   //모든메세지가 오도록 한다.
-			worker = new System.Threading.Thread(new System.Threading.ThreadStart(Loop))
-			{
-				IsBackground = false
-			};
-			StepStartTime = DateTime.Parse("1982-11-23");
-		}
+        public StateMachine()
+        {
+            WaitFirstRun = false;
+            UpdateTime = DateTime.Now;
+            _messageOption = 0xFF;   //모든메세지가 오도록 한다.
+            worker = new System.Threading.Thread(new System.Threading.ThreadStart(Loop))
+            {
+                IsBackground = false
+            };
+            StepStartTime = DateTime.Parse("1982-11-23");
+        }
 
-		~StateMachine()
-		{
-			Dispose(false);
-		}
+        ~StateMachine()
+        {
+            Dispose(false);
+        }
 
-		#region "Dispose"
+        #region "Dispose"
 
-		private bool disposed = false;
-		public void Dispose()
-		{
-			Dispose(true);
-			GC.SuppressFinalize(this);
-		}
-		protected virtual void Dispose(bool disposing)
-		{
-			// Check to see if Dispose has already been called.
-			if (!this.disposed)
-			{
-				if (disposing)
-				{
-					// Dispose managed resources.
-				}
-
-				Stop();
-				// unmanaged resources here.
-				// If disposing is false,
-				// only the following code is executed.
-				disposed = true;
-			}
-		}
-
-		#endregion
-
-		public void Stop()
-		{
-			if(bLoop != false) bLoop = false;
-			//if (worker.IsAlive)
-			//	if (worker.Join(1000) == false)
-			//		worker.Abort();
-		}
-		public void Start()
-		{
-			if (worker.ThreadState == System.Threading.ThreadState.Stopped)
-			{
-				worker = new System.Threading.Thread(new System.Threading.ThreadStart(Loop))
-				{
-					IsBackground = false
-				};
-			}
-			bLoop = true;
-			worker.Start();
-		}
-
-		private Boolean _isthreadrun;
-		public Boolean IsThreadRun { get { return _isthreadrun; } }
-		public int LoopCount { get { return _loopCount; } }
-		public DateTime LastLoopTime { get { return _lastLoopTime; } }
-
-		private int _loopCount = 0;
-		private DateTime _lastLoopTime = DateTime.Now;
-
-		void Loop()
-		{
-			_isthreadrun = true;
-			if (GetMsgOpt(EMsgOpt.NORMAL)) RaiseMessage("SM", "Start");
-			
-			try
-			{
-				while (bLoop)
-				{
-					_loopCount++;
-					_lastLoopTime = DateTime.Now;
-
-					// 루프 동작 확인용 로그 (10초마다)
-					if (_loopCount % 10000 == 0)
-					{
-						RaiseMessage("SM-LOOP", $"Loop alive - Count:{_loopCount}, bLoop:{bLoop}, Step:{Step}");
-					}
-
-					RunSpeed = DateTime.Now - UpdateTime;	//이전업데이트에서 현재 시간의 오차 한바퀴 시간이 표시됨
-					UpdateTime = DateTime.Now;
-
-				//항상 작동하는 경우
-				try
-				{
-					var spsHandler = SPS;
-					if (spsHandler != null)
-					{
-						var spsStartTime = DateTime.Now;
-						var spsTask = System.Threading.Tasks.Task.Run(() => 
-						{
-							try
-							{
-								spsHandler(this, new EventArgs());
-							}
-							catch (Exception ex)
-							{
-								RaiseMessage("SM-ERROR-SPS", $"SPS Exception: {ex.Message}\n{ex.StackTrace}");
-							}
-						});
-						
-						// 타임아웃 1초
-						if (!spsTask.Wait(1000))
-						{
-							var elapsed = (DateTime.Now - spsStartTime).TotalSeconds;
-							RaiseMessage("SM-TIMEOUT", $"SPS 이벤트 타임아웃 ({elapsed:F2}초 초과) - Step:{Step}");
-						}
-					}
-				}
-				catch (Exception ex)
-				{
-					RaiseMessage("SM-ERROR-SPS", $"SPS Exception: {ex.Message}\n{ex.StackTrace}");
-				}
-
-				//작동스텝이 변경되었다면 그것을 알림 처리한다.
-				if (GetNewStep != Step)
-				{
-					if (GetMsgOpt(EMsgOpt.STEPCHANGE))
-						RaiseMessage("SM-STEP", string.Format("Step Changed {0} >> {1}", Step, GetNewStep));
-
-					StepApply();
-					firstRun = true;
-					StepStartTime = DateTime.Now;
-				}
-				else
-				{
-					//팝업메세지의 종료를 기다리는 식에서 문제가 생긴다
-					firstRun = WaitFirstRun;
-				}
-
-
-				//동작중에 발생하는 이벤트
-				var runningHandler = Running;
-				if (runningHandler != null)
-				{
-					try
-					{
-						var runningStartTime = DateTime.Now;
-						var runningTask = System.Threading.Tasks.Task.Run(() => 
-						{
-							try
-							{
-								runningHandler(this, new RunningEventArgs(Step, firstRun, StepRunTime));
-							}
-							catch (Exception ex)
-							{
-								RaiseMessage("SM-ERROR-RUNNING", $"Running Exception: {ex.Message}\n{ex.StackTrace}");
-							}
-						});
-						
-						// 타임아웃 2초
-						if (!runningTask.Wait(2000))
-						{
-							var elapsed = (DateTime.Now - runningStartTime).TotalSeconds;
-							RaiseMessage("SM-TIMEOUT", $"Running 이벤트 타임아웃 ({elapsed:F2}초 초과) - Step:{Step}, FirstRun:{firstRun}");
-						}
-					}
-					catch (Exception ex)
-					{
-						RaiseMessage("SM-ERROR-RUNNING", $"Running Exception: {ex.Message}\n{ex.StackTrace}");
-					}
-				}					System.Threading.Thread.Sleep(1);
-				}
-			}
-			catch (Exception ex)
-			{
-				RaiseMessage("SM-FATAL", $"Loop Fatal Exception: {ex.Message}\n{ex.StackTrace}");
-			}
-			finally
-			{
-				_isthreadrun = false;
-				if (GetMsgOpt(EMsgOpt.NORMAL)) RaiseMessage("SM", $"Stop - LoopCount:{_loopCount}");
-			}
-		}
-
-
-		/// <summary>
-		/// 상태머신의 작동상태
-		/// </summary>
-		public eSMStep Step { get { return _step; } }
-
-		/// <summary>
-		/// 상태머신값을 숫자로 반환 합니다. (20이하는 시스템상태이고 그 이상은 사용자 상태)
-		/// </summary>
-		public byte StepValue
-		{
-			get
-			{
-				return (byte)this._step;
-			}
-		}
-
-		/// <summary>
-		/// 현재 진행 스텝을 강제로 변경합니다.
-		/// 일반적인 상태변화는 setNewStep 을 사용하세요.
-		/// </summary>
-		/// <param name="step"></param>
-		public void SetCurrentStep(ERunStep step)
-		{
-			RaiseMessage("SM-STEP", string.Format("강제 스텝 변경 {0}->{1}", _runstepo, step));
-			_runstepo = step;
-			_runstepn = step;
-		}
-
-		public void SetNewStep(eSMStep newstep_, bool force = false)
-		{
-			if (Step != newstep_)
-			{
-				if(force)
+        private bool disposed = false;
+        public void Dispose()
+        {
+            Dispose(true);
+            GC.SuppressFinalize(this);
+        }
+        protected virtual void Dispose(bool disposing)
+        {
+            // Check to see if Dispose has already been called.
+            if (!this.disposed)
+            {
+                if (disposing)
                 {
-					RaiseMessage("SM-STEP", string.Format("강제스텝전환 {0} -> {1}", Step, _newstep));
-					OldStep = _step;
-					_step = newstep_;
-					_newstep = newstep_;
-					
-					// 비동기로 이벤트 발생 (블로킹 방지)
-					var handler = StepChanged;
-					if (handler != null)
-					{
-						var args = new StepChangeEventArgs(OldStep, newstep_);
-						System.Threading.ThreadPool.QueueUserWorkItem(_ => 
-						{
-							try { handler(this, args); }
-							catch { /* 이벤트 핸들러 예외 무시 */ }
-						});
-					}
-				}
+                    // Dispose managed resources.
+                }
+
+                Stop();
+                // unmanaged resources here.
+                // If disposing is false,
+                // only the following code is executed.
+                disposed = true;
+            }
+        }
+
+        #endregion
+
+        public void Stop()
+        {
+            if (bLoop != false) bLoop = false;
+            //if (worker.IsAlive)
+            //	if (worker.Join(1000) == false)
+            //		worker.Abort();
+        }
+        public void Start()
+        {
+            if (worker.ThreadState == System.Threading.ThreadState.Stopped)
+            {
+                worker = new System.Threading.Thread(new System.Threading.ThreadStart(Loop))
+                {
+                    IsBackground = false
+                };
+            }
+            bLoop = true;
+            worker.Start();
+        }
+
+        private Boolean _isthreadrun;
+        public Boolean IsThreadRun { get { return _isthreadrun; } }
+        public int LoopCount { get { return _loopCount; } }
+        public DateTime LastLoopTime { get { return _lastLoopTime; } }
+
+        private int _loopCount = 0;
+        private DateTime _lastLoopTime = DateTime.Now;
+
+        void Loop()
+        {
+            _isthreadrun = true;
+            if (GetMsgOpt(EMsgOpt.NORMAL)) RaiseMessage("SM", "Start");
+
+            try
+            {
+                while (bLoop)
+                {
+                    _loopCount++;
+                    _lastLoopTime = DateTime.Now;
+
+                    // 루프 동작 확인용 로그 (10초마다)
+                    if (_loopCount % 10000 == 0)
+                    {
+                        RaiseMessage("SM-LOOP", $"Loop alive - Count:{_loopCount}, bLoop:{bLoop}, Step:{Step}");
+                    }
+
+                    RunSpeed = DateTime.Now - UpdateTime;   //이전업데이트에서 현재 시간의 오차 한바퀴 시간이 표시됨
+                    UpdateTime = DateTime.Now;
+
+                    //항상 작동하는 경우
+                    try
+                    {
+                        var spsHandler = SPS;
+                        if (spsHandler != null)
+                        {
+                            var spsStartTime = DateTime.Now;
+                            var spsTask = System.Threading.Tasks.Task.Run(() =>
+                            {
+                                try
+                                {
+                                    spsHandler(this, new EventArgs());
+                                }
+                                catch (Exception ex)
+                                {
+                                    RaiseMessage("SM-ERROR-SPS", $"SPS Exception: {ex.Message}\n{ex.StackTrace}");
+                                }
+                            });
+
+                            // 타임아웃 1초
+                            if (!spsTask.Wait(1000))
+                            {
+                                var elapsed = (DateTime.Now - spsStartTime).TotalSeconds;
+                                RaiseMessage("SM-TIMEOUT", $"SPS 이벤트 타임아웃 ({elapsed:F2}초 초과) - Step:{Step}");
+                            }
+                        }
+                    }
+                    catch (Exception ex)
+                    {
+                        RaiseMessage("SM-ERROR-SPS", $"SPS Exception: {ex.Message}\n{ex.StackTrace}");
+                    }
+
+                    //작동스텝이 변경되었다면 그것을 알림 처리한다.
+                    if (GetNewStep != Step)
+                    {
+                        if (GetMsgOpt(EMsgOpt.STEPCHANGE))
+                            RaiseMessage("SM-STEP", string.Format("Step Changed {0} >> {1}", Step, GetNewStep));
+
+                        StepApply();
+                        firstRun = true;
+                        StepStartTime = DateTime.Now;
+                    }
+                    else
+                    {
+                        //팝업메세지의 종료를 기다리는 식에서 문제가 생긴다
+                        firstRun = WaitFirstRun;
+                    }
+
+
+                    //동작중에 발생하는 이벤트
+                    var runningHandler = Running;
+                    if (runningHandler != null)
+                    {
+                        try
+                        {
+                            var runningStartTime = DateTime.Now;
+                            var runningTask = System.Threading.Tasks.Task.Run(() =>
+                            {
+
+                                //try
+                                //{
+                                runningHandler(this, new RunningEventArgs(Step, firstRun, StepRunTime));
+                                //}
+                                //catch (Exception ex)
+                                //{
+                                //	RaiseMessage("SM-ERROR-RUNNING", $"Running Exception: {ex.Message}\n{ex.StackTrace}");
+                                //}
+
+
+                            });
+
+                            // 타임아웃 2초
+                            if (!runningTask.Wait(2000))
+                            {
+                                var elapsed = (DateTime.Now - runningStartTime).TotalSeconds;
+                                RaiseMessage("SM-TIMEOUT", $"Running 이벤트 타임아웃 ({elapsed:F2}초 초과) - Step:{Step}, FirstRun:{firstRun}");
+                            }
+                        }
+                        catch (Exception ex)
+                        {
+                            RaiseMessage("SM-ERROR-RUNNING", $"Running Exception: {ex.Message}\n{ex.StackTrace}");
+                        }
+                    }
+                    System.Threading.Thread.Sleep(1);
+                }
+            }
+            catch (Exception ex)
+            {
+                RaiseMessage("SM-FATAL", $"Loop Fatal Exception: {ex.Message}\n{ex.StackTrace}");
+            }
+            finally
+            {
+                _isthreadrun = false;
+                if (GetMsgOpt(EMsgOpt.NORMAL)) RaiseMessage("SM", $"Stop - LoopCount:{_loopCount}");
+            }
+        }
+
+
+        /// <summary>
+        /// 상태머신의 작동상태
+        /// </summary>
+        public eSMStep Step { get { return _step; } }
+
+        /// <summary>
+        /// 상태머신값을 숫자로 반환 합니다. (20이하는 시스템상태이고 그 이상은 사용자 상태)
+        /// </summary>
+        public byte StepValue
+        {
+            get
+            {
+                return (byte)this._step;
+            }
+        }
+
+        /// <summary>
+        /// 현재 진행 스텝을 강제로 변경합니다.
+        /// 일반적인 상태변화는 setNewStep 을 사용하세요.
+        /// </summary>
+        /// <param name="step"></param>
+        public void SetCurrentStep(ERunStep step)
+        {
+            RaiseMessage("SM-STEP", string.Format("강제 스텝 변경 {0}->{1}", _runstepo, step));
+            _runstepo = step;
+            _runstepn = step;
+        }
+
+        public void SetNewStep(eSMStep newstep_, bool force = false)
+        {
+            if (Step != newstep_)
+            {
+                if (force)
+                {
+                    RaiseMessage("SM-STEP", string.Format("강제스텝전환 {0} -> {1}", Step, _newstep));
+                    OldStep = _step;
+                    _step = newstep_;
+                    _newstep = newstep_;
+
+                    // 비동기로 이벤트 발생 (블로킹 방지)
+                    var handler = StepChanged;
+                    if (handler != null)
+                    {
+                        var args = new StepChangeEventArgs(OldStep, newstep_);
+                        try { handler(this, args); }
+                        catch { /* 이벤트 핸들러 예외 무시 */ }
+                    }
+                }
                 else
                 {
-					if (_newstep != newstep_)
-					{
-						//바뀌도록 예약을 한다.
-						_newstep = newstep_;
-						if (GetMsgOpt(EMsgOpt.STEPCHANGE))
-							RaiseMessage("SM-STEP", string.Format("Step Reserve {0} -> {1}", Step, _newstep));
-					}
-					else
-					{
-						//예약은 되어있는데 아직 바뀐것은 아니다.
-						if (GetMsgOpt(EMsgOpt.STEPCHANGE))
-							RaiseMessage("SM-STEP", string.Format("Step Already Reserve {0} -> {1}", Step, _newstep));
-					}
-				}
-				
-			}
-		}
+                    if (_newstep != newstep_)
+                    {
+                        //바뀌도록 예약을 한다.
+                        _newstep = newstep_;
+                        if (GetMsgOpt(EMsgOpt.STEPCHANGE))
+                            RaiseMessage("SM-STEP", string.Format("Step Reserve {0} -> {1}", Step, _newstep));
+                    }
+                    else
+                    {
+                        //예약은 되어있는데 아직 바뀐것은 아니다.
+                        if (GetMsgOpt(EMsgOpt.STEPCHANGE))
+                            RaiseMessage("SM-STEP", string.Format("Step Already Reserve {0} -> {1}", Step, _newstep));
+                    }
+                }
 
