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

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tindevil
2025-12-14 22:55:09 +09:00
parent 764fbbd204
commit 3c8eae889c
13 changed files with 218 additions and 199 deletions
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10
Cs_HMI/Project/StateMachine/_Xbee.cs
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@@ -48,7 +48,7 @@ namespace Project
if (data.Length > 4)
{
var currTag = System.Text.Encoding.Default.GetString(data, 1, data.Length - 1);
var node = PUB._mapNodes.FirstOrDefault(t => t.RfidId == currTag);
var node = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId == currTag);
if (node == null)
{
PUB.log.AddE($"[{logPrefix}-SetCurrent] 노드정보를 찾을 수 없습니다 RFID:{currTag}");
@@ -111,7 +111,7 @@ namespace Project
if (data.Length > 4)
{
var currTag = System.Text.Encoding.Default.GetString(data, 1, data.Length - 1);
var targetNode = PUB._mapNodes.FirstOrDefault(t => t.RfidId == currTag);
var targetNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId == currTag);
//자동상태가아니라면 처리하지 않는다.
@@ -131,7 +131,7 @@ namespace Project
}
///출발지
var startNode = PUB._mapNodes.FirstOrDefault(t => t.RfidId == PUB._virtualAGV.CurrentNode.Id);
var startNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId == PUB._virtualAGV.CurrentNode.Id);
PUB._virtualAGV.StartNode = startNode;
if (startNode == null)
{
@@ -150,7 +150,7 @@ namespace Project
{
//경로예측을 화면에 표시해준다.
PUB._virtualAGV.SetPath(rltGoto.result);
var pathWithRfid = rltGoto.result.GetSimplePath().Select(nodeId => PUB._virtualAGV.GetRfidByNodeId(PUB._mapNodes, nodeId)).ToList();
var pathWithRfid = rltGoto.result.GetSimplePath().Select(nodeId => PUB._virtualAGV.GetRfidByNodeId(PUB._mapCanvas.Nodes, nodeId)).ToList();
PUB.log.Add($"경로예측결과:{pathWithRfid}");
}
}
@@ -260,7 +260,7 @@ namespace Project
AGVNavigationCore.PathFinding.Planning.AGVPathfinder _advancedPathfinder = null;
(AGVNavigationCore.PathFinding.Core.AGVPathResult result, string message) CalcPath(MapNode startNode, MapNode targetNode)
{
var _mapNodes = PUB._mapNodes;
var _mapNodes = PUB._mapCanvas.Nodes;
// 시작 RFID가 없으면 AGV 현재 위치로 설정
if (startNode == null || targetNode == null)
return (null, "시작 RFID와 목표 RFID를 선택해주세요.");