fix: 맵 에디터 연결 버그 수정 및 기능 개선

주요 변경사항:
- ConnectedMapNodes 속성 추가로 런타임 객체 참조 지원
- 이미지 에디터 UI 개선 (ImageEditorCanvas 추가)
- 연결 생성 버그 수정: 양방향 연결 생성
- 연결 삭제 버그 수정: 양방향 모두 제거
- CleanupDuplicateConnections 비활성화 (단방향 변환 버그)

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

Co-Authored-By: Claude <noreply@anthropic.com>

Cs_HMI/AGVLogic/AGVMapEditor/AGVMapEditor.csproj

@@ -49,9 +49,15 @@
     </ProjectReference>
   </ItemGroup>
   <ItemGroup>
+    <Compile Include="Controls\ImageEditorCanvas.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
     <Compile Include="Forms\ImageEditorForm.cs">
       <SubType>Form</SubType>
     </Compile>
+    <Compile Include="Forms\ImageEditorForm.Designer.cs">
+      <DependentUpon>ImageEditorForm.cs</DependentUpon>
+    </Compile>
     <Compile Include="Models\EditorSettings.cs" />
     <Compile Include="Models\ImagePathEditor.cs" />
     <Compile Include="Models\MapImage.cs" />
@@ -86,7 +92,6 @@
   </ItemGroup>
   <ItemGroup>
     <Folder Include="Data\" />
-    <Folder Include="Utils\" />
   </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
 </Project>

