로직 확인 중

remotecontrol 모드 추가, 원격으로 turn, manual, auto 이동시 활성화된다.. 내부코드는 없음. 상태만 추가함, idle 상태일때 자동 멈춤코드가 동작하지 않게 하기 위함이다.

.gitignore

@@ -15,3 +15,5 @@ packages
 *.bak
 /Cs_HMI/Data/*.agvmap
 /Cs_HMI/AGVLogic/AGVMapEditor/Data/*.agvmap
+/Document/~$PICkit 프로그램 다운로드 매뉴얼.pptx
+/HMI/TestProject/tts/assets

AGVEmulator/AGVEmulator.csproj

@@ -38,14 +38,12 @@
     <ApplicationIcon>icons8-robot-80.ico</ApplicationIcon>
   </PropertyGroup>
   <ItemGroup>
+    <Reference Include="arCommUtil, Version=25.11.25.2000, Culture=neutral, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>..\DLL\arCommUtil.dll</HintPath>
+    </Reference>
     <Reference Include="arControl.Net4">
-      <HintPath>..\Cs_HMI\DLL\arControl.Net4.dll</HintPath>
-    </Reference>
-    <Reference Include="ArLog.Net4">
-      <HintPath>..\Cs_HMI\DLL\ArLog.Net4.dll</HintPath>
-    </Reference>
-    <Reference Include="ArSetting.Net4">
-      <HintPath>..\Cs_HMI\DLL\ArSetting.Net4.dll</HintPath>
+      <HintPath>..\DLL\arControl.Net4.dll</HintPath>
     </Reference>
     <Reference Include="System" />
     <Reference Include="System.Core" />
@@ -70,16 +68,13 @@
     </Compile>
     <Compile Include="Program.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
+    <Compile Include="RemoteStatus.cs" />
     <Compile Include="RS232.cs" />
-    <Compile Include="RunCode\_AGV.cs">
-      <SubType>Form</SubType>
-    </Compile>
+    <Compile Include="RunCode\_AGV.cs" />
     <Compile Include="RunCode\_XBEE.cs">
       <SubType>Form</SubType>
     </Compile>
-    <Compile Include="RunCode\_BMS.cs">
-      <SubType>Form</SubType>
-    </Compile>
+    <Compile Include="RunCode\_BMS.cs" />
     <Compile Include="UC\SerialConn.cs">
       <SubType>UserControl</SubType>
     </Compile>
@@ -126,15 +121,11 @@
     </Compile>
   </ItemGroup>
   <ItemGroup>
-    <ProjectReference Include="..\Cs_HMI\AGVLogic\AGVNavigationCore\AGVNavigationCore.csproj">
+    <ProjectReference Include="..\AGVLogic\AGVNavigationCore\AGVNavigationCore.csproj">
       <Project>{c5f7a8b2-8d3e-4a1b-9c6e-7f4d5e2a9b1c}</Project>
       <Name>AGVNavigationCore</Name>
     </ProjectReference>
-    <ProjectReference Include="..\Cs_HMI\SubProject\CommUtil\arCommUtil.csproj">
-      <Project>{14e8c9a5-013e-49ba-b435-ffffff7dd623}</Project>
-      <Name>arCommUtil</Name>
-    </ProjectReference>
-    <ProjectReference Include="..\Cs_HMI\SubProject\EnigProtocol\enigprotocol\ENIGProtocol.csproj">
+    <ProjectReference Include="..\AGVLogic\ENIGProtocol\enigprotocol\ENIGProtocol.csproj">
       <Project>{9365803b-933d-4237-93c7-b502c855a71c}</Project>
       <Name>ENIGProtocol</Name>
     </ProjectReference>

AGVEmulator/AGVEmulator.sln

@@ -5,11 +5,9 @@ VisualStudioVersion = 17.14.36804.6 d17.14
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVEmulator", "AGVEmulator.csproj", "{9312AB43-72F6-4365-A266-E767215FA7F5}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVNavigationCore", "..\Cs_HMI\AGVLogic\AGVNavigationCore\AGVNavigationCore.csproj", "{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}"
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVNavigationCore", "..\AGVLogic\AGVNavigationCore\AGVNavigationCore.csproj", "{C5F7A8B2-8D3E-4A1B-9C6E-7F4D5E2A9B1C}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ENIGProtocol", "..\Cs_HMI\SubProject\ENIGProtocol\enigprotocol\ENIGProtocol.csproj", "{9365803B-933D-4237-93C7-B502C855A71C}"
-EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "arCommUtil", "..\Cs_HMI\SubProject\CommUtil\arCommUtil.csproj", "{14E8C9A5-013E-49BA-B435-FFFFFF7DD623}"
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ENIGProtocol", "..\AGVLogic\ENIGProtocol\enigprotocol\ENIGProtocol.csproj", "{9365803B-933D-4237-93C7-B502C855A71C}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution

AGVEmulator/DevAGV.cs

@@ -1,5 +1,4 @@
-using arCtl;
-using System;
+using System;
 using System.Collections.Generic;
 using System.Drawing;
 using System.Linq;
@@ -37,7 +36,19 @@ namespace AGVEmulator
             /// <summary>
             /// 호출제어기 통신 오류
             /// </summary>
-            controller_comm_error = 11,
+            controller_comm_error,
+
+            /// <summary>
+            /// 배터리 저전압
+            /// </summary>
+            battery_low_voltage,
+
+            spare08,
+
+            lift_timeout,
+            lift_driver_overcurrent,
+            lift_driver_emergency,
+
             /// <summary>
             /// 도착경보기 통신 오류
             /// </summary>
@@ -67,13 +78,13 @@ namespace AGVEmulator
         public enum esignal1
         {
             front_gate_out = 0,
-            rear_sensor_out,
+            rear_gte_out,
             mark_sensor_1,
             mark_sensor_2,
+            lift_down_sensor,
+            lift_up_sensor,
+            magnet_relay,
             charger_align_sensor,
-            lift_up,
-            lift_down,
-            magnet_on
         }
         public enum esystemflag0
         {
@@ -330,20 +341,20 @@ namespace AGVEmulator
                     switch(cmd2)
                     {
                         case "ON":
-                            SetAGV(esignal1.magnet_on, true);
+                            SetAGV(esignal1.magnet_relay, true);
                             break;
                         case "UP":
-                            SetAGV(esignal1.lift_down, false);
-                            SetAGV(esignal1.lift_up, true);
+                            SetAGV(esignal1.lift_down_sensor, false);
+                            SetAGV(esignal1.lift_up_sensor, true);
                             break;
                         case "DN":
-                            SetAGV(esignal1.lift_up, false);
-                            SetAGV(esignal1.lift_down, true);
+                            SetAGV(esignal1.lift_up_sensor, false);
+                            SetAGV(esignal1.lift_down_sensor, true);
                             break;
                         case "ST":
                             break;
                         case "OF":
-                            SetAGV(esignal1.magnet_on, false);
+                            SetAGV(esignal1.magnet_relay, false);
                             break;
 
                     }

AGVEmulator/DevXBE.cs

@@ -74,24 +74,48 @@ namespace AGVEmulator
         /// 카트를 가지러 들어간다
         /// </summary>
         /// <param name="id"></param>
-        public void SendPickOn(byte id)
+        public void SendPickOnEnter(byte id)
         {
             var data = new List<byte>();
             data.Add(id);
-            Send(ENIGProtocol.AGVCommandHE.PickOn, data.ToArray());
+            Send(ENIGProtocol.AGVCommandHE.PickOnEnter, data.ToArray());
         }
 
         /// <summary>
-        /// 카트를 내려놓는다
+        /// 카트를 내려놓으로 들어간다
         /// </summary>
         /// <param name="id"></param>
-        public void SendPickOff(byte id)
+        public void SendPickOffEnter(byte id)
         {
             var data = new List<byte>();
             data.Add(id);
-            Send(ENIGProtocol.AGVCommandHE.PickOff, data.ToArray());
+            Send(ENIGProtocol.AGVCommandHE.PickOffEnter, data.ToArray());
         }
 
+        /// <summary>
+        /// 카트를 가지러 들어가서 나온다
+        /// </summary>
+        /// <param name="id"></param>
+        public void SendPickOnExit(byte id)
+        {
+            var data = new List<byte>();
+            data.Add(id);
+            Send(ENIGProtocol.AGVCommandHE.PickOnExit, data.ToArray());
+        }
+
+        /// <summary>
+        /// 카트를 내려놓으러 들어가서 나온다
+        /// </summary>
+        /// <param name="id"></param>
+        public void SendPickOffExit(byte id)
+        {
+            var data = new List<byte>();
+            data.Add(id);
+            Send(ENIGProtocol.AGVCommandHE.PickOffExit, data.ToArray());
+        }
+
+
+
         public void SendCurrentPos(byte id, uint tag)
         {
             var data = new List<byte>();

AGVEmulator/RemoteStatus.cs

@@ -0,0 +1,50 @@
+using System.Text;
+
+namespace AGVEmulator
+{
+   
+        public class RemoteStatus
+        {
+            public byte Mode { get; set; } // 0=manual, 1=auto
+            public byte RunSt { get; set; } // 0=stop, 1=run, 2=error
+            public byte RunStep { get; set; }
+            public byte RunStepSeq { get; set; }
+            public ushort HWError { get; set; }
+            public byte MotorDir { get; set; } // 0=F, 1=B
+            public byte MagnetDir { get; set; } // 0=S, 1=L, 2=R
+            public byte ChargeSt { get; set; } // 0=off, 1=on
+            public byte CartSt { get; set; } // 0=off, 1=on, 2=unknown
+            public byte LiftSt { get; set; } // 0=down, 1=up, 2=unknown
+            public byte ErrorCode { get; set; }
+            public string LastTag { get; set; }
+
+            public override string ToString()
+            {
+                StringBuilder sb = new StringBuilder();
+                sb.AppendLine($"Mode: {(Mode == 1 ? "Auto" : "Manual")}");
+                sb.AppendLine($"RunSt: {(RunSt == 0 ? "Stop" : (RunSt == 1 ? "Run" : "Error"))}");
+                if (HWError > 0)
+                {
+                    sb.Append(" [HW ERR: ");
+                    for (int i = 0; i < 16; i++)
+                    {
+                        if ((HWError & (1 << i)) != 0)
+                        {
+                            sb.Append($"{(DevAGV.eerror)i},");
+                        }
+                    }
+                    sb.AppendLine("]");
+                }
+                sb.AppendLine($"Step: {RunStep}, Seq: {RunStepSeq}");
+                sb.AppendLine($"Dir: {(MotorDir == 1 ? "B" : "F")}, Mag: {(MagnetDir == 1 ? "L" : (MagnetDir == 2 ? "R" : "S"))}");
+                sb.AppendLine($"Charge: {(ChargeSt == 1 ? "ON" : "OFF")}");
+                sb.AppendLine($"Cart: {(CartSt == 1 ? "ON" : (CartSt == 0 ? "OFF" : "Unk"))}");
+                sb.AppendLine($"Lift: {(LiftSt == 1 ? "UP" : (LiftSt == 0 ? "DOWN" : "Unk"))}");
+                sb.Append($"Tag: {LastTag}");
+                return sb.ToString();
+            }
+        }
+    
+}
+
+

AGVEmulator/RunCode/_AGV.cs

@@ -80,6 +80,7 @@ namespace AGVEmulator
                     }
                     break;
             }
+            UpdateUIStatus();
         }
 
         private void Agv_ValueChanged(object sender, DevAGV.ValueChangedArgs e)

AGVEmulator/RunCode/_XBEE.cs

@@ -24,15 +24,44 @@ namespace AGVEmulator
         }
         private void CAL_ProtocReceived(object sender, ENIG.EEProtocol.DataEventArgs e)
         {
-            //throw new NotImplementedException();
-            var dev = (DeviceType)e.ReceivedPacket.ID;
-            if (dev == DeviceType.AGV1 || dev == DeviceType.AGV2)
+            // HMI(Host)에서 호스트로 취급되는 HMI가 보낸 패킷은 ID가 0(ACS)임. 
+            // 하지만 xbee.cs에서 CreatePacket 시 PUB.setting.XBE_ID를 사용함.
+            // 에뮬레이터에서는 이 패킷들을 수신하여 상태를 업데이트함.
+
+            var cmd = (ENIGProtocol.AGVCommandEH)e.ReceivedPacket.Command;
+            var data = e.ReceivedPacket.Data;
+
+            if (cmd == ENIGProtocol.AGVCommandEH.Status)
             {
-                //agv에서 들어오는 데이터
-                var cmd = e.ReceivedPacket.Command;
-                if(cmd == 3)
+                if (data.Length >= 16)
                 {
-                    //status
+                    _remoteStatus.Mode = data[0];
+                    _remoteStatus.RunSt = data[1];
+                    _remoteStatus.HWError = BitConverter.ToUInt16(data, 2);
+                    _remoteStatus.RunStep = data[4];
+                    _remoteStatus.RunStepSeq = data[5];
+                    _remoteStatus.MotorDir = data[6];
+                    _remoteStatus.MagnetDir = data[7];
+                    _remoteStatus.ChargeSt = data[8];
+                    _remoteStatus.CartSt = data[9];
+                    _remoteStatus.LiftSt = data[10];
+                    _remoteStatus.ErrorCode = data[11];
+                    _remoteErrorCode = (ENIGProtocol.AGVErrorCode)data[11];
+                    _remoteErrorMessage = ENIGProtocol.AGVUtility.GetAGVErrorMessage(_remoteErrorCode);
+                    _remoteStatus.LastTag = Encoding.ASCII.GetString(data, 12, 4);
+
+                    UpdateUIStatus();
+                }
+            }
+            else if (cmd == ENIGProtocol.AGVCommandEH.Error)
+            {
+                if (data.Length >= 1)
+                {
+                    _remoteErrorCode = (ENIGProtocol.AGVErrorCode)data[0];
+                    // _remoteErrorMessage = ... Error 메시지 자체는 패킷에 포함되지 않으므로 유틸리티 사용 가능
+                    _remoteErrorMessage = ENIGProtocol.AGVUtility.GetAGVErrorMessage(_remoteErrorCode);
+                    
+                    UpdateUIStatus();
                 }
             }
         }

AGVEmulator/fMain.Designer.cs

@@ -32,35 +32,35 @@ namespace AGVEmulator
         private void InitializeComponent()
         {
             this.components = new System.ComponentModel.Container();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata29 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata30 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata31 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata32 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata33 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata34 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata35 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata36 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata37 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata38 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata39 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata40 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata41 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata42 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata43 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata44 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata45 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata46 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata47 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata48 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata49 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata50 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata51 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata52 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata53 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata54 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata55 = new AGVEmulator.UC.AgvViewer.ptdata();
+            AGVEmulator.UC.AgvViewer.ptdata ptdata56 = new AGVEmulator.UC.AgvViewer.ptdata();
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(fMain));
-            AGVEmulator.UC.AgvViewer.ptdata ptdata1 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata2 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata3 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata4 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata5 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata6 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata7 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata8 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata9 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata10 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata11 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata12 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata13 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata14 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata15 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata16 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata17 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata18 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata19 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata20 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata21 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata22 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata23 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata24 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata25 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata26 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata27 = new AGVEmulator.UC.AgvViewer.ptdata();
-            AGVEmulator.UC.AgvViewer.ptdata ptdata28 = new AGVEmulator.UC.AgvViewer.ptdata();
             this.groupBox1 = new System.Windows.Forms.GroupBox();
             this.rtBMS = new arCtl.LogTextBox();
             this.panel1 = new System.Windows.Forms.Panel();
@@ -86,6 +86,7 @@ namespace AGVEmulator
             this.label2 = new System.Windows.Forms.Label();
             this.label1 = new System.Windows.Forms.Label();
             this.trackBar1 = new System.Windows.Forms.TrackBar();
+            this.serBMS = new AGVEmulator.SerialConn();
             this.rtAGV = new arCtl.LogTextBox();
             this.panel4 = new System.Windows.Forms.Panel();
             this.groupBox9 = new System.Windows.Forms.GroupBox();
@@ -128,6 +129,7 @@ namespace AGVEmulator
             this.button4 = new System.Windows.Forms.Button();
             this.groupBox3 = new System.Windows.Forms.GroupBox();
             this.rtCAL = new arCtl.LogTextBox();
+            this.serCAL = new AGVEmulator.SerialConn();
             this.timer1 = new System.Windows.Forms.Timer(this.components);
             this.tabControl1 = new System.Windows.Forms.TabControl();
             this.tabPage4 = new System.Windows.Forms.TabPage();
@@ -135,9 +137,20 @@ namespace AGVEmulator
             this.tableLayoutPanel3 = new System.Windows.Forms.TableLayoutPanel();
             this.rtAGVPro = new arCtl.LogTextBox();
             this.panel12 = new System.Windows.Forms.Panel();
+            this.agvViewer1 = new AGVEmulator.UC.AgvViewer();
+            this.serAGV = new AGVEmulator.SerialConn();
             this.tabPage2 = new System.Windows.Forms.TabPage();
             this.tabPage3 = new System.Windows.Forms.TabPage();
             this.panel3 = new System.Windows.Forms.Panel();
+            this.groupBox13 = new System.Windows.Forms.GroupBox();
+            this.tbErCode = new System.Windows.Forms.TextBox();
+            this.tbErmsg = new System.Windows.Forms.TextBox();
+            this.groupBox12 = new System.Windows.Forms.GroupBox();
+            this.rtStatus = new System.Windows.Forms.RichTextBox();
+            this.label13 = new System.Windows.Forms.Label();
+            this.button6 = new System.Windows.Forms.Button();
+            this.button13 = new System.Windows.Forms.Button();
+            this.label12 = new System.Windows.Forms.Label();
             this.button3 = new System.Windows.Forms.Button();
             this.button2 = new System.Windows.Forms.Button();
             this.nudIDAgv = new System.Windows.Forms.NumericUpDown();
@@ -166,10 +179,6 @@ namespace AGVEmulator
             this.sbBMS = new System.Windows.Forms.ToolStripStatusLabel();
             this.toolStripStatusLabel2 = new System.Windows.Forms.ToolStripStatusLabel();
             this.sbCAL = new System.Windows.Forms.ToolStripStatusLabel();
-            this.agvViewer1 = new AGVEmulator.UC.AgvViewer();
-            this.serAGV = new AGVEmulator.SerialConn();
-            this.serBMS = new AGVEmulator.SerialConn();
-            this.serCAL = new AGVEmulator.SerialConn();
             this.groupBox1.SuspendLayout();
             this.panel1.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.trbT2)).BeginInit();
@@ -196,6 +205,8 @@ namespace AGVEmulator
             this.tabPage2.SuspendLayout();
             this.tabPage3.SuspendLayout();
             this.panel3.SuspendLayout();
+            this.groupBox13.SuspendLayout();
+            this.groupBox12.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.nudIDAgv)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.numericUpDown2)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudTagNo)).BeginInit();
@@ -504,6 +515,18 @@ namespace AGVEmulator
             this.trackBar1.Value = 7000;
             this.trackBar1.Scroll += new System.EventHandler(this.trackBar1_Scroll);
             // 
+            // serBMS
+            // 
+            this.serBMS.BaudRate = 9600;
+            this.serBMS.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+            this.serBMS.dev = null;
+            this.serBMS.Dock = System.Windows.Forms.DockStyle.Top;
+            this.serBMS.Location = new System.Drawing.Point(3, 17);
+            this.serBMS.Name = "serBMS";
+            this.serBMS.PortName = "COM31";
+            this.serBMS.Size = new System.Drawing.Size(1134, 84);
+            this.serBMS.TabIndex = 1;
+            // 
             // rtAGV
             // 
             this.rtAGV.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(24)))), ((int)(((byte)(24)))), ((int)(((byte)(24)))));
@@ -997,6 +1020,18 @@ namespace AGVEmulator
             this.rtCAL.TabIndex = 2;
             this.rtCAL.Text = "";
             // 
+            // serCAL
+            // 
+            this.serCAL.BaudRate = 9600;
+            this.serCAL.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+            this.serCAL.dev = null;
+            this.serCAL.Dock = System.Windows.Forms.DockStyle.Top;
+            this.serCAL.Location = new System.Drawing.Point(3, 17);
+            this.serCAL.Name = "serCAL";
+            this.serCAL.PortName = "COM41";
+            this.serCAL.Size = new System.Drawing.Size(776, 84);
+            this.serCAL.TabIndex = 1;
+            // 
             // timer1
             // 
             this.timer1.Interval = 200;
@@ -1082,6 +1117,149 @@ namespace AGVEmulator
             this.panel12.Size = new System.Drawing.Size(1140, 120);
             this.panel12.TabIndex = 5;
             // 
+            // agvViewer1
+            // 
+            this.agvViewer1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.agvViewer1.FontMrk = new System.Drawing.Font("Microsoft Sans Serif", 7F);
+            this.agvViewer1.FontTag = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.agvViewer1.lastmark = "";
+            this.agvViewer1.lastmarkdir = "";
+            this.agvViewer1.lasttag = "";
+            this.agvViewer1.lasttagdir = "";
+            ptdata29.active = false;
+            ptdata29.data = "NOT";
+            ptdata29.pos = 30F;
+            ptdata30.active = false;
+            ptdata30.data = "QA";
+            ptdata30.pos = 200F;
+            ptdata31.active = false;
+            ptdata31.data = "CHG";
+            ptdata31.pos = 300F;
+            ptdata32.active = false;
+            ptdata32.data = "QC";
+            ptdata32.pos = 400F;
+            ptdata33.active = false;
+            ptdata33.data = "#FVI-1";
+            ptdata33.pos = 500F;
+            ptdata34.active = false;
+            ptdata34.data = "#FVI-2";
+            ptdata34.pos = 600F;
+            ptdata35.active = false;
+            ptdata35.data = "#FVI-3";
+            ptdata35.pos = 700F;
+            ptdata36.active = false;
+            ptdata36.data = "#FVI-4";
+            ptdata36.pos = 800F;
+            ptdata37.active = false;
+            ptdata37.data = "#FVI-5";
+            ptdata37.pos = 900F;
+            ptdata38.active = false;
+            ptdata38.data = "POT";
+            ptdata38.pos = 970F;
+            this.agvViewer1.listMRK = new AGVEmulator.UC.AgvViewer.ptdata[] {
+        ptdata29,
+        ptdata30,
+        ptdata31,
+        ptdata32,
+        ptdata33,
+        ptdata34,
+        ptdata35,
+        ptdata36,
+        ptdata37,
+        ptdata38};
+            ptdata39.active = false;
+            ptdata39.data = "9000";
+            ptdata39.pos = 80F;
+            ptdata40.active = false;
+            ptdata40.data = "9001";
+            ptdata40.pos = 120F;
+            ptdata41.active = false;
+            ptdata41.data = "9010";
+            ptdata41.pos = 180F;
+            ptdata42.active = false;
+            ptdata42.data = "9011";
+            ptdata42.pos = 220F;
+            ptdata43.active = false;
+            ptdata43.data = "9020";
+            ptdata43.pos = 280F;
+            ptdata44.active = false;
+            ptdata44.data = "9021";
+            ptdata44.pos = 320F;
+            ptdata45.active = false;
+            ptdata45.data = "9030";
+            ptdata45.pos = 380F;
+            ptdata46.active = false;
+            ptdata46.data = "9031";
+            ptdata46.pos = 420F;
+            ptdata47.active = false;
+            ptdata47.data = "9040";
+            ptdata47.pos = 480F;
+            ptdata48.active = false;
+            ptdata48.data = "9041";
+            ptdata48.pos = 520F;
+            ptdata49.active = false;
+            ptdata49.data = "9050";
+            ptdata49.pos = 580F;
+            ptdata50.active = false;
+            ptdata50.data = "9051";
+            ptdata50.pos = 620F;
+            ptdata51.active = false;
+            ptdata51.data = "9060";
+            ptdata51.pos = 680F;
+            ptdata52.active = false;
+            ptdata52.data = "9061";
+            ptdata52.pos = 720F;
+            ptdata53.active = false;
+            ptdata53.data = "9070";
+            ptdata53.pos = 780F;
+            ptdata54.active = false;
+            ptdata54.data = "9071";
+            ptdata54.pos = 820F;
+            ptdata55.active = false;
+            ptdata55.data = "9000";
+            ptdata55.pos = 10F;
+            ptdata56.active = false;
+            ptdata56.data = "9001";
+            ptdata56.pos = 50F;
+            this.agvViewer1.listTAG = new AGVEmulator.UC.AgvViewer.ptdata[] {
+        ptdata39,
+        ptdata40,
+        ptdata41,
+        ptdata42,
+        ptdata43,
+        ptdata44,
+        ptdata45,
+        ptdata46,
+        ptdata47,
+        ptdata48,
+        ptdata49,
+        ptdata50,
+        ptdata51,
+        ptdata52,
+        ptdata53,
+        ptdata54,
+        ptdata55,
+        ptdata56};
+            this.agvViewer1.Location = new System.Drawing.Point(241, 0);
+            this.agvViewer1.Name = "agvViewer1";
+            this.agvViewer1.Size = new System.Drawing.Size(899, 120);
+            this.agvViewer1.StopbyMark = false;
+            this.agvViewer1.TabIndex = 0;
+            this.agvViewer1.Text = "agvViewer1";
+            this.agvViewer1.MouseDown += new System.Windows.Forms.MouseEventHandler(this.agvViewer1_MouseDown);
+            // 
+            // serAGV
+            // 
+            this.serAGV.BaudRate = 9600;
+            this.serAGV.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+            this.serAGV.dev = null;
+            this.serAGV.Dock = System.Windows.Forms.DockStyle.Left;
+            this.serAGV.Location = new System.Drawing.Point(0, 0);
+            this.serAGV.Name = "serAGV";
+            this.serAGV.PortName = "COM21";
+            this.serAGV.Size = new System.Drawing.Size(241, 120);
+            this.serAGV.TabIndex = 0;
+            // 
             // tabPage2
             // 
             this.tabPage2.Controls.Add(this.groupBox1);
@@ -1106,6 +1284,12 @@ namespace AGVEmulator
             // 
             // panel3
             // 
+            this.panel3.Controls.Add(this.groupBox13);
+            this.panel3.Controls.Add(this.groupBox12);
+            this.panel3.Controls.Add(this.label13);
+            this.panel3.Controls.Add(this.button6);
+            this.panel3.Controls.Add(this.button13);
+            this.panel3.Controls.Add(this.label12);
             this.panel3.Controls.Add(this.button3);
             this.panel3.Controls.Add(this.button2);
             this.panel3.Controls.Add(this.nudIDAgv);
@@ -1126,11 +1310,96 @@ namespace AGVEmulator
             this.panel3.Size = new System.Drawing.Size(364, 622);
             this.panel3.TabIndex = 15;
             // 
+            // groupBox13
+            // 
+            this.groupBox13.Controls.Add(this.tbErCode);
+            this.groupBox13.Controls.Add(this.tbErmsg);
+            this.groupBox13.Dock = System.Windows.Forms.DockStyle.Bottom;
+            this.groupBox13.Location = new System.Drawing.Point(0, 545);
+            this.groupBox13.Name = "groupBox13";
+            this.groupBox13.Size = new System.Drawing.Size(364, 77);
+            this.groupBox13.TabIndex = 21;
+            this.groupBox13.TabStop = false;
+            this.groupBox13.Text = "error";
+            // 
+            // tbErCode
+            // 
+            this.tbErCode.Location = new System.Drawing.Point(12, 18);
+            this.tbErCode.Name = "tbErCode";
+            this.tbErCode.Size = new System.Drawing.Size(287, 21);
+            this.tbErCode.TabIndex = 1;
+            // 
+            // tbErmsg
+            // 
+            this.tbErmsg.Location = new System.Drawing.Point(13, 45);
+            this.tbErmsg.Name = "tbErmsg";
+            this.tbErmsg.Size = new System.Drawing.Size(287, 21);
+            this.tbErmsg.TabIndex = 0;
+            // 
+            // groupBox12
+            // 
+            this.groupBox12.Controls.Add(this.rtStatus);
+            this.groupBox12.Location = new System.Drawing.Point(7, 318);
+            this.groupBox12.Name = "groupBox12";
+            this.groupBox12.Size = new System.Drawing.Size(355, 221);
+            this.groupBox12.TabIndex = 20;
+            this.groupBox12.TabStop = false;
+            this.groupBox12.Text = "status";
+            // 
+            // rtStatus
+            // 
+            this.rtStatus.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.rtStatus.Location = new System.Drawing.Point(3, 17);
+            this.rtStatus.Name = "rtStatus";
+            this.rtStatus.Size = new System.Drawing.Size(349, 201);
+            this.rtStatus.TabIndex = 0;
+            this.rtStatus.Text = "";
+            // 
+            // label13
+            // 
+            this.label13.AutoSize = true;
+            this.label13.Location = new System.Drawing.Point(18, 287);
+            this.label13.Name = "label13";
+            this.label13.Size = new System.Drawing.Size(26, 12);
+            this.label13.TabIndex = 19;
+            this.label13.Text = "Exit";
+            // 
+            // button6
+            // 
+            this.button6.Location = new System.Drawing.Point(205, 274);
+            this.button6.Name = "button6";
+            this.button6.Size = new System.Drawing.Size(133, 38);
+            this.button6.TabIndex = 18;
+            this.button6.Tag = "--";
+            this.button6.Text = "Pick Off";
+            this.button6.UseVisualStyleBackColor = true;
+            this.button6.Click += new System.EventHandler(this.button6_Click_1);
+            // 
+            // button13
+            // 
+            this.button13.Location = new System.Drawing.Point(66, 274);
+            this.button13.Name = "button13";
+            this.button13.Size = new System.Drawing.Size(133, 38);
+            this.button13.TabIndex = 17;
+            this.button13.Tag = "--";
+            this.button13.Text = "Pick On";
+            this.button13.UseVisualStyleBackColor = true;
+            this.button13.Click += new System.EventHandler(this.button13_Click);
+            // 
+            // label12
+            // 
+            this.label12.AutoSize = true;
+            this.label12.Location = new System.Drawing.Point(18, 243);
+            this.label12.Name = "label12";
+            this.label12.Size = new System.Drawing.Size(34, 12);
+            this.label12.TabIndex = 16;
+            this.label12.Text = "Enter";
+            // 
             // button3
             // 
-            this.button3.Location = new System.Drawing.Point(246, 339);
+            this.button3.Location = new System.Drawing.Point(205, 230);
             this.button3.Name = "button3";
-            this.button3.Size = new System.Drawing.Size(86, 38);
+            this.button3.Size = new System.Drawing.Size(133, 38);
             this.button3.TabIndex = 15;
             this.button3.Tag = "--";
             this.button3.Text = "Pick Off";
@@ -1139,9 +1408,9 @@ namespace AGVEmulator
             // 
             // button2
             // 
-            this.button2.Location = new System.Drawing.Point(246, 295);
+            this.button2.Location = new System.Drawing.Point(66, 230);
             this.button2.Name = "button2";
-            this.button2.Size = new System.Drawing.Size(86, 38);
+            this.button2.Size = new System.Drawing.Size(133, 38);
             this.button2.TabIndex = 14;
             this.button2.Tag = "--";
             this.button2.Text = "Pick On";
@@ -1151,7 +1420,7 @@ namespace AGVEmulator
             // nudIDAgv
             // 
             this.nudIDAgv.Font = new System.Drawing.Font("굴림", 20F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.nudIDAgv.Location = new System.Drawing.Point(6, 249);
+            this.nudIDAgv.Location = new System.Drawing.Point(7, 174);
             this.nudIDAgv.Maximum = new decimal(new int[] {
             9999999,
             0,
@@ -1170,7 +1439,7 @@ namespace AGVEmulator
             // label7
             // 
             this.label7.AutoSize = true;
-            this.label7.Location = new System.Drawing.Point(32, 220);
+            this.label7.Location = new System.Drawing.Point(33, 145);
             this.label7.Name = "label7";
             this.label7.Size = new System.Drawing.Size(45, 12);
             this.label7.TabIndex = 12;
@@ -1179,7 +1448,7 @@ namespace AGVEmulator
             // numericUpDown2
             // 
             this.numericUpDown2.Font = new System.Drawing.Font("굴림", 20F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.numericUpDown2.Location = new System.Drawing.Point(110, 207);
+            this.numericUpDown2.Location = new System.Drawing.Point(111, 132);
             this.numericUpDown2.Maximum = new decimal(new int[] {
             9999999,
             0,
@@ -1197,7 +1466,7 @@ namespace AGVEmulator
             // 
             // button1
             // 
-            this.button1.Location = new System.Drawing.Point(246, 207);
+            this.button1.Location = new System.Drawing.Point(247, 132);
             this.button1.Name = "button1";
             this.button1.Size = new System.Drawing.Size(86, 38);
             this.button1.TabIndex = 10;
@@ -1209,7 +1478,7 @@ namespace AGVEmulator
             // nudTagNo
             // 
             this.nudTagNo.Font = new System.Drawing.Font("굴림", 20F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
-            this.nudTagNo.Location = new System.Drawing.Point(110, 251);
+            this.nudTagNo.Location = new System.Drawing.Point(111, 176);
             this.nudTagNo.Maximum = new decimal(new int[] {
             9999999,
             0,
@@ -1227,7 +1496,7 @@ namespace AGVEmulator
             // 
             // btacsgoto
             // 
-            this.btacsgoto.Location = new System.Drawing.Point(246, 251);
+            this.btacsgoto.Location = new System.Drawing.Point(247, 176);
             this.btacsgoto.Name = "btacsgoto";
             this.btacsgoto.Size = new System.Drawing.Size(86, 38);
             this.btacsgoto.TabIndex = 8;
@@ -1238,7 +1507,7 @@ namespace AGVEmulator
             // 
             // button7
             // 
-            this.button7.Location = new System.Drawing.Point(83, 72);
+            this.button7.Location = new System.Drawing.Point(219, 12);
             this.button7.Name = "button7";
             this.button7.Size = new System.Drawing.Size(62, 54);
             this.button7.TabIndex = 7;
@@ -1247,7 +1516,7 @@ namespace AGVEmulator
             // 
             // button8
             // 
-            this.button8.Location = new System.Drawing.Point(83, 132);
+            this.button8.Location = new System.Drawing.Point(87, 72);
             this.button8.Name = "button8";
             this.button8.Size = new System.Drawing.Size(62, 54);
             this.button8.TabIndex = 6;
@@ -1257,7 +1526,7 @@ namespace AGVEmulator
             // 
             // button9
             // 
-            this.button9.Location = new System.Drawing.Point(15, 130);
+            this.button9.Location = new System.Drawing.Point(19, 70);
             this.button9.Name = "button9";
             this.button9.Size = new System.Drawing.Size(62, 54);
             this.button9.TabIndex = 5;
@@ -1267,7 +1536,7 @@ namespace AGVEmulator
             // 
             // button10
             // 
-            this.button10.Location = new System.Drawing.Point(15, 70);
+            this.button10.Location = new System.Drawing.Point(151, 10);
             this.button10.Name = "button10";
             this.button10.Size = new System.Drawing.Size(62, 54);
             this.button10.TabIndex = 3;
@@ -1408,173 +1677,6 @@ namespace AGVEmulator
             this.sbCAL.Size = new System.Drawing.Size(19, 17);
             this.sbCAL.Text = "●";
             // 
-            // agvViewer1
-            // 
-            this.agvViewer1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.agvViewer1.FontMrk = new System.Drawing.Font("Microsoft Sans Serif", 7F);
-            this.agvViewer1.FontTag = new System.Drawing.Font("Microsoft Sans Serif", 6.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.agvViewer1.lastmark = "";
-            this.agvViewer1.lastmarkdir = "";
-            this.agvViewer1.lasttag = "";
-            this.agvViewer1.lasttagdir = "";
-            ptdata1.active = false;
-            ptdata1.data = "NOT";
-            ptdata1.pos = 30F;
-            ptdata2.active = false;
-            ptdata2.data = "QA";
-            ptdata2.pos = 200F;
-            ptdata3.active = false;
-            ptdata3.data = "CHG";
-            ptdata3.pos = 300F;
-            ptdata4.active = false;
-            ptdata4.data = "QC";
-            ptdata4.pos = 400F;
-            ptdata5.active = false;
-            ptdata5.data = "#FVI-1";
-            ptdata5.pos = 500F;
-            ptdata6.active = false;
-            ptdata6.data = "#FVI-2";
-            ptdata6.pos = 600F;
-            ptdata7.active = false;
-            ptdata7.data = "#FVI-3";
-            ptdata7.pos = 700F;
-            ptdata8.active = false;
-            ptdata8.data = "#FVI-4";
-            ptdata8.pos = 800F;
-            ptdata9.active = false;
-            ptdata9.data = "#FVI-5";
-            ptdata9.pos = 900F;
-            ptdata10.active = false;
-            ptdata10.data = "POT";
-            ptdata10.pos = 970F;
-            this.agvViewer1.listMRK = new AGVEmulator.UC.AgvViewer.ptdata[] {
-        ptdata1,
-        ptdata2,
-        ptdata3,
-        ptdata4,
-        ptdata5,
-        ptdata6,
-        ptdata7,
-        ptdata8,
-        ptdata9,
-        ptdata10};
-            ptdata11.active = false;
-            ptdata11.data = "9000";
-            ptdata11.pos = 80F;
-            ptdata12.active = false;
-            ptdata12.data = "9001";
-            ptdata12.pos = 120F;
-            ptdata13.active = false;
-            ptdata13.data = "9010";
-            ptdata13.pos = 180F;
-            ptdata14.active = false;
-            ptdata14.data = "9011";
-            ptdata14.pos = 220F;
-            ptdata15.active = false;
-            ptdata15.data = "9020";
-            ptdata15.pos = 280F;
-            ptdata16.active = false;
-            ptdata16.data = "9021";
-            ptdata16.pos = 320F;
-            ptdata17.active = false;
-            ptdata17.data = "9030";
-            ptdata17.pos = 380F;
-            ptdata18.active = false;
-            ptdata18.data = "9031";
-            ptdata18.pos = 420F;
-            ptdata19.active = false;
-            ptdata19.data = "9040";
-            ptdata19.pos = 480F;
-            ptdata20.active = false;
-            ptdata20.data = "9041";
-            ptdata20.pos = 520F;
-            ptdata21.active = false;
-            ptdata21.data = "9050";
-            ptdata21.pos = 580F;
-            ptdata22.active = false;
-            ptdata22.data = "9051";
-            ptdata22.pos = 620F;
-            ptdata23.active = false;
-            ptdata23.data = "9060";
-            ptdata23.pos = 680F;
-            ptdata24.active = false;
-            ptdata24.data = "9061";
-            ptdata24.pos = 720F;
-            ptdata25.active = false;
-            ptdata25.data = "9070";
-            ptdata25.pos = 780F;
-            ptdata26.active = false;
-            ptdata26.data = "9071";
-            ptdata26.pos = 820F;
-            ptdata27.active = false;
-            ptdata27.data = "9000";
-            ptdata27.pos = 10F;
-            ptdata28.active = false;
-            ptdata28.data = "9001";
-            ptdata28.pos = 50F;
-            this.agvViewer1.listTAG = new AGVEmulator.UC.AgvViewer.ptdata[] {
-        ptdata11,
-        ptdata12,
-        ptdata13,
-        ptdata14,
-        ptdata15,
-        ptdata16,
-        ptdata17,
-        ptdata18,
-        ptdata19,
-        ptdata20,
-        ptdata21,
-        ptdata22,
-        ptdata23,
-        ptdata24,
-        ptdata25,
-        ptdata26,
-        ptdata27,
-        ptdata28};
-            this.agvViewer1.Location = new System.Drawing.Point(241, 0);
-            this.agvViewer1.Name = "agvViewer1";
-            this.agvViewer1.Size = new System.Drawing.Size(899, 120);
-            this.agvViewer1.StopbyMark = false;
-            this.agvViewer1.TabIndex = 0;
-            this.agvViewer1.Text = "agvViewer1";
-            this.agvViewer1.MouseDown += new System.Windows.Forms.MouseEventHandler(this.agvViewer1_MouseDown);
-            // 
-            // serAGV
-            // 
-            this.serAGV.BaudRate = 9600;
-            this.serAGV.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
-            this.serAGV.dev = null;
-            this.serAGV.Dock = System.Windows.Forms.DockStyle.Left;
-            this.serAGV.Location = new System.Drawing.Point(0, 0);
-            this.serAGV.Name = "serAGV";
-            this.serAGV.PortName = "COM21";
-            this.serAGV.Size = new System.Drawing.Size(241, 120);
-            this.serAGV.TabIndex = 0;
-            // 
-            // serBMS
-            // 
-            this.serBMS.BaudRate = 9600;
-            this.serBMS.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
-            this.serBMS.dev = null;
-            this.serBMS.Dock = System.Windows.Forms.DockStyle.Top;
-            this.serBMS.Location = new System.Drawing.Point(3, 17);
-            this.serBMS.Name = "serBMS";
-            this.serBMS.PortName = "COM31";
-            this.serBMS.Size = new System.Drawing.Size(1134, 84);
-            this.serBMS.TabIndex = 1;
-            // 
-            // serCAL
-            // 
-            this.serCAL.BaudRate = 9600;
-            this.serCAL.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
-            this.serCAL.dev = null;
-            this.serCAL.Dock = System.Windows.Forms.DockStyle.Top;
-            this.serCAL.Location = new System.Drawing.Point(3, 17);
-            this.serCAL.Name = "serCAL";
-            this.serCAL.PortName = "COM41";
-            this.serCAL.Size = new System.Drawing.Size(776, 84);
-            this.serCAL.TabIndex = 1;
-            // 
             // fMain
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
@@ -1623,6 +1725,9 @@ namespace AGVEmulator
             this.tabPage3.ResumeLayout(false);
             this.panel3.ResumeLayout(false);
             this.panel3.PerformLayout();
+            this.groupBox13.ResumeLayout(false);
+            this.groupBox13.PerformLayout();
+            this.groupBox12.ResumeLayout(false);
             ((System.ComponentModel.ISupportInitialize)(this.nudIDAgv)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.numericUpDown2)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.nudTagNo)).EndInit();
@@ -1746,6 +1851,15 @@ namespace AGVEmulator
         private Button button3;
         private Button button2;
         private Panel panel2;
+        private Label label12;
+        private Label label13;
+        private Button button6;
+        private Button button13;
+        private GroupBox groupBox13;
+        private GroupBox groupBox12;
+        private TextBox tbErCode;
+        private TextBox tbErmsg;
+        private RichTextBox rtStatus;
     }
 }
 

