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feat: Add comprehensive debug logging to path validation functions

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- Added detailed debug output to GetNextNodeByDirection() with:
  - Initial node information (positions, movement vectors)
  - All candidate nodes evaluation with step-by-step scoring
  - Score calculations: base score → motor direction → magnet direction
  - Final selection with best score

- Added detailed debug output to ValidateDockingDirection() with:
  - Path validation stage information
  - Expected vs actual next node comparison
  - Movement vector analysis for mismatch debugging
  - Success/failure status for each path segment

Debug output includes:
- Node IDs, RFIDs, positions, and vectors
- Normalized vectors and dot products
- Score progression through each bonus/penalty application
- Direction consistency analysis
- Final scoring results with selection indicators

This enables detailed tracing of path prediction and validation issues.

🤖 Generated with [Claude Code](https://claude.com/claude-code)

Co-Authored-By: Claude <noreply@anthropic.com>
This commit is contained in:
backuppc
2025-10-27 17:13:04 +09:00
parent f4ec63330a
commit 177309c5c9
2 changed files with 70 additions and 2 deletions
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39
Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DirectionalHelper.cs
View File

@@ -88,6 +88,19 @@ namespace AGVNavigationCore.Utils
MapNode bestNode = null;
float bestScore = float.MinValue;
System.Diagnostics.Debug.WriteLine(
$"\n[GetNextNodeByDirection] ========== 다음 노드 선택 시작 ==========");
System.Diagnostics.Debug.WriteLine(
$" 현재노드: {currentNode.NodeId}({currentNode.Position.X:F1}, {currentNode.Position.Y:F1})");
System.Diagnostics.Debug.WriteLine(
$" 이전노드: {prevNode.NodeId}({prevNode.Position.X:F1}, {prevNode.Position.Y:F1})");
System.Diagnostics.Debug.WriteLine(
$" 이동벡터: ({movementVector.X:F2}, {movementVector.Y:F2}) → 정규화: ({normalizedMovement.X:F3}, {normalizedMovement.Y:F3})");
System.Diagnostics.Debug.WriteLine(
$" 현재방향: {direction}, 이전방향: {prevDirection}, 마그넷방향: {magnetDirection}");
System.Diagnostics.Debug.WriteLine(
$" 후보노드 개수: {candidateNodes.Count}");
foreach (var candidate in candidateNodes)
{
var toNextVector = new PointF(
@@ -113,7 +126,7 @@ namespace AGVNavigationCore.Utils
(normalizedMovement.Y * normalizedToNext.Y);
float score;
if (direction == AgvDirection.Forward)
if (direction == prevDirection)
{
// Forward: 진행 방향과 유사한 방향 선택 (높은 내적 = 좋음)
score = dotProduct;
@@ -124,15 +137,30 @@ namespace AGVNavigationCore.Utils
score = -dotProduct;
}
System.Diagnostics.Debug.WriteLine(
$"\n [후보] {candidate.NodeId}({candidate.Position.X:F1}, {candidate.Position.Y:F1})");
System.Diagnostics.Debug.WriteLine(
$" 벡터: ({toNextVector.X:F2}, {toNextVector.Y:F2}), 길이: {toNextLength:F2}");
System.Diagnostics.Debug.WriteLine(
$" 정규화벡터: ({normalizedToNext.X:F3}, {normalizedToNext.Y:F3})");
System.Diagnostics.Debug.WriteLine(
$" 내적(dotProduct): {dotProduct:F4}");
System.Diagnostics.Debug.WriteLine(
$" 기본점수 ({(direction == prevDirection ? "방향유지" : "방향변경")}): {score:F4}");
// 이전 모터 방향이 제공된 경우: 방향 일관성 보너스 추가
var scoreBeforeMotor = score;
score = ApplyMotorDirectionConsistencyBonus(
score,
direction,
prevDirection,
dotProduct
);
System.Diagnostics.Debug.WriteLine(
$" 모터방향 적용 후: {scoreBeforeMotor:F4} → {score:F4}");
// 마그넷 방향을 고려한 점수 조정
var scoreBeforeMagnet = score;
score = ApplyMagnetDirectionBonus(
score,
magnetDirection,
@@ -141,14 +169,23 @@ namespace AGVNavigationCore.Utils
currentNode,
candidate
);
System.Diagnostics.Debug.WriteLine(
$" 마그넷방향 적용 후: {scoreBeforeMagnet:F4} → {score:F4}");
if (score > bestScore)
{
bestScore = score;
bestNode = candidate;
System.Diagnostics.Debug.WriteLine(
$" ⭐ 현재 최고점수 선택됨!");
}
}
System.Diagnostics.Debug.WriteLine(
$"\n 최종선택: {bestNode?.NodeId ?? "null"} (점수: {bestScore:F4})");
System.Diagnostics.Debug.WriteLine(
$"[GetNextNodeByDirection] ========== 다음 노드 선택 종료 ==========\n");
return bestNode;
}