Cs_HMI/AGVLogic/AGVMapEditor/Controls/ImageEditorCanvas.cs

@@ -0,0 +1,413 @@
+using System;
+using System.Drawing;
+using System.Drawing.Drawing2D;
+using System.Windows.Forms;
+
+namespace AGVMapEditor.Controls
+{
+    /// <summary>
+    /// 이미지 편집용 사용자 정의 캔버스 컨트롤
+    /// 이미지 중앙 정렬, 크기 조정 핸들, 브러시 그리기 기능 제공
+    /// </summary>
+    public class ImageEditorCanvas : UserControl
+    {
+        private Bitmap _editingImage;
+        private Graphics _imageGraphics;
+        private Rectangle _imageRect = Rectangle.Empty;
+        private float _imageDisplayWidth = 0;
+        private float _imageDisplayHeight = 0;
+
+        // 브러시 그리기
+        private bool _isDrawing = false;
+        private Point _lastDrawPoint = Point.Empty;
+        private Color _drawColor = Color.Black;
+        private int _brushSize = 3;
+        private bool _brushModeEnabled = false;
+
+        // 크기 조정
+        private bool _isResizing = false;
+        private ResizeHandle _activeHandle = ResizeHandle.None;
+        private Point _resizeStartPoint = Point.Empty;
+        private float _resizeStartWidth = 0;
+        private float _resizeStartHeight = 0;
+        private const int HANDLE_SIZE = 8;
+
+        private enum ResizeHandle
+        {
+            None,
+            TopLeft, Top, TopRight,
+            Right, BottomRight, Bottom,
+            BottomLeft, Left
+        }
+
+        public ImageEditorCanvas()
+        {
+            this.DoubleBuffered = true;
+            this.BackColor = Color.White;
+            this.AutoScroll = true;
+        }
+
+        #region Properties
+
+        public Bitmap EditingImage
+        {
+            get => _editingImage;
+            set
+            {
+                _editingImage = value;
+                if (_editingImage != null)
+                {
+                    _imageGraphics?.Dispose();
+                    _imageGraphics = Graphics.FromImage(_editingImage);
+                    _imageDisplayWidth = _editingImage.Width;
+                    _imageDisplayHeight = _editingImage.Height;
+                    UpdateImageRect();
+                }
+                Invalidate();
+            }
+        }
+
+        public Color DrawColor
+        {
+            get => _drawColor;
+            set => _drawColor = value;
+        }
+
+        public int BrushSize
+        {
+            get => _brushSize;
+            set => _brushSize = value;
+        }
+
+        public bool BrushModeEnabled
+        {
+            get => _brushModeEnabled;
+            set => _brushModeEnabled = value;
+        }
+
+        public Size ImageDisplaySize => new Size((int)_imageDisplayWidth, (int)_imageDisplayHeight);
+
+        #endregion
+
+        #region Paint
+
+        protected override void OnPaint(PaintEventArgs e)
+        {
+            base.OnPaint(e);
+
+            if (_editingImage == null)
+            {
+                e.Graphics.Clear(BackColor);
+                return;
+            }
+
+            // 배경 채우기
+            e.Graphics.Clear(BackColor);
+
+            // 이미지 영역 업데이트
+            UpdateImageRect();
+
+            // 이미지 그리기 (고품질)
+            e.Graphics.InterpolationMode = InterpolationMode.HighQualityBicubic;
+            e.Graphics.DrawImage(_editingImage, _imageRect);
+
+            // 크기 조정 핸들 그리기
+            DrawResizeHandles(e.Graphics);
+        }
+
+        private void UpdateImageRect()
+        {
+            if (_editingImage == null || Width == 0 || Height == 0)
+            {
+                _imageRect = Rectangle.Empty;
+                return;
+            }
+
+            // 이미지를 중앙 정렬
+            float x = (Width - _imageDisplayWidth) / 2f;
+            float y = (Height - _imageDisplayHeight) / 2f;
+
+            // 음수 방지
+            if (x < 0) x = 0;
+            if (y < 0) y = 0;
+
+            _imageRect = new Rectangle((int)x, (int)y, (int)_imageDisplayWidth, (int)_imageDisplayHeight);
+        }
+
+        private void DrawResizeHandles(Graphics g)
+        {
+            if (_imageRect.IsEmpty)
+                return;
+
+            var handles = GetResizeHandles();
+            foreach (var handle in handles)
+            {
+                g.FillRectangle(Brushes.Blue, handle);
+                g.DrawRectangle(Pens.White, handle);
+            }
+        }
+
+        private Rectangle[] GetResizeHandles()
+        {
+            int x = _imageRect.X;
+            int y = _imageRect.Y;
+            int w = _imageRect.Width;
+            int h = _imageRect.Height;
+            int hs = HANDLE_SIZE;
+
+            return new Rectangle[]
+            {
+                new Rectangle(x - hs/2, y - hs/2, hs, hs),                  // TopLeft
+                new Rectangle(x + w/2 - hs/2, y - hs/2, hs, hs),            // Top
+                new Rectangle(x + w - hs/2, y - hs/2, hs, hs),              // TopRight
+                new Rectangle(x + w - hs/2, y + h/2 - hs/2, hs, hs),        // Right
+                new Rectangle(x + w - hs/2, y + h - hs/2, hs, hs),          // BottomRight
+                new Rectangle(x + w/2 - hs/2, y + h - hs/2, hs, hs),        // Bottom
+                new Rectangle(x - hs/2, y + h - hs/2, hs, hs),              // BottomLeft
+                new Rectangle(x - hs/2, y + h/2 - hs/2, hs, hs)             // Left
+            };
+        }
+
+        #endregion
+
+        #region Mouse Events
+
+        protected override void OnMouseDown(MouseEventArgs e)
+        {
+            base.OnMouseDown(e);
+
+            if (_editingImage == null || e.Button != MouseButtons.Left)
+                return;
+
+            // 크기 조정 핸들 확인
+            _activeHandle = GetHandleAtPoint(e.Location);
+            if (_activeHandle != ResizeHandle.None)
+            {
+                _isResizing = true;
+                _resizeStartPoint = e.Location;
+                _resizeStartWidth = _imageDisplayWidth;
+                _resizeStartHeight = _imageDisplayHeight;
+                return;
+            }
+
+            // 브러시 모드: 그리기
+            if (_brushModeEnabled && _imageRect.Contains(e.Location))
+            {
+                _isDrawing = true;
+                _lastDrawPoint = ImagePointFromScreen(e.Location);
+            }
+        }
+
+        protected override void OnMouseMove(MouseEventArgs e)
+        {
+            base.OnMouseMove(e);
+
+            if (_editingImage == null)
+                return;
+
+            // 크기 조정 중
+            if (_isResizing && _activeHandle != ResizeHandle.None)
+            {
+                ResizeImageDisplay(e.Location);
+                return;
+            }
+
+            // 크기 조정 핸들 위에 마우스가 있으면 커서 변경
+            var handle = GetHandleAtPoint(e.Location);
+            if (handle != ResizeHandle.None)
+            {
+                Cursor = GetCursorForHandle(handle);
+                return;
+            }
+            else
+            {
+                Cursor = Cursors.Default;
+            }
+
+            // 브러시 모드: 그리기
+            if (_isDrawing && _lastDrawPoint != Point.Empty && _brushModeEnabled && _imageRect.Contains(e.Location))
+            {
+                Point currentImagePoint = ImagePointFromScreen(e.Location);
+                _imageGraphics.DrawLine(new Pen(_drawColor, _brushSize), _lastDrawPoint, currentImagePoint);
+                _lastDrawPoint = currentImagePoint;
+                Invalidate();
+            }
+        }
+
+        protected override void OnMouseUp(MouseEventArgs e)
+        {
+            base.OnMouseUp(e);
+
+            if (_isResizing)
+            {
+                _isResizing = false;
+                _activeHandle = ResizeHandle.None;
+            }
+
+            if (_isDrawing)
+            {
+                _isDrawing = false;
+                _lastDrawPoint = Point.Empty;
+            }
+        }
+
+        protected override void OnResize(EventArgs e)
+        {
+            base.OnResize(e);
+            UpdateImageRect();
+            Invalidate();
+        }
+
+        #endregion
+
+        #region Helper Methods
+
+        /// <summary>
+        /// 화면 좌표를 이미지 좌표로 변환
+        /// </summary>
+        private Point ImagePointFromScreen(Point screenPoint)
+        {
+            if (_imageRect.IsEmpty || _editingImage == null)
+                return Point.Empty;
+
+            // 화면 좌표를 이미지 비율로 변환
+            float scaleX = (float)_editingImage.Width / _imageRect.Width;
+            float scaleY = (float)_editingImage.Height / _imageRect.Height;
+
+            int imageX = (int)((screenPoint.X - _imageRect.X) * scaleX);
+            int imageY = (int)((screenPoint.Y - _imageRect.Y) * scaleY);
+
+            return new Point(imageX, imageY);
+        }
+
+        private ResizeHandle GetHandleAtPoint(Point pt)
+        {
+            var handles = GetResizeHandles();
+            var handleTypes = new[]
+            {
+                ResizeHandle.TopLeft, ResizeHandle.Top, ResizeHandle.TopRight,
+                ResizeHandle.Right, ResizeHandle.BottomRight, ResizeHandle.Bottom,
+                ResizeHandle.BottomLeft, ResizeHandle.Left
+            };
+
+            for (int i = 0; i < handles.Length; i++)
+            {
+                if (handles[i].Contains(pt))
+                    return handleTypes[i];
+            }
+
+            return ResizeHandle.None;
+        }
+
+        private Cursor GetCursorForHandle(ResizeHandle handle)
+        {
+            switch (handle)
+            {
+                case ResizeHandle.TopLeft:
+                case ResizeHandle.BottomRight:
+                    return Cursors.SizeNWSE;
+                case ResizeHandle.TopRight:
+                case ResizeHandle.BottomLeft:
+                    return Cursors.SizeNESW;
+                case ResizeHandle.Top:
+                case ResizeHandle.Bottom:
+                    return Cursors.SizeNS;
+                case ResizeHandle.Left:
+                case ResizeHandle.Right:
+                    return Cursors.SizeWE;
+                default:
+                    return Cursors.Default;
+            }
+        }
+
+        private void ResizeImageDisplay(Point currentPoint)
+        {
+            int deltaX = currentPoint.X - _resizeStartPoint.X;
+            int deltaY = currentPoint.Y - _resizeStartPoint.Y;
+
+            float newWidth = _resizeStartWidth;
+            float newHeight = _resizeStartHeight;
+
+            switch (_activeHandle)
+            {
+                case ResizeHandle.TopLeft:
+                    newWidth -= deltaX;
+                    newHeight -= deltaY;
+                    break;
+                case ResizeHandle.Top:
+                    newHeight -= deltaY;
+                    break;
+                case ResizeHandle.TopRight:
+                    newWidth += deltaX;
+                    newHeight -= deltaY;
+                    break;
+                case ResizeHandle.Right:
+                    newWidth += deltaX;
+                    break;
+                case ResizeHandle.BottomRight:
+                    newWidth += deltaX;
+                    newHeight += deltaY;
+                    break;
+                case ResizeHandle.Bottom:
+                    newHeight += deltaY;
+                    break;
+                case ResizeHandle.BottomLeft:
+                    newWidth -= deltaX;
+                    newHeight += deltaY;
+                    break;
+                case ResizeHandle.Left:
+                    newWidth -= deltaX;
+                    break;
+            }
+
+            // 최소 크기 제한
+            if (newWidth < 50) newWidth = 50;
+            if (newHeight < 50) newHeight = 50;
+
+            _imageDisplayWidth = newWidth;
+            _imageDisplayHeight = newHeight;
+
+            UpdateImageRect();
+            Invalidate();
+        }
+
+        /// <summary>
+        /// 표시 크기로 실제 이미지 리사이즈
+        /// </summary>
+        public Bitmap GetResizedImage()
+        {
+            if (_editingImage == null)
+                return null;
+
+            int targetWidth = (int)_imageDisplayWidth;
+            int targetHeight = (int)_imageDisplayHeight;
+
+            // 크기가 같으면 원본 반환
+            if (targetWidth == _editingImage.Width && targetHeight == _editingImage.Height)
+                return new Bitmap(_editingImage);
+
+            // 리사이즈
+            var resized = new Bitmap(targetWidth, targetHeight);
+            using (var g = Graphics.FromImage(resized))
+            {
+                g.CompositingQuality = CompositingQuality.HighQuality;
+                g.InterpolationMode = InterpolationMode.HighQualityBicubic;
+                g.SmoothingMode = SmoothingMode.HighQuality;
+                g.DrawImage(_editingImage, 0, 0, targetWidth, targetHeight);
+            }
+
+            return resized;
+        }
+
+        #endregion
+
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing)
+            {
+                _imageGraphics?.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+    }
+}

