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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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20
Cs_HMI/Project/ViewForm/fAuto.cs
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@@ -40,11 +40,7 @@ namespace Project.ViewForm
private void InitializeMapCanvas()
{
PUB._mapCanvas = new AGVNavigationCore.Controls.UnifiedAGVCanvas();
PUB._mapCanvas.Dock = DockStyle.Fill;
PUB._mapCanvas.ShowGrid = false;
PUB._mapCanvas.BackColor = Color.FromArgb(32, 32, 32);
PUB._mapCanvas.ForeColor = Color.White;
// RfidMappings 제거 - MapNode에 통합됨
// 이벤트 연결
@@ -116,7 +112,7 @@ namespace Project.ViewForm
}
// 1. 경로 생성
var pathFinder = new AGVNavigationCore.PathFinding.Planning.AGVPathfinder(PUB._mapNodes);
var pathFinder = new AGVNavigationCore.PathFinding.Planning.AGVPathfinder(PUB._mapCanvas.Nodes);
// 현재위치에서 목표위치까지
var result = pathFinder.FindPath(PUB._virtualAGV.CurrentNode, targetNode);
@@ -178,12 +174,12 @@ namespace Project.ViewForm
if (result.Success)
{
if (PUB._mapNodes == null) PUB._mapNodes = new List<MapNode>();
else PUB._mapNodes.Clear();
PUB._mapNodes.AddRange(result.Nodes);
if (PUB._mapCanvas.Nodes == null) PUB._mapCanvas.Nodes = new List<MapNode>();
else PUB._mapCanvas.Nodes.Clear();
PUB._mapCanvas.Nodes.AddRange(result.Nodes);
// 맵 캔버스에 데이터 설정
PUB._mapCanvas.Nodes = PUB._mapNodes;
PUB._mapCanvas.Nodes = PUB._mapCanvas.Nodes;
PUB._mapCanvas.MapFileName = filePath.FullName;
// 🔥 맵 설정 적용 (배경색, 그리드 표시)
@@ -194,9 +190,9 @@ namespace Project.ViewForm
}
// 🔥 가상 AGV 초기화 (첫 노드 위치에 생성)
if (PUB._virtualAGV == null && PUB._mapNodes.Count > 0)
if (PUB._virtualAGV == null && PUB._mapCanvas.Nodes.Count > 0)
{
var startNode = PUB._mapNodes.FirstOrDefault(n => n.IsNavigationNode());
var startNode = PUB._mapCanvas.Nodes.FirstOrDefault(n => n.IsNavigationNode());
if (startNode != null)
{
PUB._virtualAGV = new VirtualAGV(PUB.setting.MCID, startNode.Position, AgvDirection.Forward);