..

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

Cs_HMI/AGVLogic/AGVMapEditor/AGVMapEditor.csproj

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

Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.cs

@@ -36,20 +36,20 @@ namespace AGVMapEditor.Forms
         {
             public string FromNodeId { get; set; }
             public string FromNodeName { get; set; }
-            public string FromRfidId { get; set; }
+            public ushort FromRfidId { get; set; }
             public string ToNodeId { get; set; }
             public string ToNodeName { get; set; }
-            public string ToRfidId { get; set; }
+            public ushort ToRfidId { get; set; }
             public string ConnectionType { get; set; }
 
             public override string ToString()
             {
                 // RFID가 있으면 RFID(노드이름), 없으면 NodeID(노드이름) 형태로 표시
-                string fromDisplay = !string.IsNullOrEmpty(FromRfidId)
+                string fromDisplay =  FromRfidId > 0 
                     ? $"{FromRfidId}({FromNodeName})"
                     : $"---({FromNodeId})";
 
-                string toDisplay = !string.IsNullOrEmpty(ToRfidId)
+                string toDisplay = ToRfidId > 0
                     ? $"{ToRfidId}({ToNodeName})"
                     : $"---({ToNodeId})";
 
@@ -420,7 +420,7 @@ namespace AGVMapEditor.Forms
                 return;
             }
 
-            var rfidDisplay = (_selectedNode as MapNode)?.RfidId ?? "";
+            var rfidDisplay = (_selectedNode as MapNode)?.RfidId ?? 0;
             var result = MessageBox.Show($"노드 {rfidDisplay}[{_selectedNode.Id}] 를 삭제하시겠습니까?\n연결된 RFID 매핑도 함께 삭제됩니다.",
                                        "삭제 확인", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
 
@@ -546,8 +546,8 @@ namespace AGVMapEditor.Forms
         {
             var openFileDialog = new OpenFileDialog
             {
-                Filter = "AGV Map Files (*.agvmap;*.json)|*.agvmap;*.json|All Files (*.*)|*.*",
-                DefaultExt = "agvmap",
+                Filter = "AGV Map Files (*.json)|*.json|All Files (*.*)|*.*",
+                DefaultExt = "json",
             };
 
 
@@ -595,9 +595,9 @@ namespace AGVMapEditor.Forms
         {
             var saveFileDialog = new SaveFileDialog
             {
-                Filter = "AGV Map Files (*.agvmap)|*.agvmap",
-                DefaultExt = "agvmap",
-                FileName = "NewMap.agvmap"
+                Filter = "AGV Map Files (*.json)|*.json",
+                DefaultExt = "json",
+                FileName = "NewMap.json"
             };
 
             if (saveFileDialog.ShowDialog() == DialogResult.OK)
@@ -1107,8 +1107,8 @@ namespace AGVMapEditor.Forms
             // RFID 값 변경시 중복 검사
             if (e.ChangedItem.PropertyDescriptor.Name == "RFID")
             {
-                string newRfidValue = e.ChangedItem.Value?.ToString();
-                if (!string.IsNullOrEmpty(newRfidValue) && CheckRfidDuplicate(newRfidValue))
+                var newRfidValue = ushort.Parse(e.ChangedItem.Value?.ToString());
+                if (newRfidValue != 0 && CheckRfidDuplicate(newRfidValue))
                 {
                     // 중복된 RFID 값 발견
                     MessageBox.Show($"RFID 값 '{newRfidValue}'이(가) 이미 다른 노드에서 사용 중입니다.\n입력값을 되돌립니다.",
@@ -1174,29 +1174,15 @@ namespace AGVMapEditor.Forms
         /// </summary>
         /// <param name="rfidValue">검사할 RFID 값</param>
         /// <returns>중복되면 true, 아니면 false</returns>
-        private bool CheckRfidDuplicate(string rfidValue)
+        private bool CheckRfidDuplicate(ushort rfidValue)
         {
-            if (string.IsNullOrEmpty(rfidValue) || this._mapCanvas.Nodes == null)
+            if (rfidValue == 0 || this._mapCanvas.Nodes == null)
                 return false;
 
             // 현재 편집 중인 노드 제외하고 중복 검사
             string currentNodeId = null;
             var selectedObject = _propertyGrid.SelectedObject;
 
-            // 다양한 PropertyWrapper 타입 처리
-            //if (selectedObject is NodePropertyWrapper nodeWrapper)
-            //{
-            //    currentNodeId = nodeWrapper.WrappedNode?.NodeId;
-            //}
-            //else if (selectedObject is LabelNodePropertyWrapper labelWrapper)
-            //{
-            //    currentNodeId = labelWrapper.WrappedNode?.NodeId;
-            //}
-            //else if (selectedObject is ImageNodePropertyWrapper imageWrapper)
-            //{
-            //    currentNodeId = imageWrapper.WrappedNode?.NodeId;
-            //}
-
             int duplicateCount = 0;
             foreach (var node in this._mapCanvas.Nodes)
             {
@@ -1205,7 +1191,7 @@ namespace AGVMapEditor.Forms
                     continue;
 
                 // 같은 RFID 값을 가진 노드가 있는지 확인
-                if (!string.IsNullOrEmpty(node.RfidId) && node.RfidId.Equals(rfidValue, StringComparison.OrdinalIgnoreCase))
+                if (node.RfidId != 0 && node.RfidId == rfidValue)
                 {
                     duplicateCount++;
                     break; // 하나라도 발견되면 중복

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

@@ -815,6 +815,9 @@ namespace AGVNavigationCore.Controls
                     case StationType.Charger:
                         DrawTriangleNodeShape(g, node, brush);
                         break;
+                    case StationType.Limit:
+                        DrawRectangleNodeShape(g, node, brush);
+                        break;
                     default:
                         DrawCircleNodeShape(g, node, brush);
                         break;
@@ -823,6 +826,83 @@ namespace AGVNavigationCore.Controls
         }
 
 
+        private void DrawRectangleNodeShape(Graphics g, MapNode node, Brush brush)
+        {
+            // 드래그 중인 노드는 약간 크게 그리기
+            bool isDraggingThisNode = _isDragging && node == _selectedNode;
+            int sizeAdjustment = isDraggingThisNode ? 4 : 0;
+
+            var rect = new Rectangle(
+                node.Position.X - NODE_RADIUS - sizeAdjustment,
+                node.Position.Y - NODE_RADIUS - sizeAdjustment,
+                NODE_SIZE + sizeAdjustment * 2,
+                NODE_SIZE + sizeAdjustment * 2
+            );
+
+            // 드래그 중인 노드의 그림자 효과
+            if (isDraggingThisNode)
+            {
+                var shadowRect = new Rectangle(rect.X + 3, rect.Y + 3, rect.Width, rect.Height);
+                using (var shadowBrush = new SolidBrush(Color.FromArgb(100, 0, 0, 0)))
+                {
+                    g.FillRectangle(shadowBrush, shadowRect);
+                }
+            }
+
+            // 노드 그리기
+            g.FillRectangle(brush, rect);
+            g.DrawRectangle(Pens.Black, rect);
+
+            // 드래그 중인 노드 강조 (가장 강력한 효과)
+            if (isDraggingThisNode)
+            {
+                // 청록색 두꺼운 테두리
+                g.DrawRectangle(new Pen(Color.Cyan, 3), rect);
+                // 펄스 효과
+                var pulseRect = new Rectangle(rect.X - 4, rect.Y - 4, rect.Width + 8, rect.Height + 8);
+                g.DrawRectangle(new Pen(Color.FromArgb(150, 0, 255, 255), 2) { DashStyle = DashStyle.Dash }, pulseRect);
+            }
+            // 선택된 노드 강조 (단일 또는 다중)
+            else if (node == _selectedNode || (_selectedNodes != null && _selectedNodes.Contains(node)))
+            {
+                g.DrawRectangle(_selectedNodePen, rect);
+            }
+
+            // 목적지 노드 강조
+            if (node == _destinationNode)
+            {
+                // 금색 테두리로 목적지 강조
+                g.DrawRectangle(_destinationNodePen, rect);
+
+                // 펄싱 효과를 위한 추가 원 그리기
+                var pulseRect = new Rectangle(rect.X - 3, rect.Y - 3, rect.Width + 6, rect.Height + 6);
+                g.DrawRectangle(new Pen(Color.Gold, 2) { DashStyle = DashStyle.Dash }, pulseRect);
+            }
+
+            // 호버된 노드 강조 (드래그 중이 아닐 때만)
+            if (node == _hoveredNode && !isDraggingThisNode)
+            {
+                var hoverRect = new Rectangle(rect.X - 2, rect.Y - 2, rect.Width + 4, rect.Height + 4);
+                g.DrawRectangle(new Pen(Color.Orange, 2), hoverRect);
+            }
+
+            // RFID 중복 노드 표시 (빨간 X자)
+            if (_duplicateRfidNodes.Contains(node.Id))
+            {
+                DrawDuplicateRfidMarker(g, node);
+            }
+
+            // CanCross 가능 노드 표시 (교차지점으로 사용 가능)
+            if (node.DisableCross == true)
+            {
+                var crossRect = new Rectangle(rect.X - 3, rect.Y - 3, rect.Width + 6, rect.Height + 6);
+                g.DrawRectangle(new Pen(Color.DeepSkyBlue, 3), crossRect);
+            }
+
+            g.DrawLine(Pens.Black, rect.X, rect.Y, rect.Right, rect.Bottom);
+            g.DrawLine(Pens.Black, rect.Right, rect.Top, rect.X, rect.Bottom);
+
+        }
         private void DrawCircleNodeShape(Graphics g, MapNode node, Brush brush)
         {
             // 드래그 중인 노드는 약간 크게 그리기
@@ -1140,7 +1220,8 @@ namespace AGVNavigationCore.Controls
 
 
             // 위쪽에 표시할 이름 (노드의 Name 속성)
-            string TopIDText = node.HasRfid() ? node.RfidId : $"[{node.Id}]";
+            string TopIDText = node.HasRfid() ? node.RfidId.ToString("0000") : $"[{node.Id}]";
+
             // 아래쪽에 표시할 값 (RFID 우선, 없으면 노드ID)
             string BottomLabelText = node.Text;
 
@@ -1471,9 +1552,10 @@ namespace AGVNavigationCore.Controls
                 case StationType.Normal: bgColor = Color.DeepSkyBlue; break;
                 case StationType.Charger: bgColor = Color.Tomato; break;
                 case StationType.Loader:
-                case StationType.UnLoader: bgColor = Color.Gold ; break;
-                case StationType.Clearner: bgColor = Color.DeepSkyBlue ; break;
+                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;
                 default: bgColor = Color.White; break;
             }
 

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

@@ -119,9 +119,12 @@ namespace AGVNavigationCore.Controls
             var worldPoint = ScreenToWorld(e.Location);
             var hitNode = GetItemAt(worldPoint);
 
+            // 가동 모드에서는 더블클릭 편집 방지
+            if (_canvasMode == CanvasMode.Run) return;
+
             if (hitNode == null) return;
 
-            if (hitNode.Type  == NodeType.Normal)
+            if (hitNode.Type == NodeType.Normal)
             {
                 HandleNormalNodeDoubleClick(hitNode as MapNode);
             }
@@ -146,15 +149,19 @@ namespace AGVNavigationCore.Controls
         private void HandleNormalNodeDoubleClick(MapNode node)
         {
             // RFID 입력창 표시
-            string currentRfid = node.RfidId ?? "";
+            var currentRfid = node.RfidId;
             string newRfid = Microsoft.VisualBasic.Interaction.InputBox(
                 $"노드 '{node.RfidId}[{node.Id}]'의 RFID를 입력하세요:",
                 "RFID 설정",
-                currentRfid);
+                currentRfid.ToString());
 
-            if (!string.IsNullOrWhiteSpace(newRfid) && newRfid != currentRfid)
+            if (ushort.TryParse(newRfid, out ushort newrfidvalue) == false) return;
+            if (newrfidvalue < 1) return;
+
+
+            if (newrfidvalue != currentRfid)
             {
-                node.RfidId = newRfid.Trim();
+                node.RfidId = newrfidvalue;
                 MapChanged?.Invoke(this, EventArgs.Empty);
                 Invalidate();
             }
@@ -229,7 +236,7 @@ namespace AGVNavigationCore.Controls
                         return;
                     }
 
-                    
+
                 }
 
                 // 팬 시작 (좌클릭 - 모드에 따라)
@@ -272,7 +279,7 @@ namespace AGVNavigationCore.Controls
             // 호버 업데이트
             var newHoveredNode = GetItemAt(worldPoint);
 
-            bool hoverChanged = (newHoveredNode != _hoveredNode) ;
+            bool hoverChanged = (newHoveredNode != _hoveredNode);
 
             if (hoverChanged)
             {
@@ -700,8 +707,8 @@ namespace AGVNavigationCore.Controls
                 {
                     // 연결선을 클릭했을 때 삭제 확인
                     var (fromNode, toNode) = connection.Value;
-                    string fromDisplay = !string.IsNullOrEmpty(fromNode.RfidId) ? fromNode.RfidId : fromNode.Id;
-                    string toDisplay = !string.IsNullOrEmpty(toNode.RfidId) ? toNode.RfidId : toNode.Id;
+                    string fromDisplay = fromNode.HasRfid() ? fromNode.RfidId.ToString("0000") : fromNode.Id;
+                    string toDisplay = toNode.HasRfid() ? toNode.RfidId.ToString("0000") : toNode.Id;
 
                     var result = MessageBox.Show(
                         $"연결을 삭제하시겠습니까?\n\n{fromDisplay} ↔ {toDisplay}",

Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs

@@ -39,7 +39,8 @@ namespace AGVNavigationCore.Controls
         {
             Edit,       // 편집 가능 (맵 에디터)
             Sync,       // 동기화 모드 (장비 설정 동기화)
-            Emulator    // 에뮬레이터 모드
+            Emulator,   // 에뮬레이터 모드
+            Run         // 가동 모드 (User Request)
         }
 
         /// <summary>
@@ -851,13 +852,13 @@ namespace AGVNavigationCore.Controls
                 return;
 
             // RFID값과 해당 노드의 인덱스를 저장
-            var rfidToNodeIndex = new Dictionary<string, List<int>>();
+            var rfidToNodeIndex = new Dictionary<ushort, List<int>>();
 
             // 모든 노드의 RFID값 수집
             for (int i = 0; i < _nodes.Count; i++)
             {
                 var node = _nodes[i];
-                if (!string.IsNullOrEmpty(node.RfidId))
+                if (node.HasRfid())
                 {
                     if (!rfidToNodeIndex.ContainsKey(node.RfidId))
                     {

Cs_HMI/AGVLogic/AGVNavigationCore/Models/Enums.cs

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

Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapNode.cs

@@ -83,7 +83,7 @@ namespace AGVNavigationCore.Models
 
         [Category("RFID 정보")]
         [Description("물리적 RFID 태그 ID입니다.")]
-        public string RfidId { get; set; } = string.Empty;
+        public UInt16 RfidId { get; set; } = 0;
 
 
         [Category("노드 텍스트"), DisplayName("TextColor")]
@@ -149,7 +149,7 @@ namespace AGVNavigationCore.Models
 
         public override string ToString()
         {
-            return $"{RfidId}({Id}): {AliasName} ({Type}) at ({Position.X}, {Position.Y})";
+            return $"RFID:{RfidId}(NODE:{Id}): AS:{AliasName} ({Type}) at ({Position.X}, {Position.Y})";
         }
 
         public bool IsNavigationNode()
@@ -161,7 +161,7 @@ namespace AGVNavigationCore.Models
 
         public bool HasRfid()
         {
-            return !string.IsNullOrEmpty(RfidId);
+            return RfidId > 0;
         }
     }
 }

Cs_HMI/AGVLogic/AGVNavigationCore/Models/VirtualAGV.cs

@@ -280,6 +280,7 @@ namespace AGVNavigationCore.Models
         public bool SetCurrentNodeMarkStop()
         {
             if (_currentNode == null) return false;
+            if (_currentPath == null) return false;
             var 미완료된처음노드 = _currentPath.DetailedPath.Where(t => t.IsPass == false).OrderBy(t => t.seq).FirstOrDefault();
             if (미완료된처음노드 ==  null) return false;
             미완료된처음노드.IsPass = true;
@@ -611,18 +612,7 @@ namespace AGVNavigationCore.Models
             PositionChanged?.Invoke(this, (_currentPosition, _currentDirection, _currentNode));
         }
 
-        /// <summary>
-        /// 현재 RFID 시뮬레이션 (현재 위치 기준)
-        /// </summary>
-        public string SimulateRfidReading(List<MapNode> mapNodes)
-        {
-            var closestNode = FindClosestNode(_currentPosition, mapNodes);
-            if (closestNode == null)
-                return null;
-
-            return closestNode.HasRfid() ? closestNode.RfidId : null;
-        }
-
+   
         #endregion
 
 
@@ -630,10 +620,11 @@ namespace AGVNavigationCore.Models
         /// <summary>
         /// 노드 ID를 RFID 값으로 변환 (NodeResolver 사용)
         /// </summary>
-        public string GetRfidByNodeId(List<MapNode> _mapNodes, string nodeId)
+        public ushort GetRfidByNodeId(List<MapNode> _mapNodes, string nodeId)
         {
             var node = _mapNodes?.FirstOrDefault(n => n.Id == nodeId);
-            return node?.HasRfid() == true ? node.RfidId : nodeId;
+            if ((node?.HasRfid() ?? false) == false) return 0;
+            return node.RfidId;
         }
 
