Drive Parameters Property 추가

Dev/OHV/OHV.Common/Events/MessageEventArgs.cs

@@ -44,6 +44,10 @@ namespace OHV.Common.Events
             RspBatteryState,
 
             RspRouteManager,
+
+            ReqDirveSpeed,
+            ReqSpeedProfile,
+            ReqJogSpeed,
         }
 
         //Property 이름임.

Dev/OHV/OHV.Module.Interactivity/PopUp/ServoConfigViewModel.cs

@@ -196,7 +196,7 @@ namespace OHV.Module.Interactivity.PopUp
 
             this.sql = _sql;
         }
-
+        
         private void ExecuteInputNumberCommand(object obj)
         {
             var numPad = new CalcuratorView();
@@ -207,7 +207,7 @@ namespace OHV.Module.Interactivity.PopUp
                 this.messageController.ShowNotificationView("Value Error");
                 return;
             }
-
+            
             if (obj.Equals("Linear"))
                 this.LinearSpeed = Convert.ToDouble(result);
             else if (obj.Equals("Curve"))
@@ -274,21 +274,109 @@ namespace OHV.Module.Interactivity.PopUp
 
         private void UICallbackCommunication( GUIMessageEventArgs obj )
         {
-            if(obj.Kind == GUIMessageEventArgs.eGUIMessageKind.ModelPropertyChange)
+            switch (obj.Kind)
             {
-                if(obj.MessageKey.Equals(MessageKey.Vehicle))
-                {
-                    switch(obj.ModelPropertyName)
+                case GUIMessageEventArgs.eGUIMessageKind.ModelPropertyChange:
+                    this.UICallBackModelPropertyChange(obj);
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.RspIOObject:
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.RspIOMapList:
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.RspCommandList:
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.RspAutoModeChange:
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.RspManualModeChange:
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.RspAlarmReset:
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.RspVehicleModeChange:
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.RspEStop:
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.RspVihicleState:
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.RspMachineModeChg:
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.RspAddCommand:
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.RspConveyorMove:
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.RspConveyorLoad:
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.RspConveyorUnload:
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.RspPIOConveyor:
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.RspPIOBatteryCharge:
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.RsqPIOBatteryChargeStop:
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.RspObstaclePatternChg:
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.RspObstaclePatternNo:
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.RspBatteryState:
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.RspRouteManager:
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.ReqDirveSpeed:
+                    {
+                        if (obj.Result.IsFailed)
+                            this.messageController.ShowNotificationView("Fail!! Set Drive Speed", false);
+                        else
+                            this.messageController.ShowNotificationView("Success");
+                    }
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.ReqSpeedProfile:
+                    {
+                        if (obj.Result.IsFailed)
+                            this.messageController.ShowNotificationView("Fail!! Set SpeedProfile", false);
+                        else
+                            this.messageController.ShowNotificationView("Success");
+                    }
+                    break;
+                case GUIMessageEventArgs.eGUIMessageKind.ReqJogSpeed:
                     {
-                        case "Acceleration":
-                            break;
-                        case "Deceleration":
-                            break;
-                        case "CreepSped":
-                            break;
-                        case "CreepDistance":
-                            break;
+                        if (obj.Result.IsFailed)
+                            this.messageController.ShowNotificationView("Fail!! Set JogSpeed", false);
+                        else
+                            this.messageController.ShowNotificationView("Success");
                     }
+                    break;
+            }
+        }
+
+        void UICallBackModelPropertyChange(GUIMessageEventArgs args)
+        {
+            if (args.MessageKey.Equals(MessageKey.Vehicle))
+            {
+                switch(args.ModelPropertyName)
+                {
+                    case "LinearSpeed":
+                        this.LinearSpeed = CastTo<double>.From<object>(args);
+                        break;
+                    case "CurveSpeed":
+                        this.CurveSpeed = CastTo<double>.From<object>(args);
+                        break;
+                    case "JogSPeed":
+                        this.JogSpeed = CastTo<double>.From<object>(args);
+                        break;
+                    case "AccelSpeed":
+                        this.Acceleration = CastTo<double>.From<object>(args);
+                        break;
+                    case "DecelSpeed":
+                        this.Deceleration = CastTo<double>.From<object>(args);
+                        break;
+                    case "CreepSpeed":
+                        this.CreepSpeed = CastTo<double>.From<object>(args);
+                        break;
+                    case "CreepDistance":
+                        this.CreepDistance = CastTo<double>.From<object>(args);
+                        break;
+                    default:
+                        break;
                 }
             }
         }

