"refactor:Improve-map-loading-and-use-canvas-nodes"

Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.cs

@@ -623,22 +623,8 @@ namespace AGVMapEditor.Forms
 
             if (result.Success)
             {
-                this._mapCanvas.Nodes = result.Nodes;
-
                 // 맵 캔버스에 데이터 설정
-                _mapCanvas.Nodes = this._mapCanvas.Nodes;
-                _mapCanvas.Labels = result.Labels; // 추가
-                _mapCanvas.Images = result.Images; // 추가
-                _mapCanvas.Marks = result.Marks;
-                _mapCanvas.Magnets = result.Magnets;
-                // RfidMappings 제거됨 - MapNode에 통합
-
-                // 🔥 맵 설정 적용 (배경색, 그리드 표시)
-                if (result.Settings != null)
-                {
-                    _mapCanvas.BackColor = System.Drawing.Color.FromArgb(result.Settings.BackgroundColorArgb);
-                    _mapCanvas.ShowGrid = result.Settings.ShowGrid;
-                }
+                _mapCanvas.SetMapLoadResult(result);
 
                 // 현재 파일 경로 업데이트
                 _currentMapFile = filePath;
@@ -651,8 +637,8 @@ namespace AGVMapEditor.Forms
                 UpdateNodeList();
                 RefreshNodeConnectionList();
 
-                // 맵 로드 후 자동으로 맵에 맞춤
-                _mapCanvas.FitToNodes();
+
+
 
                 UpdateStatusBar($"맵 파일을 성공적으로 로드했습니다: {Path.GetFileName(filePath)}");
             }
@@ -696,7 +682,11 @@ namespace AGVMapEditor.Forms
                 ShowGrid = _mapCanvas.ShowGrid
             };
 
-            if (MapLoader.SaveMapToFile(filePath, this._mapCanvas.Nodes, _mapCanvas.Labels, _mapCanvas.Images, _mapCanvas.Marks, _mapCanvas.Magnets, settings))
+            if (MapLoader.SaveMapToFile(filePath,
+                _mapCanvas.Nodes, _mapCanvas.Labels,
+                _mapCanvas.Images, _mapCanvas.Marks,
+                _mapCanvas.Magnets,
+                settings))
             {
                 // 현재 파일 경로 업데이트
                 _currentMapFile = filePath;
@@ -874,7 +864,7 @@ namespace AGVMapEditor.Forms
                     else
                         displayText = $"[{node.Id}] {item.StationType}";
                 }
-                else if(node.Type ==  NodeType.Label)
+                else if (node.Type == NodeType.Label)
                 {
                     var item = node as MapLabel;
                     displayText = $"{item.Type.ToString().ToUpper()} - {item.Text}";

Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.resx

@@ -145,15 +145,15 @@
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 </value>
   </data>
   <data name="btnMove.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
@@ -174,75 +174,75 @@
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+        vs/Iq/qG4uZfmdNSyK7h1YCWFNh7ZznsdvCtWow8YEC6/B5HvNv56uJ2JE8BBrkMpa2FW625/H7uGIHG
+        TQRq1hsyQDQhaLxwD8ndjdV3gsqBfEq872D66S0Oe3L58sdCapoPEvYa0ca6QJ8lOtaOr3zzXAa4rwuU
+        vjDW7lEKnQpS537KPXuR+vZQ5PoES1MBC6ESlqY7CV82kwqe5c87VxmxfShy0rOOxAUOz1wGqXIH+KLU
+        wHHLq0jmDTRUbSYSKmYldZXU7QIig59ysyWfgC130W/dti4DLMYEJuebGNu2cuD069iKXiCo7CD03Ubu
+        Bw+xIq6RnMhD3N1JfNxE6NTWhyOVG5/PfGKF44YWiQl8E5eyNRDsoP/cfsJDxr8vGxBTHxALFXG7/g0U
+        5YyenYIlA6RWAd5LZYxfOMhKyoeYzOfB3V1owUP8VvcaM1OTyM5HxljtUqci0RgxXRBLPGDE28Iv3SZG
+        e2Rm/O+SnNxJJFDIRMPbLM7+wUJmlQf/XWV7h1puax/uTy9HWnaWvQLxO9yy7cBrepKBui14jr+00qS4
+        9fR51Zlhzd6hyllgbY7uXre8dK2aJf9J/Mc20Jr3lN5rXP/c2r7/zLYXnxBS3jPLvSe2LPdVvHylq/DZ
+        p9f2PJq/AD40i0VffXQ/AAAAAElFTkSuQmCC
 </value>
   </data>
   <data name="btnConnect.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
@@ -263,15 +263,15 @@
   <data name="btnDeleteConnection.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
-        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAHxSURBVDhP7Y7Ni1JhGMVvXadgWrWzRcS0S0FyFYHgOH4g
-        fgQXQl0NRIr1SqB9zGh34XAXs7gwgRfMVUILsY22mhmlDHTcRGQrbXVnkCKkSIOmtMk88QyMmDj/QQde
-        eDjndw4vx/3XWHa7/Qxj7IEkSd1sNgtRFNuMsSuMMa0oiip5lBFD7D9lnU53yu12y6lUCp1OB6qqolqt
-        IplM7oqiWGu1WgPy6vU6iCGWOuMBo9F4LRqNfms2m91AILDldDqHoVAIiqIgkUiAbvIoy+VybWKpMzkg
-        S5LUVxQl7PF45k0m0/dKpYJGo4FarYZCoQDyKCOGWOqMBwwGw+1wONxLp9P3BUEoWyyWA4fDAUEQDh/d
-        5FFGDLHUGQ/o9fpLXq/3vSzLvXw+/7VYLCKTySAWiyEejx/epXWGV9cv/Hm5NIfnjvmDp4unH40HOI7j
-        zWbzZZfLtRcMBvcjkUifMfbL5/Mt+/1+6+Nl6+Ddvavob25g1Crhx7O7eBPRDV9YNXcmR47Vto1Xf25u
-        AIoXWD0LrC/gi7yILQu/O83OVHlJMxq9LWJSvaQW5E+zM1W28R/2n9wEkloMVjh0Vzi0b/Eo2fmP0+xM
-        7fjPrb2+cfH3p9UFfE7MQQ2eQMWlGW7bTj6cZo/Vjv98vGzl9+jb9KOj8l/xBxqBzigbjwAAAABJRU5E
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAHxSURBVDhP7Y7Ni1JhGMVvXadgWrWzRdQsU5BcRW4cR72E
+        H8FtoS6iFinWKwn2MaPdheJikIEJvGCuElpcaKOtTKUMdNxEZBut1Z1BipAiDZrSJvPEM5CYOP9BB154
+        OOd3Di/H/ddEdrv9GGPsbiKR6OVyOUiS1GGMnWOMaSVJUsmjjBhi/ynrdLojTqdzI51Oo9vtQlVV1Go1
+        xOPxbUmS6q1Wa0heo9EAMcRSZzJgNBovhsPhr+12u+fz+Z4KgjAKBAKQZRmxWAx0k0eZoigdYqkzPbCR
+        TCYHsiwHXS7Xoslk+latVtFsNlGv15HP50EeZcQQS53JgMFguBEMBvuZTOaOKIoVi8WyJwgCRFHcf3ST
+        RxkxxFJnMqDX68+43e53qVSqryjKl0KhgGw2i0gkgmg0un+X1xleXDr1+/nKAp4Ii3uPlo/enwxwHMeb
+        zeazDodjx+/374ZCoQFj7KfH47ni9XqtDy5bhm9un8eguInx2zK+P76FVyHd6JlVc3N65ECVbLz6o7gJ
+        yG5g7TiwvoTPG8soWvjtWXauSiua8fh1AdPqx7Ugf5adq4qNf7/78BoQ12K4yqG3yqFznUfZzn+YZedq
+        y3si8fLq6V8f15bwKbYA1X8I1QuaUcl2+N4se6C2vCejFSu/Q9+mH/0t/wFGlxos/Pd5kgAAAABJRU5E
         rkJggg==
 </value>
   </data>
@@ -287,18 +287,18 @@
   <data name="btnFitMap.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
-        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAKYSURBVDhPhZBfSFNRHMfvY0RPEfQSFD2tngKj9WBZmDqX
-        em1t6tJtDV2WSRZGKN1ScV7JyhVZMnuYIJua0aXQ1Oamzj/DtnvuMlKocJ47aMWI9FwrCC4njrqX66Iv
-        nJfD9/P9fX8/itpUyFOm5nvNHOi1JMJ9VjnkschzLlMi2FXMBTvOqpO+lBI8Jpvgtsb5HjMIdZ9jwi6j
-        asapUwW79EzQaQDTncXxgKPQpuTWRSZvwKUsH0UHwDLSAyjVCKJUHYGr+fNwZX/gAc1OOQrj/rvarU14
-        j5kjk8NRpAIQXQIQ1QsiugHEtesClK4JolQqRH/sm2ynga9Vyyl5CngsiVB3CROJIR2AqG4Dlmo34Wog
-        oioApVO+Fi3jZfMTSp4K91rksNOoEkTpcnJqcgXSSICokrQYachW+dvyZCVPvXWbZXIwYiQgWJaukDAe
-        oovrfyKqiECpmAT42NytAbOu0kTwiZ7hxTXNRgtUtQ7HkA2IqFyAq+d5ER0fvpnFjDDZW1eY7dRzsx0G
-        QA4lQKloE6wQxFUrgQFE9LvYzz2vm3J/D9Vlzil5KuAoUE8/1sUn2mmWX/q1V4hJJ0llAUqGCETpBJ5w