-		#region "runstep"
-		private int _runStepSeq = 0;
-		public int RunStepSeq { get { return _runStepSeq; } }
+            }
+        }
+
+        #region "runstep"
+        private int _runStepSeq = 0;
+        public int RunStepSeq { get { return _runStepSeq; } }
 
         public Stack<ERunStep> BackupRunStep = new Stack<ERunStep>();
 
-		private DateTime runStepStartTime = DateTime.Parse("1982-11-23");
-		private ERunStep _runstepn = ERunStep.READY;
-		private ERunStep _runstepo = ERunStep.READY;
-		public ERunStep RunStep { get { return _runstepo; } }
-		public ERunStep RunStepNew { get { return _runstepn; } }
-		public void SetNewRunStep(ERunStep newStep)
-		{
-			if (_runstepn != newStep)
-			{
-				// Pub.log.Add(string.Format("set new run step {0}->{1}", _runstepn, newStep));
-				_runstepn = newStep;
-			}
-		}
-		public void ApplyRunStep()
-		{
-			if (_runstepn != _runstepo)
-			{
-				//Pub.log.Add(string.Format("apply new run step {0}->{1}", _runstepo, _runstepn));
-				_runStepSeq = 0;
-				_runstepo = _runstepn;
-				UpdateRunStepSeq();// runStepStartTime = DateTime.Now;
-			}
-		}
-		public TimeSpan GetRunSteptime { get { return DateTime.Now - runStepStartTime; } }
-		public void SetStepSeq(byte value)
-		{
-			_runStepSeq = value;
-			if (GetMsgOpt(EMsgOpt.NORMAL))
-			{
-				if (_runStepSeq != value)	//변화가잇는겨웅에만 처리 220628
-					RaiseMessage("STEPSEQ", string.Format("Step Sequence Jump {0} to {1}", _runStepSeq, value));
-			}
+        private DateTime runStepStartTime = DateTime.Parse("1982-11-23");
+        private ERunStep _runstepn = ERunStep.READY;
+        private ERunStep _runstepo = ERunStep.READY;
+        public ERunStep RunStep { get { return _runstepo; } }
+        public ERunStep RunStepNew { get { return _runstepn; } }
+        public void SetNewRunStep(ERunStep newStep)
+        {
+            if (_runstepn != newStep)
+            {
+                // Pub.log.Add(string.Format("set new run step {0}->{1}", _runstepn, newStep));
+                _runstepn = newStep;
+            }
+        }
+        public void ApplyRunStep()
+        {
+            if (_runstepn != _runstepo)
+            {
+                //Pub.log.Add(string.Format("apply new run step {0}->{1}", _runstepo, _runstepn));
+                _runStepSeq = 0;
+                _runstepo = _runstepn;
+                UpdateRunStepSeq();// runStepStartTime = DateTime.Now;
+            }
+        }
+        public TimeSpan GetRunSteptime { get { return DateTime.Now - runStepStartTime; } }
+        public void SetStepSeq(byte value)
+        {
+            _runStepSeq = value;
+            if (GetMsgOpt(EMsgOpt.NORMAL))
+            {
+                if (_runStepSeq != value)   //변화가잇는겨웅에만 처리 220628
+                    RaiseMessage("STEPSEQ", string.Format("Step Sequence Jump {0} to {1}", _runStepSeq, value));
+            }
 