Cs_HMI/AGVLogic/AGVMapEditor/Forms/ImageEditorForm.Designer.cs

@@ -0,0 +1,188 @@
+namespace AGVMapEditor.Forms
+{
+    partial class ImageEditorForm
+    {
+        /// <summary>
+        /// Required designer variable.
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary>
+        /// Clean up any resources being used.
+        /// </summary>
+        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Windows Form Designer generated code
+
+        /// <summary>
+        /// Required method for Designer support - do not modify
+        /// the contents of this method with the code editor.
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.toolPanel = new System.Windows.Forms.Panel();
+            this.chkBrushMode = new System.Windows.Forms.CheckBox();
+            this.btnColor = new System.Windows.Forms.Button();
+            this.trackBrush = new System.Windows.Forms.TrackBar();
+            this.lblBrush = new System.Windows.Forms.Label();
+            this.btnSave = new System.Windows.Forms.Button();
+            this.btnResize = new System.Windows.Forms.Button();
+            this.btnOpen = new System.Windows.Forms.Button();
+            this.canvasPanel = new System.Windows.Forms.Panel();
+            this.imageCanvas = new AGVMapEditor.Controls.ImageEditorCanvas();
+            this.toolPanel.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.trackBrush)).BeginInit();
+            this.canvasPanel.SuspendLayout();
+            this.SuspendLayout();
+            //
+            // toolPanel
+            //
+            this.toolPanel.BackColor = System.Drawing.Color.LightGray;
+            this.toolPanel.Controls.Add(this.chkBrushMode);
+            this.toolPanel.Controls.Add(this.btnColor);
+            this.toolPanel.Controls.Add(this.trackBrush);
+            this.toolPanel.Controls.Add(this.lblBrush);
+            this.toolPanel.Controls.Add(this.btnSave);
+            this.toolPanel.Controls.Add(this.btnResize);
+            this.toolPanel.Controls.Add(this.btnOpen);
+            this.toolPanel.Dock = System.Windows.Forms.DockStyle.Top;
+            this.toolPanel.Location = new System.Drawing.Point(0, 0);
+            this.toolPanel.Name = "toolPanel";
+            this.toolPanel.Size = new System.Drawing.Size(800, 50);
+            this.toolPanel.TabIndex = 0;
+            //
+            // chkBrushMode
+            //
+            this.chkBrushMode.AutoSize = true;
+            this.chkBrushMode.Location = new System.Drawing.Point(590, 15);
+            this.chkBrushMode.Name = "chkBrushMode";
+            this.chkBrushMode.Size = new System.Drawing.Size(96, 16);
+            this.chkBrushMode.TabIndex = 6;
+            this.chkBrushMode.Text = "브러시 모드";
+            this.chkBrushMode.UseVisualStyleBackColor = true;
+            //
+            // btnColor
+            //
+            this.btnColor.BackColor = System.Drawing.Color.Black;
+            this.btnColor.ForeColor = System.Drawing.Color.White;
+            this.btnColor.Location = new System.Drawing.Point(520, 10);
+            this.btnColor.Name = "btnColor";
+            this.btnColor.Size = new System.Drawing.Size(60, 23);
+            this.btnColor.TabIndex = 5;
+            this.btnColor.Text = "색상";
+            this.btnColor.UseVisualStyleBackColor = false;
+            this.btnColor.Click += new System.EventHandler(this.BtnColor_Click);
+            //
+            // trackBrush
+            //
+            this.trackBrush.Location = new System.Drawing.Point(410, 10);
+            this.trackBrush.Maximum = 20;
+            this.trackBrush.Minimum = 1;
+            this.trackBrush.Name = "trackBrush";
+            this.trackBrush.Size = new System.Drawing.Size(100, 45);
+            this.trackBrush.TabIndex = 4;
+            this.trackBrush.Value = 3;
+            this.trackBrush.ValueChanged += new System.EventHandler(this.TrackBrush_ValueChanged);
+            //
+            // lblBrush
+            //
+            this.lblBrush.AutoSize = true;
+            this.lblBrush.Location = new System.Drawing.Point(350, 15);
+            this.lblBrush.Name = "lblBrush";
+            this.lblBrush.Size = new System.Drawing.Size(54, 12);
+            this.lblBrush.TabIndex = 3;
+            this.lblBrush.Text = "브러시:";
+            //
+            // btnSave
+            //
+            this.btnSave.Location = new System.Drawing.Point(230, 10);
+            this.btnSave.Name = "btnSave";
+            this.btnSave.Size = new System.Drawing.Size(100, 23);
+            this.btnSave.TabIndex = 2;
+            this.btnSave.Text = "저장 및 닫기";
+            this.btnSave.UseVisualStyleBackColor = true;
+            this.btnSave.Click += new System.EventHandler(this.BtnSave_Click);
+            //
+            // btnResize
+            //
+            this.btnResize.Location = new System.Drawing.Point(120, 10);
+            this.btnResize.Name = "btnResize";
+            this.btnResize.Size = new System.Drawing.Size(100, 23);
+            this.btnResize.TabIndex = 1;
+            this.btnResize.Text = "크기 조정";
+            this.btnResize.UseVisualStyleBackColor = true;
+            this.btnResize.Click += new System.EventHandler(this.BtnResize_Click);
+            //
+            // btnOpen
+            //
+            this.btnOpen.Location = new System.Drawing.Point(10, 10);
+            this.btnOpen.Name = "btnOpen";
+            this.btnOpen.Size = new System.Drawing.Size(100, 23);
+            this.btnOpen.TabIndex = 0;
+            this.btnOpen.Text = "이미지 열기";
+            this.btnOpen.UseVisualStyleBackColor = true;
+            this.btnOpen.Click += new System.EventHandler(this.BtnOpen_Click);
+            //
+            // canvasPanel
+            //
+            this.canvasPanel.AutoScroll = true;
+            this.canvasPanel.BackColor = System.Drawing.Color.White;
+            this.canvasPanel.Controls.Add(this.imageCanvas);
+            this.canvasPanel.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.canvasPanel.Location = new System.Drawing.Point(0, 50);
+            this.canvasPanel.Name = "canvasPanel";
+            this.canvasPanel.Size = new System.Drawing.Size(800, 550);
+            this.canvasPanel.TabIndex = 1;
+            //
+            // imageCanvas
+            //
+            this.imageCanvas.BackColor = System.Drawing.Color.White;
+            this.imageCanvas.BrushModeEnabled = false;
+            this.imageCanvas.BrushSize = 3;
+            this.imageCanvas.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.imageCanvas.DrawColor = System.Drawing.Color.Black;
+            this.imageCanvas.Location = new System.Drawing.Point(0, 0);
+            this.imageCanvas.Name = "imageCanvas";
+            this.imageCanvas.Size = new System.Drawing.Size(800, 550);
+            this.imageCanvas.TabIndex = 0;
+            //
+            // ImageEditorForm
+            //
+            this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.ClientSize = new System.Drawing.Size(800, 600);
+            this.Controls.Add(this.canvasPanel);
+            this.Controls.Add(this.toolPanel);
+            this.Name = "ImageEditorForm";
+            this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
+            this.Text = "이미지 편집기";
+            this.toolPanel.ResumeLayout(false);
+            this.toolPanel.PerformLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.trackBrush)).EndInit();
+            this.canvasPanel.ResumeLayout(false);
+            this.ResumeLayout(false);
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.Panel toolPanel;
+        private System.Windows.Forms.Button btnOpen;
+        private System.Windows.Forms.Button btnResize;
+        private System.Windows.Forms.Button btnSave;
+        private System.Windows.Forms.Label lblBrush;
+        private System.Windows.Forms.TrackBar trackBrush;
+        private System.Windows.Forms.Button btnColor;
+        private System.Windows.Forms.CheckBox chkBrushMode;
+        private System.Windows.Forms.Panel canvasPanel;
+        private AGVMapEditor.Controls.ImageEditorCanvas imageCanvas;
+    }
+}

