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refactor: Convert AGVPathResult.Path from List<string> to List<MapNode>

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## Summary
- Changed Path property type from List<string> to List<MapNode> for better type safety
- Eliminated O(n) node lookups throughout pathfinding system
- Added DirectionalHelper with motor direction consistency bonus/penalty
- Updated all path processing to work with MapNode objects directly

## Files Modified
- AGVPathResult.cs: Path property and CreateSuccess() method signature
- AStarPathfinder.cs: Path generation and node lookup optimization
- AGVPathfinder.cs: Path processing with MapNode objects
- DirectionChangePlanner.cs: Direction change planning with MapNode paths
- DockingValidator.cs: Docking validation with direct node access
- UnifiedAGVCanvas.Events.cs: Path visualization with MapNode iteration
- UnifiedAGVCanvas.cs: Destination node access
- VirtualAGV.cs: Path conversion to string IDs for storage
- DirectionalHelper.cs: Enhanced with motor direction awareness
- NodeMotorInfo.cs: Updated for new path structure

## Benefits
- Performance: Eliminated O(n) lookup searches
- Type Safety: Compile-time checking for node properties
- Code Quality: Direct property access instead of repeated lookups
- Maintainability: Single source of truth for node data

## Build Status
✅ AGVNavigationCore: Build successful (0 errors, 2 warnings)

🤖 Generated with Claude Code
Co-Authored-By: Claude <noreply@anthropic.com>
This commit is contained in:
backuppc
2025-10-27 16:46:13 +09:00
parent dbf81bfc60
commit 735b7dccec
12 changed files with 520 additions and 239 deletions
Download Patch File Download Diff File Expand all files Collapse all files

241
Cs_HMI/Data/NewMap.agvmap
View File

@@ -6,7 +6,9 @@
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@@ -24,7 +26,7 @@
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@@ -37,13 +39,14 @@
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@@ -69,13 +72,14 @@
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@@ -98,18 +102,19 @@
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@@ -166,12 +172,15 @@
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"CreatedDate": "2025-09-12T17:22:57.5510908+09:00",
"ModifiedDate": "2025-09-16T16:25:40.3838199+09:00",
"ModifiedDate": "2025-10-27T13:44:39.9998473+09:00",
"IsActive": true,
"DisplayColor": "Green",
"RfidId": "038",
@@ -1008,7 +1042,7 @@
"ForeColor": "Black",
"BackColor": "Transparent",
"ShowBackground": false,
"ImageBase64": null,
"ImageBase64": "",
"Scale": "1, 1",
"Opacity": 1.0,
"Rotation": 0.0,
@@ -1020,12 +1054,15 @@
"Position": "337, 397",
"Type": 0,
"DockDirection": 0,
"ConnectedNodes": [],
"ConnectedNodes": [
"N004",
"N008"
],
"CanRotate": false,
"StationId": "",
"StationType": null,
"CreatedDate": "2025-09-15T11:18:40.5366059+09:00",
"ModifiedDate": "2025-09-15T15:40:24.0443882+09:00",
"ModifiedDate": "2025-10-27T13:44:39.9998473+09:00",
"IsActive": true,
"DisplayColor": "Blue",
"RfidId": "030",
@@ -1038,13 +1075,45 @@
"ForeColor": "Black",
"BackColor": "Transparent",
"ShowBackground": false,
"ImageBase64": null,
"ImageBase64": "",
"Scale": "1, 1",
"Opacity": 1.0,
"Rotation": 0.0,
"DisplayText": "N031 - [030]"
},
{
"NodeId": "N032",
"Name": "",
"Position": "416, 625",
"Type": 0,
"DockDirection": 0,
"ConnectedNodes": [
"N017"
],
"CanRotate": false,
"StationId": "",
"StationType": null,
"CreatedDate": "2025-10-27T13:44:12.9351531+09:00",
"ModifiedDate": "2025-10-27T13:44:12.9351531+09:00",
"IsActive": true,
"DisplayColor": "Blue",
"RfidId": "",
"RfidStatus": "정상",
"RfidDescription": "",
"LabelText": "",
"FontFamily": "Arial",
"FontSize": 12.0,
"FontStyle": 0,
"ForeColor": "Black",
"BackColor": "Transparent",
"ShowBackground": false,
"ImageBase64": "",
"Scale": "1, 1",
"Opacity": 1.0,
"Rotation": 0.0,
"DisplayText": "N032"
}
],
"CreatedDate": "2025-10-23T13:00:18.6562481+09:00",
"CreatedDate": "2025-10-27T13:44:45.04346+09:00",
"Version": "1.0"
}