AGVEmulator/fMain.cs

@@ -8,22 +8,26 @@ using System.Globalization;
 using System.IO;
 using System.Linq;
 using System.Security.Cryptography.X509Certificates;
-using System.Text;
 using System.Windows.Forms;
 using System.Windows.Forms.VisualStyles;
 using static AGVEmulator.DevAGV;
 using AGVNavigationCore.Controls;
 using AGVNavigationCore.Models;
+using System.Text;
 
 namespace AGVEmulator
 {
     public partial class fMain : Form
     {
-        arUtil.Log logAGV, logBMS, logCAL;
+        AR.Log logAGV, logBMS, logCAL;
         DevBMS BMS;
         DevAGV AGV;
         DevXBE XBE;
 
+        public RemoteStatus _remoteStatus = new RemoteStatus();
+        public ENIGProtocol.AGVErrorCode _remoteErrorCode = ENIGProtocol.AGVErrorCode.None;
+        public string _remoteErrorMessage = "";
+
         // Map Control
         private UnifiedAGVCanvas _agvCanvas;
         private VirtualAGV _visualAgv;
@@ -47,9 +51,9 @@ namespace AGVEmulator
             InitializeComponent();
             this.Text = $"{Application.ProductName} ver.{Application.ProductVersion}";
             // logPLC = new arUtil.Log();
-            logAGV = new arUtil.Log();
-            logBMS = new arUtil.Log();
-            logCAL = new arUtil.Log();
+            logAGV = new AR.Log();
+            logBMS = new AR.Log();
+            logCAL = new AR.Log();
 
             // logPLC.FileNameFormat = "{yyyyMMdd}_PLC";
             logAGV.FileNameFormat = "{yyyyMMdd}_AGV";
@@ -938,21 +942,25 @@ namespace AGVEmulator
         private void button2_Click(object sender, EventArgs e)
         {
             var target = (byte)nudIDAgv.Value;
-            this.XBE.SendPickOn(target);
+            this.XBE.SendPickOnEnter(target);
         }
 
         private void button3_Click(object sender, EventArgs e)
         {
             var target = (byte)nudIDAgv.Value;
-            this.XBE.SendPickOff(target);
+            this.XBE.SendPickOffEnter(target);
         }
 
+      
+
         private void trbT2_Scroll(object sender, EventArgs e)
         {
             Temp2 = (UInt16)trbT2.Value;
             label11.Text = $"{Temp2 / 10f}º";
         }
 
+        
+
         private void toolStripButton1_Click(object sender, EventArgs e)
         {
             serAGV.Connect();
@@ -966,8 +974,59 @@ namespace AGVEmulator
             serBMS.Disconnect();
             serCAL.Disconnect();
         }
+        private void button13_Click(object sender, EventArgs e)
+        {
+            var target = (byte)nudIDAgv.Value;
+            this.XBE.SendPickOnExit(target);
+        }
+        private void button6_Click_1(object sender, EventArgs e)
+        {
+            var target = (byte)nudIDAgv.Value;
+            this.XBE.SendPickOffExit(target);
+        }
 
+        public void UpdateUIStatus()
+        {
+            if (this.InvokeRequired)
+            {
+                this.BeginInvoke(new Action(UpdateUIStatus));
+                return;
+            }
 
+            rtStatus.Text = _remoteStatus.ToString();
+            
+            string errCode = _remoteErrorCode.ToString();
+            string errMsg = _remoteErrorMessage;
+
+            if (_remoteStatus.HWError > 0)
+            {
+                errCode = $"HW:{_remoteStatus.HWError:X4}" + (errCode == "None" ? "" : $" | {errCode}");
+                
+                StringBuilder sbHw = new StringBuilder();
+                for (int i = 0; i < 16; i++)
+                {
+                    if (((ushort)_remoteStatus.HWError & (1 << i)) != 0)
+                    {
+                        sbHw.Append($"{(DevAGV.eerror)i}, ");
+                    }
+                }
+                errMsg = $"[HW] {sbHw}" + (string.IsNullOrEmpty(errMsg) ? "" : $" | {errMsg}");
+            }
+
+            tbErCode.Text = errCode;
+            tbErmsg.Text = errMsg;
+
+            if (_remoteErrorCode != ENIGProtocol.AGVErrorCode.None || _remoteStatus.HWError > 0)
+            {
+                tbErCode.BackColor = Color.Red;
+                tbErCode.ForeColor = Color.White;
+            }
+            else
+            {
+                tbErCode.BackColor = SystemColors.Window;
+                tbErCode.ForeColor = SystemColors.WindowText;
+            }
+        }
     }
 }
 

AGVLogic/AGVLogic.sln

@@ -1,6 +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 = 17.14.36310.24
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVMapEditor", "AGVMapEditor\AGVMapEditor.csproj", "{A1B2C3D4-E5F6-7890-ABCD-EF1234567890}"
 EndProject
@@ -8,6 +9,8 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVNavigationCore", "AGVNav
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGVSimulator", "AGVSimulator\AGVSimulator.csproj", "{B2C3D4E5-0000-0000-0000-000000000000}"
 EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ENIGProtocol", "EnigProtocol\enigprotocol\ENIGProtocol.csproj", "{9365803B-933D-4237-93C7-B502C855A71C}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -26,11 +29,15 @@ Global
 		{B2C3D4E5-0000-0000-0000-000000000000}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{B2C3D4E5-0000-0000-0000-000000000000}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{B2C3D4E5-0000-0000-0000-000000000000}.Release|Any CPU.Build.0 = Release|Any CPU
+		{9365803B-933D-4237-93C7-B502C855A71C}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{9365803B-933D-4237-93C7-B502C855A71C}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{9365803B-933D-4237-93C7-B502C855A71C}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{9365803B-933D-4237-93C7-B502C855A71C}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
 	EndGlobalSection
 	GlobalSection(ExtensibilityGlobals) = postSolution
-		SolutionGuid = {F2C60284-CCB5-450D-BCD0-19C693529FD6}
+		SolutionGuid = {638744DA-A7C8-43E2-A98E-0DE9BDB1DA35}
 	EndGlobalSection
 EndGlobal

