From 3712c290c92afbe0af0900fcd60a412dd5258b46 Mon Sep 17 00:00:00 2001
From: backuppc <backuppc@mail.com>
Date: Mon, 3 Nov 2025 17:34:35 +0900
Subject: [PATCH] feat: Implement AGV command prediction system for real-time
 control
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

- Add motor/magnet/speed enums and AGVCommand class for AGV control
- Implement Predict() method for next action prediction based on path and state
- Add RFID position tracking (requires 2 RFIDs for position confirmation)
- Add SetPath() method to VirtualAGV for path management
- Implement GetCommandFromPath() to extract motor/magnet/speed from DetailedPath
- Add real-time prediction display in SimulatorForm (timer1_Tick)
- Support automatic forward movement at low speed when position unconfirmed
- Support stop command when destination reached or no destination set

Key Features:
- Position unconfirmed (RFID < 2): Forward + Straight + Low speed
- Position confirmed + no destination: Stop (position found)
- Position confirmed + destination reached: Stop (arrived)
- Path execution: Motor/Magnet/Speed from DetailedPath NodeMotorInfo
- Rotation nodes: Automatic low speed
- Junction handling: Magnet direction (Left/Right/Straight)

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

Co-Authored-By: Claude <noreply@anthropic.com>
---
 .../AGVNavigationCore/Models/Enums.cs         |  86 +++++
 .../AGVNavigationCore/Models/VirtualAGV.cs    | 327 +++++++++++++++++-
 .../PathFinding/Planning/AGVPathfinder.cs     |  17 +-
 .../PathFinding/Planning/NodeMotorInfo.cs     |  13 +-
 .../Forms/SimulatorForm.Designer.cs           |  58 +++-
 .../AGVSimulator/Forms/SimulatorForm.cs       |  61 +++-
 .../AGVSimulator/Forms/SimulatorForm.resx     |  18 +
 7 files changed, 555 insertions(+), 25 deletions(-)

diff --git a/Cs_HMI/AGVLogic/AGVNavigationCore/Models/Enums.cs b/Cs_HMI/AGVLogic/AGVNavigationCore/Models/Enums.cs
index 15c9ecd..86aa676 100644
--- a/Cs_HMI/AGVLogic/AGVNavigationCore/Models/Enums.cs
+++ b/Cs_HMI/AGVLogic/AGVNavigationCore/Models/Enums.cs
@@ -69,4 +69,90 @@ namespace AGVNavigationCore.Models
         /// <summary>충전기</summary>
         Charger
     }
+
+    /// <summary>
+    /// 모터 명령 열거형 (실제 AGV 제어용)
+    /// </summary>
+    public enum MotorCommand
+    {
+        /// <summary>정지</summary>
+        Stop,
+        /// <summary>전진 (Forward - 모니터 방향)</summary>
+        Forward,
+        /// <summary>후진 (Backward - 리프트 방향)</summary>
+        Backward
+    }
+
+    /// <summary>
+    /// 마그넷 위치 열거형 (실제 AGV 제어용)
+    /// </summary>
+    public enum MagnetPosition
+    {
+        /// <summary>직진 (Straight)</summary>
+        S,
+        /// <summary>왼쪽 (Left)</summary>
+        L,
+        /// <summary>오른쪽 (Right)</summary>
+        R
+    }
+
+    /// <summary>
+    /// 속도 레벨 열거형 (실제 AGV 제어용)
+    /// </summary>
+    public enum SpeedLevel
+    {
+        /// <summary>저속 (Low)</summary>
+        L,
+        /// <summary>중속 (Medium)</summary>
+        M,
+        /// <summary>고속 (High)</summary>
+        H
+    }
+
+    /// <summary>
+    /// AGV 제어 명령 클래스 (실제 AGV 제어용)
+    /// Predict() 메서드가 반환하는 다음 동작 명령
+    /// </summary>
+    public class AGVCommand
+    {
+        /// <summary>모터 명령 (정지/전진/후진)</summary>
+        public MotorCommand Motor { get; set; }
+
+        /// <summary>마그넷 위치 (직진/왼쪽/오른쪽)</summary>
+        public MagnetPosition Magnet { get; set; }
+
+        /// <summary>속도 레벨 (저속/중속/고속)</summary>
+        public SpeedLevel Speed { get; set; }
+
+        /// <summary>명령 이유 (디버깅/로깅용)</summary>
+        public string Reason { get; set; }
+
+        /// <summary>
+        /// 생성자
+        /// </summary>
+        public AGVCommand(MotorCommand motor, MagnetPosition magnet, SpeedLevel speed, string reason = "")
+        {
+            Motor = motor;
+            Magnet = magnet;
+            Speed = speed;
+            Reason = reason;
+        }
+
+        /// <summary>
+        /// 기본 생성자
+        /// </summary>
+        public AGVCommand()
+        {
+            Motor = MotorCommand.Stop;
+            Magnet = MagnetPosition.S;
+            Speed = SpeedLevel.L;
+            Reason = "";
+        }
+
+        public override string ToString()
+        {
+            return $"Motor:{Motor}, Magnet:{Magnet}, Speed:{Speed}" +
+                   (string.IsNullOrEmpty(Reason) ? "" : $" ({Reason})");
+        }
+    }
 }
\ No newline at end of file
diff --git a/Cs_HMI/AGVLogic/AGVNavigationCore/Models/VirtualAGV.cs b/Cs_HMI/AGVLogic/AGVNavigationCore/Models/VirtualAGV.cs
index f200ce6..848a453 100644
--- a/Cs_HMI/AGVLogic/AGVNavigationCore/Models/VirtualAGV.cs
+++ b/Cs_HMI/AGVLogic/AGVNavigationCore/Models/VirtualAGV.cs
@@ -75,6 +75,10 @@ namespace AGVNavigationCore.Models
         private readonly float _moveSpeed = 50.0f;     // 픽셀/초
         private bool _isMoving;
 