Dev/OHV/VehicleControlSystem/ControlLayer/Vehicle.cs

@@ -412,6 +412,63 @@ namespace VehicleControlSystem.ControlLayer
             set { SetField( ref this.rearTorque, value ); }
         }
 
+        private double linearSpeed;
+
+        public double LinearSpeed
+        {
+            get { return linearSpeed; }
+            set { SetField(ref this.linearSpeed, value); }
+        }
+
+        private double curveSpeed;
+
+        public double CurveSpeed
+        {
+            get { return curveSpeed; }
+            set { SetField(ref this.curveSpeed, value); }
+        }
+
+        private double accelSpeed;
+
+        public double AccelSpeed
+        {
+            get { return accelSpeed; }
+            set { SetField(ref this.accelSpeed , value); }
+        }
+
+        private double decelSpeed;
+
+        public double DecelSpeed
+        {   
+            get { return decelSpeed; }
+            set { SetField(ref this.decelSpeed, value); }
+        }
+
+        private double creepSpeed;
+
+        public double CreepSpeed
+        {
+            get { return creepSpeed; }
+            set { SetField(ref this.creepSpeed, value); }
+        }
+
+        private double creepDistance;
+
+        public double CreepDistance
+        {
+            get { return creepDistance; }
+            set { SetField(ref this.creepDistance , value); }
+        }
+
+        private double jogSpeed;
+
+        public double JogSPeed
+        {
+            get { return jogSpeed; }
+            set { SetField(ref this.jogSpeed , value); }
+        }
+
+
         #endregion
 
         #region Event 
@@ -2237,6 +2294,42 @@ namespace VehicleControlSystem.ControlLayer
                     }
                     break;
 
+                case "LinearSpeed":
+                    {
+                        this.LinearSpeed = CastTo<double>.From<object>(newValue);
+                    }
+                    break;
+                case "CurveSpeed":
+                    {
+                        this.CurveSpeed = CastTo<double>.From<object>(newValue);
+                    }
+                    break;
+                case "JogSPeed":
+                    {
+                        this.JogSPeed = CastTo<double>.From<object>(newValue);
+                    }
+                    break;
+                case "AccelSpeed":
+                    {
+                        this.AccelSpeed = CastTo<double>.From<object>(newValue);
+                    }
+                    break;
+                case "DecelSpeed":
+                    {
+                        this.DecelSpeed = CastTo<double>.From<object>(newValue);
+                    }
+                    break;
+                case "CreepSpeed":
+                    {
+                        this.CreepSpeed = CastTo<double>.From<object>(newValue);
+                    }
+                    break;
+                case "CreepDistance":
+                    {
+                        this.CreepDistance = CastTo<double>.From<object>(newValue);
+                    }
+                    break;
+
                 default:
                     break;
             }

Dev/OHV/VehicleControlSystem/VCSystem.cs

@@ -26,7 +26,7 @@ using VehicleControlSystem.Managers;
 
 namespace VehicleControlSystem
 {
-    [Module( ModuleName = "VCSystem" )]
+    [Module(ModuleName = "VCSystem")]
     public class VCSystem : IModule, IDisposable
     {
         Logger logger = Logger.GetLogger();
@@ -51,16 +51,16 @@ namespace VehicleControlSystem
 
         public List<Alarm> Alarms { get; set; }
 
-        public VCSystem( IEventAggregator ea, SqliteManager sql )
+        public VCSystem(IEventAggregator ea, SqliteManager sql)
         {
             this.sql = sql;
 
             this.eventAggregator = ea;
 
