2026-01-29 14:12:55	NORMAL	가상 AGV 생성: N001 위치
2026-01-29 14:12:55	NORMAL	맵 파일 로드 완료: NewMap.json, 노드 수: 25
2026-01-29 14:12:56	INFO	Clear Resultclear
2026-01-29 14:12:56	NORMAL	State Machine Start
2026-01-29 14:12:56	StateMachine	객체 생성 완료 - Type: Project.StateMachine.StateMachine
2026-01-29 14:12:56	StateMachine	Public Properties: 12개
2026-01-29 14:12:56	StateMachine	Public Methods: 36개
2026-01-29 14:12:56	StateMachine	SM 이벤트 등록 완료
2026-01-29 14:12:56	SM	Start
2026-01-29 14:12:56	NORMAL	S/M Initialize Start
2026-01-29 14:12:56	StateMachine	스레드 시작 확인됨 (0ms 소요)
2026-01-29 14:12:56	Display	Display Timer 시작 완료
2026-01-29 14:12:56	NORMAL	Program Start
2026-01-29 14:12:56	NORMAL	프로그램 실행 기록 추가
2026-01-29 14:12:56	INFO	Socket Listen : 7979
2026-01-29 14:12:56	NORMAL	초기화 완료
2026-01-29 14:12:57	NORMAL	스피치컴파일상수OFF
2026-01-29 14:12:57	NORMAL	Connect to COM1:57600
2026-01-29 14:12:57	COM1	[COM1:57600] 연결 완료
2026-01-29 14:12:57	NORMAL	MARK_SENSOROFF 변경(True)
2026-01-29 14:13:02	NORMAL	스피치컴파일상수OFF
2026-01-29 14:13:02	NORMAL	Connect to COM10:9600
2026-01-29 14:13:02	COM10	[COM10:9600] 연결 완료
2026-01-29 14:13:02	NORMAL	BMS 연결 시도: COM6
2026-01-29 14:13:02	INFO	BMS 연결 완료(COM6)
2026-01-29 14:13:02	NORMAL	스피치컴파일상수OFF
2026-01-29 14:13:04	ATTENTION	배터리 부족 경고 활성화
2026-01-29 14:13:05	NORMAL	AGV 태그수신 : 33 LastTag:33
2026-01-29 14:13:08	NORMAL	마크스탑이 확인되어 최종위치를 PASS 처리 합니다
2026-01-29 14:13:08	ATTENTION	마크스탑이 확인되었으나 현재 노드가없어 PASS를 설정하지 못함
2026-01-29 14:13:08	NORMAL	MARK_SENSOROFF 변경(False)
2026-01-29 14:13:08	NORMAL	AGV 태그수신 : 34 LastTag:34
2026-01-29 14:13:09	NORMAL	MARK_SENSOROFF 변경(True)
2026-01-29 14:13:11	NORMAL	User Click : Start
2026-01-29 14:13:11	INFO	Clear Resultclear
2026-01-29 14:13:11	INFO	System Error Reset
2026-01-29 14:13:13	NORMAL	스피치컴파일상수OFF
2026-01-29 14:13:13	NORMAL	자동전환 이전스텝:READY,IDX:1]
2026-01-29 14:14:49	NORMAL	User Click : Start
2026-01-29 14:14:49	NORMAL	스피치컴파일상수OFF
2026-01-29 14:14:50	NORMAL	Program Close
2026-01-29 14:14:50	SM	Stop - LoopCount:7238
2026-01-29 14:15:30	NORMAL	가상 AGV 생성: N001 위치
2026-01-29 14:15:30	NORMAL	맵 파일 로드 완료: NewMap.json, 노드 수: 25
2026-01-29 14:15:30	INFO	Clear Resultclear
2026-01-29 14:15:30	NORMAL	State Machine Start
2026-01-29 14:15:30	StateMachine	객체 생성 완료 - Type: Project.StateMachine.StateMachine
2026-01-29 14:15:30	StateMachine	Public Properties: 12개
2026-01-29 14:15:30	StateMachine	Public Methods: 36개
2026-01-29 14:15:30	StateMachine	SM 이벤트 등록 완료
2026-01-29 14:15:30	SM	Start
2026-01-29 14:15:30	NORMAL	S/M Initialize Start
2026-01-29 14:15:30	StateMachine	스레드 시작 확인됨 (0ms 소요)
2026-01-29 14:15:30	Display	Display Timer 시작 완료
2026-01-29 14:15:30	NORMAL	Program Start
2026-01-29 14:15:30	NORMAL	프로그램 실행 기록 추가
2026-01-29 14:15:31	INFO	Socket Listen : 7979
2026-01-29 14:15:31	NORMAL	초기화 완료
2026-01-29 14:15:31	NORMAL	스피치컴파일상수OFF
2026-01-29 14:15:31	NORMAL	Connect to COM1:57600
2026-01-29 14:15:31	COM1	[COM1:57600] 연결 완료
2026-01-29 14:15:32	NORMAL	MARK_SENSOROFF 변경(True)
2026-01-29 14:15:36	NORMAL	스피치컴파일상수OFF
2026-01-29 14:15:36	NORMAL	Connect to COM10:9600
2026-01-29 14:15:36	COM10	[COM10:9600] 연결 완료
2026-01-29 14:15:36	NORMAL	BMS 연결 시도: COM6
2026-01-29 14:15:36	INFO	BMS 연결 완료(COM6)
2026-01-29 14:15:36	NORMAL	스피치컴파일상수OFF
2026-01-29 14:15:39	ATTENTION	배터리 부족 경고 활성화
2026-01-29 14:15:49	NORMAL	AGV 태그수신 : 2 LastTag:2
2026-01-29 14:17:08	NORMAL	User Click : Start
2026-01-29 14:17:08	INFO	Clear Resultclear
2026-01-29 14:17:08	INFO	System Error Reset
2026-01-29 14:17:08	NORMAL	스피치컴파일상수OFF
2026-01-29 14:17:08	NORMAL	자동전환 이전스텝:READY,IDX:1]
2026-01-29 14:17:31	INFO	Clear Resultclear
2026-01-29 14:17:31	NORMAL	[ACS-Goto] 2 -> 34
2026-01-29 14:17:31	NORMAL	[>>] _SM_RUN_GOTO
2026-01-29 14:17:31	INFO	경로생성 2 -> 34
2026-01-29 14:17:31	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:17:45	NORMAL	스피치컴파일상수OFF
2026-01-29 14:18:00	NORMAL	스피치컴파일상수OFF
2026-01-29 14:18:08	NORMAL	MARK_SENSOROFF 변경(False)
2026-01-29 14:18:09	NORMAL	MARK_SENSOROFF 변경(True)