 

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

@@ -447,7 +447,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                 {
                     var node = path1.Path[i];
                     string nodeId = node.Id;
-                    string RfidId = node.RfidId;
+                    var RfidId = node.RfidId;
                     string nextNodeId = (i + 1 < path1.Path.Count) ? path1.Path[i + 1].Id : null;
 
                     // 노드 정보 생성 (현재 방향 유지)
@@ -464,6 +464,8 @@ namespace AGVNavigationCore.PathFinding.Planning
                     {
                         nodeInfo.Speed = mapNode.SpeedLimit;
                     }
+
+                    detailedPath1.Add(nodeInfo);
                 }
 
                 // path1에 상세 경로 정보 설정

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

@@ -770,9 +770,9 @@ namespace AGVNavigationCore.PathFinding.Planning
         private string GetDisplayName(string nodeId)
         {
             var node = _mapNodes.FirstOrDefault(n => n.Id == nodeId);
-            if (node != null && !string.IsNullOrEmpty(node.RfidId))
+            if (node != null && node.HasRfid())
             {
-                return node.RfidId;
+                return node.RfidId.ToString("0000");
             }
             return $"({nodeId})";
         }

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

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

Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DirectionalHelper.cs

@@ -204,7 +204,7 @@ namespace AGVNavigationCore.Utils
             }
 
             Console.WriteLine(
-                $"\n  최종선택: {bestNode?.RfidId ?? "null"}[{bestNode?.Id ?? "null"}] (점수: {bestScore:F4})");
+                $"\n  최종선택: {bestNode?.RfidId ?? 0}[{bestNode?.Id ?? "null"}] (점수: {bestScore:F4})");
             Console.WriteLine(
                 $"[GetNextNodeByDirection] ========== 다음 노드 선택 종료 ==========\n");
 

Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DirectionalPathfinderTest.cs

@@ -11,22 +11,22 @@ namespace AGVNavigationCore.Utils
 {
     /// <summary>
     /// DirectionalPathfinder 테스트 클래스
-    /// NewMap.agvmap을 로드하여 방향별 다음 노드를 검증
+    /// NewMap.json 로드하여 방향별 다음 노드를 검증
     /// </summary>
     public class DirectionalPathfinderTest
     {
         private List<MapNode> _allNodes;
-        private Dictionary<string, MapNode> _nodesByRfidId;
+        private Dictionary<ushort, MapNode> _nodesByRfidId;
         private AGVDirectionCalculator _calculator;
 
         public DirectionalPathfinderTest()
         {
-            _nodesByRfidId = new Dictionary<string, MapNode>();
+            _nodesByRfidId = new Dictionary<ushort, MapNode>();
             _calculator = new AGVDirectionCalculator();
         }
 
         /// <summary>
-        /// NewMap.agvmap 파일 로드
+        /// NewMap.json 파일 로드
         /// </summary>
         public bool LoadMapFile(string filePath)
         {
@@ -52,7 +52,7 @@ namespace AGVNavigationCore.Utils
                 // RFID ID로 인덱싱
                 foreach (var node in _allNodes)
                 {
-                    if (!string.IsNullOrEmpty(node.RfidId))
+                    if (node.HasRfid())
                     {
                         _nodesByRfidId[node.RfidId] = node;
                     }
@@ -71,7 +71,7 @@ namespace AGVNavigationCore.Utils
         /// <summary>
         /// 테스트: RFID 번호로 노드를 찾고, 다음 노드를 계산
         /// </summary>
-        public void TestDirectionalMovement(string previousRfidId, string currentRfidId, AgvDirection direction)
+        public void TestDirectionalMovement(ushort previousRfidId, ushort currentRfidId, AgvDirection direction)
         {
             Console.WriteLine($"\n========================================");
             Console.WriteLine($"테스트: {previousRfidId} → {currentRfidId} (방향: {direction})");
@@ -140,7 +140,7 @@ namespace AGVNavigationCore.Utils
         /// <summary>
         /// 특정 RFID 노드의 상세 정보 출력
         /// </summary>
-        public void PrintNodeInfo(string rfidId)
+        public void PrintNodeInfo(ushort rfidId)
         {
             if (!_nodesByRfidId.TryGetValue(rfidId, out var node))
             {

Cs_HMI/AGVLogic/AGVNavigationCore/Utils/GetNextNodeIdTest.cs

@@ -28,10 +28,10 @@ namespace AGVNavigationCore.Utils
             Console.WriteLine("================================================\n");
 
             // 테스트 노드 생성
-            var node001 = new MapNode { Id = "N001", RfidId = "001", Position = new Point(65, 229), ConnectedNodes = new List<string> { "N002" } };
-            var node002 = new MapNode { Id = "N002", RfidId = "002", Position = new Point(206, 244), ConnectedNodes = new List<string> { "N001", "N003" } };
-            var node003 = new MapNode { Id = "N003", RfidId = "003", Position = new Point(278, 278), ConnectedNodes = new List<string> { "N002", "N004" } };
-            var node004 = new MapNode { Id = "N004", RfidId = "004", Position = new Point(380, 340), ConnectedNodes = new List<string> { "N003", "N022", "N031" } };
+            var node001 = new MapNode { Id = "N001", RfidId = 001, Position = new Point(65, 229), ConnectedNodes = new List<string> { "N002" } };
+            var node002 = new MapNode { Id = "N002", RfidId = 002, Position = new Point(206, 244), ConnectedNodes = new List<string> { "N001", "N003" } };
+            var node003 = new MapNode { Id = "N003", RfidId = 003, Position = new Point(278, 278), ConnectedNodes = new List<string> { "N002", "N004" } };
+            var node004 = new MapNode { Id = "N004", RfidId = 004, Position = new Point(380, 340), ConnectedNodes = new List<string> { "N003", "N022", "N031" } };
 
             var allNodes = new List<MapNode> { node001, node002, node003, node004 };
 
@@ -114,7 +114,7 @@ namespace AGVNavigationCore.Utils
             AgvDirection motorDir = currentMotorDirection ?? direction;
 
             Console.WriteLine($"설명: {description}");
-            Console.WriteLine($"이전 위치: {prevPos} (RFID: {allNodes.First(n => n.Position == prevPos)?.RfidId ?? "?"})");
+            Console.WriteLine($"이전 위치: {prevPos} (RFID: {allNodes.First(n => n.Position == prevPos)?.RfidId.ToString("0000") ?? "?"})");
             Console.WriteLine($"현재 노드: {currentNode.Id} (RFID: {currentNode.RfidId}) - 위치: {currentNode.Position}");
             Console.WriteLine($"현재 모터 방향: {motorDir}");
             Console.WriteLine($"요청 방향: {direction}");

Cs_HMI/AGVLogic/AGVNavigationCore/Utils/TestRunner.cs

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

Cs_HMI/AGVLogic/AGVSimulator/AGVSimulator.csproj

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

Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.cs

@@ -231,7 +231,7 @@ namespace AGVSimulator.Forms
         {
             using (var openDialog = new OpenFileDialog())
             {
-                openDialog.Filter = "AGV Map Files (*.agvmap)|*.agvmap|모든 파일 (*.*)|*.*";
+                openDialog.Filter = "AGV Map Files (*.json)|*.json|모든 파일 (*.*)|*.*";
                 openDialog.Title = "맵 파일 열기";
 
                 if (openDialog.ShowDialog() == DialogResult.OK)
@@ -635,7 +635,7 @@ namespace AGVSimulator.Forms
         /// <summary>
         /// 맵 스캔 모드에서 RFID로부터 노드 생성
         /// </summary>
-        private void CreateNodeFromRfidScan(string rfidId, VirtualAGV selectedAGV)
+        private void CreateNodeFromRfidScan(ushort rfidId, VirtualAGV selectedAGV)
         {
             try
             {
@@ -644,7 +644,7 @@ namespace AGVSimulator.Forms
                 var currentDirection = directionItem?.Direction ?? AgvDirection.Forward;
 
                 // 중복 RFID 확인
-                var existingNode = _simulatorCanvas.Nodes?.FirstOrDefault(n => n.RfidId.Equals(rfidId, StringComparison.OrdinalIgnoreCase));
+                var existingNode = _simulatorCanvas.Nodes?.FirstOrDefault(n => n.RfidId == rfidId);
                 if (existingNode != null)
                 {
                     // 이미 존재하는 노드로 이동
@@ -805,7 +805,7 @@ namespace AGVSimulator.Forms
                         if (agv.CurrentNodeId != null && agv.CurrentNodeId != _lastSentNodeId)
                         {
                             var rfid = GetRfidByNodeId(agv.CurrentNodeId);
-                            if (!string.IsNullOrEmpty(rfid))
+                            if (rfid > 0)
                             {
                                 SendTag(rfid);
                                 _lastSentNodeId = agv.CurrentNodeId;
@@ -842,7 +842,7 @@ namespace AGVSimulator.Forms
 
             // RFID 값 확인
             var rfidId = _rfidTextBox.Text.Trim();
-            if (string.IsNullOrEmpty(rfidId))
+            if (ushort.TryParse(rfidId,out ushort rfidvalue)==false)
             {
                 MessageBox.Show("RFID 값을 입력해주세요.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
                 return;
@@ -856,13 +856,13 @@ namespace AGVSimulator.Forms
             // 맵 스캔 모드일 때: 노드 자동 생성
             if (_isMapScanMode)
             {
-                CreateNodeFromRfidScan(rfidId, selectedAGV);
+                CreateNodeFromRfidScan(rfidvalue, selectedAGV);
                 this._simulatorCanvas.FitToNodes();
                 return;
             }
 
             // RFID에 해당하는 노드 직접 찾기
-            var targetNode = _simulatorCanvas.Nodes?.FirstOrDefault(n => n.RfidId.Equals(rfidId, StringComparison.OrdinalIgnoreCase));
+            var targetNode = _simulatorCanvas.Nodes?.FirstOrDefault(n => n.RfidId == rfidvalue);
             if (targetNode == null)
             {
                 MessageBox.Show($"RFID '{rfidId}'에 해당하는 노드를 찾을 수 없습니다.\n\n사용 가능한 RFID 목록:\n{GetAvailableRfidList()}",
@@ -1255,10 +1255,12 @@ namespace AGVSimulator.Forms
         /// <summary>
         /// 노드 ID를 RFID 값으로 변환 (NodeResolver 사용)
         /// </summary>
-        private string GetRfidByNodeId(string nodeId)
+        private ushort GetRfidByNodeId(string nodeId)
         {
             var node = _simulatorCanvas.Nodes?.FirstOrDefault(n => n.Id == nodeId);
-            return node?.HasRfid() == true ? node.RfidId : nodeId;
+            if (node == null) return 0;
+            if (node.HasRfid()) return node.RfidId;
+            else return 0;
         }
 
         /// <summary>
@@ -1267,9 +1269,9 @@ namespace AGVSimulator.Forms
         private string GetDisplayName(string nodeId)
         {
             var node = _simulatorCanvas.Nodes?.FirstOrDefault(n => n.Id == nodeId);
-            if (node != null && !string.IsNullOrEmpty(node.RfidId))
+            if (node != null && node.HasRfid())
             {
-                return node.RfidId;
+                return node.RfidId.ToString("0000");
             }
             return $"({nodeId})";
         }
@@ -1366,7 +1368,7 @@ namespace AGVSimulator.Forms
             {
                 var info = advancedResult.DetailedPath[i];
                 var rfidId = GetRfidByNodeId(info.NodeId);
-                var nextRfidId = info.NextNodeId != null ? GetRfidByNodeId(info.NextNodeId) : "END";
+                var nextRfidId = info.NextNodeId != null ? GetRfidByNodeId(info.NextNodeId).ToString("0000") : "-END-";
 
                 var flags = new List<string>();
                 if (info.CanRotate) flags.Add("회전가능");
@@ -1616,12 +1618,8 @@ namespace AGVSimulator.Forms
         /// </summary>
         private string GetNodeDisplayName(MapNode node)
         {
-            if (node == null)
-                return "-";
-
-            if (!string.IsNullOrEmpty(node.RfidId))
-                return node.RfidId;
-
+            if (node == null) return "-";
+            if (node.HasRfid()) return node.RfidId.ToString("0000");
             return $"({node.Id})";
         }
 
@@ -1792,7 +1790,7 @@ namespace AGVSimulator.Forms
                     this.Invoke((MethodInvoker)delegate
                     {
                         // RFID 텍스트박스에 값 입력
-                        _rfidTextBox.Text = nodeA.RfidId;
+                        _rfidTextBox.Text = nodeA.RfidId.ToString();
 
                         // 방향 콤보박스 선택
                         SetDirectionComboBox(direction);
@@ -1808,7 +1806,7 @@ namespace AGVSimulator.Forms
                     this.Invoke((MethodInvoker)delegate
                     {
                         // RFID 텍스트박스에 값 입력
-                        _rfidTextBox.Text = nodeB.RfidId;
+                        _rfidTextBox.Text = nodeB.RfidId.ToString();
 
                         // 방향 콤보박스 선택
                         SetDirectionComboBox(direction);
@@ -2038,9 +2036,9 @@ namespace AGVSimulator.Forms
 
             using (var saveDialog = new SaveFileDialog())
             {
-                saveDialog.Filter = "AGV Map Files (*.agvmap)|*.agvmap|모든 파일 (*.*)|*.*";
+                saveDialog.Filter = "AGV Map Files (*.json)|*.json|모든 파일 (*.*)|*.*";
                 saveDialog.Title = "맵 파일 저장";
-                saveDialog.DefaultExt = "agvmap";
+                saveDialog.DefaultExt = "json";
 
                 // 현재 파일이 있으면 기본 파일명으로 설정
                 if (!string.IsNullOrEmpty(_currentMapFilePath))
@@ -2051,7 +2049,7 @@ namespace AGVSimulator.Forms
                 else
                 {
                     // 기본 파일명: 날짜_시간 형식
-                    saveDialog.FileName = $"ScanMap_{DateTime.Now:yyyyMMdd_HHmmss}.agvmap";
+                    saveDialog.FileName = $"ScanMap_{DateTime.Now:yyyyMMdd_HHmmss}.json";
                 }
 
                 if (saveDialog.ShowDialog() == DialogResult.OK)
@@ -2415,19 +2413,18 @@ namespace AGVSimulator.Forms
             catch { }
         }
 
-        public void SendTag(string tagno)
+        public void SendTag(ushort tagno)
         {
             if (_emulatorPort == null || !_emulatorPort.IsOpen) return;
 
-            tagno = tagno.PadLeft(6, '0');
-            if (tagno.Length > 6) tagno = tagno.Substring(0, 6);
+            var tagnostr = tagno.ToString("000000");
             
             var barr = new List<byte>();
             barr.Add(0x02);
             barr.Add((byte)'T');
             barr.Add((byte)'A');
             barr.Add((byte)'G');
-            barr.AddRange(System.Text.Encoding.Default.GetBytes(tagno));
+            barr.AddRange(System.Text.Encoding.Default.GetBytes(tagnostr));
             barr.Add((byte)'*');
             barr.Add((byte)'*');
             barr.Add(0x03);

Cs_HMI/Project/AGV4.csproj

@@ -186,6 +186,7 @@
     <Compile Include="Device\BMS.cs" />
     <Compile Include="Device\BMSInformationEventArgs.cs" />
     <Compile Include="Device\CFlag.cs" />
+    <Compile Include="Device\BMSSerialComm.cs" />
     <Compile Include="Device\xbee.cs">
       <SubType>Component</SubType>
     </Compile>
@@ -196,6 +197,12 @@
     <Compile Include="Dialog\fCounter.Designer.cs">
       <DependentUpon>fCounter.cs</DependentUpon>
     </Compile>
+    <Compile Include="Dialog\fXbeeSetting.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="Dialog\fXbeeSetting.Designer.cs">
+      <DependentUpon>fXbeeSetting.cs</DependentUpon>
+    </Compile>
     <Compile Include="Dialog\fStateMachineDebug.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -226,9 +233,6 @@
     <Compile Include="Dialog\fSystem.Designer.cs">
       <DependentUpon>fSystem.cs</DependentUpon>
     </Compile>
-    <Compile Include="Dialog\DriveDetector.cs">
-      <SubType>Form</SubType>
-    </Compile>
     <Compile Include="Dialog\fVolume.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -363,9 +367,6 @@
     <Compile Include="StateMachine\_SPS.cs">
       <SubType>Form</SubType>
     </Compile>
-    <Compile Include="Device\_DeviceManagement.cs">
-      <SubType>Form</SubType>
-    </Compile>
     <Compile Include="StateMachine\_Loop.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -423,6 +424,9 @@
     <EmbeddedResource Include="Dialog\fCounter.resx">
       <DependentUpon>fCounter.cs</DependentUpon>
     </EmbeddedResource>
+    <EmbeddedResource Include="Dialog\fXbeeSetting.resx">
+      <DependentUpon>fXbeeSetting.cs</DependentUpon>
+    </EmbeddedResource>
     <EmbeddedResource Include="Dialog\fUpdateForm.resx">
       <DependentUpon>fUpdateForm.cs</DependentUpon>
     </EmbeddedResource>

