diff --git a/AGVLogic/AGVMapEditor/Forms/MainForm.Designer.cs b/AGVLogic/AGVMapEditor/Forms/MainForm.Designer.cs index 6da0e28..323576b 100644 --- a/AGVLogic/AGVMapEditor/Forms/MainForm.Designer.cs +++ b/AGVLogic/AGVMapEditor/Forms/MainForm.Designer.cs @@ -40,6 +40,16 @@ namespace AGVMapEditor.Forms this.lstNodeConnection = new System.Windows.Forms.ListBox(); this.toolStrip1 = new System.Windows.Forms.ToolStrip(); this.btNodeRemove = new System.Windows.Forms.ToolStripButton(); + this.tabPage2 = new System.Windows.Forms.TabPage(); + this.lstMagnetDirection = new System.Windows.Forms.ListBox(); + this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel(); + this.button1 = new System.Windows.Forms.Button(); + this.button2 = new System.Windows.Forms.Button(); + this.button3 = new System.Windows.Forms.Button(); + this.toolStrip4 = new System.Windows.Forms.ToolStrip(); + this.btDirDelete = new System.Windows.Forms.ToolStripButton(); + this.btMakeDirdata = new System.Windows.Forms.ToolStripButton(); + this.toolStripButton2 = new System.Windows.Forms.ToolStripButton(); this._propertyGrid = new System.Windows.Forms.PropertyGrid(); this.panel1 = new System.Windows.Forms.Panel(); this.toolStrip3 = new System.Windows.Forms.ToolStrip(); @@ -67,16 +77,7 @@ namespace AGVMapEditor.Forms this.toolStripSeparator2 = new System.Windows.Forms.ToolStripSeparator(); this.toolStripButton1 = new System.Windows.Forms.ToolStripDropDownButton(); this.allTurnLeftRightCrossOnToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem(); - this.tabPage2 = new System.Windows.Forms.TabPage(); - this.lstMagnetDirection = new System.Windows.Forms.ListBox(); - this.toolStrip4 = new System.Windows.Forms.ToolStrip(); - this.btDirDelete = new System.Windows.Forms.ToolStripButton(); - this.btMakeDirdata = new System.Windows.Forms.ToolStripButton(); - this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel(); - this.button1 = new System.Windows.Forms.Button(); - this.button2 = new System.Windows.Forms.Button(); - this.button3 = new System.Windows.Forms.Button(); - this.toolStripButton2 = new System.Windows.Forms.ToolStripButton(); + this.btAddMagnet = new System.Windows.Forms.ToolStripButton(); this.statusStrip1.SuspendLayout(); ((System.ComponentModel.ISupportInitialize)(this.splitContainer1)).BeginInit(); this.splitContainer1.Panel1.SuspendLayout(); @@ -86,11 +87,11 @@ namespace AGVMapEditor.Forms this.tabPageNodes.SuspendLayout(); this.tabPage1.SuspendLayout(); this.toolStrip1.SuspendLayout(); + this.tabPage2.SuspendLayout(); + this.tableLayoutPanel1.SuspendLayout(); + this.toolStrip4.SuspendLayout(); this.toolStrip3.SuspendLayout(); this.toolStrip2.SuspendLayout(); - this.tabPage2.SuspendLayout(); - this.toolStrip4.SuspendLayout(); - this.tableLayoutPanel1.SuspendLayout(); this.SuspendLayout(); // // statusStrip1 @@ -215,6 +216,120 @@ namespace AGVMapEditor.Forms this.btNodeRemove.Text = "Remove"; this.btNodeRemove.Click += new System.EventHandler(this.btNodeRemove_Click); // + // tabPage2 + // + this.tabPage2.Controls.Add(this.lstMagnetDirection); + this.tabPage2.Controls.Add(this.tableLayoutPanel1); + this.tabPage2.Controls.Add(this.toolStrip4); + this.tabPage2.Location = new System.Drawing.Point(4, 22); + this.tabPage2.Name = "tabPage2"; + this.tabPage2.Size = new System.Drawing.Size(292, 309); + this.tabPage2.TabIndex = 2; + this.tabPage2.Text = "방향 관리"; + this.tabPage2.UseVisualStyleBackColor = true; + // + // lstMagnetDirection + // + this.lstMagnetDirection.Dock = System.Windows.Forms.DockStyle.Fill; + this.lstMagnetDirection.FormattingEnabled = true; + this.lstMagnetDirection.ItemHeight = 12; + this.lstMagnetDirection.Location = new System.Drawing.Point(0, 25); + this.lstMagnetDirection.Name = "lstMagnetDirection"; + this.lstMagnetDirection.Size = new System.Drawing.Size(292, 246); + this.lstMagnetDirection.TabIndex = 3; + // + // tableLayoutPanel1 + // + this.tableLayoutPanel1.ColumnCount = 3; + this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F)); + this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F)); + this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F)); + this.tableLayoutPanel1.Controls.Add(this.button1, 0, 0); + this.tableLayoutPanel1.Controls.Add(this.button2, 1, 0); + this.tableLayoutPanel1.Controls.Add(this.button3, 2, 0); + this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Bottom; + this.tableLayoutPanel1.Location = new System.Drawing.Point(0, 271); + this.tableLayoutPanel1.Name = "tableLayoutPanel1"; + this.tableLayoutPanel1.RowCount = 1; + this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F)); + this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 38F)); + this.tableLayoutPanel1.Size = new System.Drawing.Size(292, 38); + this.tableLayoutPanel1.TabIndex = 6; + // + // button1 + // + this.button1.Dock = System.Windows.Forms.DockStyle.Fill; + this.button1.Location = new System.Drawing.Point(3, 3); + this.button1.Name = "button1"; + this.button1.Size = new System.Drawing.Size(91, 32); + this.button1.TabIndex = 0; + this.button1.Text = "Left"; + this.button1.UseVisualStyleBackColor = true; + this.button1.Click += new System.EventHandler(this.button1_Click); + // + // button2 + // + this.button2.Dock = System.Windows.Forms.DockStyle.Fill; + this.button2.Location = new System.Drawing.Point(100, 3); + this.button2.Name = "button2"; + this.button2.Size = new System.Drawing.Size(91, 32); + this.button2.TabIndex = 0; + this.button2.Text = "Straight"; + this.button2.UseVisualStyleBackColor = true; + this.button2.Click += new System.EventHandler(this.button2_Click); + // + // button3 + // + this.button3.Dock = System.Windows.Forms.DockStyle.Fill; + this.button3.Location = new System.Drawing.Point(197, 3); + this.button3.Name = "button3"; + this.button3.Size = new System.Drawing.Size(92, 32); + this.button3.TabIndex = 0; + this.button3.Text = "Right"; + this.button3.UseVisualStyleBackColor = true; + this.button3.Click += new System.EventHandler(this.button3_Click); + // + // toolStrip4 + // + this.toolStrip4.Items.AddRange(new System.Windows.Forms.ToolStripItem[] { + this.btDirDelete, + this.btMakeDirdata, + this.toolStripButton2}); + this.toolStrip4.Location = new System.Drawing.Point(0, 0); + this.toolStrip4.Name = "toolStrip4"; + this.toolStrip4.Size = new System.Drawing.Size(292, 25); + this.toolStrip4.TabIndex = 5; + this.toolStrip4.Text = "toolStrip4"; + // + // btDirDelete + // + this.btDirDelete.Image = ((System.Drawing.Image)(resources.GetObject("btDirDelete.Image"))); + this.btDirDelete.ImageTransparentColor = System.Drawing.Color.Magenta; + this.btDirDelete.Name = "btDirDelete"; + this.btDirDelete.Size = new System.Drawing.Size(61, 22); + this.btDirDelete.Text = "Delete"; + this.btDirDelete.Click += new System.EventHandler(this.btDirDelete_Click); + // + // btMakeDirdata + // + this.btMakeDirdata.Alignment = System.Windows.Forms.ToolStripItemAlignment.Right; + this.btMakeDirdata.Image = ((System.Drawing.Image)(resources.GetObject("btMakeDirdata.Image"))); + this.btMakeDirdata.ImageTransparentColor = System.Drawing.Color.Magenta; + this.btMakeDirdata.Name = "btMakeDirdata"; + this.btMakeDirdata.Size = new System.Drawing.Size(69, 22); + this.btMakeDirdata.Text = "Remake"; + this.btMakeDirdata.Click += new System.EventHandler(this.toolStripButton3_Click); + // + // toolStripButton2 + // + this.toolStripButton2.Alignment = System.Windows.Forms.ToolStripItemAlignment.Right; + this.toolStripButton2.Image = ((System.Drawing.Image)(resources.GetObject("toolStripButton2.Image"))); + this.toolStripButton2.ImageTransparentColor = System.Drawing.Color.Magenta; + this.toolStripButton2.Name = "toolStripButton2"; + this.toolStripButton2.Size = new System.Drawing.Size(54, 22); + this.toolStripButton2.Text = "Clear"; + this.toolStripButton2.Click += new System.EventHandler(this.toolStripButton2_Click); + // // _propertyGrid // this._propertyGrid.Dock = System.Windows.Forms.DockStyle.Bottom; @@ -244,7 +359,8 @@ namespace AGVMapEditor.Forms this.btnDeleteConnection, this.toolStripSeparator1, this.btnToggleGrid, - this.btnFitMap}); + this.btnFitMap, + this.btAddMagnet}); this.toolStrip3.Location = new System.Drawing.Point(0, 0); this.toolStrip3.Name = "toolStrip3"; this.toolStrip3.Size = new System.Drawing.Size(896, 25); @@ -458,119 +574,14 @@ namespace AGVMapEditor.Forms this.allTurnLeftRightCrossOnToolStripMenuItem.Text = "All TurnLeft/Right/Cross On"; this.allTurnLeftRightCrossOnToolStripMenuItem.Click += new System.EventHandler(this.allTurnLeftRightCrossOnToolStripMenuItem_Click); // - // tabPage2 + // btAddMagnet // - this.tabPage2.Controls.Add(this.lstMagnetDirection); - this.tabPage2.Controls.Add(this.tableLayoutPanel1); - this.tabPage2.Controls.Add(this.toolStrip4); - this.tabPage2.Location = new System.Drawing.Point(4, 22); - this.tabPage2.Name = "tabPage2"; - this.tabPage2.Size = new System.Drawing.Size(292, 309); - this.tabPage2.TabIndex = 2; - this.tabPage2.Text = "방향 관리"; - this.tabPage2.UseVisualStyleBackColor = true; - // - // lstMagnetDirection - // - this.lstMagnetDirection.Dock = System.Windows.Forms.DockStyle.Fill; - this.lstMagnetDirection.FormattingEnabled = true; - this.lstMagnetDirection.ItemHeight = 12; - this.lstMagnetDirection.Location = new System.Drawing.Point(0, 25); - this.lstMagnetDirection.Name = "lstMagnetDirection"; - this.lstMagnetDirection.Size = new System.Drawing.Size(292, 246); - this.lstMagnetDirection.TabIndex = 3; - // - // toolStrip4 - // - this.toolStrip4.Items.AddRange(new System.Windows.Forms.ToolStripItem[] { - this.btDirDelete, - this.btMakeDirdata, - this.toolStripButton2}); - this.toolStrip4.Location = new System.Drawing.Point(0, 0); - this.toolStrip4.Name = "toolStrip4"; - this.toolStrip4.Size = new System.Drawing.Size(292, 25); - this.toolStrip4.TabIndex = 5; - this.toolStrip4.Text = "toolStrip4"; - // - // btDirDelete - // - this.btDirDelete.Image = ((System.Drawing.Image)(resources.GetObject("btDirDelete.Image"))); - this.btDirDelete.ImageTransparentColor = System.Drawing.Color.Magenta; - this.btDirDelete.Name = "btDirDelete"; - this.btDirDelete.Size = new System.Drawing.Size(61, 22); - this.btDirDelete.Text = "Delete"; - this.btDirDelete.Click += new System.EventHandler(this.btDirDelete_Click); - // - // btMakeDirdata - // - this.btMakeDirdata.Alignment = System.Windows.Forms.ToolStripItemAlignment.Right; - this.btMakeDirdata.Image = ((System.Drawing.Image)(resources.GetObject("btMakeDirdata.Image"))); - this.btMakeDirdata.ImageTransparentColor = System.Drawing.Color.Magenta; - this.btMakeDirdata.Name = "btMakeDirdata"; - this.btMakeDirdata.Size = new System.Drawing.Size(69, 22); - this.btMakeDirdata.Text = "Remake"; - this.btMakeDirdata.Click += new System.EventHandler(this.toolStripButton3_Click); - // - // tableLayoutPanel1 - // - this.tableLayoutPanel1.ColumnCount = 3; - this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F)); - this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F)); - this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F)); - this.tableLayoutPanel1.Controls.Add(this.button1, 0, 0); - this.tableLayoutPanel1.Controls.Add(this.button2, 1, 0); - this.tableLayoutPanel1.Controls.Add(this.button3, 2, 0); - this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Bottom; - this.tableLayoutPanel1.Location = new System.Drawing.Point(0, 271); - this.tableLayoutPanel1.Name = "tableLayoutPanel1"; - this.tableLayoutPanel1.RowCount = 1; - this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F)); - this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 20F)); - this.tableLayoutPanel1.Size = new System.Drawing.Size(292, 38); - this.tableLayoutPanel1.TabIndex = 6; - // - // button1 - // - this.button1.Dock = System.Windows.Forms.DockStyle.Fill; - this.button1.Location = new System.Drawing.Point(3, 3); - this.button1.Name = "button1"; - this.button1.Size = new System.Drawing.Size(91, 32); - this.button1.TabIndex = 0; - this.button1.Text = "Left"; - this.button1.UseVisualStyleBackColor = true; - this.button1.Click += new System.EventHandler(this.button1_Click); - // - // button2 - // - this.button2.Dock = System.Windows.Forms.DockStyle.Fill; - this.button2.Location = new System.Drawing.Point(100, 3); - this.button2.Name = "button2"; - this.button2.Size = new System.Drawing.Size(91, 32); - this.button2.TabIndex = 0; - this.button2.Text = "Straight"; - this.button2.UseVisualStyleBackColor = true; - this.button2.Click += new System.EventHandler(this.button2_Click); - // - // button3 - // - this.button3.Dock = System.Windows.Forms.DockStyle.Fill; - this.button3.Location = new System.Drawing.Point(197, 3); - this.button3.Name = "button3"; - this.button3.Size = new System.Drawing.Size(92, 32); - this.button3.TabIndex = 0; - this.button3.Text = "Right"; - this.button3.UseVisualStyleBackColor = true; - this.button3.Click += new System.EventHandler(this.button3_Click); - // - // toolStripButton2 - // - this.toolStripButton2.Alignment = System.Windows.Forms.ToolStripItemAlignment.Right; - this.toolStripButton2.Image = ((System.Drawing.Image)(resources.GetObject("toolStripButton2.Image"))); - this.toolStripButton2.ImageTransparentColor = System.Drawing.Color.Magenta; - this.toolStripButton2.Name = "toolStripButton2"; - this.toolStripButton2.Size = new System.Drawing.Size(54, 22); - this.toolStripButton2.Text = "Clear"; - this.toolStripButton2.Click += new System.EventHandler(this.toolStripButton2_Click); + this.btAddMagnet.Image = ((System.Drawing.Image)(resources.GetObject("btAddMagnet.Image"))); + this.btAddMagnet.ImageTransparentColor = System.Drawing.Color.Magenta; + this.btAddMagnet.Name = "btAddMagnet"; + this.btAddMagnet.Size = new System.Drawing.Size(87, 22); + this.btAddMagnet.Text = "마그넷추가"; + this.btAddMagnet.Click += new System.EventHandler(this.btAddMagnet_Click); // // MainForm // @@ -599,15 +610,15 @@ namespace AGVMapEditor.Forms this.tabPage1.PerformLayout(); this.toolStrip1.ResumeLayout(false); this.toolStrip1.PerformLayout(); + this.tabPage2.ResumeLayout(false); + this.tabPage2.PerformLayout(); + this.tableLayoutPanel1.ResumeLayout(false); + this.toolStrip4.ResumeLayout(false); + this.toolStrip4.PerformLayout(); this.toolStrip3.ResumeLayout(false); this.toolStrip3.PerformLayout(); this.toolStrip2.ResumeLayout(false); this.toolStrip2.PerformLayout(); - this.tabPage2.ResumeLayout(false); - this.tabPage2.PerformLayout(); - this.toolStrip4.ResumeLayout(false); - this.toolStrip4.PerformLayout(); - this.tableLayoutPanel1.ResumeLayout(false); this.ResumeLayout(false); this.PerformLayout(); @@ -663,5 +674,6 @@ namespace AGVMapEditor.Forms private System.Windows.Forms.Button button2; private System.Windows.Forms.Button button3; private System.Windows.Forms.ToolStripButton toolStripButton2; + private System.Windows.Forms.ToolStripButton btAddMagnet; } } \ No newline at end of file diff --git a/AGVLogic/AGVMapEditor/Forms/MainForm.cs b/AGVLogic/AGVMapEditor/Forms/MainForm.cs index f4ad0ad..810bb56 100644 --- a/AGVLogic/AGVMapEditor/Forms/MainForm.cs +++ b/AGVLogic/AGVMapEditor/Forms/MainForm.cs @@ -774,7 +774,7 @@ namespace AGVMapEditor.Forms private void RefreshNodeList() { listBoxNodes.DataSource = null; - listBoxNodes.DataSource = this._mapCanvas.Nodes; + listBoxNodes.DataSource = this._mapCanvas.Items; listBoxNodes.DisplayMember = "DisplayText"; listBoxNodes.ValueMember = "Id"; @@ -790,7 +790,7 @@ namespace AGVMapEditor.Forms private void ListBoxNodes_SelectedIndexChanged(object sender, EventArgs e) { - if (listBoxNodes.SelectedItem is MapNode selectedNode) + if (listBoxNodes.SelectedItem is NodeBase selectedNode) { _selectedNode = selectedNode; UpdateNodeProperties(); @@ -1673,5 +1673,52 @@ namespace AGVMapEditor.Forms // 현재 선택된 노드의 속성창 및 리스트 갱신 UpdateNodeProperties(); } + + private void btAddMagnet_Click(object sender, EventArgs e) + { + // 마그넷 추가 + var result = MessageBox.Show("곡선 마그넷(Bezier)을 추가하시겠습니까?\n(예: 베지어 곡선, 아니오: 직선, 취소: 중단)", + "마그넷 타입 선택", MessageBoxButtons.YesNoCancel, MessageBoxIcon.Question); + + if (result == DialogResult.Cancel) return; + + bool isBezier = (result == DialogResult.Yes); + + // 화면 중앙 좌표 계산 (World Coordinate) + float zoom = _mapCanvas.ZoomFactor; + PointF pan = _mapCanvas.PanOffset; + + float worldCX = (_mapCanvas.Width / 2f) / zoom - pan.X; + float worldCY = (_mapCanvas.Height / 2f) / zoom - pan.Y; + + // 고유 ID 생성 + string id = _mapCanvas.GenerateUniqueNodeId(); + + var magnet = new MapMagnet { Id = id }; + + // 점 생성 시 정규화(Snap) 처리 + int cx = (int)worldCX; + int cy = (int)worldCY; + + magnet.StartPoint = new Point(cx - 50, cy); + magnet.EndPoint = new Point(cx + 50, cy); + + if (isBezier) + { + magnet.ControlPoint = new MapMagnet.MagnetPoint { X = cx, Y = cy - 50 }; + } + + // 캔버스에 추가 + _mapCanvas.Magnets.Add(magnet); + _hasChanges = true; + + UpdateTitle(); + RefreshMapCanvas(); + RefreshNodeList(); + + // 추가된 마그넷 선택 + //_mapCanvas.SelectedNode = magnet; + UpdateNodeProperties(); + } } } \ No newline at end of file diff --git a/AGVLogic/AGVMapEditor/Forms/MainForm.resx b/AGVLogic/AGVMapEditor/Forms/MainForm.resx index 8cc428a..1bc0a34 100644 --- a/AGVLogic/AGVMapEditor/Forms/MainForm.resx +++ b/AGVLogic/AGVMapEditor/Forms/MainForm.resx @@ -194,14 +194,14 @@ 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a/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Events.cs +++ b/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Events.cs @@ -478,8 +478,32 @@ namespace AGVNavigationCore.Controls // But this method draws normal first. // So I should refactor to calculate path first, then draw? // Or just draw highlight on top with alpha? - // Let's draw highlight on top with non-filled center? No, it's a line. - // I'll draw highlight on top for now, maybe with alpha. + // Let's draw highlight on top for now, maybe with alpha. + } + + // 선택된 마그넷 핸들 그리기 + if (magnet == _selectedNode && _canvasMode == CanvasMode.Edit) + { + using (var handleBrush = new SolidBrush(Color.White)) + using (var handlePen = new Pen(Color.Black, 1)) + { + float size = HANDLE_SIZE / _zoomFactor; + float half = size / 2; + + // 시작점, 끝점 핸들 + g.FillRectangle(handleBrush, startPoint.X - half, startPoint.Y - half, size, size); + g.DrawRectangle(handlePen, startPoint.X - half, startPoint.Y - half, size, size); + g.FillRectangle(handleBrush, endPoint.X - half, endPoint.Y - half, size, size); + g.DrawRectangle(handlePen, endPoint.X - half, endPoint.Y - half, size, size); + + // 제어점 핸들 (곡선일 경우) + if (magnet.ControlPoint != null) + { + var cp = magnet.ControlPoint; + g.FillRectangle(handleBrush, (float)cp.X - half, (float)cp.Y - half, size, size); + g.DrawRectangle(handlePen, (float)cp.X - half, (float)cp.Y - half, size, size); + } + } } } @@ -488,11 +512,10 @@ namespace AGVNavigationCore.Controls if (_marks == null) return; // _marks 리스트 사용 int sensorSize = 12; // 크기 설정 - int lineLength = 20; // 선 길이 설정 - int halfLength = lineLength / 2; - foreach (var mark in _marks) { + int lineLength = (int)mark.Length; // 저장된 길이 사용 + int halfLength = lineLength / 2; Point p = mark.Position; double radians = mark.Rotation * Math.PI / 180.0; @@ -514,6 +537,22 @@ namespace AGVNavigationCore.Controls g.DrawLine(highlightPen, p1, p2); } } + + // 선택된 마크 핸들 그리기 + if (mark == _selectedNode && _canvasMode == CanvasMode.Edit) + { + using (var handleBrush = new SolidBrush(Color.White)) + using (var handlePen = new Pen(Color.Black, 1)) + { + float size = HANDLE_SIZE / _zoomFactor; + float half = size / 2; + + g.FillRectangle(handleBrush, p1.X - half, p1.Y - half, size, size); + g.DrawRectangle(handlePen, p1.X - half, p1.Y - half, size, size); + g.FillRectangle(handleBrush, p2.X - half, p2.Y - half, size, size); + g.DrawRectangle(handlePen, p2.X - half, p2.Y - half, size, size); + } + } } } diff --git a/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Mouse.cs b/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Mouse.cs index 45e91c5..6c45c2a 100644 --- a/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Mouse.cs +++ b/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Mouse.cs @@ -220,12 +220,28 @@ namespace AGVNavigationCore.Controls { if (_editMode == EditMode.Move) { + // 0. 