Cs_HMI/AGVLogic/AGVMapEditor/Forms/ImageEditorForm.cs

@@ -1,7 +1,6 @@
 using System;
 using System.Drawing;
 using System.Drawing.Drawing2D;
-using System.Linq;
 using System.Windows.Forms;
 using AGVNavigationCore.Models;
 using AGVNavigationCore.Utils;
@@ -14,17 +13,11 @@ namespace AGVMapEditor.Forms
     /// </summary>
     public partial class ImageEditorForm : Form
     {
-        private Bitmap _editingImage;
-        private Graphics _graphics;
-        private bool _isDrawing = false;
-        private Point _lastPoint = Point.Empty;
-        private Color _drawColor = Color.Black;
-        private int _brushSize = 3;
         private MapNode _targetNode;
 
         public ImageEditorForm(MapNode imageNode = null)
         {
-            //InitializeComponent();
+            InitializeComponent();
             _targetNode = imageNode;
             SetupUI();
 
@@ -36,64 +29,25 @@ namespace AGVMapEditor.Forms
 
         private void SetupUI()
         {
-            this.Text = "이미지 편집기";
+            // 캔버스 초기 설정
-            this.Size = new Size(800, 600);
+            imageCanvas.BrushSize = trackBrush.Value;
-            this.StartPosition = FormStartPosition.CenterScreen;
+            imageCanvas.BrushModeEnabled = chkBrushMode.Checked;
+            imageCanvas.BackColor = Color.FromArgb(32,32,32);
 
-            // 패널: 도구 모음
+            // 이벤트 연결
-            var toolPanel = new Panel { Dock = DockStyle.Top, Height = 50, BackColor = Color.LightGray };
+            chkBrushMode.CheckedChanged += (s, e) => imageCanvas.BrushModeEnabled = chkBrushMode.Checked;
+        }
 
-            // 버튼: 이미지 열기
+        private void TrackBrush_ValueChanged(object sender, EventArgs e)
-            var btnOpen = new Button { Text = "이미지 열기", Width = 100, Left = 10, Top = 10 };
+        {
-            btnOpen.Click += BtnOpen_Click;
+            imageCanvas.BrushSize = trackBrush.Value;
-            toolPanel.Controls.Add(btnOpen);
-
-            // 버튼: 크기 조정
-            var btnResize = new Button { Text = "크기 조정", Width = 100, Left = 120, Top = 10 };
-            btnResize.Click += BtnResize_Click;
-            toolPanel.Controls.Add(btnResize);
-
-            // 버튼: 저장
-            var btnSave = new Button { Text = "저장 및 닫기", Width = 100, Left = 230, Top = 10 };
-            btnSave.Click += BtnSave_Click;
-            toolPanel.Controls.Add(btnSave);
-
-            // 라벨: 브러시 크기
-            var lblBrush = new Label { Text = "브러시:", Left = 350, Top = 15, Width = 50 };
-            toolPanel.Controls.Add(lblBrush);
-
-            // 트랙바: 브러시 크기 조절
-            var trackBrush = new TrackBar { Left = 410, Top = 10, Width = 100, Minimum = 1, Maximum = 20, Value = 3 };
-            trackBrush.ValueChanged += (s, e) => _brushSize = trackBrush.Value;
-            toolPanel.Controls.Add(trackBrush);
-
-            // 버튼: 색상 선택
-            var btnColor = new Button { Text = "색상", Width = 60, Left = 520, Top = 10, BackColor = Color.Black, ForeColor = Color.White };
-            btnColor.Click += BtnColor_Click;
-            toolPanel.Controls.Add(btnColor);
-
-            // 패널: 캔버스
-            var canvasPanel = new Panel { Dock = DockStyle.Fill, AutoScroll = true, BackColor = Color.White };
-            var pictureBox = new PictureBox { SizeMode = PictureBoxSizeMode.AutoSize };
-            pictureBox.Name = "pictureBoxCanvas";
-            pictureBox.MouseDown += PictureBox_MouseDown;
-            pictureBox.MouseMove += PictureBox_MouseMove;
-            pictureBox.MouseUp += PictureBox_MouseUp;
-            canvasPanel.Controls.Add(pictureBox);
-
-            this.Controls.Add(canvasPanel);
-            this.Controls.Add(toolPanel);
         }
 
         private void LoadImageFromNode(MapNode node)
         {
             if (node.LoadedImage != null)
             {
-                _editingImage?.Dispose();
+                imageCanvas.EditingImage = new Bitmap(node.LoadedImage);
-                _graphics?.Dispose();
-                _editingImage = new Bitmap(node.LoadedImage);
-                _graphics = Graphics.FromImage(_editingImage);
-                UpdateCanvas();
             }
         }
 
@@ -112,25 +66,22 @@ namespace AGVMapEditor.Forms
         {
             try
             {
-                _editingImage?.Dispose();
-                _graphics?.Dispose();
-
                 var loadedImage = Image.FromFile(filePath);
 
                 // 이미지 크기가 크면 자동 축소 (최대 512x512)
+                Bitmap finalImage;
                 if (loadedImage.Width > 512 || loadedImage.Height > 512)
                 {
-                    _editingImage = ResizeImage(loadedImage, 512, 512);
+                    finalImage = ResizeImage(loadedImage, 512, 512);
                     loadedImage.Dispose();
                 }
                 else
                 {
-                    _editingImage = new Bitmap(loadedImage);
+                    finalImage = new Bitmap(loadedImage);
                     loadedImage.Dispose();
                 }
 
-                _graphics = Graphics.FromImage(_editingImage);
+                imageCanvas.EditingImage = finalImage;
-                UpdateCanvas();
             }
             catch (Exception ex)
             {
@@ -140,12 +91,14 @@ namespace AGVMapEditor.Forms
 
         private void BtnResize_Click(object sender, EventArgs e)
         {
-            if (_editingImage == null)
+            if (imageCanvas.EditingImage == null)
             {
                 MessageBox.Show("먼저 이미지를 로드하세요.");
                 return;
             }
 
