"feat:Implement-Canvas-Run-Mode-and-Logic"

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

@@ -119,6 +119,9 @@ namespace AGVNavigationCore.Controls
             var worldPoint = ScreenToWorld(e.Location);
             var hitNode = GetItemAt(worldPoint);
 
+            // 가동 모드에서는 더블클릭 편집 방지
+            if (_canvasMode == CanvasMode.Run) return;
+
             if (hitNode == null) return;
 
             if (hitNode.Type == NodeType.Normal)

Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs

@@ -39,7 +39,8 @@ namespace AGVNavigationCore.Controls
         {
             Edit,       // 편집 가능 (맵 에디터)
             Sync,       // 동기화 모드 (장비 설정 동기화)
-            Emulator    // 에뮬레이터 모드
+            Emulator,   // 에뮬레이터 모드
+            Run         // 가동 모드 (User Request)
         }
 
         /// <summary>

Cs_HMI/Project/ViewForm/fAuto.cs

@@ -43,11 +43,19 @@ namespace Project.ViewForm
 
         private void OnNodeSelected(object sender, NodeBase node, MouseEventArgs e)
         {
-            if (e.Button != MouseButtons.Right) return;
             if (node == null) return;
             var mapnode = node as MapNode;
             if (mapnode == null) return;
 
+            // [Run Mode] Left Click: AGV Operation
+            if (PUB._mapCanvas.Mode == AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Run && e.Button == MouseButtons.Left)
+            {
+                 HandleRunModeClick(mapnode);
+                 return;
+            }
+
+            if (e.Button != MouseButtons.Right) return;
+
             // 도킹 가능한 노드인지 또는 작업 노드인지 확인
             if (mapnode.isDockingNode == false) return;
 
@@ -158,6 +166,9 @@ namespace Project.ViewForm
             //}
 
             this.timer1.Start();
+
+            // Set Run Mode
+            PUB._mapCanvas.Mode = AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Run;
         }
         private void AGV_DataReceive(object sender, arDev.Narumi.DataEventArgs e)
         {
@@ -194,6 +205,9 @@ namespace Project.ViewForm
             PUB.sm.StepChanged -= Sm_StepChanged;
             this.ctlAuto1.ButtonClick -= CtlAuto1_ButtonClick;
             PUB.AGV.DataReceive -= AGV_DataReceive;
+
+            // Reset Mode to Edit
+            PUB._mapCanvas.Mode = AGVNavigationCore.Controls.UnifiedAGVCanvas.CanvasMode.Edit;
         }
 
         bool tmrun = false;
@@ -236,5 +250,49 @@ namespace Project.ViewForm
 
             //tmrun = false;
         }
+
+        private void HandleRunModeClick(MapNode targetNode)
+        {
+            if (targetNode == null) return;
+
+            ENIGProtocol.AGVCommandHE targetCmd = ENIGProtocol.AGVCommandHE.Goto;
+            string confirmMsg = "";
+
+            if (targetNode.StationType == StationType.Charger)
+            {
+                if (MessageBox.Show($"[{targetNode.Id}] 충전기로 이동하여 충전을 진행하시겠습니까?", "작업 확인", MessageBoxButtons.YesNo) == DialogResult.Yes)
+                {
+                    targetCmd = ENIGProtocol.AGVCommandHE.Charger;
+                    ExecuteManualCommand(targetNode, targetCmd);
+                }
+                return;
+            }
+            else if (targetNode.isDockingNode)
+            {
+                // Loader, Unloader, Buffer, Cleaner - Pick/Drop Selection
+                ContextMenuStrip menu = new ContextMenuStrip();
+                
+                var pickOn = new ToolStripMenuItem("Pick On (Move & Pick)");
+                pickOn.Click += (s, args) => ExecuteManualCommand(targetNode, ENIGProtocol.AGVCommandHE.PickOn);
+                menu.Items.Add(pickOn);
+
+                var pickOff = new ToolStripMenuItem("Pick Off (Move & Drop)");
+                pickOff.Click += (s, args) => ExecuteManualCommand(targetNode, ENIGProtocol.AGVCommandHE.PickOff);
+                menu.Items.Add(pickOff);
+
+                menu.Show(Cursor.Position);
+                return;
+            }
+            else
+            {
+                // Normal Node
+                if (MessageBox.Show($"[{targetNode.Id}] 노드로 이동하시겠습니까?", "이동 확인", MessageBoxButtons.YesNo) == DialogResult.Yes)
+                {
+                    targetCmd = ENIGProtocol.AGVCommandHE.Goto;
+                    ExecuteManualCommand(targetNode, targetCmd);
+                }
+                return;
+            }
+        }
     }
 }

Cs_HMI/Project/ViewForm/fAuto.cs.new

@@ -0,0 +1,55 @@
+        private void HandleRunModeClick(MapNode targetNode)
+        {
+            if (targetNode == null) return;
+
+            ENIGProtocol.AGVCommandHE targetCmd = ENIGProtocol.AGVCommandHE.Move;
+            string confirmMsg = "";
+
+            if (targetNode.StationType == StationType.Charger)
+            {
+                if (MessageBox.Show($"[{targetNode.Id}] 충전기로 이동하여 충전을 진행하시겠습니까?", "작업 확인", MessageBoxButtons.YesNo) == DialogResult.Yes)
+                {
+                    targetCmd = ENIGProtocol.AGVCommandHE.Charger;
+                    ExecuteManualCommand(targetNode, targetCmd);
+                }
+                return;
+            }
+            else if (targetNode.isDockingNode)
+            {
+                // Loader, Unloader, Buffer, Cleaner
+                // Custom Dialog needed for PickOn / PickOff
+                // For now, let's use a simple MessageBox or just a ContextMenu like logic?
+                // User said: "click -> PickOn/Off selection -> Execute"
+                // A context menu at cursor position is good for selection.
+                
+                ContextMenuStrip menu = new ContextMenuStrip();
+                
+                var pickOn = new ToolStripMenuItem("Pick On (Move & Pick)");
+                pickOn.Click += (s, args) => ExecuteManualCommand(targetNode, ENIGProtocol.AGVCommandHE.PickOn);
+                menu.Items.Add(pickOn);
+
+                var pickOff = new ToolStripMenuItem("Pick Off (Move & Drop)");
+                pickOff.Click += (s, args) => ExecuteManualCommand(targetNode, ENIGProtocol.AGVCommandHE.PickOff);
+                menu.Items.Add(pickOff);
+
+                menu.Show(Cursor.Position);
+                return;
+            }
+            else
+            {
+                // Normal Node
+                if (MessageBox.Show($"[{targetNode.Id}] 노드로 이동하시겠습니까?", "이동 확인", MessageBoxButtons.YesNo) == DialogResult.Yes)
+                {
+                    targetCmd = ENIGProtocol.AGVCommandHE.Move; // Or PickOff as default move? usually just Move logic inside ExecuteManualCommand handles GOTO.
+                    // But ExecuteManualCommand takes AGVCommandHE. 
+                    // Let's check ENIGProtocol.AGVCommandHE. 
+                    // If not present, we might need to modify ExecuteManualCommand or just pass PickOff as dummy? 
+                    // Actually ExecuteManualCommand uses 'cmd' for log and 'PUB.NextWorkCmd'.
+                    // If 'Move', just GOTO.
+                    // Let's assume 'Move' exists or we use 'PickOff' (Move & Drop often implies MoveTo).
+                    // Or we check `ENIGProtocol.AGVCommandHE`.
+                    ExecuteManualCommand(targetNode, ENIGProtocol.AGVCommandHE.Move);
+                }
+                return;
+            }
+        }