Cs_HMI/Project/Class/CResult.cs

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

Cs_HMI/Project/Device/BMS.cs

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

Cs_HMI/Project/Device/BMSInformationEventArgs.cs

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

Cs_HMI/Project/Device/BMSSerialComm.cs

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

Cs_HMI/Project/Device/Xbee.cs

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

Cs_HMI/Project/Device/_DeviceManagement.cs

@@ -1,323 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Data;
-using System.Drawing;
-using System.Linq;
-using System.Text;
-using System.Threading;
-using System.Threading.Tasks;
-using System.Windows.Media.Animation;
-using AR;
-using arCtl;
-using COMM;
-using Project.StateMachine;
-
-namespace Project
-{
-    /// <summary>
-    /// 장치 연결 및 상태 전송을 담당하는 별도 태스크
-    /// </summary>
-    public partial class fMain
-    {
-        // 장치 관리 태스크 관련
-        private Task deviceManagementTask;
-        private CancellationTokenSource deviceManagementCts;
-        private volatile bool isDeviceManagementRunning = false;
-
-        /// <summary>
-        /// 장치 관리 태스크 시작 (IDLE 상태 진입 시 호출)
-        /// </summary>
-        public void StartDeviceManagementTask()
-        {
-            if (isDeviceManagementRunning)
-            {
-                PUB.log.Add("DeviceManagement", "이미 실행 중입니다.");
-                return;
-            }
-
-            isDeviceManagementRunning = true;
-            deviceManagementCts = new CancellationTokenSource();
-
-            deviceManagementTask = Task.Factory.StartNew(
-                () => DeviceManagementWorker(deviceManagementCts.Token),
-                deviceManagementCts.Token,
-                TaskCreationOptions.LongRunning,
-                TaskScheduler.Default
-            );
-
-            PUB.log.Add("DeviceManagement", "장치 관리 태스크 시작");
-        }
-
-        /// <summary>
-        /// 장치 관리 태스크 종료
-        /// File : /device/_DeviceManagement.cs
-        /// </summary>
-        public void StopDeviceManagementTask()
-        {
-            if (!isDeviceManagementRunning)
-                return;
-
-            isDeviceManagementRunning = false;
-
-            try
-            {
-                deviceManagementCts?.Cancel();
-
-                if (deviceManagementTask != null)
-                {
-                    if (!deviceManagementTask.Wait(3000)) // 3초 대기
-                    {
-                        PUB.log.AddE("DeviceManagement:태스크 종료 대기 시간 초과");
-                    }
-                }
-            }
-            catch (Exception ex)
-            {
-                PUB.log.AddE($"DeviceManagement 종료 중 오류: {ex.Message}");
-            }
-            finally
-            {
-                deviceManagementCts?.Dispose();
-                deviceManagementCts = null;
-                deviceManagementTask = null;
-                PUB.log.Add("DeviceManagement", "장치 관리 태스크 종료");
-            }
-        }
-
-        /// <summary>
-        /// 장치 관리 워커 (별도 태스크에서 실행)
-        /// - 장치 연결 관리 (AGV, XBee, BMS)
-        /// - 자동 상태 전송 (XBee, BMS)
-        /// </summary>
-        private void DeviceManagementWorker(CancellationToken cancellationToken)
-        {
-            PUB.log.Add("DeviceManagementWorker", "시작");
-
-            DateTime lastXbeStatusSendTime = DateTime.Now;
-            DateTime lastBmsQueryTime = DateTime.Now;
-
-            while (!cancellationToken.IsCancellationRequested && isDeviceManagementRunning)
-            {
-                try
-                {
-                    // 상태머신이 IDLE 이상이고 CLOSING 미만일 때만 동작
-                    if (PUB.sm.Step >= eSMStep.IDLE && PUB.sm.Step < eSMStep.CLOSING)
-                    {
-                        // ========== 1. 장치 연결 관리 ==========
-                        ManageDeviceConnections();
-
-                        // ========== 2. XBee 상태 전송 ==========
-                        if (PUB.XBE != null && PUB.XBE.IsOpen)
-                        {
-                            var tsXbe = DateTime.Now - lastXbeStatusSendTime;
-                            if (tsXbe.TotalSeconds >= PUB.setting.interval_xbe)
-                            {
-                                lastXbeStatusSendTime = DateTime.Now;
-                                ThreadPool.QueueUserWorkItem(_ =>
-                                {
-                                    try
-                                    {
-                                        PUB.XBE.SendStatus();
-                                    }
-                                    catch (Exception ex)
-                                    {
-                                        PUB.log.AddE($"XBee SendStatus 오류: {ex.Message}");
-                                    }
-                                });
-                            }
-                        }
-
-                        // ========== 3. BMS 쿼리 및 배터리 경고 ==========
-                        if (PUB.BMS != null && PUB.BMS.IsOpen)
-                        {
-                            var tsBms = DateTime.Now - lastBmsQueryTime;
-                            if (tsBms.TotalSeconds >= PUB.setting.interval_bms)
-                            {
-                                lastBmsQueryTime = DateTime.Now;
-                                ThreadPool.QueueUserWorkItem(_ =>
-                                {
-                                    try
-                                    {
-                                        PUB.BMS.SendQuery();
-                                    }
-                                    catch (Exception ex)
-                                    {
-                                        PUB.log.AddE($"BMS SendQuery 오류: {ex.Message}");
-                                    }
-                                });
-                            }
-
-                            // 배터리 경고음
-                            try
-                            {
-                                Update_BatteryWarnSpeak();
-                            }
-                            catch (Exception ex)
-                            {
-                                PUB.log.AddE($"BatteryWarnSpeak 오류: {ex.Message}");
-                            }
-                        }
-                    }
-                }
-                catch (Exception ex)
-                {
-                    PUB.log.AddE($"DeviceManagementWorker 오류: {ex.Message}");
-                }
-
-                // 1초 대기 (또는 취소 요청 시 즉시 종료)
-                try
-                {
-                    Task.Delay(1000, cancellationToken).Wait();
-                }
-                catch (OperationCanceledException)
-                {
-                    break;
-                }
-            }
-            PUB.log.Add("DeviceManagementWorker", "종료");
-        }
-
-        /// <summary>
-        /// 장치 연결 상태 관리
-        /// </summary>
-        private void ManageDeviceConnections()
-        {
-            try
-            {
-                // AGV 연결
-                ConnectSerialPort(PUB.AGV, PUB.setting.Port_AGV, PUB.setting.Baud_AGV,
-                     eVarTime.LastConn_AGV, eVarTime.LastConnTry_AGV, eVarTime.LastRecv_AGV);
-
-                // XBee 연결
-                ConnectSerialPort(PUB.XBE, PUB.setting.Port_XBE, PUB.setting.Baud_XBE,
-                     eVarTime.LastConn_XBE, eVarTime.LastConnTry_XBE, eVarTime.LastRecv_XBE);
-
-                // BMS 연결
-                if (PUB.BMS.IsOpen == false)
-                {
-                    var ts = VAR.TIME.RUN(eVarTime.LastConn_BAT);
-                    if (ts.TotalSeconds > 3)
-                    {
-                        PUB.log.Add($"BMS 연결 시도: {PUB.setting.Port_BAT}");
-                        PUB.BMS.PortName = PUB.setting.Port_BAT;
-                        if (PUB.BMS.Open())
-                            PUB.log.AddI($"BMS 연결 완료({PUB.setting.Port_BAT})");
-
-                        VAR.TIME.Update(eVarTime.LastConn_BAT);
-                        VAR.TIME.Update(eVarTime.LastConnTry_BAT);
-                    }
-                }
-                else if (PUB.BMS.IsValid == false)
-                {
-                    var ts = VAR.TIME.RUN(eVarTime.LastConnTry_BAT);
-                    if (ts.TotalSeconds > (PUB.setting.interval_bms * 2.5))
-                    {
-                        PUB.log.Add("BMS 자동 연결 해제 (응답 없음)");
-                        PUB.BMS.Close();
-                        VAR.TIME.Set(eVarTime.LastConn_BAT, DateTime.Now.AddSeconds(5));
-                    }
-                }
-            }
-            catch (Exception ex)
-            {
-                PUB.log.AddE($"ManageDeviceConnections 오류: {ex.Message}");
-            }
-        }
-
-        /// <summary>
-        /// 시리얼 포트 연결 (arDev.arRS232)
-        /// </summary>
-        bool ConnectSerialPort(arDev.arRS232 dev, string port, int baud, eVarTime conn, eVarTime conntry, eVarTime recvtime)
-        {
-            if(port.isEmpty()) return false;
-
-            if (dev.IsOpen == false && port.isEmpty() == false)
-            {
-                var tsPLC = VAR.TIME.RUN(conntry);
-                if (tsPLC.TotalSeconds > 5)
-                {
-                    VAR.TIME.Update(conntry);
-                    try
-                    {
-                        VAR.TIME.Update(recvtime);
-                        dev.PortName = port;
-                        dev.BaudRate = baud;
-                        if (dev.Open())
-                        {
-                            PUB.log.Add(port, $"[AGV:{port}:{baud}] 연결 완료");
-                        }
-                        else
-                        {
-                            //존재하지 않는 포트라면 sync를 벗어난다
-                            var ports = System.IO.Ports.SerialPort.GetPortNames().Select(t => t.ToLower()).ToList();
-                            if (ports.Contains(PUB.setting.Port_AGV.ToLower()) == false)
-                            {
-                                return false;
-                            }
-                            else
-                            {
-                                var errmessage = dev.errorMessage;
-                                PUB.log.AddE($"[AGV:{port}:{baud}] {errmessage}");
-                            }
-                        }
-                        VAR.TIME.Update(conn);
-                        VAR.TIME.Update(conntry);
-                    }
-                    catch (Exception ex)
-                    {
-                        PUB.log.AddE(ex.Message);
-                    }
-                }
-            }
-            else if (dev.PortName.Equals(port) == false)
-            {
-                PUB.log.Add(port, $"포트 변경({dev.PortName}->{port})으로 연결 종료");
-                dev.Close();
-                VAR.TIME.Update(conntry);
-            }
-            return true;
-        }
-
-        /// <summary>
-        /// 시리얼 포트 연결 (Device.Xbee)
-        /// </summary>
-        void ConnectSerialPort(Device.Xbee dev, string port, int baud, eVarTime conn, eVarTime conntry, eVarTime recvtime)
-        {
-            if (dev.IsOpen == false && port.isEmpty() == false)
-            {
-                var tsPLC = VAR.TIME.RUN(conntry);
-                if (tsPLC.TotalSeconds > 5)
-                {
-                    VAR.TIME.Update(conntry);
-                    try
-                    {
-                        VAR.TIME.Update(recvtime);
-                        dev.PortName = port;
-                        dev.BaudRate = baud;
-                        if (dev.Open())
-                        {
-                            PUB.log.Add(port, $"[XBEE:{port}:{baud}] 연결 완료");
-                        }
-                        else
-                        {
-                            var errmessage = dev.errorMessage;
-                            PUB.log.AddE($"[XBEE:{port}:{baud}] {errmessage}");
-                        }
-                        VAR.TIME.Update(conn);
-                        VAR.TIME.Update(conntry);
-                    }
-                    catch (Exception ex)
-                    {
-                        PUB.log.AddE(ex.Message);
-                    }
-                }
-            }
-            else if (dev.PortName.Equals(port) == false)
-            {
-                PUB.log.Add(port, $"포트 변경({dev.PortName}->{port})으로 연결 종료");
-                dev.Close();
-                VAR.TIME[(int)conntry] = DateTime.Now;
-            }
-        }
-    }
-}

Cs_HMI/Project/Dialog/DriveDetector.cs

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

Cs_HMI/Project/Dialog/fLog.Designer.cs

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

Cs_HMI/Project/Dialog/fLog.cs

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

Cs_HMI/Project/Dialog/fSystem.Designer.cs

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

Cs_HMI/Project/Dialog/fSystem.cs

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

Cs_HMI/Project/Dialog/fXbeeSetting.Designer.cs

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

Cs_HMI/Project/Dialog/fXbeeSetting.cs

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

Cs_HMI/Project/Dialog/fXbeeSetting.resx

@@ -0,0 +1,123 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <metadata name="serialPort1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 17</value>
+  </metadata>
+</root>

Cs_HMI/Project/PUB.cs

@@ -647,7 +647,7 @@ namespace Project
         /// <param name="rfidId">읽은 RFID ID</param>
         /// <param name="motorDirection">모터 방향 (Forward/Backward)</param>
         /// <returns>업데이트 성공 여부</returns>
-        public static bool UpdateAGVFromRFID(string rfidId, AgvDirection motorDirection = AgvDirection.Forward)
+        public static bool UpdateAGVFromRFID(ushort rfidId, AgvDirection motorDirection = AgvDirection.Forward)
         {
             var _mapNodes = PUB._mapCanvas.Nodes;
             if (_virtualAGV == null || _mapNodes == null) return false;

Cs_HMI/Project/StateMachine/Step/_SM_RUN.cs

@@ -28,7 +28,7 @@ namespace Project
             }
 
             //가동불가 조건 확인
-            if (CheckStopCondition() == false)   return;
+            if (CheckStopCondition() == false) return;
 
             //중단기능이 동작이라면 처리하지 않는다.
             if (PUB.sm.bPause)
@@ -109,10 +109,17 @@ namespace Project
                         var target = PUB._virtualAGV.TargetNode;
                         PUB.log.Add($"목적지({target.RfidId}) 도착완료 타입:{target.Type}, 출발지:{PUB._virtualAGV.StartNode.RfidId}");
 
-                        switch(target.StationType)
+                        switch (target.StationType)
                         {
                             case AGVNavigationCore.Models.StationType.Buffer:
                                 //현재위치가 마지막경로의 NODEID와 일치해야한다
+                                if (PUB._virtualAGV.CurrentPath == null)
+                                {
+                                    PUB.log.AddAT("목적지 버퍼이동완료 했지만 상세경로가 없습니다");
+                                    PUB.XBE.BufferInComplete = false;
+                                    PUB.XBE.BufferOutComplete = false;
+                                    break;
+                                }
                                 var lastPath = PUB._virtualAGV.CurrentPath.DetailedPath.LastOrDefault();
                                 if (lastPath.NodeId.Equals(PUB._virtualAGV.CurrentNode.Id))
                                 {
@@ -131,7 +138,7 @@ namespace Project
                                 PUB.XBE.BufferOutComplete = false;
                                 break;
                         }
-                       
+
                         PUB._virtualAGV.Turn = AGVNavigationCore.Models.AGVTurn.None;
                         PUB.sm.SetNewRunStep(ERunStep.READY);
                     }

Cs_HMI/Project/StateMachine/Step/_SM_RUN_CHGOFF.cs

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

Cs_HMI/Project/StateMachine/Step/_SM_RUN_GOTO.cs

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

Cs_HMI/Project/StateMachine/Step/_SM_RUN_POSCHK.cs

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

Cs_HMI/Project/StateMachine/Step/_STEP_CLOSE.cs

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

Cs_HMI/Project/StateMachine/Step/_Util.cs

@@ -117,6 +117,11 @@ namespace Project
                     PUB.sm.SetNewRunStep(ERunStep.READY);
                     return false;
                 }
+                else
+                {
+                    PUB._mapCanvas.CurrentPath = PathResult.result;
+                    PUB._virtualAGV.SetPath(PathResult.result);
+                }
 
                 PUB.log.AddI($"경로생성 {PUB._virtualAGV.StartNode.RfidId} -> {PUB._virtualAGV.TargetNode.RfidId}");
             }
@@ -133,8 +138,16 @@ namespace Project
                 return false;
             }
 
+       
+
             //predict 를 이용하여 다음 이동을 모두 확인한다.
             var nextAction = PUB._virtualAGV.Predict();
+            if(nextAction.Reason == AGVNavigationCore.Models.eAGVCommandReason.PathOut)
+            {
+                //경로이탈
+                PUB._virtualAGV.CurrentPath.DetailedPath.Clear();
+                return false;
+            }
 
             var message = $"[다음 행동 예측]\n\n" +
                          $"모터: {nextAction.Motor}\n" +
@@ -244,7 +257,7 @@ namespace Project
                         PBSSensor = 1,
                         Speed = arDev.Narumi.eMoveSpd.Low,
                     });
-                    PUB.AGV.AGVMoveRun();//
+                    PUB.AGV.AGVMoveRun( arDev.Narumi.eRunOpt.Forward);//
                     tm_gocharge_command = DateTime.Now;
                 }
             }
@@ -265,7 +278,13 @@ namespace Project
                         PUB.AGV.error.Emergency == false &&
                         PUB.AGV.system1.agv_run == false)
                     {
-                        //PUB.PLC.Move(Device.PLC.Rundirection.Backward, "UpdateMotionPosition #1(" + sender + ")");
+                        PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                        {
+                            Bunki = arDev.Narumi.eBunki.Strate,
+                            Direction = arDev.Narumi.eMoveDir.Backward,
+                            PBSSensor = 1,
+                            Speed = arDev.Narumi.eMoveSpd.Low,
+                        });
                         PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);//
                         LastCommandTime = DateTime.Now;
                     }