-            this.eventAggregator.GetEvent<ApplicationExitEvent>().Subscribe( ( o ) => Dispose(), true );
+            this.eventAggregator.GetEvent<ApplicationExitEvent>().Subscribe((o) => Dispose(), true);
 
-            this.eventAggregator.GetEvent<VCSMessagePubSubEvent>().Unsubscribe( ReceivedMessageEvent );
-            this.eventAggregator.GetEvent<VCSMessagePubSubEvent>().Subscribe( this.ReceivedMessageEvent, ThreadOption.BackgroundThread );
+            this.eventAggregator.GetEvent<VCSMessagePubSubEvent>().Unsubscribe(ReceivedMessageEvent);
+            this.eventAggregator.GetEvent<VCSMessagePubSubEvent>().Subscribe(this.ReceivedMessageEvent, ThreadOption.BackgroundThread);
         }
 
         public void Init()
@@ -80,17 +80,17 @@ namespace VehicleControlSystem
 
             //var bitA = new BitArray( bs );
 
-            QuartzUtils.Invoke( "HIS_ALARM", QuartzUtils.GetExpnHour( 5 ), this.CleanHisAlarm );
+            QuartzUtils.Invoke("HIS_ALARM", QuartzUtils.GetExpnHour(5), this.CleanHisAlarm);
 
-            this.Alarms = new ExcelMapper( Path.Combine( System.Environment.CurrentDirectory ) + @"\Config\AlarmDefind.xlsx" ).Fetch<Alarm>().ToList();
+            this.Alarms = new ExcelMapper(Path.Combine(System.Environment.CurrentDirectory) + @"\Config\AlarmDefind.xlsx").Fetch<Alarm>().ToList();
 
             this.RouteManager = RouteManager.Instance;
-            RouteManager.Instance.Init( this.sql );
+            RouteManager.Instance.Init(this.sql);
 
             //Create IO
             this.IO = new EzIO();
-            var mapPath = Path.Combine( System.Environment.CurrentDirectory ) + @"\Config\IO.xlsx";
-            this.IO.LoadIOMap( mapPath );
+            var mapPath = Path.Combine(System.Environment.CurrentDirectory) + @"\Config\IO.xlsx";
+            this.IO.LoadIOMap(mapPath);
             this.IO.RunIOThread();
 
             var ezIO = this.IO as EzIO;
@@ -102,34 +102,34 @@ namespace VehicleControlSystem
             //Battery
             this.bMUManager = new BMUManager();
             this.bMUManager.BMUConfig = new ControlLayer.Serial.BatteryTabos.Config() { ID = "0" };
-            var setV = Convert.ToInt32( sql.ConfigDal.GetById( ConstString.BatteryCanType ).Value );
-            var canType = CastTo<BMUManager.eCANSelect>.From<int>( setV );
-            this.bMUManager.Connect( canType );
+            var setV = Convert.ToInt32(sql.ConfigDal.GetById(ConstString.BatteryCanType).Value);
+            var canType = CastTo<BMUManager.eCANSelect>.From<int>(setV);
+            this.bMUManager.Connect(canType);
 
             //Conveyor
-            this.conveyor = new Conveyor( this.IO as EzIO );
+            this.conveyor = new Conveyor(this.IO as EzIO);
 
             //Clamp
-            this.clamp = new Clamp( this.sql, this.eventAggregator );
+            this.clamp = new Clamp(this.sql, this.eventAggregator);
             this.clamp.Init();
 
             //Steering
-            this.steering = new Steering( this.IO, this.sql, this.eventAggregator );
+            this.steering = new Steering(this.IO, this.sql, this.eventAggregator);
 
             //ZeroMQ
-            this.zmqManager = new ZmqManager( this.bMUManager, this.steering );
+            this.zmqManager = new ZmqManager(this.bMUManager, this.steering);
             this.zmqManager.Init();
 