AGVLogic/AGVMapEditor/AGVMapEditor.csproj

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

AGVLogic/AGVMapEditor/Forms/MainForm.Designer.cs

@@ -31,6 +31,7 @@ namespace AGVMapEditor.Forms
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainForm));
             this.statusStrip1 = new System.Windows.Forms.StatusStrip();
             this.toolStripStatusLabel1 = new System.Windows.Forms.ToolStripStatusLabel();
+            this.sbFile = new System.Windows.Forms.ToolStripStatusLabel();
             this.splitContainer1 = new System.Windows.Forms.SplitContainer();
             this.tabControl1 = new System.Windows.Forms.TabControl();
             this.tabPageNodes = new System.Windows.Forms.TabPage();
@@ -40,6 +41,20 @@ namespace AGVMapEditor.Forms
             this.lstNodeConnection = new System.Windows.Forms.ListBox();
             this.toolStrip1 = new System.Windows.Forms.ToolStrip();
             this.btNodeRemove = new System.Windows.Forms.ToolStripButton();
+            this.tabPage2 = new System.Windows.Forms.TabPage();
+            this.lstMagnetDirection = new System.Windows.Forms.ListBox();
+            this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
+            this.button1 = new System.Windows.Forms.Button();
+            this.button2 = new System.Windows.Forms.Button();
+            this.button3 = new System.Windows.Forms.Button();
+            this.toolStrip4 = new System.Windows.Forms.ToolStrip();
+            this.btDirDelete = new System.Windows.Forms.ToolStripButton();
+            this.btMakeDirdata = new System.Windows.Forms.ToolStripButton();
+            this.toolStripButton2 = new System.Windows.Forms.ToolStripButton();
+            this.tabPage3 = new System.Windows.Forms.TabPage();
+            this.lstMagnet = new System.Windows.Forms.ListBox();
+            this.toolStrip5 = new System.Windows.Forms.ToolStrip();
+            this.btDelMagnet = new System.Windows.Forms.ToolStripButton();
             this._propertyGrid = new System.Windows.Forms.PropertyGrid();
             this.panel1 = new System.Windows.Forms.Panel();
             this.toolStrip3 = new System.Windows.Forms.ToolStrip();
@@ -51,11 +66,12 @@ namespace AGVMapEditor.Forms
             this.btnDelete = new System.Windows.Forms.ToolStripButton();
             this.btnEditImage = new System.Windows.Forms.ToolStripButton();
             this.separator1 = new System.Windows.Forms.ToolStripSeparator();
-            this.btnConnect = new System.Windows.Forms.ToolStripButton();
-            this.btnDeleteConnection = new System.Windows.Forms.ToolStripButton();
+            this.btnConnNode = new System.Windows.Forms.ToolStripButton();
+            this.btnConnDir = new System.Windows.Forms.ToolStripButton();
             this.toolStripSeparator1 = new System.Windows.Forms.ToolStripSeparator();
             this.btnToggleGrid = new System.Windows.Forms.ToolStripButton();
             this.btnFitMap = new System.Windows.Forms.ToolStripButton();
+            this.btAddMagnet = new System.Windows.Forms.ToolStripButton();
             this.toolStrip2 = new System.Windows.Forms.ToolStrip();
             this.btnNew = new System.Windows.Forms.ToolStripButton();
             this.btnOpen = new System.Windows.Forms.ToolStripButton();
@@ -67,16 +83,7 @@ namespace AGVMapEditor.Forms
             this.toolStripSeparator2 = new System.Windows.Forms.ToolStripSeparator();
             this.toolStripButton1 = new System.Windows.Forms.ToolStripDropDownButton();
             this.allTurnLeftRightCrossOnToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
-            this.tabPage2 = new System.Windows.Forms.TabPage();
-            this.lstMagnetDirection = new System.Windows.Forms.ListBox();
-            this.toolStrip4 = new System.Windows.Forms.ToolStrip();
-            this.btDirDelete = new System.Windows.Forms.ToolStripButton();
-            this.btMakeDirdata = new System.Windows.Forms.ToolStripButton();
-            this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
-            this.button1 = new System.Windows.Forms.Button();
-            this.button2 = new System.Windows.Forms.Button();
-            this.button3 = new System.Windows.Forms.Button();
-            this.toolStripButton2 = new System.Windows.Forms.ToolStripButton();
+            this.toolStripButton3 = new System.Windows.Forms.ToolStripButton();
             this.statusStrip1.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.splitContainer1)).BeginInit();
             this.splitContainer1.Panel1.SuspendLayout();
@@ -86,17 +93,20 @@ namespace AGVMapEditor.Forms
             this.tabPageNodes.SuspendLayout();
             this.tabPage1.SuspendLayout();
             this.toolStrip1.SuspendLayout();
+            this.tabPage2.SuspendLayout();
+            this.tableLayoutPanel1.SuspendLayout();
+            this.toolStrip4.SuspendLayout();
+            this.tabPage3.SuspendLayout();
+            this.toolStrip5.SuspendLayout();
             this.toolStrip3.SuspendLayout();
             this.toolStrip2.SuspendLayout();
-            this.tabPage2.SuspendLayout();
-            this.toolStrip4.SuspendLayout();
-            this.tableLayoutPanel1.SuspendLayout();
             this.SuspendLayout();
             // 
             // statusStrip1
             // 
             this.statusStrip1.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
-            this.toolStripStatusLabel1});
+            this.toolStripStatusLabel1,
+            this.sbFile});
             this.statusStrip1.Location = new System.Drawing.Point(0, 751);
             this.statusStrip1.Name = "statusStrip1";
             this.statusStrip1.Size = new System.Drawing.Size(1200, 22);
@@ -109,6 +119,12 @@ namespace AGVMapEditor.Forms
             this.toolStripStatusLabel1.Size = new System.Drawing.Size(39, 17);
             this.toolStripStatusLabel1.Text = "Ready";
             // 
+            // sbFile
+            // 
+            this.sbFile.Name = "sbFile";
+            this.sbFile.Size = new System.Drawing.Size(17, 17);
+            this.sbFile.Text = "--";
+            // 
             // splitContainer1
             // 
             this.splitContainer1.Dock = System.Windows.Forms.DockStyle.Fill;
@@ -134,6 +150,7 @@ namespace AGVMapEditor.Forms
             this.tabControl1.Controls.Add(this.tabPageNodes);
             this.tabControl1.Controls.Add(this.tabPage1);
             this.tabControl1.Controls.Add(this.tabPage2);
+            this.tabControl1.Controls.Add(this.tabPage3);
             this.tabControl1.Dock = System.Windows.Forms.DockStyle.Fill;
             this.tabControl1.Location = new System.Drawing.Point(0, 0);
             this.tabControl1.Name = "tabControl1";
@@ -215,6 +232,161 @@ namespace AGVMapEditor.Forms
             this.btNodeRemove.Text = "Remove";
             this.btNodeRemove.Click += new System.EventHandler(this.btNodeRemove_Click);
             // 
+            // tabPage2
+            // 
+            this.tabPage2.Controls.Add(this.lstMagnetDirection);
+            this.tabPage2.Controls.Add(this.tableLayoutPanel1);
+            this.tabPage2.Controls.Add(this.toolStrip4);
+            this.tabPage2.Location = new System.Drawing.Point(4, 22);
+            this.tabPage2.Name = "tabPage2";
+            this.tabPage2.Size = new System.Drawing.Size(292, 309);
+            this.tabPage2.TabIndex = 2;
+            this.tabPage2.Text = "방향 관리";
+            this.tabPage2.UseVisualStyleBackColor = true;
+            // 
+            // lstMagnetDirection
+            // 
+            this.lstMagnetDirection.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.lstMagnetDirection.FormattingEnabled = true;
+            this.lstMagnetDirection.ItemHeight = 12;
+            this.lstMagnetDirection.Location = new System.Drawing.Point(0, 25);
+            this.lstMagnetDirection.Name = "lstMagnetDirection";
+            this.lstMagnetDirection.Size = new System.Drawing.Size(292, 246);
+            this.lstMagnetDirection.TabIndex = 3;
+            // 
+            // tableLayoutPanel1
+            // 
+            this.tableLayoutPanel1.ColumnCount = 3;
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
+            this.tableLayoutPanel1.Controls.Add(this.button1, 0, 0);
+            this.tableLayoutPanel1.Controls.Add(this.button2, 1, 0);
+            this.tableLayoutPanel1.Controls.Add(this.button3, 2, 0);
+            this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Bottom;
+            this.tableLayoutPanel1.Location = new System.Drawing.Point(0, 271);
+            this.tableLayoutPanel1.Name = "tableLayoutPanel1";
+            this.tableLayoutPanel1.RowCount = 1;
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 38F));
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(292, 38);
+            this.tableLayoutPanel1.TabIndex = 6;
+            // 
+            // button1
+            // 
+            this.button1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.button1.Location = new System.Drawing.Point(3, 3);
+            this.button1.Name = "button1";
+            this.button1.Size = new System.Drawing.Size(91, 32);
+            this.button1.TabIndex = 0;
+            this.button1.Text = "Left";
+            this.button1.UseVisualStyleBackColor = true;
+            this.button1.Click += new System.EventHandler(this.button1_Click);
+            // 
+            // button2
+            // 
+            this.button2.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.button2.Location = new System.Drawing.Point(100, 3);
+            this.button2.Name = "button2";
+            this.button2.Size = new System.Drawing.Size(91, 32);
+            this.button2.TabIndex = 0;
+            this.button2.Text = "Straight";
+            this.button2.UseVisualStyleBackColor = true;
+            this.button2.Click += new System.EventHandler(this.button2_Click);
+            // 
+            // button3
+            // 
+            this.button3.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.button3.Location = new System.Drawing.Point(197, 3);
+            this.button3.Name = "button3";
+            this.button3.Size = new System.Drawing.Size(92, 32);
+            this.button3.TabIndex = 0;
+            this.button3.Text = "Right";
+            this.button3.UseVisualStyleBackColor = true;
+            this.button3.Click += new System.EventHandler(this.button3_Click);
+            // 
+            // toolStrip4
+            // 
+            this.toolStrip4.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
+            this.btDirDelete,
+            this.btMakeDirdata,
+            this.toolStripButton2});
+            this.toolStrip4.Location = new System.Drawing.Point(0, 0);
+            this.toolStrip4.Name = "toolStrip4";
+            this.toolStrip4.Size = new System.Drawing.Size(292, 25);
+            this.toolStrip4.TabIndex = 5;
+            this.toolStrip4.Text = "toolStrip4";
+            // 
+            // btDirDelete
+            // 
+            this.btDirDelete.Image = ((System.Drawing.Image)(resources.GetObject("btDirDelete.Image")));
+            this.btDirDelete.ImageTransparentColor = System.Drawing.Color.Magenta;
+            this.btDirDelete.Name = "btDirDelete";
+            this.btDirDelete.Size = new System.Drawing.Size(61, 22);
+            this.btDirDelete.Text = "Delete";
+            this.btDirDelete.Click += new System.EventHandler(this.btDirDelete_Click);
+            // 
+            // btMakeDirdata
+            // 
+            this.btMakeDirdata.Alignment = System.Windows.Forms.ToolStripItemAlignment.Right;
+            this.btMakeDirdata.Image = ((System.Drawing.Image)(resources.GetObject("btMakeDirdata.Image")));
+            this.btMakeDirdata.ImageTransparentColor = System.Drawing.Color.Magenta;
+            this.btMakeDirdata.Name = "btMakeDirdata";
+            this.btMakeDirdata.Size = new System.Drawing.Size(69, 22);
+            this.btMakeDirdata.Text = "Remake";
+            this.btMakeDirdata.Click += new System.EventHandler(this.toolStripButton3_Click);
+            // 
+            // toolStripButton2
+            // 
+            this.toolStripButton2.Alignment = System.Windows.Forms.ToolStripItemAlignment.Right;
+            this.toolStripButton2.Image = ((System.Drawing.Image)(resources.GetObject("toolStripButton2.Image")));
+            this.toolStripButton2.ImageTransparentColor = System.Drawing.Color.Magenta;
+            this.toolStripButton2.Name = "toolStripButton2";
+            this.toolStripButton2.Size = new System.Drawing.Size(54, 22);
+            this.toolStripButton2.Text = "Clear";
+            this.toolStripButton2.Click += new System.EventHandler(this.toolStripButton2_Click);
+            // 
+            // tabPage3
+            // 
+            this.tabPage3.Controls.Add(this.lstMagnet);
+            this.tabPage3.Controls.Add(this.toolStrip5);
+            this.tabPage3.Location = new System.Drawing.Point(4, 22);
+            this.tabPage3.Name = "tabPage3";
+            this.tabPage3.Size = new System.Drawing.Size(292, 309);
+            this.tabPage3.TabIndex = 3;
+            this.tabPage3.Text = "마그넷라인";
+            this.tabPage3.UseVisualStyleBackColor = true;
+            // 
+            // lstMagnet
+            // 
+            this.lstMagnet.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.lstMagnet.FormattingEnabled = true;
+            this.lstMagnet.ItemHeight = 12;
+            this.lstMagnet.Location = new System.Drawing.Point(0, 25);
+            this.lstMagnet.Name = "lstMagnet";
+            this.lstMagnet.Size = new System.Drawing.Size(292, 284);
+            this.lstMagnet.TabIndex = 2;
+            // 
+            // toolStrip5
+            // 
+            this.toolStrip5.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
+            this.btDelMagnet,
+            this.toolStripButton3});
+            this.toolStrip5.Location = new System.Drawing.Point(0, 0);
+            this.toolStrip5.Name = "toolStrip5";
+            this.toolStrip5.Size = new System.Drawing.Size(292, 25);
+            this.toolStrip5.TabIndex = 6;
+            this.toolStrip5.Text = "toolStrip5";
+            // 
+            // btDelMagnet
+            // 
+            this.btDelMagnet.Image = ((System.Drawing.Image)(resources.GetObject("btDelMagnet.Image")));
+            this.btDelMagnet.ImageTransparentColor = System.Drawing.Color.Magenta;
+            this.btDelMagnet.Name = "btDelMagnet";
+            this.btDelMagnet.Size = new System.Drawing.Size(61, 22);
+            this.btDelMagnet.Text = "Delete";
+            this.btDelMagnet.Click += new System.EventHandler(this.btDelMagnet_Click);
+            // 
             // _propertyGrid
             // 
             this._propertyGrid.Dock = System.Windows.Forms.DockStyle.Bottom;
@@ -240,11 +412,12 @@ namespace AGVMapEditor.Forms
             this.btnDelete,
             this.btnEditImage,
             this.separator1,
-            this.btnConnect,
-            this.btnDeleteConnection,
+            this.btnConnNode,
+            this.btnConnDir,
             this.toolStripSeparator1,
             this.btnToggleGrid,
-            this.btnFitMap});
+            this.btnFitMap,
+            this.btAddMagnet});
             this.toolStrip3.Location = new System.Drawing.Point(0, 0);
             this.toolStrip3.Name = "toolStrip3";
             this.toolStrip3.Size = new System.Drawing.Size(896, 25);
@@ -278,6 +451,8 @@ namespace AGVMapEditor.Forms
             this.btnAddNode.Size = new System.Drawing.Size(111, 22);
             this.btnAddNode.Text = "노드 추가 (A)";
             this.btnAddNode.ToolTipText = "노드 추가 (A)";
+            this.btnAddNode.ButtonClick += new System.EventHandler(this.btnAddNode_ButtonClick);
+            this.btnAddNode.BackColorChanged += new System.EventHandler(this.btnAddNode_BackColorChanged);
             // 
             // btnAddLabel
             // 
@@ -322,21 +497,20 @@ namespace AGVMapEditor.Forms
             this.separator1.Name = "separator1";
             this.separator1.Size = new System.Drawing.Size(6, 25);
             // 
-            // btnConnect
+            // btnConnNode
             // 
-            this.btnConnect.Image = ((System.Drawing.Image)(resources.GetObject("btnConnect.Image")));
-            this.btnConnect.Name = "btnConnect";
-            this.btnConnect.Size = new System.Drawing.Size(95, 22);
-            this.btnConnect.Text = "노드연결 (C)";
+            this.btnConnNode.Image = ((System.Drawing.Image)(resources.GetObject("btnConnNode.Image")));
+            this.btnConnNode.Name = "btnConnNode";
+            this.btnConnNode.Size = new System.Drawing.Size(95, 22);
+            this.btnConnNode.Text = "노드연결 (C)";
             // 
-            // btnDeleteConnection
+            // btnConnDir
             // 
-            this.btnDeleteConnection.Image = ((System.Drawing.Image)(resources.GetObject("btnDeleteConnection.Image")));
-            this.btnDeleteConnection.ImageTransparentColor = System.Drawing.Color.Magenta;
-            this.btnDeleteConnection.Name = "btnDeleteConnection";
-            this.btnDeleteConnection.Size = new System.Drawing.Size(94, 22);
-            this.btnDeleteConnection.Text = "연결삭제 (X)";
-            this.btnDeleteConnection.ToolTipText = "연결 삭제 (X)";
+            this.btnConnDir.Image = ((System.Drawing.Image)(resources.GetObject("btnConnDir.Image")));
+            this.btnConnDir.Name = "btnConnDir";
+            this.btnConnDir.Size = new System.Drawing.Size(95, 22);
+            this.btnConnDir.Text = "방향연결 (C)";
+            this.btnConnDir.Click += new System.EventHandler(this.btnConnDir_Click);
             // 
             // toolStripSeparator1
             // 
@@ -359,6 +533,15 @@ namespace AGVMapEditor.Forms
             this.btnFitMap.Text = "맵 맞춤";
             this.btnFitMap.ToolTipText = "맵 전체 보기";
             // 
+            // btAddMagnet
+            // 
+            this.btAddMagnet.Image = ((System.Drawing.Image)(resources.GetObject("btAddMagnet.Image")));
+            this.btAddMagnet.ImageTransparentColor = System.Drawing.Color.Magenta;
+            this.btAddMagnet.Name = "btAddMagnet";
+            this.btAddMagnet.Size = new System.Drawing.Size(87, 22);
+            this.btAddMagnet.Text = "마그넷추가";
+            this.btAddMagnet.Click += new System.EventHandler(this.btAddMagnet_Click);
+            // 
             // toolStrip2
             // 
             this.toolStrip2.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
@@ -458,119 +641,15 @@ namespace AGVMapEditor.Forms
             this.allTurnLeftRightCrossOnToolStripMenuItem.Text = "All TurnLeft/Right/Cross On";
             this.allTurnLeftRightCrossOnToolStripMenuItem.Click += new System.EventHandler(this.allTurnLeftRightCrossOnToolStripMenuItem_Click);
             // 
-            // tabPage2
+            // toolStripButton3
             // 
-            this.tabPage2.Controls.Add(this.lstMagnetDirection);
-            this.tabPage2.Controls.Add(this.tableLayoutPanel1);
-            this.tabPage2.Controls.Add(this.toolStrip4);
-            this.tabPage2.Location = new System.Drawing.Point(4, 22);
-            this.tabPage2.Name = "tabPage2";
-            this.tabPage2.Size = new System.Drawing.Size(292, 309);
-            this.tabPage2.TabIndex = 2;
-            this.tabPage2.Text = "방향 관리";
-            this.tabPage2.UseVisualStyleBackColor = true;
-            // 
-            // lstMagnetDirection
-            // 
-            this.lstMagnetDirection.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.lstMagnetDirection.FormattingEnabled = true;
-            this.lstMagnetDirection.ItemHeight = 12;
-            this.lstMagnetDirection.Location = new System.Drawing.Point(0, 25);
-            this.lstMagnetDirection.Name = "lstMagnetDirection";
-            this.lstMagnetDirection.Size = new System.Drawing.Size(292, 246);
-            this.lstMagnetDirection.TabIndex = 3;
-            // 
-            // toolStrip4
-            // 
-            this.toolStrip4.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
-            this.btDirDelete,
-            this.btMakeDirdata,
-            this.toolStripButton2});
-            this.toolStrip4.Location = new System.Drawing.Point(0, 0);
-            this.toolStrip4.Name = "toolStrip4";
-            this.toolStrip4.Size = new System.Drawing.Size(292, 25);
-            this.toolStrip4.TabIndex = 5;
-            this.toolStrip4.Text = "toolStrip4";
-            // 
-            // btDirDelete
-            // 
-            this.btDirDelete.Image = ((System.Drawing.Image)(resources.GetObject("btDirDelete.Image")));
-            this.btDirDelete.ImageTransparentColor = System.Drawing.Color.Magenta;
-            this.btDirDelete.Name = "btDirDelete";
-            this.btDirDelete.Size = new System.Drawing.Size(61, 22);
-            this.btDirDelete.Text = "Delete";
-            this.btDirDelete.Click += new System.EventHandler(this.btDirDelete_Click);
-            // 
-            // btMakeDirdata
-            // 
-            this.btMakeDirdata.Alignment = System.Windows.Forms.ToolStripItemAlignment.Right;
-            this.btMakeDirdata.Image = ((System.Drawing.Image)(resources.GetObject("btMakeDirdata.Image")));
-            this.btMakeDirdata.ImageTransparentColor = System.Drawing.Color.Magenta;
-            this.btMakeDirdata.Name = "btMakeDirdata";
-            this.btMakeDirdata.Size = new System.Drawing.Size(69, 22);
-            this.btMakeDirdata.Text = "Remake";
-            this.btMakeDirdata.Click += new System.EventHandler(this.toolStripButton3_Click);
-            // 
-            // tableLayoutPanel1
-            // 
-            this.tableLayoutPanel1.ColumnCount = 3;
-            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
-            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
-            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
-            this.tableLayoutPanel1.Controls.Add(this.button1, 0, 0);
-            this.tableLayoutPanel1.Controls.Add(this.button2, 1, 0);
-            this.tableLayoutPanel1.Controls.Add(this.button3, 2, 0);
-            this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Bottom;
-            this.tableLayoutPanel1.Location = new System.Drawing.Point(0, 271);
-            this.tableLayoutPanel1.Name = "tableLayoutPanel1";
-            this.tableLayoutPanel1.RowCount = 1;
-            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
-            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 20F));
-            this.tableLayoutPanel1.Size = new System.Drawing.Size(292, 38);
-            this.tableLayoutPanel1.TabIndex = 6;
-            // 
-            // button1
-            // 
-            this.button1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.button1.Location = new System.Drawing.Point(3, 3);
-            this.button1.Name = "button1";
-            this.button1.Size = new System.Drawing.Size(91, 32);
-            this.button1.TabIndex = 0;
-            this.button1.Text = "Left";
-            this.button1.UseVisualStyleBackColor = true;
-            this.button1.Click += new System.EventHandler(this.button1_Click);
-            // 
-            // button2
-            // 
-            this.button2.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.button2.Location = new System.Drawing.Point(100, 3);
-            this.button2.Name = "button2";
-            this.button2.Size = new System.Drawing.Size(91, 32);
-            this.button2.TabIndex = 0;
-            this.button2.Text = "Straight";
-            this.button2.UseVisualStyleBackColor = true;
-            this.button2.Click += new System.EventHandler(this.button2_Click);
-            // 
-            // button3
-            // 
-            this.button3.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.button3.Location = new System.Drawing.Point(197, 3);
-            this.button3.Name = "button3";
-            this.button3.Size = new System.Drawing.Size(92, 32);
-            this.button3.TabIndex = 0;
-            this.button3.Text = "Right";
-            this.button3.UseVisualStyleBackColor = true;
-            this.button3.Click += new System.EventHandler(this.button3_Click);
-            // 
-            // toolStripButton2
-            // 
-            this.toolStripButton2.Alignment = System.Windows.Forms.ToolStripItemAlignment.Right;
-            this.toolStripButton2.Image = ((System.Drawing.Image)(resources.GetObject("toolStripButton2.Image")));
-            this.toolStripButton2.ImageTransparentColor = System.Drawing.Color.Magenta;
-            this.toolStripButton2.Name = "toolStripButton2";
-            this.toolStripButton2.Size = new System.Drawing.Size(54, 22);
-            this.toolStripButton2.Text = "Clear";
-            this.toolStripButton2.Click += new System.EventHandler(this.toolStripButton2_Click);
+            this.toolStripButton3.Alignment = System.Windows.Forms.ToolStripItemAlignment.Right;
+            this.toolStripButton3.Image = ((System.Drawing.Image)(resources.GetObject("toolStripButton3.Image")));
+            this.toolStripButton3.ImageTransparentColor = System.Drawing.Color.Magenta;
+            this.toolStripButton3.Name = "toolStripButton3";
+            this.toolStripButton3.Size = new System.Drawing.Size(66, 22);
+            this.toolStripButton3.Text = "Refresh";
+            this.toolStripButton3.Click += new System.EventHandler(this.toolStripButton3_Click_1);
             // 
             // MainForm
             // 
@@ -599,15 +678,19 @@ namespace AGVMapEditor.Forms
             this.tabPage1.PerformLayout();
             this.toolStrip1.ResumeLayout(false);
             this.toolStrip1.PerformLayout();
+            this.tabPage2.ResumeLayout(false);
+            this.tabPage2.PerformLayout();
+            this.tableLayoutPanel1.ResumeLayout(false);
+            this.toolStrip4.ResumeLayout(false);
+            this.toolStrip4.PerformLayout();
+            this.tabPage3.ResumeLayout(false);
+            this.tabPage3.PerformLayout();
+            this.toolStrip5.ResumeLayout(false);
+            this.toolStrip5.PerformLayout();
             this.toolStrip3.ResumeLayout(false);
             this.toolStrip3.PerformLayout();
             this.toolStrip2.ResumeLayout(false);
             this.toolStrip2.PerformLayout();
-            this.tabPage2.ResumeLayout(false);
-            this.tabPage2.PerformLayout();
-            this.toolStrip4.ResumeLayout(false);
-            this.toolStrip4.PerformLayout();
-            this.tableLayoutPanel1.ResumeLayout(false);
             this.ResumeLayout(false);
             this.PerformLayout();
 
@@ -639,9 +722,8 @@ namespace AGVMapEditor.Forms
         private System.Windows.Forms.ToolStripButton btnSelect;
         private System.Windows.Forms.ToolStripButton btnMove;
         private System.Windows.Forms.ToolStripButton btnEditImage;
-        private System.Windows.Forms.ToolStripButton btnConnect;
+        private System.Windows.Forms.ToolStripButton btnConnNode;
         private System.Windows.Forms.ToolStripButton btnDelete;
-        private System.Windows.Forms.ToolStripButton btnDeleteConnection;
         private System.Windows.Forms.ToolStripSeparator separator1;
         private System.Windows.Forms.ToolStripButton btnToggleGrid;
         private System.Windows.Forms.ToolStripButton btnFitMap;
@@ -663,5 +745,13 @@ namespace AGVMapEditor.Forms
         private System.Windows.Forms.Button button2;
         private System.Windows.Forms.Button button3;
         private System.Windows.Forms.ToolStripButton toolStripButton2;
+        private System.Windows.Forms.ToolStripButton btAddMagnet;
+        private System.Windows.Forms.TabPage tabPage3;
+        private System.Windows.Forms.ListBox lstMagnet;
+        private System.Windows.Forms.ToolStrip toolStrip5;
+        private System.Windows.Forms.ToolStripButton btDelMagnet;
+        private System.Windows.Forms.ToolStripStatusLabel sbFile;
+        private System.Windows.Forms.ToolStripButton btnConnDir;
+        private System.Windows.Forms.ToolStripButton toolStripButton3;
     }
 }

AGVLogic/AGVMapEditor/Forms/MainForm.cs

@@ -115,6 +115,7 @@ namespace AGVMapEditor.Forms
             _mapCanvas.NodesSelected += OnNodesSelected; // 다중 선택 이벤트
             _mapCanvas.NodeMoved += OnNodeMoved;
             _mapCanvas.NodeDeleted += OnNodeDeleted;
+            _mapCanvas.ConnectionCreated += OnConnectionCreated;
             _mapCanvas.ConnectionDeleted += OnConnectionDeleted;
             _mapCanvas.ImageDoubleClicked += OnImageDoubleClicked;
             _mapCanvas.MapChanged += OnMapChanged;
@@ -144,9 +145,8 @@ namespace AGVMapEditor.Forms
             btnAddLabel.Click += (s, e) => _mapCanvas.CurrentEditMode = UnifiedAGVCanvas.EditMode.AddLabel;
             btnAddImage.Click += (s, e) => _mapCanvas.CurrentEditMode = UnifiedAGVCanvas.EditMode.AddImage;
 
-            btnConnect.Click += (s, e) => _mapCanvas.CurrentEditMode = UnifiedAGVCanvas.EditMode.Connect;
+            btnConnNode.Click += (s, e) => _mapCanvas.CurrentEditMode = UnifiedAGVCanvas.EditMode.Connect;
             btnDelete.Click += (s, e) => _mapCanvas.CurrentEditMode = UnifiedAGVCanvas.EditMode.Delete;
-            btnDeleteConnection.Click += (s, e) => _mapCanvas.CurrentEditMode = UnifiedAGVCanvas.EditMode.DeleteConnection;
 
             // 그리드 토글 버튼
             btnToggleGrid.Click += (s, e) => _mapCanvas.ShowGrid = !_mapCanvas.ShowGrid;
@@ -182,6 +182,7 @@ namespace AGVMapEditor.Forms
             _hasChanges = true;
             UpdateTitle();
             RefreshNodeList();
+            RefreshMagnetList(); // 추가
             // RFID 자동 할당
         }
 
@@ -215,6 +216,20 @@ namespace AGVMapEditor.Forms
             {
                 // 단일 선택은 기존 방식 사용
                 _selectedNode = nodes[0];
+
+                // Sync with lstMagnet
+                if (_selectedNode is MapMagnet magnet)
+                {
+                    lstMagnet.SelectedItem = magnet;
+                }
+                else
+                {
+                    lstMagnet.SelectedItem = null;
+                }
+
+                //this._mapCanvas.SelectedNode = nodes;
+                //this._mapCanvas.Invalidate();
+
                 UpdateNodeProperties();
                 UpdateImageEditButton();
             }
@@ -242,17 +257,20 @@ namespace AGVMapEditor.Forms
             _hasChanges = true;
             UpdateTitle();
             RefreshNodeList();
+            RefreshMagnetList(); // 추가
             ClearNodeProperties();
             // RFID 자동 할당
         }
-
         private void OnConnectionCreated(object sender, (MapNode From, MapNode To) connection)
         {
             _hasChanges = true;
             UpdateTitle();
+            RefreshNodeConnectionList();
             UpdateNodeProperties(); // 연결 정보 업데이트
         }
 
+
+
         private void OnConnectionDeleted(object sender, (MapNode From, MapNode To) connection)
         {
             _hasChanges = true;
@@ -261,6 +279,8 @@ namespace AGVMapEditor.Forms
             UpdateNodeProperties(); // 연결 정보 업데이트
         }
 
+
+
         private void OnImageDoubleClicked(object sender, MapImage image)
         {
             // 이미지 노드 더블클릭 시 이미지 편집창 표시
@@ -280,6 +300,7 @@ namespace AGVMapEditor.Forms
         {
             _hasChanges = true;
             UpdateTitle();
+            RefreshMagnetDirectionList(); // 방향 정보 업데이트
         }
 
         private void OnBackgroundClicked(object sender, Point location)
@@ -403,7 +424,7 @@ namespace AGVMapEditor.Forms
             var nodeId = GenerateNodeId();
             var position = new Point(100 + this._mapCanvas.Nodes.Count * 50, 100 + this._mapCanvas.Nodes.Count * 50);
 
-            var node = new MapNode(nodeId, position, StationType.Normal);
+            var node = new MapNode(nodeId, position, Station.Normal);
 
             this._mapCanvas.Nodes.Add(node);
             _hasChanges = true;
@@ -621,7 +642,7 @@ namespace AGVMapEditor.Forms
         private void LoadMapFromFile(string filePath)
         {
             var result = MapLoader.LoadMapFromFile(filePath);
-
+            sbFile.Text = filePath;
             if (result.Success)
             {
                 // 맵 캔버스에 데이터 설정
@@ -637,6 +658,7 @@ namespace AGVMapEditor.Forms
                 UpdateTitle();
                 UpdateNodeList();
                 RefreshNodeConnectionList();
+                RefreshMagnetList(); // 추가
 
 
 
@@ -767,6 +789,7 @@ namespace AGVMapEditor.Forms
         {
             RefreshNodeList();
             RefreshNodeConnectionList();
+            RefreshMagnetList(); // 추가
             RefreshMapCanvas();
             ClearNodeProperties();
         }
@@ -774,7 +797,7 @@ namespace AGVMapEditor.Forms
         private void RefreshNodeList()
         {
             listBoxNodes.DataSource = null;
-            listBoxNodes.DataSource = this._mapCanvas.Nodes;
+            listBoxNodes.DataSource = this._mapCanvas.Items;
             listBoxNodes.DisplayMember = "DisplayText";
             listBoxNodes.ValueMember = "Id";
 
@@ -790,7 +813,7 @@ namespace AGVMapEditor.Forms
 
         private void ListBoxNodes_SelectedIndexChanged(object sender, EventArgs e)
         {
-            if (listBoxNodes.SelectedItem is MapNode selectedNode)
+            if (listBoxNodes.SelectedItem is NodeBase selectedNode)
             {
                 _selectedNode = selectedNode;
                 UpdateNodeProperties();
@@ -827,9 +850,9 @@ namespace AGVMapEditor.Forms
                         case NodeType.Normal:
 
                             var item = node as MapNode;
-                            if (item.StationType == StationType.Normal)
+                            if (item.StationType == Station.Normal)
                                 foreColor = Color.DimGray;
-                            else if (item.StationType == StationType.Charger1 || item.StationType == StationType.Charger2)
+                            else if (item.StationType == Station.Charger)
                                 foreColor = Color.Red;
                             else
                                 foreColor = Color.DarkGreen;
@@ -945,13 +968,21 @@ namespace AGVMapEditor.Forms
                 _mapCanvas?.HighlightConnection(connectionInfo.FromNodeId, connectionInfo.ToNodeId);
 
                 // 연결된 노드들을 맵에서 하이라이트 표시 (선택적)
-                var fromNode = this._mapCanvas.Nodes.FirstOrDefault(n => n.Id == connectionInfo.FromNodeId);
-                if (fromNode != null)
-                {
-                    _selectedNode = fromNode;
-                    UpdateNodeProperties();
-                    _mapCanvas?.Invalidate();
-                }
+                //var fromNode = this._mapCanvas.Nodes.FirstOrDefault(n => n.Id == connectionInfo.FromNodeId);
+                //if (fromNode != null)
+                //{
+                //    if (_selectedNode != fromNode)
+                //    {
+                //        _selectedNode = fromNode;
+                //        _mapCanvas.SelectedNode = fromNode; // 캔버스 선택 상태 동기화
+
+                //        // 속성창 업데이트 (리스트 리프레시 포함)
+                //        // 주의: RefreshMagnetDirectionList()가 호출되어도 lstNodeConnection에는 영향이 없으므로 안전함
+                //        UpdateNodeProperties();
+
+                //        _mapCanvas?.Invalidate();
+                //    }
+                //}
             }
             else
             {
@@ -1303,9 +1334,9 @@ namespace AGVMapEditor.Forms
             {
                 foreach (var node in this._mapCanvas.Nodes)
                 {
-                    node.CanTurnLeft = true;
-                    node.CanTurnRight = true;
-                    node.DisableCross = false;
+                    node.CanTurnLeft = false;
+                    node.CanTurnRight = false;
+                    node.DisableCross = true;
                     node.ModifiedDate = DateTime.Now;
                 }
 
@@ -1367,6 +1398,9 @@ namespace AGVMapEditor.Forms
 
         private void RefreshMagnetDirectionList()
         {
+            // 이벤트 임시 제거 (DataSource 변경 시 불필요한 이벤트 발생 방지)
+            lstMagnetDirection.SelectedIndexChanged -= LstMagnetDirection_SelectedIndexChanged;
+
             // 현재 선택된 항목 기억
             int selectedIndex = lstMagnetDirection.SelectedIndex;
 
@@ -1374,7 +1408,12 @@ namespace AGVMapEditor.Forms
             lstMagnetDirection.DataSource = null;
             lstMagnetDirection.Items.Clear();
 
-            if (this._mapCanvas.Nodes == null) return;
+            if (this._mapCanvas.Nodes == null)
+            {
+                // 이벤트 다시 연결 (빠른 리턴 시에도 연결 필요)
+                lstMagnetDirection.SelectedIndexChanged += LstMagnetDirection_SelectedIndexChanged;
+                return;
+            }
 
             var directions = new List<MagnetDirectionInfo>();
 
@@ -1410,8 +1449,7 @@ namespace AGVMapEditor.Forms
                 lstMagnetDirection.DataSource = directions;
             }
 
-            // 이벤트 연결
-            lstMagnetDirection.SelectedIndexChanged -= LstMagnetDirection_SelectedIndexChanged;
+            // 이벤트 다시 연결
             lstMagnetDirection.SelectedIndexChanged += LstMagnetDirection_SelectedIndexChanged;
 
             lstMagnetDirection.DoubleClick -= LstMagnetDirection_DoubleClick;
@@ -1419,9 +1457,17 @@ namespace AGVMapEditor.Forms
 