+        // RFID 위치 추적 (실제 AGV용)
+        private List<string> _detectedRfids = new List<string>();  // 감지된 RFID 목록
+        private bool _isPositionConfirmed = false;  // 위치 확정 여부 (RFID 2개 이상 감지)
+
         #endregion
 
         #region Properties
@@ -159,6 +163,16 @@ namespace AGVNavigationCore.Models
         /// </summary>
         public DockingDirection DockingDirection => _dockingDirection;
 
+        /// <summary>
+        /// 위치 확정 여부 (RFID 2개 이상 감지 시 true)
+        /// </summary>
+        public bool IsPositionConfirmed => _isPositionConfirmed;
+
+        /// <summary>
+        /// 감지된 RFID 개수
+        /// </summary>
+        public int DetectedRfidCount => _detectedRfids.Count;
+
         #endregion
 
         #region Constructor
@@ -200,6 +214,18 @@ namespace AGVNavigationCore.Models
         /// </summary>
         public void SetDetectedRfid(string rfidId)
         {
+            // RFID 목록에 추가 (중복 제거)
+            if (!_detectedRfids.Contains(rfidId))
+            {
+                _detectedRfids.Add(rfidId);
+            }
+
+            // RFID 2개 이상 감지 시 위치 확정
+            if (_detectedRfids.Count >= 2 && !_isPositionConfirmed)
+            {
+                _isPositionConfirmed = true;
+            }
+
             RfidDetected?.Invoke(this, rfidId);
         }
 
@@ -225,6 +251,172 @@ namespace AGVNavigationCore.Models
             }
         }
 