Cs_HMI/Project/StateMachine/_AGV.cs

@@ -18,22 +18,19 @@ namespace Project
     {
         private void AGV_Message(object sender, arDev.Narumi.MessageEventArgs e)
         {
-            if (e.MsgType == arDev.arRS232.MessageType.Normal)
-
+            if (e.MsgType == arDev.NarumiSerialComm.MessageType.Normal)
                 PUB.logagv.AddE(e.Message);
-            else if (e.MsgType == arDev.arRS232.MessageType.Normal)
-
+            else if (e.MsgType == arDev.NarumiSerialComm.MessageType.Normal)
                 PUB.logagv.Add(e.Message);
-            else if (e.MsgType == arDev.arRS232.MessageType.Recv)
+            else if (e.MsgType == arDev.NarumiSerialComm.MessageType.Recv)
             {
                 if (e.Message.Substring(1).StartsWith("STS") == false)
                     PUB.logagv.Add("AGV-RX", e.Message);
             }
-            else if (e.MsgType == arDev.arRS232.MessageType.Send)
+            else if (e.MsgType == arDev.NarumiSerialComm.MessageType.Send)
                 PUB.logagv.Add("AGV-TX", e.Message);
             else
             {
-
                 PUB.logagv.Add(e.MsgType.ToString(), e.Message);
             }
         }
@@ -44,6 +41,7 @@ namespace Project
         {
             try
             {
+                VAR.TIME.Set(eVarTime.LastRecv_AGV, DateTime.Now);
                 //데이터 파싱
                 switch (e.DataType)
                 {
@@ -55,7 +53,7 @@ namespace Project
                             var agv_chg = PUB.AGV.system1.Battery_charging;
                             var agv_stp = PUB.AGV.system1.agv_stop;
                             var agv_run = PUB.AGV.system1.agv_run;
-                            var agv_mrk = PUB.AGV.signal.mark_sensor;
+                            var agv_mrk = PUB.AGV.signal1.mark_sensor;
 
 
                             //if (chg_run && PUB.AGV.system1.agv_run) PUB.Speak("이동을 시작 합니다");
@@ -108,8 +106,7 @@ namespace Project
                                 PUB.log.Add($"충전상태전환 {agv_chg}");
                                 VAR.BOOL[eVarBool.FLAG_CHARGEONA] = agv_chg;
                             }
-                            //자동충전해제시 곧바로 수동 충전되는 경우가 있어 자동 상태를 BMS에 넣는다 230118
-                            PUB.BMS.AutoCharge = agv_chg;
+                    
 
                             if (PUB.AGV.error.Charger_pos_error != VAR.BOOL[eVarBool.CHG_POSERR])
                             {
@@ -131,10 +128,10 @@ namespace Project
                             }
 
                             //마크센서 상태가 변경이 되었다면
-                            if (VAR.BOOL[eVarBool.MARK_SENSOR] != PUB.AGV.signal.mark_sensor)
+                            if (VAR.BOOL[eVarBool.MARK_SENSOR] != PUB.AGV.signal1.mark_sensor)
                             {
-                                PUB.logagv.Add($"MARK_SENSOR 변경({PUB.AGV.signal.mark_sensor})");
-                                VAR.BOOL[eVarBool.MARK_SENSOR] = PUB.AGV.signal.mark_sensor;
+                                PUB.logagv.Add($"MARK_SENSOR 변경({PUB.AGV.signal1.mark_sensor})");
+                                VAR.BOOL[eVarBool.MARK_SENSOR] = PUB.AGV.signal1.mark_sensor;
 
                                 //AGV가 멈췄고 마크센서가 ON되었다면 마지막 RFID 위치가 확정된경우이다
                                 if (agv_stp && VAR.BOOL[eVarBool.MARK_SENSOR])
@@ -160,8 +157,8 @@ namespace Project
                     case arDev.Narumi.DataType.TAG:
                         {
                             //자동 실행 중이다.
-                            
-                            PUB.Result.LastTAG = PUB.AGV.data.TagNo.ToString("0000");
+
+                            PUB.Result.LastTAG = PUB.AGV.data.TagNo;//.ToString("0000");
                             PUB.log.Add($"AGV 태그수신 : {PUB.AGV.data.TagNo} LastTag:{PUB.Result.LastTAG}");
                             //POT/NOT 보면 일단 바로 멈추게한다
                             if (PUB.Result.CurrentPos == ePosition.POT || PUB.Result.CurrentPos == ePosition.NOT)
@@ -172,7 +169,7 @@ namespace Project
                             }
 
                             //virtual agv setting
-                            var CurrentNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId.Equals(PUB.Result.LastTAG, StringComparison.OrdinalIgnoreCase));
+                            var CurrentNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId == PUB.Result.LastTAG);
                             if (CurrentNode == null)
                             {
                                 //없는 노드는 자동으로 추가한다
@@ -237,7 +234,6 @@ namespace Project
 
                     PUB._mapCanvas.PredictMessage = message;
                 }
-
             }
             catch (Exception ex)
             {
@@ -245,4 +241,4 @@ namespace Project
             }
         }
     }
-}
+}

Cs_HMI/Project/StateMachine/_BMS.cs

@@ -25,15 +25,18 @@ namespace Project
         DateTime lastbmstime = DateTime.Now;
         private void Bms_Message(object sender, arDev.BMS.MessageEventArgs e)
         {
-            if (e.MsgType == arDev.arRS232.MessageType.Error) PUB.logbms.AddE( e.Message);
+
+            if (e.MsgType == arDev.BMSSerialComm.MessageType.Error) PUB.logbms.AddE(e.Message);
             else
             {
+                VAR.TIME[eVarTime.LastRecv_BAT] = DateTime.Now;
+
                 var hexstr = e.Data.GetHexString().Trim();
                 bool addlog = false;
                 var logtimesec = 30;
                 if (hexstr.StartsWith("DD 04"))
                 {
-                    if (lastbms04.Equals(hexstr.Substring(0,5)) == false)
+                    if (lastbms04.Equals(hexstr.Substring(0, 5)) == false)
                     {
                         addlog = true;
                         lastbms04 = "DD 04";
@@ -133,37 +136,49 @@ namespace Project
                     }
                 }
 
-                if(addlog)
-                    PUB.logbms.Add("BMS:" + hexstr);
+                if (addlog)
+                {
+                    //if (e.MsgType == arDev.arRS232.MessageType.Recv)
+                    //    PUB.logbms.Add("RX", e.Data.GetHexString());
+                    //else if (e.MsgType == arDev.arRS232.MessageType.Send)
+                    //    PUB.logbms.Add("TX", e.Data.GetHexString());
+                    //else
+                    {
+                        PUB.logbms.Add(e.MsgType.ToString(),e.Message);
+                    }
+                        
+                }
+
+
 
             }
         }
         private void BMS_ChargeDetect(object sender, arDev.ChargetDetectArgs e)
         {
             //자동충전중이아니고 멈춰있다면 수동 충전으로 전환한다
-            if (PUB.AGV.system1.Battery_charging == false && PUB.AGV.system1.agv_stop == true && VAR.BOOL[eVarBool.FLAG_CHARGEONM] == false)
+            VAR.TIME[eVarTime.LastRecv_BAT] = DateTime.Now;
+            if (e.Detected == true)  //충전이 감지되었다.
             {
-                if (PUB.setting.DetectManualCharge)
+                if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == false && VAR.BOOL[eVarBool.FLAG_CHARGEONM] == false)
                 {
                     VAR.BOOL[eVarBool.FLAG_CHARGEONM] = true;
                     PUB.Speak(Lang.충전이감지되어수동충전으로전환합니다);
+                    if (PUB.AGV.system1.agv_run == true) PUB.AGV.AGVMoveStop("수동충전감지");
                 }
-                else
-                {
-                    PUB.log.Add($"충전이 감지되었지만 메뉴얼 전환 비활성화됨");
-                }
-
             }
+            else PUB.logbms.AddI("Battery Charge Off");
+
         }
 
         private void Bms_BMSDataReceive(object sender, EventArgs e)
         {
-            
+
+            VAR.TIME[eVarTime.LastRecv_BAT] = DateTime.Now;
             //PUB.mapctl.Manager.agv.BatteryLevel = PUB.BMS.Current_Level;
             //PUB.mapctl.Manager.agv.BatteryTemp1 = PUB.BMS.Current_temp1;
             //PUB.mapctl.Manager.agv.BatteryTemp2 = PUB.BMS.Current_temp2;
 
-             // [Sync] Update VirtualAGV Battery
+            // [Sync] Update VirtualAGV Battery
             PUB.UpdateAGVBattery(PUB.BMS.Current_Level);
 
             if (PUB.BMS.Current_Level <= PUB.setting.ChargeStartLevel)
@@ -188,6 +203,7 @@ namespace Project
         }
         private void BMS_BMSCellDataReceive(object sender, arDev.BMSCelvoltageEventArgs e)
         {
+            VAR.TIME[eVarTime.LastRecv_BAT] = DateTime.Now;
             EEMStatus.MakeBMSInformation_Cell();
         }
     }

Cs_HMI/Project/StateMachine/_Loop.cs

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

Cs_HMI/Project/StateMachine/_SPS.cs

@@ -21,22 +21,208 @@ namespace Project
     {
         DateTime chargesynctime = DateTime.Now;
         DateTime agvsendstarttime = DateTime.Now;
+        DateTime lastXbeStatusSendTime = DateTime.Now;
+        DateTime lastBmsQueryTime = DateTime.Now;
+        object connectobj = new object();
 
         void sm_SPS(object sender, EventArgs e)
         {
-            if (PUB.sm.Step < eSMStep.IDLE || PUB.sm.Step >= eSMStep.CLOSING) return;
+            if (PUB.sm == null || PUB.sm.Step < eSMStep.IDLE || PUB.sm.Step >= eSMStep.CLOSING || PUB.bShutdown == true) return;
 
             // SPS는 이제 간단한 작업만 수행
             // 장치 연결 및 상태 전송은 별도 태스크(_DeviceManagement.cs)에서 처리
+            // 장치 연결이 별도로 존재할때 1회 수신 후 통신이 전체 먹통되는 증상이 있어 우선 복귀 251215
             try
             {
-                // 여기에 SPS에서 처리해야 할 간단한 작업만 남김
-                // 현재는 비어있음 - 필요한 경우 추가
+
+                // ========== 1. 장치 연결 관리 ==========
+                // AGV 연결
+                lock (connectobj)
+                {
+                    ConnectSerialPort(PUB.AGV, PUB.setting.Port_AGV, PUB.setting.Baud_AGV,
+                eVarTime.LastConn_AGV, eVarTime.LastConnTry_AGV, eVarTime.LastRecv_AGV);
+                }
+
+
+                // XBee 연결
+                lock (connectobj)
+                {
+                    if (VAR.BOOL[eVarBool.DISABLE_AUTOCONN_XBEE] == false)
+                    {
+                        ConnectSerialPort(PUB.XBE, PUB.setting.Port_XBE, PUB.setting.Baud_XBE,
+               eVarTime.LastConn_XBE, eVarTime.LastConnTry_XBE, null);
+                    }
+                }
+
+
+                // BMS 연결
+                lock (connectobj)
+                {
+                    if (PUB.BMS.IsOpen == false)
+                    {
+                        var ts = VAR.TIME.RUN(eVarTime.LastConn_BAT);
+                        if (ts.TotalSeconds > 3)
+                        {
+                            PUB.log.Add($"BMS 연결 시도: {PUB.setting.Port_BAT}");
+                            PUB.BMS.PortName = PUB.setting.Port_BAT;
+                            if (PUB.BMS.Open())
+                                PUB.log.AddI($"BMS 연결 완료({PUB.setting.Port_BAT})");
+
+                            VAR.TIME.Update(eVarTime.LastConn_BAT);
+                            VAR.TIME.Update(eVarTime.LastConnTry_BAT);
+                        }
+                    }
+                    else if (PUB.BMS.IsValid == false)
+                    {
+                        var ts = VAR.TIME.RUN(eVarTime.LastConnTry_BAT);
+                        if (ts.TotalSeconds > (Math.Max(10, PUB.setting.interval_bms) * 2.5))
+                        {
+                            this.BeginInvoke(new Action(() =>
+                            {
+                                PUB.log.Add("BMS 자동 연결 해제 (응답 없음)");
+                                PUB.BMS.Close();
+                            }));
+                            VAR.TIME.Set(eVarTime.LastConn_BAT, DateTime.Now.AddSeconds(5));
+                        }
+                    }
+                }
+
+                // ========== 2. XBee 상태 전송 ==========
+                if (PUB.XBE != null && PUB.XBE.IsOpen)
+                {
+                    var tsXbe = DateTime.Now - lastXbeStatusSendTime;
+                    if (tsXbe.TotalSeconds >= PUB.setting.interval_xbe)
+                    {
+                        lastXbeStatusSendTime = DateTime.Now;
+                        ThreadPool.QueueUserWorkItem(_ =>
+                        {
+                            try
+                            {
+                                PUB.XBE.SendStatus();
+                            }
+                            catch (Exception ex)
+                            {
+                                PUB.log.AddE($"XBee SendStatus 오류: {ex.Message}");
+                            }
+                        });
+                    }
+                }
+
+                // ========== 3. BMS 쿼리 및 배터리 경고 ==========
+                if (PUB.BMS != null && PUB.BMS.IsOpen)
+                {
+                    var tsBms = DateTime.Now - lastBmsQueryTime;
+                    if (tsBms.TotalSeconds >= PUB.setting.interval_bms)
+                    {
+                        lastBmsQueryTime = DateTime.Now;
+                        ThreadPool.QueueUserWorkItem(_ =>
+                        {
+                            try
+                            {
+                                PUB.BMS.SendQuery();
+                            }
+                            catch (Exception ex)
+                            {
+                                PUB.log.AddE($"BMS SendQuery 오류: {ex.Message}");
+                            }
+                        });
+                    }
+
+                    // 배터리 경고음
+                    try
+                    {
+                        Update_BatteryWarnSpeak();
+                    }
+                    catch (Exception ex)
+                    {
+                        PUB.log.AddE($"BatteryWarnSpeak 오류: {ex.Message}");
+                    }
+
+                }
             }
             catch (Exception ex)
             {
                 PUB.log.AddE($"sm_SPS Exception: {ex.Message}");
             }
         }
+
+        /// <summary>
+        /// 시리얼 포트 연결 (arDev.arRS232)
+        /// </summary>
+        bool ConnectSerialPort(arDev.ISerialComm dev, string port, int baud, eVarTime conn, eVarTime conntry, eVarTime? recvtime)
+        {
+            if (port.isEmpty()) return false;
+
+            if (dev.IsOpen == false && port.isEmpty() == false)
+            {
+                var tsPLC = VAR.TIME.RUN(conntry);
+                if (tsPLC.TotalSeconds > 5)
+                {
+                    VAR.TIME.Update(conntry);
+                    try
+                    {
+                        if (recvtime != null) VAR.TIME.Update(recvtime);
+                        dev.PortName = port;
+                        dev.BaudRate = baud;
+                        PUB.log.Add($"Connect to {port}:{baud}");
+                        if (dev.Open())
+                        {
+                            if (recvtime != null) VAR.TIME[recvtime] = DateTime.Now; //값을 수신한것처럼한다
+                            PUB.log.Add(port, $"[{port}:{baud}] 연결 완료");
+                        }
+                        else
+                        {
+                            //존재하지 않는 포트라면 sync를 벗어난다
+                            var ports = System.IO.Ports.SerialPort.GetPortNames().Select(t => t.ToLower()).ToList();
+                            if (ports.Contains(PUB.setting.Port_AGV.ToLower()) == false)
+                            {
+                                return false;
+                            }
+                            else
+                            {
+                                var errmessage = dev.ErrorMessage;
+                                PUB.log.AddE($"[AGV:{port}:{baud}] {errmessage}");
+                            }
+                        }
+                        VAR.TIME.Update(conn);
+                        VAR.TIME.Update(conntry);
+                    }
+                    catch (Exception ex)
+                    {
+                        PUB.log.AddE(ex.Message);
+                    }
+                }
+            }
+            else if (dev.PortName.Equals(port) == false)
+            {
+                this.BeginInvoke(new Action(() =>
+                {
+                    PUB.log.Add(port, $"포트 변경({dev.PortName}->{port})으로 연결 종료");
+                    VAR.TIME.Set(conntry, DateTime.Now);
+                    dev.Close();
+                }));
+
+                VAR.TIME.Update(conntry);
+            }
+            else if (dev.IsOpen && recvtime != null)
+            {
+                //연결은 되었으나 통신이 지난지 10초가 지났다면 자동종료한다
+                var tsRecv = VAR.TIME.RUN(recvtime);
+                var tsConn = VAR.TIME.RUN(conntry);
+                if (tsRecv.TotalSeconds > 30 && tsConn.TotalSeconds > 5)
+                {
+                    this.BeginInvoke(new Action(() =>
+                    {
+                        PUB.log.Add($"{port} 자동 연결 해제 (응답 없음)");
+                        dev.Close();
+                    }));
+                    VAR.TIME.Set(conntry, DateTime.Now);
+                }
+            }
+            return true;
+        }
+
+
+
     }
 }

