"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.SetMapLoadResult(result);
-                _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;
-                }
 
                 // 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 @@
   <data name="btnSelect.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
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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 @@
   <data name="btnAddLabel.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
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 </value>
   </data>
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+        Bw+xIq6RnMhD3N1JfNxE6NTWhyOVG5/PfGKF44YWiQl8E5eyNRDsoP/cfsJDxr8vGxBTHxALFXG7/g0U
-        cJ7VclMwZYH0OsB/qZKpCwdZSwcQM0Xcu7MbNXSIX62vMj87g9n9wBjrPfJsNBYnrgniyXuM+V383GNg
+        5YyenYIlA6RWAd5LZYxfOMhKyoeYzOfB3V1owUP8VvcaM1OTyM5HxljtUqci0RgxXRBLPGDE28Iv3SZG
-        vNfMfPBdUjO7iColTDe/zfLC7yxlV3nk31W2d8pVtjOjA5nlyMjuypcgcZubth34DY8yZN2G79gLa61O
+        e2Rm/O+SnNxJJFDIRMPbLM7+wUJmlQf/XWV7h1puax/uTy9HWnaWvQLxO9yy7cBrepKBui14jr+00qS4
-        r5Y5rz87qto7ZXMO2JgjHzy1unKtnpVgLcGjmzm95zGtT7/pmY19/5n85x8RUuETqxePb1vtr37xSnfJ
+        9fR51Zlhzd6hyllgbY7uXre8dK2aJf9J/Mc20Jr3lN5rXP/c2r7/zLYXnxBS3jPLvSe2LPdVvHylq/DZ
-        049v7HkwfwEdnYukisiEOQAAAABJRU5ErkJggg==
+        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
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAHxSURBVDhP7Y7Ni1JhGMVvXadgWrWzRdQsU5BcRW4cR72E
-        fgQXQl0NRIr1SqB9zGh34XAXs7gwgRfMVUILsY22mhmlDHTcRGQrbXVnkCKkSIOmtMk88QyMmDj/QQde
+        H8FtoS6iFinWKwn2MaPdheJikIEJvGCuElpcaKOtTKUMdNxEZBut1Z1BipAiDZrSJvPEM5CYOP9BB154
-        eDjndw4vx/3XWHa7/Qxj7IEkSd1sNgtRFNuMsSuMMa0oiip5lBFD7D9lnU53yu12y6lUCp1OB6qqolqt
+        OOd3Di/H/ddEdrv9GGPsbiKR6OVyOUiS1GGMnWOMaSVJUsmjjBhi/ynrdLojTqdzI51Oo9vtQlVV1Go1
-        IplM7oqiWGu1WgPy6vU6iCGWOuMBo9F4LRqNfms2m91AILDldDqHoVAIiqIgkUiAbvIoy+VybWKpMzkg
+        xOPxbUmS6q1Wa0heo9EAMcRSZzJgNBovhsPhr+12u+fz+Z4KgjAKBAKQZRmxWAx0k0eZoigdYqkzPbCR
-        S5LUVxQl7PF45k0m0/dKpYJGo4FarYZCoQDyKCOGWOqMBwwGw+1wONxLp9P3BUEoWyyWA4fDAUEQDh/d
+        TCYHsiwHXS7Xoslk+latVtFsNlGv15HP50EeZcQQS53JgMFguBEMBvuZTOaOKIoVi8WyJwgCRFHcf3ST
-        5FFGDLHUGQ/o9fpLXq/3vSzLvXw+/7VYLCKTySAWiyEejx/epXWGV9cv/Hm5NIfnjvmDp4unH40HOI7j
+        RxkxxFJnMqDX68+43e53qVSqryjKl0KhgGw2i0gkgmg0un+X1xleXDr1+/nKAp4Ii3uPlo/enwxwHMeb
-        zWbzZZfLtRcMBvcjkUifMfbL5/Mt+/1+6+Nl6+Ddvavob25g1Crhx7O7eBPRDV9YNXcmR47Vto1Xf25u
+        zeazDodjx+/374ZCoQFj7KfH47ni9XqtDy5bhm9un8eguInx2zK+P76FVyHd6JlVc3N65ECVbLz6o7gJ
-        AIoXWD0LrC/gi7yILQu/O83OVHlJMxq9LWJSvaQW5E+zM1W28R/2n9wEkloMVjh0Vzi0b/Eo2fmP0+xM
+        yG5g7TiwvoTPG8soWvjtWXauSiua8fh1AdPqx7Ugf5adq4qNf7/78BoQ12K4yqG3yqFznUfZzn+YZedq
-        7fjPrb2+cfH3p9UFfE7MQQ2eQMWlGW7bTj6cZo/Vjv98vGzl9+jb9KOj8l/xBxqBzigbjwAAAABJRU5E
+        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