핸들 선택 확인 (이미 선택된 노드가 있을 때) + if (_selectedNode != null) + { + int handleIdx = GetHandleAt(worldPoint); + if (handleIdx != -1) + { + _dragHandleIndex = handleIdx; + _isDragging = true; + _isPanning = false; + Capture = true; + Invalidate(); + return; + } + } + // 1. 노드 선택 확인 var hitNode = GetItemAt(worldPoint); if (hitNode != null) { _isDragging = true; _isPanning = false; + _dragHandleIndex = -1; // 노드 전체 드래그 _selectedNode = hitNode; _dragStartPosition = hitNode.Position; _dragOffset = new Point(worldPoint.X - hitNode.Position.X, worldPoint.Y - hitNode.Position.Y); @@ -322,8 +338,38 @@ namespace AGVNavigationCore.Controls // 노드 드래그 if (_selectedNode != null) { - _selectedNode.Position = newPosition; - NodeMoved?.Invoke(this, _selectedNode); + if (_dragHandleIndex != -1) + { + // 핸들 드래그 (포인트별 수정) + if (_selectedNode is MapMagnet magnet) + { + if (_dragHandleIndex == 0) magnet.StartPoint = newPosition; + else if (_dragHandleIndex == 1) magnet.EndPoint = newPosition; + else if (_dragHandleIndex == 2 && magnet.ControlPoint != null) + { + magnet.ControlPoint.X = newPosition.X; + magnet.ControlPoint.Y = newPosition.Y; + } + } + else if (_selectedNode is MapMark mark) + { + // 마크는 중심점 대비 각도와 길이를 계산하여 수정 + var dx = newPosition.X - mark.Position.X; + var dy = newPosition.Y - mark.Position.Y; + + // 핸들 인덱스에 따라 각도 반전 (p1 vs p2) + if (_dragHandleIndex == 0) { dx = -dx; dy = -dy; } + + mark.Rotation = Math.Atan2(dy, dx) * 180.0 / Math.PI; + mark.Length = Math.Sqrt(dx * dx + dy * dy) * 2; + } + } + else + { + // 노드 전체 드래그 + _selectedNode.Position = newPosition; + NodeMoved?.Invoke(this, _selectedNode); + } moved = true; } @@ -352,6 +398,7 @@ namespace AGVNavigationCore.Controls if (_isDragging && _canvasMode == CanvasMode.Edit) { _isDragging = false; + _dragHandleIndex = -1; Capture = false; // 🔥 마우스 캡처 해제 Cursor = GetCursorForMode(_editMode); } @@ -463,6 +510,25 @@ namespace AGVNavigationCore.Controls } } + if (_marks != null) + { + for (int i = _marks.Count - 1; i >= 0; i--) + { + var node = _marks[i]; + if (IsPointInNode(worldPoint, node)) + return node; + } + } + + if (_magnets != null) + { + for (int i = _magnets.Count - 1; i >= 0; i--) + { + var node = _magnets[i]; + if (IsPointInNode(worldPoint, node)) + return node; + } + } return null; } @@ -477,6 +543,14 @@ namespace AGVNavigationCore.Controls { return IsPointInImage(point, image); } + if (node is MapMark mark) + { + return IsPointInMark(point, mark); + } + if (node is MapMagnet magnet) + { + return IsPointInMagnet(point, magnet); + } // 라벨과 이미지는 별도 리스트로 관리되므로 여기서 처리하지 않음 // 하지만 혹시 모를 하위 호환성을 위해 타입 체크는 유지하되, // 실제 로직은 CircularNode 등으로 분기 @@ -648,6 +722,55 @@ namespace AGVNavigationCore.Controls return imageRect.Contains(point); } + private bool IsPointInMark(Point point, MapMark mark) + { + int lineLength = (int)mark.Length; + int halfLength = lineLength / 2; + double radians = mark.Rotation * Math.PI / 180.0; + int dx = (int)(halfLength * Math.Cos(radians)); + int dy = (int)(halfLength * Math.Sin(radians)); + + Point p1 = new Point(mark.Position.X - dx, mark.Position.Y - dy); + Point p2 = new Point(mark.Position.X + dx, mark.Position.Y + dy); + + // 마크 선택을 위해 약간 넉넉한 히트 영역 (7픽셀) + return CalculatePointToLineDistance(point, p1, p2) <= 7 / _zoomFactor; + } + + private bool IsPointInMagnet(Point point, MapMagnet magnet) + { + // 마그넷은 두꺼우므로 (Pen Width 15) 절반인 7.5 정도를 히트 영역으로 잡음 + float hitThreshold = Math.Max(8f, 12f / _zoomFactor); + + if (magnet.ControlPoint != null) + { + // 베지어 곡선 정밀 샘플링 (10개 세그먼트) + Point prevPoint = magnet.StartPoint; + for (int i = 1; i <= 10; i++) + { + float t = i / 10f; + // Quadratic Bezier: (1-t)^2*P0 + 2(1-t)t*P1 + t^2*P2 + float u = 1 - t; + float tt = t * t; + float uu = u * u; + + float x = uu * magnet.StartPoint.X + 2 * u * t * (float)magnet.ControlPoint.X + tt * magnet.EndPoint.X; + float y = uu * magnet.StartPoint.Y + 2 * u * t * (float)magnet.ControlPoint.Y + tt * magnet.EndPoint.Y; + Point currentPoint = new Point((int)x, (int)y); + + if (CalculatePointToLineDistance(point, prevPoint, currentPoint) <= hitThreshold) + return true; + + prevPoint = currentPoint; + } + return false; + } + else + { + return CalculatePointToLineDistance(point, magnet.StartPoint, magnet.EndPoint) <= hitThreshold; + } + } + //private MapLabel GetLabelAt(Point worldPoint) //{ // if (_labels == null) return null; @@ -833,7 +956,7 @@ namespace AGVNavigationCore.Controls /// /// 중복되지 않는 고유한 NodeId 생성 /// - private string GenerateUniqueNodeId() + public string GenerateUniqueNodeId() { string nodeId; int counter = _nodeCounter; @@ -1053,8 +1176,8 @@ namespace AGVNavigationCore.Controls var C = lineEnd.X - lineStart.X; var D = lineEnd.Y - lineStart.Y; - var dot = A * C + B * D; - var lenSq = C * C + D * D; + var dot = (double)A * C + (double)B * D; + var lenSq = (double)C * C + (double)D * D; if (lenSq == 0) return CalculateDistance(point, lineStart); @@ -1102,6 +1225,39 @@ namespace AGVNavigationCore.Controls } } + private int GetHandleAt(Point worldPoint) + { + if (_selectedNode == null) return -1; + + float hitTolerance = (HANDLE_SIZE + 4) / _zoomFactor; + + if (_selectedNode is MapMagnet magnet) + { + if (CalculateDistance(worldPoint, magnet.StartPoint) <= hitTolerance) return 0; + if (CalculateDistance(worldPoint, magnet.EndPoint) <= hitTolerance) return 1; + if (magnet.ControlPoint != null) + { + if (CalculateDistance(worldPoint, new Point((int)magnet.ControlPoint.X, (int)magnet.ControlPoint.Y)) <= hitTolerance) return 2; + } + } + else if (_selectedNode is MapMark mark) + { + int lineLength = (int)mark.Length; + int halfLength = lineLength / 2; + double radians = mark.Rotation * Math.PI / 180.0; + int dx = (int)(halfLength * Math.Cos(radians)); + int dy = (int)(halfLength * Math.Sin(radians)); + + Point p1 = new Point(mark.Position.X - dx, mark.Position.Y - dy); + Point p2 = new Point(mark.Position.X + dx, mark.Position.Y + dy); + + if (CalculateDistance(worldPoint, p1) <= hitTolerance) return 0; + if (CalculateDistance(worldPoint, p2) <= hitTolerance) return 