             // 선택 항목 복원 (가능한 경우) -> 선택된 객체가 다르게 생성되므로 인덱스로 복원 시도
             if (selectedIndex >= 0 && selectedIndex < lstMagnetDirection.Items.Count)
+            {
+                try
                 {
                     lstMagnetDirection.SelectedIndex = selectedIndex;
                 }
+                catch (Exception ex)
+                {
+
+                }
+
+            }
         }
 
         private void LstMagnetDirection_SelectedIndexChanged(object sender, EventArgs e)
@@ -1430,6 +1476,44 @@ namespace AGVMapEditor.Forms
             {
                 // 버튼 상태 업데이트
                 UpdateDirectionButtons(info);
+
+                // 캔버스에서 해당 연결선 강조 표시
+                if (info.FromNode != null && info.ToNode != null)
+                {
+                    _mapCanvas.HighlightConnection(info.FromNode.Id, info.ToNode.Id);
+
+                    // FromNode 선택 (속성창 갱신 루프 방지 위해 _propertyGrid 직접 설정 고려)
+                    // 하지만 _selectedNode 변경 시 RefreshMagnetDirectionList()가 호출되어 리스트가 재생성되면 선택이 풀릴 수 있음
+                    // 따라서 여기서는 캔버스 상의 선택 표시만 변경하고, 전체 속성 업데이트(리스트 리프레시 포함)는 건너뛰거나
+                    // 리스트 리프레시 로직에서 선택 상태 유지를 보완해야 함.
+
+                    // 일단 _selectedNode를 변경하되, RefreshMagnetDirectionList에서 선택 인덱스 복원을 하므로 괜찮을 것으로 예상됨.
+                    // 만약 깜빡임이나 끊김이 심하면 UpdateNodeProperties 내의 RefreshMagnetDirectionList 호출을 조건부로 변경해야 함.
+
+                    if (_selectedNode != info.FromNode)
+                    {
+                        var prevSelected = _selectedNode;
+                        _selectedNode = info.FromNode;
+
+                        // _mapCanvas.SelectedNode 설정 (이것만으로는 PropertyGrid 갱신 안됨)
+                        _mapCanvas.SelectedNode = info.FromNode;
+
+                        // PropertyGrid 갱신 (리스트 리프레시 포함)
+                        // 주의: 여기서 UpdateNodeProperties()를 부르면 리스트가 다시 그려지면서 선택 이벤트가 다시 발생할 수 있음.
+                        // 하지만 인덱스 복원 로직이 있으므로 무한루프는 아닐 수 있으나, 비효율적임.
+
+                        // 해결책: 리스트 리프레시 없이 속성창만 갱신
+                        _propertyGrid.SelectedObject = _selectedNode;
+                        UpdateImageEditButton();
+
+                        // 캔버스 다시 그리기
+                        _mapCanvas.Invalidate();
+                    }
+                }
+            }
+            else
+            {
+                _mapCanvas.ClearHighlightedConnection();
             }
         }
 
@@ -1673,5 +1757,156 @@ namespace AGVMapEditor.Forms
             // 현재 선택된 노드의 속성창 및 리스트 갱신
             UpdateNodeProperties();
         }
+
+        private void btAddMagnet_Click(object sender, EventArgs e)
+        {
+            // 마그넷 추가
+            var result = MessageBox.Show("곡선 마그넷(Bezier)을 추가하시겠습니까?\n(예: 베지어 곡선, 아니오: 직선, 취소: 중단)",
+                                       "마그넷 타입 선택", MessageBoxButtons.YesNoCancel, MessageBoxIcon.Question);
+
+            if (result == DialogResult.Cancel) return;
+
+            bool isBezier = (result == DialogResult.Yes);
+
+            // 화면 중앙 좌표 계산 (World Coordinate)
+            float zoom = _mapCanvas.ZoomFactor;
+            PointF pan = _mapCanvas.PanOffset;
+
+            float worldCX = (_mapCanvas.Width / 2f) / zoom - pan.X;
+            float worldCY = (_mapCanvas.Height / 2f) / zoom - pan.Y;
+
+            // 고유 ID 생성
+            string id = _mapCanvas.GenerateUniqueNodeId();
+
+            var magnet = new MapMagnet { Id = id };
+
+            // 점 생성 시 정규화(Snap) 처리
+            int cx = (int)worldCX;
+            int cy = (int)worldCY;
+
+            magnet.StartPoint = new Point(cx - 50, cy);
+            magnet.EndPoint = new Point(cx + 50, cy);
+
+            if (isBezier)
+            {
+                magnet.ControlPoint = new MapMagnet.MagnetPoint { X = cx, Y = cy - 50 };
+            }
+
+            // 캔버스에 추가
+            _mapCanvas.Magnets.Add(magnet);
+            _hasChanges = true;
+
+            UpdateTitle();
+            RefreshMapCanvas();
+            RefreshNodeList();
+            RefreshMagnetList(); // 추가
+
+            // 추가된 마그넷 선택
+            //_mapCanvas.SelectedNode = magnet;
+            UpdateNodeProperties();
+        }
+
+        private void btDelMagnet_Click(object sender, EventArgs e)
+        {
+            //선택한 마그넷라인을 삭제  (삭제 후 맵에 바로 반영되도록 업데이트필요)
+            if (lstMagnet.SelectedItem is MapMagnet magnet)
+            {
+                _mapCanvas.RemoveMagnet(magnet);
+                RefreshMagnetList();
+            }
+        }
+
+        private void RefreshMagnetList()
+        {
+            lstMagnet.DataSource = null;
+            lstMagnet.Items.Clear();
+
+            if (_mapCanvas.Magnets != null && _mapCanvas.Magnets.Count > 0)
+            {
+                lstMagnet.DataSource = _mapCanvas.Magnets;
+            }
+
+            // 이벤트 연결
+            lstMagnet.SelectedIndexChanged -= LstMagnet_SelectedIndexChanged;
+            lstMagnet.SelectedIndexChanged += LstMagnet_SelectedIndexChanged;
+
+            lstMagnet.DoubleClick -= LstMagnet_DoubleClick;
+            lstMagnet.DoubleClick += LstMagnet_DoubleClick;
+
+            lstMagnet.DrawMode = DrawMode.OwnerDrawFixed;
+            lstMagnet.DrawItem -= LstMagnet_DrawItem;
+            lstMagnet.DrawItem += LstMagnet_DrawItem;
+        }
+
+        private void LstMagnet_DrawItem(object sender, DrawItemEventArgs e)
+        {
+            e.DrawBackground();
+
+            if (e.Index >= 0 && e.Index < lstMagnet.Items.Count)
+            {
+                var magnet = lstMagnet.Items[e.Index] as MapMagnet;
+                if (magnet != null)
+                {
+                    Brush brush = Brushes.Black;
+                    if (magnet.ControlPoint != null) // Curve
+                    {
+                        brush = Brushes.Blue; // Curve는 파란색
+                    }
+
+                    // 선택된 항목은 흰색 글씨 (배경이 파란색이므로)
+                    if ((e.State & DrawItemState.Selected) == DrawItemState.Selected)
+                    {
+                        brush = Brushes.White;
+                    }
+
+                    e.Graphics.DrawString(magnet.ToString(), e.Font, brush, e.Bounds);
+                }
+            }
+
+            e.DrawFocusRectangle();
+        }
+
+        private void LstMagnet_SelectedIndexChanged(object sender, EventArgs e)
+        {
+            if (lstMagnet.SelectedItem is MapMagnet magnet)
+            {
+                _mapCanvas.SelectedNode = magnet;
+                //UpdateNodeProperties(); // SelectedNode setter에서 Invalidate 호출됨
+            }
+        }
+
+        private void LstMagnet_DoubleClick(object sender, EventArgs e)
+        {
+            if (lstMagnet.SelectedItem is MapMagnet magnet)
+            {
+                _mapCanvas.PanTo(magnet.Position);
+            }
+        }
+
+        private void btnAddNode_ButtonClick(object sender, EventArgs e)
+        {
+
+        }
+
+        private void btnAddNode_BackColorChanged(object sender, EventArgs e)
+        {
+
+        }
+
+        private void btnDeleteConnection_Click(object sender, EventArgs e)
+        {
+            _mapCanvas.CurrentEditMode = UnifiedAGVCanvas.EditMode.DeleteConnection;
+        }
+
+        private void btnConnDir_Click(object sender, EventArgs e)
+        {
+            //방향연결(노드연결과 유사), 두 노드간의 방향을 생성한다 기본값 straight
+            _mapCanvas.CurrentEditMode = UnifiedAGVCanvas.EditMode.ConnectDirection;
+        }
+
+        private void toolStripButton3_Click_1(object sender, EventArgs e)
+        {
+            RefreshMagnetList();
+        }
     }
 }

AGVLogic/AGVMapEditor/Forms/MainForm.resx

@@ -123,7 +123,49 @@
   <metadata name="toolStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>249, 17</value>
   </metadata>
+  <metadata name="toolStrip4.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 56</value>
+  </metadata>
+  <metadata name="toolStrip5.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>123, 56</value>
+  </metadata>
   <assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
+  <data name="btDelMagnet.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+    <value>
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+        nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
+</value>
+  </data>
+  <data name="toolStripButton3.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+    <value>
+        iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
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+        1wtfyg4Q+AfA3aZlButjSfxGcUJBk4g5tuP3haQKRKXcUQDOmbvNTpPOJeFFjordZmbWTNvMTHFUcpUC
+        nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
+</value>
+  </data>
+  <metadata name="toolStrip3.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>462, 17</value>
+  </metadata>
+  <metadata name="toolStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>249, 17</value>
+  </metadata>
   <data name="btNodeRemove.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
@@ -187,21 +229,18 @@
         nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
 </value>
   </data>
-  <metadata name="toolStrip3.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
-    <value>462, 17</value>
-  </metadata>
   <data name="btnSelect.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
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   </data>
   <data name="btnMove.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
@@ -217,83 +256,83 @@
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+</value>
+  </data>
+  <data name="btnAddNode.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+    <value>
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   </data>
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   </data>
-  <data name="btnConnect.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+  <data name="btnConnNode.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
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@@ -308,19 +347,19 @@
         gg==
 </value>
   </data>
-  <data name="btnDeleteConnection.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+  <data name="btnConnDir.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
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   <data name="btnToggleGrid.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
@@ -335,18 +374,33 @@
   <data name="btnFitMap.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
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+</value>
+  </data>
+  <data name="btAddMagnet.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+    <value>
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AGVLogic/AGVMapEditor/Properties/AssemblyInfo.cs

@@ -32,5 +32,5 @@ using System.Runtime.InteropServices;
 // 모든 값을 지정하거나 아래와 같이 '*'를 사용하여 빌드 번호 및 수정 번호를
 // 기본값으로 할 수 있습니다.
 // [assembly: AssemblyVersion("1.0.*")]
-[assembly: AssemblyVersion("1.0.0.0")]
-[assembly: AssemblyFileVersion("1.0.0.0")]
+[assembly: AssemblyVersion("26.02.10.0900")]
+[assembly: AssemblyFileVersion("26.02.10.0900")]

AGVLogic/AGVNavigationCore/AGVNavigationCore.csproj

@@ -49,7 +49,7 @@
   <ItemGroup>
     <Reference Include="Microsoft.VisualBasic" />
     <Reference Include="Newtonsoft.Json, Version=13.0.0.0, Culture=neutral, PublicKeyToken=30ad4fe6b2a6aeed, processorArchitecture=MSIL">
-      <HintPath>..\..\packages\Newtonsoft.Json.13.0.4\lib\net45\Newtonsoft.Json.dll</HintPath>
+      <HintPath>..\..\HMI\packages\Newtonsoft.Json.13.0.4\lib\net45\Newtonsoft.Json.dll</HintPath>
     </Reference>
     <Reference Include="System" />
     <Reference Include="System.Core" />
@@ -84,6 +84,7 @@
     <Compile Include="Models\NodeBase.cs" />
     <Compile Include="Models\MapLabel.cs" />
     <Compile Include="Models\MapImage.cs" />
+    <Compile Include="PathFinding\Core\Utility.cs" />
     <Compile Include="PathFinding\Planning\AGVPathfinder.cs" />
     <Compile Include="PathFinding\Planning\DirectionChangePlanner.cs" />
     <Compile Include="PathFinding\Planning\DirectionalPathfinder.cs" />
@@ -93,7 +94,7 @@
     <Compile Include="PathFinding\Core\PathNode.cs" />
     <Compile Include="PathFinding\Core\AStarPathfinder.cs" />
     <Compile Include="PathFinding\Core\AGVPathResult.cs" />
-    <Compile Include="PathFinding\Planning\NodeMotorInfo.cs" />
+    <Compile Include="Models\NodeMotorInfo.cs" />
     <Compile Include="Controls\UnifiedAGVCanvas.cs">
       <SubType>UserControl</SubType>
     </Compile>

AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Events.cs

@@ -90,7 +90,7 @@ namespace AGVNavigationCore.Controls
             }
 
             // UI 정보 그리기 (변환 없이)
-            if (_showGrid)
+            //if (_showGrid)
             DrawUIInfo(g);
 
             // 동기화 화면 그리기 (변환 없이, 최상위)
@@ -100,11 +100,13 @@ namespace AGVNavigationCore.Controls
             }
 
             //예측문자는 디버깅시에만 표시한다.
-            if (string.IsNullOrEmpty(PredictMessage) == false && System.Diagnostics.Debugger.IsAttached)
+            if (string.IsNullOrEmpty(PredictMessage) == false)
             {
                 g.DrawString(this.PredictMessage, this.Font, Brushes.White, 10, 100);
             }
+            DrawSystemMessage(g);
             DrawAlertMessage(g);
+            DrawTagIgnoreMessage(g);
 
         }
 
@@ -207,17 +209,167 @@ namespace AGVNavigationCore.Controls
             }
         }
 
-        void DrawAlertMessage(Graphics g)
+        void DrawSystemMessage(Graphics g)
         {
-            if (showalert == false) return;
+            if (!showalertsystem || String.IsNullOrEmpty(this._systemmesage)) return;
 
-            //상단에 경고 메세지를 추가한다
-            if (String.IsNullOrEmpty(this._alertmesage)) return;
+            // 상단 중앙에 반투명 빨간색 배경 바 표시
+            int barHeight = 40;
+            int barWidth = Math.Min(600, this.Width - 40); // 최대 600px, 좌우 여백 20px
+            int barX = (this.Width - barWidth) / 2;
+            int barY = 20;
 
+            // 둥근 사각형 배경
+            using (var path = new GraphicsPath())
+            {
+                int radius = 10;
+                path.AddArc(barX, barY, radius * 2, radius * 2, 180, 90);
+                path.AddArc(barX + barWidth - radius * 2, barY, radius * 2, radius * 2, 270, 90);
+                path.AddArc(barX + barWidth - radius * 2, barY + barHeight - radius * 2, radius * 2, radius * 2, 0, 90);
+                path.AddArc(barX, barY + barHeight - radius * 2, radius * 2, radius * 2, 90, 90);
+                path.CloseFigure();
 
-            g.DrawString(this._alertmesage, this.Font, Brushes.Gold, 10, 10);
+                using (var brush = new SolidBrush(Color.FromArgb(200, 255, 69, 58))) // 진한 붉은색 (Apple Red 계열)
+                {
+                    g.FillPath(brush, path);
                 }
 
+                using (var pen = new Pen(Color.FromArgb(255, 255, 255), 2))
+                {
+                    g.DrawPath(pen, path);
+                }
+            }
+
+            // 텍스트 깜박임 효과 (배경은 유지하고 텍스트만 깜박임)
+
+            using (var font = new Font("Malgun Gothic", 12, FontStyle.Bold))
+            using (var brush = new SolidBrush(Color.White))
+            {
+                var textSize = g.MeasureString(_systemmesage, font);
+                g.DrawString(_systemmesage, font, brush,
+                    barX + (barWidth - textSize.Width) / 2,
+                    barY + (barHeight - textSize.Height) / 2);
+            }
+
+            // 경고 아이콘 그리기 (왼쪽)
+            // 간단한 느낌표 아이콘
+            int iconX = barX + 15;
+            int iconY = barY + barHeight / 2;
+            using (var brush = new SolidBrush(Color.White))
+            {
+                g.FillEllipse(brush, iconX - 2, iconY - 8, 4, 16); // body
+                g.FillEllipse(brush, iconX - 2, iconY + 10, 4, 4); // dot
+            }
+
+        }
+        void DrawAlertMessage(Graphics g)
+        {
+            if (!showinfo || String.IsNullOrEmpty(this._infomessage)) return;
+
+            // 상단 중앙에 반투명 빨간색 배경 바 표시
+            int barHeight = 40;
+            int barWidth = Math.Min(600, this.Width - 40); // 최대 600px, 좌우 여백 20px
+            int barX = (this.Width - barWidth) / 2;
+            int barY = 20+50;
+
+            // 둥근 사각형 배경
+            using (var path = new GraphicsPath())
+            {
+                int radius = 10;
+                path.AddArc(barX, barY, radius * 2, radius * 2, 180, 90);
+                path.AddArc(barX + barWidth - radius * 2, barY, radius * 2, radius * 2, 270, 90);
+                path.AddArc(barX + barWidth - radius * 2, barY + barHeight - radius * 2, radius * 2, radius * 2, 0, 90);
+                path.AddArc(barX, barY + barHeight - radius * 2, radius * 2, radius * 2, 90, 90);
+                path.CloseFigure();
+
+                using (var brush = new SolidBrush(Color.FromArgb(255, Color.Lime)))
+                {
+                    g.FillPath(brush, path);
+                }
+
+                using (var pen = new Pen(Color.FromArgb(255, 255, 255), 2))
+                {
+                    g.DrawPath(pen, path);
+                }
+            }
+
+            // 텍스트 깜박임 효과 (배경은 유지하고 텍스트만 깜박임)
+
+            using (var font = new Font("Malgun Gothic", 12, FontStyle.Bold))
+            using (var brush = new SolidBrush(Color.Black))
+            {
+                var textSize = g.MeasureString(_infomessage, font);
+                g.DrawString(_infomessage, font, brush,
+                    barX + (barWidth - textSize.Width) / 2,
+                    barY + (barHeight - textSize.Height) / 2);
+            }
+
+            // 경고 아이콘 그리기 (왼쪽)
+            // 간단한 느낌표 아이콘
+            int iconX = barX + 15;
+            int iconY = barY + barHeight / 2;
+            using (var brush = new SolidBrush(Color.Black))
+            {
+                g.FillEllipse(brush, iconX - 2, iconY - 8, 4, 16); // body
+                g.FillEllipse(brush, iconX - 2, iconY + 10, 4, 4); // dot
+            }
+
+        }
+        void DrawTagIgnoreMessage(Graphics g)
+        {
+            if (!showtagigreno || String.IsNullOrEmpty(this._tagignoreMessage)) return;
+            var ts = DateTime.Now - tagignoretime;
+            if (ts.TotalSeconds > 5) return;
+
+            // 상단 중앙에 반투명 빨간색 배경 바 표시
+            int barHeight = 40;
+            int barWidth = Math.Min(600, this.Width - 40); // 최대 600px, 좌우 여백 20px
+            int barX = (this.Width - barWidth) / 2;
+            int barY = this.Height - barHeight-20;
+
+            // 둥근 사각형 배경
+            using (var path = new GraphicsPath())
+            {
+                int radius = 10;
+                path.AddArc(barX, barY, radius * 2, radius * 2, 180, 90);
+                path.AddArc(barX + barWidth - radius * 2, barY, radius * 2, radius * 2, 270, 90);
+                path.AddArc(barX + barWidth - radius * 2, barY + barHeight - radius * 2, radius * 2, radius * 2, 0, 90);
+                path.AddArc(barX, barY + barHeight - radius * 2, radius * 2, radius * 2, 90, 90);
+                path.CloseFigure();
+
+                using (var brush = new SolidBrush(Color.FromArgb(255, Color.Violet)))
+                {
+                    g.FillPath(brush, path);
+                }
+
+                using (var pen = new Pen(Color.FromArgb(255, 255, 255), 2))
+                {
+                    g.DrawPath(pen, path);
+                }
+            }
+
+            // 텍스트 깜박임 효과 (배경은 유지하고 텍스트만 깜박임)
+
+            using (var font = new Font("Malgun Gothic", 12, FontStyle.Bold))
+            using (var brush = new SolidBrush(Color.Black))
+            {
+                var textSize = g.MeasureString(_tagignoreMessage, font);
+                g.DrawString(_tagignoreMessage, font, brush,
+                    barX + (barWidth - textSize.Width) / 2,
+                    barY + (barHeight - textSize.Height) / 2);
+            }
+
+            // 경고 아이콘 그리기 (왼쪽)
+            // 간단한 느낌표 아이콘
+            int iconX = barX + 15;
+            int iconY = barY + barHeight / 2;
+            using (var brush = new SolidBrush(Color.Black))
+            {
+                g.FillEllipse(brush, iconX - 2, iconY - 8, 4, 16); // body
+                g.FillEllipse(brush, iconX - 2, iconY + 10, 4, 4); // dot
+            }
+
+        }
         private void DrawSyncScreen(Graphics g)
         {
             // 반투명 검은색 배경
@@ -330,11 +482,26 @@ namespace AGVNavigationCore.Controls
                     foreach (var targetNode in node.ConnectedMapNodes)
                     {
                         if (targetNode == null) continue;
+
+                        // 강조된 연결은 나중에 그리기 위해 건너뜀
+                        if (IsConnectionHighlighted(node.Id, targetNode.Id)) continue;
+
                         DrawConnection(g, node, targetNode);
                     }
                 }
             }
 
+            // 1.1 강조된 연결 그리기 (항상 위에 표시되도록)
+            if (_highlightedConnection.HasValue)
+            {
+                var n1 = _nodes.FirstOrDefault(n => n.Id == _highlightedConnection.Value.FromNodeId);
+                var n2 = _nodes.FirstOrDefault(n => n.Id == _highlightedConnection.Value.ToNodeId);
+                if (n1 != null && n2 != null)
+                {
+                    DrawConnection(g, n1, n2);
+                }
+            }
+
             // 2. 마그넷 그리기 (별도 리스트 사용)
             if (_magnets != null)
             {
@@ -398,10 +565,17 @@ namespace AGVNavigationCore.Controls
                 g.DrawLine(_magnetPen, startPoint, endPoint);
             }
 
-            // 호버된 마그넷 강조
-            if (magnet == _hoveredNode)
+            // 호버되거나 선택된 마그넷 강조 (선택: Red, 호버: Orange)
+            bool isHovered = (magnet == _hoveredNode);
+            bool isSelected = (magnet == _selectedNode);
+
+            if (isHovered || isSelected)
             {
-                using (var highlightPen = new Pen(Color.Orange, 19))
+                Color highlightColor = isSelected ? Color.Red : Color.Orange;
+                // 선택된 상태에서 호버되면? -> 선택 색상 우선 (Red) 또는 명확한 구분 필요
+                // 여기서는 선택이 더 중요하므로 Red 유지
+
+                using (var highlightPen = new Pen(highlightColor, 19) { StartCap = LineCap.Round, EndCap = LineCap.Round })
                 {
                     if (magnet.ControlPoint != null)
                     {
@@ -426,16 +600,31 @@ namespace AGVNavigationCore.Controls
                         g.DrawLine(highlightPen, startPoint, endPoint);
                     }
                 }
-                // Redraw normal to keep it on top? No, highlight is usually outer. 
-                // If I draw highlight AFTER, it covers. 
-                // But DrawMagnet is void. If I draw highlight after, it's fine if I want it to glow.
-                // Actually _magnetPen is Width 15, very thick.
-                // If I draw highlight Width 19 *before* normal, it acts as border. 
-                // But this method draws normal first. 
-                // So I should refactor to calculate path first, then draw?
-                // Or just draw highlight on top with alpha?
-                // Let's draw highlight on top with non-filled center? No, it's a line.
-                // I'll draw highlight on top for now, maybe with alpha.
+            }
+
+            // 선택된 마그넷 핸들 그리기
+            if (magnet == _selectedNode && _canvasMode == CanvasMode.Edit)
+            {
+                using (var handleBrush = new SolidBrush(Color.White))
+                using (var handlePen = new Pen(Color.Black, 1))
+                {
+                    float size = HANDLE_SIZE / _zoomFactor;
+                    float half = size / 2;
+
+                    // 시작점, 끝점 핸들
+                    g.FillRectangle(handleBrush, startPoint.X - half, startPoint.Y - half, size, size);
+                    g.DrawRectangle(handlePen, startPoint.X - half, startPoint.Y - half, size, size);
+                    g.FillRectangle(handleBrush, endPoint.X - half, endPoint.Y - half, size, size);
+                    g.DrawRectangle(handlePen, endPoint.X - half, endPoint.Y - half, size, size);
+
+                    // 제어점 핸들 (곡선일 경우)
+                    if (magnet.ControlPoint != null)
+                    {
+                        var cp = magnet.ControlPoint;
+                        g.FillRectangle(handleBrush, (float)cp.X - half, (float)cp.Y - half, size, size);
+                        g.DrawRectangle(handlePen, (float)cp.X - half, (float)cp.Y - half, size, size);
+                    }
+                }
             }
         }
 
@@ -444,11 +633,10 @@ namespace AGVNavigationCore.Controls
             if (_marks == null) return; // _marks 리스트 사용
 
             int sensorSize = 12; // 크기 설정
-            int lineLength = 20; // 선 길이 설정
-            int halfLength = lineLength / 2;
-
             foreach (var mark in _marks)
             {
+                int lineLength = (int)mark.Length; // 저장된 길이 사용
+                int halfLength = lineLength / 2;
                 Point p = mark.Position;
                 double radians = mark.Rotation * Math.PI / 180.0;
 
@@ -470,6 +658,22 @@ namespace AGVNavigationCore.Controls
                         g.DrawLine(highlightPen, p1, p2);
                     }
                 }
+
+                // 선택된 마크 핸들 그리기
+                if (mark == _selectedNode && _canvasMode == CanvasMode.Edit)
+                {
+                    using (var handleBrush = new SolidBrush(Color.White))
+                    using (var handlePen = new Pen(Color.Black, 1))
+                    {
+                        float size = HANDLE_SIZE / _zoomFactor;
+                        float half = size / 2;
+
+                        g.FillRectangle(handleBrush, p1.X - half, p1.Y - half, size, size);
+                        g.DrawRectangle(handlePen, p1.X - half, p1.Y - half, size, size);
+                        g.FillRectangle(handleBrush, p2.X - half, p2.Y - half, size, size);
+                        g.DrawRectangle(handlePen, p2.X - half, p2.Y - half, size, size);
+                    }
+                }
             }
         }
 
@@ -776,7 +980,7 @@ namespace AGVNavigationCore.Controls
                 {
                     case NodeType.Normal:
                         var item = _selectedNode as MapNode;
-                        if ( item.StationType == StationType.Charger1 || item.StationType == StationType.Charger2)
+                        if (item.StationType == Station.Charger)
                             DrawTriangleGhost(g, ghostBrush);
                         else
                             DrawPentagonGhost(g, ghostBrush);
@@ -965,17 +1169,16 @@ namespace AGVNavigationCore.Controls
 
                 switch (node.StationType)
                 {
-                    case StationType.Loader:
-                    case StationType.UnLoader:
-                    case StationType.Clearner:
-                    case StationType.Buffer:
+                    case Station.Loder:
+                    case Station.Cleaner:
+                    case Station.Plating:
+                    case Station.Buffer:
                         DrawPentagonNodeShape(g, node, brush);
                         break;
-                    case StationType.Charger1:
-                    case StationType.Charger2:
+                    case Station.Charger:
                         DrawTriangleNodeShape(g, node, brush);
                         break;
-                    case StationType.Limit:
+                    case Station.Lmt:
                         DrawRectangleNodeShape(g, node, brush);
                         break;
                     default:
@@ -1387,7 +1590,7 @@ namespace AGVNavigationCore.Controls
 
             // 🔥 노드의 폰트 설정 사용 (0 이하일 경우 기본값 7.0f 사용)
             var topFont = new Font("Arial", 9, FontStyle.Bold);
-            var btmFont = new Font("Arial", 12, FontStyle.Bold);
+            var btmFont = new Font("Arial", node.NodeTextFontSize, FontStyle.Bold);
 
             // 메인 텍스트 크기 측정
             var TopSize = g.MeasureString(TopIDText, topFont);
@@ -1413,21 +1616,20 @@ namespace AGVNavigationCore.Controls
                 Color bgColor = Color.White;
                 switch (node.StationType)
                 {
-                    case StationType.Charger1:
-                    case StationType.Charger2:
+                    case Station.Charger:
                         fgColor = Color.White;
                         bgColor = Color.Tomato;
                         break;
-                    case StationType.Buffer:
+                    case Station.Buffer:
                         fgColor = Color.Black;
                         bgColor = Color.White;
                         break;
-                    case StationType.Clearner:
+                    case Station.Plating:
                         fgColor = Color.Black;
                         bgColor = Color.DeepSkyBlue;
                         break;
-                    case StationType.Loader:
-                    case StationType.UnLoader:
+                    case Station.Loder:
+                    case Station.Cleaner:
                         fgColor = Color.Black;
                         bgColor = Color.Gold;
                         break;
@@ -1438,6 +1640,8 @@ namespace AGVNavigationCore.Controls
 
