Merge branch 'master' of file://k4fs3201n/k4bpartcenter$/Repository/K4/ENIG_AGV

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

@@ -147,22 +147,22 @@ namespace AGVNavigationCore.PathFinding.Planning
                 for (int i = 0; i < pathResult.Path.Count; i++)
                 {
                     var node = pathResult.Path[i];
-                    string nextNodeId = (i + 1 < pathResult.Path.Count) ? pathResult.Path[i + 1].Id : null;
+                    var nextNode = (i + 1 < pathResult.Path.Count) ? pathResult.Path[i + 1] : null;
 
                     // 마그넷 방향 계산 (갈림길인 경우)
                     MagnetDirection magnetDirection = MagnetDirection.Straight;
                     
-                    if (node.ConnectedNodes != null && node.ConnectedNodes.Count >= 3 && i > 0 && nextNodeId != null)
+                    if ((node.ConnectedNodes?.Count ?? 0) >= 2 && nextNode != null)
                     {
                         // 갈림길인 경우: 진입 방향과 진출 방향의 각도 계산
-                        var prevNode = pathResult.Path[i - 1];
+                        //var prevNode = pathResult.Path[i - 1];
-                        var nextNode = pathResult.Path[i + 1];
+                        //var nextNode = pathResult.Path[i + 1];
                         
                         // 진입 각도 계산 (이전 노드 → 현재 노드)
-                        double entryAngle = Math.Atan2(
+                        //double entryAngle = Math.Atan2(
-                            node.Position.Y - prevNode.Position.Y,
+                        //    node.Position.Y - prevNode.Position.Y,
-                            node.Position.X - prevNode.Position.X
+                        //    node.Position.X - prevNode.Position.X
-                        ) * 180.0 / Math.PI;
+                        //) * 180.0 / Math.PI;
                         
                         // 진출 각도 계산 (현재 노드 → 다음 노드)
                         double exitAngle = Math.Atan2(
@@ -171,7 +171,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                         ) * 180.0 / Math.PI;
 
                         // 각도 차이 계산 (-180~180 범위로 정규화)
-                        double angleDiff = exitAngle - entryAngle;
+                        double angleDiff = exitAngle;// - entryAngle;
                         while (angleDiff > 180) angleDiff -= 360;
                         while (angleDiff < -180) angleDiff += 360;
                         
@@ -189,7 +189,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                         }
                     }
 
-                    var nodeInfo = new NodeMotorInfo(i + 1, node.Id, node.RfidId, prevDirection, nextNodeId, magnetDirection);
+                    var nodeInfo = new NodeMotorInfo(i + 1, node.Id, node.RfidId, prevDirection, nextNode.Id, magnetDirection);
 
                     // 속도 설정
                     var mapNode = _mapNodes.FirstOrDefault(n => n.Id == node.Id);

Cs_HMI/Project/Class/EEMStatus.cs

@@ -121,8 +121,8 @@ public static partial class EEMStatus
 
             var file = System.IO.Path.Combine(path, $"{DateTime.Now.ToString("HHmmssfff")}_BMS_INF.sql");
 
-            var sql = "insert into AGV_Shuttle_BMS(MCID,wdate,info_volt,info_current,info_capa,info_level,info_temp1,info_temp2,soc,cycle,protection,balance) " +
+            var sql = "insert into AGV_Shuttle_BMS(MCID,wdate,info_volt,info_current,info_capa,info_level,info_temp1,info_temp2,soc,cycle,protection,balance,watt) " +
-                     $"values('{mcid}','{timestr}',{data.packVoltage},{data.current},{data.fullCapacity},{data.RawLevel},{data.ntcTemp[0]},{data.ntcTemp[1]},{data.rsoc},{data.cycleCount},{data.raw_protection},{data.fullBalance})";
+                     $"values('{mcid}','{timestr}',{data.packVoltage},{data.current},{data.fullCapacity},{data.RawLevel},{data.ntcTemp[0]},{data.ntcTemp[1]},{data.rsoc},{data.cycleCount},{data.raw_protection},{data.fullBalance},{data.watt})";
 
             System.IO.File.WriteAllText(file, sql, System.Text.Encoding.Default);
             LastBMSIFTime = DateTime.Now;

Cs_HMI/Project/Device/BMS.cs

@@ -25,7 +25,8 @@ namespace arDev
             get
             {
                 if (Voltage.Any() == false) return 0f;
-                return Math.Abs(Voltage.Max() - Voltage.Min());
+                var value = Math.Abs(Voltage.Max() - Voltage.Min());
+                return value * 1000f;
             }
         }
     }
@@ -435,8 +436,8 @@ namespace arDev
 
             //250620 jwlee 추가
             newinfo.ntcCount = LastReceiveBuffer[offset + 22]; //센서갯수
-            int temp1 = (LastReceiveBuffer[offset + 23] << 8) | LastReceiveBuffer[24];
+            int temp1 = (LastReceiveBuffer[offset + 23] << 8) | LastReceiveBuffer[offset + 24];
-            int temp2 = (LastReceiveBuffer[offset + 25] << 8) | LastReceiveBuffer[36];
+            int temp2 = (LastReceiveBuffer[offset + 25] << 8) | LastReceiveBuffer[offset + 26];
             var Current_temp1 = (temp1 - 2731) / 10f;
             var Current_temp2 = (temp2 - 2731) / 10f;
             newinfo.ntcTemp = new float[] { (temp1 - 2731) / 10f, (temp2 - 2731) / 10f };

Cs_HMI/Project/ViewForm/fBms.cs

@@ -70,9 +70,13 @@ namespace Project.ViewForm
             else if (PUB.BMS.IsValid == false)
                 this.lbCycle.Text = "데이터가 유효하지 않습니다";
             else
-                this.lbCycle.Text = $"Cell Average:{volt.Average},Delta:{volt.Delta},Cycle({data.cycleCount})";
+                this.lbCycle.Text = $"Average:{volt.Average:N2}v, Delta:{volt.Delta:N0}, Cycle({data.cycleCount})";
             this.arLabel1.Text = $"{data.rsoc}%";
-            this.arLabel1.Sign = $"{data.packVoltage}v, {data.watt}w";// PUB.BMS.Current_Volt.ToString() + "v";
+            this.arLabel1.Sign = $"{data.packVoltage}v, {data.watt:N0}w";// PUB.BMS.Current_Volt.ToString() + "v";
+
+            if (data.watt < 0) this.arLabel1.SignColor = Color.Tomato;
+            else this.arLabel1.SignColor = Color.Lime;
+
                 this.cv1.Text = volt.Voltage[0].ToString("N3") + "v";
             this.cv2.Text = volt.Voltage[1].ToString("N3") + "v";
             this.cv3.Text = volt.Voltage[2].ToString("N3") + "v";