             //Drive
-            this.drive = new GSIDrive( this.sql, this.steering, this.zmqManager );
+            this.drive = new GSIDrive(this.sql, this.steering, this.zmqManager);
             this.drive.Init();
 
             //Process
-            this.autoManager = new AutoManager( this.IO, this.eventAggregator, this.sql, this.Alarms );
-            this.scheduler = new Scheduler( eventAggregator, this.autoManager, this.sql, this.bMUManager );
-            this.vehicle = new Vehicle( this.eventAggregator );
+            this.autoManager = new AutoManager(this.IO, this.eventAggregator, this.sql, this.Alarms);
+            this.scheduler = new Scheduler(eventAggregator, this.autoManager, this.sql, this.bMUManager);
+            this.vehicle = new Vehicle(this.eventAggregator);
 
-            this.hostManager = new HostManager( this.eventAggregator, this.vehicle, this.sql, this.autoManager, this.scheduler );
+            this.hostManager = new HostManager(this.eventAggregator, this.vehicle, this.sql, this.autoManager, this.scheduler);
 
             var refObject = new VehicleRefObjects();
             refObject.IO = this.IO as EzIO;
@@ -144,68 +144,68 @@ namespace VehicleControlSystem
             refObject.AutoManager = this.autoManager;
             refObject.HostManager = this.hostManager;
 
-            this.vehicle.DependencyInjection( refObject );
+            this.vehicle.DependencyInjection(refObject);
             this.vehicle.PropertyChanged += Vehicle_PropertyChanged;
 
             this.hostManager.Init();
             this.vehicle.Init();
             this.scheduler.Init();
-            this.autoManager.Init( this.vehicle );
+            this.autoManager.Init(this.vehicle);
         }
 
-        private void Vehicle_PropertyChanged( object sender, System.ComponentModel.PropertyChangedEventArgs e )
+        private void Vehicle_PropertyChanged(object sender, System.ComponentModel.PropertyChangedEventArgs e)
         {
             var arg = new GUIMessageEventArgs();
             arg.Kind = GUIMessageEventArgs.eGUIMessageKind.ModelPropertyChange;
             arg.MessageKey = MessageKey.Vehicle;
             arg.ModelPropertyName = e.PropertyName;
 
-            var property = sender.GetType().GetProperty( e.PropertyName );
-            var newValue = property.GetValue( sender, null );
+            var property = sender.GetType().GetProperty(e.PropertyName);
+            var newValue = property.GetValue(sender, null);
 
             arg.ModelPropertyName = e.PropertyName;
             arg.Args = newValue;
 
-            GUIMessageEventPublish( arg );
+            GUIMessageEventPublish(arg);
         }
 
         public void CleanHisAlarm()
         {
-            var backup = DateTime.Now.AddDays( -15 );
-            sql.HisAlarmDAL.Delete( x => x.OccurTime < backup );
+            var backup = DateTime.Now.AddDays(-15);
+            sql.HisAlarmDAL.Delete(x => x.OccurTime < backup);
         }
 
         #region EzIO Event
-        private void EzIO_OnChangedIO( BitBlock bit )
+        private void EzIO_OnChangedIO(BitBlock bit)
         {
-            this.eventAggregator.GetEvent<IOChangedPubSubEvent>().Publish( new IOChangedMessageEventArgs { Args = bit } );
+            this.eventAggregator.GetEvent<IOChangedPubSubEvent>().Publish(new IOChangedMessageEventArgs { Args = bit });
         }
-        private void EzIO_OnDiscontd( string ID )
+        private void EzIO_OnDiscontd(string ID)
         {
             //throw new NotImplementedException();
         }
-        private void EzIO_OnContd( string ID )
+        private void EzIO_OnContd(string ID)
         {
             //IO 연결 시 할일 들을 여기서 하자.
-            this.IO.OutputOn( "OUT_TEACH_MODE" );
+            this.IO.OutputOn("OUT_TEACH_MODE");
             this.autoManager.LampStateProperty = eLampState.Alarm;
 