 
 
+
+
                 var rectpaddingx = 4;
                 var rectpaddingy = 2;
                 var roundRect = new Rectangle((int)(btmPoint.X - rectpaddingx),
@@ -1458,7 +1662,8 @@ namespace AGVNavigationCore.Controls
                 }
 
 
-                using (var descBrush = new SolidBrush(fgColor))
+
+                using (var descBrush = new SolidBrush(node.NodeTextForeColor))
                 {
                     g.DrawString(BottomLabelText, btmFont, descBrush, roundRect, new StringFormat
                     {
@@ -1710,14 +1915,18 @@ namespace AGVNavigationCore.Controls
 
             switch (node.StationType)
             {
-                case StationType.Normal: bgColor = Color.DeepSkyBlue; break;
-                case StationType.Charger1: bgColor = Color.Tomato; break;
-                case StationType.Charger2: bgColor = Color.Tomato; break;
-                case StationType.Loader:
-                case StationType.UnLoader: bgColor = Color.Gold; break;
-                case StationType.Clearner: bgColor = Color.DeepSkyBlue; break;
-                case StationType.Buffer: bgColor = Color.WhiteSmoke; break;
-                case StationType.Limit: bgColor = Color.Red; break;
+                case Station.Normal:
+                    if (node.CanTurnLeft || node.CanTurnRight)
+                        bgColor = Color.Violet;
+                    else
+                        bgColor = Color.DeepSkyBlue;
+                    break;
+                case Station.Charger: bgColor = Color.Tomato; break;
+                case Station.Loder:
+                case Station.Cleaner: bgColor = Color.Gold; break;
+                case Station.Plating: bgColor = Color.DeepSkyBlue; break;
+                case Station.Buffer: bgColor = Color.WhiteSmoke; break;
+                case Station.Lmt: bgColor = Color.Red; break;
                 default: bgColor = Color.White; break;
             }
 
@@ -2396,6 +2605,14 @@ namespace AGVNavigationCore.Controls
                 g.FillRectangle(bgBrush, scaleRect);
                 g.DrawRectangle(Pens.Gray, scaleRect.X, scaleRect.Y, scaleRect.Width, scaleRect.Height);
                 g.DrawString(scaleText, font, Brushes.Black, scaleRect.X + 5, scaleRect.Y + 2);
+
+                // 팬 정보 (스케일 정보 위에)
+                var panText = $"Pan: {_panOffset.X:F1}, {_panOffset.Y:F1}";
+                var panSize = g.MeasureString(panText, font);
+                var panRect = new RectangleF(10, Height - zoomSize.Height - scaleSize.Height - panSize.Height - 35, panSize.Width + 10, panSize.Height + 5);
+                g.FillRectangle(bgBrush, panRect);
+                g.DrawRectangle(Pens.Gray, panRect.X, panRect.Y, panRect.Width, panRect.Height);
+                g.DrawString(panText, font, Brushes.Black, panRect.X + 5, panRect.Y + 2);
             }
 
 

AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Mouse.cs

@@ -104,6 +104,10 @@ namespace AGVNavigationCore.Controls
                     HandleConnectClick(hitNode as MapNode);
                     break;
 
+                case EditMode.ConnectDirection:
+                    HandleConnectDirectionClick(hitNode as MapNode);
+                    break;
+
                 case EditMode.Delete:
                     HandleDeleteClick(hitNode);
                     break;
@@ -220,12 +224,45 @@ namespace AGVNavigationCore.Controls
             {
                 if (_editMode == EditMode.Move)
                 {
+                    // 0. 핸들 선택 확인 (이미 선택된 노드가 있을 때)
+                    if (_selectedNode != null)
+                    {
+                        int handleIdx = GetHandleAt(worldPoint);
+                        if (handleIdx != -1)
+                        {
+                            _dragHandleIndex = handleIdx;
+
+                            // 핸들 드래그 시 초기 오프셋 설정 (점프 현상 방지)
+                            if (_selectedNode is MapMagnet magnet)
+                            {
+                                Point handlePos = Point.Empty;
+                                if (handleIdx == 0) handlePos = magnet.StartPoint;
+                                else if (handleIdx == 1) handlePos = magnet.EndPoint;
+                                else if (handleIdx == 2 && magnet.ControlPoint != null)
+                                    handlePos = new Point((int)magnet.ControlPoint.X, (int)magnet.ControlPoint.Y);
+
+                                _dragOffset = new Point(worldPoint.X - handlePos.X, worldPoint.Y - handlePos.Y);
+                            }
+                            else
+                            {
+                                _dragOffset = Point.Empty; // Mark 등은 오프셋 없이 마우스 포인터 기준 계산
+                            }
+
+                            _isDragging = true;
+                            _isPanning = false;
+                            Capture = true;
+                            Invalidate();
+                            return;
+                        }
+                    }
+
                     // 1. 노드 선택 확인
                     var hitNode = GetItemAt(worldPoint);
                     if (hitNode != null)
                     {
                         _isDragging = true;
                         _isPanning = false;
+                        _dragHandleIndex = -1; // 노드 전체 드래그
                         _selectedNode = hitNode;
                         _dragStartPosition = hitNode.Position;
                         _dragOffset = new Point(worldPoint.X - hitNode.Position.X, worldPoint.Y - hitNode.Position.Y);
@@ -322,8 +359,38 @@ namespace AGVNavigationCore.Controls
                 // 노드 드래그
                 if (_selectedNode != null)
                 {
+                    if (_dragHandleIndex != -1)
+                    {
+                        // 핸들 드래그 (포인트별 수정)
+                        if (_selectedNode is MapMagnet magnet)
+                        {
+                            if (_dragHandleIndex == 0) magnet.StartPoint = newPosition;
+                            else if (_dragHandleIndex == 1) magnet.EndPoint = newPosition;
+                            else if (_dragHandleIndex == 2 && magnet.ControlPoint != null) 
+                            {
+                                magnet.ControlPoint.X = newPosition.X;
+                                magnet.ControlPoint.Y = newPosition.Y;
+                            }
+                        }
+                        else if (_selectedNode is MapMark mark)
+                        {
+                            // 마크는 중심점 대비 각도와 길이를 계산하여 수정
+                            var dx = newPosition.X - mark.Position.X;
+                            var dy = newPosition.Y - mark.Position.Y;
+                            
+                            // 핸들 인덱스에 따라 각도 반전 (p1 vs p2)
+                            if (_dragHandleIndex == 0) { dx = -dx; dy = -dy; }
+                            
+                            mark.Rotation = Math.Atan2(dy, dx) * 180.0 / Math.PI;
+                            mark.Length = Math.Sqrt(dx * dx + dy * dy) * 2;
+                        }
+                    }
+                    else
+                    {
+                        // 노드 전체 드래그
                         _selectedNode.Position = newPosition;
                         NodeMoved?.Invoke(this, _selectedNode);
+                    }
                     moved = true;
                 }
 
@@ -352,6 +419,7 @@ namespace AGVNavigationCore.Controls
                 if (_isDragging && _canvasMode == CanvasMode.Edit)
                 {
                     _isDragging = false;
+                    _dragHandleIndex = -1;
                     Capture = false; // 🔥 마우스 캡처 해제
                     Cursor = GetCursorForMode(_editMode);
                 }
@@ -463,6 +531,25 @@ namespace AGVNavigationCore.Controls
                 }
             }
 
+            if (_marks != null)
+            {
+                for (int i = _marks.Count - 1; i >= 0; i--)
+                {
+                    var node = _marks[i];
+                    if (IsPointInNode(worldPoint, node))
+                        return node;
+                }
+            }
+
+            if (_magnets != null)
+            {
+                for (int i = _magnets.Count - 1; i >= 0; i--)
+                {
+                    var node = _magnets[i];
+                    if (IsPointInNode(worldPoint, node))
+                        return node;
+                }
+            }
 
             return null;
         }
@@ -477,6 +564,14 @@ namespace AGVNavigationCore.Controls
             {
                 return IsPointInImage(point, image);
             }
+            if (node is MapMark mark)
+            {
+                return IsPointInMark(point, mark);
+            }
+            if (node is MapMagnet magnet)
+            {
+                return IsPointInMagnet(point, magnet);
+            }
             // 라벨과 이미지는 별도 리스트로 관리되므로 여기서 처리하지 않음
             // 하지만 혹시 모를 하위 호환성을 위해 타입 체크는 유지하되, 
             // 실제 로직은 CircularNode 등으로 분기
@@ -487,13 +582,12 @@ namespace AGVNavigationCore.Controls
         {
             switch (node.StationType)
             {
-                case StationType.Loader:
-                case StationType.UnLoader:
-                case StationType.Clearner:
-                case StationType.Buffer:
+                case Station.Loder:
+                case Station.Cleaner:
+                case Station.Plating:
+                case Station.Buffer:
                     return IsPointInPentagon(point, node);
-                case StationType.Charger2:
-                case StationType.Charger1:
+                case Station.Charger:
                     return IsPointInTriangle(point, node);
                 default:
                     return IsPointInCircle(point, node);
@@ -648,6 +742,55 @@ namespace AGVNavigationCore.Controls
             return imageRect.Contains(point);
         }
 
+        private bool IsPointInMark(Point point, MapMark mark)
+        {
+            int lineLength = (int)mark.Length;
+            int halfLength = lineLength / 2;
+            double radians = mark.Rotation * Math.PI / 180.0;
+            int dx = (int)(halfLength * Math.Cos(radians));
+            int dy = (int)(halfLength * Math.Sin(radians));
+
+            Point p1 = new Point(mark.Position.X - dx, mark.Position.Y - dy);
+            Point p2 = new Point(mark.Position.X + dx, mark.Position.Y + dy);
+
+            // 마크 선택을 위해 약간 넉넉한 히트 영역 (7픽셀)
+            return CalculatePointToLineDistance(point, p1, p2) <= 7 / _zoomFactor;
+        }
+
+        private bool IsPointInMagnet(Point point, MapMagnet magnet)
+        {
+            // 마그넷은 두꺼우므로 (Pen Width 15) 절반인 7.5 정도를 히트 영역으로 잡음
+            float hitThreshold = Math.Max(8f, 12f / _zoomFactor);
+
+            if (magnet.ControlPoint != null)
+            {
+                // 베지어 곡선 정밀 샘플링 (10개 세그먼트)
+                Point prevPoint = magnet.StartPoint;
+                for (int i = 1; i <= 10; i++)
+                {
+                    float t = i / 10f;
+                    // Quadratic Bezier: (1-t)^2*P0 + 2(1-t)t*P1 + t^2*P2
+                    float u = 1 - t;
+                    float tt = t * t;
+                    float uu = u * u;
+
+                    float x = uu * magnet.StartPoint.X + 2 * u * t * (float)magnet.ControlPoint.X + tt * magnet.EndPoint.X;
+                    float y = uu * magnet.StartPoint.Y + 2 * u * t * (float)magnet.ControlPoint.Y + tt * magnet.EndPoint.Y;
+                    Point currentPoint = new Point((int)x, (int)y);
+
+                    if (CalculatePointToLineDistance(point, prevPoint, currentPoint) <= hitThreshold)
+                        return true;
+
+                    prevPoint = currentPoint;
+                }
+                return false;
+            }
+            else
+            {
+                return CalculatePointToLineDistance(point, magnet.StartPoint, magnet.EndPoint) <= hitThreshold;
+            }
+        }
+
         //private MapLabel GetLabelAt(Point worldPoint)
         //{
         //    if (_labels == null) return null;
@@ -764,7 +907,9 @@ namespace AGVNavigationCore.Controls
             var newNode = new MapNode
             {
                 Id = newNodeId,
-                Position = worldPoint
+                Position = worldPoint,
+                 CanTurnLeft=false,
+                  CanTurnRight= false,
             };
 
             _nodes.Add(newNode);
@@ -833,7 +978,7 @@ namespace AGVNavigationCore.Controls
         /// <summary>
         /// 중복되지 않는 고유한 NodeId 생성
         /// </summary>
-        private string GenerateUniqueNodeId()
+        public string GenerateUniqueNodeId()
         {
             string nodeId;
             int counter = _nodeCounter;
@@ -875,6 +1020,31 @@ namespace AGVNavigationCore.Controls
             Invalidate();
         }
 
+        private void HandleConnectDirectionClick(MapNode hitNode)
+        {
+            if (hitNode == null) return;
+
+            if (!_isConnectionMode)
+            {
+                // 연결 시작 (방향 설정)
+                _isConnectionMode = true;
+                _connectionStartNode = hitNode;
+                _selectedNode = hitNode;
+            }
+            else
+            {
+                // 연결 완료
+                if (_connectionStartNode != null && _connectionStartNode != hitNode)
+                {
+                    // 기본값 S (Straight)로 방향 설정
+                    SetMagnetDirection(_connectionStartNode, hitNode, MagnetPosition.S);
+                }
+                CancelConnection();
+            }
+
+            Invalidate();
+        }
+
         private void HandleDeleteClick(MapNode hitNode)
         {
             if (hitNode == null) return;
@@ -902,10 +1072,46 @@ namespace AGVNavigationCore.Controls
                 toNode.ConnectedNodes.Contains(fromNode.Id))
                 return;
 
+            // 양방향 연결 생성 (AGV가 양쪽 방향으로 이동 가능하도록)
             // 양방향 연결 생성 (AGV가 양쪽 방향으로 이동 가능하도록)
             fromNode.AddConnection(toNode.Id);
             toNode.AddConnection(fromNode.Id);
 
+            // 🔥 화면 표시용 ConnectedMapNodes 리스트도 즉시 갱신해야 함
+            if (!fromNode.ConnectedMapNodes.Contains(toNode))
+                fromNode.ConnectedMapNodes.Add(toNode);
+            
+            if (!toNode.ConnectedMapNodes.Contains(fromNode))
+                toNode.ConnectedMapNodes.Add(fromNode);
+
+            ConnectionCreated?.Invoke(this, (fromNode, toNode));
+            MapChanged?.Invoke(this, EventArgs.Empty);
+        }
+
+        public void SetMagnetDirection(MapNode fromNode, MapNode toNode, MagnetPosition direction)
+        {
+            if (fromNode == null || toNode == null) return;
+
+            // 이미 연결된 노드인지 확인 (연결되어 있어야 방향 설정 가능)
+            // 이미 연결된 노드인지 확인 (연결되어 있어야 방향 설정 가능)
+            if (!fromNode.ConnectedNodes.Contains(toNode.Id))
+            {
+                // 연결되어 있지 않으면 자동 연결
+                CreateConnection(fromNode, toNode);
+            }
+
+            if (fromNode.MagnetDirections == null)
+                fromNode.MagnetDirections = new Dictionary<string, MagnetPosition>();
+
+            if (fromNode.MagnetDirections.ContainsKey(toNode.Id))
+            {
+                fromNode.MagnetDirections[toNode.Id] = direction;
+            }
+            else
+            {
+                fromNode.MagnetDirections.Add(toNode.Id, direction);
+            }
+
             MapChanged?.Invoke(this, EventArgs.Empty);
         }
 
@@ -1053,8 +1259,8 @@ namespace AGVNavigationCore.Controls
             var C = lineEnd.X - lineStart.X;
             var D = lineEnd.Y - lineStart.Y;
 
-            var dot = A * C + B * D;
-            var lenSq = C * C + D * D;
+            var dot = (double)A * C + (double)B * D;
+            var lenSq = (double)C * C + (double)D * D;
 
             if (lenSq == 0) return CalculateDistance(point, lineStart);
 
@@ -1102,6 +1308,39 @@ namespace AGVNavigationCore.Controls
             }
         }
 
+        private int GetHandleAt(Point worldPoint)
+        {
+            if (_selectedNode == null) return -1;
+
+            float hitTolerance = (HANDLE_SIZE + 4) / _zoomFactor;
+
+            if (_selectedNode is MapMagnet magnet)
+            {
+                if (CalculateDistance(worldPoint, magnet.StartPoint) <= hitTolerance) return 0;
+                if (CalculateDistance(worldPoint, magnet.EndPoint) <= hitTolerance) return 1;
+                if (magnet.ControlPoint != null)
+                {
+                    if (CalculateDistance(worldPoint, new Point((int)magnet.ControlPoint.X, (int)magnet.ControlPoint.Y)) <= hitTolerance) return 2;
+                }
+            }
+            else if (_selectedNode is MapMark mark)
+            {
+                int lineLength = (int)mark.Length;
+                int halfLength = lineLength / 2;
+                double radians = mark.Rotation * Math.PI / 180.0;
+                int dx = (int)(halfLength * Math.Cos(radians));
+                int dy = (int)(halfLength * Math.Sin(radians));
+
+                Point p1 = new Point(mark.Position.X - dx, mark.Position.Y - dy);
+                Point p2 = new Point(mark.Position.X + dx, mark.Position.Y + dy);
+
+                if (CalculateDistance(worldPoint, p1) <= hitTolerance) return 0;
+                if (CalculateDistance(worldPoint, p2) <= hitTolerance) return 1;
+            }
+
+            return -1;
+        }
+
         #endregion
 
         #region View Control Methods

AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs

@@ -20,7 +20,7 @@ namespace AGVNavigationCore.Controls
     {
         #region Constants
 
-        private const int NODE_SIZE = 24;
+        private const int NODE_SIZE = 18;
         private const int NODE_RADIUS = NODE_SIZE / 2;
         private const int GRID_SIZE = 20;
         private const float CONNECTION_WIDTH = 1.0f;
@@ -56,6 +56,7 @@ namespace AGVNavigationCore.Controls
             DeleteConnection, // 연결 삭제 모드
             AddLabel,       // 라벨 추가 모드
             AddImage,       // 이미지 추가 모드
+            ConnectDirection, // 방향 연결 모드
         }
 
         #endregion
@@ -109,6 +110,8 @@ namespace AGVNavigationCore.Controls
         private MapNode _connectionStartNode;
         private Point _connectionEndPoint;
         private int _mouseMoveCounter = 0; // 디버그용: MouseMove 실행 횟수
+        private int _dragHandleIndex = -1; // 드래그 중인 핸들 인덱스
+        private const int HANDLE_SIZE = 8; // 편집 핸들 크기
 
         // 영역 선택 관련
         private bool _isAreaSelecting;
@@ -135,12 +138,28 @@ namespace AGVNavigationCore.Controls
         private float _syncProgress = 0.0f;
         private string _syncDetail = "";
 
-        string _alertmesage = "";
-        bool showalert = false;
-        public void SetAlertMessage(string m)
+        string _systemmesage = "";
+        string _infomessage = "";
+        string _tagignoreMessage = "";
+        bool showalertsystem = false;
+        bool showinfo = false;
+        bool showtagigreno = false;
+        DateTime tagignoretime = DateTime.Now;
+        public void SetTagIgnore(string m)
         {
-            _alertmesage = m;
-            showalert = !string.IsNullOrEmpty(m);
+            _tagignoreMessage = m;
+            tagignoretime = DateTime.Now;
+            showtagigreno = !string.IsNullOrEmpty(m);
+        }
+        public void SetInfoMessage(string m)
+        {
+            _infomessage = m;
+            showinfo = !string.IsNullOrEmpty(m);
+        }
+        public void SetSystemMessage(string m)
+        {
+            _systemmesage = m;
+            showalertsystem = !string.IsNullOrEmpty(m);
         }
 
         // 브러쉬 및 펜
@@ -185,6 +204,7 @@ namespace AGVNavigationCore.Controls
         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)> ConnectionCreated; // 연결 생성 이벤트 추가
         public event EventHandler<(MapNode From, MapNode To)> ConnectionDeleted;
         public event EventHandler<MapImage> ImageDoubleClicked;
         public event EventHandler<MapLabel> LabelDoubleClicked;
@@ -231,6 +251,18 @@ namespace AGVNavigationCore.Controls
         {
             if (_nodes != null && _nodes.Contains(node))
             {
+                // 🔥 삭제되는 노드와 연결된 다른 노드들의 연결 정보도 삭제
+                foreach (var otherNode in _nodes.ToList()) // ToList()로 복사본 순회 (안전장치)
+                {
+                    if (otherNode == node) continue;
+
+                    // 다른 노드 -> 삭제되는 노드 연결 제거
+                    if (otherNode.ConnectedNodes.Contains(node.Id))
+                    {
+                        otherNode.RemoveConnection(node.Id);
+                    }
+                }
+
                 _nodes.Remove(node);
                 Invalidate();
             }
@@ -291,6 +323,34 @@ namespace AGVNavigationCore.Controls
             }
         }
 
+        /// <summary>
+        /// 외부에서 Pan(X,Y) 및 Zoom 값을 설정합니다.
+        /// </summary>
+        /// <param name="panX">Pan X 좌표</param>
+        /// <param name="panY">Pan Y 좌표</param>
+        /// <param name="zoom">Zoom Level (0.1 ~ 5.0)</param>
+        public void SetView(float panX, float panY, float zoom)
+        {
+            // Zoom 값 범위 제한
+            float newZoom = Math.Max(0.1f, Math.Min(5.0f, zoom));
+
+            _panOffset = new PointF(panX, panY);
+            _zoomFactor = newZoom;
+
+            Invalidate();
+        }
+
+        [Browsable(false)]
+        public PointF PanOffset
+        {
+            get => _panOffset;
+            set
+            {
+                _panOffset = value;
+                Invalidate();
+            }
+        }
+
         /// <summary>
         /// 그리드 표시 여부
         /// </summary>
@@ -345,9 +405,23 @@ namespace AGVNavigationCore.Controls
         /// <summary>
         /// 선택된 노드 (단일)
         /// </summary>
-        public MapNode SelectedNode
+        public NodeBase SelectedNode
         {
-            get { return this._selectedNode as MapNode; }
+            get { return this._selectedNode; }
+            set
+            {
+                _selectedNode = value;
+                if (value != null)
+                {
+                    _selectedNodes.Clear();
+                    _selectedNodes.Add(value);
+                }
+                else
+                {
+                    _selectedNodes.Clear();
+                }
+                Invalidate();
+            }
         }
 
         /// <summary>
@@ -392,6 +466,19 @@ namespace AGVNavigationCore.Controls
             this.FitToNodes();
         }
 
+        /// <summary>
+        /// 맵 데이터를 셋팅합니다
+        /// </summary>
+        public void SetMapData(List<MapNode> nodes, List<MapLabel> labels = null, List<MapImage> images = null, List<MapMark> marks = null, List<MapMagnet> magnets = null)
+        {
+            this.Nodes = nodes;
+            this.Labels = labels ?? new List<MapLabel>();
+            this.Images = images ?? new List<MapImage>();
+            this.Marks = marks ?? new List<MapMark>();
+            this.Magnets = magnets ?? new List<MapMagnet>();
+            this.FitToNodes();
+        }
+
         /// <summary>
         /// 노드 목록
         /// </summary>
@@ -656,8 +743,8 @@ namespace AGVNavigationCore.Controls
             _destinationNodePen = new Pen(Color.Orange, 4);
             _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 };
+            _highlightedConnectionPen = new Pen(Color.Red, 6) { DashStyle = DashStyle.Solid };
+            _magnetPen = new Pen(Color.FromArgb(100, Color.LightSkyBlue), 15) { DashStyle = DashStyle.Solid, StartCap = LineCap.Round, EndCap = LineCap.Round };
             _markPen = new Pen(Color.White, 3); // 마크는 흰색 선으로 표시
         }
 
@@ -858,6 +945,7 @@ namespace AGVNavigationCore.Controls
 
                 // 이미지 정리
                 _companyLogo?.Dispose();
+
             }
 
             base.Dispose(disposing);

AGVLogic/AGVNavigationCore/Models/AGVCommand.cs

@@ -21,6 +21,9 @@
         /// <summary>명령 이유- (디버깅/로깅용)</summary>
         public eAGVCommandReason Reason { get; set; }
 
+        /// <summary>방향 전환 명령 여부 (180도 Left Turn 등)</summary>
+        public bool IsTurn { get; set; }
+
         /// <summary>
         /// 생성자
         /// </summary>

AGVLogic/AGVNavigationCore/Models/Enums.cs

@@ -58,29 +58,27 @@ namespace AGVNavigationCore.Models
     /// <summary>
     /// 장비 타입 열거형
     /// </summary>
-    public enum StationType
+    public enum Station
     {
         /// <summary>
         /// 일반노드
         /// </summary>
         Normal,
         /// <summary>로더</summary>
-        Loader,
+        Loder,
         /// <summary>클리너</summary>
-        Clearner,
+        Plating,
         /// <summary>오프로더</summary>
-        UnLoader,
+        Cleaner,
         /// <summary>버퍼</summary>
         Buffer,
         /// <summary>충전기1</summary>
-        Charger1,
-        /// <summary>충전기2</summary>
-        Charger2,
+        Charger,
 
         /// <summary>
         /// 끝점(더이상 이동불가)
         /// </summary>
-        Limit,
+        Lmt,
 
     }
 
@@ -179,4 +177,7 @@ namespace AGVNavigationCore.Models
         Complete,
 
     }
+
+
+
 }

AGVLogic/AGVNavigationCore/Models/MapMagnet.cs

@@ -56,17 +56,37 @@ namespace AGVNavigationCore.Models
         }
 
         /// <summary>
-        /// 시작점 Point 반환
+        /// 시작점 Point 반환 및 설정
         /// </summary>
         [Browsable(false)]
         [JsonIgnore]
-        public Point StartPoint => new Point((int)P1.X, (int)P1.Y);
+        public Point StartPoint
+        {
+            get => new Point((int)P1.X, (int)P1.Y);
+            set { P1.X = value.X; P1.Y = value.Y; }
+        }
 
         /// <summary>
-        /// 끝점 Point 반환
+        /// 끝점 Point 반환 및 설정
         /// </summary>
         [Browsable(false)]
         [JsonIgnore]
-        public Point EndPoint => new Point((int)P2.X, (int)P2.Y);
+        public Point EndPoint
+        {
+            get => new Point((int)P2.X, (int)P2.Y);
+            set { P2.X = value.X; P2.Y = value.Y; }
+        }
+
+        public override string ToString()
+        {
+            if (ControlPoint == null)
+            {
+               return $"[LINE]  ({P1.X:F0},{P1.Y:F0}) -> ({P2.X:F0},{P2.Y:F0})";
+            }
+            else
+            {
+               return $"[CURVE] ({P1.X:F0},{P1.Y:F0}) -> ({P2.X:F0},{P2.Y:F0})";
+            }
+        }
     }
 }

AGVLogic/AGVNavigationCore/Models/MapMark.cs

@@ -33,5 +33,9 @@ namespace AGVNavigationCore.Models
         [Category("위치 정보")]
         [Description("마크의 회전 각도")]
         public double Rotation { get; set; }
+
+        [Category("위치 정보")]
+        [Description("마크의 길이")]
+        public double Length { get; set; } = 20.0;
     }
 }

AGVLogic/AGVNavigationCore/Models/MapNode.cs

@@ -15,23 +15,20 @@ namespace AGVNavigationCore.Models
     {
 
 
-        [Category("라벨 설정")]
-        [Description("표시할 텍스트입니다.")]
-        public string Text { get; set; } = "";
      
-        public StationType StationType { get; set; }
+
+        public Station StationType { get; set; }
 
         [Browsable(false)]
         public bool CanDocking
         {
             get
             {
-                if (StationType == StationType.Buffer) return true;
-                if (StationType == StationType.Loader) return true;
-                if (StationType == StationType.UnLoader) return true;
-                if (StationType == StationType.Clearner) return true;
-                if (StationType == StationType.Charger1) return true;
-                if (StationType == StationType.Charger2) return true;
+                if (StationType == Station.Buffer) return true;
+                if (StationType == Station.Loder) return true;
+                if (StationType == Station.Cleaner) return true;
+                if (StationType == Station.Plating) return true;
+                if (StationType == Station.Charger) return true;
                 return false;
             }
         }
@@ -56,11 +53,11 @@ namespace AGVNavigationCore.Models
 
         [Category("주행 설정")]
         [Description("제자리 회전(좌) 가능 여부입니다.")]
-        public bool CanTurnLeft { get; set; } = true;
+        public bool CanTurnLeft { get; set; } = false;
 
         [Category("주행 설정")]
         [Description("제자리 회전(우) 가능 여부입니다.")]
-        public bool CanTurnRight { get; set; } = true;
+        public bool CanTurnRight { get; set; } = false;
 