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAKYSURBVDhPhZBfSFNRHMfvY0RPEfQSFD2tniKh9WBZmM5W
-        em1t6tJtDV2WSRZGKN1ScV7JyhVZMnuYIJua0aXQ1Oamzj/DtnvuMlKocJ47aMWI9FwrCC4njrqX66Iv
+        es02del1ii7LJAsjtG6pOCdZuiJLZg8TbFMzuiSKlm7m/LPU3XOWkUKF89xBK0ak51pBcDlx1L1cF33h
-        nJfD9/P9fX8/itpUyFOm5nvNHOi1JMJ9VjnkschzLlMi2FXMBTvOqpO+lBI8Jpvgtsb5HjMIdZ9jwi6j
+        vBy+n+/v+/sxzIZm3flasatAAF3m6Ey3WZl2c4rfyUX97TmCv/WsNuaLK+jmLPBpUUTsLACzHef4gNOk
-        asapUwW79EzQaQDTncXxgKPQpuTWRSZvwKUsH0UHwDLSAyjVCKJUHYGr+fNwZX/gAc1OOQrj/rvarU14
+        mXRkafztBt7vMIKJtpyIz55pUXNropPX4TybGML7wBI2ACRXQEkuD6KV9Dm0vNd3n7WN29mI965+cxPR
-        j5kjk8NRpAIQXQIQ1QsiugHEtesClK4JolQqRH/sm2ynga9Vyyl5CngsiVB3CROJIR2AqG4Dlmo34Wog
+        XSDQyYEQ1gCELwKEq6GErwNp9RpE8lUoyXkw9GPPWAsLPI16Qc0zwG2Oznbk8sEwzgIIV63DcuUGXA4k
-        oioApVO+Fi3jZfMTSp4K91rksNOoEkTpcnJqcgXSSICokrQYachW+dvyZCVPvXWbZXIwYiQgWJaukDAe
+        XAaQfMLToOdfNaRH1Twz08UpAYdJAyX5UmxqbAXaCCJcSlsM1aRqvE16Rc0zb135Cj0YNVIQLMmXaZiI
-        oovrfyKqiECpmAT42NytAbOu0kTwiZ7hxTXNRgtUtQ7HkA2IqFyAq+d5ER0fvpnFjDDZW1eY7dRzsx0G
+        8IW1PwmXBJGcQwM8Nt3mgElnXtT/2MCL0mraegtctgaHsQVIuBiilUJRwkcHb6bwQzdSN68w1WYQplqN
-        QA4lQKloE6wQxFUrgQFE9LvYzz2vm3J/D9Vlzil5KuAoUE8/1sUn2mmWX/q1V4hJJ0llAUqGCETpBJ5w
+        gB4KIjl7AyyB0koRhQHC7Lvwz139dSd/D1QlT6t5xmfP0E48yoy8aWFt4uKv3TAsH6eVIZKNQYQTKext
-        6P7MD9Rgf+0J/KIm3ajMoMbbCmwBBx333TkNvM05DNmXvOH6TGb8Hi0vDNbjWNiJl6bv47FmGr8sV+9W
+        zvwz11tBvJXHyIuKRJM6gxltyrD47GzEc+cUGK7X8XRf+gark/nRe+nKfH81CQccZHGimYzUs+RlsXan
-        ZlB+Vqt+Y9dyoy25CXKsMbtGHryds+JtysOfxlvx1w89+NuiG3/0NuIB6zHZkyoklbirGabJ9hIcnXHg
+        OoPx2vTa11a9MNSgi9JjjVhTlb7buuXhutPk02gj+fqhk3xbcJGPw7Wk13xEcccLiSfhShI31pJLQpN2
-        +PtuvBx8hOeeWjGbpfr86kLadqU/pZ5XpZvG7Gfw4tAtvDDUgKceFuGBysPfnxkO7lB6/6l+2xGTuywN
+        EnnfQZb8D8n0kyJiS9F87jufsFXtj6vnZYnciPUMWRi4ReYHasj4g2zSW3rw+zPj/m1q7z/VYznEufIT
-        jzZqcJ9V/cVtTNul9PxX/eVHd3aVHLK7LBnbkn9/ARsspRTlWFT8AAAAAElFTkSuQmCC
+        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)
+                if (_simulatorCanvas.Nodes == null)
-                    _mapNodes = new List<MapNode>();
+                    _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 =>
+            var dockingTargets = _simulatorCanvas.Nodes.Where(n => n.isDockingNode).ToList();
-                n.Type == NodeType.Charging || n.Type == NodeType.Loader || n.Type == NodeType.UnLoader || n.Type == NodeType.Clearner || n.Type == NodeType.Buffer).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();
+                    _simulatorCanvas.Nodes?.Clear();
-                    _mapNodes = new List<MapNode>();
+                    _simulatorCanvas.Nodes = new List<MapNode>();
-                    _simulatorCanvas.Nodes = _mapNodes;
+                    _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);