Cs_HMI/Project/StateMachine/_TMDisplay.cs

@@ -566,10 +566,14 @@ namespace Project
             if (PUB.sm.Step > eSMStep.INIT)
             {
                 //오류가 있다면 오류를 표시해준다.
-                if (PUB.AGV.IsOpen == false)
+                if (PUB.AGV.IsOpen == false )
                 {
                     UpdateStatusMessage("AGV 연결실패", Color.Tomato, Color.Black);
                 }
+                else if(PUB.AGV.IsValid==false)
+                {
+                    UpdateStatusMessage("AGV 통신상태 불량", Color.Tomato, Color.Black);
+                }
                 else if (PUB.AGV.error.Emergency)
                 {
                     if (PUB.AGV.error.runerror_by_no_magent_line)
@@ -581,6 +585,14 @@ namespace Project
                         UpdateStatusMessage("비상 정지", Color.Tomato, Color.Black);
                     }
                 }
+                else if (PUB.BMS != null || PUB.BMS.IsOpen==false)
+                {
+                    UpdateStatusMessage("BMS가 연결되지 않았습니다", Color.Tomato, Color.Black);
+                }
+                else if (PUB.BMS != null || PUB.BMS.IsValid == false)
+                {
+                    UpdateStatusMessage("BMS 통신상태 불량", Color.Tomato, Color.Black);
+                }
                 //else if (PUB.PLC.IsOpen == false)
                 //{
                 //    UpdateStatusMessage(Lang.PLC연결실패, Color.Tomato, Color.Black);
@@ -649,7 +661,7 @@ namespace Project
                             stMsg = Lang.전방에물체가감지되었습니다;
                         //else if (PUB.PLC.GetValueI(arDev.FakePLC.DIName.PINI_EMG))
                         //    stMsg = Lang.비상정지신호가감지되었습니다;
-                        else if (PUB.AGV.signal.front_gate_out == true)
+                        else if (PUB.AGV.signal1.front_gate_out == true)
                             stMsg = Lang.선로를이탈했습니다;
                         else if (PUB.AGV.error.runerror_by_no_magent_line)
                             stMsg = "마그네틱 라인을 벗어났습니다";

Cs_HMI/Project/StateMachine/_Xbee.cs

@@ -48,20 +48,24 @@ namespace Project
                         if (data.Length > 4)
                         {
                             var currTag = System.Text.Encoding.Default.GetString(data, 1, data.Length - 1);
-                            var node = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId == currTag);
-                            if (node == null)
+                            if (ushort.TryParse(currTag, out ushort currtagValue))
                             {
-                                PUB.log.AddE($"[{logPrefix}-SetCurrent] 노드정보를 찾을 수 없습니다 RFID:{currTag}");
-                                PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, $"{currTag}");
-                                return;
-                            }
-                            else
-                            {
-                                PUB.log.AddI($"XBEE:현재위치설정:[{node.RfidId}]{node.Id}");
-                            }
+                                var node = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId == currtagValue);
+                                if (node == null)
+                                {
+                                    PUB.log.AddE($"[{logPrefix}-SetCurrent] 노드정보를 찾을 수 없습니다 RFID:{currTag}");
+                                    PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, $"{currTag}");
+                                    return;
+                                }
+                                else
+                                {
+                                    PUB.log.AddI($"XBEE:현재위치설정:[{node.RfidId}]{node.Id}");
+                                }
 
-                            PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, node, PUB._virtualAGV.CurrentDirection);
-                            PUB._virtualAGV.SetPosition(node, PUB._virtualAGV.CurrentDirection);
+                                PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, node, PUB._virtualAGV.CurrentDirection);
+                                PUB._virtualAGV.SetPosition(node, PUB._virtualAGV.CurrentDirection);
+                            }
+                            else PUB.log.AddE($"[{logPrefix}-SetCurrent] TagString Value Errorr:{data}");
                         }
                         else PUB.log.AddE($"[{logPrefix}-SetCurrent] TagString Lenght Errorr:{data.Length}");
                         break;
@@ -107,64 +111,84 @@ namespace Project
                         }
                         break;
 
+                    case ENIGProtocol.AGVCommandHE.GotoAlias:
                     case ENIGProtocol.AGVCommandHE.Goto:  //move to tag
-                        if (data.Length > 4)
+                        var datalength = cmd == ENIGProtocol.AGVCommandHE.GotoAlias ? 2 : 1;
+                        if (data.Length > datalength)
                         {
-                            var currTag = System.Text.Encoding.Default.GetString(data, 1, data.Length - 1);
-                            var targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId == currTag);
-
-
-                            //자동상태가아니라면 처리하지 않는다.
-                            if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == false)
+                            var currTag = System.Text.Encoding.Default.GetString(data, 1, data.Length - 1).Trim();
+                            MapNode targetNode = null;
+                            if(cmd == ENIGProtocol.AGVCommandHE.GotoAlias)
                             {
-                                PUB.log.AddE($"[{logPrefix}-Goto] 자동실행상태가 아닙니다");
-                                PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.ManualMode, $"{currTag}");
+                                targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.AliasName == currTag);
+                            }   
+                            else
+                            {
+                                if (ushort.TryParse(currTag, out ushort currtagvalue))
+                                    targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId == currtagvalue);
+                                else PUB.log.Add($"targstring 이 숫자가 아니라서 대상을 설정할 수 없습니다 값:{currTag}");
                             }
 
-                            //목적지
-                            PUB._virtualAGV.TargetNode = targetNode;
-                            if (targetNode == null)
+                            if (targetNode != null)
                             {
-                                PUB.log.AddE($"[{logPrefix}-Goto] 노드정보를 찾을 수 없습니다 RFID:{currTag}");
-                                PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, $"{currTag}");
-                                return;
-                            }
-
-                            ///출발지
-                            var startNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId == PUB._virtualAGV.CurrentNode.Id);
-                            PUB._virtualAGV.StartNode = startNode;
-                            if (startNode == null)
-                            {
-                                PUB.log.AddE($"[{logPrefix}-Goto] 시작노드가 없습니다(현재위치 없음) NodeID:{PUB._virtualAGV.CurrentNode.Id}");
-                            }
-
-                            if (startNode != null)
-                            {
-                                //시작위치가 존재한다면 경로를 예측한다.
-                                var rltGoto = CalcPath(startNode, targetNode);
-                                if (rltGoto.result == null)
+                                //자동상태가아니라면 처리하지 않는다.
+                                if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == false)
                                 {
-                                    PUB.log.AddE($"[{logPrefix}-Goto] 경로예측실패 {rltGoto.message}");
+                                    PUB.log.AddE($"[{logPrefix}-Goto] 자동실행상태가 아닙니다");
+                                    PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.ManualMode, $"{currTag}");
+                                    return;
                                 }
-                                else
+
+                                //목적지
+                                PUB._virtualAGV.TargetNode = targetNode;
+                                if (targetNode == null)
                                 {
-                                    //경로예측을 화면에 표시해준다.
-                                    PUB._virtualAGV.SetPath(rltGoto.result);
-                                    var pathWithRfid = rltGoto.result.GetSimplePath().Select(nodeId => PUB._virtualAGV.GetRfidByNodeId(PUB._mapCanvas.Nodes, nodeId)).ToList();
-                                    PUB.log.Add($"경로예측결과:{pathWithRfid}");
+                                    PUB.log.AddE($"[{logPrefix}-Goto] 노드정보를 찾을 수 없습니다 RFID:{currTag}");
+                                    PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.EmptyNode, $"{currTag}");
+                                    return;
                                 }
+
+                                ///출발지
+                                var startNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId == PUB._virtualAGV.CurrentNode.RfidId);
+                                PUB._virtualAGV.StartNode = startNode;
+                                if (startNode == null)
+                                {
+                                    PUB.log.AddE($"[{logPrefix}-Goto] 시작노드가 없습니다(현재위치 없음) NodeID:{PUB._virtualAGV.CurrentNode.Id}");
+                                }
+                         
+                                //대상이동으로 처리한다.
+                                if(PUB.sm.RunStep != ERunStep.GOTO)
+                                {                                    
+                                    PUB.sm.SetNewRunStep(StateMachine.ERunStep.GOTO);
+                                    PUB.sm.ResetRunStepSeq();
+                                }
+                                
+
+                                //Move to 
+                                PUB.log.Add($"[{logPrefix}-{cmd}] {startNode.RfidId} -> {targetNode.RfidId}");
                             }
-
-                            //대상이동으로 처리한다.
-                            PUB.sm.SetNewRunStep(StateMachine.ERunStep.GOTO);
-
-                            //Move to 
-                            PUB.log.Add($"[{logPrefix}-Goto] {startNode.RfidId} -> {targetNode.RfidId}");
-
+                            else PUB.log.AddE($"[{logPrefix}-{cmd}] 대상노드가 없습니다 {data}");
                         }
-                        else PUB.log.AddE($"[{logPrefix}-Goto] TagString Lenght Errorr:{data.Length}");
+                        else PUB.log.AddE($"[{logPrefix}-{cmd}] Length Error:{data.Length}");
                         break;
 
+                    case ENIGProtocol.AGVCommandHE.LTurn180:
+                        PUB.log.Add($"[{logPrefix}-LTurn180]");
+                        PUB.AGV.AGVMoveLeft180Turn();
+                        break;
+                    case ENIGProtocol.AGVCommandHE.RTurn180:
+                        PUB.log.Add($"[{logPrefix}-RTurn180]");
+                        PUB.AGV.AGVMoveRight180Turn();
+                        break;
+
+                    case ENIGProtocol.AGVCommandHE.LTurn:
+                        PUB.log.Add($"[{logPrefix}-LTurn]");
+                        PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.LT, arDev.Narumi.Speed.Low, arDev.Narumi.Sensor.AllOn);
+                        break;
+                    case ENIGProtocol.AGVCommandHE.RTurn:
+                        PUB.log.Add($"[{logPrefix}-RTurn]");
+                        PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.RT, arDev.Narumi.Speed.Low, arDev.Narumi.Sensor.AllOn);
+                        break;
                     case ENIGProtocol.AGVCommandHE.Stop:  //stop
                         PUB.log.Add($"[{logPrefix}-Stop]");
                         PUB.AGV.AGVMoveStop("xbee");
@@ -198,6 +222,7 @@ namespace Project
                         var MotDirection = data[1];     //0=back, 1=forward
                         var MagDirection = data[2];     //0=straight, 1=left, 2=right
                         var AutSpeed = data[3];         //0=slow, 1=normal, 2=fast
+                        var Lidar = data[4];            //0=off, 1=on
 
                         var bunkidata = new arDev.Narumi.BunkiData();
 
@@ -214,9 +239,12 @@ namespace Project
                         else if (MagDirection == 1) bunkidata.Bunki = arDev.Narumi.eBunki.Left;
                         else bunkidata.Bunki = arDev.Narumi.eBunki.Strate;
 
-                        PUB.log.Add($"[{logPrefix}-AutoMove] DIR:{bunkidata.Direction}-{bunkidata.Bunki},SPD:{bunkidata.Speed}");
+                        if (Lidar == 0) bunkidata.PBSSensor = 0;
+                        else bunkidata.PBSSensor = 2;
+
+                            PUB.log.Add($"[{logPrefix}-AutoMove] DIR:{bunkidata.Direction}-{bunkidata.Bunki},SPD:{bunkidata.Speed}");
                         PUB.AGV.AGVMoveSet(bunkidata);
-                        PUB.AGV.AGVMoveRun();
+                        PUB.AGV.AGVMoveRun((MotDirection == 0 ? arDev.Narumi.eRunOpt.Backward : arDev.Narumi.eRunOpt.Forward));
                         break;
 
                     case ENIGProtocol.AGVCommandHE.MarkStop: //Set MarkStop
@@ -246,7 +274,11 @@ namespace Project
                             PUB.log.AddI($"충전을 시작합니다");
                         }
                         break;
-
+            
+                    default:
+                        PUB.logagv.AddE($"Unknown Command : {cmd} Sender:{e.ReceivedPacket.ID}, Target:{data[0]}");
+                        PUB.XBE.SendError(ENIGProtocol.AGVErrorCode.UnknownCommand, $"{cmd}");
+                        break;
                 }
             }
         }
@@ -284,12 +316,25 @@ namespace Project
 
             _simulatorCanvas.FitToNodes();
             string Message = string.Empty;
-            if (advancedResult.Success)
+            if (advancedResult != null && advancedResult.Success)
             {
                 // 도킹 검증이 없는 경우 추가 검증 수행
                 if (advancedResult.DockingValidation == null || !advancedResult.DockingValidation.IsValidationRequired)
                     advancedResult.DockingValidation = DockingValidator.ValidateDockingDirection(advancedResult, _mapNodes);
 
+                //마지막대상이 버퍼라면 시퀀스처리를 해야한다
+                if (targetNode.StationType == StationType.Buffer&& advancedResult.DetailedPath.Any())
+                {
+                    var lastDetailPath = advancedResult.DetailedPath.Last();
+                    if (lastDetailPath.NodeId == targetNode.Id)  //마지막노드 재확인
+                    {
+                        //버퍼에 도킹할때에는 마지막 노드에서 멈추고 시퀀스를 적용해야한다
+                        advancedResult.DetailedPath = advancedResult.DetailedPath.Take(advancedResult.DetailedPath.Count - 1).ToList();
+                        Console.WriteLine("최종위치가 버퍼이므로 마지막 RFID에서 멈추도록 합니다");
+                    }
+                }
+
+
                 _simulatorCanvas.CurrentPath = advancedResult;
                 //_pathLengthLabel.Text = $"경로 길이: {advancedResult.TotalDistance:F1}";
                 //_statusLabel.Text = $"경로 계산 완료 ({advancedResult.CalculationTimeMs}ms)";
@@ -304,12 +349,12 @@ namespace Project
                 //UpdateAdvancedPathDebugInfo(advancedResult);
 
             }
-            else
+            else if(advancedResult != null)
             {
                 // 경로 실패시 디버깅 정보 초기화
-                //_pathDebugLabel.Text = $"경로: 실패 - {advancedResult.ErrorMessage}";
-                advancedResult = null;
+                //_pathDebugLabel.Text = $"경로: 실패 - {advancedResult.ErrorMessage}";                
                 Message = $"경로를 찾을 수 없습니다:\n{advancedResult.ErrorMessage}";
+                advancedResult = null;
             }
 
             return (advancedResult, Message);

Cs_HMI/Project/ViewForm/fAgv.Designer.cs

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

Cs_HMI/Project/ViewForm/fAgv.cs

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

Cs_HMI/Project/ViewForm/fAuto.cs

@@ -30,29 +30,11 @@ namespace Project.ViewForm
 
             InitializeMapCanvas();
 
-            //PUB.mapctl = new AGVControl.MapControl();
-            //PUB.mapctl.Dock = DockStyle.Fill;
-            //PUB.mapctl.Visible = true;
-            //PUB.mapctl.Font = this.panel1.Font;
-            //PUB.mapctl.BackColor = Color.FromArgb(32, 32, 32);
-            //this.panel1.Controls.Add(PUB.mapctl);
         }
 
         private void InitializeMapCanvas()
         {
-         
-            // RfidMappings 제거 - MapNode에 통합됨
-
-            // 이벤트 연결
-            //PUB._mapCanvas.NodeAdded += OnNodeAdded;
-            // 이벤트 연결
-            //PUB._mapCanvas.NodeAdded += OnNodeAdded;
-            PUB._mapCanvas.NodeSelect += OnNodeSelected;
-            //PUB._mapCanvas.NodeMoved += OnNodeMoved;
-            //PUB._mapCanvas.NodeDeleted += OnNodeDeleted;
-            //PUB._mapCanvas.ConnectionDeleted += OnConnectionDeleted;
-            //PUB._mapCanvas.ImageNodeDoubleClicked += OnImageNodeDoubleClicked;
-            //PUB._mapCanvas.MapChanged += OnMapChanged;
+            PUB._mapCanvas.NodeSelect += OnNodeSelected;;
 
             // 스플리터 패널에 맵 캔버스 추가
             panel1.Controls.Add(PUB._mapCanvas);
@@ -61,9 +43,18 @@ namespace Project.ViewForm
 
         private void OnNodeSelected(object sender, NodeBase node, MouseEventArgs e)
         {
-            if (e.Button != MouseButtons.Right) return;
             if (node == null) return;
-            if ((node is MapNode mapnode) == false) return;
+            var mapnode = node as MapNode;
+            if (mapnode == null) return;
+
+            // [Run Mode] Left Click: AGV Operation
+            if (PUB._mapCanvas.Mode == AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Run && e.Button == MouseButtons.Left)
+            {
+                 HandleRunModeClick(mapnode);
+                 return;
+            }
+
+            if (e.Button != MouseButtons.Right) return;
 
             // 도킹 가능한 노드인지 또는 작업 노드인지 확인
             if (mapnode.isDockingNode == false) return;
@@ -146,112 +137,15 @@ namespace Project.ViewForm
         private void fAuto_Load(object sender, EventArgs e)
         {
             ctlAuto1.dev_agv = PUB.AGV;
-            //     ctlAuto1.dev_plc = PUB.PLC;
             ctlAuto1.dev_bms = PUB.BMS;
             ctlAuto1.dev_xbe = PUB.XBE;
 
             PUB.AGV.DataReceive += AGV_DataReceive;
 
