Refactor AGV error handling: Standardize AGVErrorCode usage and update SetRunStepError

Cs_HMI/Project/StateMachine/_Xbee.cs

@@ -46,6 +46,7 @@ namespace Project
                 {
 
                     case ENIGProtocol.AGVCommandHE.SetCurrent: //Set Current Position
+                        Resultclear();
 
                         if (data.Length > 4)
                         {
@@ -75,6 +76,7 @@ namespace Project
                     case ENIGProtocol.AGVCommandHE.PickOnEnter:  // 110
                     case ENIGProtocol.AGVCommandHE.PickOffEnter: // 111
                         {
+                            Resultclear();
                             PUB.log.AddI($"XBEE:작업명령수신:{cmd}");
 
                             // 현재 위치 확인 (TargetNode가 아닌 CurrentNode 기준)
@@ -120,6 +122,7 @@ namespace Project
 
                     case ENIGProtocol.AGVCommandHE.Charger: // 112
                         {
+                            Resultclear();
                             PUB.log.AddI($"XBEE:충전명령수신");
                             PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Charger;
                             PUB.sm.SetNewRunStep(ERunStep.GOCHARGE);
@@ -128,6 +131,7 @@ namespace Project
 
                     case ENIGProtocol.AGVCommandHE.GotoAlias:
                     case ENIGProtocol.AGVCommandHE.Goto:  //move to tag
+                        Resultclear();
                         var datalength = cmd == ENIGProtocol.AGVCommandHE.GotoAlias ? 2 : 1;
                         if (data.Length > datalength)
                         {
@@ -210,10 +214,11 @@ namespace Project
                         break;
                     case ENIGProtocol.AGVCommandHE.Reset: //Error Reset
                         PUB.log.Add($"[{logPrefix}-Reset]");
-                        PUB.AGV.AGVErrorReset();
+                        ResetSystemError();
                         break;
 
                     case ENIGProtocol.AGVCommandHE.Manual: //Manual Move (Direction, speed, runtime)
+                        Resultclear();
                         var Direction = data[1];     //0=back, 1=forward, 2=left, 3=right
                         var Speed = data[2];         //0=slow, 1=normal, 2=fast
 
@@ -234,6 +239,7 @@ namespace Project
                         break;
 
                     case ENIGProtocol.AGVCommandHE.AutoMove:
+                        Resultclear();
                         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
@@ -310,31 +316,6 @@ namespace Project
             else PUB.log.Add(e.Message);
         }
 
-        AGVPathResult CalcPath(MapNode startNode, MapNode targetNode)
-        {
-            var nodes = PUB._mapCanvas.Nodes;
-            var _simulatorCanvas = PUB._mapCanvas;
-            var _mapNodes = PUB._mapCanvas.Nodes;
-  
-            // 현재 AGV 방향 가져오기
-            var selectedAGV = PUB._virtualAGV;
-            var currentDirection = selectedAGV.CurrentDirection;
-
-            // AGV의 이전 위치에서 가장 가까운 노드 찾기
-            var prevNode = selectedAGV.PrevNode;
-            var prevDir = selectedAGV.PrevDirection;
-
-            // Core Logic으로 이관됨
-            var pathFinder = new AGVPathfinder(nodes);
-            var result = pathFinder.CalculatePath(startNode, targetNode, prevNode, prevDir);
-
-            //게이트웨이노드를 하이라이트강조 한단
-            _simulatorCanvas.HighlightNodeId = (result.Gateway?.Id ?? string.Empty);
-            return result;
-
-
-        }
-
 
     }
 }