         [Category("주행 설정")]
         [Description("교차로 주행 가능 여부입니다.")]
@@ -73,11 +70,11 @@ namespace AGVNavigationCore.Models
             }
             set { _disablecross = value; }
         }
-        private bool _disablecross = false;
+        private bool _disablecross = true;
 
         [Category("주행 설정")]
         [Description("노드 통과 시 제한 속도입니다.")]
-        public SpeedLevel SpeedLimit { get; set; } = SpeedLevel.M;
+        public SpeedLevel SpeedLimit { get; set; } = SpeedLevel.L;
 
         [Category("노드 설정")]
         [Description("장비 ID 또는 별칭입니다.")]
@@ -105,12 +102,16 @@ namespace AGVNavigationCore.Models
             set => _textFontSize = value > 0 ? value : 7.0f;
         }
 
+        [Category("노드 텍스트")]
+        [Description("표시할 텍스트입니다.")]
+        public string Text { get; set; } = "";
+
         public MapNode() : base()
         {
             Type = NodeType.Normal;
         }
 
-        public MapNode(string nodeId, Point position, StationType type) : base(nodeId, position)
+        public MapNode(string nodeId, Point position, Station type) : base(nodeId, position)
         {
             Type = NodeType.Normal;
         }
@@ -121,9 +122,9 @@ namespace AGVNavigationCore.Models
         {
             get
             {
-                if (StationType == StationType.Charger1 || StationType == StationType.Charger2 || StationType == StationType.Buffer ||
-                     StationType == StationType.Clearner || StationType == StationType.Loader ||
-                     StationType == StationType.UnLoader) return true;
+                if (StationType == Station.Charger ||  StationType == Station.Buffer ||
+                     StationType == Station.Plating || StationType == Station.Loder ||
+                     StationType == Station.Cleaner) return true;
                 return false;
             }
         }
@@ -141,6 +142,15 @@ namespace AGVNavigationCore.Models
         {
             if (ConnectedNodes.Remove(nodeId))
             {
+                if (MagnetDirections != null && MagnetDirections.ContainsKey(nodeId))
+                {
+                    MagnetDirections.Remove(nodeId);
+                }
+
+                // 🔥 ConnectedMapNodes에서도 제거 (화면 갱신용)
+                var target = ConnectedMapNodes.Find(n => n.Id == nodeId);
+                if (target != null) ConnectedMapNodes.Remove(target);
+                
                 ModifiedDate = DateTime.Now;
             }
         }

AGVLogic/AGVNavigationCore/Models/NodeMotorInfo.cs

@@ -1,6 +1,4 @@
-using AGVNavigationCore.Models;
-
-namespace AGVNavigationCore.PathFinding.Planning
+namespace AGVNavigationCore.Models
 {
     /// <summary>
     /// AGV 마그넷 센서 방향 제어
@@ -82,13 +80,16 @@ namespace AGVNavigationCore.PathFinding.Planning
         /// </summary>
         public bool IsPass { get; set; }
 
+        public bool IsTurn { get; set; }
         /// <summary>
         /// 특수 동작 설명
         /// </summary>
         public string SpecialActionDescription { get; set; }
 
-        public NodeMotorInfo(int seqno,string nodeId,ushort rfid, AgvDirection motorDirection, MapNode nextNodeId = null, MagnetDirection magnetDirection = MagnetDirection.Straight)
+        public NodeMotorInfo(int seqno,string nodeId,ushort rfid, 
+            AgvDirection motorDirection, MapNode nextNodeId = null, MagnetDirection magnetDirection = MagnetDirection.Straight,bool turn=false)
         {
+            IsTurn = turn;
             seq = seqno;
             NodeId = nodeId;
             RfidId = rfid;

AGVLogic/AGVNavigationCore/Models/VirtualAGV.cs

@@ -56,7 +56,7 @@ namespace AGVNavigationCore.Models
         private AgvDirection _prevDirection;
         private AGVState _currentState;
         private float _currentSpeed;
-
+        private MapNode _targetnode = null;
         // 경로 관련
         private AGVPathResult _currentPath;
         private List<string> _remainingNodes;
@@ -92,7 +92,6 @@ namespace AGVNavigationCore.Models
 
         #region Properties
 
-        public bool Turn180 { get; set; } = false;
 
         /// <summary>
         /// 대상 이동시 모터 방향
@@ -312,7 +311,6 @@ namespace AGVNavigationCore.Models
         /// <returns>다음에 수행할 모터/마그넷/속도 명령</returns>
         public AGVCommand Predict()
         {
-
             // 1. 위치 미확정 상태 (RFID 2개 미만 감지)
             if (!_isPositionConfirmed)
             {
@@ -347,12 +345,11 @@ namespace AGVNavigationCore.Models
             var lastNode = _currentPath.DetailedPath.Last();
             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.Id == lastNode.NodeId)
+                // 마지막 노드에 도착했는지 확인 (현재 노드가 마지막 노드와 같은지) -
+                // 모터방향오 같아야한다. 간혹 방향전환 후 MARK  STOP하는경우가있다.    260127
+                if (_currentNode != null && _currentNode.Id == lastNode.NodeId && lastNode.MotorDirection == CurrentDirection)
                 {
+
                     if (lastNode.IsPass) //이미완료되었다.
                     {
                         return new AGVCommand(
@@ -365,12 +362,23 @@ namespace AGVNavigationCore.Models
                     }
                     else
                     {
+                        //움직이지 않는다면 움직이게하고, 움직인다면 마크스탑하낟.i
+                        
+                        
+                        //도킹노드라면 markstop  을 나머지는 바로 스탑한다.
+                        eAGVCommandReason reason = eAGVCommandReason.MarkStop;
+                        if (TargetNode.StationType == Station.Normal || TargetNode.StationType == Station.Lmt)
+                        {
+                            //일반노드는 마크스탑포인트가 없으니 바로 종료되도록 한다
+                            reason = eAGVCommandReason.Complete;
+                        }
+
                         //마지막노드는 일혔지만 완료되지 않았다. 마크스탑필요
                         return new AGVCommand(
                          MotorCommand.Stop,
                          MagnetPosition.S,
                          SpeedLevel.L,
-                          eAGVCommandReason.MarkStop,
+                          reason,
                          $"목적지 도착 전(MarkStop) - 최종:{CurrentNodeID2}"
                          );
                     }
@@ -379,8 +387,8 @@ namespace AGVNavigationCore.Models
             }
 
             // 4. 경로이탈
-            var TargetNode = _currentPath.DetailedPath.Where(t => t.IsPass == false && t.NodeId.Equals(_currentNode.Id)).FirstOrDefault();
-            if (TargetNode == null)
+            var checkPathOutNode = _currentPath.DetailedPath.Where(t => t.IsPass == false && t.NodeId.Equals(_currentNode.Id)).FirstOrDefault();
+            if (checkPathOutNode == null)
             {
                 return new AGVCommand(
                     MotorCommand.Stop,
@@ -712,6 +720,15 @@ namespace AGVNavigationCore.Models
 
             // MotorDirection → MotorCommand 변환
             MotorCommand motorCmd;
+            eAGVCommandReason reason = eAGVCommandReason.Normal;
+
+            if (nodeInfo.IsTurn)
+            {
+                motorCmd = MotorCommand.Stop;
+                reason = eAGVCommandReason.MarkStop;
+            }
+            else
+            {
                 switch (nodeInfo.MotorDirection)
                 {
                     case AgvDirection.Forward:
@@ -724,18 +741,19 @@ namespace AGVNavigationCore.Models
                         motorCmd = MotorCommand.Stop;
                         break;
                 }
+            }
 
             // MagnetDirection → MagnetPosition 변换
             MagnetPosition magnetPos;
             switch (nodeInfo.MagnetDirection)
             {
-                case PathFinding.Planning.MagnetDirection.Left:
+                case MagnetDirection.Left:
                     magnetPos = MagnetPosition.L;
                     break;
-                case PathFinding.Planning.MagnetDirection.Right:
+                case MagnetDirection.Right:
                     magnetPos = MagnetPosition.R;
                     break;
-                case PathFinding.Planning.MagnetDirection.Straight:
+                case MagnetDirection.Straight:
                 default:
                     magnetPos = MagnetPosition.S;
                     break;
@@ -753,9 +771,12 @@ namespace AGVNavigationCore.Models
                 motorCmd,
                 magnetPos,
                 speed,
-                 eAGVCommandReason.Normal,
+                 reason,
                 $"{actionDescription} → {targetNode.Id} (Motor:{motorCmd}, Magnet:{magnetPos})"
-            );
+            )
+            {
+                IsTurn = nodeInfo.IsTurn
+            };
         }
 
         private void StartMovement()
@@ -827,8 +848,6 @@ namespace AGVNavigationCore.Models
 
         public MapNode StartNode { get; set; } = null;
       
-        private MapNode _targetnode = null;
-
         /// <summary>
         /// 목적지를 설정합니다. 목적지가 변경되면 경로계산정보가 삭제 됩니다.
         /// </summary>
@@ -848,6 +867,10 @@ namespace AGVNavigationCore.Models
             }
         }
 
+     
+
+       
+
         private void ProcessNextNode()
         {
             if (_remainingNodes == null || _currentNodeIndex >= _remainingNodes.Count - 1)

AGVLogic/AGVNavigationCore/PathFinding/Core/AGVPathResult.cs

@@ -165,7 +165,7 @@ namespace AGVNavigationCore.PathFinding.Core
                 Success = false,
                 Message = errorMessage,
                 CalculationTimeMs = calculationTimeMs,
-                ExploredNodes = exploredNodes
+                ExploredNodes = exploredNodes,
             };
         }
 

AGVLogic/AGVNavigationCore/PathFinding/Core/AStarPathfinder.cs

@@ -181,277 +181,6 @@ namespace AGVNavigationCore.PathFinding.Core
             }
         }
 
-        ///// <summary>
-        ///// 경유지를 거쳐 경로 찾기 (오버로드)
-        ///// 여러 경유지를 순차적으로 거쳐서 최종 목적지까지의 경로를 계산합니다.
-        ///// 기존 FindPath를 여러 번 호출하여 각 구간의 경로를 합칩니다.
-        ///// </summary>
-        ///// <param name="startNodeId">시작 노드 ID</param>
-        ///// <param name="endNodeId">최종 목적지 노드 ID</param>
-        ///// <param name="waypointNodeIds">경유지 노드 ID 배열 (선택사항)</param>
-        ///// <returns>경로 계산 결과 (모든 경유지를 거친 전체 경로)</returns>
-        //public AGVPathResult FindPath(string startNodeId, string endNodeId, params string[] waypointNodeIds)
-        //{
-        //    var stopwatch = System.Diagnostics.Stopwatch.StartNew();
-
-        //    try
-        //    {
-        //        // 경유지가 없으면 기본 FindPath 호출
-        //        if (waypointNodeIds == null || waypointNodeIds.Length == 0)
-        //        {
-        //            return FindPathAStar(startNodeId, endNodeId);
-        //        }
-
-        //        // 경유지 유효성 검증
-        //        var validWaypoints = new List<string>();
-        //        foreach (var waypointId in waypointNodeIds)
-        //        {
-        //            if (string.IsNullOrEmpty(waypointId))
-        //                continue;
-
-        //            if (!_nodeMap.ContainsKey(waypointId))
-        //            {
-        //                return AGVPathResult.CreateFailure($"경유지 노드를 찾을 수 없습니다: {waypointId}", stopwatch.ElapsedMilliseconds, 0);
-        //            }
-
-        //            validWaypoints.Add(waypointId);
-        //        }
-
-        //        // 경유지가 없으면 기본 경로 계산
-        //        if (validWaypoints.Count == 0)
-        //        {
-        //            return FindPathAStar(startNodeId, endNodeId);
-        //        }
-
-        //        // 첫 번째 경유지가 시작노드와 같은지 검사
-        //        if (validWaypoints[0] == startNodeId)
-        //        {
-        //            return AGVPathResult.CreateFailure(
-        //                $"첫 번째 경유지({validWaypoints[0]})가 시작 노드({startNodeId})와 동일합니다. 경유지는 시작노드와 달라야 합니다.",
-        //                stopwatch.ElapsedMilliseconds, 0);
-        //        }
-
-        //        // 마지막 경유지가 목적지노드와 같은지 검사
-        //        if (validWaypoints[validWaypoints.Count - 1] == endNodeId)
-        //        {
-        //            return AGVPathResult.CreateFailure(
-        //                $"마지막 경유지({validWaypoints[validWaypoints.Count - 1]})가 목적지 노드({endNodeId})와 동일합니다. 경유지는 목적지노드와 달라야 합니다.",
-        //                stopwatch.ElapsedMilliseconds, 0);
-        //        }
-
-        //        // 연속된 중복만 제거 (순서 유지)
-        //        // 예: [1, 2, 2, 3, 2] -> [1, 2, 3, 2] (연속 중복만 제거)
-        //        var deduplicatedWaypoints = new List<string>();
-        //        string lastWaypoint = null;
-        //        foreach (var waypoint in validWaypoints)
-        //        {
-        //            if (waypoint != lastWaypoint)
-        //            {
-        //                deduplicatedWaypoints.Add(waypoint);
-        //                lastWaypoint = waypoint;
-        //            }
-        //        }
-        //        validWaypoints = deduplicatedWaypoints;
-
-        //        // 최종 경로 리스트와 누적 값
-        //        var combinedPath = new List<MapNode>();
-        //        float totalDistance = 0;
-        //        long totalCalculationTime = 0;
-
-        //        // 현재 시작점
-        //        string currentStart = startNodeId;
-
-        //        // 1단계: 각 경유지까지의 경로 계산
-        //        for (int i = 0; i < validWaypoints.Count; i++)
-        //        {
-        //            string waypoint = validWaypoints[i];
-
-        //            // 현재 위치에서 경유지까지의 경로 계산
-        //            var segmentResult = FindPathAStar(currentStart, waypoint);
-
-        //            if (!segmentResult.Success)
-        //            {
-        //                return AGVPathResult.CreateFailure(
-        //                    $"경유지 {i + 1}({waypoint})까지의 경로 계산 실패: {segmentResult.ErrorMessage}",
-        //                    stopwatch.ElapsedMilliseconds, 0);
-        //            }
-
-        //            // 경로 합치기 (첫 번째 구간이 아니면 시작점 제거하여 중복 방지)
-        //            if (combinedPath.Count > 0 && segmentResult.Path.Count > 0)
-        //            {
-        //                // 시작 노드 제거 (이전 경로의 마지막 노드와 동일)
-        //                combinedPath.AddRange(segmentResult.Path.Skip(1));
-        //            }
-        //            else
-        //            {
-        //                combinedPath.AddRange(segmentResult.Path);
-        //            }
-
-        //            totalDistance += segmentResult.TotalDistance;
-        //            totalCalculationTime += segmentResult.CalculationTimeMs;
-
-        //            // 다음 경유지의 시작점은 현재 경유지
-        //            currentStart = waypoint;
-        //        }
-
-        //        // 2단계: 마지막 경유지에서 최종 목적지까지의 경로 계산
-        //        var finalSegmentResult = FindPathAStar(currentStart, endNodeId);
-
-        //        if (!finalSegmentResult.Success)
-        //        {
-        //            return AGVPathResult.CreateFailure(
-        //                $"최종 목적지까지의 경로 계산 실패: {finalSegmentResult.ErrorMessage}",
-        //                stopwatch.ElapsedMilliseconds, 0);
-        //        }
-
-        //        // 최종 경로 합치기 (시작점 제거)
-        //        if (combinedPath.Count > 0 && finalSegmentResult.Path.Count > 0)
-        //        {
-        //            combinedPath.AddRange(finalSegmentResult.Path.Skip(1));
-        //        }
-        //        else
-        //        {
-        //            combinedPath.AddRange(finalSegmentResult.Path);
-        //        }
-
-        //        totalDistance += finalSegmentResult.TotalDistance;
-        //        totalCalculationTime += finalSegmentResult.CalculationTimeMs;
-
-        //        stopwatch.Stop();
-
-        //        // 결과 생성
-        //        return AGVPathResult.CreateSuccess(
-        //            combinedPath,
-        //            new List<AgvDirection>(),
-        //            totalDistance,
-        //            totalCalculationTime
-        //        );
-        //    }
-        //    catch (Exception ex)
-        //    {
-        //        return AGVPathResult.CreateFailure($"경로 계산 중 오류: {ex.Message}", stopwatch.ElapsedMilliseconds, 0);
-        //    }
-        //}
-
-        /// <summary>
-        /// 두 경로 결과를 합치기
-        /// 이전 경로의 마지막 노드와 현재 경로의 시작 노드가 같으면 시작 노드를 제거하고 합침
-        /// </summary>
-        /// <param name="previousResult">이전 경로 결과</param>
-        /// <param name="currentResult">현재 경로 결과</param>
-        /// <returns>합쳐진 경로 결과</returns>
-        public  AGVPathResult CombineResults( AGVPathResult previousResult, AGVPathResult currentResult)
-        {
-            // 입력 검증
-            if (previousResult == null)
-                return currentResult;
-
-            if (currentResult == null)
-                return previousResult;
-
-            if (!previousResult.Success)
-                return AGVPathResult.CreateFailure(
-                    $"이전 경로 결과 실패: {previousResult.Message}",
-                    previousResult.CalculationTimeMs);
-
-            if (!currentResult.Success)
-                return AGVPathResult.CreateFailure(
-                    $"현재 경로 결과 실패: {currentResult.Message}",
-                    currentResult.CalculationTimeMs);
-
-            // 경로가 비어있는 경우 처리
-            if (previousResult.Path == null || previousResult.Path.Count == 0)
-                return currentResult;
-
-            if (currentResult.Path == null || currentResult.Path.Count == 0)
-                return previousResult;
-
-            // 합친 경로 생성
-            var combinedPath = new List<MapNode>(previousResult.Path);
-            var combinedCommands = new List<AgvDirection>(previousResult.Commands);
-            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].Id;
-            string firstNodeOfCurrent = currentResult.Path[0].Id;
-
-            if (lastNodeOfPrevious == firstNodeOfCurrent)
-            {
-                // 첫 번째 노드 제거 (중복 제거)
-                combinedPath.RemoveAt(combinedPath.Count - 1);
-                combinedPath.AddRange(currentResult.Path);
-
-                // DetailedPath도 첫 번째 노드 제거
-                if (currentResult.DetailedPath != null && currentResult.DetailedPath.Count > 0)
-                {
-                    combinedDetailedPath.RemoveAt(combinedDetailedPath.Count - 1);
-                    combinedDetailedPath.AddRange(currentResult.DetailedPath);
-                }
-            }
-            else
-            {
-                // 그대로 붙임
-                combinedPath.AddRange(currentResult.Path);
-
-                // DetailedPath도 그대로 붙임
-                if (currentResult.DetailedPath != null && currentResult.DetailedPath.Count > 0)
-                {
-                    combinedDetailedPath.AddRange(currentResult.DetailedPath);
-                }
-            }
-
-            // 명령어 합치기
-            combinedCommands.AddRange(currentResult.Commands);
-
-            // 총 거리 합산
-            float combinedDistance = previousResult.TotalDistance + currentResult.TotalDistance;
-
-            // 계산 시간 합산
-            long combinedCalculationTime = previousResult.CalculationTimeMs + currentResult.CalculationTimeMs;
-
-            // 합쳐진 결과 생성
-            var result = AGVPathResult.CreateSuccess(
-                combinedPath,
-                combinedCommands,
-                combinedDistance,
-                combinedCalculationTime
-            );
-
-            // DetailedPath 설정
-            result.DetailedPath = combinedDetailedPath;
-            result.PrevNode = previousResult.PrevNode;
-            result.PrevDirection = previousResult.PrevDirection;
-
-            return result;
-        }
-
-
-        ///// <summary>
-        ///// 여러 목적지 중 가장 가까운 노드로의 경로 찾기
-        ///// </summary>
-        ///// <param name="startNodeId">시작 노드 ID</param>
-        ///// <param name="targetNodeIds">목적지 후보 노드 ID 목록</param>
-        ///// <returns>경로 계산 결과</returns>
-        //public AGVPathResult FindNearestPath(string startNodeId, List<string> targetNodeIds)
-        //{
-        //    if (targetNodeIds == null || targetNodeIds.Count == 0)
-        //    {
-        //        return AGVPathResult.CreateFailure("목적지 노드가 지정되지 않았습니다", 0, 0);
-        //    }
-
-        //    AGVPathResult bestResult = null;
-        //    foreach (var targetId in targetNodeIds)
-        //    {
-        //        var result = FindPathAStar(startNodeId, targetId);
-        //        if (result.Success && (bestResult == null || result.TotalDistance < bestResult.TotalDistance))
-        //        {
-        //            bestResult = result;
-        //        }
-        //    }
-
-        //    return bestResult ?? AGVPathResult.CreateFailure("모든 목적지로의 경로를 찾을 수 없습니다", 0, 0);
-        //}
-
         /// <summary>
         /// 휴리스틱 거리 계산 (유클리드 거리)
         /// </summary>

AGVLogic/AGVNavigationCore/PathFinding/Core/Utility.cs

@@ -0,0 +1,106 @@
+using AGVNavigationCore.Models;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace AGVNavigationCore.PathFinding.Core
+{
+    public static class Utility
+    {
+        /// <summary>
+        /// 두 경로 결과를 합치기
+        /// 이전 경로의 마지막 노드와 현재 경로의 시작 노드가 같으면 시작 노드를 제거하고 합침
+        /// </summary>
+        /// <param name="previousResult">이전 경로 결과</param>
+        /// <param name="currentResult">현재 경로 결과</param>
+        /// <returns>합쳐진 경로 결과</returns>
+        public static AGVPathResult CombineResults(AGVPathResult previousResult, AGVPathResult currentResult)
+        {
+            // 입력 검증
+            if (previousResult == null)
+                return currentResult;
+
+            if (currentResult == null)
+                return previousResult;
+
+            if (!previousResult.Success)
+                return AGVPathResult.CreateFailure(
+                    $"이전 경로 결과 실패: {previousResult.Message}",
+                    previousResult.CalculationTimeMs);
+
+            if (!currentResult.Success)
+                return AGVPathResult.CreateFailure(
+                    $"현재 경로 결과 실패: {currentResult.Message}",
+                    currentResult.CalculationTimeMs);
+
+            // 경로가 비어있는 경우 처리
+            if (previousResult.Path == null || previousResult.Path.Count == 0)
+                return currentResult;
+
+            if (currentResult.Path == null || currentResult.Path.Count == 0)
+                return previousResult;
+
+            // 합친 경로 생성
+            var combinedPath = new List<MapNode>(previousResult.Path);
+            var combinedCommands = new List<AgvDirection>(previousResult.Commands);
+            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].Id;
+            string firstNodeOfCurrent = currentResult.Path[0].Id;
+
+            if (lastNodeOfPrevious == firstNodeOfCurrent)
+            {
+                // 첫 번째 노드 제거 (중복 제거)
+                combinedPath.RemoveAt(combinedPath.Count - 1);
+                combinedPath.AddRange(currentResult.Path);
+
+                // DetailedPath도 첫 번째 노드 제거
+                if (currentResult.DetailedPath != null && currentResult.DetailedPath.Count > 0)
+                {
+                    combinedDetailedPath.RemoveAt(combinedDetailedPath.Count - 1);
+                    combinedDetailedPath.AddRange(currentResult.DetailedPath);
+                }
+            }
+            else
+            {
+                // 그대로 붙임
+                combinedPath.AddRange(currentResult.Path);
+
+                // DetailedPath도 그대로 붙임
+                if (currentResult.DetailedPath != null && currentResult.DetailedPath.Count > 0)
+                {
+                    combinedDetailedPath.AddRange(currentResult.DetailedPath);
+                }
+            }
+
+            // 명령어 합치기
+            combinedCommands.AddRange(currentResult.Commands);
+
+            // 총 거리 합산
+            float combinedDistance = previousResult.TotalDistance + currentResult.TotalDistance;
+
+            // 계산 시간 합산
+            long combinedCalculationTime = previousResult.CalculationTimeMs + currentResult.CalculationTimeMs;
+
+            // 합쳐진 결과 생성
+            var result = AGVPathResult.CreateSuccess(
+                combinedPath,
+                combinedCommands,
+                combinedDistance,
+                combinedCalculationTime
+            );
+
+            // DetailedPath 설정
+            result.DetailedPath = combinedDetailedPath;
+            result.PrevNode = previousResult.PrevNode;
+            result.PrevDirection = previousResult.PrevDirection;
+
+            return result;
+        }
+
+
+    }
+}

AGVLogic/AGVNavigationCore/PathFinding/Planning/test.cs

@@ -0,0 +1,11 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+
+class Program {
+    static void Main() {
+        var paths = new List<string[]> { new[] { \"20F\", \"21F\", \"70B\" } };
+        var valid = paths.Select(p => p.Select(t => new { Tag = t, IdStr = new string(t.Where(char.IsDigit).ToArray()) }).ToList()).ToList();
+        Console.WriteLine(\"Compiled\");
+    }
+}

AGVLogic/AGVSimulator/AGVSimulator.csproj

@@ -17,7 +17,7 @@
     <DebugSymbols>true</DebugSymbols>
     <DebugType>full</DebugType>
     <Optimize>false</Optimize>
-    <OutputPath>..\..\..\..\..\..\Amkor\AGV4\Test\Simulator\</OutputPath>
+    <OutputPath>bin\debug\</OutputPath>
     <DefineConstants>DEBUG;TRACE</DefineConstants>
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>
@@ -45,6 +45,12 @@
     </Reference>
   </ItemGroup>
   <ItemGroup>
+    <Compile Include="fMain.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="fMain.Designer.cs">
+      <DependentUpon>fMain.cs</DependentUpon>
+    </Compile>
     <Compile Include="Forms\ComboBoxItem.cs" />
     <Compile Include="Forms\DirectionItem.cs" />
     <Compile Include="Forms\PathTestLogItem.cs" />
@@ -56,20 +62,9 @@
     </Compile>
     <Compile Include="Models\SimulatorConfig.cs" />
     <Compile Include="Models\SimulationState.cs" />
-    <Compile Include="Forms\SimulatorForm.cs">
-      <SubType>Form</SubType>
-    </Compile>
-    <Compile Include="Forms\SimulatorForm.Designer.cs">
-      <DependentUpon>SimulatorForm.cs</DependentUpon>
-    </Compile>
     <Compile Include="Program.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
   </ItemGroup>
-  <ItemGroup>
-    <EmbeddedResource Include="Forms\SimulatorForm.resx">
-      <DependentUpon>SimulatorForm.cs</DependentUpon>
-    </EmbeddedResource>
-  </ItemGroup>
   <ItemGroup>
     <None Include="build.bat" />
     <None Include="packages.config" />
@@ -84,5 +79,10 @@
       <Name>AGVMapEditor</Name>
     </ProjectReference>
   </ItemGroup>
+  <ItemGroup>
+    <EmbeddedResource Include="fMain.resx">
+      <DependentUpon>fMain.cs</DependentUpon>
+    </EmbeddedResource>
+  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
 </Project>

