..

AGVLogic/AGVNavigationCore/Models/NodeMotorInfo.cs

@@ -0,0 +1,129 @@
+namespace AGVNavigationCore.Models
+{
+    /// <summary>
+    /// AGV 마그넷 센서 방향 제어
+    /// </summary>
+    public enum MagnetDirection
+    {
+        /// <summary>
+        /// 직진 - 기본 마그넷 라인 추종
+        /// </summary>
+        Straight = 0,
+
+        /// <summary>
+        /// 좌측 - 마그넷 센서 가중치를 좌측으로 조정
+        /// </summary>
+        Left = 1,
+
+        /// <summary>
+        /// 우측 - 마그넷 센서 가중치를 우측으로 조정
+        /// </summary>
+        Right = 2
+    }
+
+    /// <summary>
+    /// 노드별 모터방향 정보 (방향 전환 지원 포함)
+    /// </summary>
+    public class NodeMotorInfo
+    {
+        /// <summary>
+        /// 일련번호
+        /// </summary>
+        public int seq { get; set; }
+        /// <summary>
+        /// 노드 ID
+        /// </summary>
+        public string NodeId { get; set; }
+
+        /// <summary>
+        /// RFID Value
+        /// </summary>
+        public ushort RfidId { get; set; }
+
+        /// <summary>
+        /// 해당 노드에서의 모터방향
+        /// </summary>
+        public AgvDirection MotorDirection { get; set; }
+
+        /// <summary>
+        /// 해당 노드에서의 제한 속도
+        /// </summary>
+        public SpeedLevel Speed { get; set; } = SpeedLevel.M;
+
+        /// <summary>
+        /// 마그넷 센서 방향 제어 (갈림길 처리용)
+        /// </summary>
+        public MagnetDirection MagnetDirection { get; set; }
+
+        /// <summary>
+        /// 다음 노드 ID (경로예측용)
+        /// </summary>
+        public MapNode NextNode { get; set; }
+
+        /// <summary>
+        /// 회전 가능 노드 여부
+        /// </summary>
+        public bool CanRotate { get; set; }
+
+        /// <summary>
+        /// 방향 전환이 발생하는 노드 여부
+        /// </summary>
+        public bool IsDirectionChangePoint { get; set; }
+
+        /// <summary>
+        /// 특수 동작이 필요한 노드 여부 (갈림길 전진/후진 반복)
+        /// </summary>
+        public bool RequiresSpecialAction { get; set; }
+
+        /// <summary>
+        /// 해당노드가 인식되면 이 값이 셋팅됩니다.
+        /// </summary>
+        public bool IsPass { get; set; }
+
+        /// <summary>
+        /// 특수 동작 설명
+        /// </summary>
+        public string SpecialActionDescription { get; set; }
+
+        public NodeMotorInfo(int seqno,string nodeId,ushort rfid, AgvDirection motorDirection, MapNode nextNodeId = null, MagnetDirection magnetDirection = MagnetDirection.Straight)
+        {
+            seq = seqno;
+            NodeId = nodeId;
+            RfidId = rfid;
+            MotorDirection = motorDirection;
+            MagnetDirection = magnetDirection;
+            NextNode = nextNodeId;
+            CanRotate = false;
+            IsDirectionChangePoint = false;
+            RequiresSpecialAction = false;
+            SpecialActionDescription = string.Empty;
+            IsPass = false;
+        }
+
+       
+        /// <summary>
+        /// 디버깅용 문자열 표현
+        /// </summary>
+        public override string ToString()
+        {
+            var result = $"R{RfidId}[*{NodeId}]:{MotorDirection}";
+
+            // 마그넷 방향이 직진이 아닌 경우 표시
+            if (MagnetDirection != MagnetDirection.Straight)
+                result += $"({MagnetDirection})";
+
+            if (IsDirectionChangePoint)
+                result += " [방향전환]";
+
+            if (CanRotate)
+                result += " [회전가능]";
+
+            if (RequiresSpecialAction)
+                result += $" [특수동작:{SpecialActionDescription}]";
+
+            if (IsPass) result += "(O)";
+
+            return result;
+        }
+    }
+}

AGVLogic/AGVNavigationCore/Models/VirtualAGV.cs

@@ -738,13 +738,13 @@ namespace AGVNavigationCore.Models
             MagnetPosition magnetPos;
             switch (nodeInfo.MagnetDirection)
             {
-                case PathFinding.Planning.MagnetDirection.Left:
+                case  MagnetDirection.Left:
                     magnetPos = MagnetPosition.L;
                     break;
-                case PathFinding.Planning.MagnetDirection.Right:
+                case MagnetDirection.Right:
                     magnetPos = MagnetPosition.R;
                     break;
-                case PathFinding.Planning.MagnetDirection.Straight:
+                case MagnetDirection.Straight:
                 default:
                     magnetPos = MagnetPosition.S;
                     break;