             //throw new NotImplementedException();
         }
-        private void EzIO_OnFirstColtd( string ID )
+        private void EzIO_OnFirstColtd(string ID)
         {
-            if ( this.IO.IsOff( "IN_MC_ON" ) )
+            if (this.IO.IsOff("IN_MC_ON"))
             {
-                this.vehicle.OccurVehicleAlarm( 29 );
+                this.vehicle.OccurVehicleAlarm(29);
             }
 
-            this.steering.ControlSteering( true );//초기에 직선 주행 상태로 핸들 조정.
+            this.steering.ControlSteering(true);//초기에 직선 주행 상태로 핸들 조정.
         }
 
         #endregion
 
         #region ReqMessage Method
-        void ReceivedMessageEvent( VCSMessageEventArgs msg )
+        void ReceivedMessageEvent(VCSMessageEventArgs msg)
         {
             switch (msg.Kind)
             {
@@ -287,27 +287,60 @@ namespace VehicleControlSystem
 
         private void SetJogSpeed(VCSMessageEventArgs msg)
         {
-            if(msg.Args.ContainsKey("JogSpeed"))
-            { 
-                this.zmqManager.SetJogSpeed((double)msg.Args["JogSpeed"]);
+            var reply = new GUIMessageEventArgs
+            {
+                Kind = GUIMessageEventArgs.eGUIMessageKind.ReqJogSpeed,
+                Result = FluentResults.Results.Fail("Fail SetJogSpeed"),
+            };
+
+            if (msg.Args.ContainsKey("JogSpeed"))
+            {
+                if(this.zmqManager.SetJogSpeed((double)msg.Args["JogSpeed"]))
+                {
+                    reply.Result = FluentResults.Results.Ok();
+                }    
             }
+
+            GUIMessageEventPublish(reply);
         }
 
         private void SetSpeedProfile(VCSMessageEventArgs msg)
         {
-            if(msg.Args.ContainsKey("Accel") && msg.Args.ContainsKey("Decel") && msg.Args.ContainsKey("Creep") && msg.Args.ContainsKey("CreepDistance"))
+            var reply = new GUIMessageEventArgs
             {
-                this.zmqManager.SetDriveSpeedProfile(msg.Args["Accel"].ToString(), msg.Args["Decel"].ToString(),
-                    msg.Args["Creep"].ToString(), msg.Args["CreepDistance"].ToString());
+                Kind = GUIMessageEventArgs.eGUIMessageKind.ReqSpeedProfile,
+                Result = FluentResults.Results.Fail("Fail SetSpeedProfile"),
+            };
+
+            if (msg.Args.ContainsKey("Accel") && msg.Args.ContainsKey("Decel") && msg.Args.ContainsKey("Creep") && msg.Args.ContainsKey("CreepDistance"))
+            {
+                if(this.zmqManager.SetDriveSpeedProfile(msg.Args["Accel"].ToString(), msg.Args["Decel"].ToString(),
+                    msg.Args["Creep"].ToString(), msg.Args["CreepDistance"].ToString()))
+                {
+                    reply.Result = FluentResults.Results.Ok();
+                }
             }
+
+            GUIMessageEventPublish(reply);
         }
 
         private void SetDriveSpeed(VCSMessageEventArgs msg)
         {
-            if(msg.Args.ContainsKey("Linear") && msg.Args.ContainsKey("Curve"))
+            var reply = new GUIMessageEventArgs
+            {
+                Kind = GUIMessageEventArgs.eGUIMessageKind.ReqDirveSpeed,
+                Result = FluentResults.Results.Fail("Fail SetSpeedProfile"),
+            };
+
+            if (msg.Args.ContainsKey("Linear") && msg.Args.ContainsKey("Curve"))
             {
-                this.zmqManager.SetDriveSpeed(msg.Args["Linear"].ToString(), msg.Args["Curve"].ToString());
+                if(this.zmqManager.SetDriveSpeed(msg.Args["Linear"].ToString(), msg.Args["Curve"].ToString()))
+                {
+                    reply.Result = FluentResults.Results.Ok();
+                }
             }
+
+            GUIMessageEventPublish(reply);
         }
 
         void ReqBatteryState()
@@ -332,13 +365,12 @@ namespace VehicleControlSystem
                 Kind = GUIMessageEventArgs.eGUIMessageKind.RspBatteryState
             };
 