Cs_HMI/Project/PUB.cs

@@ -31,7 +31,7 @@ namespace Project
         public static bool AutRebootAlreay = false;
         public static bool DriveSpeed = false;
         public static AGVNavigationCore.Controls.UnifiedAGVCanvas _mapCanvas;
-        public static List<MapNode> _mapNodes;
+        //public static List<MapNode> _mapNodes;
 
         /// <summary>
         /// 다음 작업 명령 (PickOn/PickOff)
@@ -612,18 +612,21 @@ namespace Project
         #region VirtualAGV 실제 데이터 동기화
         public static MapNode FindByNodeID(string nodeidx)
         {
+            var _mapNodes = PUB._mapCanvas.Nodes;
             if (_mapNodes == null || _mapNodes.Any() == false) return null;
             if (nodeidx.isEmpty()) return null;
             return _mapNodes.Where(t => t.Id.Equals(nodeidx)).FirstOrDefault();
         }
         public static MapNode FindByRFID(string rfidValue)
         {
+            var _mapNodes = PUB._mapCanvas.Nodes;
             if (_mapNodes == null || _mapNodes.Any() == false) return null;
             if (rfidValue.isEmpty()) return null;
             return _mapNodes.Where(t => t.RfidId.Equals(rfidValue)).FirstOrDefault();
         }
         public static List<MapNode> FindByNodeAlias(string alias)
         {
+            var _mapNodes = PUB._mapCanvas.Nodes;
             if (_mapNodes == null || _mapNodes.Any() == false) return null;
             if (alias.isEmpty()) return null;
             var lst = _mapNodes.Where(t => t.AliasName.Equals(alias));
@@ -632,6 +635,7 @@ namespace Project
         }
         public static List<MapNode> FindByNodeType(AGVNavigationCore.Models.MapNode type)
         {
+            var _mapNodes = PUB._mapCanvas.Nodes;
             if (_mapNodes == null || _mapNodes.Any() == false) return null;
             var lst = _mapNodes.Where(t => t.Type.Equals(type));
             if (lst.Any() == false) return null;
@@ -645,6 +649,7 @@ namespace Project
         /// <returns>업데이트 성공 여부</returns>
         public static bool UpdateAGVFromRFID(string rfidId, AgvDirection motorDirection = AgvDirection.Forward)
         {
+            var _mapNodes = PUB._mapCanvas.Nodes;
             if (_virtualAGV == null || _mapNodes == null) return false;
 
             // RFID에 해당하는 노드 찾기
@@ -670,6 +675,7 @@ namespace Project
         /// <returns>업데이트 성공 여부</returns>
         public static bool UpdateAGVToNode(string nodeId, AgvDirection motorDirection = AgvDirection.Forward)
         {
+            var _mapNodes = PUB._mapCanvas.Nodes;
             if (_virtualAGV == null || _mapNodes == null) return false;
 
             var node = _mapNodes.FirstOrDefault(n => n.Id == nodeId);

Cs_HMI/Project/StateMachine/Step/_Util.cs

@@ -292,7 +292,7 @@ namespace Project
             // 만약 수행되지 않았다면 여기서 수행.
             if (pathResult.DockingValidation == null)
             {
-                 pathResult.DockingValidation = AGVNavigationCore.Utils.DockingValidator.ValidateDockingDirection(pathResult, PUB._mapNodes);
+                 pathResult.DockingValidation = AGVNavigationCore.Utils.DockingValidator.ValidateDockingDirection(pathResult, PUB._mapCanvas.Nodes);
             }
 