-		}
-		public void UpdateRunStepStartTime()
-		{
-			runStepStartTime = DateTime.Now;
-			// Pub.log.Add("Update RunStep Start Time");
-		}
-		public void UpdateRunStepSeq(int incvalue = 1)
-		{
-			_runStepSeq += incvalue;
-			UpdateRunStepStartTime();
-			//   Pub.log.Add(string.Format("스텝({0}) 시퀀스증가 신규값={1}", runStep, _runStepSeq));
-		}
-		public void ResetRunStepSeq()
-		{
-			_runStepSeq = 1;
-			UpdateRunStepStartTime();
-		}
+        }
+        public void UpdateRunStepStartTime()
+        {
+            runStepStartTime = DateTime.Now;
+            // Pub.log.Add("Update RunStep Start Time");
+        }
+        public void UpdateRunStepSeq(int incvalue = 1)
+        {
+            _runStepSeq += incvalue;
+            UpdateRunStepStartTime();
+            //   Pub.log.Add(string.Format("스텝({0}) 시퀀스증가 신규값={1}", runStep, _runStepSeq));
+        }
+        public void ResetRunStepSeq()
+        {
+            _runStepSeq = 1;
+            UpdateRunStepStartTime();
+        }
 
-		/// <summary>
-		/// runstep 시퀀스값을 1로 설정하고 시작시간도 업데이트 합니다
-		/// 기본 스텝상태를 READY로 변경 합니다
-		/// </summary>
-		public void ClearRunStep()
-		{
-			_runStepSeq = 1;
-			runStepStartTime = DateTime.Now;
-			_runstepn = ERunStep.READY;
-			_runstepo = ERunStep.READY;
-		}
-		#endregion
+        /// <summary>
+        /// runstep 시퀀스값을 1로 설정하고 시작시간도 업데이트 합니다
+        /// 기본 스텝상태를 READY로 변경 합니다
+        /// </summary>
+        public void ClearRunStep()
+        {
+            _runStepSeq = 1;
+            runStepStartTime = DateTime.Now;
+            _runstepn = ERunStep.READY;
+            _runstepo = ERunStep.READY;
+        }
+        #endregion
 
 
-		public eSMStep GetNewStep
-		{
-			get
-			{
-				return _newstep;
-			}
-		}
-		private eSMStep _newstep = eSMStep.NOTSET;
-		public eSMStep OldStep = eSMStep.NOTSET; //171214
-		private eSMStep _step;
+        public eSMStep GetNewStep
+        {
+            get
+            {
+                return _newstep;
+            }
+        }
+        private eSMStep _newstep = eSMStep.NOTSET;
+        public eSMStep OldStep = eSMStep.NOTSET; //171214
+        private eSMStep _step;
 
-		/// <summary>
-		/// newstep 의 값을 step 에 적용합니다.
-		/// </summary>
-		private void StepApply()
-		{
-			var ostep = _step;
-			OldStep = _step; _step = _newstep;
-			
-			// 비동기로 이벤트 발생 (블로킹 방지)
-			var handler = StepChanged;
-			if (handler != null)
-			{
-				var args = new StepChangeEventArgs(ostep, _step);
-				System.Threading.ThreadPool.QueueUserWorkItem(_ => 
-				{
-					try { handler(this, args); }
-					catch { /* 이벤트 핸들러 예외 무시 */ }
-				});
-			}
-		}    //171214
+        /// <summary>
+        /// newstep 의 값을 step 에 적용합니다.
+        /// </summary>
+        private void StepApply()
+        {
+            var ostep = _step;
+            OldStep = _step; _step = _newstep;
 
-		/// <summary>
-		/// 메세지 출력옵션을 변경 합니다.
-		/// </summary>
-		/// <param name="opt"></param>
-		/// <param name="value"></param>
-		public void SetMsgOpt(EMsgOpt opt, Boolean value)
-		{
-			byte pos = (byte)opt;
-			if (value)
-				_messageOption = (byte)(_messageOption | (1 << pos));
-			else
-				_messageOption = (byte)(_messageOption & ~(1 << pos));
-		}
-		public void SetMegOptOn() { _messageOption = 0xFF; }
-		public void SetMsgOptOff() { _messageOption = 0; }
-		public Boolean GetMsgOpt(EMsgOpt opt)
-		{
-			byte pos = (byte)opt;
-			return (_messageOption & (1 << pos)) > 0;
-		}
-		public TimeSpan StepRunTime
-		{
-			get
-			{
-				if (IsThreadRun == false || bLoop == false || StepStartTime.Year == 1982) return new TimeSpan(0);
-				else return DateTime.Now - StepStartTime;
-			}
-		}
+            // 비동기로 이벤트 발생 (블로킹 방지)
+            var handler = StepChanged;
+            if (handler != null)
+            {
+                var args = new StepChangeEventArgs(ostep, _step);
+                try { handler(this, args); }
+                catch { /* 이벤트 핸들러 예외 무시 */ }
+            }
+        }    //171214
 
-		public Boolean bPause = false;
+        /// <summary>
+        /// 메세지 출력옵션을 변경 합니다.
+        /// </summary>
+        /// <param name="opt"></param>
+        /// <param name="value"></param>
+        public void SetMsgOpt(EMsgOpt opt, Boolean value)
+        {
+            byte pos = (byte)opt;
+            if (value)
+                _messageOption = (byte)(_messageOption | (1 << pos));
+            else
+                _messageOption = (byte)(_messageOption & ~(1 << pos));
+        }
+        public void SetMegOptOn() { _messageOption = 0xFF; }
+        public void SetMsgOptOff() { _messageOption = 0; }
+        public Boolean GetMsgOpt(EMsgOpt opt)
+        {
+            byte pos = (byte)opt;
+            return (_messageOption & (1 << pos)) > 0;
+        }
+        public TimeSpan StepRunTime
+        {
+            get
+            {
+                if (IsThreadRun == false || bLoop == false || StepStartTime.Year == 1982) return new TimeSpan(0);
+                else return DateTime.Now - StepStartTime;
+            }
+        }
 
-		/// <summary>
-		/// 상태머신이 실제 동작중인지 확인합니다.
-		/// 검사상태 : Step = Run, IsThreadRun, bPause = false
-		/// </summary>
-		public Boolean IsRun
-		{
-			get
-			{
-				if (Step == eSMStep.RUN && _isthreadrun && bPause == false) return true;
-				else return false;
-			}
-		}
-	}
+        public Boolean bPause = false;
+
+        /// <summary>
+        /// 상태머신이 실제 동작중인지 확인합니다.
+        /// 검사상태 : Step = Run, IsThreadRun, bPause = false
+        /// </summary>
+        public Boolean IsRun
+        {
+            get
+            {
+                if (Step == eSMStep.RUN && _isthreadrun && bPause == false) return true;
+                else return false;
+            }
+        }
+    }
 }

Cs_HMI/SubProject/AGV/Command.cs

@@ -12,7 +12,7 @@ using AR;
 
 namespace arDev
 {
-    public partial class Narumi : arRS232
+    public partial class Narumi
     {
 
         public bool AGVMoveSet(BunkiData opt)
@@ -236,12 +236,12 @@ namespace arDev
                 case eAgvCmd.ChargeOf:
                     cmdString = $"CBT{param}O0003"; ///0003=충전대기시간
                     retval = AddCommand(cmdString);
-                    RaiseMessage(arRS232.MessageType.Normal, "충전취소전송");
+                    RaiseMessage(NarumiSerialComm.MessageType.Normal, "충전취소전송");
                     break;
                 case eAgvCmd.ChargeOn:
                     cmdString = $"CBT{param}I0003"; ///0003=충전대기시간
                     retval = AddCommand(cmdString);
-                    RaiseMessage(arRS232.MessageType.Normal, "충전명령전송");
+                    RaiseMessage(NarumiSerialComm.MessageType.Normal, "충전명령전송");
                     break;
 
                 case eAgvCmd.TurnLeft:

Cs_HMI/SubProject/AGV/DataEventArgs.cs

@@ -2,7 +2,7 @@
 
 namespace arDev
 {
-    public partial class Narumi
+    public partial class Narumi 
     {
         public class DataEventArgs : EventArgs
         {

Cs_HMI/SubProject/AGV/Dataframe.cs

@@ -0,0 +1,69 @@
+using System;
+using System.Linq;
+using AR;
+
+namespace arDev
+{
+    public partial class Narumi 
+    {
+        public class Dataframe
+        {
+            public byte STX { get; private set; }
+            public byte ETX { get; private set; }
+            public byte[] Data { get; private set; }
+            public string DataString { get; private set; }
+            public byte[] checksum { get; private set; } = new byte[2];
+            public bool Valid { get; private set; } = false;
+            public string Message { get; private set; } = string.Empty;
+            public byte[] Buffer { get; private set; }
+            public string Cmd { get; private set; } = string.Empty;
+
+            public bool Parse(byte[] data, int MinRecvLength = 0)
+            {
+                if (data == null || data.Any() == false)
+                {
+                    this.Message = string.Format("수신 데이터가 없습니다");
+                    return false;
+                }
+                else if (data.Length < 5)
+                {
+                    this.Message = $"데이터의 길이가 5보다 작습니다 길이={data.Length}";
+                    return false;
+                }
+                else if (MinRecvLength > 0 && data.Length < MinRecvLength)
+                {
+                    this.Message = $"데이터의 길이가 {MinRecvLength}보다 작습니다 길이={data.Length}";
+                    return false;
+                }
+                else if (data[0] != 0x02 || data[data.Length - 1] != 0x03)
+                {
+                    this.Message = $"STX/ETX Error";
+                    return false;
+                }
+                Buffer = new byte[data.Length];
+                Array.Copy(data, Buffer, data.Length);
+                STX = data[0];
+                ETX = data[data.Length - 1];
+                Array.Copy(data, data.Length - 3, checksum, 0, 2);
+
+                Data = new byte[data.Length - 4];
+                Array.Copy(data, 1, Data, 0, data.Length - 4);
+
+                if (data.Length > 2) Cmd = System.Text.Encoding.Default.GetString(Data, 0, 3);
+
+                this.DataString = System.Text.Encoding.Default.GetString(Data);
+
+
+                Valid = true;
+                return true;
+            }
+            public Dataframe(byte[] buffer = null, int minlen = 0)
+            {
+                if (buffer != null) Parse(buffer);
+            }
+        }
+
+    }
+
+
+}

Cs_HMI/SubProject/AGV/NARUMI.csproj

@@ -47,8 +47,10 @@
   </ItemGroup>
   <ItemGroup>
     <Compile Include="DataEventArgs.cs" />
+    <Compile Include="Dataframe.cs" />
     <Compile Include="EnumData.cs" />
     <Compile Include="Command.cs" />
+    <Compile Include="NarumiSerialComm.cs" />
     <Compile Include="Structure\ErrorFlag.cs" />
     <Compile Include="Narumi.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />

Cs_HMI/SubProject/AGV/Narumi.cs

@@ -8,18 +8,17 @@ using System.Threading.Tasks;
 using System.Collections;
 using COMM;
 using AR;
+using System.Xml;
 
 namespace arDev
 {
-    public partial class Narumi : arRS232
+    public partial class Narumi : arDev.NarumiSerialComm
     {
         Hashtable SystemCheck, ErrorCheck;
         private Queue Errlog;                                               // 에러발생시 코드 임시 저장용(쓰레드 동기화용)
 
-
         public int nBatteryNo { get; set; } = 0;
 
-
         public Narumi()
         {
             SystemCheck = new Hashtable();
@@ -124,75 +123,18 @@ namespace arDev
             return bComplete;
         }
 
-        public class Dataframe
-        {
-            public byte STX { get; private set; }
-            public byte ETX { get; private set; }
-            public byte[] Data { get; private set; }
-            public string DataString { get; private set; }
-            public byte[] checksum { get; private set; } = new byte[2];
-            public bool Valid { get; private set; } = false;
-            public string Message { get; private set; } = string.Empty;
-            public byte[] Buffer { get; private set; }
-            public string Cmd { get; private set; } = string.Empty;
-
-            public bool Parse(byte[] data, int MinRecvLength = 0)
-            {
-                if (data == null || data.Any() == false)
-                {
-                    this.Message = string.Format("수신 데이터가 없습니다");
-                    return false;
-                }
-                else if (data.Length < 5)
-                {
-                    this.Message = $"데이터의 길이가 5보다 작습니다 길이={data.Length}";
-                    return false;
-                }
-                else if (MinRecvLength > 0 && data.Length < MinRecvLength)
-                {
-                    this.Message = $"데이터의 길이가 {MinRecvLength}보다 작습니다 길이={data.Length}";
-                    return false;
-                }
-                else if (data[0] != 0x02 || data[data.Length - 1] != 0x03)
-                {
-                    this.Message = $"STX/ETX Error";
-                    return false;
-                }
-                Buffer = new byte[data.Length];
-                Array.Copy(data, Buffer, data.Length);
-                STX = data[0];
-                ETX = data[data.Length - 1];
-                Array.Copy(data, data.Length - 3, checksum, 0, 2);
-
-                Data = new byte[data.Length - 4];
-                Array.Copy(data, 1, Data, 0, data.Length - 4);
-
-                if (data.Length > 2) Cmd = System.Text.Encoding.Default.GetString(Data, 0, 3);
-
-                this.DataString = System.Text.Encoding.Default.GetString(Data);
-
-
-                Valid = true;
-                return true;
-            }
-            public Dataframe(byte[] buffer = null, int minlen = 0)
-            {
-                if (buffer != null) Parse(buffer);
-            }
-        }
-
         public override bool ProcessRecvData(byte[] data)
         {
             //LastReceiveBuffer
             var frame = new Dataframe(data, MinRecvLength);
             if (frame.Valid == false)
             {
-                RaiseMessage(arRS232.MessageType.Error, frame.Message);
+                RaiseMessage(MessageType.Error, frame.Message);
                 return false;
             }
             else if (frame.DataString.StartsWith("$") == false && CheckSum(data) == false)
             {
-                RaiseMessage(arRS232.MessageType.Error, "Checksum Error MSG=" + frame.DataString);
+                RaiseMessage(MessageType.Error, "Checksum Error MSG=" + frame.DataString);
                 return false;
             }
 
@@ -218,7 +160,7 @@ namespace arDev
                 // $로 시작되는 AGV 상태 표시
                 //var text_Sts_Etc = Encoding.Default.GetString(bRcvData, 3, bRcvData.Length - 2).TrimStart(' ');   //20210311 김정만 - SmartX FrameWork 사용 안함으로 주석처리
                 //var sMessageOther = Encoding.Default.GetString(bRcvData, 3, bRcvData.Length - 2).TrimStart(' ');
-                RaiseMessage(arRS232.MessageType.Normal, "$메세지수신:" + frame.DataString);
+                RaiseMessage(MessageType.Normal, "$메세지수신:" + frame.DataString);
             }
             else
             {
@@ -228,7 +170,7 @@ namespace arDev
                 }
                 catch (Exception ex)
                 {
-                    RaiseMessage(arRS232.MessageType.Error, ex.Message);
+                    RaiseMessage(MessageType.Error, ex.Message);
                     retval = false;
                 }
             }
@@ -279,14 +221,15 @@ namespace arDev
         public SystemFlag1 system1 = new SystemFlag1();
         public ErrorFlag error = new ErrorFlag();
         public AgvData data = new AgvData();
-        public Signal signal = new Signal();
+        public Signal1 signal1 = new Signal1();
+        public Signal2 signal2 = new Signal2();
 
         #region [수신] STS(AGV상태정보) 분석
         public string LastSTS { get; set; } = string.Empty;
         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
@@ -322,42 +265,15 @@ namespace arDev
                 data.guidesensor = int.Parse(rcvdNow.Substring(idx, 1)); idx += 1;  //가이드 좌측부터 1~9
 
                 nDataTemp = Convert.ToByte(rcvdNow.Substring(idx, 2), 16);
-                signal.SetValue(nDataTemp);
+                signal1.SetValue(nDataTemp);  idx += 2;
 
-                //data.Sts = encoding.GetString(bRcvData, 19, 3);   //20210311 김정만 - SmartX FrameWork 사용 안함으로 주석처리
+                if(idx <= rcvdNow.Length-2)
+                {
+                    nDataTemp = Convert.ToByte(rcvdNow.Substring(idx, 2), 16);
+                    signal2.SetValue(nDataTemp);
+                }
+          
 