1; + } + + return -1; + } + #endregion #region View Control Methods diff --git a/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs b/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs index fd30f2f..4458ace 100644 --- a/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs +++ b/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs @@ -109,6 +109,8 @@ namespace AGVNavigationCore.Controls private MapNode _connectionStartNode; private Point _connectionEndPoint; private int _mouseMoveCounter = 0; // 디버그용: MouseMove 실행 횟수 + private int _dragHandleIndex = -1; // 드래그 중인 핸들 인덱스 + private const int HANDLE_SIZE = 8; // 편집 핸들 크기 // 영역 선택 관련 private bool _isAreaSelecting; @@ -341,6 +343,17 @@ namespace AGVNavigationCore.Controls Invalidate(); } + [Browsable(false)] + public PointF PanOffset + { + get => _panOffset; + set + { + _panOffset = value; + Invalidate(); + } + } + /// /// 그리드 표시 여부 /// diff --git a/AGVLogic/AGVNavigationCore/Models/MapMagnet.cs b/AGVLogic/AGVNavigationCore/Models/MapMagnet.cs index 1384890..5556b00 100644 --- a/AGVLogic/AGVNavigationCore/Models/MapMagnet.cs +++ b/AGVLogic/AGVNavigationCore/Models/MapMagnet.cs @@ -56,17 +56,25 @@ namespace AGVNavigationCore.Models } /// - /// 시작점 Point 반환 + /// 시작점 Point 반환 및 설정 /// [Browsable(false)] [JsonIgnore] - public Point StartPoint => new Point((int)P1.X, (int)P1.Y); + public Point StartPoint + { + get => new Point((int)P1.X, (int)P1.Y); + set { P1.X = value.X; P1.Y = value.Y; } + } /// - /// 끝점 Point 반환 + /// 끝점 Point 반환 및 설정 /// [Browsable(false)] [JsonIgnore] - public Point EndPoint => new Point((int)P2.X, (int)P2.Y); + public Point EndPoint + { + get => new Point((int)P2.X, (int)P2.Y); + set { P2.X = value.X; P2.Y = value.Y; } + } } } diff --git a/AGVLogic/AGVNavigationCore/Models/MapMark.cs b/AGVLogic/AGVNavigationCore/Models/MapMark.cs index 6cd657e..4a2e5d1 100644 --- a/AGVLogic/AGVNavigationCore/Models/MapMark.cs +++ b/AGVLogic/AGVNavigationCore/Models/MapMark.cs @@ -33,5 +33,9 @@ namespace AGVNavigationCore.Models [Category("위치 정보")] [Description("마크의 회전 각도")] public double Rotation { get; set; } + + [Category("위치 정보")] + [Description("마크의 길이")] + public double Length { get; set; } = 20.0; } } diff --git a/AGVLogic/AGVSimulator/Forms/SimulatorForm.Designer.cs b/AGVLogic/AGVSimulator/Forms/SimulatorForm.Designer.cs index a5ad18b..f3e8cc4 100644 --- a/AGVLogic/AGVSimulator/Forms/SimulatorForm.Designer.cs +++ b/AGVLogic/AGVSimulator/Forms/SimulatorForm.Designer.cs @@ -55,6 +55,7 @@ namespace AGVSimulator.Forms this.맵다른이름으로저장ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem(); this.toolStripSeparator1 = new System.Windows.Forms.ToolStripSeparator(); this.launchMapEditorToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem(); + this.btSelectMapEditor = new System.Windows.Forms.ToolStripMenuItem(); this.toolStripSeparator4 = new System.Windows.Forms.ToolStripSeparator(); this.exitToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem(); this.simulationToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem(); @@ -120,7 +121,7 @@ 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.btSelectMapEditor = new System.Windows.Forms.ToolStripMenuItem(); + this.sbFile = new System.Windows.Forms.ToolStripStatusLabel(); this._menuStrip.SuspendLayout(); this._toolStrip.SuspendLayout(); this._statusStrip.SuspendLayout(); @@ -205,6 +206,13 @@ namespace AGVSimulator.Forms this.launchMapEditorToolStripMenuItem.Text = "MapEditor 실행(&M)"; this.launchMapEditorToolStripMenuItem.Click += new System.EventHandler(this.OnLaunchMapEditor_Click); // + // btSelectMapEditor + // + this.btSelectMapEditor.Name = "btSelectMapEditor"; + this.btSelectMapEditor.Size = new System.Drawing.Size(221, 22); + this.btSelectMapEditor.Text = "Mapeditor 선택"; + this.btSelectMapEditor.Click += new System.EventHandler(this.btSelectMapEditor_Click); + // // toolStripSeparator4 // this.toolStripSeparator4.Name = "toolStripSeparator4"; @@ -434,7 +442,8 @@ namespace AGVSimulator.Forms this._statusStrip.Items.AddRange(new System.Windows.Forms.ToolStripItem[] { this._statusLabel, this._coordLabel, - this.prb1}); + this.prb1, + this.sbFile}); this._statusStrip.Location = new System.Drawing.Point(0, 689); this._statusStrip.Name = "_statusStrip"; this._statusStrip.Size = new System.Drawing.Size(1248, 22); @@ -816,12 +825,11 @@ namespace AGVSimulator.Forms this.timer1.Interval = 500; this.timer1.Tick += new System.EventHandler(this.timer1_Tick); // - // btSelectMapEditor + // sbFile // - this.btSelectMapEditor.Name = "btSelectMapEditor"; - this.btSelectMapEditor.Size = new System.Drawing.Size(221, 22); - this.btSelectMapEditor.Text = "Mapeditor 선택"; - this.btSelectMapEditor.Click += new System.EventHandler(this.btSelectMapEditor_Click); + this.sbFile.Name = "sbFile"; + this.sbFile.Size = new System.Drawing.Size(17, 17); + this.sbFile.Text = "--"; // // SimulatorForm // @@ -937,5 +945,6 @@ namespace AGVSimulator.Forms private System.Windows.Forms.PropertyGrid propertyNode; private System.Windows.Forms.Button btPath2; private System.Windows.Forms.ToolStripMenuItem btSelectMapEditor; + private System.Windows.Forms.ToolStripStatusLabel sbFile; } } \ No newline at end of file diff --git a/AGVLogic/AGVSimulator/Forms/SimulatorForm.cs b/AGVLogic/AGVSimulator/Forms/SimulatorForm.cs index b58c104..ea25bee 100644 --- a/AGVLogic/AGVSimulator/Forms/SimulatorForm.cs +++ b/AGVLogic/AGVSimulator/Forms/SimulatorForm.cs @@ -876,7 +876,7 @@ namespace AGVSimulator.Forms try { var result = MapLoader.LoadMapFromFile(filePath); - + sbFile.Text = filePath; if (result.Success) { Console.WriteLine($"Map File Load : {filePath}"); diff --git a/HMI/Project/StateMachine/_AGV.cs b/HMI/Project/StateMachine/_AGV.cs index 48dbb49..73168bc 100644 --- a/HMI/Project/StateMachine/_AGV.cs +++ b/HMI/Project/StateMachine/_AGV.cs @@ -16,6 +16,34 @@ namespace Project public partial class fMain { + private void AGV_TurnComplete(object sender, arDev.Narumi.TurnEventArgs e) + { + //턴작업이완료되었을때 발생된다. + PUB.log.Add($"AGV Turn Complete:{e.Direction}"); + + //일반노드에서 턴작업이 진행되었다면, 이전경로와 현재경로의 모터 방향을 바꿔준다(일반노드에서만 사용) + if (PUB._virtualAGV.CurrentNode != null && PUB._virtualAGV.CurrentNode.StationType == StationType.Normal) + { + var prevnodeid = PUB._virtualAGV.PrevNode;//.Id; + var currnodeid = PUB._virtualAGV.CurrentNode;//.Id; + + //현재 방향과 반대로 모터방향을 셋팅한다. 