33
Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DockingValidator.cs
View File

@@ -69,6 +69,17 @@ namespace AGVNavigationCore.Utils
if (prevNode != null)
{
// DirectionalHelper를 사용하여 예상되는 다음 노드 확인
System.Diagnostics.Debug.WriteLine(
$"\n[ValidateDockingDirection] 경로 검증 단계 {i}:");
System.Diagnostics.Debug.WriteLine(
$" 이전→현재→다음: {prevNode.NodeId}({prevNode.RfidId}) → {curNode.NodeId}({curNode.RfidId}) → {nextNode.NodeId}({nextNode.RfidId})");
System.Diagnostics.Debug.WriteLine(
$" 현재 노드 위치: ({curNode.Position.X:F1}, {curNode.Position.Y:F1})");
System.Diagnostics.Debug.WriteLine(
$" 이전 모터방향: {prevDir}, 현재 모터방향: {pathResult.DetailedPath[i].MotorDirection}");
System.Diagnostics.Debug.WriteLine(
$" 마그넷방향: {pathResult.DetailedPath[i].MagnetDirection}");
var expectedNextNode = DirectionalHelper.GetNextNodeByDirection(
curNode,
prevNode,
@@ -78,13 +89,28 @@ namespace AGVNavigationCore.Utils
mapNodes
);
System.Diagnostics.Debug.WriteLine(
$" [예상] GetNextNodeByDirection 결과: {expectedNextNode?.NodeId ?? "null"}");
System.Diagnostics.Debug.WriteLine(
$" [실제] DetailedPath 다음 노드: {nextNode.NodeId}");
if (expectedNextNode != null && !expectedNextNode.NodeId.Equals(nextNode.NodeId))
{
string error =
$"[DockingValidator] ⚠️ 경로 방향 불일치: " +
$"현재={curNode.RfidId}[{curNodeId}] 이전={prevNode.RfidId}[{(prevNode?.NodeId ?? string.Empty)}] " +
$"예상다음={expectedNextNode.RfidId}[{expectedNextNode.NodeId}] 실제다음={nextNode.RfidId}[{nextNodeId}]";
System.Diagnostics.Debug.WriteLine($"[DockingValidator] ❌ 도킹 검증 실패: {error}");
System.Diagnostics.Debug.WriteLine(
$"[ValidateDockingDirection] ❌ 경로 방향 불일치 검출!");
System.Diagnostics.Debug.WriteLine(
$" 이동 벡터:");
System.Diagnostics.Debug.WriteLine(
$" 이전→현재: ({(curNode.Position.X - prevNode.Position.X):F2}, {(curNode.Position.Y - prevNode.Position.Y):F2})");
System.Diagnostics.Debug.WriteLine(
$" 현재→예상: ({(expectedNextNode.Position.X - curNode.Position.X):F2}, {(expectedNextNode.Position.Y - curNode.Position.Y):F2})");
System.Diagnostics.Debug.WriteLine(
$" 현재→실제: ({(nextNode.Position.X - curNode.Position.X):F2}, {(nextNode.Position.Y - curNode.Position.Y):F2})");
System.Diagnostics.Debug.WriteLine($"[ValidateDockingDirection] 에러메시지: {error}");
return DockingValidationResult.CreateInvalid(
LastNode.NodeId,
LastNode.Type,
@@ -94,6 +120,11 @@ namespace AGVNavigationCore.Utils
}
else
{
System.Diagnostics.Debug.WriteLine(
$" ✅ 경로 방향 일치!");
}
}
}
}