-        6P7MD9Rgf+0J/KIm3ajMoMbbCmwBBx333TkNvM05DNmXvOH6TGb8Hi0vDNbjWNiJl6bv47FmGr8sV+9W
-        ZlB+Vqt+Y9dyoy25CXKsMbtGHryds+JtysOfxlvx1w89+NuiG3/0NuIB6zHZkyoklbirGabJ9hIcnXHg
-        +PtuvBx8hOeeWjGbpfr86kLadqU/pZ5XpZvG7Gfw4tAtvDDUgKceFuGBysPfnxkO7lB6/6l+2xGTuywN
-        jzZqcJ9V/cVtTNul9PxX/eVHd3aVHLK7LBnbkn9/ARsspRTlWFT8AAAAAElFTkSuQmCC
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAKYSURBVDhPhZBfSFNRHMfvY0RPEfQSFD2tniKh9WBZmM5W
+        es02del1ii7LJAsjtG6pOCdZuiJLZg8TbFMzuiSKlm7m/LPU3XOWkUKF89xBK0ak51pBcDlx1L1cF33h
+        vBy+n+/v+/sxzIZm3flasatAAF3m6Ey3WZl2c4rfyUX97TmCv/WsNuaLK+jmLPBpUUTsLACzHef4gNOk
+        mXRkafztBt7vMIKJtpyIz55pUXNropPX4TybGML7wBI2ACRXQEkuD6KV9Dm0vNd3n7WN29mI965+cxPR
+        XSDQyYEQ1gCELwKEq6GErwNp9RpE8lUoyXkw9GPPWAsLPI16Qc0zwG2Oznbk8sEwzgIIV63DcuUGXA4k
+        XAaQfMLToOdfNaRH1Twz08UpAYdJAyX5UmxqbAXaCCJcSlsM1aRqvE16Rc0zb135Cj0YNVIQLMmXaZiI
+        8IW1PwmXBJGcQwM8Nt3mgElnXtT/2MCL0mraegtctgaHsQVIuBiilUJRwkcHb6bwQzdSN68w1WYQplqN
+        gB4KIjl7AyyB0koRhQHC7Lvwz139dSd/D1QlT6t5xmfP0E48yoy8aWFt4uKv3TAsH6eVIZKNQYQTKext
+        zvwz11tBvJXHyIuKRJM6gxltyrD47GzEc+cUGK7X8XRf+gark/nRe+nKfH81CQccZHGimYzUs+RlsXan
+        OoPx2vTa11a9MNSgi9JjjVhTlb7buuXhutPk02gj+fqhk3xbcJGPw7Wk13xEcccLiSfhShI31pJLQpN2
+        EnnfQZb8D8n0kyJiS9F87jufsFXtj6vnZYnciPUMWRi4ReYHasj4g2zSW3rw+zPj/m1q7z/VYznEufIT
+        yKvaNNJdqP3iMiXsUHv+q57iw9vbcw9YneakLbG/v5ifpNsR5bepAAAAAElFTkSuQmCC
 </value>
   </data>
   <metadata name="toolStrip2.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
@@ -307,7 +307,7 @@
   <data name="btnNew.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO
-        wwAADsMBx2+oZAAAAU1JREFUOE9j+E8GYEAGIIGrzz+AJYrW6IIxCMw6cO1/x/oTYFw2fQsKRjEE2eTp
+        wQAADsEBuJFr7QAAAU1JREFUOE9j+E8GYEAGIIGrzz+AJYrW6IIxCMw6cO1/x/oTYFw2fQsKRjEE2eTp
         p73/Tz3pgSz0/+nbryi4c/eb/+EFE8FycANAtk475fV/0nH3//1HXP53HrCHu+TA/b9w/OnbL7ABKIbA
         DJhw1PV/9wGH/y17rP/XbTNHMWD3HQgGGQDDQYnVCANgoGGHxf+qzcbIQnADtt36A8Ybr//BNAAUYCCA
         HIgwZ6NrXn3lN6YBoJBGBzBnwzTCNMMM8AzNBquDGwASxGcrCC+5CMGg2EAxABS3bz5+wzAAm+Z55yAG
@@ -319,7 +319,7 @@
   <data name="btnOpen.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO
-        wwAADsMBx2+oZAAAAhFJREFUOE/dz71rU1EYBvAO7t38E1xaizQfIh1cBHFyEV2sDiJoyCApFBVBO6QN
+        wQAADsEBuJFr7QAAAhFJREFUOE/dz71rU1EYBvAO7t38E1xaizQfIh1cBHFyEV2sDiJoyCApFBVBO6QN
         iIGSqCDSKpSKtlb8QBCHEge1rW1iE733Jmlsmhh6g839vud+nHseSapJXFwFX3g45wzv7z1vT8//Ufwr
         X6acGna23p3tyhmn8Hpoo/h0YO/GE1/vH3nr611cPLynDQgvghZjHgAGsGZ27y6po/o+ZFc+hKzfqa1e
         JtWlkTL/fPBkB3gWkBklsKpxGKVJGJvTMMvzYK4E5ulgVAOjyu7bbYBR2xYWgrk2kH8cUD1HgVFKQi8m
@@ -334,7 +334,7 @@
   <data name="btnReopen.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO
-        wwAADsMBx2+oZAAAAUZJREFUOE+lkzFLw0AYhvt3HP0DLqWDdCuECjooBRdBXJwEZ3VRBykUBCfRpSi4
+        wQAADsEBuJFr7QAAAUZJREFUOE+lkzFLw0AYhvt3HP0DLqWDdCuECjooBRdBXJwEZ3VRBykUBCfRpSi4
         uXTSIYNiRSgFBxU6qHSoCMHiyfPJm9zFgKAHT0Mu9z53+fK15P4wSv5gojcYuvbNo3EU37tW587YaF8a
         q3unAYGEG4JInl7e3HKrFsCc5rlunj+7+spuJpFAiw4HiynN7mwqamxX3OsoMUEg4Ydjs0Ds9+cNBFud
         yK4SwOg9cbWFtUzA+7Lg4uHTkGgnrqdwf9YbG4UCJiWQhJ0JcwoJjrsfocA/+m8QlmA6WsoEfuH8owoF
@@ -369,7 +369,7 @@
   <data name="btnSaveAs.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAO
-        wwAADsMBx2+oZAAAAyZJREFUOE9tku1PW1Ucx+8r/Tt86wvRxRjjEmPMULeZNAsQXczipoCdDhxZlg0Z
+        wQAADsEBuJFr7QAAAyZJREFUOE9tku1PW1Ucx+8r/Tt86wvRxRjjEmPMULeZNAsQXczipoCdDhxZlg0Z
         m7CisBYfthcDXLrBlJktUbIBGQ+hAn2cq3uga3lqBxQuUCil9OHc9t7bj2mjy3B+k29OTnK+n9/35Byp
         +NTowffN7iGDxb1hsLgxWNzC0OoWBotHGMwusafF4dt5fPzHF8uuPyf9n3Y32cfXtsR6NCG0aELhX69v
         5S0IyFvU31yg/MJ06r2q/uf/m5f2Njsi8VRGc81l8SyouOdUHI8zjM4o3PYnUVTonUxT3zPPp+en089A

Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs

@@ -23,7 +23,7 @@ namespace AGVNavigationCore.Controls
         private const int NODE_SIZE = 24;
         private const int NODE_RADIUS = NODE_SIZE / 2;
         private const int GRID_SIZE = 20;
-        private const float CONNECTION_WIDTH = 2.0f;
+        private const float CONNECTION_WIDTH = 1.0f;
         private const int SNAP_DISTANCE = 10;
         private const int AGV_SIZE = 40;
         private const int CONNECTION_ARROW_SIZE = 8;
@@ -355,6 +355,28 @@ namespace AGVNavigationCore.Controls
             }
         }
 
+        /// <summary>
+        /// Map file loading 결과를 셋팅합니다
+        /// </summary>
+        /// <param name="result"></param>
+        public void SetMapLoadResult(MapLoader.MapLoadResult result)
+        {
+            this.Nodes = result.Nodes;
+            this.Labels = result.Labels; // 추가
+            this.Images = result.Images; // 추가
+            this.Marks = result.Marks;
+            this.Magnets = result.Magnets;
+
+            // 🔥 맵 설정 적용 (배경색, 그리드 표시)
+            if (result.Settings != null)
+            {
+                this.BackColor = Color.FromArgb(result.Settings.BackgroundColorArgb);
+                this.ShowGrid = result.Settings.ShowGrid;
+            }
+
+            this.FitToNodes();
+        }
+
         /// <summary>
         /// 노드 목록
         /// </summary>
@@ -598,7 +620,7 @@ namespace AGVNavigationCore.Controls
             _gridBrush = new SolidBrush(Color.LightGray);
 