-                //var Sts_cSpeed = encoding.GetString(bRcvData, 19, 1)[0];
-                //var Sts_cDirection = encoding.GetString(bRcvData, 20, 1)[0];
-                //var Sts_cFB = encoding.GetString(bRcvData, 21, 1)[0];
-
-
-                ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-                ////가이드센서 정보 (22)//////////////////////////////////////////////////////////////////////////////////////////////////////////
-                //var Sts_nGuide = 0;
-                //if (bRcvData[22] > 47 && bRcvData[22] < 58) { Sts_nGuide = Convert.ToInt32(encoding.GetString(bRcvData, 22, 1)); }
-                ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-                ////마크센서 & 포토센서 정보 (23~24)////////////////////////////////////////////////////////////////////////////////////////////////////
-                //nDataTemp = Convert.ToInt32(encoding.GetString(bRcvData, 23, 2), 16);
-
-                //data.Sts_bMark1 = Convert.ToBoolean(nDataTemp & 0x4);
-                //data.Sts_bMark2 = Convert.ToBoolean(nDataTemp & 0x8);
-                //data.Sts_bCargo = Convert.ToBoolean(nDataTemp & 0x10);
-
-                ////포토센서
-                //if (Sts_cFB == 'F')
-                //{
-                //    system.Sts_nSenser = Convert.ToInt32(encoding.GetString(bRcvData, 26, 1));
-                //}
-                //else if (Sts_cFB == 'B')
-                //{
-                //    system.Sts_nSenser = Convert.ToInt32(encoding.GetString(bRcvData, 27, 1));
-                //}
-
-
-                //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-                //AGV 속도/분기/방향 (19~21)//////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-                /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
                 DataReceive?.Invoke(this, new DataEventArgs(DataType.STS));
 
             }

Cs_HMI/SubProject/AGV/NarumiSerialComm.cs

@@ -0,0 +1,609 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Linq;
+using System.Text;
+using System.Threading;
+
+namespace arDev
+{
+    public abstract class NarumiSerialComm : 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 NarumiSerialComm()
+        {
+            _device = new System.IO.Ports.SerialPort();
+            this.BaudRate = 57600;
+            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);
+        }
+
+        ~NarumiSerialComm()
+        {
+            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/SubProject/AGV/Structure/ErrorFlag.cs

@@ -27,13 +27,25 @@ namespace arDev
                 /// <summary>
                 /// 기동시 자석 감지 에러
                 /// </summary>
-                runerror_by_no_magent_line,
+                runerror_by_no_magent_line=5,
                 /// <summary>
                 /// 호출제어기 통신 오류
                 /// </summary>
-                controller_comm_error = 11,
+                controller_comm_error =6,
+
                 /// <summary>
-                /// 도착경보기 통신 오류
+                /// 배터리 저전압
+                /// </summary>
+                battery_low_voltage=7,
+
+                spare08=8,
+
+                lift_timeout=9,
+                lift_driver_overcurrent=10,
+                lift_driver_emergency = 11,
+
+                /// <summary>
+                /// 도착경보기 통신 오류 
                 /// </summary>
                 arrive_ctl_comm_error,
 

Cs_HMI/SubProject/AGV/Structure/Signals.cs

@@ -4,10 +4,26 @@ namespace arDev
 {
     public partial class Narumi
     {
-
-        public class Signal
+        public enum eSignal1
         {
-            private COMM.Flag _value { get; set; } = new COMM.Flag(16);
+            front_gate_out = 0,
+            rear_gte_out,
+            mark_sensor_1,
+            mark_sensor_2,
+            lift_down_sensor,
+            lift_up_sensor,
+            magnet_relay,
+            charger_align_sensor,
+        }
+        public enum eSignal2
+        {
+            cart_detect1 = 0,
+            cart_detect2,
+        }
+
+        public class Signal1
+        {
+            private COMM.Flag _value { get; set; } = new COMM.Flag(8);
             public void SetValue(Int16 value) { this._value.writeValue(value); }
             public UInt16 Value
             {
@@ -16,60 +32,37 @@ namespace arDev
                     return (UInt16)_value.Value;
                 }
             }
-            public enum eflag
-            {
-                front_gate_out = 0,
-                rear_sensor_out,
-                mark_sensor_1,
-                mark_sensor_2,
-                front_left_sensor,
-                front_right_sensor,
-                front_center_sensor,
-                charger_align_sensor,
-                
-                lift_down,
-                lift_up,
-                magnet_on,
-                ChargetSensor,
-                cart_detect1,
-                cart_detect2,
-                Spare1,
-                Spare2
-            }
 
-            public bool GetValue(eflag idx)
+
+            public bool GetValue(eSignal1 idx)
             {
                 return _value.Get((int)idx);
             }
-            public bool GetChanged(eflag idx)
+            public bool GetChanged(eSignal1 idx)
             {
                 return _value.GetChanged((int)idx);
             }
 
-            public Boolean front_gate_out { get { return GetValue(eflag.front_gate_out); } }
-            public Boolean rear_sensor_out { get { return GetValue(eflag.rear_sensor_out); } }
-            public Boolean mark_sensor_1 { get { return GetValue(eflag.mark_sensor_1); } }
-            public Boolean mark_sensor_2 { get { return GetValue(eflag.mark_sensor_2); } }
+            public Boolean front_gate_out { get { return GetValue(eSignal1.front_gate_out); } }
+            public Boolean rear_sensor_out { get { return GetValue(eSignal1.rear_gte_out); } }
+            public Boolean mark_sensor_1 { get { return GetValue(eSignal1.mark_sensor_1); } }
+            public Boolean mark_sensor_2 { get { return GetValue(eSignal1.mark_sensor_2); } }
             public Boolean mark_sensor { get { return mark_sensor_1 || mark_sensor_2; } }
-            public Boolean front_left_sensor { get { return GetValue(eflag.front_left_sensor); } }
-            public Boolean front_right_sensor { get { return GetValue(eflag.front_right_sensor); } }
-            public Boolean front_center_sensor { get { return GetValue(eflag.front_center_sensor); } }
-            public Boolean charger_align_sensor { get { return GetValue(eflag.charger_align_sensor); } }
-            public Boolean lift_up { get { return GetValue(eflag.lift_up); } }
-            public Boolean lift_down { get { return GetValue(eflag.lift_down); } }
-            public Boolean magnet_on { get { return GetValue(eflag.magnet_on); } }
-            public Boolean cart_detect1 { get { return GetValue(eflag.cart_detect1); } }
-            public Boolean cart_detect2 { get { return GetValue(eflag.cart_detect2); } }
+            public Boolean charger_align_sensor { get { return GetValue(eSignal1.charger_align_sensor); } }
+            public Boolean lift_up { get { return GetValue(eSignal1.lift_up_sensor); } }
+            public Boolean lift_down { get { return GetValue(eSignal1.lift_down_sensor); } }
+            public Boolean magnet_on { get { return GetValue(eSignal1.magnet_relay); } }
+       
             public override string ToString()
             {
                 //모든사태값을 탭으로 구분하여 문자를 생성한다
                 var sb = new System.Text.StringBuilder();
                 for (int i = 0; i < 16; i++)
                 {
-                    var def = Enum.IsDefined(typeof(eflag), i);
-                    if(def)
+                    var def = Enum.IsDefined(typeof(eSignal1), i);
+                    if (def)
                     {
-                        var flag = (eflag)i;
+                        var flag = (eSignal1)i;
                         var value = _value.Get(i);
                         sb.AppendLine($"[{i:00}][{flag}] : {value}");
                     }
@@ -86,10 +79,87 @@ namespace arDev
 
                 for (int i = 0; i < 16; i++)
                 {
-                    var def = Enum.IsDefined(typeof(eflag), i);
+                    var def = Enum.IsDefined(typeof(eSignal1), i);
                     if (def)
                     {
-                        var flag = (eflag)i;
+                        var flag = (eSignal1)i;
+                        var value = _value.Get(i);
+                        string line = $"[{i:00}][{flag}] : {value}";
+
+                        // : true가 포함된 줄은 파란색
+                        if (value == true)
+                        {
+                            sb.AppendLine(@"\cf1 " + line + @"\cf0\line");
+                        }
+                        else
+                        {
+                            sb.AppendLine(line + @"\line");
+                        }
+                    }
+                }
+
+                sb.AppendLine("}");
+                return sb.ToString();
+            }
+
+        }
+
+
+        public class Signal2
+        {
+            private COMM.Flag _value { get; set; } = new COMM.Flag(8);
+            public void SetValue(Int16 value) { this._value.writeValue(value); }
+            public UInt16 Value
+            {
+                get
+                {
+                    return (UInt16)_value.Value;
+                }
+            }
+         
+
+            public bool GetValue(eSignal2 idx)
+            {
+                return _value.Get((int)idx);
+            }
+            public bool GetChanged(eSignal2 idx)
+            {
+                return _value.GetChanged((int)idx);
+            }
+
+       
+            public Boolean cart_detect1 { get { return GetValue(eSignal2.cart_detect1); } }
+            public Boolean cart_detect2 { get { return  GetValue(eSignal2.cart_detect2); } }
+            public override string ToString()
+            {
+                //모든사태값을 탭으로 구분하여 문자를 생성한다
+                var sb = new System.Text.StringBuilder();
+                for (int i = 0; i < 16; i++)
+                {
+                    var def = Enum.IsDefined(typeof(eSignal2), i);
+                    if(def)
+                    {
+                        var flag = (eSignal2)i;
+                        var value = _value.Get(i);
+                        sb.AppendLine($"[{i:00}][{flag}] : {value}");
+                    }
+
+                }
+                return sb.ToString();
+            }
+
+            public string ToRtfString()
+            {
+                var sb = new System.Text.StringBuilder();
+                sb.AppendLine(@"{\rtf1\ansi\deff0");
+                sb.AppendLine(@"{\colortbl ;\red0\green0\blue255;}"); // Color 1 = Blue
+
+                for (int i = 0; i < 16; i++)
+                {
+                    var def = Enum.IsDefined(typeof(eSignal2), i);
+                    if (def)
+                    {
+                        var flag = (eSignal2)i;
                         var value = _value.Get(i);
                         string line = $"[{i:00}][{flag}] : {value}";
 