-            GUIMessageEventPublish( reply );
+            GUIMessageEventPublish(reply);
         }
 
-        private void ReqConveyorMove( VCSMessageEventArgs msg )
+        private void ReqConveyorMove(VCSMessageEventArgs msg)
         {
-            var result = 0;
-            this.vehicle.ReqConveyorMove( msg.MessageText );
+            this.vehicle.ReqConveyorMove(msg.MessageText);
         }
 
         private void ReqObsticlePatternNo()
@@ -347,19 +379,19 @@ namespace VehicleControlSystem
             reply.Kind = GUIMessageEventArgs.eGUIMessageKind.RspObstaclePatternNo;
             reply.MessageText = this.vehicle.GetObstacleDetectPattern().ToString();
 
-            GUIMessageEventPublish( reply );
+            GUIMessageEventPublish(reply);
         }
 
-        private void ReqObsticlePatternChange( VCSMessageEventArgs msg )
+        private void ReqObsticlePatternChange(VCSMessageEventArgs msg)
         {
-            var patternNo = Convert.ToInt32( msg.MessageText );
-            this.vehicle.ChgObstacleDetectPattern( patternNo );
+            var patternNo = Convert.ToInt32(msg.MessageText);
+            this.vehicle.ChgObstacleDetectPattern(patternNo);
 
             var reply = new GUIMessageEventArgs();
             reply.Kind = GUIMessageEventArgs.eGUIMessageKind.RspObstaclePatternChg;
             reply.Result = FluentResults.Results.Ok();
 
-            GUIMessageEventPublish( reply );
+            GUIMessageEventPublish(reply);
         }
 
         private void ReqConveyorUnload()
@@ -368,14 +400,14 @@ namespace VehicleControlSystem
             result = this.vehicle.ConveyorUnload();
         }
 
-        private void ReqConveyorLoad( VCSMessageEventArgs msg )
+        private void ReqConveyorLoad(VCSMessageEventArgs msg)
         {
             int result = 0;
 
             result = this.vehicle.ConveyorLoad();
         }
 
-        private void ReqPIOConveyor( VCSMessageEventArgs msg )
+        private void ReqPIOConveyor(VCSMessageEventArgs msg)
         {
             int result = 0;
 
@@ -387,21 +419,21 @@ namespace VehicleControlSystem
             };
 
             /*PIO Load// Unload*/
-            if ( msg.MessageText.Equals( "PL" ) )
-                result = this.vehicle.PIOAndLoad( "" );
+            if (msg.MessageText.Equals("PL"))
+                result = this.vehicle.PIOAndLoad("");
             else
-                result = this.vehicle.PIOAndUnload( "" );
+                result = this.vehicle.PIOAndUnload("");
 
             //실행 결과 확인 
-            if ( result <= 0 )
+            if (result <= 0)
                 reply.Result = FluentResults.Results.Ok();
             else
-                reply.Result = FluentResults.Results.Fail( "PIO Fail" );
+                reply.Result = FluentResults.Results.Fail("PIO Fail");
 
-            GUIMessageEventPublish( reply );
+            GUIMessageEventPublish(reply);
         }
 
-        private void ReqPIOBattery( VCSMessageEventArgs msg )
+        private void ReqPIOBattery(VCSMessageEventArgs msg)
         {
             int result = 1;
 
@@ -413,14 +445,14 @@ namespace VehicleControlSystem
 
             result = this.vehicle.StartBatteryCharge();
 