             // 펜
-            _connectionPen = new Pen(Color.DarkBlue, CONNECTION_WIDTH);
+            _connectionPen = new Pen(Color.White, CONNECTION_WIDTH);
             _connectionPen.DashStyle = DashStyle.Dash;
             _connectionPen.EndCap = LineCap.ArrowAnchor;
 

Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.cs

@@ -108,7 +108,6 @@ namespace AGVSimulator.Forms
         }
 
         private UnifiedAGVCanvas _simulatorCanvas;
-        private List<MapNode> _mapNodes;
         private AGVPathfinder _advancedPathfinder;
         private List<VirtualAGV> _agvList;
         private SimulationState _simulationState;
@@ -158,7 +157,7 @@ namespace AGVSimulator.Forms
             _config = SimulatorConfig.Load();
 
             // 데이터 초기화
-            _mapNodes = new List<MapNode>();
+            
             _agvList = new List<VirtualAGV>();
             _simulationState = new SimulationState();
             _currentMapFilePath = string.Empty;
@@ -305,14 +304,14 @@ namespace AGVSimulator.Forms
 
         private void OnAddAGV_Click(object sender, EventArgs e)
         {
-            if (_mapNodes == null || _mapNodes.Count == 0)
+            if (_simulatorCanvas.Nodes == null || _simulatorCanvas.Nodes.Count == 0)
             {
                 MessageBox.Show("먼저 맵을 로드해주세요.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
                 return;
             }
 
             var agvId = $"AGV{_agvList.Count + 1:D2}";
-            var startPosition = _mapNodes.First().Position; // 첫 번째 노드에서 시작
+            var startPosition = _simulatorCanvas.Nodes.First().Position; // 첫 번째 노드에서 시작
 
             var newAGV = new VirtualAGV(agvId, startPosition);
             _agvList.Add(newAGV);
@@ -396,7 +395,7 @@ namespace AGVSimulator.Forms
 
             if (_advancedPathfinder == null)
             {
-                _advancedPathfinder = new AGVPathfinder(_mapNodes);
+                _advancedPathfinder = new AGVPathfinder(_simulatorCanvas.Nodes);
             }
 
             // 현재 AGV 방향 가져오기
@@ -420,11 +419,11 @@ namespace AGVSimulator.Forms
                 // 도킹 검증이 없는 경우 추가 검증 수행
                 if (advancedResult.DockingValidation == null || !advancedResult.DockingValidation.IsValidationRequired)
                 {
-                    advancedResult.DockingValidation = DockingValidator.ValidateDockingDirection(advancedResult, _mapNodes);
+                    advancedResult.DockingValidation = DockingValidator.ValidateDockingDirection(advancedResult, _simulatorCanvas.Nodes);
                 }
 
                 //마지막대상이 버퍼라면 시퀀스처리를 해야한다
-                if(targetNode.Type == NodeType.Buffer)
+                if(targetNode.StationType == StationType.Buffer)
                 {
                     var lastDetailPath = advancedResult.DetailedPath.Last();
                     if(lastDetailPath.NodeId == targetNode.Id)  //마지막노드 재확인
@@ -598,13 +597,13 @@ namespace AGVSimulator.Forms
         /// </summary>
         private MapNode FindClosestNode(Point position)
         {
-            if (_mapNodes == null || _mapNodes.Count == 0)
+            if (_simulatorCanvas.Nodes == null || _simulatorCanvas.Nodes.Count == 0)
                 return null;
 
             MapNode closestNode = null;
             double closestDistance = double.MaxValue;
 
-            foreach (var node in _mapNodes)
+            foreach (var node in _simulatorCanvas.Nodes)
             {
                 var distance = Math.Sqrt(Math.Pow(node.Position.X - position.X, 2) +
                                        Math.Pow(node.Position.Y - position.Y, 2));
@@ -645,7 +644,7 @@ namespace AGVSimulator.Forms
                 var currentDirection = directionItem?.Direction ?? AgvDirection.Forward;
 
                 // 중복 RFID 확인
-                var existingNode = _mapNodes?.FirstOrDefault(n => n.RfidId.Equals(rfidId, StringComparison.OrdinalIgnoreCase));
+                var existingNode = _simulatorCanvas.Nodes?.FirstOrDefault(n => n.RfidId.Equals(rfidId, StringComparison.OrdinalIgnoreCase));
                 if (existingNode != null)
                 {
                     // 이미 존재하는 노드로 이동
@@ -723,15 +722,14 @@ namespace AGVSimulator.Forms
                     Id = newNodeId,
                     RfidId = rfidId,
                     Position = new Point(newX, newY),
-                    Type = NodeType.Normal,
                     IsActive = true
                 };
 