             // 검증 결과 확인

Cs_HMI/Project/StateMachine/_AGV.cs

@@ -60,11 +60,15 @@ namespace Project
 
                             //if (chg_run && PUB.AGV.system1.agv_run) PUB.Speak("이동을 시작 합니다");
                             VAR.BOOL[eVarBool.AGVDIR_BACK] = PUB.AGV.data.Direction == 'B';
+                            var syncDir = PUB.AGV.data.Direction == 'B' ? AgvDirection.Backward : AgvDirection.Forward;
 
                             // [Sync] Update VirtualAGV Direction
-                            var syncDir = PUB.AGV.data.Direction == 'B' ? AgvDirection.Backward : AgvDirection.Forward;
+                            if (PUB._virtualAGV != null)
+                            {
                                 if (PUB._virtualAGV.CurrentDirection != syncDir)
                                     PUB.UpdateAGVDirection(syncDir);
+                            }
+                       
 
                             // [Sync] Update VirtualAGV State
                             AGVState syncState = AGVState.Idle;
@@ -72,7 +76,7 @@ namespace Project
                             else if (PUB.AGV.system1.Battery_charging) syncState = AGVState.Charging;
                             else if (PUB.AGV.system1.agv_run) syncState = AGVState.Moving;
 
-                            if (PUB._virtualAGV.GetCurrentState() != syncState)
+                            if (PUB._virtualAGV != null && PUB._virtualAGV.GetCurrentState() != syncState)
                                 PUB.UpdateAGVState(syncState);
 
                             if (VAR.BOOL[eVarBool.AGV_ERROR] != (agv_err > 0))
@@ -156,9 +160,9 @@ namespace Project
                     case arDev.Narumi.DataType.TAG:
                         {
                             //자동 실행 중이다.
-                            PUB.log.Add($"AGV 태그수신 : {PUB.AGV.data.TagNo}");
-                            PUB.Result.LastTAG = PUB.AGV.data.TagNo.ToString();
                             
+                            PUB.Result.LastTAG = PUB.AGV.data.TagNo.ToString("0000");
+                            PUB.log.Add($"AGV 태그수신 : {PUB.AGV.data.TagNo} LastTag:{PUB.Result.LastTAG}");
                             //POT/NOT 보면 일단 바로 멈추게한다
                             if (PUB.Result.CurrentPos == ePosition.POT || PUB.Result.CurrentPos == ePosition.NOT)
                             {
@@ -168,7 +172,7 @@ namespace Project
                             }
 
                             //virtual agv setting
-                            var CurrentNode = PUB._mapNodes.FirstOrDefault(t => t.RfidId.Equals(PUB.Result.LastTAG, StringComparison.OrdinalIgnoreCase));
+                            var CurrentNode = PUB._mapCanvas.Nodes.FirstOrDefault(t => t.RfidId.Equals(PUB.Result.LastTAG, StringComparison.OrdinalIgnoreCase));
                             if (CurrentNode == null)
                             {
                                 //없는 노드는 자동으로 추가한다
@@ -184,10 +188,10 @@ namespace Project
                                 };
 
                                 // 맵 노드 리스트에 추가
-                                PUB._mapNodes.Add(newNode);
+                                PUB._mapCanvas.Nodes.Add(newNode);
 
                                 // 캔버스에 노드 반영 (재설정)
-                                PUB._mapCanvas.Nodes = PUB._mapNodes;
+                                PUB._mapCanvas.Nodes = PUB._mapCanvas.Nodes;
 
                                 // 로그 기록
                                 PUB.log.AddI($"RFID:{PUB.Result.LastTAG} 노드를 자동 추가했습니다 (NodeId: {newNodeId})");
@@ -217,7 +221,7 @@ namespace Project
                 }
 
                 //이 후 상황을 예측한다
-                if (PUB._mapCanvas != null)
+                if (PUB._mapCanvas != null && PUB._virtualAGV != null)
                 {
                     var nextAction = PUB._virtualAGV.Predict();
                     var message = $"[다음 행동 예측]\n\n" +

Cs_HMI/Project/StateMachine/_Xbee.cs

@@ -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.");