Cs_HMI/SubProject/CommData/CommData.csproj

@@ -44,6 +44,7 @@
   </ItemGroup>
   <ItemGroup>
     <Compile Include="Flag.cs" />
+    <Compile Include="ISerialComm.cs" />
     <Compile Include="RS232.cs" />
     <Compile Include="Var.cs" />
     <Compile Include="Enum.cs" />

Cs_HMI/SubProject/CommData/ISerialComm.cs

@@ -0,0 +1,18 @@
+using System;
+
+namespace arDev
+{
+    /// <summary>
+    /// 시리얼통신모듈의기본형태정의
+    /// </summary>
+    public interface ISerialComm
+    {
+        string PortName { get; set; }
+        int BaudRate { get; set; }        
+        bool IsOpen { get; }
+        string ErrorMessage { get; set; }
+
+        Boolean Open();
+        Boolean Close();
+    }
+}

Cs_HMI/SubProject/CommData/RS232.cs

@@ -7,7 +7,8 @@ using System.Threading;
 
 namespace arDev
 {
-    public abstract partial class arRS232 : IDisposable
+
+    public abstract partial class arRS232 : ISerialComm, IDisposable
     {
         protected System.IO.Ports.SerialPort _device;
         protected ManualResetEvent _mre;
@@ -19,7 +20,7 @@ namespace arDev
         //public int ValidCheckTimeMSec { get; set; } = 5000;
         protected List<byte> tempBuffer = new List<byte>();
         protected Boolean findSTX = false;
-        public string errorMessage { get; set; }
+        public string ErrorMessage { get; set; }
         public DateTime LastConnTime { get; set; }
         public DateTime LastConnTryTime { get; set; }
         public DateTime lastSendTime;
@@ -111,7 +112,7 @@ namespace arDev
             _device.ReadBufferSize = 8192;
             _device.WriteBufferSize = 8192;
 
-            errorMessage = string.Empty;
+            ErrorMessage = string.Empty;
             lastRecvTime = DateTime.Parse("1982-11-23");
             LastConnTime = DateTime.Parse("1982-11-23");
             LastConnTryTime = DateTime.Parse("1982-11-23");
@@ -164,7 +165,7 @@ namespace arDev
             }
             catch (Exception ex)
             {
-                errorMessage = ex.Message;
+                ErrorMessage = ex.Message;
                 Message.Invoke(this, new MessageEventArgs(ex.Message, true));
                 return false;
             }
@@ -191,14 +192,16 @@ namespace arDev
             }
         }
 
-        public virtual void Close(Boolean PortClose = true)
+        public virtual bool Close()
         {
             if (_device != null && _device.IsOpen)
             {
                 _device.DiscardInBuffer();
                 _device.DiscardOutBuffer();
-                if (PortClose) _device.Close(); //dispose에서는 포트를 직접 클리어하지 않게 해뒀다.
+                _device.Close(); //dispose에서는 포트를 직접 클리어하지 않게 해뒀다.
+                return true;
             }
+            else return false;
         }
         protected Boolean RaiseRecvData()
         {
@@ -228,7 +231,7 @@ namespace arDev
                 if (ProcessRecvData(Data) == false)
                 {
                     //Message?.Invoke(this, new MessageEventArgs(Data, true));    //recvmessage
-                    Message?.Invoke(this, new MessageEventArgs(this.errorMessage, true));   //errormessage
+                    Message?.Invoke(this, new MessageEventArgs(this.ErrorMessage, true));   //errormessage
                     return false;
                 }
                 else
@@ -239,7 +242,7 @@ namespace arDev
             }
             catch (Exception ex)
             {
-                this.errorMessage = ex.Message;
+                this.ErrorMessage = ex.Message;
                 this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
                 return false;
             }
@@ -301,7 +304,7 @@ namespace arDev
                 //    //_device.DiscardInBuffer();
                 //    //_device.DiscardOutBuffer();
                 //}
-                errorMessage = ex.Message;
+                ErrorMessage = ex.Message;
                 this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
             }
 
@@ -419,7 +422,7 @@ namespace arDev
         /// <summary>
         /// 포트가 열려있거나 데이터 수신시간이 없는경우 false를 반환합니다
         /// </summary>
-        public  Boolean IsValid
+        public Boolean IsValid
         {
             get
             {
@@ -444,8 +447,8 @@ namespace arDev
             //171205 : 타임아웃시간추가
             if (!_mre.WaitOne(WaitTimeout))
             {
-                errorMessage = $"WriteData:MRE:WaitOne:TimeOut {WaitTimeout}ms";
-                this.Message?.Invoke(this, new MessageEventArgs(errorMessage, true));
+                ErrorMessage = $"WriteData:MRE:WaitOne:TimeOut {WaitTimeout}ms";
+                this.Message?.Invoke(this, new MessageEventArgs(ErrorMessage, true));
                 return false;
             }
 

Cs_HMI/TestProject/Test_ACS/MainForm.cs

@@ -23,7 +23,7 @@ namespace Test_ACS
             LoadPortList();
         }
 
-    
+
 
         private void InitializeProtocol()
         {
@@ -61,6 +61,14 @@ namespace Test_ACS
                 case AGVCommandEH.Status:
                     UpdateAGVStatus(e.ReceivedPacket.Data);
                     break;
+                case AGVCommandEH.Error:
+                    var errorcode = (AGVErrorCode)e.ReceivedPacket.Data[0];
+                    var errorMessage = System.Text.Encoding.UTF8.GetString(e.ReceivedPacket.Data, 1, e.ReceivedPacket.Data.Length - 1);
+                    AddLog($"Error Received : {errorcode} ID:{e.ReceivedPacket.ID} MSG:{errorMessage}", LogType.Info);
+                    break;
+                default:
+                    AddLog($"unknown command:{command}", LogType.Error);
+                    break;
             }
         }
 
@@ -153,6 +161,7 @@ namespace Test_ACS
                 serialPort.Close();
                 btnConnect.Text = "연결";
                 AddLog("포트 닫힘", LogType.Info);
+
             }
             else
             {
@@ -163,6 +172,7 @@ namespace Test_ACS
                     serialPort.Open();
                     btnConnect.Text = "해제";
                     AddLog($"{serialPort.PortName}:{serialPort.BaudRate} 연결됨", LogType.Info);
+                    SaveSettings();
                 }
                 catch (Exception ex)
                 {
@@ -178,22 +188,22 @@ namespace Test_ACS
 
         private void cmbPort_SelectedIndexChanged(object sender, EventArgs e)
         {
-            SaveSettings();
+            //SaveSettings();
         }
 
         private void txtBaudRate_TextChanged(object sender, EventArgs e)
         {
-            SaveSettings();
+            //SaveSettings();
         }
 
         private void txtRFID_TextChanged(object sender, EventArgs e)
         {
-            SaveSettings();
+            //SaveSettings();
         }
 
         private void txtAlias_TextChanged(object sender, EventArgs e)
         {
-            SaveSettings();
+            //SaveSettings();
         }
 
         private void rbAGV1_CheckedChanged(object sender, EventArgs e)
@@ -201,7 +211,7 @@ namespace Test_ACS
             if (rbAGV1.Checked)
             {
                 selectedAGV = 11;
-                SaveSettings();
+                //SaveSettings();
             }
         }
 
@@ -210,7 +220,7 @@ namespace Test_ACS
             if (rbAGV2.Checked)
             {
                 selectedAGV = 12;
-                SaveSettings();
+                //SaveSettings();
             }
         }
 
@@ -250,6 +260,7 @@ namespace Test_ACS
             var aliasHex = string.Join("", aliasBytes.Select(b => b.ToString("X2")));
             var dataStr = targetID + aliasHex;
             SendCommand(AGVCommandHE.GotoAlias, dataStr);
+            SaveSettings();
         }
 
         private void btnStop_Click(object sender, EventArgs e)
@@ -524,9 +535,6 @@ namespace Test_ACS
 
         protected override void OnFormClosing(FormClosingEventArgs e)
         {
-            // 설정 저장
-            SaveSettings();
-
             if (serialPort != null && serialPort.IsOpen)
             {
                 serialPort.Close();

Cs_HMI/build.bat

@@ -1,13 +1,14 @@
-@echo off
+
+
 echo Building AGV C# HMI Project...
 