+            var currentSize = imageCanvas.ImageDisplaySize;
+
             using (var form = new Form())
             {
                 form.Text = "이미지 크기 조정";
@@ -153,10 +106,10 @@ namespace AGVMapEditor.Forms
                 form.StartPosition = FormStartPosition.CenterParent;
 
                 var lblWidth = new Label { Text = "너비:", Left = 10, Top = 10, Width = 50 };
-                var txtWidth = new TextBox { Left = 70, Top = 10, Width = 100, Text = _editingImage.Width.ToString() };
+                var txtWidth = new TextBox { Left = 70, Top = 10, Width = 100, Text = currentSize.Width.ToString() };
 
                 var lblHeight = new Label { Text = "높이:", Left = 10, Top = 40, Width = 50 };
-                var txtHeight = new TextBox { Left = 70, Top = 40, Width = 100, Text = _editingImage.Height.ToString() };
+                var txtHeight = new TextBox { Left = 70, Top = 40, Width = 100, Text = currentSize.Height.ToString() };
 
                 var btnOk = new Button { Text = "적용", DialogResult = DialogResult.OK, Left = 70, Top = 70, Width = 100 };
                 var btnCancel = new Button { Text = "취소", DialogResult = DialogResult.Cancel, Left = 180, Top = 70, Width = 70 };
@@ -174,12 +127,8 @@ namespace AGVMapEditor.Forms
                     {
                         if (width > 0 && height > 0)
                         {
-                            _graphics?.Dispose();
+                            var resized = new Bitmap(imageCanvas.EditingImage, width, height);
-                            var resized = new Bitmap(_editingImage, width, height);
+                            imageCanvas.EditingImage = resized;
-                            _editingImage.Dispose();
-                            _editingImage = resized;
-                            _graphics = Graphics.FromImage(_editingImage);
-                            UpdateCanvas();
                         }
                     }
                 }
@@ -188,19 +137,19 @@ namespace AGVMapEditor.Forms
 
         private void BtnColor_Click(object sender, EventArgs e)
         {
-            using (var cfd = new ColorDialog { Color = _drawColor })
+            using (var cfd = new ColorDialog { Color = imageCanvas.DrawColor })
             {
                 if (cfd.ShowDialog() == DialogResult.OK)
                 {
-                    _drawColor = cfd.Color;
+                    imageCanvas.DrawColor = cfd.Color;
-                    (sender as Button).BackColor = _drawColor;
+                    (sender as Button).BackColor = cfd.Color;
                 }
             }
         }
 
         private void BtnSave_Click(object sender, EventArgs e)
         {
-            if (_editingImage == null)
+            if (imageCanvas.EditingImage == null)
             {
                 MessageBox.Show("저장할 이미지가 없습니다.");
                 return;
@@ -208,10 +157,22 @@ namespace AGVMapEditor.Forms
 
             if (_targetNode != null && _targetNode.Type == NodeType.Image)
             {
+                // 표시 크기로 리사이즈된 이미지 가져오기
+                var finalImage = imageCanvas.GetResizedImage();
+
+                if (finalImage == null)
+                {
+                    MessageBox.Show("이미지 처리 중 오류가 발생했습니다.");
+                    return;
+                }
+
+                var displaySize = imageCanvas.ImageDisplaySize;
+                MessageBox.Show($"이미지 크기: {displaySize.Width}x{displaySize.Height}로 저장됩니다.");
+
                 // 이미지를 Base64로 변환하여 저장
-                _targetNode.ImageBase64 = ImageConverterUtil.ImageToBase64(_editingImage, System.Drawing.Imaging.ImageFormat.Png);
+                _targetNode.ImageBase64 = ImageConverterUtil.ImageToBase64(finalImage, System.Drawing.Imaging.ImageFormat.Png);
                 _targetNode.LoadedImage?.Dispose();
-                _targetNode.LoadedImage = new Bitmap(_editingImage);
+                _targetNode.LoadedImage = finalImage;
 
                 MessageBox.Show("이미지가 저장되었습니다.");
                 this.DialogResult = DialogResult.OK;
@@ -219,41 +180,6 @@ namespace AGVMapEditor.Forms
             }
         }
 
-        private void PictureBox_MouseDown(object sender, MouseEventArgs e)
-        {
-            if (_editingImage != null && e.Button == MouseButtons.Left)
-            {
-                _isDrawing = true;
-                _lastPoint = e.Location;
-            }
-        }
-
-        private void PictureBox_MouseMove(object sender, MouseEventArgs e)
-        {
-            if (_isDrawing && _lastPoint != Point.Empty)
-            {
-                _graphics.DrawLine(new Pen(_drawColor, _brushSize), _lastPoint, e.Location);
-                _lastPoint = e.Location;
-                UpdateCanvas();
-            }
-        }
-
-        private void PictureBox_MouseUp(object sender, MouseEventArgs e)
-        {
-            _isDrawing = false;
-            _lastPoint = Point.Empty;
-        }
-
-        private void UpdateCanvas()
-        {
-            var pictureBox = this.Controls.Find("pictureBoxCanvas", true).FirstOrDefault() as PictureBox;
-            if (pictureBox != null)
-            {
-                pictureBox.Image?.Dispose();
-                pictureBox.Image = new Bitmap(_editingImage);
-            }
-        }
-
         private Bitmap ResizeImage(Image image, int maxWidth, int maxHeight)
         {
             double ratioX = (double)maxWidth / image.Width;
@@ -273,15 +199,5 @@ namespace AGVMapEditor.Forms
             }
             return resized;
         }
-
-        protected override void Dispose(bool disposing)
-        {
-            if (disposing)
-            {
-                _editingImage?.Dispose();
-                _graphics?.Dispose();
-            }
-            base.Dispose(disposing);
-        }
     }
 }

Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.cs

@@ -1186,14 +1186,25 @@ namespace AGVMapEditor.Forms
 
                     if (fromNode != null && toNode != null)
                     {
-                        // 단일 연결 삭제 (어느 방향에 저장되어 있는지 확인 후 삭제)
+                        // 양방향 연결 삭제 (양쪽 방향 모두 제거)
+                        bool removed = false;
+
                         if (fromNode.ConnectedNodes.Contains(toNode.NodeId))
                         {
                             fromNode.RemoveConnection(toNode.NodeId);
+                            removed = true;
                         }
-                        else if (toNode.ConnectedNodes.Contains(fromNode.NodeId))
+
+                        if (toNode.ConnectedNodes.Contains(fromNode.NodeId))
                         {
                             toNode.RemoveConnection(fromNode.NodeId);
+                            removed = true;
+                        }
+
+                        if (!removed)
+                        {
+                            MessageBox.Show("연결을 찾을 수 없습니다.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Warning);
+                            return;
                         }
 
                         _hasChanges = true;

Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Events.cs

@@ -101,11 +101,10 @@ namespace AGVNavigationCore.Controls
 
             foreach (var node in _nodes)
             {
-                if (node.ConnectedNodes == null) continue;
+                if (node.ConnectedMapNodes == null) continue;
 
-                foreach (var connectedNodeId in node.ConnectedNodes)
+                foreach (var targetNode in node.ConnectedMapNodes)
                 {
-                    var targetNode = _nodes.FirstOrDefault(n => n.NodeId == connectedNodeId);
                     if (targetNode == null) continue;
 