+        /// <summary>
+        /// 다음 동작 예측 (실제 AGV 제어용)
+        /// AGV가 지속적으로 호출하여 현재 상태와 예측 상태를 일치시킴
+        /// </summary>
+        /// <returns>다음에 수행할 모터/마그넷/속도 명령</returns>
+        public AGVCommand Predict()
+        {
+            // 1. 위치 미확정 상태 (RFID 2개 미만 감지)
+            if (!_isPositionConfirmed)
+            {
+                // 항상 전진 + 저속으로 이동 (RFID 감지 대기)
+                return new AGVCommand(
+                    MotorCommand.Forward,
+                    MagnetPosition.S,  // 직진
+                    SpeedLevel.L,      // 저속
+                    $"위치 미확정 (RFID {_detectedRfids.Count}/2) - 전진하여 RFID 탐색"
+                );
+            }
+
+            // 2. 위치 확정됨 + 경로 없음 → 정지 (목적지 미설정 상태)
+            if (_currentPath == null || (_currentPath.DetailedPath?.Count ?? 0) < 1)
+            {
+                return new AGVCommand(
+                    MotorCommand.Stop,
+                    MagnetPosition.S,
+                    SpeedLevel.L,
+                    $"위치 확정 완료 (목적지 미설정) - 현재:{_currentNode?.NodeId ?? "알수없음"}"
+                );
+            }
+
+            // 3. 위치 확정됨 + 경로 있음 + 남은 노드 없음 → 정지 (목적지 도착)
+            var lastNode = _currentPath.DetailedPath.Last();
+            if (_currentPath.DetailedPath.Where(t => t.seq < lastNode.seq && t.IsPass == false).Any() == false)
+            {
+                return new AGVCommand(
+                    MotorCommand.Stop,
+                    MagnetPosition.S,
+                    SpeedLevel.L,
+                    $"목적지 도착 - 최종:{_currentNode?.NodeId ?? "알수없음"}"
+                );
+            }
+
+            // 4. 경로이탈
+            var TargetNode = _currentPath.DetailedPath.Where(t => t.IsPass == false && t.NodeId.Equals(_currentNode.NodeId)).FirstOrDefault();
+            if (TargetNode == null)
+            {
+                return new AGVCommand(
+                    MotorCommand.Stop,
+                    MagnetPosition.S,
+                    SpeedLevel.L,
+                    $"(재탐색요청)경로이탈 현재위치:{_currentNode.NodeId}"
+                );
+            }
+
+            // 5. 방향체크
+            if(CurrentDirection != TargetNode.MotorDirection)
+            {
+                return new AGVCommand(
+                     MotorCommand.Stop,
+                     MagnetPosition.S,
+                     SpeedLevel.L,
+                     $"(재탐색요청)모터방향 불일치 현재위치:{_currentNode.NodeId}"
+                 );
+            }
+
+
+            //this.CurrentNodeId
+
+            return GetCommandFromPath(CurrentNodeId, "경로 실행 시작");
+
+            // 4. 위치 확정 + 경로 실행 중 → 현재 상태에 따른 명령 예측
+            switch (_currentState)
+            {
+                case AGVState.Idle:
+                    // 🔥 경로가 있다면 이동 시작 (경로 실행 대기 중)
+                    if (_currentPath != null && _remainingNodes != null && _remainingNodes.Count > 0)
+                    {
+                        // DetailedPath에서 다음 노드 정보 가져오기
+                        return GetCommandFromPath(_remainingNodes[0], "경로 실행 시작");
+                    }
+
+                    // 경로가 없으면 대기
+                    return new AGVCommand(
+                        MotorCommand.Stop,
+                        MagnetPosition.S,
+                        SpeedLevel.L,
+                        "대기 중 (경로 없음)"
+                    );
+
+                case AGVState.Moving:
+                    {
+                        // 이동 중 - DetailedPath에서 현재/다음 노드 정보 가져오기
+                        if (_currentPath != null && _remainingNodes != null && _remainingNodes.Count > 0)
+                        {
+                            return GetCommandFromPath(_remainingNodes[0], "이동 중");
+                        }
+
+                        // 경로 정보가 없으면 기본 명령 (fallback)
+                        var motorCmd = _currentDirection == AgvDirection.Forward
+                            ? MotorCommand.Forward
+                            : MotorCommand.Backward;
+
+                        return new AGVCommand(
+                            motorCmd,
+                            MagnetPosition.S,
+                            SpeedLevel.M,
+                            $"이동 중 (DetailedPath 없음)"
+                        );
+                    }
+
+                case AGVState.Rotating:
+                    // 회전 중 - 정지 상태에서 마그넷만 조정
+                    MagnetPosition magnetPos = MagnetPosition.S;
+                    if (_currentDirection == AgvDirection.Left)
+                        magnetPos = MagnetPosition.L;
+                    else if (_currentDirection == AgvDirection.Right)
+                        magnetPos = MagnetPosition.R;
+
+                    return new AGVCommand(
+                        MotorCommand.Stop,  // 회전은 정지 상태에서
+                        magnetPos,
+                        SpeedLevel.L,
+                        $"회전 중 ({_currentDirection})"
+                    );
+
+                case AGVState.Docking:
+                    {
+                        // 도킹 중 - 저속으로 전진 또는 후진
+                        var dockingMotor = _dockingDirection == DockingDirection.Forward
+                            ? MotorCommand.Forward
+                            : MotorCommand.Backward;
+
+                        return new AGVCommand(
+                            dockingMotor,
+                            MagnetPosition.S,
+                            SpeedLevel.L,  // 도킹은 항상 저속
+                            $"도킹 중 ({_dockingDirection})"
+                        );
+                    }
+
+                case AGVState.Charging:
+                    return new AGVCommand(
+                        MotorCommand.Stop,
+                        MagnetPosition.S,
+                        SpeedLevel.L,
+                        "충전 중"
+                    );
+
+                case AGVState.Error:
+                    return new AGVCommand(
+                        MotorCommand.Stop,
+                        MagnetPosition.S,
+                        SpeedLevel.L,
+                        "오류 발생"
+                    );
+
+                default:
+                    return new AGVCommand(
+                        MotorCommand.Stop,
+                        MagnetPosition.S,
+                        SpeedLevel.L,
+                        "알 수 없는 상태"
+                    );
+            }
+        }
+
         #endregion
 
         #region Public Methods - 상태 조회
@@ -258,8 +450,29 @@ namespace AGVNavigationCore.Models
 
         #region Public Methods - 경로 실행
 
-        
-     
+        /// <summary>
+        /// 경로 설정 (실제 AGV 및 시뮬레이터에서 사용)
+        /// </summary>
+        /// <param name="path">실행할 경로</param>
+        public void SetPath(AGVPathResult path)
+        {
+            if (path == null)
+            {
+                OnError("경로가 null입니다.");
+                return;
+            }
+
+            _currentPath = path;
+            _remainingNodes = path.Path.Select(n => n.NodeId).ToList(); // MapNode → NodeId 변환
+            _currentNodeIndex = 0;
+
+            // 경로 시작 노드가 현재 노드와 다른 경우 경고
+            if (_currentNode != null && _remainingNodes.Count > 0 && _remainingNodes[0] != _currentNode.NodeId)
+            {
+                OnError($"경로 시작 노드({_remainingNodes[0]})와 현재 노드({_currentNode.NodeId})가 다릅니다.");
+            }
+        }
+
         /// <summary>
         /// 경로 정지
         /// </summary>
@@ -388,6 +601,31 @@ namespace AGVNavigationCore.Models
             _currentDirection = motorDirection;
             _currentNode = node;
 