AGVLogic/AGVSimulator/fMain.Designer.cs

@@ -55,6 +55,7 @@ namespace AGVSimulator.Forms
             this.맵다른이름으로저장ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.toolStripSeparator1 = new System.Windows.Forms.ToolStripSeparator();
             this.launchMapEditorToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.btSelectMapEditor = new System.Windows.Forms.ToolStripMenuItem();
             this.toolStripSeparator4 = new System.Windows.Forms.ToolStripSeparator();
             this.exitToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.simulationToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
@@ -85,6 +86,7 @@ namespace AGVSimulator.Forms
             this._statusLabel = new System.Windows.Forms.ToolStripStatusLabel();
             this._coordLabel = new System.Windows.Forms.ToolStripStatusLabel();
             this.prb1 = new System.Windows.Forms.ToolStripProgressBar();
+            this.sbFile = new System.Windows.Forms.ToolStripStatusLabel();
             this._controlPanel = new System.Windows.Forms.Panel();
             this.groupBox1 = new System.Windows.Forms.GroupBox();
             this.propertyNode = new System.Windows.Forms.PropertyGrid();
@@ -120,7 +122,7 @@ namespace AGVSimulator.Forms
             this._liftDirectionLabel = new System.Windows.Forms.Label();
             this._motorDirectionLabel = new System.Windows.Forms.Label();
             this.timer1 = new System.Windows.Forms.Timer(this.components);
-            this.btSelectMapEditor = new System.Windows.Forms.ToolStripMenuItem();
+            this.button1 = new System.Windows.Forms.Button();
             this._menuStrip.SuspendLayout();
             this._toolStrip.SuspendLayout();
             this._statusStrip.SuspendLayout();
@@ -205,6 +207,13 @@ namespace AGVSimulator.Forms
             this.launchMapEditorToolStripMenuItem.Text = "MapEditor 실행(&M)";
             this.launchMapEditorToolStripMenuItem.Click += new System.EventHandler(this.OnLaunchMapEditor_Click);
             // 
+            // btSelectMapEditor
+            // 
+            this.btSelectMapEditor.Name = "btSelectMapEditor";
+            this.btSelectMapEditor.Size = new System.Drawing.Size(221, 22);
+            this.btSelectMapEditor.Text = "Mapeditor 선택";
+            this.btSelectMapEditor.Click += new System.EventHandler(this.btSelectMapEditor_Click);
+            // 
             // toolStripSeparator4
             // 
             this.toolStripSeparator4.Name = "toolStripSeparator4";
@@ -434,7 +443,8 @@ namespace AGVSimulator.Forms
             this._statusStrip.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
             this._statusLabel,
             this._coordLabel,
-            this.prb1});
+            this.prb1,
+            this.sbFile});
             this._statusStrip.Location = new System.Drawing.Point(0, 689);
             this._statusStrip.Name = "_statusStrip";
             this._statusStrip.Size = new System.Drawing.Size(1248, 22);
@@ -457,6 +467,12 @@ namespace AGVSimulator.Forms
             this.prb1.Name = "prb1";
             this.prb1.Size = new System.Drawing.Size(200, 16);
             // 
+            // sbFile
+            // 
+            this.sbFile.Name = "sbFile";
+            this.sbFile.Size = new System.Drawing.Size(17, 17);
+            this.sbFile.Text = "--";
+            // 
             // _controlPanel
             // 
             this._controlPanel.BackColor = System.Drawing.SystemColors.Control;
@@ -531,6 +547,7 @@ namespace AGVSimulator.Forms
             // 
             // _pathGroup
             // 
+            this._pathGroup.Controls.Add(this.button1);
             this._pathGroup.Controls.Add(this.btPath2);
             this._pathGroup.Controls.Add(this._clearPathButton);
             this._pathGroup.Controls.Add(this._targetCalcButton);
@@ -816,12 +833,15 @@ namespace AGVSimulator.Forms
             this.timer1.Interval = 500;
             this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
             // 
-            // btSelectMapEditor
+            // button1
             // 
-            this.btSelectMapEditor.Name = "btSelectMapEditor";
-            this.btSelectMapEditor.Size = new System.Drawing.Size(221, 22);
-            this.btSelectMapEditor.Text = "Mapeditor 선택";
-            this.btSelectMapEditor.Click += new System.EventHandler(this.btSelectMapEditor_Click);
+            this.button1.Location = new System.Drawing.Point(21, 201);
+            this.button1.Name = "button1";
+            this.button1.Size = new System.Drawing.Size(106, 25);
+            this.button1.TabIndex = 11;
+            this.button1.Text = "경로 계산2";
+            this.button1.UseVisualStyleBackColor = true;
+            this.button1.Click += new System.EventHandler(this.button1_Click);
             // 
             // SimulatorForm
             // 
@@ -937,5 +957,7 @@ namespace AGVSimulator.Forms
         private System.Windows.Forms.PropertyGrid propertyNode;
         private System.Windows.Forms.Button btPath2;
         private System.Windows.Forms.ToolStripMenuItem btSelectMapEditor;
+        private System.Windows.Forms.ToolStripStatusLabel sbFile;
+        private System.Windows.Forms.Button button1;
     }
 }

AGVLogic/AGVSimulator/fMain.cs

@@ -876,7 +876,7 @@ namespace AGVSimulator.Forms
             try
             {
                 var result = MapLoader.LoadMapFromFile(filePath);
-
+                sbFile.Text = filePath;
                 if (result.Success)
                 {
                     Console.WriteLine($"Map File Load : {filePath}");
@@ -1291,7 +1291,7 @@ namespace AGVSimulator.Forms
 
 
                 var flags = new List<string>();
-                if (info.CanRotate) flags.Add("회전가능");
+                if (info.IsTurn) flags.Add("회전");
                 if (info.IsDirectionChangePoint) flags.Add("방향전환");
                 if (info.RequiresSpecialAction) flags.Add($"특수동작:{info.SpecialActionDescription}");
                 if (info.MagnetDirection != MagnetDirection.Straight) flags.Add($"마그넷:{info.MagnetDirection}");
@@ -1322,6 +1322,8 @@ namespace AGVSimulator.Forms
                 else if (motorInfo.IsDirectionChangePoint && motorInfo.CanRotate)
                     motorSymbol += "[↻]";
 
+                if (motorInfo.IsTurn) motorSymbol = "[TURN]";
+
                 pathWithDetails.Add($"{rfidId}{motorSymbol}");
             }
 
@@ -1596,7 +1598,7 @@ namespace AGVSimulator.Forms
                 MotorDirection = directionName,
                 CurrentPosition = GetNodeDisplayName(currentNode),
                 TargetPosition = GetNodeDisplayName(targetNode),
-                DockingPosition = (targetNode.StationType == StationType.Charger1 || targetNode.StationType == StationType.Charger2) ? "충전기" : "장비"
+                DockingPosition = (targetNode.StationType == Station.Charger) ? "충전기" : "장비"
             };
 
             if (calcResult.Success)
@@ -1772,7 +1774,7 @@ namespace AGVSimulator.Forms
                             var startNode = (_startNodeCombo.SelectedItem as ComboBoxItem<MapNode>)?.Value;
                             var targetNode = (_targetNodeCombo.SelectedItem as ComboBoxItem<MapNode>)?.Value;
                             var selectedAGV = _agvListCombo.SelectedItem as VirtualAGV;
-                            var calcResult = CalcPath(startNode, targetNode, this._simulatorCanvas.Nodes, selectedAGV.PrevNode, selectedAGV.PrevDirection);
+                            var calcResult = CalcPath_New(startNode, targetNode, this._simulatorCanvas.Nodes, selectedAGV.PrevNode, selectedAGV.PrevDirection);
 
                             //// 테스트 결과 생성
                             testResult = CreateTestResultFromUI(nodeA, dockingTarget, directionName, calcResult);
@@ -1849,8 +1851,15 @@ namespace AGVSimulator.Forms
 
             // 첫 번째 AGV의 다음 행동 예측
             var agv = _agvList[0];
+            try
+            {
                 var command = agv.Predict();
                 this.lbPredict.Text = $"Motor:{command.Motor},Magnet:{command.Magnet},Speed:{command.Speed} : {command.Message}";
+            }catch  ( Exception ex)
+            {
+                lbPredict.Text = "예측오류" + ex.Message;
+            }
+            
         }
 
 
@@ -2588,7 +2597,21 @@ namespace AGVSimulator.Forms
             this._simulatorCanvas.HighlightNodeId = (result.Gateway?.Id ?? string.Empty);
             return result;
         }
+        /// <summary>
+        /// 길목(Gateway) 기반 경로 계산
+        /// 버퍼-버퍼 상태에서는 별도의 추가 로직을 적용합니다
+        /// </summary>
+        public AGVPathResult CalcPath_New(MapNode startNode, MapNode targetNode, List<MapNode> nodes,
+            MapNode prevNode, AgvDirection prevDir)
+        {
+            // Core Logic으로 이관됨
+            var pathFinder = new AGVPathfinder(nodes);
+            var result = pathFinder.CalculateScriptedPath(startNode, targetNode, prevNode, prevDir);
 
+            //게이트웨이노드를 하이라이트강조 한단
+            this._simulatorCanvas.HighlightNodeId = (result.Gateway?.Id ?? string.Empty);
+            return result;
+        }
         private void ApplyResultToSimulator(AGVPathResult result, VirtualAGV agv)
         {
             _simulatorCanvas.CurrentPath = result;
@@ -2622,5 +2645,33 @@ namespace AGVSimulator.Forms
                 }
             }
         }
+
+        private void button1_Click(object sender, EventArgs e)
+        {
+            // 1. 기본 정보 획득
+            if (_startNodeCombo.SelectedItem == null || _startNodeCombo.Text == "선택하세요") SetStartNodeFromAGVPosition();
+            if (_startNodeCombo.SelectedItem == null || _targetNodeCombo.SelectedItem == null)
+            {
+                MessageBox.Show("시작/목표 노드를 확인하세요");
+                return;
+            }
+
+            //var selectedAGV = _agvListCombo.SelectedItem as VirtualAGV;
+            //if (selectedAGV == null) return AGVPathResult.CreateFailure("Virtual AGV 없음");
+            var selectedAGV = _agvListCombo.SelectedItem as VirtualAGV;
+
+            // 경로계산2 (Gateway Logic)
+            var startNode = (_startNodeCombo.SelectedItem as ComboBoxItem<MapNode>)?.Value;
+            var targetNode = (_targetNodeCombo.SelectedItem as ComboBoxItem<MapNode>)?.Value;
+            var rlt = CalcPath_New(startNode, targetNode, this._simulatorCanvas.Nodes, selectedAGV.PrevNode, selectedAGV.PrevDirection);
+            if (rlt.Success == false) MessageBox.Show(rlt.Message, "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
+            else
+            {
+                // 8. 적용  
+
+                ApplyResultToSimulator(rlt, selectedAGV);
+                UpdateAdvancedPathDebugInfo(rlt);
+            }
+        }
     }
 }

AGVLogic/EnigProtocol/.gitignore

@@ -0,0 +1,13 @@
+obj
+bin
+*.user
+*.v12
+*.suo
+.git
+.vs
+Debug
+__vm
+*.pdb
+desktop.ini
+packages
+~*.xlsx

AGVLogic/EnigProtocol/ENIGProtocol.Tests/EEProtocolTests.cs

@@ -0,0 +1,53 @@
+using Xunit;
+using ENIG;
+
+namespace ENIGProtocol.Tests
+{
+    public class EEProtocolTests
+    {
+        [Fact]
+        public void TestCRC16Calculation()
+        {
+            // 테스트 데이터
+            byte[] testData = new byte[] { 0x02,0x00,0xFF }; //payload에는 stx, len, ... crc,etx 는 제외한다
+
+            // CRC16 계산
+            var protocol = new EEProtocol();
+            ushort crc = protocol.CalculateCRC16(testData);
+
+            // 예상 결과와 비교
+            Assert.Equal(0x1789, crc); 
+        }
+
+        [Fact]
+        public void TestPacketCreation()
+        {
+            // 패킷 생성 테스트
+            var protocol = new EEProtocol();
+            byte[] packet = protocol.CreatePacket(0x01, 0x02, new byte[] { 0x03, 0x04 });
+
+            // 패킷 구조 검증
+            Assert.Equal(0x02, packet[0]); // STX
+            Assert.Equal(0x04, packet[1]); // Length
+            Assert.Equal(0x01, packet[2]); // ID
+            Assert.Equal(0x02, packet[3]); // Command
+            Assert.Equal(0x03, packet[4]); // Data[0]
+            Assert.Equal(0x04, packet[5]); // Data[1]
+        }
+
+        [Fact]
+        public void TestPacketParsing()
+        {
+            // 패킷 파싱 테스트
+            var protocol = new EEProtocol();
+
+            //byte[] testPacket = new byte[] { 0x02, 0x04, 0x01, 0x02, 0x03, 0x04, 0x12, 0x34, 0x03 };
+            byte[] testPacket = new byte[] { 0x02, 0x02, 0x00, 0xFF, 0x89, 0x17, 0x03 };
+
+
+            bool result = protocol.ParsePacket(testPacket);
+
+            Assert.True(result);
+        }
+    }
+}

AGVLogic/EnigProtocol/ENIGProtocol.Tests/ENIGProtocol.Tests.csproj

@@ -0,0 +1,33 @@
+<Project Sdk="Microsoft.NET.Sdk" ToolsVersion="15.0">
+  <PropertyGroup>
+    <TargetFramework>net6.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+    <IsPackable>false</IsPackable>
+    <IsTestProject>true</IsTestProject>
+    <TargetFrameworkVersion>v4.0</TargetFrameworkVersion>
+    <FileUpgradeFlags>
+    </FileUpgradeFlags>
+    <UpgradeBackupLocation>
+    </UpgradeBackupLocation>
+    <OldToolsVersion>2.0</OldToolsVersion>
+  </PropertyGroup>
+  <ItemGroup>
+    <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.13.0" />
+    <PackageReference Include="xunit" Version="2.9.3" />
+    <PackageReference Include="xunit.runner.visualstudio" Version="3.0.2">
+      <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
+      <PrivateAssets>all</PrivateAssets>
+    </PackageReference>
+    <PackageReference Include="coverlet.collector" Version="6.0.4">
+      <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
+      <PrivateAssets>all</PrivateAssets>
+    </PackageReference>
+  </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\enigprotocol\enigprotocol.csproj" />
+  </ItemGroup>
+  <ItemGroup>
+    <Using Include="Xunit" />
+  </ItemGroup>
+</Project>

AGVLogic/EnigProtocol/ENIGProtocol.Tests/UnitTest1.cs

@@ -0,0 +1,10 @@
+namespace ENIGProtocol.Tests;
+
+public class UnitTest1
+{
+    [Fact]
+    public void Test1()
+    {
+
+    }
+}

AGVLogic/EnigProtocol/ENIGProtocol.sln

@@ -0,0 +1,43 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Express 15 for Windows Desktop
+VisualStudioVersion = 15.0.28307.1000
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "솔루션 항목", "솔루션 항목", "{0A11874A-E5C6-4170-9787-1FFF7AF0D289}"
+	ProjectSection(SolutionItems) = preProject
+		.gitignore = .gitignore
+		ReadMe.MD = ReadMe.MD
+	EndProjectSection
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "SampleProject", "sample\SampleProject.csproj", "{FAB31C8A-7DCF-4152-8A82-76F3C10BABA4}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ENIGProtocol.Tests", "ENIGProtocol.Tests\ENIGProtocol.Tests.csproj", "{3A677629-1F08-49B2-BC75-58282E439FD4}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ENIGProtocol", "enigprotocol\ENIGProtocol.csproj", "{499D8912-4B96-41E5-A70D-CFE797883D65}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{FAB31C8A-7DCF-4152-8A82-76F3C10BABA4}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{FAB31C8A-7DCF-4152-8A82-76F3C10BABA4}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{FAB31C8A-7DCF-4152-8A82-76F3C10BABA4}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{FAB31C8A-7DCF-4152-8A82-76F3C10BABA4}.Release|Any CPU.Build.0 = Release|Any CPU
+		{3A677629-1F08-49B2-BC75-58282E439FD4}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{3A677629-1F08-49B2-BC75-58282E439FD4}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{3A677629-1F08-49B2-BC75-58282E439FD4}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{3A677629-1F08-49B2-BC75-58282E439FD4}.Release|Any CPU.Build.0 = Release|Any CPU
+		{499D8912-4B96-41E5-A70D-CFE797883D65}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{499D8912-4B96-41E5-A70D-CFE797883D65}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{499D8912-4B96-41E5-A70D-CFE797883D65}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{499D8912-4B96-41E5-A70D-CFE797883D65}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {07331835-C46C-4B93-965F-AD2714F97F88}
+	EndGlobalSection
+EndGlobal

AGVLogic/EnigProtocol/ReadMe.MD

@@ -0,0 +1,246 @@
+# ENIG Protocol
+
+ENIG 프로토콜 통신 라이브러리
+
+**Explanation of the README Content:**
+
+1.  **Title and Overview:** Clearly states the purpose of the library.
+2.  **Key Components:** Explains the main building blocks:
+    *   `DeviceType` enum: Lists the device types.
+    *   `Packet` class: Describes the packet structure.
+    *   `EEProtocol` class: Explains its role in packet handling.
+3.  **Key Features:** Details the core functionalities of the `EEProtocol` class:
+    *   Packet creation.
+    *   Packet parsing.
+    *   Data reception.
+    *   Event-driven nature.
+    *   CRC16 calculation.
+4.  **Usage:** Provides code examples for:
+    *   Creating a packet.
+    *   Parsing a packet.
+    *   Processing received data.
+5.  **Error Handling:** Explains how the library handles invalid data and incomplete packets.
+6.  **Dependencies:** Lists any required frameworks or libraries.
+7.  **License:** Placeholder for the project's license.
+
+This README provides a comprehensive overview of the `ENIGProtocol` library, making it easy for other developers to understand and use it. I hope this is helpful!
+
+
+## 개발 환경
+- Frameworks : .NET Standard 2.0
+- Visual Studio 2022 또는 Visual Studio Code
+
+## 프로젝트 구조
+
+- `EEProtocol.cs`: ENIG 프로토콜 구현
+- `EEProtocolTests.cs`: 단위 테스트 코드
+- `Sample`: C# Winform 샘플 프로젝트
+
+## 장비 목록
+```
+public enum DeviceType : byte
+{
+    ACS = 0,
+    AGV1 = 10+1,
+    AGV2 = 10+2,
+    BUFFER1 = 20+1,
+    BUFFER2 = 20+2,
+    BUFFER3 = 20+3,
+    BUFFER4 = 20+4,
+    BUFFER5 = 20+5,
+    DOOR = 30,
+}
+```
+public enum DeviceAlias : byte
+{
+    B1 = 20 + 1, //BUFFER1 ~ 5
+    B2 = 20 + 2,
+    B3 = 20 + 3,
+    B4 = 20 + 4,
+    B5 = 20 + 5,
+    C1 = 40 + 1, //충전소 1
+    C2 = 40 + 2, //충전소 2
+    C3 = 40 + 3, //충전소 3
+    C4 = 40 + 4, //충전소 4
+    E1 = 90 + 1, //장비1 (SSOTRON Loader)
+    E2 = 90 + 2, //장비2 (TOPS ENIG)
+    E3 = 90 + 3, //장비3 (SSOTRON DIVERTER)
+}
+//11번 AGV야! BUFFER1로 이동해라!
+//0x02 0x03 0x0B 0x6B 0x42 0x31 {CRC} 0x03 
+
+### 기본 패킷 구조
+```
+[STX][LEN][ID][CMD][DATA][CRC16][ETX]
+```
+- **STX (Start of Text)**: 0x02
+- **LEN (Length)**: 데이터 길이 (1바이트) = {CMD+DATA}
+- **ID (Client ID)**: 데이터 길이 (1바이트) : 디바이스식별코드(=DeviceType)
+- **CMD (Command)**: 명령어 코드 (1바이트)
+- **DATA**: 명령어에 따른 데이터 (가변 길이)
+- **CRC16**: 데이터 무결성 검사 (2바이트)
+- **ETX (End of Text)**: 0x03
+
+### 통신 방향 (호스트=ACS, 장비=agv,buffer,door)
+- H -> E: 호스트에서 장비로 전송 
+- E -> H: 장비에서 호스트로 전송
+
+### 명령어 목록
+1. **ACS (AGV Control System)**
+   
+
+2. **Buffer**
+   - E -> H | cmd(3): 상태 (data len=1  :  0=카트없음, 1=카트있음, 2=바쁨, 3=알수없음, 255=오류)   
+   - H -> E | cmd(1): Lock
+   -          Target[1] = {DeviceType}
+   - H -> E | cmd(2): UnLock
+   -          Target[1] = {DeviceType}
+
+3. **AGV**
+   - H -> E | Move :  cmd(100) : 대상태그까지 이동(자동이동)
+   -          Target[1] = {DeviceType}
+   -          TagID[4] = "0000"
+
+   - H -> E | Stop : cmd(101) : 멈춤
+   - H -> E | Reset : cmd(102) : 오류 소거
+
+   - H -> E | SetCurrent : cmd(103) : 현재위치설정
+   -          Target[1] = {DeviceType}
+   -          TagID[4] = "0000"
+
+   - H -> E | MoveManual : cmd(104) : 메뉴얼이동
+   -          Target[1] = {DeviceType}
+   -          Direction[1] : 0=Backward, 1=Forward, 2=TurnLeft, 3=TurnRight
+   -          Speed[1] : 0=Slow, 1=Normal, 2=Fast
+   
+   - H -> E | MarkStop : cmd(105) : 마크센서스톱   
+   -          Target[1] = {DeviceType}
+
+   - H -> E | Lift Control : cmd(106) : 리프트제어
+   -          Target[1] = {DeviceType}
+   -          Action[1] : 0=STOP, 1=UP, 2=DOWN
+
+   - H -> E | Move :  cmd(107) : 대상별칭까지 이동(자동이동)
+   -          Target[1] = {DeviceType}
+   -          AliasName[n] = ".....
+
+   - H -> E | MoveAuto : cmd(108) : 자동이동
+   -          Target[1] = {DeviceType}
+   -          MotDirection[1] : 0=Backward, 1=Forward
+   -          MagnetDirection[1] : 0=Straight,1=Left, 2=Right
+   -          Speed[1] : 0=Slow, 1=Normal, 2=Fast
+
+   - H -> E | Charge On: cmd(109) : 충전실행(충전기 이동 후 자동 충전 진행)
+   -          Target[1] = {DeviceType}
+   -          Action[1] : 0=Charge Off, 1=Charge On
+
+
+   - E -> H | Move Complete : cmd(1)  : 목적지이동완료 후 전송
+   -           TagID[4] : "0000" 
+   - E -> H | TagID Received : cmd(2) : 태그값 인식시 전송
+   -           TagID[4] : "0000"
+   
+   - E -> H |  Status : cmd(3)
+   -           Mode[1] : 0=manual, 1=auto
+   -           RunSt[1] : 0=stop, 1=run, 2=error
+   -           Diection[1] : 0=straight, 1=left, 2=right, 3=markstop
+   -           Inposition[1] : 0=off, 1=on : 목적위치에 도달완료 시 설정 이동 이동시 OFF됨
+   -           ChargeSt[1] : 0=off, 1=on
+   -           CartSt[1] : 0=off, 1=on, 2=unknown   
+   -           LiftSt[1] : 0=down , 1=up, 2=unknown
+   -           LastTag[4] : "0000"
+   -           CurrentPath[1] : Path ID , 0=미설정, 1~255(순차증가)
+
+4. **Door**
+   - H -> E | cmd(1): 출입문 열기
+   - H -> E | cmd(2): 출입문 닫기
+   - E -> H | cmd(3): 출입문 상태 (data len=1  : 0=닫힘, 1=열림,  2=바쁨, 3=알수없음, 255=오류)
+
+### CRC16 계산
+- CRC16 다항식 사용
+- 초기값: 0xFFFF
+- 데이터 무결성 검증에 사용
+
+
+#### CRC-16 테이블 값
+```
+0x0000, 0x408E, 0x73EF, 0x3361, 0x152D, 0x55A3, 0x66C2, 0x264C, 
+0x2A5A, 0x6AD4, 0x59B5, 0x193B, 0x3F77, 0x7FF9, 0x4C98, 0x0C16, 
+0x54B4, 0x143A, 0x275B, 0x67D5, 0x4199, 0x0117, 0x3276, 0x72F8, 
+0x7EEE, 0x3E60, 0x0D01, 0x4D8F, 0x6BC3, 0x2B4D, 0x182C, 0x58A2, 
+0x5B9B, 0x1B15, 0x2874, 0x68FA, 0x4EB6, 0x0E38, 0x3D59, 0x7DD7, 
+0x71C1, 0x314F, 0x022E, 0x42A0, 0x64EC, 0x2462, 0x1703, 0x578D, 
+0x0F2F, 0x4FA1, 0x7CC0, 0x3C4E, 0x1A02, 0x5A8C, 0x69ED, 0x2963, 
+0x2575, 0x65FB, 0x569A, 0x1614, 0x3058, 0x70D6, 0x43B7, 0x0339, 
+0x45C5, 0x054B, 0x362A, 0x76A4, 0x50E8, 0x1066, 0x2307, 0x6389, 
+0x6F9F, 0x2F11, 0x1C70, 0x5CFE, 0x7AB2, 0x3A3C, 0x095D, 0x49D3, 
+0x1171, 0x51FF, 0x629E, 0x2210, 0x045C, 0x44D2, 0x77B3, 0x373D, 
+0x3B2B, 0x7BA5, 0x48C4, 0x084A, 0x2E06, 0x6E88, 0x5DE9, 0x1D67, 
+0x1E5E, 0x5ED0, 0x6DB1, 0x2D3F, 0x0B73, 0x4BFD, 0x789C, 0x3812, 
+0x3404, 0x748A, 0x47EB, 0x0765, 0x2129, 0x61A7, 0x52C6, 0x1248, 
+0x4AEA, 0x0A64, 0x3905, 0x798B, 0x5FC7, 0x1F49, 0x2C28, 0x6CA6, 
+0x60B0, 0x203E, 0x135F, 0x53D1, 0x759D, 0x3513, 0x0672, 0x46FC, 
+0x7979, 0x39F7, 0x0A96, 0x4A18, 0x6C54, 0x2CDA, 0x1FBB, 0x5F35, 
+0x5323, 0x13AD, 0x20CC, 0x6042, 0x460E, 0x0680, 0x35E1, 0x756F, 
+0x2DCD, 0x6D43, 0x5E22, 0x1EAC, 0x38E0, 0x786E, 0x4B0F, 0x0B81, 
+0x0797, 0x4719, 0x7478, 0x34F6, 0x12BA, 0x5234, 0x6155, 0x21DB, 
+0x22E2, 0x626C, 0x510D, 0x1183, 0x37CF, 0x7741, 0x4420, 0x04AE, 
+0x08B8, 0x4836, 0x7B57, 0x3BD9, 0x1D95, 0x5D1B, 0x6E7A, 0x2EF4, 
+0x7656, 0x36D8, 0x05B9, 0x4537, 0x637B, 0x23F5, 0x1094, 0x501A, 
+0x5C0C, 0x1C82, 0x2FE3, 0x6F6D, 0x4921, 0x09AF, 0x3ACE, 0x7A40, 
+0x3CBC, 0x7C32, 0x4F53, 0x0FDD, 0x2991, 0x691F, 0x5A7E, 0x1AF0, 
+0x16E6, 0x5668, 0x6509, 0x2587, 0x03CB, 0x4345, 0x7024, 0x30AA, 
+0x6808, 0x2886, 0x1BE7, 0x5B69, 0x7D25, 0x3DAB, 0x0ECA, 0x4E44, 
+0x4252, 0x02DC, 0x31BD, 0x7133, 0x577F, 0x17F1, 0x2490, 0x641E, 
+0x6727, 0x27A9, 0x14C8, 0x5446, 0x720A, 0x3284, 0x01E5, 0x416B, 
+0x4D7D, 0x0DF3, 0x3E92, 0x7E1C, 0x5850, 0x18DE, 0x2BBF, 0x6B31, 
+0x3393, 0x731D, 0x407C, 0x00F2, 0x26BE, 0x6630, 0x5551, 0x15DF, 
+0x19C9, 0x5947, 0x6A26, 0x2AA8, 0x0CE4, 0x4C6A, 0x7F0B, 0x3F85, 
+```
+
+
+#### CRC16 계산 테이블 생성 코드
+```csharp
+const ushort polynomial = 0x7979;
+ushort[] CRC16_TABLE = new ushort[256];
+
+for (ushort i = 0; i < CRC16_TABLE.Length; i++)
+{
+    ushort value = 0;
+    ushort temp = i;
+    for (byte j = 0; j < 8; j++)
+    {
+        if (((value ^ temp) & 0x0001) != 0)
+        {
+            value = (ushort)((value >> 1) ^ polynomial);
+        }
+        else
+        {
+            value >>= 1;
+        }
+        temp >>= 1;
+    }
+    CRC16_TABLE[i] = value;
+}
+```
+
+#### CRC16 계산 예시
+```csharp
+ushort CalculateCRC16(byte[] data)
+{
+    ushort crc = 0xFFFF;
+    for (int i = 0; i < data.Length; i++)
+    {
+        byte index = (byte)(crc ^ data[i]);
+        crc = (ushort)((crc >> 8) ^ CRC16_TABLE[index]);
+    }
+    return crc;
+}
+```
+
+## 라이센스
+
+
+
+
+

AGVLogic/EnigProtocol/enigprotocol/.gitignore

@@ -0,0 +1,8 @@
+################################################################################
+# 이 .gitignore 파일은 Microsoft(R) Visual Studio에서 자동으로 만들어졌습니다.
+################################################################################
+
+/obj
+/bin
+/.vs
+/.git