                 // 맵에 추가
-                if (_mapNodes == null)
-                    _mapNodes = new List<MapNode>();
+                if (_simulatorCanvas.Nodes == null)
+                    _simulatorCanvas.Nodes = new List<MapNode>();
 
-                _mapNodes.Add(newNode);
+                _simulatorCanvas.Nodes.Add(newNode);
 
                 // 이전 노드와 연결 생성
                 if (_lastScannedNode != null)
@@ -748,7 +746,7 @@ namespace AGVSimulator.Forms
                 selectedAGV.SetPosition(newNode, currentDirection);
 
                 // 캔버스 업데이트
-                _simulatorCanvas.Nodes = _mapNodes;
+                _simulatorCanvas.Nodes = _simulatorCanvas.Nodes;
 
                 // 화면을 새 노드 위치로 이동
                 _simulatorCanvas.PanToNode(newNode.Id);
@@ -763,7 +761,7 @@ namespace AGVSimulator.Forms
                 // UI 업데이트
                 UpdateNodeComboBoxes();
 
-                _statusLabel.Text = $"노드 생성: {newNode.Id} (RFID: {rfidId}) [{GetDirectionSymbol(currentDirection)}] - 총 {_mapNodes.Count}개";
+                _statusLabel.Text = $"노드 생성: {newNode.Id} (RFID: {rfidId}) [{GetDirectionSymbol(currentDirection)}] - 총 {_simulatorCanvas.Nodes.Count}개";
                 _rfidTextBox.Text = "";
 
                 Program.WriteLine($"[맵 스캔] 노드 생성 완료: {newNode.Id} (RFID: {rfidId}) at ({newX}, {newY}), 방향: {currentDirection}");
@@ -864,7 +862,7 @@ namespace AGVSimulator.Forms
             }
 
             // RFID에 해당하는 노드 직접 찾기
-            var targetNode = _mapNodes?.FirstOrDefault(n => n.RfidId.Equals(rfidId, StringComparison.OrdinalIgnoreCase));
+            var targetNode = _simulatorCanvas.Nodes?.FirstOrDefault(n => n.RfidId.Equals(rfidId, StringComparison.OrdinalIgnoreCase));
             if (targetNode == null)
             {
                 MessageBox.Show($"RFID '{rfidId}'에 해당하는 노드를 찾을 수 없습니다.\n\n사용 가능한 RFID 목록:\n{GetAvailableRfidList()}",
@@ -947,10 +945,10 @@ namespace AGVSimulator.Forms
 
         private string GetAvailableRfidList()
         {
-            if (_mapNodes == null || _mapNodes.Count == 0)
+            if (_simulatorCanvas.Nodes == null || _simulatorCanvas.Nodes.Count == 0)
                 return "매핑된 RFID가 없습니다.";
 
-            var nodesWithRfid = _mapNodes.Where(n => n.HasRfid()).ToList();
+            var nodesWithRfid = _simulatorCanvas.Nodes.Where(n => n.HasRfid()).ToList();
             if (nodesWithRfid.Count == 0)
                 return "RFID가 할당된 노드가 없습니다.";
 
@@ -977,13 +975,13 @@ namespace AGVSimulator.Forms
                 {
                     Console.WriteLine($"Map File Load : {filePath}");
 
-                    _mapNodes = result.Nodes;
+                    _simulatorCanvas.Nodes = result.Nodes;
                     _currentMapFilePath = filePath;
 
                     // RFID 자동 할당 제거 - 에디터에서 설정한 값 그대로 사용
 
                     // 시뮬레이터 캔버스에 맵 설정
-                    _simulatorCanvas.Nodes = _mapNodes;
+                    _simulatorCanvas.SetMapLoadResult(result);//.Nodes = _simulatorCanvas.Nodes;
 
                     // 맵 설정 적용 (배경색, 그리드 표시)
                     if (result.Settings != null)
@@ -1051,9 +1049,9 @@ namespace AGVSimulator.Forms
             _startNodeCombo.Items.Clear();
             _targetNodeCombo.Items.Clear();
 
-            if (_mapNodes != null)
+            if (_simulatorCanvas.Nodes != null)
             {
-                foreach (var node in _mapNodes)
+                foreach (var node in _simulatorCanvas.Nodes)
                 {
                     if (node.IsActive && node.HasRfid())
                     {
@@ -1109,7 +1107,7 @@ namespace AGVSimulator.Forms
 