+            // 🔥 노드 ID를 RFID로 간주하여 감지 목록에 추가 (시뮬레이터용)
+            if (!string.IsNullOrEmpty(node.NodeId) && !_detectedRfids.Contains(node.NodeId))
+            {
+                _detectedRfids.Add(node.NodeId);
+            }
+
+            // 🔥 RFID 2개 이상 감지 시 위치 확정
+            if (_detectedRfids.Count >= 2 && !_isPositionConfirmed)
+            {
+                _isPositionConfirmed = true;
+            }
+
+            //현재 경로값이 있는지 확인한다.
+            if (CurrentPath != null && CurrentPath.DetailedPath != null && CurrentPath.DetailedPath.Any())
+            {
+                var item = CurrentPath.DetailedPath.FirstOrDefault(t => t.NodeId == node.NodeId && t.IsPass == false);
+                if (item != null)
+                {
+                    //item.IsPass = true;
+
+                    //이전노드는 모두 지나친걸로 한다
+                    CurrentPath.DetailedPath.Where(t => t.seq < item.seq).ToList().ForEach(t => t.IsPass = true);
+                }
+            }
+
             // 위치 변경 이벤트 발생
             PositionChanged?.Invoke(this, (_currentPosition, _currentDirection, _currentNode));
         }
@@ -408,6 +646,89 @@ namespace AGVNavigationCore.Models
 
         #region Private Methods
 
+        /// <summary>
+        /// DetailedPath에서 노드 정보를 찾아 AGVCommand 생성
+        /// </summary>
+        private AGVCommand GetCommandFromPath(string targetNodeId, string actionDescription)
+        {
+            // DetailedPath가 없으면 기본 명령 반환
+            if (_currentPath == null || _currentPath.DetailedPath == null || _currentPath.DetailedPath.Count == 0)
+            {
+                var defaultMotor = _currentDirection == AgvDirection.Forward
+                    ? MotorCommand.Forward
+                    : MotorCommand.Backward;
+
+                return new AGVCommand(
+                    defaultMotor,
+                    MagnetPosition.S,
+                    SpeedLevel.M,
+                    $"{actionDescription} (DetailedPath 없음)"
+                );
+            }
+
+            // DetailedPath에서 targetNodeId에 해당하는 NodeMotorInfo 찾기
+            // 지나가지 않은 경로를 찾는다
+            var nodeInfo = _currentPath.DetailedPath.FirstOrDefault(n => n.NodeId == targetNodeId && n.IsPass == false);
+
+            if (nodeInfo == null)
+            {
+                // 못 찾으면 기본 명령 반환
+                var defaultMotor = _currentDirection == AgvDirection.Forward
+                    ? MotorCommand.Forward
+                    : MotorCommand.Backward;
+
+                return new AGVCommand(
+                    defaultMotor,
+                    MagnetPosition.S,
+                    SpeedLevel.M,
+                    $"{actionDescription} (노드 {targetNodeId} 정보 없음)"
+                );
+            }
+
+            // MotorDirection → MotorCommand 변환
+            MotorCommand motorCmd;
+            switch (nodeInfo.MotorDirection)
+            {
+                case AgvDirection.Forward:
+                    motorCmd = MotorCommand.Forward;
+                    break;
+                case AgvDirection.Backward:
+                    motorCmd = MotorCommand.Backward;
+                    break;
+                default:
+                    motorCmd = MotorCommand.Stop;
+                    break;
+            }
+
+            // MagnetDirection → MagnetPosition 변换
+            MagnetPosition magnetPos;
+            switch (nodeInfo.MagnetDirection)
+            {
+                case PathFinding.Planning.MagnetDirection.Left:
+                    magnetPos = MagnetPosition.L;
+                    break;
+                case PathFinding.Planning.MagnetDirection.Right:
+                    magnetPos = MagnetPosition.R;
+                    break;
+                case PathFinding.Planning.MagnetDirection.Straight:
+                default:
+                    magnetPos = MagnetPosition.S;
+                    break;
+            }
+
+            // 속도 결정 (회전 노드면 저속, 일반 이동은 중속)
+            SpeedLevel speed = nodeInfo.CanRotate || nodeInfo.IsDirectionChangePoint
+                ? SpeedLevel.L
+                : SpeedLevel.M;
+
+            return new AGVCommand(
+                motorCmd,
+                magnetPos,
+                speed,
+                $"{actionDescription} → {targetNodeId} (Motor:{motorCmd}, Magnet:{magnetPos})"
+            );
+        }
+
         private void StartMovement()
         {
             SetState(AGVState.Moving);
@@ -559,7 +880,7 @@ namespace AGVNavigationCore.Models
 
         #endregion
 
-     
+
 
         #region Cleanup
 
diff --git a/Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/AGVPathfinder.cs b/Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/AGVPathfinder.cs
index 177ec0f..76b37e2 100644
--- a/Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/AGVPathfinder.cs
+++ b/Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/AGVPathfinder.cs
@@ -111,7 +111,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             return null;
         }
 