AGVLogic/EnigProtocol/enigprotocol/Commands.cs

@@ -0,0 +1,125 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace ENIGProtocol
+{
+    /// <summary>
+    /// host -> eq
+    /// </summary>
+    public enum AGVCommandHE : byte
+    {
+        Goto = 100,
+        Stop = 101,
+        Reset = 102,
+        SetCurrent = 103,
+        Manual = 104,
+        MarkStop = 105,
+        LiftControl = 106,
+        GotoAlias = 107,
+        AutoMove = 108,
+        ChargeControl = 109,
+        Charger = 112,
+        LTurn = 113,
+        RTurn = 114,
+        LTurn180 = 115,
+        RTurn180 = 116,
+        PickOnEnter = 117,
+        PickOffEnter = 118,
+        PickOnExit = 119,
+        PickOffExit = 120,
+    }
+
+    /// <summary>
+    /// eq -> host
+    /// </summary>
+    public enum AGVCommandEH : byte
+    {
+        Error = 1,
+        Arrived = 2,
+        ReadRFID = 3,
+        ActionComplete=4,
+        Status = 9,
+    }
+
+    public enum AGVErrorCode : byte
+    {
+        None = 0,
+        PredictFix,
+        TurnTimeout,
+        TurnError,
+        EmptyNode,
+        Goto,
+        ManualMode,
+        UnknownCommand,
+        UnknownAlias,
+
+        // Operational Errors
+        CART_EXIST,
+        MARK_TIMEOUT,
+        MARK_SENSOR_FAIL,        
+        LIFT_ERROR,        
+        AGV_SPEED_SET_FAIL,
+        AGV_RUN_FAIL,
+        AGV_STOP_FAIL,
+        PATH_INTEGRITY_FAIL,
+        TURN_FAIL,
+        NO_CHARGEPOINT,
+        NOTSET_CHARGEPOINT,
+        ALREADY_CHARGE,
+        CHARGE_RETRY_OVER,
+        MAGNET_ON_ERROR,
+        MAGNET_OF_ERROR,
+        BUFFER_NOT_COMPLETE,
+        MARK_STOP_FAIL,
+        LIDAR_STOP,
+        NOT_BUFFERPOINT,
+        NOT_EQUIPMENTPOINT,
+        PATH_COMPLETE_INTEGRITY_FAIL,
+        UPDATEMOTION_TIMEOUT
+    }
+
+    public static class AGVUtility
+    {
+        /// <summary>
+        /// 에러코드에 해당하는 오류메세지를 반환 합니다
+        /// </summary>
+        /// <param name="ecode"></param>
+        /// <returns></returns>
+        public static string GetAGVErrorMessage(AGVErrorCode ecode)
+        {
+            switch (ecode)
+            {
+                case AGVErrorCode.None: return "No Error";
+                case AGVErrorCode.PredictFix: return "이동 예측이 동작하지 않습니다";
+                case AGVErrorCode.TurnTimeout: return "회전작업 시간초과";
+                case AGVErrorCode.TurnError: return "회전작업이 완료되지 않았습니다";
+                case AGVErrorCode.EmptyNode: return "노드정보를 찾을 수 없습니다";
+                case AGVErrorCode.Goto: return "이동 명령 오류";
+                case AGVErrorCode.ManualMode: return "자동운전 상태가 아닙니다";
+                case AGVErrorCode.UnknownCommand: return "알수 없는 명령입니다";
+                case AGVErrorCode.UnknownAlias: return "알수 없는 별칭 입니다";
+
+                case AGVErrorCode.CART_EXIST: return "카트 감지 센서 오류";
+                case AGVErrorCode.MARK_TIMEOUT: return "마크 정지 신호 시간초과";
+                case AGVErrorCode.MARK_SENSOR_FAIL: return "마크 센서 미감지";
+                case AGVErrorCode.LIFT_ERROR: return "리프트 동작 오류";
+                case AGVErrorCode.AGV_SPEED_SET_FAIL: return "AGV 속도 설정 실패";
+                case AGVErrorCode.AGV_RUN_FAIL: return "AGV 구동 실패";
+                case AGVErrorCode.AGV_STOP_FAIL: return "AGV 정지 실패";
+                case AGVErrorCode.PATH_INTEGRITY_FAIL: return "경로 무결성 검증 실패";
+                case AGVErrorCode.TURN_FAIL: return "턴 동작 실패";
+                case AGVErrorCode.NO_CHARGEPOINT: return "충전 위치 아님";
+                case AGVErrorCode.NOTSET_CHARGEPOINT: return "충전기 노드 미설정";
+                case AGVErrorCode.ALREADY_CHARGE: return "이미 충전 중 상태임";
+                case AGVErrorCode.CHARGE_RETRY_OVER: return $"충전명령 재전송 횟수 초과";
+                case AGVErrorCode.NOT_BUFFERPOINT: return "현재 위치가 버퍼가 아닙니다";
+                case AGVErrorCode.NOT_EQUIPMENTPOINT: return "현재 위치가 장비 노드가 아닙니다";
+                case AGVErrorCode.PATH_COMPLETE_INTEGRITY_FAIL: return "목적지 도착 완료 했으나 노드 혹은 방향이 일치지하지 않습니다";
+                default: return ecode.ToString();
+
+            }
+        }
+    }
+
+}

AGVLogic/EnigProtocol/enigprotocol/EEProtocol.cs

@@ -0,0 +1,235 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+namespace ENIG
+{
+    // 장비 타입 정의
+    public enum DeviceType
+    {
+        ACS = 0,
+        AGV1 = 10,
+        AGV2 = 11,
+        BUFFER1 = 20,
+        BUFFER2 = 21,
+        BUFFER3 = 22,
+        BUFFER4 = 23,
+        BUFFER5 = 24,
+        DOOR = 30,
+    }
+
+    public partial class EEProtocol
+    {
+        // 패킷 수신 이벤트 정의
+        // 데이터 수신 이벤트 정의
+        public event EventHandler<DataEventArgs> OnDataReceived;
+        public event EventHandler<MessageEventArgs> OnMessage;
+
+        // CRC16 계산을 위한 테이블
+        private static readonly ushort[] CRC16_TABLE = new ushort[256];
+
+        // CRC16 테이블 초기화
+        public EEProtocol()
+        {
+            const ushort polynomial = 0x7979;
+            for (ushort i = 0; i < CRC16_TABLE.Length; i++)
+            {
+                ushort value = 0;
+                ushort temp = i;
+                for (byte j = 0; j < 8; j++)
+                {
+                    if (((value ^ temp) & 0x0001) != 0)
+                    {
+                        value = (ushort)((value >> 1) ^ polynomial);
+                    }
+                    else
+                    {
+                        value >>= 1;
+                    }
+                    temp >>= 1;
+                }
+                CRC16_TABLE[i] = value;
+            }
+
+            //// CRC 테이블 출력
+            //Console.WriteLine("CRC16 테이블 값:");
+            //for (int i = 0; i < CRC16_TABLE.Length; i++)
+            //{
+            //    if (i % 8 == 0)
+            //    {
+            //        Console.WriteLine();
+            //    }
+            //    Console.Write($"0x{CRC16_TABLE[i]:X4}, ");
+            //}
+            //Console.WriteLine();
+
+
+        }
+
+        // CRC16 계산 메서드
+        public ushort CalculateCRC16(byte[] data)
+        {
+            ushort crc = 0xFFFF;
+            for (int i = 0; i < data.Length; i++)
+            {
+                byte index = (byte)(crc ^ data[i]);
+                crc = (ushort)((crc >> 8) ^ CRC16_TABLE[index]);
+            }
+            return crc;
+        }
+
+        // 패킷 생성 메서드
+        public byte[] CreatePacket(byte id, byte command, byte[] data)
+        {
+            var packet = new Packet
+            {
+                ID = id,
+                Command = command,
+                Data = data ?? new byte[0],
+                Length = (byte)(1 + 1 + (data?.Length ?? 0)) // ID + Command + Data 길이
+            };
+
+            // 패킷 조립
+            List<byte> packetData = new List<byte>();
+            packetData.Add(Packet.STX);
+            packetData.Add(packet.Length);
+            packetData.Add(packet.ID);
+            packetData.Add(packet.Command);
+            if (packet.Data != null)
+                packetData.AddRange(packet.Data);
+
+            // CRC16 계산
+            packet.CRC16 = CalculateCRC16(packetData.Skip(1).ToArray()); // STX 제외하고 계산
+            packetData.AddRange(BitConverter.GetBytes(packet.CRC16));
+            packetData.Add(Packet.ETX);
+
+            return packetData.ToArray();
+        }
+
+        //패킷테스트
+        public void PacketTest(byte[] rawData)
+        {
+            var hexstr = string.Join(" ", rawData.Select(t => t.ToString("X2")));
+            RaiseMessage( $"TestPacket : {hexstr}");
+            ParsePacket(rawData);
+        }
+
+        //메세지 발생
+        public void RaiseMessage(string message, bool isError = false)
+        {
+            OnMessage?.Invoke(this, new MessageEventArgs { IsError = isError, Message = message });
+        }
+
+        // 패킷 파싱 메서드
+        public bool ParsePacket(byte[] rawData)
+        {
+            try
+            {
+                if (rawData.Length < 7) // 최소 패킷 크기
+                {
+                    var hexstring = string.Join(" ", rawData.Select(t => t.ToString("X2")));
+                    RaiseMessage($"Too Short Data:{hexstring}");
+                    return false;
+                }
+                    
+
+                if (rawData[0] != Packet.STX || rawData[rawData.Length - 1] != Packet.ETX)
+                {
+                    var hexstring = string.Join(" ", rawData.Select(t => t.ToString("X2")));
+                    RaiseMessage($"STX/ETX Error Data:{hexstring}");
+                    return false;
+                }
+                    
+
+                byte length = rawData[1];
+                if (length + 5 != rawData.Length) // STX + Length + CRC16(2) + ETX = 5
+                {
+                    var hexstring = string.Join(" ", rawData.Select(t => t.ToString("X2")));
+                    RaiseMessage($"Length Error ({length+5} != {rawData.Length}) Data:{hexstring}");
+                    return false;
+                }
+                    
+
+                // CRC16 검증
+                byte[] dataForCrc = rawData.Skip(1).Take(length + 1).ToArray();
+                ushort calculatedCrc = CalculateCRC16(dataForCrc);
+                ushort receivedCrc = BitConverter.ToUInt16(rawData, rawData.Length - 3);
+
+                if (receivedCrc != 0xFFFF && calculatedCrc != receivedCrc)    //FF 무시
+                {
+                    RaiseMessage($"CRC Error ID:{rawData[2]:X2},CMD:{rawData[3]:X2}", true);
+                    return false;
+                }
+                    
+
+                // 패킷 생성
+                var packet = new Packet
+                {
+                    Length = length,
+                    ID = rawData[2],
+                    Command = rawData[3],
+                    Data = rawData.Skip(4).Take(length - 2).ToArray(), // ID와 Command 길이(2) 제외
+                    CRC16 = receivedCrc,
+                    RawData = rawData,
+                };
+
+                // 이벤트 발생
+                OnDataReceived?.Invoke(this, new DataEventArgs { ReceivedPacket = packet });
+                return true;
+            }
+            catch(Exception ex)
+            {
+                RaiseMessage(ex.Message, true);
+                return false;
+            }
+        }
+
+        // 데이터 수신 처리 메서드 (시리얼 포트에서 데이터를 받았을 때 호출)
+        private List<byte> buffer = new List<byte>();
+        private int ProtocolParseError = 0;
+        public void ProcessReceivedData(byte[] data)
+        {
+            buffer.AddRange(data);
+
+            while (buffer.Count > 0)
+            {
+                // STX 찾기
+                int stxIndex = buffer.FindIndex(b => b == Packet.STX);
+                if (stxIndex == -1)
+                {
+                    buffer.Clear();
+                    break;
+                }
+
+                // 불필요한 데이터 제거
+                if (stxIndex > 0)
+                    buffer.RemoveRange(0, stxIndex);
+
+                // 패킷 길이 확인을 위한 최소 데이터 확인
+                if (buffer.Count < 2)
+                    break;
+
+                int expectedLength = buffer[1] + 5; // 전체 패킷 길이
+                if (buffer.Count < expectedLength)
+                    break;
+
+                // 패킷 추출 및 처리
+                byte[] packetData = buffer.Take(expectedLength).ToArray();
+                buffer.RemoveRange(0, expectedLength);
+
+                var parseOK = ParsePacket(packetData);
+                if(parseOK==false)  //분석이 실패되었다면 해당 데이터는 삭제한다.
+                {
+                    ProtocolParseError += 1;
+                    if (ProtocolParseError > 3) buffer.Clear();
+                } else ProtocolParseError = 0;
+
+                if(buffer.Any())
+                {
+                    System.Threading.Thread.Sleep(1);
+                }
+            }
+        }
+    }
+}

AGVLogic/EnigProtocol/enigprotocol/ENIGProtocol.csproj

@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+    <ProjectGuid>{9365803B-933D-4237-93C7-B502C855A71C}</ProjectGuid>
+    <OutputType>Library</OutputType>
+    <AppDesignerFolder>Properties</AppDesignerFolder>
+    <RootNamespace>enigprotocol</RootNamespace>
+    <AssemblyName>enigprotocol</AssemblyName>
+    <TargetFrameworkVersion>v4.0</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+    <Deterministic>true</Deterministic>
+    <TargetFrameworkProfile />
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+    <PlatformTarget>AnyCPU</PlatformTarget>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="System" />
+    <Reference Include="System.Core" />
+    <Reference Include="System.Xml.Linq" />
+    <Reference Include="System.Data.DataSetExtensions" />
+    <Reference Include="Microsoft.CSharp" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Net.Http" />
+    <Reference Include="System.Xml" />
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="Commands.cs" />
+    <Compile Include="EEProtocol.cs" />
+    <Compile Include="EventArgs.cs" />
+    <Compile Include="Packet.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+  </ItemGroup>
+  <ItemGroup>
+    <None Include=".gitignore" />
+    <None Include="ReadMe.MD" />
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+</Project>

AGVLogic/EnigProtocol/enigprotocol/EventArgs.cs

@@ -0,0 +1,18 @@
+using System;
+
+namespace ENIG
+{
+
+    public partial class EEProtocol
+    {
+        public class MessageEventArgs : EventArgs
+        {
+            public string Message { get; set; }
+            public bool IsError { get; set; }
+        }
+        public class DataEventArgs : EventArgs
+        {
+            public Packet ReceivedPacket { get; set; }
+        }
+    }
+}

AGVLogic/EnigProtocol/enigprotocol/Packet.cs

@@ -0,0 +1,20 @@
+namespace ENIG
+{
+    // 패킷 구조체
+    public class Packet
+    {
+        public const byte STX = 0x02;
+        public const byte ETX = 0x03;
+        public byte Length { get; set; }
+        public byte ID { get; set; }
+        public byte Command { get; set; }
+        public byte[] Data { get; set; }
+        public ushort CRC16 { get; set; }
+
+        public byte[] RawData { get; set; }
+        public Packet()
+        {
+            Data = new byte[0];
+        }
+    }
+}

AGVLogic/EnigProtocol/enigprotocol/Properties/AssemblyInfo.cs

@@ -5,11 +5,11 @@ using System.Runtime.InteropServices;
 // 어셈블리에 대한 일반 정보는 다음 특성 집합을 통해 
 // 제어됩니다. 어셈블리와 관련된 정보를 수정하려면
 // 이러한 특성 값을 변경하세요.
-[assembly: AssemblyTitle("ClassLibrary1")]
+[assembly: AssemblyTitle("enigprotocol")]
 [assembly: AssemblyDescription("")]
 [assembly: AssemblyConfiguration("")]
 [assembly: AssemblyCompany("")]
-[assembly: AssemblyProduct("ClassLibrary1")]
+[assembly: AssemblyProduct("enigprotocol")]
 [assembly: AssemblyCopyright("Copyright ©  2025")]
 [assembly: AssemblyTrademark("")]
 [assembly: AssemblyCulture("")]
@@ -20,7 +20,7 @@ using System.Runtime.InteropServices;
 [assembly: ComVisible(false)]
 
 // 이 프로젝트가 COM에 노출되는 경우 다음 GUID는 typelib의 ID를 나타냅니다.
-[assembly: Guid("19675e19-eb91-493e-88c3-32b3c094b749")]
+[assembly: Guid("9365803b-933d-4237-93c7-b502c855a71c")]
 
 // 어셈블리의 버전 정보는 다음 네 가지 값으로 구성됩니다.
 //

AGVLogic/EnigProtocol/enigprotocol/ReadMe.MD

@@ -0,0 +1,236 @@
+# ENIG Protocol
+
+ENIG 프로토콜 통신 라이브러리
+
+**Explanation of the README Content:**
+
+1.  **Title and Overview:** Clearly states the purpose of the library.
+2.  **Key Components:** Explains the main building blocks:
+    *   `DeviceType` enum: Lists the device types.
+    *   `Packet` class: Describes the packet structure.
+    *   `EEProtocol` class: Explains its role in packet handling.
+3.  **Key Features:** Details the core functionalities of the `EEProtocol` class:
+    *   Packet creation.
+    *   Packet parsing.
+    *   Data reception.
+    *   Event-driven nature.
+    *   CRC16 calculation.
+4.  **Usage:** Provides code examples for:
+    *   Creating a packet.
+    *   Parsing a packet.
+    *   Processing received data.
+5.  **Error Handling:** Explains how the library handles invalid data and incomplete packets.
+6.  **Dependencies:** Lists any required frameworks or libraries.
+7.  **License:** Placeholder for the project's license.
+
+This README provides a comprehensive overview of the `ENIGProtocol` library, making it easy for other developers to understand and use it. I hope this is helpful!
+
+
+## 개발 환경
+- Frameworks : .NET Standard 2.0
+- Visual Studio 2022 또는 Visual Studio Code
+
+## 프로젝트 구조
+
+- `EEProtocol.cs`: ENIG 프로토콜 구현
+- `EEProtocolTests.cs`: 단위 테스트 코드
+- `Sample`: C# Winform 샘플 프로젝트
+
+### Xbee Setting value
+
+- **NARMI 70 : AGV No 70
+- **NARMI 70 (LIFT) : P46A6,C17,DH:0,DL:FFFF,MY40
+- **NARMI 70 (AGV) : P46A6,C17,DH:0,DL:FFFF,MY41
+
+- **NARMI 77 : AGV No 71
+- **NARMI 71 (LIFT) : P46A6,C17,DH:0,DL:FFFF,MY30
+- **NARMI 71 (AGV) : P46A6,C17,DH:0,DL:FFFF,MY31
+
+- **충전기04 : P46A6,C17,DH:0,DL:FFFF,MY41
+- **충전기71 : P46A6,C17,DH:0,DL:FFFF,MY46
+
+- **ACS : P46A5,C17,DH:0,DL:FFFF,MY10
+
+- **BUFFER  : P46A5,C17,DH:0,DL:FFFF,MY60~65
+
+- **AGV1 : P46A5,C17,DH:0,DL:FFFF,MY50
+- **AGV2 : P46A5,C17,DH:0,DL:FFFF,MY51
+
+- **DOOR : P46A5,C17,DH:0,DL:FFFF,MY30
+
+
+## 장비 목록
+```
+public enum DeviceType : byte
+{
+    ACS = 0,
+    AGV1 = 10+1,
+    AGV2 = 10+2,
+    BUFFER1 = 20+1,
+    BUFFER2 = 20+2,
+    BUFFER3 = 20+3,
+    BUFFER4 = 20+4,
+    BUFFER5 = 20+5,
+    DOOR = 30,
+}
+```
+### 기본 패킷 구조
+```
+[STX][LEN][ID][CMD][DATA][CRC16][ETX]
+```
+- **STX (Start of Text)**: 0x02
+- **LEN (Length)**: 데이터 길이 (1바이트) = {ID+CMD+DATA}
+- **ID (Client ID)**: 데이터 길이 (1바이트) : 디바이스식별코드(=DeviceType)
+- **CMD (Command)**: 명령어 코드 (1바이트)
+- **DATA**: 명령어에 따른 데이터 (가변 길이)
+- **CRC16**: 데이터 무결성 검사 (2바이트)
+- **ETX (End of Text)**: 0x03
+
+### 통신 방향 (호스트=ACS, 장비=agv,buffer,door)
+- H -> E: 호스트에서 장비로 전송 
+- E -> H: 장비에서 호스트로 전송
+
+### 명령어 목록
+1. **ACS (AGV Control System)**
+   
+
+2. **Buffer**
+   - E -> H | cmd('S'): 상태 (............) BIT & 1BYTE 0:CART1, 1:CART2, 2:BASKET1, 3:BASKET2, 4:OPEN, 5:CLOSE 
+   - H -> E | cmd('L'): Lock
+   -          Target[1] = {DeviceType}
+   - H -> E | cmd('U'): UnLock
+   -          Target[1] = {DeviceType}
+
+3. **AGV**
+   - H -> E | Move :  cmd(100) : 대상태그까지 이동(자동이동)
+   -          Target[1] = {DeviceType}
+   -          TagID[4] = "0000"
+   - H -> E | Move :  cmd(107) : 대상별칭까지 이동(자동이동)
+   -          Target[1] = {DeviceType}
+   -          AliasName[n] = "....."
+   - H -> E | Stop : cmd(101) : 멈춤
+   - H -> E | Reset : cmd(102) : 오류 소거
+   - H -> E | Charge On: cmd(103) : 충전실행(충전기 이동 후 자동 충전 진행)
+   -          Target[1] = {DeviceType}
+   -          Action[1] : 0=Charge Off, 1=Charge On   
+   - H -> E | MoveManual : cmd(104) : 메뉴얼이동
+   -          Target[1] = {DeviceType}
+   -          Direction[1] : 0=Backward, 1=Forward, 2=TurnLeft, 3=TurnRight
+   -          Speed[1] : 0=Slow, 1=Normal, 2=Fast
+   -          Runtime[1] : 0 second
+   - H -> E | MarkStop : cmd(105) : 마크센서스톱   
+   -          Target[1] = {DeviceType}
+   
+   - H -> E | Lift Control : cmd(106) : 리프트제어
+   -          Target[1] = {DeviceType}
+   -          Action[1] : 0=STOP, 1=UP, 2=DOWN
+
+   - E -> H | Move Complete : cmd(1)  : 목적지이동완료 후 전송
+   -           TagID[4] : "0000" 
+   - E -> H | TagID Received : cmd(2) : 태그값 인식시 전송
+   -           TagID[4] : "0000"
+   
+   - E -> H |  Status : cmd(3)  - 총 12바이트
+   -           Mode[1] : 0=manual, 1=auto
+   -           RunSt[1] : 0=stop, 1=run, 2=error
+               MotDirection[1] : 0:Forward, 1:Backward, 0xFF:unknown
+   -           MagDiection[1] : 0=straight, 1=left, 2=right  , 0xFF:unknown
+   -           Inposition[1] : 0=off, 1=on : 목적위치에 도달완료 시 설정 이동 이동시 OFF됨
+   -           ChargeSt[1] : 0=off, 1=on
+   -           CartSt[1] : 0=off, 1=on, 2=unknown
+   -           LiftSt[1] : 0=down , 1=up, 2=unknown
+   -           LastTag[4] : "0000" (ASCII 4바이트)
+
+4. **Door**
+   - H -> E | cmd(1): 출입문 열기
+   - H -> E | cmd(2): 출입문 닫기
+   - E -> H | cmd(3): 출입문 상태 (data len=1  : 0=닫힘, 1=열림,  2=바쁨, 3=알수없음, 255=오류)
+
+### CRC16 계산
+- CRC16 다항식 사용
+- 초기값: 0xFFFF
+- 데이터 무결성 검증에 사용
+
+
+#### CRC-16 테이블 값
+```
+0x0000, 0x408E, 0x73EF, 0x3361, 0x152D, 0x55A3, 0x66C2, 0x264C, 
+0x2A5A, 0x6AD4, 0x59B5, 0x193B, 0x3F77, 0x7FF9, 0x4C98, 0x0C16, 
+0x54B4, 0x143A, 0x275B, 0x67D5, 0x4199, 0x0117, 0x3276, 0x72F8, 
+0x7EEE, 0x3E60, 0x0D01, 0x4D8F, 0x6BC3, 0x2B4D, 0x182C, 0x58A2, 
+0x5B9B, 0x1B15, 0x2874, 0x68FA, 0x4EB6, 0x0E38, 0x3D59, 0x7DD7, 
+0x71C1, 0x314F, 0x022E, 0x42A0, 0x64EC, 0x2462, 0x1703, 0x578D, 
+0x0F2F, 0x4FA1, 0x7CC0, 0x3C4E, 0x1A02, 0x5A8C, 0x69ED, 0x2963, 
+0x2575, 0x65FB, 0x569A, 0x1614, 0x3058, 0x70D6, 0x43B7, 0x0339, 
+0x45C5, 0x054B, 0x362A, 0x76A4, 0x50E8, 0x1066, 0x2307, 0x6389, 
+0x6F9F, 0x2F11, 0x1C70, 0x5CFE, 0x7AB2, 0x3A3C, 0x095D, 0x49D3, 
+0x1171, 0x51FF, 0x629E, 0x2210, 0x045C, 0x44D2, 0x77B3, 0x373D, 
+0x3B2B, 0x7BA5, 0x48C4, 0x084A, 0x2E06, 0x6E88, 0x5DE9, 0x1D67, 
+0x1E5E, 0x5ED0, 0x6DB1, 0x2D3F, 0x0B73, 0x4BFD, 0x789C, 0x3812, 
+0x3404, 0x748A, 0x47EB, 0x0765, 0x2129, 0x61A7, 0x52C6, 0x1248, 
+0x4AEA, 0x0A64, 0x3905, 0x798B, 0x5FC7, 0x1F49, 0x2C28, 0x6CA6, 
+0x60B0, 0x203E, 0x135F, 0x53D1, 0x759D, 0x3513, 0x0672, 0x46FC, 
+0x7979, 0x39F7, 0x0A96, 0x4A18, 0x6C54, 0x2CDA, 0x1FBB, 0x5F35, 
+0x5323, 0x13AD, 0x20CC, 0x6042, 0x460E, 0x0680, 0x35E1, 0x756F, 
+0x2DCD, 0x6D43, 0x5E22, 0x1EAC, 0x38E0, 0x786E, 0x4B0F, 0x0B81, 
+0x0797, 0x4719, 0x7478, 0x34F6, 0x12BA, 0x5234, 0x6155, 0x21DB, 
+0x22E2, 0x626C, 0x510D, 0x1183, 0x37CF, 0x7741, 0x4420, 0x04AE, 
+0x08B8, 0x4836, 0x7B57, 0x3BD9, 0x1D95, 0x5D1B, 0x6E7A, 0x2EF4, 
+0x7656, 0x36D8, 0x05B9, 0x4537, 0x637B, 0x23F5, 0x1094, 0x501A, 
+0x5C0C, 0x1C82, 0x2FE3, 0x6F6D, 0x4921, 0x09AF, 0x3ACE, 0x7A40, 
+0x3CBC, 0x7C32, 0x4F53, 0x0FDD, 0x2991, 0x691F, 0x5A7E, 0x1AF0, 
+0x16E6, 0x5668, 0x6509, 0x2587, 0x03CB, 0x4345, 0x7024, 0x30AA, 
+0x6808, 0x2886, 0x1BE7, 0x5B69, 0x7D25, 0x3DAB, 0x0ECA, 0x4E44, 
+0x4252, 0x02DC, 0x31BD, 0x7133, 0x577F, 0x17F1, 0x2490, 0x641E, 
+0x6727, 0x27A9, 0x14C8, 0x5446, 0x720A, 0x3284, 0x01E5, 0x416B, 
+0x4D7D, 0x0DF3, 0x3E92, 0x7E1C, 0x5850, 0x18DE, 0x2BBF, 0x6B31, 
+0x3393, 0x731D, 0x407C, 0x00F2, 0x26BE, 0x6630, 0x5551, 0x15DF, 
+0x19C9, 0x5947, 0x6A26, 0x2AA8, 0x0CE4, 0x4C6A, 0x7F0B, 0x3F85, 
+```
+
+
+#### CRC16 계산 테이블 생성 코드
+```csharp
+const ushort polynomial = 0x7979;
+ushort[] CRC16_TABLE = new ushort[256];
+
+for (ushort i = 0; i < CRC16_TABLE.Length; i++)
+{
+    ushort value = 0;
+    ushort temp = i;
+    for (byte j = 0; j < 8; j++)
+    {
+        if (((value ^ temp) & 0x0001) != 0)
+        {
+            value = (ushort)((value >> 1) ^ polynomial);
+        }
+        else
+        {
+            value >>= 1;
+        }
+        temp >>= 1;
+    }
+    CRC16_TABLE[i] = value;
+}
+```
+
+#### CRC16 계산 예시
+```csharp
+ushort CalculateCRC16(byte[] data)
+{
+    ushort crc = 0xFFFF;
+    for (int i = 0; i < data.Length; i++)
+    {
+        byte index = (byte)(crc ^ data[i]);
+        crc = (ushort)((crc >> 8) ^ CRC16_TABLE[index]);
+    }
+    return crc;
+}
+```
+
+## 라이센스
+
+
+
+
+