-
-            //auto load 
-            var mapPath = new System.IO.DirectoryInfo("route");
-            if (mapPath.Exists == false) mapPath.Create();
-
-
-            //맵파일로딩
-            if (PUB.setting.LastMapFile.isEmpty()) PUB.setting.LastMapFile = System.IO.Path.Combine(mapPath.FullName, "default.agvmap");
-            System.IO.FileInfo filePath = new System.IO.FileInfo(PUB.setting.LastMapFile);
-            if (filePath.Exists == false) filePath = new System.IO.FileInfo(System.IO.Path.Combine(mapPath.FullName, "default.agvmap"));
-            if (filePath.Exists == false)  //그래도없다면 맵폴더에서 파일을 찾아본다.
-            {
-                var files = mapPath.GetFiles("*.agvmap");
-                if (files.Any()) filePath = files[0];
-            }
-
-            if (filePath.Exists)
-            {
-                var result = MapLoader.LoadMapFromFile(filePath.FullName);
-
-                if (result.Success)
-                {
-                    if (PUB._mapCanvas.Nodes == null) PUB._mapCanvas.Nodes = new List<MapNode>();
-                    else PUB._mapCanvas.Nodes.Clear();
-                    PUB._mapCanvas.Nodes.AddRange(result.Nodes);
-
-                    // 맵 캔버스에 데이터 설정
-                    PUB._mapCanvas.Nodes = PUB._mapCanvas.Nodes;
-                    PUB._mapCanvas.MapFileName = filePath.FullName;
-
-                    // 🔥 맵 설정 적용 (배경색, 그리드 표시)
-                    if (result.Settings != null)
-                    {
-                        PUB._mapCanvas.BackColor = System.Drawing.Color.FromArgb(result.Settings.BackgroundColorArgb);
-                        PUB._mapCanvas.ShowGrid = result.Settings.ShowGrid;
-                    }
-
-                    // 🔥 가상 AGV 초기화 (첫 노드 위치에 생성)
-                    if (PUB._virtualAGV == null && PUB._mapCanvas.Nodes.Count > 0)
-                    {
-                        var startNode = PUB._mapCanvas.Nodes.FirstOrDefault(n => n.IsNavigationNode());
-                        if (startNode != null)
-                        {
-                            PUB._virtualAGV = new VirtualAGV(PUB.setting.MCID, startNode.Position, AgvDirection.Forward);
-                            PUB._virtualAGV.LowBatteryThreshold = PUB.setting.BatteryLimit_Low;
-                            PUB._virtualAGV.SetPosition(startNode, AgvDirection.Forward);
-
-                            // 캔버스에 AGV 리스트 설정
-                            var agvList = new System.Collections.Generic.List<AGVNavigationCore.Controls.IAGV> { PUB._virtualAGV };
-                            PUB._mapCanvas.AGVList = agvList;
-
-                            PUB.log.Add($"가상 AGV 생성: {startNode.Id} 위치");
-                        }
-                    }
-                    else if (PUB._virtualAGV != null)
-                    {
-                        PUB._virtualAGV.LowBatteryThreshold = PUB.setting.BatteryLimit_Low;
-                        // 기존 AGV가 있으면 캔버스에 다시 연결
-                        var agvList = new System.Collections.Generic.List<AGVNavigationCore.Controls.IAGV> { PUB._virtualAGV };
-                        PUB._mapCanvas.AGVList = agvList;
-                    }
-
-                    // 맵 로드 후 자동으로 맵에 맞춤
-                    PUB._mapCanvas.FitToNodes();
-
-                    PUB.log.Add($"맵 파일 로드 완료: {filePath.Name}, 노드 수: {result.Nodes.Count}");
-                }
-                else
-                {
-                    PUB.log.Add($"맵 파일 로딩 실패: {result.ErrorMessage}");
-                    MessageBox.Show($"맵 파일 로딩 실패: {result.ErrorMessage}", "오류",
-                        MessageBoxButtons.OK, MessageBoxIcon.Error);
-                }
-            }
-            else
-            {
-                PUB.log.Add($"맵 파일을 찾을 수 없습니다: {filePath.FullName}");
-            }
-
-            //var fn = string.Empty;
-            //if (files.Any() == false)
-            //{
-            //    fn = AR.UTIL.MakePath("sample.route");
-            //}
-            //else if (files.Count() == 1)
-            //{
-            //    fn = files.First().FullName;
-            //}
-            //if (fn.isEmpty() == false)
-            //{
-            //    var fi = new System.IO.FileInfo(AR.UTIL.CurrentPath + "\\sample.route");
-            //    if (fi.Exists)
-            //    {
-            //        PUB.log.Add($"autoload : {fi.FullName}");
-            //        var rlt = PUB.mapctl.LoadFromFile(fi.FullName, out string errmsg);
-            //        if (rlt == false) AR.UTIL.MsgE(errmsg);
-            //    }
-            //}
-
             this.timer1.Start();
+
+            // Set Run Mode
+            PUB._mapCanvas.Mode = AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Run;
         }
         private void AGV_DataReceive(object sender, arDev.Narumi.DataEventArgs e)
         {
@@ -288,6 +182,9 @@ namespace Project.ViewForm
             PUB.sm.StepChanged -= Sm_StepChanged;
             this.ctlAuto1.ButtonClick -= CtlAuto1_ButtonClick;
             PUB.AGV.DataReceive -= AGV_DataReceive;
+
+            // Reset Mode to Edit
+            PUB._mapCanvas.Mode = AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Edit;
         }
 
         bool tmrun = false;
@@ -295,7 +192,15 @@ namespace Project.ViewForm
         private void fAuto_VisibleChanged(object sender, EventArgs e)
         {
             this.timer1.Enabled = this.Visible;
-            if (timer1.Enabled) timer1.Start();
+            if (timer1.Enabled) 
+            {
+                timer1.Start();
+                // 화면이 보일 때 Run 모드로 강제 설정
+                if (PUB._mapCanvas.Mode != AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Run)
+                {
+                    PUB._mapCanvas.Mode = AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Run;
+                }
+            }
             else timer1.Stop();
         }
 
@@ -330,5 +235,49 @@ namespace Project.ViewForm
 
             //tmrun = false;
         }
+
+        private void HandleRunModeClick(MapNode targetNode)
+        {
+            if (targetNode == null) return;
+
+            ENIGProtocol.AGVCommandHE targetCmd = ENIGProtocol.AGVCommandHE.Goto;
+            string confirmMsg = "";
+
+            if (targetNode.StationType == StationType.Charger)
+            {
+                if (MessageBox.Show($"[{targetNode.Id}] 충전기로 이동하여 충전을 진행하시겠습니까?", "작업 확인", MessageBoxButtons.YesNo) == DialogResult.Yes)
+                {
+                    targetCmd = ENIGProtocol.AGVCommandHE.Charger;
+                    ExecuteManualCommand(targetNode, targetCmd);
+                }
+                return;
+            }
+            else if (targetNode.isDockingNode)
+            {
+                // Loader, Unloader, Buffer, Cleaner - Pick/Drop Selection
+                ContextMenuStrip menu = new ContextMenuStrip();
+                
+                var pickOn = new ToolStripMenuItem("Pick On (Move & Pick)");
+                pickOn.Click += (s, args) => ExecuteManualCommand(targetNode, ENIGProtocol.AGVCommandHE.PickOn);
+                menu.Items.Add(pickOn);
+
+                var pickOff = new ToolStripMenuItem("Pick Off (Move & Drop)");
+                pickOff.Click += (s, args) => ExecuteManualCommand(targetNode, ENIGProtocol.AGVCommandHE.PickOff);
+                menu.Items.Add(pickOff);
+
+                menu.Show(Cursor.Position);
+                return;
+            }
+            else
+            {
+                // Normal Node
+                if (MessageBox.Show($"[{targetNode.Id}] 노드로 이동하시겠습니까?", "이동 확인", MessageBoxButtons.YesNo) == DialogResult.Yes)
+                {
+                    targetCmd = ENIGProtocol.AGVCommandHE.Goto;
+                    ExecuteManualCommand(targetNode, targetCmd);
+                }
+                return;
+            }
+        }
     }
 }

Cs_HMI/Project/ViewForm/fBms.cs

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

Cs_HMI/Project/ViewForm/fFlag.Designer.cs

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

Cs_HMI/Project/ViewForm/fFlag.cs

@@ -18,7 +18,7 @@ namespace Project.ViewForm
         {
             InitializeComponent();
 
-            
+
             this.FormClosed += FIO_FormClosed;
         }
 
@@ -30,16 +30,18 @@ namespace Project.ViewForm
 
         void MakeControl()
         {
-            ListView[] lvs = new ListView[] { listView1, listView2, listView3, listView4 };
-            foreach (var lv in lvs)
+            DataGridView[] dvs = new DataGridView[] { dv1, dv2, dv3, dv4 };
+          
+            foreach(var lv in dvs)
             {
                 lv.Columns.Clear();
-                lv.Columns.Add("Idx");
-                lv.Columns.Add("Title");
-                lv.Columns.Add("Value");
+                lv.Columns.Add("idx", "*");
+                lv.Columns.Add("Title", "Title");
+                lv.Columns.Add("Value", "Value");
                 lv.Columns[0].Width = 25;
                 lv.Columns[1].Width = 150;
-                lv.Columns[2].Width = 100;
+                lv.Columns[2].AutoSizeMode = DataGridViewAutoSizeColumnMode.Fill;
+                 
             }
             Array valuelist;
 
@@ -47,38 +49,33 @@ namespace Project.ViewForm
             foreach (var item in valuelist)
             {
                 var v = (COMM.eVarBool)item;
-                var lv = listView1.Items.Add($"{(int)v}");
-                lv.SubItems.Add($"{item}");
-                lv.SubItems.Add("--");
+                dv1.Rows.Add($"{(int)v}", item, "--");
             }
 
             valuelist = Enum.GetValues(typeof(COMM.eVarInt32));
             foreach (var item in valuelist)
             {
                 var v = (COMM.eVarInt32)item;
-                var lv = listView2.Items.Add($"{(int)v}");
-                lv.SubItems.Add($"{item}");
-                lv.SubItems.Add("--");
+                dv2.Rows.Add($"{(int)v}", item, "--");
             }
 
             valuelist = Enum.GetValues(typeof(COMM.eVarString));
             foreach (var item in valuelist)
             {
                 var v = (COMM.eVarString)item;
-                var lv = listView3.Items.Add($"{(int)v}");
-                lv.SubItems.Add($"{item}");
-                lv.SubItems.Add("--");
+                dv3.Rows.Add($"{(int)v}", item, "--");
             }
 
             valuelist = Enum.GetValues(typeof(COMM.eVarTime));
             foreach (var item in valuelist)
             {
                 var v = (COMM.eVarString)item;
-                var lv = listView4.Items.Add($"{(int)v}");
-                lv.SubItems.Add($"{item}");
-                lv.SubItems.Add("--");
+                dv4.Rows.Add($"{(int)v}", item, "--");
             }
 
+            foreach (var dv in dvs)
+                dv.AutoResizeColumns();
+
 
         }
 
@@ -91,42 +88,32 @@ namespace Project.ViewForm
         private void timer1_Tick(object sender, EventArgs e)
         {
             timer1.Stop();
-            listView1.SuspendLayout();
-            foreach (ListViewItem item in listView1.Items)
+            foreach(DataGridViewRow item in this.dv1.Rows)
             {
-                var idx = int.Parse(item.SubItems[0].Text);
+                var idx = int.Parse(item.Cells["idx"].Value.ToString());
                 var v = VAR.BOOL.Get(idx);
-                var desc = VAR.BOOL.GetCodeDesc(idx);
-                item.SubItems[2].Text = v ? "O" : "X";
+                item.Cells["value"].Value = v ? "O" : "X";
             }
-            listView1.ResumeLayout();
-            listView2.SuspendLayout();
-            foreach (ListViewItem item in listView2.Items)
+
+            foreach (DataGridViewRow item in this.dv2.Rows)
             {
-                var idx = int.Parse(item.SubItems[0].Text);
+                var idx = int.Parse(item.Cells["idx"].Value.ToString());
                 var v = VAR.I32.Get(idx);
-                var desc = VAR.I32.GetCodeDesc(idx);
-                item.SubItems[2].Text = v.ToString();
+                item.Cells["value"].Value = v.ToString();
             }
-            listView2.ResumeLayout();
-            listView3.SuspendLayout();
-            foreach (ListViewItem item in listView3.Items)
+
+            foreach (DataGridViewRow item in this.dv3.Rows)
             {
-                var idx = int.Parse(item.SubItems[0].Text);
+                var idx = int.Parse(item.Cells["idx"].Value.ToString());
                 var v = VAR.STR.Get(idx);
-                var desc = VAR.STR.GetCodeDesc(idx);
-                item.SubItems[2].Text = v;
+                item.Cells["value"].Value = v;
             }
-            listView3.ResumeLayout();
-            listView4.SuspendLayout();
-            foreach (ListViewItem item in listView4.Items)
+            foreach (DataGridViewRow item in this.dv4.Rows)
             {
-                var idx = int.Parse(item.SubItems[0].Text);
+                var idx = int.Parse(item.Cells["idx"].Value.ToString());
                 var v = VAR.TIME.Get(idx);
-                var desc = VAR.TIME.GetCodeDesc(idx);
-                item.SubItems[2].Text = v.ToString("HH:mm:ss.fff");
+                item.Cells["value"].Value = v.ToString("HH:mm:ss.fff");
             }
-            listView4.ResumeLayout();
             timer1.Start();
         }
 

Cs_HMI/Project/ViewForm/fFlag.resx

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

Cs_HMI/Project/ViewForm/fManual.Designer.cs

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

Cs_HMI/Project/ViewForm/fManual.cs

@@ -79,8 +79,9 @@ namespace Project.ViewForm
             }
             if (PUB.CheckManualChargeMode() == false) return;
             arDev.Narumi.Speed spd = arDev.Narumi.Speed.Low;
+
             if (radspdh.Checked) spd = arDev.Narumi.Speed.High;
-            else if (radspdl.Checked) spd = arDev.Narumi.Speed.Mid;
+            else if (radspdm.Checked) spd = arDev.Narumi.Speed.Mid;
             arDev.Narumi.Sensor ss = arDev.Narumi.Sensor.PBSOff;
             if (radpbs0.Checked) ss = arDev.Narumi.Sensor.PBSOn;
             PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.BS, spd, ss);
@@ -109,7 +110,7 @@ namespace Project.ViewForm
             if (PUB.CheckManualChargeMode() == false) return;
             arDev.Narumi.Speed spd = arDev.Narumi.Speed.Low;
             if (radspdh.Checked) spd = arDev.Narumi.Speed.High;
-            else if (radspdl.Checked) spd = arDev.Narumi.Speed.Mid;
+            else if (radspdm.Checked) spd = arDev.Narumi.Speed.Mid;
             arDev.Narumi.Sensor ss = arDev.Narumi.Sensor.PBSOff;
             if (radpbs0.Checked) ss = arDev.Narumi.Sensor.PBSOn;
             PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.FS, spd, ss);
@@ -200,7 +201,7 @@ namespace Project.ViewForm
                 if (dlg != DialogResult.Yes) return;
                 var opt = makeopt();
                 PUB.AGV.AGVMoveSet(opt);
-                PUB.AGV.AGVMoveRun();
+                PUB.AGV.AGVMoveRun(opt.Direction == arDev.Narumi.eMoveDir.Forward ? arDev.Narumi.eRunOpt.Forward : arDev.Narumi.eRunOpt.Backward);
             }
             else
             {
@@ -234,8 +235,8 @@ namespace Project.ViewForm
 
             //마크정보
             guideSensor1.SensorValue = PUB.AGV.data.guidesensor;
-            guideSensor1.LMark = PUB.AGV.signal.mark_sensor_1;
-            guideSensor1.RMark = PUB.AGV.signal.mark_sensor_2;
+            guideSensor1.LMark = PUB.AGV.signal1.mark_sensor_1;
+            guideSensor1.RMark = PUB.AGV.signal1.mark_sensor_2;
             guideSensor1.Invalidate();
 
             if (PUB.AGV.system1.agv_run || PUB.AGV.system1.agv_run_manual)
@@ -392,12 +393,12 @@ namespace Project.ViewForm
         private void btBack180_Click(object sender, EventArgs e)
         {
             //[STX]		C	T	B	0	0	0	0	9	9	[ETX]
-            PUB.AGV.AGVMoveBack180Turn(true);
+            PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.ON);// (;// (true);
         }
 
         private void button2_Click(object sender, EventArgs e)
         {
-            PUB.AGV.AGVMoveBack180Turn(false);
+            PUB.AGV.LiftControl(arDev.Narumi.LiftCommand.OFF); 
         }
     }
 }

Cs_HMI/Project/fMain.Designer.cs

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

Cs_HMI/Project/fMain.cs

@@ -33,7 +33,6 @@ namespace Project
         bool remoteClose = false;
         bool forceClose = false;
 
-        readonly usbdetect.DriveDetector usbdet;
         public fMain()
         {
             InitializeComponent();
@@ -57,10 +56,6 @@ namespace Project
 
                 if (DateTime.Now > PUB.LastInputTime) PUB.LastInputTime = DateTime.Now;
             };
-            usbdet = new usbdetect.DriveDetector(this);
-            usbdet.DeviceArrived += Usbdet_DeviceArrived;
-            usbdet.DeviceRemoved += Usbdet_DeviceRemoved;
-
 
             PUB._mapCanvas = new AGVNavigationCore.Controls.UnifiedAGVCanvas();
             PUB._mapCanvas.Dock = DockStyle.Fill;
@@ -68,8 +63,6 @@ namespace Project
             PUB._mapCanvas.BackColor = Color.FromArgb(32, 32, 32);
             PUB._mapCanvas.ForeColor = Color.White;
 
-
-
             this.panTopMenu.MouseMove += LbTitle_MouseMove;
             this.panTopMenu.MouseUp += LbTitle_MouseUp;
             this.panTopMenu.MouseDown += LbTitle_MouseDown;
@@ -82,32 +75,6 @@ namespace Project
 