기존에 Fwd로 왔다면 BWD로 온것으로 처리 + var motdir = PUB._virtualAGV.PrevDirection == AgvDirection.Forward ? AgvDirection.Backward : AgvDirection.Forward; + + PUB.log.Add($"일반노드에서 TURN 완료({e.Direction}) 이전노드:{prevnodeid.ID2},현재노드:{currnodeid.ID2},이전방향:{PUB._virtualAGV.PrevDirection},변경방향:{motdir}"); + + //이전노드이동한것으로처리 + PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, prevnodeid, motdir); + PUB._virtualAGV.SetPosition(prevnodeid, motdir); + + //현재노드이동한것으로처리 + PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, currnodeid, motdir); + PUB._virtualAGV.SetPosition(currnodeid, motdir); + } + + } + + private void AGV_Message(object sender, arDev.Narumi.MessageEventArgs e) { if (e.MsgType == arDev.NarumiSerialComm.MessageType.Normal) diff --git a/HMI/Project/fMain.cs b/HMI/Project/fMain.cs index 3a7004d..a74d24a 100644 --- a/HMI/Project/fMain.cs +++ b/HMI/Project/fMain.cs @@ -166,6 +166,7 @@ namespace Project PUB.AGV = new arDev.Narumi(); PUB.AGV.Message += AGV_Message; PUB.AGV.DataReceive += AGV_DataReceive; + PUB.AGV.TurnComplete += AGV_TurnComplete; //배터리관리시스템 PUB.BMS = new arDev.BMS(); @@ -261,6 +262,7 @@ namespace Project PUB.AddEEDB("프로그램 시작"); } + void AutoLoadLastPosition() { PUB.log.Add("autoload last position"); diff --git a/HMI/SubProject/AGV/DataEventArgs.cs b/HMI/SubProject/AGV/DataEventArgs.cs index a5a5c36..1052a43 100644 --- a/HMI/SubProject/AGV/DataEventArgs.cs +++ b/HMI/SubProject/AGV/DataEventArgs.cs @@ -13,6 +13,20 @@ namespace arDev DataType = type; } } + public enum eTurnEvent + { + Left=0, + Right + } + public class TurnEventArgs : EventArgs + { + public eTurnEvent Direction { get; set; } + public TurnEventArgs(eTurnEvent data) + { + this.Direction = data; + } + + } } diff --git a/HMI/SubProject/AGV/Narumi.cs b/HMI/SubProject/AGV/Narumi.cs index 68bd663..4d1289c 100644 --- a/HMI/SubProject/AGV/Narumi.cs +++ b/HMI/SubProject/AGV/Narumi.cs @@ -71,7 +71,8 @@ namespace arDev /// 분석완료된 데이터 이벤트 /// public event EventHandler DataReceive; - + public event EventHandler TurnComplete; + #endregion diff --git a/HMI/TestProject/Test_ACS/MainForm.Designer.cs b/HMI/TestProject/Test_ACS/MainForm.Designer.cs index c573442..66e94f4 100644 --- a/HMI/TestProject/Test_ACS/MainForm.Designer.cs +++ b/HMI/TestProject/Test_ACS/MainForm.Designer.cs @@ -29,12 +29,7 @@ namespace Test_ACS this.rbAGV2 = new System.Windows.Forms.RadioButton(); this.rbAGV1 = new System.Windows.Forms.RadioButton(); this.grpCommands = new System.Windows.Forms.GroupBox(); - this.button11 = new System.Windows.Forms.Button(); - this.button12 = new System.Windows.Forms.Button(); - this.btnLiftStop = new System.Windows.Forms.Button(); this.button8 = new System.Windows.Forms.Button(); - this.btnLiftDown = new System.Windows.Forms.Button(); - this.btnLiftUp = new System.Windows.Forms.Button(); this.button10 = new System.Windows.Forms.Button(); this.button7 = new System.Windows.Forms.Button(); this.button9 = new System.Windows.Forms.Button(); @@ -71,6 +66,11 @@ namespace Test_ACS this.lblAlias = new System.Windows.Forms.Label(); this.txtRFID = new System.Windows.Forms.NumericUpDown(); this.lblRFID = new System.Windows.Forms.Label(); + this.button11 = new System.Windows.Forms.Button(); + this.button12 = new System.Windows.Forms.Button(); + this.btnLiftStop = new System.Windows.Forms.Button(); + this.btnLiftDown = new System.Windows.Forms.Button(); + this.btnLiftUp = new System.Windows.Forms.Button(); this.grpLogs = new System.Windows.Forms.GroupBox(); this.tabLogs = new System.Windows.Forms.TabControl(); this.tabRX = new System.Windows.Forms.TabPage(); @@ -245,36 +245,6 @@ namespace Test_ACS this.grpCommands.TabStop = false; this.grpCommands.Text = "ACS 명령"; // - // button11 - // - this.button11.Location = new System.Drawing.Point(451, 200); - this.button11.Name = "button11"; - this.button11.Size = new System.Drawing.Size(100, 43); - this.button11.TabIndex = 18; - this.button11.Text = "전자석 OFF"; - this.button11.UseVisualStyleBackColor = true; - this.button11.Click += new System.EventHandler(this.button11_Click); - // - // button12 - // - this.button12.Location = new System.Drawing.Point(451, 155); - this.button12.Name = "button12"; - this.button12.Size = new System.Drawing.Size(100, 43); - this.button12.TabIndex = 17; - this.button12.Text = "전자석 ON"; - this.button12.UseVisualStyleBackColor = true; - this.button12.Click += new System.EventHandler(this.button12_Click); - // - // btnLiftStop - // - this.btnLiftStop.Location = new System.Drawing.Point(451, 110); - this.btnLiftStop.Name = "btnLiftStop"; - this.btnLiftStop.Size = new System.Drawing.Size(100, 43); - this.btnLiftStop.TabIndex = 2; - this.btnLiftStop.Text = "리프트 정지"; - this.btnLiftStop.UseVisualStyleBackColor = true; - this.btnLiftStop.Click += new System.EventHandler(this.btnLiftStop_Click); - // // button8 // this.button8.Location = new System.Drawing.Point(102, 264); @@ -285,26 +255,6 @@ namespace Test_ACS this.button8.UseVisualStyleBackColor = true; this.button8.Click += new System.EventHandler(this.button8_Click); // - // btnLiftDown - // - this.btnLiftDown.Location = new System.Drawing.Point(451, 65); - this.btnLiftDown.Name = "btnLiftDown"; - this.btnLiftDown.Size = new System.Drawing.Size(100, 43); - this.btnLiftDown.TabIndex = 1; - this.btnLiftDown.Text = "리프트 DN"; - this.btnLiftDown.UseVisualStyleBackColor = true; - this.btnLiftDown.Click += new System.EventHandler(this.btnLiftDown_Click); - // - // btnLiftUp - // - this.btnLiftUp.Location = new System.Drawing.Point(451, 20); - this.btnLiftUp.Name = "btnLiftUp"; - this.btnLiftUp.Size = new System.Drawing.Size(100, 43); - this.btnLiftUp.TabIndex = 0; - this.btnLiftUp.Text = "리프트 UP"; - this.btnLiftUp.UseVisualStyleBackColor = true; - this.btnLiftUp.Click += new System.EventHandler(this.btnLiftUp_Click); - // // button10 // this.button10.Location = new System.Drawing.Point(102, 229); @@ -655,12 +605,6 @@ namespace Test_ACS // txtAlias // this.txtAlias.Font = new System.Drawing.Font("Consolas", 12F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0))); - this.txtAlias.Items.AddRange(new object[] { - "LOADER", - "UNLOADER", - "CLEANNER", - "CHARGER1", - "CHARGER2"}); this.txtAlias.Location = new System.Drawing.Point(86, 49); this.txtAlias.Name = "txtAlias"; this.txtAlias.Size = new System.Drawing.Size(101, 27); @@ -706,6 +650,56 @@ namespace Test_ACS this.lblRFID.TabIndex = 0; this.lblRFID.Text = "RFID 번호:"; // + // button11 + // + this.button11.Location = new System.Drawing.Point(451, 200); + this.button11.Name = "button11"; + this.button11.Size = new System.Drawing.Size(100, 43); + this.button11.TabIndex = 18; + this.button11.Text = "전자석 OFF"; + this.button11.UseVisualStyleBackColor = true; + this.button11.Click += new System.EventHandler(this.button11_Click); + // + // button12 + // + this.button12.Location = new System.Drawing.Point(451, 155); + this.button12.Name = "button12"; + this.button12.Size = new System.Drawing.Size(100, 43); + this.button12.TabIndex = 17; + this.button12.Text = "전자석 ON"; + this.button12.UseVisualStyleBackColor = true; + this.button12.Click += new System.EventHandler(this.button12_Click); + // + // btnLiftStop + // + this.btnLiftStop.Location = new System.Drawing.Point(451, 110); + this.btnLiftStop.Name = "btnLiftStop"; + this.btnLiftStop.Size = new System.Drawing.Size(100, 43); + this.btnLiftStop.TabIndex = 2; + this.btnLiftStop.Text = "리프트 정지"; + this.btnLiftStop.UseVisualStyleBackColor = true; + this.btnLiftStop.Click += new System.EventHandler(this.btnLiftStop_Click); + // + // btnLiftDown + // + this.btnLiftDown.Location = new System.Drawing.Point(451, 65); + this.btnLiftDown.Name = "btnLiftDown"; + this.btnLiftDown.Size = new System.Drawing.Size(100, 43); + this.btnLiftDown.TabIndex = 1; + this.btnLiftDown.Text = "리프트 DN"; + this.btnLiftDown.UseVisualStyleBackColor = true; + this.btnLiftDown.Click += new System.EventHandler(this.btnLiftDown_Click); + // + // btnLiftUp + // + this.btnLiftUp.Location = new System.Drawing.Point(451, 20); + this.btnLiftUp.Name = "btnLiftUp"; + this.btnLiftUp.Size = new System.Drawing.Size(100, 43); + this.btnLiftUp.TabIndex = 0; + this.btnLiftUp.Text = "리프트 UP"; + this.btnLiftUp.UseVisualStyleBackColor = true; + this.btnLiftUp.Click += new System.EventHandler(this.btnLiftUp_Click); + // // grpLogs // this.grpLogs.Controls.Add(this.tabLogs); diff --git a/HMI/TestProject/Test_ACS/MainForm.cs b/HMI/TestProject/Test_ACS/MainForm.cs index bb63671..f7fdd61 100644 --- a/HMI/TestProject/Test_ACS/MainForm.cs +++ b/HMI/TestProject/Test_ACS/MainForm.cs @@ -21,6 +21,22 @@ namespace Test_ACS InitializeComponent(); InitializeProtocol(); LoadPortList(); + + txtAlias.Items.Clear(); + this.txtAlias.Items.AddRange(new[] { + "LOADER", + "PLATING", + "CLEANER", + "CHARGER", + "BUFFER1", + "BUFFER2", + "BUFFER3", + "BUFFER4", + "BUFFER5", + "BUFFER6", + }); + this.txtAlias.Text = "LOADER"; + } @@ -611,19 +627,7 @@ namespace Test_ACS private void MainForm_Load(object sender, EventArgs e) { - this.txtAlias.Items.AddRange(new[] { - "LOADER", - "UNLOADER", - "CLEANNER", - "CHARGER1", - "CHARGER2", - "BUFFER1", - "BUFFER2", - "BUFFER3", - "BUFFER4", - "BUFFER5", - "BUFFER6", - }); + } } } diff --git a/NewMap.json b/NewMap.json index 558b572..dd9904e 100644 --- a/NewMap.json +++ b/NewMap.json @@ -1,20 +1,19 @@ { "Nodes": [ { - "Text": "Unloader", + "Text": "CLEANER", "StationType": 3, "CanDocking": true, "DockDirection": 2, "MagnetDirections": {}, "ConnectedNodes": [ - "12", - "N028" + "10" ], "CanTurnLeft": true, "CanTurnRight": true, "DisableCross": false, "SpeedLimit": 0, - "AliasName": "", + "AliasName": "CLEANER", "IsActive": true, "RfidId": 30, "NodeTextForeColor": "White", @@ -22,23 +21,22 @@ "ID2": "0030(*N001)", "Id": "N001", "Type": 0, - "Position": "298, 270" + "Position": "395, 269" }, { - "Text": "Cleaner", + "Text": "PLATING", "StationType": 2, "CanDocking": true, "DockDirection": 2, "MagnetDirections": {}, "ConnectedNodes": [ - "5", - "N030" + "5" ], "CanTurnLeft": true, "CanTurnRight": true, "DisableCross": false, "SpeedLimit": 0, - "AliasName": "", + "AliasName": "PLATING", "IsActive": true, "RfidId": 11, "NodeTextForeColor": "", @@ -46,82 +44,10 @@ "ID2": "0011(*N010)", "Id": "N010", "Type": 0, - "Position": "298, 446" + "Position": "350, 506" }, { - "Text": "Loader", - "StationType": 1, - "CanDocking": true, - "DockDirection": 2, - "MagnetDirections": {}, - "ConnectedNodes": [ - "N026", - "N029" - ], - "CanTurnLeft": true, - "CanTurnRight": true, - "DisableCross": false, - "SpeedLimit": 0, - "AliasName": "", - "IsActive": true, - "RfidId": 8, - "NodeTextForeColor": "", - "NodeTextFontSize": 7.0, - "ID2": "0008(*N014)", - "Id": "N014", - "Type": 0, - "Position": "520, 653" - }, - { - "Text": "Charger #1", - "StationType": 5, - "CanDocking": true, - "DockDirection": 1, - "MagnetDirections": {}, - "ConnectedNodes": [ - "8", - "13" - ], - "CanTurnLeft": true, - "CanTurnRight": true, - "DisableCross": false, - "SpeedLimit": 0, - "AliasName": "", - "IsActive": true, - "RfidId": 15, - "NodeTextForeColor": "", - "NodeTextFontSize": 7.0, - "ID2": "0015(*N019)", - "Id": "N019", - "Type": 0, - "Position": "405, 351" - }, - { - "Text": "Charger #2", - "StationType": 6, - "CanDocking": true, - "DockDirection": 2, - "MagnetDirections": {}, - "ConnectedNodes": [ - "6", - "N014" - ], - "CanTurnLeft": true, - "CanTurnRight": true, - "DisableCross": false, - "SpeedLimit": 0, - "AliasName": "", - "IsActive": true, - "RfidId": 19, - "NodeTextForeColor": "", - "NodeTextFontSize": 7.0, - "ID2": "0019(*N026)", - "Id": "N026", - "Type": 0, - "Position": "520, 576" - }, - { - "Text": "Buffer4", + "Text": "Buffer1", "StationType": 4, "CanDocking": true, "DockDirection": 2, @@ -134,7 +60,7 @@ "CanTurnRight": true, "DisableCross": false, "SpeedLimit": 0, - "AliasName": "", + "AliasName": "BUFFER1", "IsActive": true, "RfidId": 34, "NodeTextForeColor": "", @@ -142,10 +68,10 @@ "ID2": "0034(*N018)", "Id": "N018", "Type": 0, - "Position": "213, 630" + "Position": "238, 627" }, { - "Text": "Buffer3", + "Text": "Buffer2", "StationType": 4, "CanDocking": true, "DockDirection": 2, @@ -158,7 +84,7 @@ "CanTurnRight": true, "DisableCross": false, "SpeedLimit": 0, - "AliasName": "", + "AliasName": "BUFFER2", "IsActive": true, "RfidId": 33, "NodeTextForeColor": "", @@ -166,10 +92,10 @@ "ID2": "0033(*N005)", "Id": "N005", "Type": 0, - "Position": "113, 629" + "Position": "164, 627" }, { - "Text": "Buffer2", + "Text": "Buffer3", "StationType": 4, "CanDocking": true, "DockDirection": 2, @@ -182,7 +108,7 @@ "CanTurnRight": true, "DisableCross": false, "SpeedLimit": 0, - "AliasName": "", + "AliasName": "BUFFER3", "IsActive": true, "RfidId": 32, "NodeTextForeColor": "", @@ -190,23 +116,23 @@ "ID2": "0032(*N020)", "Id": "N020", "Type": 0, - "Position": "38, 626" + "Position": "89, 629" }, { - "Text": "Buffer 1", + "Text": "Buffer4", "StationType": 4, "CanDocking": true, "DockDirection": 2, "MagnetDirections": {}, "ConnectedNodes": [ "N020", - "N027" + "N028" ], "CanTurnLeft": true, "CanTurnRight": true, "DisableCross": false, "SpeedLimit": 0, - "AliasName": "", + "AliasName": "BUFFER4", "IsActive": true, "RfidId": 31, "NodeTextForeColor": "", @@ -214,7 +140,7 @@ "ID2": "0031(*N021)", "Id": "N021", "Type": 