                     DrawConnection(g, node, targetNode);
@@ -302,7 +301,7 @@ namespace AGVNavigationCore.Controls
                 if (node == null) continue;
 
                 // 교차로 판정: 3개 이상의 노드가 연결된 경우
-                if (node.ConnectedNodes != null && node.ConnectedNodes.Count >= JUNCTION_CONNECTIONS)
+                if (node.ConnectedMapNodes != null && node.ConnectedMapNodes.Count >= JUNCTION_CONNECTIONS)
                 {
                     DrawJunctionHighlight(g, node);
                 }

Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Mouse.cs

@@ -567,15 +567,9 @@ namespace AGVNavigationCore.Controls
                 toNode.ConnectedNodes.Contains(fromNode.NodeId))
                 return;
 
-            // 단일 연결 생성 (사전순으로 정렬하여 일관성 유지)
+            // 양방향 연결 생성 (AGV가 양쪽 방향으로 이동 가능하도록)
-            if (string.Compare(fromNode.NodeId, toNode.NodeId, StringComparison.Ordinal) < 0)
+            fromNode.AddConnection(toNode.NodeId);
-            {
+            toNode.AddConnection(fromNode.NodeId);
-                fromNode.AddConnection(toNode.NodeId);
-            }
-            else
-            {
-                toNode.AddConnection(fromNode.NodeId);
-            }
 
             MapChanged?.Invoke(this, EventArgs.Empty);
         }

Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapLoader.cs

@@ -78,12 +78,13 @@ namespace AGVNavigationCore.Models
                     // 중복된 NodeId 정리
                     FixDuplicateNodeIds(result.Nodes);
 
-                    // 중복 연결 정리 (양방향 중복 제거)
-                    CleanupDuplicateConnections(result.Nodes);
-
                     // 양방향 연결 자동 설정 (A→B가 있으면 B→A도 설정)
+                    // 주의: CleanupDuplicateConnections()는 제거됨 - 양방향 연결을 단방향으로 변환하는 버그가 있었음
                     EnsureBidirectionalConnections(result.Nodes);
 
+                    // ConnectedMapNodes 채우기 (string ID → MapNode 객체 참조)
+                    ResolveConnectedMapNodes(result.Nodes);
+
                     // 이미지 노드들의 이미지 로드
                     LoadImageNodes(result.Nodes);
 
@@ -145,6 +146,35 @@ namespace AGVNavigationCore.Models
             }
         }
 
+        /// <summary>
+        /// ConnectedMapNodes 채우기 (ConnectedNodes의 string ID → MapNode 객체 변환)
+        /// </summary>
+        /// <param name="mapNodes">맵 노드 목록</param>
+        private static void ResolveConnectedMapNodes(List<MapNode> mapNodes)
+        {
+            if (mapNodes == null || mapNodes.Count == 0) return;
+
+            // 빠른 조회를 위한 Dictionary 생성
+            var nodeDict = mapNodes.ToDictionary(n => n.NodeId, n => n);
+
+            foreach (var node in mapNodes)
+            {
+                // ConnectedMapNodes 초기화
+                node.ConnectedMapNodes.Clear();
+
+                if (node.ConnectedNodes != null && node.ConnectedNodes.Count > 0)
+                {
+                    foreach (var connectedNodeId in node.ConnectedNodes)
+                    {
+                        if (nodeDict.TryGetValue(connectedNodeId, out var connectedNode))
+                        {
+                            node.ConnectedMapNodes.Add(connectedNode);
+                        }
+                    }
+                }
+            }
+        }
+
         /// <summary>
         /// 기존 Description 데이터를 Name 필드로 마이그레이션
         /// JSON 파일에서 Description 필드가 있는 경우 Name으로 이동
@@ -269,9 +299,12 @@ namespace AGVNavigationCore.Models
         }
 
         /// <summary>
-        /// 중복 연결을 정리합니다. 양방향 중복 연결을 단일 연결로 통합합니다.
+        /// [사용 중지됨] 중복 연결을 정리합니다. 양방향 중복 연결을 단일 연결로 통합합니다.
+        /// 주의: 이 함수는 버그가 있어 사용 중지됨 - 양방향 연결을 단방향으로 변환하여 경로 탐색 실패 발생
+        /// AGV 시스템에서는 모든 연결이 양방향이어야 하므로 EnsureBidirectionalConnections()만 사용
         /// </summary>
         /// <param name="mapNodes">맵 노드 목록</param>
+        [Obsolete("이 함수는 양방향 연결을 단방향으로 변환하는 버그가 있습니다. 사용하지 마세요.")]
         private static void CleanupDuplicateConnections(List<MapNode> mapNodes)
         {
             if (mapNodes == null || mapNodes.Count == 0) return;

Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapNode.cs

@@ -44,6 +44,12 @@ namespace AGVNavigationCore.Models
         /// </summary>
         public List<string> ConnectedNodes { get; set; } = new List<string>();
 
+        /// <summary>
+        /// 연결된 노드 객체 목록 (런타임 전용, JSON 무시)
+        /// </summary>
+        [Newtonsoft.Json.JsonIgnore]
+        public List<MapNode> ConnectedMapNodes { get; set; } = new List<MapNode>();
+
         /// <summary>
         /// 회전 가능 여부 (180도 회전 가능한 지점)
         /// </summary>

Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Analysis/JunctionAnalyzer.cs

@@ -92,15 +92,18 @@ namespace AGVNavigationCore.PathFinding.Analysis
             var connected = new HashSet<string>();
 
             // 직접 연결된 노드들
-            foreach (var connectedId in node.ConnectedNodes)
+            foreach (var connectedNode in node.ConnectedMapNodes)
             {
-                connected.Add(connectedId);
+                if (connectedNode != null)
+                {
+                    connected.Add(connectedNode.NodeId);
+                }
             }
 
             // 역방향 연결된 노드들 (다른 노드에서 이 노드로 연결)
             foreach (var otherNode in _mapNodes)
             {
-                if (otherNode.NodeId != node.NodeId && otherNode.ConnectedNodes.Contains(node.NodeId))
+                if (otherNode.NodeId != node.NodeId && otherNode.ConnectedMapNodes.Any(n => n.NodeId == node.NodeId))
                 {
                     connected.Add(otherNode.NodeId);
                 }

Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Core/AStarPathfinder.cs

@@ -66,17 +66,17 @@ namespace AGVNavigationCore.PathFinding.Core
                 {
                     var pathNode = _nodeMap[mapNode.NodeId];
 
-                    foreach (var connectedNode in mapNode.ConnectedNodes)
+                    foreach (var connectedNode in mapNode.ConnectedMapNodes)
                     {
-                        if (_nodeMap.ContainsKey(connectedNode))
+                        if (connectedNode != null && _nodeMap.ContainsKey(connectedNode.NodeId))
                         {
                             // 양방향 연결 생성 (단일 연결이 양방향을 의미)
-                            if (!pathNode.ConnectedNodes.Contains(connectedNode))
+                            if (!pathNode.ConnectedNodes.Contains(connectedNode.NodeId))
                             {
-                                pathNode.ConnectedNodes.Add(connectedNode);
+                                pathNode.ConnectedNodes.Add(connectedNode.NodeId);
                             }
 
