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노드정리(삭제노드 제거 및 5번노드 제거로 인한 경로 업데이트)

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backuppc
2026-02-25 11:07:08 +09:00
parent 12b3fe50c7
commit 6a658879f1
3 changed files with 140 additions and 406 deletions
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86
AGVLogic/AGVNavigationCore/PathFinding/Planning/AGVPathfinder.cs
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@@ -464,44 +464,44 @@ namespace AGVNavigationCore.PathFinding.Planning
var retval = new List<MapZonePathData>();
// Buffer -> ...
retval.Add(new MapZonePathData { NodeSta = StationType.Buffer, NodeEnd = StationType.Charger, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "36F", "35F", "31F", "32F", "33F", "34F", "7F", "12F", "11B", "5B", "6B", "73B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Buffer, NodeEnd = StationType.Charger, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "36B", "35B", "31B", "32B", "33B", "34B", "7B", "10B", "6B", "73B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Buffer, NodeEnd = StationType.Plating, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "36F", "35F", "31F", "32F", "33F", "34F", "7F", "12F", "11B", "5B", "72B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Buffer, NodeEnd = StationType.Plating, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "36B", "35B", "31B", "32B", "33B", "34B", "7B", "12B", "11B", "3T", "3B", "11B", "5B", "72B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Buffer, NodeEnd = StationType.Loader, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "36F", "35F", "31F", "32F", "33F", "34F", "7F", "12F", "11F", "3B", "4B", "71B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Buffer, NodeEnd = StationType.Loader, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "36B", "35B", "31B", "32B", "33B", "34B", "7B", "12B", "11B", "3T", "3B", "4B", "71B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Buffer, NodeEnd = StationType.Cleaner, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "36F", "35F", "31F", "32F", "33F", "34F", "7F", "12F", "11F", "3T", "3B", "2B", "1B", "70B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Buffer, NodeEnd = StationType.Cleaner, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "36B", "35B", "31B", "32B", "33B", "34B", "7B", "12B", "11B", "3B", "2B", "1B", "70B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Buffer, NodeEnd = StationType.Charger, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "36F", "35F", "31F", "32F", "33F", "34F", "20F", "9F", "8F", "7F", "11F", "3T", "3F", "11F", "7B", "10B", "6B", "73B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Buffer, NodeEnd = StationType.Charger, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "36B", "35B", "31B", "32B", "33B", "34B", "20B", "9B", "8B", "7B", "10B", "6B", "73B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Buffer, NodeEnd = StationType.Plating, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "36F", "35F", "31F", "32F", "33F", "34F", "20F", "9F", "8F", "7F", "11B", "72B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Buffer, NodeEnd = StationType.Plating, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "36B", "35B", "31B", "32B", "33B", "34B", "20B", "9B", "8B", "7B", "11B", "3T", "3B", "11B", "72B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Buffer, NodeEnd = StationType.Loader, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "36F", "35F", "31F", "32F", "33F", "34F", "20F", "9F", "8F", "7F", "11F", "3B", "71B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Buffer, NodeEnd = StationType.Loader, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "36B", "35B", "31B", "32B", "33B", "34B", "20B", "9B", "8B", "7B", "11B", "3T", "3B", "71B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Buffer, NodeEnd = StationType.Cleaner, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "36F", "35F", "31F", "32F", "33F", "34F", "20F", "9F", "8F", "7F", "11F", "3T", "3B", "70B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Buffer, NodeEnd = StationType.Cleaner, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "36B", "35B", "31B", "32B", "33B", "34B", "20B", "9B", "8B", "7B", "11B", "3B", "70B" } });
// Loader -> ...