             // RFID 위치 설정 관련
             var hasSelectedAGV = _agvListCombo.SelectedItem != null;
-            var hasRfidNodes = _mapNodes != null && _mapNodes.Any(n => n.HasRfid());
+            var hasRfidNodes = _simulatorCanvas.Nodes != null && _simulatorCanvas.Nodes.Any(n => n.HasRfid());
 
             _setPositionButton.Enabled = hasSelectedAGV && hasRfidNodes;
             _rfidTextBox.Enabled = hasSelectedAGV && hasRfidNodes;
@@ -1182,7 +1180,7 @@ namespace AGVSimulator.Forms
 
             // 경로 예측 기반 LiftCalculator를 사용하여 리프트 방향 계산
             var liftInfo = AGVNavigationCore.Utils.LiftCalculator.CalculateLiftInfoWithPathPrediction(
-                currentPos, prevPos.Value, agv.CurrentDirection, _mapNodes);
+                currentPos, prevPos.Value, agv.CurrentDirection, _simulatorCanvas.Nodes);
 
             // 이동 각도 계산 (표시용)
             var moveAngleRad = Math.Atan2(dy, dx);
@@ -1226,7 +1224,7 @@ namespace AGVSimulator.Forms
 
             // 경로 예측 기반 LiftCalculator를 사용하여 리프트 방향 계산
             var liftInfo = AGVNavigationCore.Utils.LiftCalculator.CalculateLiftInfoWithPathPrediction(
-                currentPos, targetPos.Value, agv.CurrentDirection, _mapNodes);
+                currentPos, targetPos.Value, agv.CurrentDirection, _simulatorCanvas.Nodes);
 
             // 도킹 방향 정보 추가
             string dockingInfo = dockingDirection == DockingDirection.Forward ? "전진도킹" : "후진도킹";
@@ -1259,7 +1257,7 @@ namespace AGVSimulator.Forms
         /// </summary>
         private string GetRfidByNodeId(string nodeId)
         {
-            var node = _mapNodes?.FirstOrDefault(n => n.Id == nodeId);
+            var node = _simulatorCanvas.Nodes?.FirstOrDefault(n => n.Id == nodeId);
             return node?.HasRfid() == true ? node.RfidId : nodeId;
         }
 
@@ -1268,7 +1266,7 @@ namespace AGVSimulator.Forms
         /// </summary>
         private string GetDisplayName(string nodeId)
         {
-            var node = _mapNodes?.FirstOrDefault(n => n.Id == nodeId);
+            var node = _simulatorCanvas.Nodes?.FirstOrDefault(n => n.Id == nodeId);
             if (node != null && !string.IsNullOrEmpty(node.RfidId))
             {
                 return node.RfidId;
@@ -1541,7 +1539,7 @@ namespace AGVSimulator.Forms
         private async void toolStripButton1_Click(object sender, EventArgs e)
         {
             // 맵과 AGV 확인
-            if (_mapNodes == null || _mapNodes.Count == 0)
+            if (_simulatorCanvas.Nodes == null || _simulatorCanvas.Nodes.Count == 0)
             {
                 MessageBox.Show("맵 데이터가 없습니다. 먼저 맵을 로드해주세요.", "알림",
                     MessageBoxButtons.OK, MessageBoxIcon.Warning);
@@ -1557,8 +1555,7 @@ namespace AGVSimulator.Forms
             }
 
             // 도킹 타겟 노드 찾기
-            var dockingTargets = _mapNodes.Where(n =>
-                n.Type == NodeType.Charging || n.Type == NodeType.Loader || n.Type == NodeType.UnLoader || n.Type == NodeType.Clearner || n.Type == NodeType.Buffer).ToList();
+            var dockingTargets = _simulatorCanvas.Nodes.Where(n => n.isDockingNode).ToList();
 
             if (dockingTargets.Count == 0)
             {
@@ -1666,7 +1663,7 @@ namespace AGVSimulator.Forms
         private PathTestLogItem CreateTestResultFromUI(MapNode prevNode, MapNode targetNode,
             string directionName, (bool result, string message) calcResult)
         {
-            var currentNode = _mapNodes.FirstOrDefault(n => n.Id ==
+            var currentNode = _simulatorCanvas.Nodes.FirstOrDefault(n => n.Id ==
                 (_agvListCombo.SelectedItem as VirtualAGV)?.CurrentNodeId);
 
             var logItem = new PathTestLogItem
@@ -1675,7 +1672,7 @@ namespace AGVSimulator.Forms
                 MotorDirection = directionName,
                 CurrentPosition = GetNodeDisplayName(currentNode),
                 TargetPosition = GetNodeDisplayName(targetNode),
-                DockingPosition = targetNode.Type == NodeType.Charging ? "충전기" : "장비"
+                DockingPosition = targetNode.StationType ==  StationType.Charger ? "충전기" : "장비"
             };
 