-                            var connectedPathNode = _nodeMap[connectedNode];
+                            var connectedPathNode = _nodeMap[connectedNode.NodeId];
                             if (!connectedPathNode.ConnectedNodes.Contains(mapNode.NodeId))
                             {
                                 connectedPathNode.ConnectedNodes.Add(mapNode.NodeId);

Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/AGVPathfinder.cs

@@ -50,9 +50,13 @@ namespace AGVNavigationCore.PathFinding.Planning
                 n.IsNavigationNode() &&
                 n.ConnectedNodes != null &&
                 n.ConnectedNodes.Count >= 3 &&
+                n.ConnectedMapNodes.Where(t => t.Type == NodeType.Docking || t.Type == NodeType.Charging).Any() == false &&
                 n.NodeId != startNode.NodeId
             ).ToList();
 
+            // docking 포인트가 연결된 노드는 제거한다.
+
+
             if (junctions.Count == 0)
                 return null;
 
@@ -96,7 +100,8 @@ namespace AGVNavigationCore.PathFinding.Planning
                     pathNode.IsActive &&
                     pathNode.IsNavigationNode() &&
                     pathNode.ConnectedNodes != null &&
-                    pathNode.ConnectedNodes.Count >= 3)
+                    pathNode.ConnectedNodes.Count >= 3 &&
+                    pathNode.ConnectedMapNodes.Where(t => t.Type == NodeType.Docking || t.Type == NodeType.Charging).Any() == false)
                 {
                     if (pathNode.NodeId.Equals(StartNode.NodeId) == false)
                         return pathNode;
@@ -107,7 +112,7 @@ namespace AGVNavigationCore.PathFinding.Planning
         }
 
         public AGVPathResult FindPath_test(MapNode startNode, MapNode targetNode,
-            MapNode prevNode, AgvDirection prevDirection, AgvDirection currentDirection)
+            MapNode prevNode, AgvDirection prevDirection, AgvDirection currentDirection, bool crossignore = false)
         {
             // 입력 검증
             if (startNode == null)
@@ -117,7 +122,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             if (prevNode == null)
                 return AGVPathResult.CreateFailure("이전위치 노드가 null입니다.", 0, 0);
             if (startNode.NodeId == targetNode.NodeId && targetNode.DockDirection.MatchAGVDirection(prevDirection))
-                return AGVPathResult.CreateFailure("목적지와 현재위치가 동일합니다.", 0, 0);
+                return AGVPathResult.CreateSuccess(new List<MapNode> { startNode,startNode }, new List<AgvDirection>(), 0, 0);
 
             var ReverseDirection = (currentDirection == AgvDirection.Forward ? AgvDirection.Backward : AgvDirection.Forward);
 
@@ -203,6 +208,39 @@ namespace AGVNavigationCore.PathFinding.Planning
             //    return pathResult;
             //}
 
+            //현재 내 포인트가 교차로라면.. 무조건 왓던 방향 혹은 그 반대방향으로 이동해서 경로를 계산해야한다.
+            //교차로에 멈춰있을때에는 바로 방향전환을 할 수없으니. 정/역(straight)로 이동해서 다시 계산을 해야한다
+            if (crossignore == false && startNode.ConnectedNodes.Count > 2)
+            {
+                //진행방향으로 이동했을때 나오는 노드를 사용한다.
+                if (nextNodeForward != null)
+                {
+                    var Path0 = _basicPathfinder.FindPath(startNode.NodeId, nextNodeForward.NodeId);
+                    Path0.PrevNode = prevNode;
+                    Path0.PrevDirection = prevDirection;
+                    MakeDetailData(Path0, prevDirection);
+
+                    var Path1 = FindPath_test(nextNodeForward, targetNode, startNode, prevDirection, currentDirection, true);
+                    Path1.PrevNode = startNode;
+                    Path1.PrevDirection = prevDirection;
+                    //MakeDetailData(Path1, ReverseDirection);
+
+                    var combinedResult0 = Path0;
+                    combinedResult0 = _basicPathfinder.CombineResults(combinedResult0, Path1);
+                    MakeMagnetDirection(combinedResult0);
+                    return combinedResult0;
+                }
+                else if (nextNodeBackward != null)
+                {
+                    return AGVPathResult.CreateFailure("backward 처리코드가 없습니다 오류", 0, 0);
+                }
+                else
+                {
+                    return AGVPathResult.CreateFailure("교차로에서 시작하는 조건중 forward/backrad 노드 검색 실패", 0, 0);
+                }
+            }
+
+
             //3. 도킹방향이 일치하지 않으니 교차로에서 방향을 회전시켜야 한다
             //최단거리(=minpath)경로에 속하는 교차로가 있다면 그것을 사용하고 없다면 가장 가까운 교차로를 찾는다.
             var JunctionInPath = FindNearestJunctionOnPath(pathResult);
@@ -224,19 +262,23 @@ namespace AGVNavigationCore.PathFinding.Planning
             path1.PrevNode = prevNode;
             path1.PrevDirection = prevDirection;
 
-            //다음좌표를 보고 교차로가 진행방향인지 반대방향인지 체크한다.(!모터의 정/역방향을 말하는것이 아님)
+            //다음좌표를 보고 교차로가 진행방향인지 반대방향인지 체크한다.
             bool ReverseCheck = false;
-            if (path1.Path.Count > 1 && nextNodeForward != null && nextNodeForward.NodeId.Equals(path1.Path[1].NodeId))
+            //if (path1.Path.Count > 1 && nextNodeForward != null && nextNodeForward.NodeId.Equals(path1.Path[1].NodeId))
-            {
+            //{
-                ReverseCheck = false; //현재 진행 방향으로 이동해야한다
+            //    ReverseCheck = false; //현재 진행 방향으로 이동해야한다
-                MakeDetailData(path1, currentDirection); // path1의 상세 경로 정보 채우기 (모터 방향 설정)
+            //    MakeDetailData(path1, currentDirection); // path1의 상세 경로 정보 채우기 (모터 방향 설정)
-            }
+            //}
-            else if (path1.Path.Count > 1 && nextNodeBackward != null && nextNodeBackward.NodeId.Equals(path1.Path[1].NodeId))
+            if (path1.Path.Count > 1 && nextNodeBackward != null && nextNodeBackward.NodeId.Equals(path1.Path[1].NodeId))
             {
                 ReverseCheck = true;    //현재 방향의 반대방향으로 이동해야한다
                 MakeDetailData(path1, ReverseDirection); // path1의 상세 경로 정보 채우기 (모터 방향 설정)
             }
-            else return AGVPathResult.CreateFailure("교차로까지 계산된 경로에 현재 위치정보로 추측을 할 수 없습니다", 0, 0);
+            else
+            {
+                ReverseCheck = false; //현재 진행 방향으로 이동해야한다
+                MakeDetailData(path1, currentDirection); // path1의 상세 경로 정보 채우기 (모터 방향 설정)
+            }
 
 
 

Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/DirectionChangePlanner.cs

@@ -232,15 +232,18 @@ namespace AGVNavigationCore.PathFinding.Planning
             var connected = new HashSet<string>();
 
             // 직접 연결
-            foreach (var connectedId in node.ConnectedNodes)
+            foreach (var connectedNode in node.ConnectedMapNodes)
             {
-                connected.Add(connectedId);
+                if (connectedNode != null)
+                {
+                    connected.Add(connectedNode.NodeId);
+                }
             }
 
             // 역방향 연결
             foreach (var otherNode in _mapNodes)
             {
-                if (otherNode.NodeId != nodeId && otherNode.ConnectedNodes.Contains(nodeId))
+                if (otherNode.NodeId != nodeId && otherNode.ConnectedMapNodes.Any(n => n.NodeId == nodeId))
                 {
                     connected.Add(otherNode.NodeId);
                 }
@@ -728,9 +731,9 @@ namespace AGVNavigationCore.PathFinding.Planning
                 string currentNode = path[i].NodeId;
                 string nextNode = path[i + 1].NodeId;
 
-                // 두 노드간 직접 연결성 확인 (맵 노드의 ConnectedNodes 리스트 사용)
+                // 두 노드간 직접 연결성 확인 (맵 노드의 ConnectedMapNodes 리스트 사용)
                 var currentMapNode = _mapNodes.FirstOrDefault(n => n.NodeId == currentNode);
-                if (currentMapNode == null || !currentMapNode.ConnectedNodes.Contains(nextNode))
+                if (currentMapNode == null || !currentMapNode.ConnectedMapNodes.Any(n => n.NodeId == nextNode))
                 {
                     return PathValidationResult.CreateInvalid(currentNode, nextNode, $"노드 {currentNode}와 {nextNode} 사이에 연결이 없음");
                 }

Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DirectionalHelper.cs

@@ -69,22 +69,18 @@ namespace AGVNavigationCore.Utils
             InitializeJunctionAnalyzer(allNodes);
 
             // 현재 노드에 연결된 노드들 중 이전 노드가 아닌 노드들만 필터링
-            var connectedNodeIds = currentNode.ConnectedNodes;
+            var connectedMapNodes = currentNode.ConnectedMapNodes;
-            if (connectedNodeIds == null || connectedNodeIds.Count == 0)
+            if (connectedMapNodes == null || connectedMapNodes.Count == 0)
                 return null;
 
             List<MapNode> candidateNodes = new List<MapNode>();
             if (prevDirection == direction)
             {
-                candidateNodes = allNodes.Where(n => n.NodeId != prevNode.NodeId &&
+                candidateNodes = connectedMapNodes.Where(n => n.NodeId != prevNode.NodeId).ToList();
-                connectedNodeIds.Contains(n.NodeId)
-                ).ToList();
             }
             else
             {
-                candidateNodes = allNodes.Where(n =>
+                candidateNodes = connectedMapNodes.ToList();
-                connectedNodeIds.Contains(n.NodeId)
-                ).ToList();
             }
 
             if (candidateNodes.Count == 0)
@@ -375,13 +371,11 @@ namespace AGVNavigationCore.Utils
             if (currentNode == null || prevNode == null || allNodes == null)
                 return (null, 0, "입력 파라미터가 null입니다");
 
-            var connectedNodeIds = currentNode.ConnectedNodes;
+            var connectedMapNodes = currentNode.ConnectedMapNodes;
-            if (connectedNodeIds == null || connectedNodeIds.Count == 0)
+            if (connectedMapNodes == null || connectedMapNodes.Count == 0)
                 return (null, 0, "연결된 노드가 없습니다");
 
-            var candidateNodes = allNodes.Where(n =>
+            var candidateNodes = connectedMapNodes.ToList();
-                connectedNodeIds.Contains(n.NodeId)
-            ).ToList();
 
             if (candidateNodes.Count == 0)
                 return (null, 0, "후보 노드가 없습니다");

Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DockingValidator.cs

@@ -28,6 +28,12 @@ namespace AGVNavigationCore.Utils
                 System.Diagnostics.Debug.WriteLine($"[DockingValidator] 도킹 검증 불필요: 경로 없음");
                 return DockingValidationResult.CreateNotRequired();
             }
+            if (pathResult.DetailedPath.Any() == false && pathResult.Path.Any() && pathResult.Path.Count == 2 &&
+                pathResult.Path[0].NodeId == pathResult.Path[1].NodeId)
+            {
+                System.Diagnostics.Debug.WriteLine($"[DockingValidator] 도킹 검증 불필요: 동일포인트");
+                return DockingValidationResult.CreateNotRequired();
+            }
 
             // 목적지 노드 가져오기 (Path는 이제 List<MapNode>)
             var LastNode = pathResult.Path[pathResult.Path.Count - 1];

Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.cs

@@ -319,11 +319,16 @@ namespace AGVSimulator.Forms
             // 고급 경로 계획 사용 (노드 객체 직접 전달)
             var advancedResult = _advancedPathfinder.FindPath_test(startNode, targetNode, prevNode, prevDir, currentDirection);
 
+            _simulatorCanvas.FitToNodes();
             if (advancedResult.Success)
             {
                 // 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);
                 }
 
@@ -606,7 +611,7 @@ namespace AGVSimulator.Forms
             _rfidTextBox.Text = ""; // 입력 필드 초기화
 
             // 시뮬레이터 캔버스의 해당 노드로 이동
-            _simulatorCanvas.PanToNode(targetNode.NodeId);
+            //_simulatorCanvas.PanToNode(targetNode.NodeId);
 
             // 시작 노드 콤보박스를 현재 위치로 자동 선택
             SetStartNodeToCombo(targetNode.NodeId);
@@ -1414,13 +1419,12 @@ namespace AGVSimulator.Forms
 
             foreach (var nodeA in _mapNodes)
             {
-                if (nodeA.ConnectedNodes == null || nodeA.ConnectedNodes.Count == 0)
+                if (nodeA.ConnectedMapNodes == null || nodeA.ConnectedMapNodes.Count == 0)
                     continue;
 
-                // 연결된 노드 ID를 실제 MapNode 객체로 변환
+                // 연결된 노드 객체 순회
-                foreach (var connectedNodeId in nodeA.ConnectedNodes)
+                foreach (var nodeB in nodeA.ConnectedMapNodes)
                 {
-                    var nodeB = _mapNodes.FirstOrDefault(n => n.NodeId == connectedNodeId);
                     if (nodeB == null)
                         continue;
 
@@ -1428,7 +1432,7 @@ namespace AGVSimulator.Forms
                     var pairKey1 = $"{nodeA.NodeId}→{nodeB.NodeId}";
                     var pairKey2 = $"{nodeB.NodeId}→{nodeA.NodeId}";
 
-                    if (!processedPairs.Contains(pairKey1) && !processedPairs.Contains(pairKey2))
+                    if (nodeA.HasRfid() && nodeB.HasRfid() && !processedPairs.Contains(pairKey1) && !processedPairs.Contains(pairKey2))
                     {
                         pairs.Add((nodeA, nodeB));
                         processedPairs.Add(pairKey1);