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시뮬레이터에서 맵 로드시에 맵에 배경색이 있다면 적용 하게 함

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Xbee Open 시에 return값 변경 return true -> return isopen
LogFlushAll 함수추가 (_step_close 에서 사용)
This commit is contained in:
backuppc
2025-12-08 15:12:41 +09:00
parent 98d638cd9a
commit 455e18f427
13 changed files with 175 additions and 127 deletions
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32
Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.cs
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@@ -110,7 +110,7 @@ namespace AGVMapEditor.Forms
// 이벤트 연결
_mapCanvas.NodeAdded += OnNodeAdded;
_mapCanvas.NodeSelected += OnNodeSelected;
//_mapCanvas.NodeSelected += OnNodeSelected;
_mapCanvas.NodesSelected += OnNodesSelected; // 다중 선택 이벤트
_mapCanvas.NodeMoved += OnNodeMoved;
_mapCanvas.NodeDeleted += OnNodeDeleted;
@@ -182,22 +182,22 @@ namespace AGVMapEditor.Forms
// RFID 자동 할당
}
private void OnNodeSelected(object sender, MapNode node)
{
_selectedNode = node;
//private void OnNodeSelected(object sender, MapNode node)
//{
// _selectedNode = node;
if (node == null)
{
// 빈 공간 클릭 시 캔버스 속성 표시
ShowCanvasProperties();
}
else
{
// 노드 클릭 시 노드 속성 표시
UpdateNodeProperties();
UpdateImageEditButton(); // 이미지 노드 선택 시 이미지 편집 버튼 활성화
}
}
// if (node == null)
// {
// // 빈 공간 클릭 시 캔버스 속성 표시
// ShowCanvasProperties();
// }
// else
// {
// // 노드 클릭 시 노드 속성 표시
// UpdateNodeProperties();
// UpdateImageEditButton(); // 이미지 노드 선택 시 이미지 편집 버튼 활성화
// }
//}
private void OnNodesSelected(object sender, List<MapNode> nodes)
{

1
Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Events.cs
View File

@@ -1468,6 +1468,7 @@ namespace AGVNavigationCore.Controls
const int liftWidth = 16; // 리프트 너비 (더욱 크게)
const int liftDistance = AGV_SIZE / 2 + 2; // AGV 본체 면에 바로 붙도록
var currentPos = agv.CurrentPosition;
var targetPos = agv.PrevPosition;
var dockingDirection = agv.DockingDirection;

1
Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs
View File

@@ -146,7 +146,6 @@ namespace AGVNavigationCore.Controls
// 맵 편집 이벤트
public event EventHandler<MapNode> NodeAdded;
public event EventHandler<MapNode> NodeSelected;
public event EventHandler<List<MapNode>> NodesSelected; // 다중 선택 이벤트
public event EventHandler<MapNode> NodeDeleted;
public event EventHandler<MapNode> NodeMoved;

26
Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.Designer.cs generated
View File