2026-01-29 14:18:11	SM-LOOP	Loop alive - Count:10000, bLoop:True, Step:RUN
2026-01-29 14:18:15	NORMAL	스피치컴파일상수OFF
2026-01-29 14:18:22	NORMAL	AGV 태그수신 : 33 LastTag:33
2026-01-29 14:18:22	ERROR	경로이탈감지 시작노드를 현재위치로 설정합니다  START:RFID:2(NODE:1): AS: (Normal) at (285, 628),CURRENT:RFID:33(NODE:N005): AS: (Normal) at (113, 629)
2026-01-29 14:18:22	NORMAL	경로 재생성으로 인해 구동을 멈춥니다
2026-01-29 14:18:22	INFO	경로생성 33 -> 34
2026-01-29 14:18:22	NORMAL	Predict Run Setting = bunki:Strate,dir:Forward,pbs:1,spd:Low
2026-01-29 14:18:23	NORMAL	Predict Run Setting = bunki:Strate,dir:Forward,pbs:1,spd:Low
2026-01-29 14:18:27	NORMAL	MARK_SENSOROFF 변경(False)
2026-01-29 14:18:29	NORMAL	MARK_SENSOROFF 변경(True)
2026-01-29 14:18:29	NORMAL	AGV 태그수신 : 34 LastTag:34
2026-01-29 14:18:29	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:18:30	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:18:31	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:18:32	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:18:33	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:18:34	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:18:35	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:18:36	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:18:36	NORMAL	AGV 태그수신 : 2 LastTag:2
2026-01-29 14:18:36	NORMAL	경로 재생성으로 인해 구동을 멈춥니다
2026-01-29 14:18:36	INFO	경로생성 2 -> 34
2026-01-29 14:18:36	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:18:37	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:18:46	NORMAL	MARK_SENSOROFF 변경(False)
2026-01-29 14:18:47	NORMAL	MARK_SENSOROFF 변경(True)
2026-01-29 14:18:48	NORMAL	스피치컴파일상수OFF
2026-01-29 14:18:51	NORMAL	AGV 태그수신 : 33 LastTag:33
2026-01-29 14:18:51	NORMAL	경로 재생성으로 인해 구동을 멈춥니다
2026-01-29 14:18:51	INFO	경로생성 33 -> 34
2026-01-29 14:18:51	NORMAL	Predict Run Setting = bunki:Strate,dir:Forward,pbs:1,spd:Low
2026-01-29 14:18:52	NORMAL	Predict Run Setting = bunki:Strate,dir:Forward,pbs:1,spd:Low
2026-01-29 14:18:56	NORMAL	MARK_SENSOROFF 변경(False)
2026-01-29 14:18:57	NORMAL	MARK_SENSOROFF 변경(True)
2026-01-29 14:18:58	NORMAL	AGV 태그수신 : 34 LastTag:34
2026-01-29 14:18:58	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:18:59	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:00	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:01	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:02	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:03	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:04	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:05	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:05	NORMAL	AGV 태그수신 : 2 LastTag:2
2026-01-29 14:19:05	NORMAL	경로 재생성으로 인해 구동을 멈춥니다
2026-01-29 14:19:05	INFO	경로생성 2 -> 34
2026-01-29 14:19:05	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:06	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:15	NORMAL	MARK_SENSOROFF 변경(False)
2026-01-29 14:19:16	NORMAL	MARK_SENSOROFF 변경(True)
2026-01-29 14:19:18	NORMAL	AGV 태그수신 : 33 LastTag:33
2026-01-29 14:19:18	NORMAL	경로 재생성으로 인해 구동을 멈춥니다
2026-01-29 14:19:18	INFO	경로생성 33 -> 34
2026-01-29 14:19:18	NORMAL	Predict Run Setting = bunki:Strate,dir:Forward,pbs:1,spd:Low
2026-01-29 14:19:23	NORMAL	MARK_SENSOROFF 변경(False)
2026-01-29 14:19:24	NORMAL	MARK_SENSOROFF 변경(True)
2026-01-29 14:19:24	NORMAL	AGV 태그수신 : 34 LastTag:34
2026-01-29 14:19:24	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:25	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:26	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:27	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:28	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:29	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:30	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:31	NORMAL	Predict Run Setting = bunki:Strate,dir:Backward,pbs:1,spd:Low
2026-01-29 14:19:31	NORMAL	AGV 태그수신 : 2 LastTag:2
2026-01-29 14:19:31	NORMAL	경로 재생성으로 인해 구동을 멈춥니다
2026-01-29 14:19:31	INFO	경로생성 2 -> 34