             if (calcResult.result)
@@ -1685,7 +1682,7 @@ namespace AGVSimulator.Forms
                 if (currentPath != null && currentPath.Success)
                 {
                     // 도킹 검증
-                    var dockingValidation = DockingValidator.ValidateDockingDirection(currentPath, _mapNodes);
+                    var dockingValidation = DockingValidator.ValidateDockingDirection(currentPath, _simulatorCanvas.Nodes);
 
                     if (dockingValidation.IsValid)
                     {
@@ -1726,7 +1723,7 @@ namespace AGVSimulator.Forms
             var pairs = new List<(MapNode, MapNode)>();
             var processedPairs = new HashSet<string>();
 
-            foreach (var nodeA in _mapNodes)
+            foreach (var nodeA in _simulatorCanvas.Nodes)
             {
                 if (nodeA.ConnectedMapNodes == null || nodeA.ConnectedMapNodes.Count == 0)
                     continue;
@@ -1952,9 +1949,9 @@ namespace AGVSimulator.Forms
                 if (result == DialogResult.Yes)
                 {
                     // 기존 맵 데이터 삭제
-                    _mapNodes?.Clear();
-                    _mapNodes = new List<MapNode>();
-                    _simulatorCanvas.Nodes = _mapNodes;
+                    _simulatorCanvas.Nodes?.Clear();
+                    _simulatorCanvas.Nodes = new List<MapNode>();
+                    _simulatorCanvas.Nodes = _simulatorCanvas.Nodes;
                     _currentMapFilePath = string.Empty;
                     UpdateNodeComboBoxes();
                     _statusLabel.Text = "맵 초기화 완료 - 스캔 모드 시작";
@@ -1978,16 +1975,16 @@ namespace AGVSimulator.Forms
                 _isMapScanMode = false;
                 btMakeMap.Text = "맵 생성";
                 btMakeMap.BackColor = SystemColors.Control;
-                _statusLabel.Text = $"맵 스캔 완료 - {_mapNodes?.Count ?? 0}개 노드 생성됨";
+                _statusLabel.Text = $"맵 스캔 완료 - {_simulatorCanvas.Nodes?.Count ?? 0}개 노드 생성됨";
 
-                Program.WriteLine($"[맵 스캔] 스캔 모드 종료 - 총 {_mapNodes?.Count ?? 0}개 노드");
+                Program.WriteLine($"[맵 스캔] 스캔 모드 종료 - 총 {_simulatorCanvas.Nodes?.Count ?? 0}개 노드");
 
                 // 맵 저장 권장
-                if (_mapNodes != null && _mapNodes.Count > 0)
+                if (_simulatorCanvas.Nodes != null && _simulatorCanvas.Nodes.Count > 0)
                 {
                     var saveResult = MessageBox.Show(
                         $"맵 스캔이 완료되었습니다.\n\n" +
-                        $"생성된 노드: {_mapNodes.Count}개\n\n" +
+                        $"생성된 노드: {_simulatorCanvas.Nodes.Count}개\n\n" +
                         "맵을 저장하시겠습니까?",
                         "맵 저장",
                         MessageBoxButtons.YesNo,
@@ -2011,11 +2008,11 @@ namespace AGVSimulator.Forms
             try
             {
                 // MapLoader의 표준 저장 메서드 사용 (AGVMapEditor와 동일한 형식)
-                bool success = MapLoader.SaveMapToFile(filePath, _mapNodes);
+                bool success = MapLoader.SaveMapToFile(filePath, _simulatorCanvas.Nodes);
 
                 if (success)
                 {
-                    Program.WriteLine($"[맵 저장] 파일 저장 완료: {filePath} ({_mapNodes.Count}개 노드)");
+                    Program.WriteLine($"[맵 저장] 파일 저장 완료: {filePath} ({_simulatorCanvas.Nodes.Count}개 노드)");
                 }
                 else
                 {
@@ -2032,7 +2029,7 @@ namespace AGVSimulator.Forms
         private void btMapSaveAs_Click(object sender, EventArgs e)
         {
             // 맵 데이터 확인
-            if (_mapNodes == null || _mapNodes.Count == 0)
+            if (_simulatorCanvas.Nodes == null || _simulatorCanvas.Nodes.Count == 0)
             {
                 MessageBox.Show("저장할 맵 데이터가 없습니다.", "알림",
                               MessageBoxButtons.OK, MessageBoxIcon.Information);