-        public AGVPathResult FindPath_test(MapNode startNode, MapNode targetNode,
+        public AGVPathResult FindPath(MapNode startNode, MapNode targetNode,
             MapNode prevNode, AgvDirection prevDirection, AgvDirection currentDirection, bool crossignore = false)
         {
             // 입력 검증
@@ -154,6 +154,8 @@ namespace AGVNavigationCore.PathFinding.Planning
                 {
                     MakeDetailData(pathResult, currentDirection);
                     MakeMagnetDirection(pathResult);
+                    for (int i = 0; i < pathResult.DetailedPath.Count; i++)
+                        pathResult.DetailedPath[i].seq = i + 1;
                     return pathResult;
                 }
             }
@@ -182,6 +184,8 @@ namespace AGVNavigationCore.PathFinding.Planning
                 {
                     MakeDetailData(pathResult, ReverseDirection);
                     MakeMagnetDirection(pathResult);
+                    for (int i = 0; i < pathResult.DetailedPath.Count; i++)
+                        pathResult.DetailedPath[i].seq = i + 1;
                     return pathResult;
                 }
             }
@@ -196,6 +200,8 @@ namespace AGVNavigationCore.PathFinding.Planning
                 {
                     MakeDetailData(pathResult, currentDirection);
                     MakeMagnetDirection(pathResult);
+                    for (int i = 0; i < pathResult.DetailedPath.Count; i++)
+                        pathResult.DetailedPath[i].seq = i + 1;
                     return pathResult;
                 }
 
@@ -220,7 +226,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                     Path0.PrevDirection = prevDirection;
                     MakeDetailData(Path0, prevDirection);
 
-                    var Path1 = FindPath_test(nextNodeForward, targetNode, startNode, prevDirection, currentDirection, true);
+                    var Path1 = FindPath(nextNodeForward, targetNode, startNode, prevDirection, currentDirection, true);
                     Path1.PrevNode = startNode;
                     Path1.PrevDirection = prevDirection;
                     //MakeDetailData(Path1, ReverseDirection);
@@ -228,6 +234,9 @@ namespace AGVNavigationCore.PathFinding.Planning
                     var combinedResult0 = Path0;
                     combinedResult0 = _basicPathfinder.CombineResults(combinedResult0, Path1);
                     MakeMagnetDirection(combinedResult0);
+
+                    for (int i = 0; i < combinedResult0.DetailedPath.Count; i++)
+                        combinedResult0.DetailedPath[i].seq = i + 1;
                     return combinedResult0;
                 }
                 else if (nextNodeBackward != null)
@@ -404,6 +413,8 @@ namespace AGVNavigationCore.PathFinding.Planning
 
             MakeMagnetDirection(combinedResult);
 
+            for (int i = 0; i < combinedResult.DetailedPath.Count; i++)
+                combinedResult.DetailedPath[i].seq = i + 1;
             return combinedResult;
 
 
@@ -427,7 +438,7 @@ namespace AGVNavigationCore.PathFinding.Planning
                     string nextNodeId = (i + 1 < path1.Path.Count) ? path1.Path[i + 1].NodeId : null;
 
                     // 노드 정보 생성 (현재 방향 유지)
-                    var nodeInfo = new NodeMotorInfo(
+                    var nodeInfo = new NodeMotorInfo(i+1,
                         nodeId, RfidId,
                         currentDirection,
                         nextNodeId,
diff --git a/Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/NodeMotorInfo.cs b/Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/NodeMotorInfo.cs
index b8096e0..cdcbd7e 100644
--- a/Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/NodeMotorInfo.cs
+++ b/Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/NodeMotorInfo.cs
@@ -28,6 +28,10 @@ namespace AGVNavigationCore.PathFinding.Planning
     /// </summary>
     public class NodeMotorInfo
     {
+        /// <summary>
+        /// 일련번호
+        /// </summary>
+        public int seq { get; set; }
         /// <summary>
         /// 노드 ID
         /// </summary>
@@ -68,13 +72,19 @@ namespace AGVNavigationCore.PathFinding.Planning
         /// </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(string nodeId,string rfid, AgvDirection motorDirection, string nextNodeId = null, MagnetDirection magnetDirection = MagnetDirection.Straight)
+        public NodeMotorInfo(int seqno,string nodeId,string rfid, AgvDirection motorDirection, string nextNodeId = null, MagnetDirection magnetDirection = MagnetDirection.Straight)
         {
+            seq = seqno;
             NodeId = nodeId;
             RfidId = rfid;
             MotorDirection = motorDirection;
@@ -84,6 +94,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             IsDirectionChangePoint = false;
             RequiresSpecialAction = false;
             SpecialActionDescription = string.Empty;
+            IsPass = false;
         }
 
