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AGVLogic/AGVSimulator/Forms/SimulatorForm.cs

@@ -2588,7 +2588,21 @@ namespace AGVSimulator.Forms
             this._simulatorCanvas.HighlightNodeId = (result.Gateway?.Id ?? string.Empty);
             return result;
         }
+        /// <summary>
+        /// 길목(Gateway) 기반 경로 계산
+        /// 버퍼-버퍼 상태에서는 별도의 추가 로직을 적용합니다
+        /// </summary>
+        public AGVPathResult CalcPath_New(MapNode startNode, MapNode targetNode, List<MapNode> nodes,
+            MapNode prevNode, AgvDirection prevDir)
+        {
+            // Core Logic으로 이관됨
+            var pathFinder = new AGVPathfinder(nodes);
+            var result = pathFinder.CalculateScriptedPath(startNode, targetNode, prevNode, prevDir);
 
+            //게이트웨이노드를 하이라이트강조 한단
+            this._simulatorCanvas.HighlightNodeId = (result.Gateway?.Id ?? string.Empty);
+            return result;
+        }
         private void ApplyResultToSimulator(AGVPathResult result, VirtualAGV agv)
         {
             _simulatorCanvas.CurrentPath = result;
@@ -2622,5 +2636,33 @@ namespace AGVSimulator.Forms
                 }
             }
         }
+
+        private void button1_Click(object sender, EventArgs e)
+        {
+            // 1. 기본 정보 획득
+            if (_startNodeCombo.SelectedItem == null || _startNodeCombo.Text == "선택하세요") SetStartNodeFromAGVPosition();
+            if (_startNodeCombo.SelectedItem == null || _targetNodeCombo.SelectedItem == null)
+            {
+                MessageBox.Show("시작/목표 노드를 확인하세요");
+                return;
+            }
+
+            //var selectedAGV = _agvListCombo.SelectedItem as VirtualAGV;
+            //if (selectedAGV == null) return AGVPathResult.CreateFailure("Virtual AGV 없음");
+            var selectedAGV = _agvListCombo.SelectedItem as VirtualAGV;
+
+            // 경로계산2 (Gateway Logic)
+            var startNode = (_startNodeCombo.SelectedItem as ComboBoxItem<MapNode>)?.Value;
+            var targetNode = (_targetNodeCombo.SelectedItem as ComboBoxItem<MapNode>)?.Value;
+            var rlt = CalcPath_New(startNode, targetNode, this._simulatorCanvas.Nodes, selectedAGV.PrevNode, selectedAGV.PrevDirection);
+            if (rlt.Success == false) MessageBox.Show(rlt.Message, "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
+            else
+            {
+                // 8. 적용  
+
+                ApplyResultToSimulator(rlt, selectedAGV);
+                UpdateAdvancedPathDebugInfo(rlt);
+            }
+        }
     }
 }