"feat:Enable-hover-highlight-and-refactor"

Cs_HMI/Project/ViewForm/fAuto.cs

@@ -51,7 +51,7 @@ namespace Project.ViewForm
             //PUB._mapCanvas.NodeAdded += OnNodeAdded;
             // 이벤트 연결
             //PUB._mapCanvas.NodeAdded += OnNodeAdded;
-            PUB._mapCanvas.NodesSelected += OnNodeSelected;
+            PUB._mapCanvas.NodeSelect += OnNodeSelected;
             //PUB._mapCanvas.NodeMoved += OnNodeMoved;
             //PUB._mapCanvas.NodeDeleted += OnNodeDeleted;
             //PUB._mapCanvas.ConnectionDeleted += OnConnectionDeleted;
@@ -62,40 +62,40 @@ namespace Project.ViewForm
             panel1.Controls.Add(PUB._mapCanvas);
         }
 
-        private void OnNodeSelected(object sender, List<MapNode> nodes, MouseEventArgs e)
+
+        private void OnNodeSelected(object sender, NodeBase node, MouseEventArgs e)
         {
             if (e.Button != MouseButtons.Right) return;
-            var node = nodes.FirstOrDefault();
-            if (nodes == null) return;
+            if (node == null) return;
+            if ((node is MapNode mapnode) == false) return;
 
             // 도킹 가능한 노드인지 또는 작업 노드인지 확인
-            bool isDockingNode = node.Type == NodeType.Loader || node.Type == NodeType.UnLoader
-                              || node.Type == NodeType.Buffer || node.Type == NodeType.Clearner
-                              || node.Type == NodeType.Charging;
-
-            if (!isDockingNode) return;
+            if (mapnode.isDockingNode == false) return;
 
             ContextMenuStrip menu = new ContextMenuStrip();
 
             // PickOn
             var pickOn = new ToolStripMenuItem("Pick On (Move & Pick)");
-            pickOn.Click += (s, args) => ExecuteManualCommand(node, ENIGProtocol.AGVCommandHE.PickOn);
+            pickOn.Click += (s, args) => ExecuteManualCommand(mapnode, ENIGProtocol.AGVCommandHE.PickOn);
             menu.Items.Add(pickOn);
 
             // PickOff
             var pickOff = new ToolStripMenuItem("Pick Off (Move & Drop)");
-            pickOff.Click += (s, args) => ExecuteManualCommand(node, ENIGProtocol.AGVCommandHE.PickOff);
+            pickOff.Click += (s, args) => ExecuteManualCommand(mapnode, ENIGProtocol.AGVCommandHE.PickOff);
             menu.Items.Add(pickOff);
 
             // Charge
-            if (node.Type == NodeType.Charging)
+            if (mapnode.StationType == StationType.Charger)
             {
                 var charge = new ToolStripMenuItem("Charge (Move & Charge)");
-                charge.Click += (s, args) => ExecuteManualCommand(node, ENIGProtocol.AGVCommandHE.Charger);
+                charge.Click += (s, args) => ExecuteManualCommand(mapnode, ENIGProtocol.AGVCommandHE.Charger);
                 menu.Items.Add(charge);
             }
 
             menu.Show(Cursor.Position);
+
+
+
         }
 
         private void ExecuteManualCommand(MapNode targetNode, ENIGProtocol.AGVCommandHE cmd)
@@ -105,13 +105,19 @@ namespace Project.ViewForm
                 MessageBox.Show("AGV의 현재 위치를 알 수 없습니다.");
                 return;
             }
-            if (PUB.sm.RunStep != eSMStep.IDLE && PUB.sm.RunStep != eSMStep.READY)
+            if (PUB.sm.Step == eSMStep.IDLE)
             {
                 if (MessageBox.Show("현재 대기상태가 아닙니다. 강제로 실행하시겠습니까?", "Warning", MessageBoxButtons.YesNo) == DialogResult.No) return;
             }
 
+            if (targetNode.isDockingNode == false)
+            {
+                UTIL.MsgE("이동 가능한 노드가 아닙니다");
+            }
+
             // 1. 경로 생성
             var pathFinder = new AGVNavigationCore.PathFinding.Planning.AGVPathfinder(PUB._mapNodes);
+
             // 현재위치에서 목표위치까지
             var result = pathFinder.FindPath(PUB._virtualAGV.CurrentNode, targetNode);
 
@@ -122,29 +128,22 @@ namespace Project.ViewForm
             }
 
             // 2. 상태 설정
-            PUB.log.AddI($"[Manual Command] {cmd} to {targetNode.Name}({targetNode.NodeId})");
 
-            // Path 변환 (Node 리스트 -> AGVPathResult)
-            // VirtualAGV.SetPath가 필요할 수 있음. 혹은 Goto 로직을 수동으로 구성.
-            // _SM_RUN_GOTO에서는 PUB._virtualAGV.CurrentPath를 사용함.
-            // AGVPathResult 생성 필요.
+            // 2. 상태 설정
+            if (targetNode is MapNode mapno)
+                PUB.log.AddI($"[Manual Command] {cmd} to {mapno.RfidId}({targetNode.Id})");
+            else
+                PUB.log.AddI($"[Manual Command] {cmd} to ({targetNode.Id})");
 
-            var detailedPath = AGVNavigationCore.PathFinding.Planning.AGVPathfinder.MakeDetailData(result.Path, PUB._mapNodes);
-            PUB._virtualAGV.SetPath(result.Path, detailedPath);
-            PUB._virtualAGV.TargetNode = targetNode;
+            // FindPathResult contains DetailedPath already.
+            PUB._virtualAGV.SetPath(result);
+            PUB._virtualAGV.TargetNode = targetNode as MapNode;
 
             // 3. 작업 설정
             PUB.NextWorkCmd = cmd;
 
             // 4. 실행
             PUB.sm.SetNewRunStep(ERunStep.GOTO); // GOTO -> Arrive -> _IN sequence execution
-        }
-
-            // 툴바 버튼 이벤트 연결
-            //WireToolbarButtonEvents();
-
-
-
         }
 
 
@@ -208,7 +207,7 @@ namespace Project.ViewForm
                             var agvList = new System.Collections.Generic.List<AGVNavigationCore.Controls.IAGV> { PUB._virtualAGV };
                             PUB._mapCanvas.AGVList = agvList;
 
-                            PUB.log.Add($"가상 AGV 생성: {startNode.NodeId} 위치");
+                            PUB.log.Add($"가상 AGV 생성: {startNode.Id} 위치");
                         }
                     }
                     else if (PUB._virtualAGV != null)