0, - "Position": "-54, 626" + "Position": "15, 629" }, { "Text": "", @@ -238,7 +164,7 @@ "ID2": "0002(*1)", "Id": "1", "Type": 0, - "Position": "285, 628" + "Position": "338, 625" }, { "Text": "", @@ -248,7 +174,7 @@ "MagnetDirections": {}, "ConnectedNodes": [ "1", - "3" + "4" ], "CanTurnLeft": true, "CanTurnRight": true, @@ -262,7 +188,7 @@ "ID2": "0004(*2)", "Id": "2", "Type": 0, - "Position": "354, 628" + "Position": "406, 621" }, { "Text": "", @@ -271,32 +197,8 @@ "DockDirection": 0, "MagnetDirections": {}, "ConnectedNodes": [ - "2", - "4" - ], - "CanTurnLeft": true, - "CanTurnRight": true, - "DisableCross": false, - "SpeedLimit": 0, - "AliasName": "", - "IsActive": true, - "RfidId": 3, - "NodeTextForeColor": "", - "NodeTextFontSize": 7.0, - "ID2": "0003(*3)", - "Id": "3", - "Type": 0, - "Position": "400, 578" - }, - { - "Text": "", - "StationType": 0, - "CanDocking": false, - "DockDirection": 0, - "MagnetDirections": {}, - "ConnectedNodes": [ - "3", - "5" + "5", + "2" ], "CanTurnLeft": true, "CanTurnRight": true, @@ -310,7 +212,7 @@ "ID2": "0005(*4)", "Id": "4", "Type": 0, - "Position": "400, 499" + "Position": "435, 569" }, { "Text": "", @@ -319,15 +221,14 @@ "DockDirection": 0, "MagnetDirections": { "4": 1, - "6": 2, "7": 1, - "N010": 0 + "N010": 2 }, "ConnectedNodes": [ "N010", "4", - "6", - "7" + "7", + "8" ], "CanTurnLeft": true, "CanTurnRight": true, @@ -341,28 +242,25 @@ "ID2": "0006(*5)", "Id": "5", "Type": 0, - "Position": "462, 451" + "Position": "461, 503" }, { - "Text": "", - "StationType": 0, - "CanDocking": false, - "DockDirection": 0, + "Text": "Loader", + "StationType": 1, + "CanDocking": true, + "DockDirection": 2, "MagnetDirections": { - "5": 1, "7": 0, "N026": 0 }, "ConnectedNodes": [ - "5", - "7", - "N026" + "7" ], "CanTurnLeft": true, "CanTurnRight": true, "DisableCross": false, "SpeedLimit": 0, - "AliasName": "", + "AliasName": "LOADER", "IsActive": true, "RfidId": 13, "NodeTextForeColor": "", @@ -370,7 +268,7 @@ "ID2": "0013(*6)", "Id": "6", "Type": 0, - "Position": "518, 519" + "Position": "521, 533" }, { "Text": "", @@ -379,13 +277,10 @@ "DockDirection": 0, "MagnetDirections": { "5": 2, - "8": 1, - "6": 0, - "9": 0 + "6": 0 }, "ConnectedNodes": [ "5", - "8", "6", "9" ], @@ -401,28 +296,24 @@ "ID2": "0007(*7)", "Id": "7", "Type": 0, - "Position": "517, 400" + "Position": "517, 404" }, { - "Text": "", - "StationType": 0, - "CanDocking": false, - "DockDirection": 0, + "Text": "Charger", + "StationType": 5, + "CanDocking": true, + "DockDirection": 1, "MagnetDirections": { - "7": 2, - "9": 1, "N019": 0 }, "ConnectedNodes": [ - "7", - "9", - "N019" + "5" ], "CanTurnLeft": true, "CanTurnRight": true, "DisableCross": false, "SpeedLimit": 0, - "AliasName": "", + "AliasName": "CHARGER", "IsActive": true, "RfidId": 9, "NodeTextForeColor": "", @@ -430,7 +321,7 @@ "ID2": "0009(*8)", "Id": "8", "Type": 0, - "Position": "474, 353" + "Position": "439, 420" }, { "Text": "", @@ -438,12 +329,9 @@ "CanDocking": false, "DockDirection": 0, "MagnetDirections": { - "8": 2, - "10": 0, - "7": 0 + "10": 0 }, "ConnectedNodes": [ - "8", "10", "7" ], @@ -469,7 +357,7 @@ "MagnetDirections": {}, "ConnectedNodes": [ "9", - "12" + "N001" ], "CanTurnLeft": true, "CanTurnRight": true, @@ -483,54 +371,7 @@ "ID2": "0012(*10)", "Id": "10", "Type": 0, - "Position": "458, 268" - }, - { - "Text": "", - "StationType": 0, - "CanDocking": false, - "DockDirection": 0, - "MagnetDirections": {}, - "ConnectedNodes": [ - "N001", - "10" - ], - "CanTurnLeft": true, - "CanTurnRight": true, - "DisableCross": false, - "SpeedLimit": 0, - "AliasName": "", - "IsActive": true, - "RfidId": 16, - "NodeTextForeColor": "", - "NodeTextFontSize": 7.0, - "ID2": "0016(*12)", - "Id": "12", - "Type": 0, - "Position": "389, 270" - }, - { - "Text": "", - "StationType": 0, - "CanDocking": false, - "DockDirection": 0, - "MagnetDirections": {}, - "ConnectedNodes": [ - "N019" - ], - "CanTurnLeft": true, - "CanTurnRight": true, - "DisableCross": false, - "SpeedLimit": 0, - "AliasName": "", - "IsActive": true, - "RfidId": 17, - "NodeTextForeColor": "", - "NodeTextFontSize": 7.0, - "ID2": "0017(*13)", - "Id": "13", - "Type": 0, - "Position": "350, 353" + "Position": "490, 277" }, { "Text": "", @@ -539,7 +380,7 @@ "DockDirection": 0, "MagnetDirections": {}, "ConnectedNodes": [ - "N021" + "N029" ], "CanTurnLeft": true, "CanTurnRight": true, @@ -547,59 +388,61 @@ "SpeedLimit": 1, "AliasName": "", "IsActive": true, - "RfidId": 37, + "RfidId": 91, "NodeTextForeColor": "Black", "NodeTextFontSize": 7.0, - "ID2": "0037(*N027)", + "ID2": "0091(*N027)", "Id": "N027", "Type": 0, - "Position": "-114, 625" + "Position": "-211, 632" }, { - "Text": "", - "StationType": 7, - "CanDocking": false, - "DockDirection": 0, + "Text": "Buffer5", + "StationType": 4, + "CanDocking": true, + "DockDirection": 2, "MagnetDirections": {}, "ConnectedNodes": [ - "N001" + "N021", + "N029" ], "CanTurnLeft": true, "CanTurnRight": true, "DisableCross": false, "SpeedLimit": 1, - "AliasName": "", + "AliasName": "BUFFER5", "IsActive": true, - "RfidId": 39, + "RfidId": 35, "NodeTextForeColor": "Black", "NodeTextFontSize": 7.0, - "ID2": "0039(*N028)", + "ID2": "0035(*N028)", "Id": "N028", "Type": 0, - "Position": "225, 269" + "Position": "-59, 629" }, { - "Text": "", - "StationType": 7, - "CanDocking": false, - "DockDirection": 0, + "Text": "Buffer6", + "StationType": 4, + "CanDocking": true, + "DockDirection": 2, "MagnetDirections": {}, "ConnectedNodes": [ - "N014" + "N028", + "N027" ], "CanTurnLeft": true, "CanTurnRight": true, "DisableCross": false, "SpeedLimit": 1, - "AliasName": "", + "AliasName": "BUFFER6", "IsActive": true, - "RfidId": 38, + "RfidId": 36, "NodeTextForeColor": "Black", "NodeTextFontSize": 7.0, - "ID2": "0038(*N029)", + "ID2": "0036(*N029)", "Id": "N029", "Type": 0, - "Position": "519, 720" + "Position": "-133, 629" }, { "Text": "", @@ -607,56 +450,30 @@ "CanDocking": false, "DockDirection": 0, "MagnetDirections": {}, - "ConnectedNodes": [ - "N010" - ], + "ConnectedNodes": [], "CanTurnLeft": true, "CanTurnRight": true, "DisableCross": false, "SpeedLimit": 1, "AliasName": "", "IsActive": true, - "RfidId": 0, + "RfidId": 90, "NodeTextForeColor": "Black", "NodeTextFontSize": 7.0, - "ID2": "(*N030)", + "ID2": "0090(*N030)", "Id": "N030", "Type": 0, - "Position": "246, 447" - 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"CreatedDate": "2026-01-20T10:36:03.7843912+09:00", + "CreatedDate": "2026-02-10T12:53:40.5602334+09:00", "Version": "1.3" } \ No newline at end of file