retval.Add(new MapZonePathData { NodeSta = StationType.Loader, NodeEnd = StationType.Cleaner, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "71B", "4B", "3B", "2B", "1B", "70B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Loader, NodeEnd = StationType.Cleaner, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "71F", "4F", "3T", "3B", "2B", "1B", "70B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Loader, NodeEnd = StationType.Charger, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "71B", "4B", "3T", "3B", "11B", "5B", "6B", "73B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Loader, NodeEnd = StationType.Charger, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "71F", "4F", "3B", "11B", "5B", "6B", "73B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Loader, NodeEnd = StationType.Plating, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "71B", "4B", "3T", "3B", "11B", "5B", "72B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Loader, NodeEnd = StationType.Plating, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "71F", "4F", "3B", "11B", "5B", "72B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Loader, NodeEnd = StationType.Buffer, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "71B", "4B", "3T", "3B", "11B", "12B", "7B", "8B", "9B", "34B", "33B", "32B", "31B", "35B", "36B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Loader, NodeEnd = StationType.Buffer, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "71F", "4F", "3B", "11B", "12B", "7B", "8B", "9B", "34B", "33B", "32B", "31B", "35B", "36B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Loader, NodeEnd = StationType.Cleaner, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "71B", "3B", "70B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Loader, NodeEnd = StationType.Cleaner, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "71F", "3T", "3B", "70B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Loader, NodeEnd = StationType.Charger, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "71B", "3F", "11F", "7B", "10B", "6B", "73B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Loader, NodeEnd = StationType.Charger, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "71F", "3T", "3F", "11F", "7B", "10B", "6B", "73B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Loader, NodeEnd = StationType.Plating, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "71B", "3T", "3B", "11B", "72B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Loader, NodeEnd = StationType.Plating, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "71F", "3B", "11B", "72B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Loader, NodeEnd = StationType.Buffer, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "71B", "3T", "3B", "11B", "7B", "8B", "9B", "20B", "34B", "33B", "32B", "31B", "35B", "36B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Loader, NodeEnd = StationType.Buffer, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "71F", "3B", "11B", "7B", "8B", "9B", "20B", "34B", "33B", "32B", "31B", "35B", "36B" } });
// Cleaner -> ...
retval.Add(new MapZonePathData { NodeSta = StationType.Cleaner, NodeEnd = StationType.Loader, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "70F", "1F", "2F", "3T", "3B", "4B", "71B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Cleaner, NodeEnd = StationType.Loader, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "70B", "1B", "2B", "3B", "4B", "71B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Cleaner, NodeEnd = StationType.Charger, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "70F", "1F", "2F", "3T", "3B", "11B", "5B", "6B", "73B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Cleaner, NodeEnd = StationType.Charger, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "70B", "1B", "2B", "3B", "11B", "5B", "6B", "73B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Cleaner, NodeEnd = StationType.Plating, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "70F", "1F", "2F", "3T", "3B", "11B", "5B", "72B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Cleaner, NodeEnd = StationType.Plating, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "70B", "1B", "2B", "3B", "11B", "5B", "72B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Cleaner, NodeEnd = StationType.Buffer, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "70F", "1F", "2F", "3T", "3B", "11B", "12B", "7B", "8B", "9B", "34B", "33B", "32B", "31B", "35B", "36B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Cleaner, NodeEnd = StationType.Buffer, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "70B", "1B", "2B", "3B", "11B", "12B", "7B", "8B", "9B", "34B", "33B", "32B", "31B", "35B", "36B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Cleaner, NodeEnd = StationType.Loader, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "70F", "3T", "3B", "71B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Cleaner, NodeEnd = StationType.Loader, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "70B", "3B", "71B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Cleaner, NodeEnd = StationType.Charger, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "70F", "3F", "11F", "7B", "10B", "6B", "73B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Cleaner, NodeEnd = StationType.Charger, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "70B", "3T", "3F", "11F", "7B", "10B", "6B", "73B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Cleaner, NodeEnd = StationType.Plating, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "70F", "3T", "3B", "11B", "72B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Cleaner, NodeEnd = StationType.Plating, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "70B", "3B", "11B", "72B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Cleaner, NodeEnd = StationType.Buffer, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "70F", "3T", "3B", "11B", "7B", "8B", "9B", "20B", "34B", "33B", "32B", "31B", "35B", "36B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Cleaner, NodeEnd = StationType.Buffer, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "70B", "3B", "11B", "7B", "8B", "9B", "20B", "34B", "33B", "32B", "31B", "35B", "36B" } });
// Plating -> ...