 REM Set MSBuild path
-REM set MSBUILD="C:\Program Files\Microsoft Visual Studio\2022\Professional\MSBuild\Current\Bin\MSBuild.exe"
+
 
 set MSBUILD="C:\Program Files (x86)\Microsoft Visual Studio\2017\WDExpress\MSBuild\15.0\Bin\MSBuild.exe"
+set MSBUILD="C:\Program Files\Microsoft Visual Studio\2022\Professional\MSBuild\Current\Bin\MSBuild.exe"
+set MSBUILD="C:\Program Files\Microsoft Visual Studio\2022\Community\MSBuild\Current\Bin\MSBuild.exe"
 
 
 REM Rebuild Debug x86 configuration (VS-style Rebuild)
-%MSBUILD% AGVCSharp.sln -property:Configuration=Debug -property:Platform=x86 -verbosity:quiet -nologo -t:Rebuild
-
-pause
+%MSBUILD% "S:\Source\Amkor\ENIG\Cs_HMI\AGVCSharp.sln" -property:Configuration=Debug -property:Platform=x86 -verbosity:quiet -nologo -t:Rebuild

Cs_HMI/docs/Charging_Sequence_Analysis.md

@@ -0,0 +1,78 @@
+# 충전 시퀀스 분석 (Charging Sequence Analysis)
+
+## 1. 개요 (Overview)
+이 문서는 AGV의 자동 및 수동 충전 프로세스에 대한 분석 결과를 기술합니다. UI 트리거부터 이동, 도킹, 충전 명령 전송 및 확인까지의 전체 흐름을 포함합니다.
+
+## 2. UI 트리거 (UI Trigger)
+*   **관련 컨트롤**: `btCharge` (자동충전/해제), `btChargeM` (수동충전 모드 토글)
+*   **이벤트 핸들러**: `btCharge_Click`, `btChargeM_Click` (in `fMain.cs`)
+*   **동작 로직**:
+    *   **자동 충전 (`btCharge`)**:
+        *   이미 충전 관련 상태(`GOCHARGE`, `CHARGECHECK`)이거나 충전 중(`FLAG_CHARGEONA`)인 경우: → 충전 중지 여부 확인 후 `GOTO`(이동) 상태로 전환하여 충전 해제.
+        *   대기 상태인 경우: → 충전 시작 여부 확인 후 `GOCHARGE` RunStep 설정 및 `RUN` 상태 시작.
+    *   **수동 충전 (`btChargeM`)**:
+        *   `FLAG_CHARGEONM` 플래그를 토글합니다. 자동 충전 중일 때는 진입 불가.
+
+## 3. 상태 머신 로직 (State Machine Logic)
+
+### 3.1 충전 이동 (`_SM_RUN_GOCHARGE.cs`)
+충전기를 찾아 이동하고 도킹하는 핵심 시퀀스입니다.
+
+**사전 검사 (Prerequisites)**
+1.  **초기화**: `PUB.Result.CurrentPos` 초기화.
+2.  **하드웨어 체크**: AGV 연결 상태 확인.
+3.  **충전 상태 확인 (최적화)**: 이미 충전 중(`FLAG_CHARGEONA` or `Battery_charging`)인 경우, 충전 시퀀스를 진행하지 않고 즉시 `READY` 상태로 전환합니다. (불필요한 충전 해제/재시작 방지).
+4.  **충전 해제 확인 (`_SM_RUN_CHGOFF`)**: 충전 중이 아니라면(위 단계 통과), 확실한 시작을 위해 충전 해제 상태를 보장합니다.
+5.  **위치 확인 (`_SM_RUN_POSCHK`)**: 현재 위치를 모를 경우 위치 찾기 수행.
+
+**시퀀스 단계 (Step-by-Step)**
+1.  **목표 설정**: `NodeMAP_RFID_Charger` 값을 읽어 충전기 노드를 목표(`TargetNode`)로 설정.
+2.  **충전기 위치 이동**:
+    *   `UpdateMotionPositionForCharger` 함수를 사용해 충전기 앞단까지 이동.
+    *   제한시간(`ChargeSearchTime`) 초과 시 실패 처리 (`CHARGEOFF` 이동).
+3.  **정밀 검색 (Fine Search)**:
+    *   항상 **전진(Forward)**으로 미세 조정 이동하며 충전기를 검색합니다. (경로 예측 시 전진 진입하도록 설정됨).
+    *   음성 안내: "충전기를 검색합니다".
+4.  **마크 정지 (Mark Stop)**:
+    *   AGV가 기동 중이면 `MarkStop` 명령 전송.
+    *   정지할 때까지 대기. 
+    *   60초 내 정지 확인 안 되면 실패 처리.
+5.  **위치 확정**:
+    *   정지 후 3초 대기(센서 안정화).
+    *   현재 위치를 `CHARGE`로 설정.
+6.  **충전 명령**:
+    *   `AGVCharge(true)` 호출하여 하드웨어에 충전 시작 명령 전송.
+    *   `WAIT_CHARGEACK` 플래그 설정.
+7.  **ACK 확인**:
+    *   AGV로부터 "CBT" 응답 대기.
+    *   응답 없을 시 재전송(최대 5회), 실패 시 취소 처리.
+
+### 3.2 충전 확인 (`_SM_RUN_GOCHARGECHECK.cs`)
+충전 명령 후 실제 배터리 충전이 시작되었는지 검증합니다.
+
+*   **조건**: `Battery_charging` 신호 및 `FLAG_CHARGEONA` 확인.
+*   **에러 처리**:
+    *   `Charger_pos_error` (위치 에러) 또는 `Charger_run_error` 발생 시 취소.
+    *   30초 타임아웃: 충전이 시작되지 않으면 `CHARGEOFF`로 전환하여 프로세스 취소.
+
+### 3.3 충전 해제 (`_SM_RUN_CHGOFF.cs`)
+충전 상태를 안전하게 종료합니다.
+
+*   **로직**:
+    *   `Battery_charging`이 true면 `AGVCharge(false)` 전송.
+    *   충전이 해제될 때까지 대기 (최대 1분).
+    *   안전하게 해제되면 `true` 반환.
+
+## 4. 이동 제어 상세 (Movement Control)
+*   **핵심 함수**: `UpdateMotionPositionForCharger` (in `_Util.cs`)
+*   **특징**:
+    *   일반 이동과 달리 충전기 진입을 위한 전용 로직 사용.
+    *   `MARK_SENSOR`를 확인하여 충전 위치 도달 여부 판단.
+*   **안전 로직 추가 (`CheckStopCondition`)**:
+    *   **비상 정지**: `Emergency` 상태이고 로봇이 멈췄을 경우 `IDLE`로 전환 및 중단.
+    *   **수동 충전 중**: `FLAG_CHARGEONM` 상태일 경우 이동 불가 처리.
+
+## 5. 주요 설정 및 변수
+*   `PUB.setting.NodeMAP_RFID_Charger`: 충전기 위치의 RFID 태그 ID.
+*   `PUB.setting.chargerpos`: 충전 진입 방식 (0:전진, 2:후진, 1:QC위치).
+*   `PUB.setting.ChargeSearchTime`: 충전기 검색 제한 시간.