Cs_HMI/Project/ViewForm/fAuto.cs

@@ -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>();
+                    if (PUB._mapCanvas.Nodes == null) PUB._mapCanvas.Nodes = new List<MapNode>();
-                    else PUB._mapNodes.Clear();
+                    else PUB._mapCanvas.Nodes.Clear();
-                    PUB._mapNodes.AddRange(result.Nodes);
+                    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);

Cs_HMI/Project/fMain.cs

@@ -61,6 +61,15 @@ namespace Project
             usbdet.DeviceArrived += Usbdet_DeviceArrived;
             usbdet.DeviceRemoved += Usbdet_DeviceRemoved;
 
+
+            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;
+
+
+
             this.panTopMenu.MouseMove += LbTitle_MouseMove;
             this.panTopMenu.MouseUp += LbTitle_MouseUp;
             this.panTopMenu.MouseDown += LbTitle_MouseDown;
@@ -776,7 +785,7 @@ namespace Project
 
             var od = new OpenFileDialog
             {
-                Filter = "AGV Map Files (*.agvmap)|*.agvmap|All Files (*.*)|*.*",
+                Filter = "AGV Map Files (*.agvmap;*.json)|*.agvmap;*.json|All Files (*.*)|*.*",
                 DefaultExt = "agvmap",
                 FileName = PUB._mapCanvas.MapFileName,
             };
@@ -801,24 +810,9 @@ namespace Project
             if (result.Success)
             {
                 var _mapCanvas = PUB._mapCanvas;
-                PUB._mapNodes = result.Nodes;
+                _mapCanvas.SetMapLoadResult(result);
                 PUB.log.Add($"Set _mapNodes");
 
-                // 맵 캔버스에 데이터 설정
-                _mapCanvas.Nodes = result.Nodes;
-                _mapCanvas.Labels = result.Labels;
-                _mapCanvas.Images = result.Images;
-                _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;
-                }
-
                 // 설정에 마지막 맵 파일 경로 저장
                 PUB.setting.LastMapFile = filePath;
                 PUB.setting.Save();
@@ -860,7 +854,7 @@ namespace Project
             }
 
             var _mapCanvas = PUB._mapCanvas;
-            var _mapNodes = PUB._mapNodes;
+          
 
             // 🔥 현재 캔버스 설정을 맵 파일에 저장
             var settings = new MapLoader.MapSettings
@@ -869,7 +863,11 @@ namespace Project
                 ShowGrid = _mapCanvas.ShowGrid
             };
 
-            if (MapLoader.SaveMapToFile(filePath, _mapNodes, _mapCanvas.Labels, _mapCanvas.Images, _mapCanvas.Marks, _mapCanvas.Magnets, settings))
+            if (MapLoader.SaveMapToFile(filePath,
+                _mapCanvas.Nodes, _mapCanvas.Labels,
+                _mapCanvas.Images, _mapCanvas.Marks,
+                _mapCanvas.Magnets,
+                settings))
             {
                 // 설정에 마지막 맵 파일 경로 저장
                 PUB.setting.LastMapFile = filePath;

Cs_HMI/SubProject/AGV/Structure/ErrorFlag.cs

@@ -24,6 +24,12 @@ namespace arDev
                 Charger_pos_error,
                 line_out_error = 4,
 
+                spare_5 ,
+                spare_6 ,
+                spare_7 ,
+                spare_8 ,
+                spare_9 ,
+
                 /// <summary>
                 /// 기동시 자석 감지 에러
                 /// </summary>

Cs_HMI/SubProject/AGV/Structure/Signals.cs

@@ -19,7 +19,7 @@ namespace arDev
             public enum eflag
             {
                 front_gate_out = 0,
-                rear_sensor_out,
+                rear_gte_out,
                 mark_sensor_1,
                 mark_sensor_2,
                 front_left_sensor,
@@ -47,7 +47,7 @@ namespace arDev
             }
 
             public Boolean front_gate_out { get { return GetValue(eflag.front_gate_out); } }
-            public Boolean rear_sensor_out { get { return GetValue(eflag.rear_sensor_out); } }
+            public Boolean rear_sensor_out { get { return GetValue(eflag.rear_gte_out); } }
             public Boolean mark_sensor_1 { get { return GetValue(eflag.mark_sensor_1); } }
             public Boolean mark_sensor_2 { get { return GetValue(eflag.mark_sensor_2); } }
             public Boolean mark_sensor { get { return mark_sensor_1 || mark_sensor_2; } }