        
diff --git a/Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.Designer.cs b/Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.Designer.cs
index 0ebf626..8f33df4 100644
--- a/Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.Designer.cs
+++ b/Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.Designer.cs
@@ -45,6 +45,7 @@ namespace AGVSimulator.Forms
         /// </summary>
         private void InitializeComponent()
         {
+            this.components = new System.ComponentModel.Container();
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(SimulatorForm));
             this._menuStrip = new System.Windows.Forms.MenuStrip();
             this.fileToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
@@ -77,6 +78,7 @@ namespace AGVSimulator.Forms
             this.resetZoomToolStripButton = new System.Windows.Forms.ToolStripButton();
             this.toolStripSeparator5 = new System.Windows.Forms.ToolStripSeparator();
             this.toolStripButton1 = new System.Windows.Forms.ToolStripButton();
+            this.btPredict = new System.Windows.Forms.ToolStripButton();
             this._statusStrip = new System.Windows.Forms.StatusStrip();
             this._statusLabel = new System.Windows.Forms.ToolStripStatusLabel();
             this._coordLabel = new System.Windows.Forms.ToolStripStatusLabel();
@@ -112,6 +114,8 @@ namespace AGVSimulator.Forms
             this._agvInfoTitleLabel = new System.Windows.Forms.Label();
             this._liftDirectionLabel = new System.Windows.Forms.Label();
             this._motorDirectionLabel = new System.Windows.Forms.Label();
+            this.lbPredict = new System.Windows.Forms.RichTextBox();
+            this.timer1 = new System.Windows.Forms.Timer(this.components);
             this._menuStrip.SuspendLayout();
             this._toolStrip.SuspendLayout();
             this._statusStrip.SuspendLayout();
@@ -119,6 +123,7 @@ namespace AGVSimulator.Forms
             this._statusGroup.SuspendLayout();
             this._pathGroup.SuspendLayout();
             this._agvControlGroup.SuspendLayout();
+            this._canvasPanel.SuspendLayout();
             this._agvInfoPanel.SuspendLayout();
             this.SuspendLayout();
             // 
@@ -131,7 +136,7 @@ namespace AGVSimulator.Forms
             this.helpToolStripMenuItem});
             this._menuStrip.Location = new System.Drawing.Point(0, 0);
             this._menuStrip.Name = "_menuStrip";
-            this._menuStrip.Size = new System.Drawing.Size(1200, 24);
+            this._menuStrip.Size = new System.Drawing.Size(1034, 24);
             this._menuStrip.TabIndex = 0;
             this._menuStrip.Text = "menuStrip";
             // 
@@ -279,10 +284,11 @@ namespace AGVSimulator.Forms
             this.fitToMapToolStripButton,
             this.resetZoomToolStripButton,
             this.toolStripSeparator5,
-            this.toolStripButton1});
+            this.toolStripButton1,
+            this.btPredict});
             this._toolStrip.Location = new System.Drawing.Point(0, 24);
             this._toolStrip.Name = "_toolStrip";
-            this._toolStrip.Size = new System.Drawing.Size(1200, 25);
+            this._toolStrip.Size = new System.Drawing.Size(1034, 25);
             this._toolStrip.TabIndex = 1;
             this._toolStrip.Text = "toolStrip";
             // 
@@ -387,19 +393,28 @@ namespace AGVSimulator.Forms
             this.toolStripButton1.Image = ((System.Drawing.Image)(resources.GetObject("toolStripButton1.Image")));
             this.toolStripButton1.ImageTransparentColor = System.Drawing.Color.Magenta;
             this.toolStripButton1.Name = "toolStripButton1";
-            this.toolStripButton1.Size = new System.Drawing.Size(75, 22);
-            this.toolStripButton1.Text = "경로예측";
+            this.toolStripButton1.Size = new System.Drawing.Size(111, 22);
+            this.toolStripButton1.Text = "전체경로테스트";
             this.toolStripButton1.Click += new System.EventHandler(this.toolStripButton1_Click);
             // 
+            // btPredict
+            // 
+            this.btPredict.Image = ((System.Drawing.Image)(resources.GetObject("btPredict.Image")));
+            this.btPredict.ImageTransparentColor = System.Drawing.Color.Magenta;
+            this.btPredict.Name = "btPredict";
+            this.btPredict.Size = new System.Drawing.Size(107, 22);
+            this.btPredict.Text = "다음 행동 예측";
+            this.btPredict.Click += new System.EventHandler(this.btPredict_Click);
+            // 
             // _statusStrip
             // 
             this._statusStrip.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
             this._statusLabel,
             this._coordLabel,
             this.prb1});
-            this._statusStrip.Location = new System.Drawing.Point(0, 778);
+            this._statusStrip.Location = new System.Drawing.Point(0, 689);
             this._statusStrip.Name = "_statusStrip";
-            this._statusStrip.Size = new System.Drawing.Size(1200, 22);
+            this._statusStrip.Size = new System.Drawing.Size(1034, 22);
             this._statusStrip.TabIndex = 2;
             this._statusStrip.Text = "statusStrip";
             // 
@@ -426,9 +441,9 @@ namespace AGVSimulator.Forms
             this._controlPanel.Controls.Add(this._pathGroup);
             this._controlPanel.Controls.Add(this._agvControlGroup);
             this._controlPanel.Dock = System.Windows.Forms.DockStyle.Right;
-            this._controlPanel.Location = new System.Drawing.Point(967, 49);
+            this._controlPanel.Location = new System.Drawing.Point(801, 49);
             this._controlPanel.Name = "_controlPanel";
-            this._controlPanel.Size = new System.Drawing.Size(233, 729);
+            this._controlPanel.Size = new System.Drawing.Size(233, 640);
             this._controlPanel.TabIndex = 3;
             // 
             // _statusGroup
@@ -679,10 +694,11 @@ namespace AGVSimulator.Forms
             // 
             // _canvasPanel
             // 
+            this._canvasPanel.Controls.Add(this.lbPredict);
             this._canvasPanel.Dock = System.Windows.Forms.DockStyle.Fill;
             this._canvasPanel.Location = new System.Drawing.Point(0, 129);
             this._canvasPanel.Name = "_canvasPanel";
-            this._canvasPanel.Size = new System.Drawing.Size(967, 649);
+            this._canvasPanel.Size = new System.Drawing.Size(801, 560);
             this._canvasPanel.TabIndex = 4;
             // 
             // _agvInfoPanel
@@ -696,7 +712,7 @@ namespace AGVSimulator.Forms
             this._agvInfoPanel.Dock = System.Windows.Forms.DockStyle.Top;
             this._agvInfoPanel.Location = new System.Drawing.Point(0, 49);
             this._agvInfoPanel.Name = "_agvInfoPanel";
-            this._agvInfoPanel.Size = new System.Drawing.Size(967, 80);
+            this._agvInfoPanel.Size = new System.Drawing.Size(801, 80);
             this._agvInfoPanel.TabIndex = 5;
             // 
             // _pathDebugLabel
@@ -741,11 +757,25 @@ namespace AGVSimulator.Forms
             this._motorDirectionLabel.TabIndex = 2;
             this._motorDirectionLabel.Text = "모터 방향: -";
             // 
+            // lbPredict
+            // 
+            this.lbPredict.Dock = System.Windows.Forms.DockStyle.Bottom;
+            this.lbPredict.Location = new System.Drawing.Point(0, 513);
+            this.lbPredict.Name = "lbPredict";
+            this.lbPredict.Size = new System.Drawing.Size(801, 47);
+            this.lbPredict.TabIndex = 0;
+            this.lbPredict.Text = "";
+            // 
+            // timer1
+            // 
+            this.timer1.Interval = 500;
+            this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
+            // 
             // SimulatorForm
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(1200, 800);
+            this.ClientSize = new System.Drawing.Size(1034, 711);
             this.Controls.Add(this._canvasPanel);
             this.Controls.Add(this._agvInfoPanel);
             this.Controls.Add(this._controlPanel);
@@ -770,6 +800,7 @@ namespace AGVSimulator.Forms
             this._pathGroup.PerformLayout();
             this._agvControlGroup.ResumeLayout(false);
             this._agvControlGroup.PerformLayout();
+            this._canvasPanel.ResumeLayout(false);
             this._agvInfoPanel.ResumeLayout(false);
             this._agvInfoPanel.PerformLayout();
             this.ResumeLayout(false);
@@ -845,5 +876,8 @@ namespace AGVSimulator.Forms
         private System.Windows.Forms.ToolStripSeparator toolStripSeparator5;
         private System.Windows.Forms.ToolStripButton toolStripButton1;
         private System.Windows.Forms.ToolStripProgressBar prb1;
+        private System.Windows.Forms.ToolStripButton btPredict;
+        private System.Windows.Forms.RichTextBox lbPredict;
+        private System.Windows.Forms.Timer timer1;
     }
 }
\ No newline at end of file
diff --git a/Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.cs b/Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.cs
index c3b5c05..7ed36de 100644
--- a/Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.cs
+++ b/Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.cs
@@ -174,6 +174,8 @@ namespace AGVSimulator.Forms
             _statusLabel.Text = "시뮬레이션 실행 중";
             Console.WriteLine("시뮬레이션 실행");
             UpdateUI();
+
+            timer1.Start();
         }
 