retval.Add(new MapZonePathData { NodeSta = StationType.Plating, NodeEnd = StationType.Loader, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "72F", "5F", "11F", "3B", "4B", "71B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Plating, NodeEnd = StationType.Loader, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "72B", "5B", "11B", "3T", "3B", "4B", "71B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Plating, NodeEnd = StationType.Charger, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "72F", "5F", "11B", "5B", "6B", "73B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Plating, NodeEnd = StationType.Charger, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "72B", "5B", "11B", "3T", "3B", "11B", "5B", "6B", "73B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Plating, NodeEnd = StationType.Cleaner, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "72F", "5F", "11F", "3T", "3B", "2B", "1B", "70B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Plating, NodeEnd = StationType.Cleaner, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "72B", "5B", "11B", "3B", "2B", "1B", "70B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Plating, NodeEnd = StationType.Buffer, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "72F", "5F", "11B", "12B", "7B", "8B", "9B", "34B", "33B", "32B", "31B", "35B", "36B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Plating, NodeEnd = StationType.Buffer, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "72B", "5B", "11B", "3T", "3B", "11B", "12B", "7B", "8B", "9B", "34B", "33B", "32B", "31B", "35B", "36B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Plating, NodeEnd = StationType.Loader, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "72F", "11F", "3B", "71B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Plating, NodeEnd = StationType.Loader, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "72B", "11B", "3T", "3B", "71B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Plating, NodeEnd = StationType.Charger, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "72F", "11F", "3T", "3F", "11F", "7B", "10B", "6B", "73B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Plating, NodeEnd = StationType.Charger, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "72B", "11B", "3F", "11F", "7B", "10B", "6B", "73B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Plating, NodeEnd = StationType.Cleaner, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "72F", "11F", "3T", "3B", "70B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Plating, NodeEnd = StationType.Cleaner, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "72B", "11B", "3B", "70B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Plating, NodeEnd = StationType.Buffer, Monitor = MapZoneMonitor.RightBtm, Path = new List<string> { "72F", "11B", "7B", "8B", "9B", "20B", "34B", "33B", "32B", "31B", "35B", "36B" } });
retval.Add(new MapZonePathData { NodeSta = StationType.Plating, NodeEnd = StationType.Buffer, Monitor = MapZoneMonitor.LeftTop, Path = new List<string> { "72B", "11B", "3T", "3B", "11B", "7B", "8B", "9B", "20B", "34B", "33B", "32B", "31B", "35B", "36B" } });
return retval;
}
@@ -526,12 +526,12 @@ namespace AGVNavigationCore.PathFinding.Planning
{
Dictionary<MapZone, int[]> ZoneList = new Dictionary<MapZone, int[]>();
ZoneList.Add(MapZone.Turn, new int[] { 3 });
ZoneList.Add(MapZone.Buffer, new int[] { 91, 36, 35, 31, 32, 33, 34, 9, 8, 7 });
ZoneList.Add(MapZone.Buffer, new int[] { 91, 36, 35, 31, 32, 33, 34, 20, 9, 8, 7 });
ZoneList.Add(MapZone.Charger, new int[] { 73, 6, 10 });
ZoneList.Add(MapZone.Junction, new int[] { 12, 11 });
ZoneList.Add(MapZone.Plating, new int[] { 72, 5 });
ZoneList.Add(MapZone.Loader, new int[] { 71, 4 });
ZoneList.Add(MapZone.Cleaner, new int[] { 70, 1, 2 });
ZoneList.Add(MapZone.Junction, new int[] { 11 });
ZoneList.Add(MapZone.Plating, new int[] { 72 });
ZoneList.Add(MapZone.Loader, new int[] { 71 });
ZoneList.Add(MapZone.Cleaner, new int[] { 70 });
return ZoneList;
}
@@ -712,9 +712,9 @@ namespace AGVNavigationCore.PathFinding.Planning
{
case MapZone.Buffer: exitRfid = 7; break;
case MapZone.Charger: exitRfid = 10; break; // Or 6? Assuming 10 based on flow
case MapZone.Plating: exitRfid = 5; break;
case MapZone.Loader: exitRfid = 4; break;
case MapZone.Cleaner: exitRfid = 1; break;
case MapZone.Plating: exitRfid = 72; break;
case MapZone.Loader: exitRfid = 71; break;
case MapZone.Cleaner: exitRfid = 70; break;
case MapZone.Junction: return null;
}
return _mapNodes.FirstOrDefault(n => n.RfidId == exitRfid);
@@ -731,9 +731,9 @@ namespace AGVNavigationCore.PathFinding.Planning
// Let's assume Entry = Exit for single-lane spurs, or define specific entry points.
// If Buffer is 91~07, maybe Entry is 7?
case MapZone.Charger: entryRfid = 10; break;
case MapZone.Plating: entryRfid = 5; break;
case MapZone.Loader: entryRfid = 4; break;
case MapZone.Cleaner: entryRfid = 1; break;
case MapZone.Plating: entryRfid = 72; break;
case MapZone.Loader: entryRfid = 71; break;
case MapZone.Cleaner: entryRfid = 70; break;
}
return _mapNodes.FirstOrDefault(n => n.RfidId == entryRfid);
}