@@ -118,6 +118,8 @@ namespace AGVSimulator.Forms
this._liftDirectionLabel = new System.Windows.Forms.Label();
this._motorDirectionLabel = new System.Windows.Forms.Label();
this.timer1 = new System.Windows.Forms.Timer(this.components);
this.groupBox1 = new System.Windows.Forms.GroupBox();
this.propertyNode = new System.Windows.Forms.PropertyGrid();
this._menuStrip.SuspendLayout();
this._toolStrip.SuspendLayout();
this._statusStrip.SuspendLayout();
@@ -127,6 +129,7 @@ namespace AGVSimulator.Forms
this._agvControlGroup.SuspendLayout();
this._canvasPanel.SuspendLayout();
this._agvInfoPanel.SuspendLayout();
this.groupBox1.SuspendLayout();
this.SuspendLayout();
//
// _menuStrip
@@ -455,6 +458,7 @@ namespace AGVSimulator.Forms
// _controlPanel
//
this._controlPanel.BackColor = System.Drawing.SystemColors.Control;
this._controlPanel.Controls.Add(this.groupBox1);
this._controlPanel.Controls.Add(this._statusGroup);
this._controlPanel.Controls.Add(this._pathGroup);
this._controlPanel.Controls.Add(this._agvControlGroup);
@@ -789,6 +793,25 @@ namespace AGVSimulator.Forms
this.timer1.Interval = 500;
this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
//
// groupBox1
//
this.groupBox1.Controls.Add(this.propertyNode);
this.groupBox1.Dock = System.Windows.Forms.DockStyle.Fill;
this.groupBox1.Location = new System.Drawing.Point(0, 546);
this.groupBox1.Name = "groupBox1";
this.groupBox1.Size = new System.Drawing.Size(233, 94);
this.groupBox1.TabIndex = 4;
this.groupBox1.TabStop = false;
this.groupBox1.Text = "노드 정보";
//
// propertyNode
//
this.propertyNode.Dock = System.Windows.Forms.DockStyle.Fill;
this.propertyNode.Location = new System.Drawing.Point(3, 17);
this.propertyNode.Name = "propertyNode";
this.propertyNode.Size = new System.Drawing.Size(227, 74);
this.propertyNode.TabIndex = 0;
//
// SimulatorForm
//
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
@@ -821,6 +844,7 @@ namespace AGVSimulator.Forms
this._canvasPanel.ResumeLayout(false);
this._agvInfoPanel.ResumeLayout(false);
this._agvInfoPanel.PerformLayout();
this.groupBox1.ResumeLayout(false);
this.ResumeLayout(false);
this.PerformLayout();
@@ -899,5 +923,7 @@ namespace AGVSimulator.Forms
private System.Windows.Forms.ToolStripButton btMakeMap;
private System.Windows.Forms.ToolStripMenuItem 맵저장SToolStripMenuItem;
private System.Windows.Forms.ToolStripMenuItem 맵다른이름으로저장ToolStripMenuItem;
private System.Windows.Forms.GroupBox groupBox1;
private System.Windows.Forms.PropertyGrid propertyNode;
}
}

16
Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.cs
View File

@@ -104,7 +104,7 @@ namespace AGVSimulator.Forms
_simulatorCanvas.Dock = DockStyle.Fill;
// 목적지 선택 이벤트 구독
_simulatorCanvas.NodeSelected += OnTargetNodeSelected;
_simulatorCanvas.NodesSelected += OnTargetNodeSelected;
_canvasPanel.Controls.Add(_simulatorCanvas);
}
@@ -394,10 +394,13 @@ namespace AGVSimulator.Forms
}
}
private void OnTargetNodeSelected(object sender, MapNode selectedNode)
private void OnTargetNodeSelected(object sender, List<MapNode> selectedNodes)
{
try
{
// PropertyGrid 업데이트 (항상 수행)
propertyNode.SelectedObject = selectedNodes.FirstOrDefault();
// 타겟계산 모드에서만 처리
if (_isTargetCalcMode)
{
@@ -406,6 +409,7 @@ namespace AGVSimulator.Forms
//_targetCalcButton.Text = "타겟계산";
//_targetCalcButton.BackColor = SystemColors.Control;
//_simulatorCanvas.CurrentEditMode = UnifiedAGVCanvas.EditMode.Select;
var selectedNode = selectedNodes.FirstOrDefault();
if (selectedNode == null) return;
// 목적지를 선택된 노드로 설정
@@ -865,6 +869,13 @@ namespace AGVSimulator.Forms
// 시뮬레이터 캔버스에 맵 설정
_simulatorCanvas.Nodes = _mapNodes;
// 맵 설정 적용 (배경색, 그리드 표시)
if (result.Settings != null)
{
_simulatorCanvas.BackColor = System.Drawing.Color.FromArgb(result.Settings.BackgroundColorArgb);
_simulatorCanvas.ShowGrid = result.Settings.ShowGrid;
}
// 설정에 마지막 맵 파일 경로 저장
_config.LastMapFilePath = filePath;
if (_config.AutoSave)
@@ -1876,6 +1887,7 @@ namespace AGVSimulator.Forms
}
/// <summary>
/// 맵 데이터를 파일에 저장 (MapLoader 공통 저장 로직 사용)
/// </summary>