-            if ( result <= 0 )
+            if (result <= 0)
                 reply.Result = FluentResults.Results.Ok();
             else
-                reply.Result = FluentResults.Results.Fail( "Battery Charge Start Fail" );
+                reply.Result = FluentResults.Results.Fail("Battery Charge Start Fail");
 
-            GUIMessageEventPublish( reply );
+            GUIMessageEventPublish(reply);
         }
-        private void ReqBatteryChargeStop( VCSMessageEventArgs msg )
+        private void ReqBatteryChargeStop(VCSMessageEventArgs msg)
         {
             int result = 1;
 
@@ -432,12 +464,12 @@ namespace VehicleControlSystem
 
             result = this.vehicle.StopBatteryCharge();
 
-            if ( result <= 0 )
+            if (result <= 0)
                 reply.Result = FluentResults.Results.Ok();
             else
-                reply.Result = FluentResults.Results.Fail( "Battery Charge Stop Fail" );
+                reply.Result = FluentResults.Results.Fail("Battery Charge Stop Fail");
 
-            GUIMessageEventPublish( reply );
+            GUIMessageEventPublish(reply);
         }
 
         private void ReqTest()
@@ -449,16 +481,16 @@ namespace VehicleControlSystem
             //    logger.D( "Test - Time out" );
         }
 
-        private void ReqMachineModeChg( VCSMessageEventArgs msg )
+        private void ReqMachineModeChg(VCSMessageEventArgs msg)
         {
             var reply = new GUIMessageEventArgs();
             reply.Kind = GUIMessageEventArgs.eGUIMessageKind.RspMachineModeChg;
 
-            var mode = CastTo<eMachineMode>.From<object>( msg.Arg );
-            if ( mode == eMachineMode.HostMode )
+            var mode = CastTo<eMachineMode>.From<object>(msg.Arg);
+            if (mode == eMachineMode.HostMode)
             {
-                if ( this.autoManager.OperationModeProperty != eOperatationMode.AutoMode )
-                    reply.Result = FluentResults.Results.Fail( "Vehicle Not Start" );
+                if (this.autoManager.OperationModeProperty != eOperatationMode.AutoMode)
+                    reply.Result = FluentResults.Results.Fail("Vehicle Not Start");
                 else
                 {
                     this.vehicle.MachineMode = eMachineMode.HostMode;
@@ -469,18 +501,18 @@ namespace VehicleControlSystem
             else
             {
                 this.vehicle.MachineMode = eMachineMode.LocalMode;
-                reply.Result = FluentResults.Results.Ok<eMachineMode>( eMachineMode.LocalMode );
+                reply.Result = FluentResults.Results.Ok<eMachineMode>(eMachineMode.LocalMode);
                 reply.Args = eMachineMode.LocalMode;
             }
 
-            GUIMessageEventPublish( reply );
+            GUIMessageEventPublish(reply);
         }
 
         private void ReqBuzzerStop()
         {
-            this.IO.OutputOff( "OUT_BUZZER_00" );
-            this.IO.OutputOff( "OUT_BUZZER_01" );
-            this.IO.OutputOff( "OUT_BUZZER_02" );
+            this.IO.OutputOff("OUT_BUZZER_00");
+            this.IO.OutputOff("OUT_BUZZER_01");
+            this.IO.OutputOff("OUT_BUZZER_02");
         }
 
         private void ReqAlarmReset()
@@ -488,12 +520,12 @@ namespace VehicleControlSystem
             //this.autoManager.IsErrorProcessing = false;
             //this.vehicle.VehicleStateProperty = eVehicleState.Idle;
 
-            if ( !this.IO.IsOn( "IN_MC_ON" ) )
+            if (!this.IO.IsOn("IN_MC_ON"))
             {
-                this.IO.WriteOutputIO( "OUT_SAFETY_RESET", true );
-                Thread.Sleep( 2000 );
-                this.IO.WriteOutputIO( "OUT_SAFETY_RESET", false );
-                Thread.Sleep( 1000 );
+                this.IO.WriteOutputIO("OUT_SAFETY_RESET", true);
+                Thread.Sleep(2000);
+                this.IO.WriteOutputIO("OUT_SAFETY_RESET", false);
+                Thread.Sleep(1000);
             }
 
             this.autoManager.IsErrorProcessing = false;
@@ -506,22 +538,22 @@ namespace VehicleControlSystem
             //this.vehicle.EStop();
         }
 