         }
 
-        protected override void WndProc(ref Message m)
-        {
-            base.WndProc(ref m);
-            if (usbdet != null)
-            {
-                usbdet.WndProc(ref m);
-            }
-        }
-
-        private void Usbdet_DeviceRemoved(object sender, usbdetect.DriveDetectorEventArgs e)
-        {
-            //throw new NotImplementedException();
-            Console.WriteLine(e.Drive);
-        }
-
-        private void Usbdet_DeviceArrived(object sender, usbdetect.DriveDetectorEventArgs e)
-        {
-            //throw new NotImplementedException();
-            using (var fUpdate = new Dialog.fUpdateForm(e.Drive))
-                if (fUpdate.ShowDialog() == DialogResult.Yes)
-                {
-                    //종료한다
-                    remoteClose = true;
-                    this.Close();
-                }
-        }
 
         private void __Closing(object sender, FormClosingEventArgs e)
         {
@@ -182,6 +149,9 @@ namespace Project
 
             VAR.STR[eVarString.SWVersion] = Application.ProductVersion;
 
+
+            AutoLoadMapData();
+
             //SETTING H/W
             this.IOState.ItemClick += gridView2_ItemClick;
             VAR.BOOL.PropertyChanged += BOOL_PropertyChanged;
@@ -290,6 +260,73 @@ namespace Project
             PUB.AddEEDB("프로그램 시작");
         }
 
+        void AutoLoadMapData()
+        {
+            //auto load 
+            var mapPath = new System.IO.DirectoryInfo("route");
+            if (mapPath.Exists == false) mapPath.Create();
+
+            //맵파일로딩
+            var basefile = System.IO.Path.Combine(mapPath.FullName, "default.json"); 
+            if (System.IO.File.Exists(basefile) == false)
+                if (PUB.setting.LastMapFile.isEmpty() == false) basefile = PUB.setting.LastMapFile;
+
+            System.IO.FileInfo filePath = new System.IO.FileInfo(basefile);
+            if (filePath.Exists == false)  //그래도없다면 맵폴더에서 파일을 찾아본다.
+            {
+                var files = mapPath.GetFiles("*.json");
+                if (files.Any()) filePath = files[0];
+            }
+
+            if (filePath.Exists)
+            {
+                var result = MapLoader.LoadMapFromFile(filePath.FullName);
+
+                if (result.Success)
+                {
+                    PUB._mapCanvas.SetMapLoadResult(result);
+                    PUB._mapCanvas.MapFileName = filePath.FullName;
+
+                    // 🔥 가상 AGV 초기화 (첫 노드 위치에 생성)
+                    if (PUB._virtualAGV == null && PUB._mapCanvas.Nodes.Count > 0)
+                    {
+                        var startNode = PUB._mapCanvas.Nodes.FirstOrDefault(n => n.IsNavigationNode());
+                        if (startNode != null)
+                        {
+                            PUB._virtualAGV = new VirtualAGV(PUB.setting.MCID, startNode.Position, AgvDirection.Forward);
+                            PUB._virtualAGV.LowBatteryThreshold = PUB.setting.BatteryLimit_Low;
+                            PUB._virtualAGV.SetPosition(startNode, AgvDirection.Forward);
+
+                            // 캔버스에 AGV 리스트 설정
+                            var agvList = new System.Collections.Generic.List<AGVNavigationCore.Controls.IAGV> { PUB._virtualAGV };
+                            PUB._mapCanvas.AGVList = agvList;
+
+                            PUB.log.Add($"가상 AGV 생성: {startNode.Id} 위치");
+                        }
+                    }
+                    else if (PUB._virtualAGV != null)
+                    {
+                        PUB._virtualAGV.LowBatteryThreshold = PUB.setting.BatteryLimit_Low;
+                        // 기존 AGV가 있으면 캔버스에 다시 연결
+                        var agvList = new System.Collections.Generic.List<AGVNavigationCore.Controls.IAGV> { PUB._virtualAGV };
+                        PUB._mapCanvas.AGVList = agvList;
+                    }
+                    PUB.log.Add($"맵 파일 로드 완료: {filePath.Name}, 노드 수: {result.Nodes.Count}");
+                }
+                else
+                {
+                    PUB.log.Add($"맵 파일 로딩 실패: {result.ErrorMessage}");
+                    MessageBox.Show($"맵 파일 로딩 실패: {result.ErrorMessage}", "오류",
+                        MessageBoxButtons.OK, MessageBoxIcon.Error);
+                }
+            }
+            else
+            {
+                PUB.log.Add($"맵 파일을 찾을 수 없습니다: {filePath.FullName}");
+            }
+
+        }
+
         #region "Mouse Form Move"
 
         private Boolean fMove = false;
@@ -745,6 +782,12 @@ namespace Project
         {
             if (VAR.BOOL[eVarBool.FLAG_CHARGEONM])
             {
+                if (PUB.BMS.IsValid && PUB.BMS.IsCharging)
+                {
+                    UTIL.MsgE("현재 배터리에서 충전 상태가 감지되고 있어 해제할 수 없습니다");
+                    return;
+                }
+
                 var dlg = UTIL.MsgQ("수동 충전을 해제 할까요?");
                 if (dlg != DialogResult.Yes) return;
                 VAR.BOOL[eVarBool.FLAG_CHARGEONM] = false;
@@ -769,8 +812,8 @@ namespace Project
             //mapsave
             using (var sd = new SaveFileDialog())
             {
-                sd.Filter = "AGV Map Files (*.agvmap)|*.agvmap|All Files (*.*)|*.*";
-                sd.DefaultExt = "agvmap";
+                sd.Filter = "AGV Map Files (*.json)|*.json|All Files (*.*)|*.*";
+                sd.DefaultExt = "json";
                 sd.FileName = PUB._mapCanvas.MapFileName;
                 if (sd.ShowDialog() == DialogResult.OK)
                 {
@@ -785,8 +828,8 @@ namespace Project
 
             var od = new OpenFileDialog
             {
-                Filter = "AGV Map Files (*.agvmap;*.json)|*.agvmap;*.json|All Files (*.*)|*.*",
-                DefaultExt = "agvmap",
+                Filter = "AGV Map Files (*.json)|*.json|All Files (*.*)|*.*",
+                DefaultExt = "json",
                 FileName = PUB._mapCanvas.MapFileName,
             };
 
@@ -854,7 +897,7 @@ namespace Project
             }
 
             var _mapCanvas = PUB._mapCanvas;
-          
+
 
             // 🔥 현재 캔버스 설정을 맵 파일에 저장
             var settings = new MapLoader.MapSettings
@@ -991,5 +1034,11 @@ namespace Project
                               MessageBoxButtons.OK, MessageBoxIcon.Error);
             }
         }
+
+        private void xbeeSettingToolStripMenuItem_Click(object sender, EventArgs e)
+        {
+            var f = new Dialog.fXbeeSetting();
+            f.Show();
+        }
     }
 }

Cs_HMI/Project/fMain.resx

@@ -126,160 +126,163 @@
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Cs_HMI/StateMachine/StateMachine.cs

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

Cs_HMI/SubProject/AGV/Command.cs

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

Cs_HMI/SubProject/AGV/DataEventArgs.cs

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

Cs_HMI/SubProject/AGV/Dataframe.cs

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

Cs_HMI/SubProject/AGV/NARUMI.csproj

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

Cs_HMI/SubProject/AGV/Narumi.cs

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

Cs_HMI/SubProject/AGV/NarumiSerialComm.cs

@@ -0,0 +1,609 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Linq;
+using System.Text;
+using System.Threading;
+
+namespace arDev
+{
+    public abstract class NarumiSerialComm : ISerialComm, IDisposable
+    {
+        protected System.IO.Ports.SerialPort _device;
+        protected ManualResetEvent _mre;
+        protected byte[] LastReceiveBuffer = new byte[] { };
+        /// <summary>
+        /// 최종 전송 메세지
+        /// </summary>
+        public byte[] lastSendBuffer = new byte[] { };
+        //public int ValidCheckTimeMSec { get; set; } = 5000;
+        protected List<byte> tempBuffer = new List<byte>();
+        protected Boolean findSTX = false;
+        public string ErrorMessage { get; set; }
+        public DateTime LastConnTime { get; set; }
+        public DateTime LastConnTryTime { get; set; }
+        public DateTime lastSendTime;
+        /// <summary>
+        /// 메세지 수신시 사용하는 내부버퍼
+        /// </summary>
+        protected List<byte> _buffer = new List<byte>();
+        /// <summary>
+        /// 데이터조회간격(초)
+        /// </summary>
+        public float ScanInterval { get; set; }
+
+        // public byte[] LastRecvData;
+        public string LastRecvString
+        {
+            get
+            {
+                if (LastReceiveBuffer == null) return String.Empty;
+                else return System.Text.Encoding.Default.GetString(LastReceiveBuffer);
+            }
+        }
+        /// <summary>
+        /// 마지막으로 데이터를 받은 시간
+        /// </summary>
+        public DateTime lastRecvTime;
+
+
+        public int WriteError = 0;
+        public string WriteErrorMessage = string.Empty;
+        public int WaitTimeout { get; set; } = 1000;
+        public int MinRecvLength { get; set; } = 1;
+
+        // Polling Thread related
+        protected Thread _recvThread;
+        protected volatile bool _isReading = false;
+
+
+        /// <summary>
+        /// 포트이름
+        /// </summary>
+        [Description("시리얼 포트 이름")]
+        [Category("설정"), DisplayName("Port Name")]
+        public string PortName
+        {
+            get
+            {
+                if (_device == null) return string.Empty;
+                else return _device.PortName;
+            }
+            set
+            {
+                if (this.IsOpen)
+                {
+                    Message?.Invoke(this, new MessageEventArgs("포트가 열려있어 포트이름을 변경할 수 없습니다", true));
+                }
+                else if (String.IsNullOrEmpty(value) == false)
+                    _device.PortName = value;
+                else
+                {
+                    Message?.Invoke(this, new MessageEventArgs("No PortName", true));
+                }
+            }
+        }
+
+        public int BaudRate
+        {
+            get
+            {
+                if (_device == null) return 0;
+                else return _device.BaudRate;
+            }
+            set
+            {
+                if (this.IsOpen)
+                {
+                    Message?.Invoke(this, new MessageEventArgs("포트가 열려있어 BaudRate(를) 변경할 수 없습니다", true));
+                }
+                else if (value != 0)
+                    _device.BaudRate = value;
+                else Message?.Invoke(this, new MessageEventArgs("No baud rate", true));
+            }
+        }
+
+
+        public NarumiSerialComm()
+        {
+            _device = new System.IO.Ports.SerialPort();
+            this.BaudRate = 57600;
+            ScanInterval = 10;
+            // _device.DataReceived += barcode_DataReceived; // Removed event handler
+            _device.ErrorReceived += this.barcode_ErrorReceived;
+            _device.WriteTimeout = 3000;
+            _device.ReadTimeout = 3000;
+            _device.ReadBufferSize = 8192;
+            _device.WriteBufferSize = 8192;
+            //_device.DiscardInBuffer();
+            //_device.DiscardOutBuffer();
+            ErrorMessage = string.Empty;
+            lastRecvTime = DateTime.Parse("1982-11-23");
+            LastConnTime = DateTime.Parse("1982-11-23");
+            LastConnTryTime = DateTime.Parse("1982-11-23");
+            lastRecvTime = DateTime.Parse("1982-11-23");
+            this._mre = new ManualResetEvent(true);
+        }
+
+        ~NarumiSerialComm()
+        {
+            Dispose(false);
+        }
+
+
+        // Flag: Has Dispose already been called?
+        bool disposed = false;
+
+        // Public implementation of Dispose pattern callable by consumers.
+        public void Dispose()
+        {
+            Dispose(true);
+            GC.SuppressFinalize(this);
+        }
+
+        // Protected implementation of Dispose pattern.
+        protected virtual void Dispose(bool disposing)
+        {
+            if (disposed)
+                return;
+
+            if (disposing)
+            {
+                // Free any other managed objects here.
+                //
+            }
+
+            // Stop reading thread
+            _isReading = false;
+            
+            // _device.DataReceived -= barcode_DataReceived; // Removed event handler
+            _device.ErrorReceived -= this.barcode_ErrorReceived;
+
+            if (_recvThread != null && _recvThread.IsAlive)
+            {
+                _recvThread.Join(500); 
+            }
+
+            if (_device != null)
+            {
+                if (_device.IsOpen) _device.Close();
+                _device.Dispose();
+            }
+
+            // Free any unmanaged objects here.
+            //
+            disposed = true;
+        }
+
+        public Boolean Open()
+        {
+            try
+            {
+                if (_device.IsOpen == false)
+                {
+                    _device.Open();
+                }
+
+                if (_device.IsOpen)
+                {
+                    // Start polling thread
+                    if (_isReading == false)
+                    {
+                        _isReading = true;
+                        _recvThread = new Thread(ReadPort);
+                        _recvThread.IsBackground = true;
+                        _recvThread.Start();
+                    }
+                    return true;
+                }
+                return false;
+            }
+            catch (Exception ex)
+            {
+                ErrorMessage = ex.Message;
+                Message.Invoke(this, new MessageEventArgs(ex.Message, true));
+                return false;
+            }
+        }
+        public string GetHexString(Byte[] input)
+        {
+            System.Text.StringBuilder sb = new System.Text.StringBuilder();
+            foreach (byte b in input)
+                sb.Append(" " + b.ToString("X2"));
+            return sb.ToString();
+        }
+
+        /// <summary>
+        /// 포트가 열려있는지 확인
+        /// </summary>
+        [Description("현재 시리얼포트가 열려있는지 확인합니다")]
+        [Category("정보"), DisplayName("Port Open")]
+        public Boolean IsOpen
+        {
+            get
+            {
+                if (_device == null) return false;
+                return _device.IsOpen;
+            }
+        }
+
+        public virtual bool Close()
+        {
+            try
+            {
+                _isReading = false; // Stop thread loop
+
+                if (_recvThread != null && _recvThread.IsAlive)
+                {
+                    if (!_recvThread.Join(500)) // Wait for thread to finish
+                    {
+                         // _recvThread.Abort(); // Avoid Abort if possible
+                    }
+                }
+
+                if (_device != null && _device.IsOpen)
+                {
+                    _device.DiscardInBuffer();
+                    _device.DiscardOutBuffer();
+                    _device.Close(); //dispose에서는 포트를 직접 클리어하지 않게 해뒀다.
+                    return true;
+                }
+                else return false;
+            }
+            catch (Exception)
+            {
+                return false;
+            }
+        }
+        protected Boolean RaiseRecvData()
+        {
+            return RaiseRecvData(LastReceiveBuffer.ToArray(), false);
+        }
+        /// <summary>
+        /// 수신받은 메세지를 발생 시킵니다
+        /// </summary>
+        /// <param name="data"></param>
+        /// <returns></returns>
+        public virtual Boolean RaiseRecvData(byte[] Data, bool udpatelastbuffer)
+        {
+            //181206 - 최종수신 메세지 기록
+            lastRecvTime = DateTime.Now;
+            if (udpatelastbuffer && Data != null)
+            {
+                if (LastReceiveBuffer == null || LastReceiveBuffer.Length != Data.Length)
+                {
+                    LastReceiveBuffer = new byte[Data.Length];
+                    Array.Copy(Data, LastReceiveBuffer, Data.Length);
+                }
+            }
+
+            try
+            {
+                // UI update might need Invoke if this event handler updates UI directly, 
+                // but usually the subscriber handles Invoke. 
+                // Since we are running on a background thread now, subscribers must be aware.
+                Message?.Invoke(this, new MessageEventArgs(Data, true));    //recvmessage
+                if (ProcessRecvData(Data) == false)
+                {
+                    //Message?.Invoke(this, new MessageEventArgs(Data, true));    //recvmessage
+                    Message?.Invoke(this, new MessageEventArgs(this.ErrorMessage, true));   //errormessage
+                    return false;
+                }
+                else
+                {
+
+                    return true;
+                }
+            }
+            catch (Exception ex)
+            {
+                this.ErrorMessage = ex.Message;
+                this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
+                return false;
+            }
+        }
+
+        /// <summary>
+        /// 수신받은 자료를 처리한다
+        /// </summary>
+        /// <param name="data"></param>
+        /// <returns></returns>
+        public abstract bool ProcessRecvData(byte[] data);
+
+        #region "Internal Events"
+
+        void barcode_ErrorReceived(object sender, System.IO.Ports.SerialErrorReceivedEventArgs e)
+        {
+            Message?.Invoke(this, new MessageEventArgs(e.ToString(), true));
+        }
+
+        byte[] buffer = new byte[] { };
+        
+        // Replaced with ReadPort Loop
+        /*
+        void barcode_DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e)
+        {
+            
+            try
+            {
+                int ReadCount = _device.BytesToRead;
+
+                buffer = new byte[ReadCount];
+                _device.Read(buffer, 0, buffer.Length);
+
+                System.Text.StringBuilder LogMsg = new StringBuilder();
+
+                byte[] remainBuffer;
+            Repeat:
+                if (CustomParser(buffer, out remainBuffer))
+                {
+                    //분석완료이므로 받은 데이터를 버퍼에 기록한다
+                    if (LastReceiveBuffer == null || (LastReceiveBuffer.Length != tempBuffer.Count))
+                        Array.Resize(ref LastReceiveBuffer, tempBuffer.Count);
+                    Array.Copy(tempBuffer.ToArray(), LastReceiveBuffer, tempBuffer.Count);
+                    tempBuffer.Clear();
+
+                    //수신메세지발생
+                    RaiseRecvData();
+                    if (remainBuffer != null && remainBuffer.Length > 0)
+                    {
+                        //버퍼를 변경해서 다시 전송을 해준다.
+                        Array.Resize(ref buffer, remainBuffer.Length);
+                        Array.Copy(remainBuffer, buffer, remainBuffer.Length);
+                        goto Repeat; //남은 버퍼가 있다면 진행을 해준다.
+                    }
+                }
+
+            }
+            catch (Exception ex)
+            {
+                //if (IsOpen)
+                //{
+                //    //_device.DiscardInBuffer();
+                //    //_device.DiscardOutBuffer();
+                //}
+                ErrorMessage = ex.Message;
+                this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
+            }
+
+        }
+        */
+
+        void ReadPort()
+        {
+            while (_isReading)
+            {
+                try
+                {
+                    if (_device == null || !_device.IsOpen)
+                    {
+                        Thread.Sleep(100);
+                        continue;
+                    }
+
+                    int readCount = _device.BytesToRead;
+                    if (readCount > 0)
+                    {
+                        byte[] buffer = new byte[readCount];
+                        _device.Read(buffer, 0, buffer.Length);
+
+                        byte[] remainBuffer;
+                    Repeat:
+                        if (CustomParser(buffer, out remainBuffer))
+                        {
+                            //분석완료이므로 받은 데이터를 버퍼에 기록한다
+                            if (LastReceiveBuffer == null || (LastReceiveBuffer.Length != tempBuffer.Count))
+                                Array.Resize(ref LastReceiveBuffer, tempBuffer.Count);
+                            Array.Copy(tempBuffer.ToArray(), LastReceiveBuffer, tempBuffer.Count);
+                            tempBuffer.Clear();
+
+                            //수신메세지발생
+                            RaiseRecvData();
+                            if (remainBuffer != null && remainBuffer.Length > 0)
+                            {
+                                //버퍼를 변경해서 다시 전송을 해준다.
+                                buffer = new byte[remainBuffer.Length]; // Reallocate buffer for remaining data
+                                Array.Copy(remainBuffer, buffer, remainBuffer.Length);
+                                goto Repeat; //남은 버퍼가 있다면 진행을 해준다.
+                            }
+                        }
+                    }
+                    else
+                    {
+                        Thread.Sleep(20); // Data 없음, 대기
+                    }
+                }
+                catch (Exception ex)
+                {
+                    // Thread 상에서 Exception 발생 시 로그 남기고 계속 진행 여부 결정
+                    // 여기서는 에러 메시지 발생시키고 Sleep
+                    ErrorMessage = ex.Message;
+                    this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
+                    Thread.Sleep(1000); 
+                }
+            }
+        }
+
+
+        #endregion
+
+        #region "External Events"
+
+
+        /// <summary>
+        /// 오류 및 기타 일반 메세지
+        /// </summary>
+        public event EventHandler<MessageEventArgs> Message;
+
+        #endregion
+
+        #region "Event Args"
+
+        /// <summary>
+        /// 데이터를 수신할떄 사용함(RAW 포함)
+        /// </summary>
+        public class ReceiveDataEventArgs : EventArgs
+        {
+            private byte[] _buffer = null;
+
+            /// <summary>
+            /// 바이트배열의 버퍼값
+            /// </summary>
+            public byte[] Value { get { return _buffer; } }
+
+            /// <summary>
+            /// 버퍼(바이트배열)의 데이터를 문자로 반환합니다.
+            /// </summary>
+            public string StrValue
+            {
+                get
+                {
+                    //return string.Empty; 
+
+                    if (_buffer == null || _buffer.Length < 1) return string.Empty;
+                    else return System.Text.Encoding.Default.GetString(_buffer);
+                }
+            }
+            public ReceiveDataEventArgs(byte[] buffer)
+            {
+                _buffer = buffer;
+            }
+        }
+
+        /// <summary>
+        /// 메세지를 강제 발생
+        /// </summary>
+        /// <param name="mt"></param>
+        /// <param name="message"></param>
+        protected virtual void RaiseMessage(MessageType mt, string message)
+        {
+            this.Message?.Invoke(this, new MessageEventArgs(mt, message));
+        }
+        public enum MessageType
+        {
+            Normal,
+            Error,
+            Send,
+            Recv,
+        }
+
+        public class MessageEventArgs : EventArgs
+        {
+            public MessageType MsgType { get; set; }
+            private string _message = string.Empty;
+
+            /// <summary>
+            /// Recv,Send,Normal,Error 모두 지원
+            /// </summary>
+            public string Message { get { return _message; } }
+
+            private byte[] _data = null;
+
+            /// <summary>
+            /// Recv,Send에서만 값이 존재 합니다
+            /// </summary>
+            public byte[] Data { get { return _data; } }
+            public MessageEventArgs(string Message, bool isError = false)
+            {
+                if (isError) MsgType = MessageType.Error;
+                else MsgType = MessageType.Normal;
+                _message = Message;
+            }
+            public MessageEventArgs(MessageType msgtype, string Message)
+            {
+                MsgType = msgtype;
+                _message = Message;
+                _data = System.Text.Encoding.Default.GetBytes(Message);
+            }
+
+            public MessageEventArgs(byte[] buffer, bool isRecv = true)
+            {
+                if (isRecv) MsgType = MessageType.Recv;
+                else MsgType = MessageType.Send;
+                _data = new byte[buffer.Length];
+                Array.Copy(buffer, _data, Data.Length);
+                _message = System.Text.Encoding.Default.GetString(_data);
+            }
+
+        }
+
+        #endregion
+
+
+
+        protected abstract bool CustomParser(byte[] buf, out byte[] remainBuffer);
+
+        /// <summary>
+        /// 포트가 열려있거나 데이터 수신시간이 없는경우 false를 반환합니다
+        /// </summary>
+        public Boolean IsValid
+        {
+            get
+            {
+                if (IsOpen == false) return false;
+                if (lastRecvTime.Year == 1982) return false;
+                var ts = DateTime.Now - lastRecvTime;
+                if (ts.TotalSeconds > (this.ScanInterval * 2.5)) return false;
+                return true;
+            }
+        }
+        protected bool WriteData(string cmd)
+        {
+            return WriteData(System.Text.Encoding.Default.GetBytes(cmd));
+        }
+        /// <summary>
+        /// 포트에 쓰기(barcode_DataReceived 이벤트로 메세지수신)
+        /// </summary>
+        protected Boolean WriteData(byte[] data)
+        {
+            Boolean bRet = false;
+
+            //171205 : 타임아웃시간추가
+            if (!_mre.WaitOne(WaitTimeout))
+            {
+                ErrorMessage = $"WriteData:MRE:WaitOne:TimeOut {WaitTimeout}ms";
+                this.Message?.Invoke(this, new MessageEventArgs(ErrorMessage, true));
+                return false;
+            }
+
+            _mre.Reset();
+
+            //Array.Resize(ref data, data.Length + 2);
+
+            try
+            {
+                lastSendTime = DateTime.Now;
+                if (lastSendBuffer == null) lastSendBuffer = new byte[data.Length]; //171113
+                else Array.Resize(ref lastSendBuffer, data.Length);
+                Array.Copy(data, lastSendBuffer, data.Length);
+
+                for (int i = 0; i < data.Length; i++)
+                    _device.Write(data, i, 1);
+
+                //_device.Write(data, 0, data.Length);
+
+                //171113
+                this.Message?.Invoke(this, new MessageEventArgs(data, false));
+
+                bRet = true;
+                WriteError = 0;
+                WriteErrorMessage = string.Empty;
+            }
+            catch (Exception ex)
+            {
+                // this.isinit = false;
+                this.Message?.Invoke(this, new MessageEventArgs(ex.Message, true));
+                bRet = false;
+                WriteError += 1; //연속쓰기오류횟수
+                WriteErrorMessage = ex.Message;
+            }
+            finally
+            {
+                _mre.Set();
+            }
+            return bRet;
+        }
+    }
+
+
+}