Cs_HMI/docs/GOHOME_Analysis.md

@@ -1,63 +0,0 @@
-# GOHOME 상태 머신 분석
-
-## 개요
-`GOHOME` 상태 머신(`_SM_RUN_GOHOME`)은 AGV를 현재 위치에서 미리 정의된 "Home" 노드로 이동시키는 역할을 합니다. 이 과정은 `_Util.cs`와 `VirtualAGV.cs`에 정의된 공유 경로 탐색 및 이동 로직을 활용합니다.
-
-## 로직 흐름
-
-### 1. 초기화 및 안전 점검
-- **하드웨어 확인:** `PUB.AGV.IsOpen`을 확인합니다. 연결이 끊겨 있으면 에러 상태로 설정합니다.
-- **충전 해제:** `_SM_RUN_CHGOFF`를 호출하여 AGV가 물리적으로 충전기에 연결되어 있지 않은지 확인합니다.
-  - *잠재적 문제:* 충전 센서가 고착(stuck)된 경우, 이 단계에서 무한 대기할 수 있습니다.
-- **Lidar 안전:** `PUB.AGV.system1.stop_by_front_detect`를 확인합니다. 장애물이 감지되면 제거될 때까지 실행을 일시 중지(false 반환)합니다.
-
-### 2. 1단계: 목적지 설정
-- **홈 위치 조회:** `PUB.setting.NodeMAP_RFID_Home`에서 홈 노드 ID를 가져옵니다.
-- **유효성 검사:** 맵에서 홈 노드를 찾을 수 없는 경우, 에러를 기록하고 `READY` 상태로 초기화합니다.
-- **타겟 할당:** `PUB._virtualAGV.TargetNode`를 홈 노드로 설정합니다.
-
-### 3. 2단계: 이동 실행
-- **위임:** `_Util.cs`의 `UpdateMotionPositionForMark("_SM_RUN_GOHOME")`를 호출합니다.
-- **경로 탐색:**
-  - 경로가 없거나 현재 경로가 유효하지 않은 경우, `_Util.cs`가 `CurrentNode`에서 `TargetNode`까지의 새로운 경로를 계산합니다.
-- **예측 및 제어:**
-  - `VirtualAGV.Predict()`가 현재 노드와 경로를 기반으로 다음 행동을 결정합니다.
-  - **정지 조건:** `Predict()`가 `Stop`을 반환하는 경우:
-    - `IsPositionConfirmed`가 true인지 확인합니다.
-    - `CurrentNodeId`가 `TargetNode.NodeId`와 일치하는지 확인합니다.
-    - 둘 다 true이면 `true`(도착)를 반환합니다.
-  - **이동 조건:** `Predict()`가 이동 명령을 반환하는 경우:
-    - 논리적 명령(좌/우/직진, 전진/후진, 속도)을 하드웨어 명령(`AGVMoveSet`)으로 변환합니다.
-    - **최적화:** 상태가 변경된 경우에만 명령을 전송합니다 (최근 `_Util.cs` 업데이트에 구현됨).
-    - AGV가 구동 중인지 확인합니다 (`AGVMoveRun`).
-
-### 4. 3단계: 완료
-- **알림:** "홈 검색 완료" 음성을 출력합니다.
-- **로깅:** 데이터베이스에 기록을 추가합니다.
-- **전환:** 시퀀스를 업데이트하여 `GOHOME` 상태를 사실상 종료합니다.
-
-## 잠재적 문제 및 위험 요소
-
-### 1. 충전 센서에 의한 무한 대기
-- **위험:** 충전 신호가 활성화되어 있는 한 `_SM_RUN_CHGOFF` 호출은 계속 `false`를 반환합니다.
-- **시나리오:** 센서가 고장 나거나 시스템이 모르는 사이에 AGV가 수동으로 충전기에 밀려 올라간 경우, 여기서 멈출 수 있습니다.
-- **완화:** `_SM_RUN_CHGOFF` 확인에 타임아웃이나 수동 오버라이드 기능을 추가해야 합니다 (현재 스니펫에서는 보이지 않음).
-
-### 2. 위치 상실 복구
-- **위험:** `_SM_RUN_POSCHK`(`UpdateMotionPositionForMark`에서 호출됨)가 태그를 찾지 못하면, AGV가 무한히 기어갈(crawl) 수 있거나 멈출 수 있습니다.
-- **메커니즘:** `_SM_RUN_POSCHK`는 태그를 찾기 위해 저속 전진 명령을 내립니다.
-- **시나리오:** AGV가 경로를 벗어났거나 데드존에 있는 경우, Lidar가 감지하지 못하면 충돌하거나 배회할 수 있습니다.
-
-### 3. 경로 재계산 루프 (확인됨: 안전함)
-- **분석:** `_Util.cs` 코드를 확인한 결과, `CalcPath`가 실패하여 경로가 생성되지 않으면(`PathResult.result == null`) 즉시 `PUB.sm.SetNewRunStep(ERunStep.READY)`를 호출합니다.
-- **결론:** 경로 계산 실패 시 상태 머신이 `READY` 상태로 전환되므로, 무한 루프나 반복적인 재계산 시도는 발생하지 않습니다. 안전하게 정지합니다.
-
-### 4. 통신 폭주 (해결됨)
-- **이전 위험:** 동일한 이동 명령의 지속적인 전송.
-- **해결:** 최근 `_Util.cs` 업데이트에서 `PUB.AGV.data`를 새 명령과 비교하여 변경 시에만 전송하도록 수정되었습니다.
-
-## 권장 사항
-1.  **충전 해제 타임아웃:** 센서 고장 시 무한 대기를 방지하기 위해 `_SM_RUN_CHGOFF` 확인에 타임아웃을 추가하십시오.
-2.  **경로 실패 처리:** `CalcPath`가 null/empty를 반환하는지 명시적으로 확인하고, 무한 재시도 대신 에러와 함께 `GOHOME` 시퀀스를 중단하십시오.
-3.  **도착 확인:** `_Util.cs`의 "도착" 확인이 "거의 도착" 시나리오(예: 태그 약간 앞에서 정지)에 대해 견고한지 확인하십시오. 현재 로직은 `CurrentNodeId` 업데이트에 의존하며, 이는 양호해 보입니다.
-

Cs_HMI/docs/Home_Move_Analysis.md

@@ -0,0 +1,66 @@
+# Home Move Sequence 분석 (Home Move Sequence Analysis)
+
+## 1. 개요 (Overview)
+이 문서는 AGV의 "Home Move" 기능에 대한 분석 결과를 기술합니다. UI 트리거부터 내부 상태 머신(State Machine) 로직 및 이동 제어 흐름을 포함합니다.
+
+## 2. UI 트리거 (UI Trigger)
+*   **버튼 컨트롤**: `btHome` (in `fMain.Designer.cs`)
+*   **이벤트 핸들러**: `brHome_Click` (in `fMain.cs`)
+*   **동작**:
+    *   사용자가 "홈" 버튼 클릭 시 실행됩니다.
+    *   **이미 Home 이동 중인 경우**: "홈 이동을 취소 할까요?" 팝업 → 확인 시 `IDLE` 상태로 전환 및 정지 (`AGVMoveStop`).
+    *   **대기 상태인 경우**: "홈 이동을 실행 할까요?" 팝업 → 확인 시 `GOHOME` RunStep으로 설정 및 `RUN` 상태 시작.
+    *   **조건**: 자동 충전 중이거나 수동 충전 모드가 아니어야 함 (`PUB.CheckManualChargeMode`).
+
+## 3. 상태 머신 로직 (State Machine Logic)
+*   **핵심 파일**: `Project\StateMachine\Step\_SM_RUN_GOHOME.cs`
+*   **함수**: `_SM_RUN_GOHOME(bool isFirst, TimeSpan stepTime)`
+*   **상태 흐름**:
+
+### 초기 검사
+1.  **하드웨어 연결**: `PUB.AGV.IsOpen` 체크. 연결 끊김 시 에러 처리.
+2.  **충전 상태**: `_SM_RUN_CHGOFF`를 호출하여 충전기가 분리되었는지 확인.
+3.  **장애물 감지**: `PUB.AGV.system1.stop_by_front_detect` (Lidar 감지)
+    *   감지 시 "전방에 물체가 감지되었습니다" 음성 출력.
+    *   **주의**: 이 단계에서 명시적인 소프트웨어 정지 명령(`AGVMoveStop`)은 코드상에 보이지 않으며, 함수가 `false`를 리턴하여 이동 로직 진입을 막습니다. (하드웨어 자체 정지 기능에 의존하는 것으로 추정됨)
+
+### 시퀀스 단계 (Sequence Steps)
+상태 머신은 `PUB.sm.RunStepSeq`를 통해 단계별로 진행됩니다.
+
+**단계 1: 이동 준비**
+*   음성 안내: "홈으로 이동합니다"
+*   **목표 설정**: `PUB.setting.NodeMAP_RFID_Home` 값을 읽어 목표 노드(`TargetNode`)로 설정.
+*   에러 처리: 홈 위치 설정이 없는 경우 에러 로그 기록 후 `READY` 상태로 복귀.
+
+**단계 2: 이동 (Moving)**
+*   **이동 함수**: `UpdateMotionPositionForMark("funcName")` 호출 (in `_Util.cs`)
+*   이 함수가 `true`를 반환할 때까지 반복 호출됨.
+*   이동 완료 시 `AGVMoveStop` 호출 후 다음 단계로 진행.
+
+**단계 3: 완료 (Completion)**
+*   음성 안내: "홈 검색 완료"
+*   로그 기록: 홈 위치 도착 기록.
+*   상태 종료: `true` 반환 → 메인 루프에서 `READY` 상태로 전환.
+
+## 4. 이동 제어 상세 (Movement Control Details)
+*   **핵심 함수**: `UpdateMotionPositionForMark` (in `Project\StateMachine\Step\_Util.cs`)
+*   **경로 계산**: 현재 위치와 목표 노드 간의 경로(`CalcPath`)를 계산.
+*   **주행 예측 (Predict)**: `PUB._virtualAGV.Predict()`를 사용하여 다음 동작(직진, 회전, 정지 등)을 결정.
+*   **제어 명령**:
+    *   `Predict` 결과에 따라 모터(`Forward/Backward`), 분기(Magnetic Guide), 속도를 설정.
+    *   변경된 명령이 있을 경우에만 `PUB.AGV.AGVMoveSet`으로 하드웨어에 전송.
+    *   AGV가 정지 상태라면 `PUB.AGV.AGVMoveRun`으로 구동 시작.
+*   **정지 조건**:
+    *   `Predict`가 `Stop` 명령을 반환하고,
+    *   위치가 확정(`IsPositionConfirmed`)되었으며,
+    *   현재 노드가 목표 노드와 일치하고,
+    *   실제 AGV 하드웨어가 정지(`agv_run == false`)한 경우.
+
+## 5. 잠재적 이슈 (Potential Issues)
+1.  **장애물 감지 시 정지 처리**:
+    *   `_SM_RUN_GOHOME`에서 장애물 감지 시(`stop_by_front_detect`), 음성 출력 후 `return false`만 수행합니다.
+    *   이전에 이동 명령이 전송된 상태라면, 소프트웨어에서 명시적으로 `AGVMoveStop`을 보내지 않으므로 AGV가 계속 이동하려 할 수 있습니다. (단, 하드웨어 센서가 직접 모터를 차단하도록 설계되었을 가능성이 높음)
+    *   **권장**: 안전을 위해 장애물 감지 루틴 내에서도 명시적으로 `AGVMoveStop`을 호출하는 것을 검토할 필요가 있습니다.
+
+2.  **경로 재생성 시 멈춤**:
+    *   `UpdateMotionPositionForMark`에서 경로를 재생성해야 할 경우, `AGVMoveStop("경로재생성")`을 호출하여 일시 정지 후 경로를 다시 계산합니다. 이는 안전한 동작입니다.