         private void OnStopSimulation_Click(object sender, EventArgs e)
@@ -317,7 +319,7 @@ namespace AGVSimulator.Forms
             var prevDir = selectedAGV.PrevDirection;
 
             // 고급 경로 계획 사용 (노드 객체 직접 전달)
-            var advancedResult = _advancedPathfinder.FindPath_test(startNode, targetNode, prevNode, prevDir, currentDirection);
+            var advancedResult = _advancedPathfinder.FindPath(startNode, targetNode, prevNode, prevDir, currentDirection);
 
             _simulatorCanvas.FitToNodes();
             if (advancedResult.Success)
@@ -325,10 +327,6 @@ namespace AGVSimulator.Forms
                 // 도킹 검증이 없는 경우 추가 검증 수행
                 if (advancedResult.DockingValidation == null || !advancedResult.DockingValidation.IsValidationRequired)
                 {
-                    if (advancedResult.Path.Count < 1)
-                    {
-
-                    }
                     advancedResult.DockingValidation = DockingValidator.ValidateDockingDirection(advancedResult, _mapNodes);
                 }
 
@@ -336,6 +334,9 @@ namespace AGVSimulator.Forms
                 _pathLengthLabel.Text = $"경로 길이: {advancedResult.TotalDistance:F1}";
                 _statusLabel.Text = $"경로 계산 완료 ({advancedResult.CalculationTimeMs}ms)";
 
+                // 🔥 VirtualAGV에도 경로 설정 (Predict()가 동작하려면 필요)
+                selectedAGV.SetPath(advancedResult);
+
                 // 도킹 검증 결과 확인 및 UI 표시
                 CheckAndDisplayDockingValidation(advancedResult);
 
@@ -357,6 +358,12 @@ namespace AGVSimulator.Forms
             _simulatorCanvas.CurrentPath = null;
             _pathLengthLabel.Text = "경로 길이: -";
             _statusLabel.Text = "경로 지움";
+
+            // 🔥 VirtualAGV의 경로도 정지
+            if (_agvList != null && _agvList.Count > 0)
+            {
+                _agvList[0].StopPath();
+            }
         }
 
         private void OnTargetCalc_Click(object sender, EventArgs e)
@@ -590,7 +597,6 @@ namespace AGVSimulator.Forms
 