Cs_HMI/SubProject/AGV/Structure/ErrorFlag.cs

@@ -24,22 +24,28 @@ namespace arDev
                 Charger_pos_error,
                 line_out_error = 4,
 
-                spare_5 ,
-                spare_6 ,
-                spare_7 ,
-                spare_8 ,
-                spare_9 ,
-
                 /// <summary>
                 /// 기동시 자석 감지 에러
                 /// </summary>
-                runerror_by_no_magent_line,
+                runerror_by_no_magent_line=5,
                 /// <summary>
                 /// 호출제어기 통신 오류
                 /// </summary>
-                controller_comm_error = 11,
+                controller_comm_error =6,
+
                 /// <summary>
-                /// 도착경보기 통신 오류
+                /// 배터리 저전압
+                /// </summary>
+                battery_low_voltage=7,
+
+                spare08=8,
+
+                lift_timeout=9,
+                lift_driver_overcurrent=10,
+                lift_driver_emergency = 11,
+
+                /// <summary>
+                /// 도착경보기 통신 오류 
                 /// </summary>
                 arrive_ctl_comm_error,
 

Cs_HMI/SubProject/AGV/Structure/Signals.cs

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

Cs_HMI/SubProject/CommData/CommData.csproj

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

Cs_HMI/SubProject/CommData/Enum.cs

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

Cs_HMI/SubProject/CommData/ISerialComm.cs

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

Cs_HMI/SubProject/CommData/RS232.cs

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

Cs_HMI/TestProject/Test_ACS/MainForm.Designer.cs

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

Cs_HMI/TestProject/Test_ACS/MainForm.cs

@@ -23,7 +23,7 @@ namespace Test_ACS
             LoadPortList();
         }
 
-    
+
 
         private void InitializeProtocol()
         {
@@ -61,6 +61,14 @@ namespace Test_ACS
                 case AGVCommandEH.Status:
                     UpdateAGVStatus(e.ReceivedPacket.Data);
                     break;
+                case AGVCommandEH.Error:
+                    var errorcode = (AGVErrorCode)e.ReceivedPacket.Data[0];
+                    var errorMessage = System.Text.Encoding.UTF8.GetString(e.ReceivedPacket.Data, 1, e.ReceivedPacket.Data.Length - 1);
+                    AddLog($"Error Received : {errorcode} ID:{e.ReceivedPacket.ID} MSG:{errorMessage}", LogType.Info);
+                    break;
+                default:
+                    AddLog($"unknown command:{command}", LogType.Error);
+                    break;
             }
         }
 
@@ -153,6 +161,7 @@ namespace Test_ACS
                 serialPort.Close();
                 btnConnect.Text = "연결";
                 AddLog("포트 닫힘", LogType.Info);
+
             }
             else
             {
@@ -163,6 +172,7 @@ namespace Test_ACS
                     serialPort.Open();
                     btnConnect.Text = "해제";
                     AddLog($"{serialPort.PortName}:{serialPort.BaudRate} 연결됨", LogType.Info);
+                    SaveSettings();
                 }
                 catch (Exception ex)
                 {
@@ -178,22 +188,22 @@ namespace Test_ACS
 
         private void cmbPort_SelectedIndexChanged(object sender, EventArgs e)
         {
-            SaveSettings();
+            //SaveSettings();
         }
 
         private void txtBaudRate_TextChanged(object sender, EventArgs e)
         {
-            SaveSettings();
+            //SaveSettings();
         }
 
         private void txtRFID_TextChanged(object sender, EventArgs e)
         {
-            SaveSettings();
+            //SaveSettings();
         }
 
         private void txtAlias_TextChanged(object sender, EventArgs e)
         {
-            SaveSettings();
+            //SaveSettings();
         }
 
         private void rbAGV1_CheckedChanged(object sender, EventArgs e)
@@ -201,7 +211,7 @@ namespace Test_ACS
             if (rbAGV1.Checked)
             {
                 selectedAGV = 11;
-                SaveSettings();
+                //SaveSettings();
             }
         }
 
@@ -210,7 +220,7 @@ namespace Test_ACS
             if (rbAGV2.Checked)
             {
                 selectedAGV = 12;
-                SaveSettings();
+                //SaveSettings();
             }
         }
 
@@ -250,6 +260,7 @@ namespace Test_ACS
             var aliasHex = string.Join("", aliasBytes.Select(b => b.ToString("X2")));
             var dataStr = targetID + aliasHex;
             SendCommand(AGVCommandHE.GotoAlias, dataStr);
+            SaveSettings();
         }
 
         private void btnStop_Click(object sender, EventArgs e)
@@ -288,7 +299,7 @@ namespace Test_ACS
         {
             // MarkStop: data = TargetID(2 hex) + MarkStop(1 byte)
             var targetID = selectedAGV.ToString("X2");
-            var markStop = chkMarkStop.Checked ? "01" : "00";
+            var markStop = "01";// chkMarkStop.Checked ? "01" : "00";
             SendCommand(AGVCommandHE.MarkStop, targetID + markStop);
         }
 
@@ -524,9 +535,6 @@ namespace Test_ACS
 
         protected override void OnFormClosing(FormClosingEventArgs e)
         {
-            // 설정 저장
-            SaveSettings();
-
             if (serialPort != null && serialPort.IsOpen)
             {
                 serialPort.Close();
@@ -548,7 +556,10 @@ namespace Test_ACS
             if (radSpdM.Checked) speed = 1;
             else if (radSpdH.Checked) speed = 2;
 
-            var dataBytes = new byte[] { Motdirection, Magdirection, speed };
+            byte lidar = 2;
+            if (radLidarOff.Checked) lidar = 0;
+
+            var dataBytes = new byte[] { Motdirection, Magdirection, speed ,lidar};
             var dataStr = targetID + string.Join("", dataBytes.Select(b => b.ToString("X2")));
             SendCommand(AGVCommandHE.AutoMove, dataStr);
         }
@@ -564,5 +575,39 @@ namespace Test_ACS
         {
 
         }
+
+        private void button6_Click(object sender, EventArgs e)
+        {
+            var targetID = selectedAGV.ToString("X2");
+            SendCommand(AGVCommandHE.Stop, targetID);
+        }
+
+        private void button7_Click(object sender, EventArgs e)
+        {
+            //lt180
+            var targetID = selectedAGV.ToString("X2");
+            SendCommand(AGVCommandHE.LTurn180, targetID);
+        }
+
+        private void button8_Click(object sender, EventArgs e)
+        {
+            //rt180
+            var targetID = selectedAGV.ToString("X2");
+            SendCommand(AGVCommandHE.RTurn180, targetID);
+        }
+
+        private void button9_Click(object sender, EventArgs e)
+        {
+            //l turn
+            var targetID = selectedAGV.ToString("X2");
+            SendCommand(AGVCommandHE.LTurn, targetID);
+        }
+
+        private void button10_Click(object sender, EventArgs e)
+        {
+            ///r-turn
+            var targetID = selectedAGV.ToString("X2");
+            SendCommand(AGVCommandHE.RTurn, targetID);
+        }
     }
 }

Cs_HMI/TestProject/Test_ACS/Test_ACS.csproj

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

Cs_HMI/TestProject/Test_BMS/Form1.cs

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

Cs_HMI/TestProject/Test_BMS/Test_BMS.csproj

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

Cs_HMI/TestProject/Test_Narumi/Form1.cs

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

Cs_HMI/TestProject/Test_Narumi/Test_Narumi.csproj

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

Cs_HMI/TestProject/Test_Port/Test_Port.csproj

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

Document/Firmware/RFID/RFID_26K80_05dBm.hex

@@ -0,0 +1,218 @@
+:0400000015EF06F002
+:08000800046ED8CF05F0E0CF33
+:1000100006F00001E9CF0CF0EACF07F0E1CF08F0DD
+:10002000E2CF09F0D9CF0AF0DACF0BF0F3CF12F01C
+:10003000F4CF13F0FACF14F0F5CF15F0F6CF16F099
+:10004000F7CF17F000C00EF001C00FF002C010F0A3
+:1000500003C011F09DAA30EF00F09EBA75EF00F0DA
+:1000600076A036EF00F077B0F3EF00F076A23CEF29
+:1000700000F077B2EFEF00F09DA042EF00F09EB0ED
+:100080009DEF00F076AA48EF00F077BAE9EF00F0B4
+:1000900076AE4EEF00F077BEE6EF00F00EC000F057
+:1000A0000FC001F010C002F011C003F00CC0E9FF56
+:1000B00007C0EAFF078E08C0E1FF09C0E2FF0AC0DF
+:1000C000D9FF0BC0DAFF12C0F3FF13C0F4FF14C056
+:1000D000FAFF15C0F5FF16C0F6FF17C0F7FF045072
+:1000E00006C0E0FF05C0D8FF10009EAAFED7AECF25
+:1000F00001F1010120A006D0013D03D0466A476A04
+:10010000209005D0472C03D0070E0125466E47509E
+:10011000472A036A480FE96E000E0320EA6E01C108
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+:10013000476A9E9A00014EEF00F0D80ECF6EF00E87
+:10014000CE6E252AD8B4262A275202E128520BE087
+:100150002750D8B42806272E06D0285204E1286A52
+:10016000960E276E1F86422AD8B4432A43500608AB
+:1001700007E2FF0A03E14250D00802E2819C1F8E91
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+:100190002A6A296A1F80212A21500908D8B013D061
+:1001A000216A222A22500908D8B00DD0226A232AB7
+:1001B00023500908D8B007D0236A242A24503B08CA
+:1001C000D8B001D0246A9E904EEF00F0779E4EEF9B
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+:100200006ECF00F0003A0030070BE35DF9E1120019
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+;CRC=7E53  CREATED="27-11-24 15:28"