..

Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Core/AGVPathResult.cs

@@ -64,7 +64,7 @@ namespace AGVNavigationCore.PathFinding.Core
         /// <summary>
         /// 오류 메시지 (실패시)
         /// </summary>
-        public string ErrorMessage { get; set; }
+        public string Message { get; set; }
 
         /// <summary>
         /// 도킹 검증 결과
@@ -116,7 +116,7 @@ namespace AGVNavigationCore.PathFinding.Core
             ExploredNodes = 0;
             EstimatedTimeSeconds = 0;
             RotationCount = 0;
-            ErrorMessage = string.Empty;
+            Message = string.Empty;
             PlanDescription = string.Empty;
             RequiredDirectionChange = false;
             DirectionChangeNode = string.Empty;
@@ -148,37 +148,20 @@ namespace AGVNavigationCore.PathFinding.Core
             return result;
         }
 
-        
 
         /// <summary>
         /// 실패 결과 생성
         /// </summary>
         /// <param name="errorMessage">오류 메시지</param>
         /// <param name="calculationTimeMs">계산 시간</param>
-        /// <returns>실패 결과</returns>
-        public static AGVPathResult CreateFailure(string errorMessage, long calculationTimeMs)
-        {
-            return new AGVPathResult
-            {
-                Success = false,
-                ErrorMessage = errorMessage,
-                CalculationTimeMs = calculationTimeMs
-            };
-        }
-
-        /// <summary>
-        /// 실패 결과 생성 (확장)
-        /// </summary>
-        /// <param name="errorMessage">오류 메시지</param>
-        /// <param name="calculationTimeMs">계산 시간</param>
         /// <param name="exploredNodes">탐색된 노드 수</param>
         /// <returns>실패 결과</returns>
-        public static AGVPathResult CreateFailure(string errorMessage, long calculationTimeMs, int exploredNodes)
+        public static AGVPathResult CreateFailure(string errorMessage, long calculationTimeMs = 0, int exploredNodes = 0)
         {
             return new AGVPathResult
             {
                 Success = false,
-                ErrorMessage = errorMessage,
+                Message = errorMessage,
                 CalculationTimeMs = calculationTimeMs,
                 ExploredNodes = exploredNodes
             };
@@ -276,22 +259,6 @@ namespace AGVNavigationCore.PathFinding.Core
             }
         }
 
-        /// <summary>
-        /// 상세 경로 정보 반환
-        /// </summary>
-        /// <returns>상세 정보 문자열</returns>
-        public string GetDetailedInfo()
-        {
-            if (!Success)
-            {
-                return $"경로 계산 실패: {ErrorMessage} (계산시간: {CalculationTimeMs}ms)";
-            }
-
-            return $"경로: {Path.Count}개 노드, 거리: {TotalDistance:F1}px, " +
-                   $"회전: {RotationCount}회, 예상시간: {EstimatedTimeSeconds:F1}초, " +
-                   $"계산시간: {CalculationTimeMs}ms";
-        }
-
         /// <summary>
         /// 경로의 노드 정보를 포함
         /// </summary>
@@ -300,13 +267,14 @@ namespace AGVNavigationCore.PathFinding.Core
         {
             if (!Success)
             {
-                return $"경로 계산 실패: {ErrorMessage} (계산시간: {CalculationTimeMs}ms)";
+                return $"경로 계산 실패: {Message} (계산시간: {CalculationTimeMs}ms)";
             }
 
-            var data = DetailedPath.Select(t => {
-                return $"{t.RfidId}[{t.NodeId}] {t.MotorDirection.ToString().Substring(0,1)}-{t.MagnetDirection.ToString().Substring(0,1)}";
+            var data = DetailedPath.Select(t =>
+            {
+                return $"{t.RfidId}[{t.NodeId}] {t.MotorDirection.ToString().Substring(0, 1)}-{t.MagnetDirection.ToString().Substring(0, 1)}";
             });
-            return string.Join(" → ",data);
+            return string.Join(" → ", data);
         }
 
 
@@ -322,7 +290,7 @@ namespace AGVNavigationCore.PathFinding.Core
             }
             return Path?.Select(n => n.Id).ToList() ?? new List<string>();
         }
-      
+
         /// <summary>
         /// 문자열 표현
         /// </summary>
@@ -334,7 +302,7 @@ namespace AGVNavigationCore.PathFinding.Core
             }
             else
             {
-                return $"Failed: {ErrorMessage}";
+                return $"Failed: {Message}";
             }
         }
     }

Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Core/AStarPathfinder.cs

@@ -351,12 +351,12 @@ namespace AGVNavigationCore.PathFinding.Core
 
             if (!previousResult.Success)
                 return AGVPathResult.CreateFailure(
-                    $"이전 경로 결과 실패: {previousResult.ErrorMessage}",
+                    $"이전 경로 결과 실패: {previousResult.Message}",
                     previousResult.CalculationTimeMs);
 
             if (!currentResult.Success)
                 return AGVPathResult.CreateFailure(
-                    $"현재 경로 결과 실패: {currentResult.ErrorMessage}",
+                    $"현재 경로 결과 실패: {currentResult.Message}",
                     currentResult.CalculationTimeMs);
 
             // 경로가 비어있는 경우 처리

Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/AGVPathfinder.cs

@@ -138,7 +138,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             pathResult.PrevDirection = prevDirection;
 
             if (!pathResult.Success)
-                return AGVPathResult.CreateFailure(pathResult.ErrorMessage ?? "경로 없음", 0, 0);
+                return AGVPathResult.CreateFailure(pathResult.Message ?? "경로 없음", 0, 0);
 
             // 3. 상세 데이터 생성 (갈림길 마그넷 방향 계산 포함)
             // 3. 상세 데이터 생성 (갈림길 마그넷 방향 계산 포함)

Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/NodeMotorInfo.cs

@@ -108,7 +108,7 @@ namespace AGVNavigationCore.PathFinding.Planning
         /// </summary>
         public override string ToString()
         {
-            var result = $"R{RfidId}[N{NodeId}]:{MotorDirection}";
+            var result = $"R{RfidId}[*{NodeId}]:{MotorDirection}";
 
             // 마그넷 방향이 직진이 아닌 경우 표시
             if (MagnetDirection != MagnetDirection.Straight)