             // AGV 위치 및 방향 설정
             _simulatorCanvas.SetAGVPosition(selectedAGV.AgvId, targetNode, selectedDirection);
-            _simulatorCanvas.UpdateAGVDirection(selectedAGV.AgvId, selectedDirection);
 
             // VirtualAGV 객체의 위치와 방향 업데이트
             selectedAGV.SetPosition(targetNode, selectedDirection);  // 이전 위치 기억하도록
@@ -1576,6 +1582,49 @@ namespace AGVSimulator.Forms
             logForm.AppendLog($"성공률: {(double)successCount / totalTests * 100:F1}%");
         }
 
+        private void btPredict_Click(object sender, EventArgs e)
+        {
+            // 다음 행동 예측
+            if (_agvList == null || _agvList.Count == 0)
+            {
+                MessageBox.Show("AGV가 없습니다.", "예측 오류", MessageBoxButtons.OK, MessageBoxIcon.Warning);
+                return;
+            }
+
+            // 첫 번째 AGV의 다음 행동 예측
+            var agv = _agvList[0];
+            var command = agv.Predict();
+
+            //this.lbPredict.Text = $"MOT:{command.Motor},MAG:{command.Magnet},SPD:{command.Speed}:{command.Reason}";
+
+            // 예측 결과 표시
+            var message = $"[다음 행동 예측]\n\n" +
+                         $"모터: {command.Motor}\n" +
+                         $"마그넷: {command.Magnet}\n" +
+                         $"속도: {command.Speed}\n" +
+                         $"이유: {command.Reason}\n\n" +
+                         $"---\n" +
+                         $"현재 상태: {agv.CurrentState}\n" +
+                         $"현재 방향: {agv.CurrentDirection}\n" +
+                         $"위치 확정: {agv.IsPositionConfirmed} (RFID {agv.DetectedRfidCount}개)\n" +
+                         $"현재 노드: {agv.CurrentNodeId ?? "없음"}";
+
+            Console.WriteLine(message);
+        }
+
+        private void timer1_Tick(object sender, EventArgs e)
+        {
+            if (_agvList == null || _agvList.Count == 0)
+            {
+               // MessageBox.Show("AGV가 없습니다.", "예측 오류", MessageBoxButtons.OK, MessageBoxIcon.Warning);
+                return;
+            }
+
+            // 첫 번째 AGV의 다음 행동 예측
+            var agv = _agvList[0];
+            var command = agv.Predict();
+            this.lbPredict.Text = $"Motor:{command.Motor},Magnet:{command.Magnet},Speed:{command.Speed} : {command.Reason}";
+        }
     }
 
     /// <summary>
diff --git a/Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.resx b/Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.resx
index 3d64678..5d703c1 100644
--- a/Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.resx
+++ b/Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.resx
@@ -137,9 +137,27 @@
         HBUzHot52djqQ6HZhfR7IwK4mKpHtvEDMqvfCiQ6zaAAXM8x94aIWTNrLLG4kVUzgaTSPlzLtyJOZxbb
         1wtfyg4Q+AfA3aZlButjSfxGcUJBk4g5tuP3haQKRKXcUQDOmbvNTpPOJeFFjordZmbWTNvMTHFUcpUC
         nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
+</value>
+  </data>
+  <data name="btPredict.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+    <value>
+        iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAIFSURBVDhPpZLtS1NhGMbPPxJmmlYSgqHiKzGU1EDxg4iK
+        YKyG2WBogqMYJQOtCEVRFBGdTBCJfRnkS4VaaWNT5sqx1BUxRXxDHYxAJLvkusEeBaPAB+5z4Jzn+t3X
+        /aLhnEfjo8m+dCoa+7/C3O2Hqe0zDC+8KG+cRZHZhdzaaWTVTCLDMIY0vfM04Nfh77/G/sEhwpEDbO3t
+        I7TxE8urEVy99fT/AL5gWDLrTB/hnF4XsW0khCu5ln8DmJliT2AXrcNBsU1gj/MH4nMeKwBrPktM28xM
+        cX79DFKrHHD5d9D26hvicx4pABt2lpg10zYzU0zr7+e3xXGcrkEB2O2TNec9nJFwB3alZn5jZorfeDZh
+        6Q3g8s06BeCoKF4MRURoH1+BY2oNCbeb0TIclIYxOhzf8frTOuo7FxCbbVIAzpni0iceEc8vhzEwGkJD
+        lx83ymxifejdKjRNk/8PWnyIyTQqAJek0jqHwfEVscu31baIu8+90sTE4nY025dQ2/5FIPpnXlzKuK8A
+        HBUzHot52djqQ6HZhfR7IwK4mKpHtvEDMqvfCiQ6zaAAXM8x94aIWTNrLLG4kVUzgaTSPlzLtyJOZxbb
+        1wtfyg4Q+AfA3aZlButjSfxGcUJBk4g5tuP3haQKRKXcUQDOmbvNTpPOJeFFjordZmbWTNvMTHFUcpUC
+        nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
 </value>
   </data>
   <metadata name="_statusStrip.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>237, 17</value>
   </metadata>
+  <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>352, 17</value>
+  </metadata>
 </root>
\ No newline at end of file