-        private void ReqVehicleModeChange( VCSMessageEventArgs msg )
+        private void ReqVehicleModeChange(VCSMessageEventArgs msg)
         {
             GUIMessageEventArgs reply;
-            if ( msg.MessageKey.Equals( MessageKey.AutoMode ) )
+            if (msg.MessageKey.Equals(MessageKey.AutoMode))
 
             {
                 int result = vehicle.InitializationVehicle();
-                if ( result != 0 )
+                if (result != 0)
                 {
-                    this.autoManager.ProcessAlarm( result );
+                    this.autoManager.ProcessAlarm(result);
                     return;
                 }
 
-                if ( !zmqManager.SetOperationState( eOperatationMode.AutoMode ) )
+                if (!zmqManager.SetOperationState(eOperatationMode.AutoMode))
                 {
-                    this.autoManager.ProcessAlarm( 38 );
+                    this.autoManager.ProcessAlarm(38);
                     return;
                 }
 
@@ -531,9 +563,9 @@ namespace VehicleControlSystem
             }
             else
             {
-                if( !zmqManager.SetOperationState( eOperatationMode.ManualMode ) )
+                if (!zmqManager.SetOperationState(eOperatationMode.ManualMode))
                 {
-                    this.autoManager.ProcessAlarm( 38 );
+                    this.autoManager.ProcessAlarm(38);
                     return;
                 }
 
@@ -541,13 +573,13 @@ namespace VehicleControlSystem
                 reply = new GUIMessageEventArgs { Kind = GUIMessageEventArgs.eGUIMessageKind.RspVehicleModeChange, Result = FluentResults.Results.Ok(), MessageKey = MessageKey.ManualMode };
             }
 
-            GUIMessageEventPublish( reply );
+            GUIMessageEventPublish(reply);
         }
 
         void ReqIOObjectMessage()
         {
             var rspMsg = new GUIMessageEventArgs { Kind = GUIMessageEventArgs.eGUIMessageKind.RspIOObject, Args = this.IO };
-            this.eventAggregator.GetEvent<GUIMessagePubSubEvent>().Publish( rspMsg );
+            this.eventAggregator.GetEvent<GUIMessagePubSubEvent>().Publish(rspMsg);
         }
 
         #endregion
@@ -556,9 +588,9 @@ namespace VehicleControlSystem
         /// GUI 로 보내는 Event
         /// </summary>
         /// <param name="args"></param>
-        public void GUIMessageEventPublish( GUIMessageEventArgs args )
+        public void GUIMessageEventPublish(GUIMessageEventArgs args)
         {
-            this.eventAggregator.GetEvent<GUIMessagePubSubEvent>().Publish( args );
+            this.eventAggregator.GetEvent<GUIMessagePubSubEvent>().Publish(args);
         }
 
         public void Dispose()
@@ -572,16 +604,16 @@ namespace VehicleControlSystem
             this.drive.Dispose();
             this.zmqManager.Dispose();
 
-            ( this.IO as IDisposable ).Dispose(); //IO 는 마지막에 정리함.
+            (this.IO as IDisposable).Dispose(); //IO 는 마지막에 정리함.
         }
 
-        public void RegisterTypes( IContainerRegistry containerRegistry )
+        public void RegisterTypes(IContainerRegistry containerRegistry)
         {
-            if ( !containerRegistry.IsRegistered<VCSystem>() )
+            if (!containerRegistry.IsRegistered<VCSystem>())
                 containerRegistry.RegisterSingleton<VCSystem>();
         }
 
-        public void OnInitialized( IContainerProvider containerProvider )
+        public void OnInitialized(IContainerProvider containerProvider)
         {
             this.Init();
         }