fix: RFID duplicate validation and correct magnet direction calculation

- Add real-time RFID duplicate validation in map editor with automatic rollback
- Remove RFID auto-assignment to maintain data consistency between editor and simulator
- Fix magnet direction calculation to use actual forward direction angles instead of arbitrary assignment
- Add node names to simulator combo boxes for better identification
- Improve UI layout by drawing connection lines before text for better visibility

🤖 Generated with [Claude Code](https://claude.ai/code)

Co-Authored-By: Claude <noreply@anthropic.com>

Cs_HMI/AGVSimulator/Forms/SimulatorForm.Designer.cs

@@ -70,6 +70,7 @@ namespace AGVSimulator.Forms
             this.startSimulationToolStripButton = new System.Windows.Forms.ToolStripButton();
             this.stopSimulationToolStripButton = new System.Windows.Forms.ToolStripButton();
             this.resetToolStripButton = new System.Windows.Forms.ToolStripButton();
+            this.btAllReset = new System.Windows.Forms.ToolStripButton();
             this.toolStripSeparator3 = new System.Windows.Forms.ToolStripSeparator();
             this.fitToMapToolStripButton = new System.Windows.Forms.ToolStripButton();
             this.resetZoomToolStripButton = new System.Windows.Forms.ToolStripButton();
@@ -85,6 +86,7 @@ namespace AGVSimulator.Forms
             this._clearPathButton = new System.Windows.Forms.Button();
             this._startPathButton = new System.Windows.Forms.Button();
             this._calculatePathButton = new System.Windows.Forms.Button();
+            this._avoidRotationCheckBox = new System.Windows.Forms.CheckBox();
             this._targetNodeCombo = new System.Windows.Forms.ComboBox();
             this.targetNodeLabel = new System.Windows.Forms.Label();
             this._startNodeCombo = new System.Windows.Forms.ComboBox();
@@ -93,13 +95,19 @@ namespace AGVSimulator.Forms
             this._setPositionButton = new System.Windows.Forms.Button();
             this._rfidTextBox = new System.Windows.Forms.TextBox();
             this._rfidLabel = new System.Windows.Forms.Label();
+            this._directionCombo = new System.Windows.Forms.ComboBox();
+            this._directionLabel = new System.Windows.Forms.Label();
             this._stopSimulationButton = new System.Windows.Forms.Button();
             this._startSimulationButton = new System.Windows.Forms.Button();
             this._removeAgvButton = new System.Windows.Forms.Button();
             this._addAgvButton = new System.Windows.Forms.Button();
             this._agvListCombo = new System.Windows.Forms.ComboBox();
             this._canvasPanel = new System.Windows.Forms.Panel();
-            this.btAllReset = new System.Windows.Forms.ToolStripButton();
+            this._agvInfoPanel = new System.Windows.Forms.Panel();
+            this._agvInfoTitleLabel = new System.Windows.Forms.Label();
+            this._liftDirectionLabel = new System.Windows.Forms.Label();
+            this._motorDirectionLabel = new System.Windows.Forms.Label();
+            this._pathDebugLabel = new System.Windows.Forms.Label();
             this._menuStrip.SuspendLayout();
             this._toolStrip.SuspendLayout();
             this._statusStrip.SuspendLayout();
@@ -107,6 +115,7 @@ namespace AGVSimulator.Forms
             this._statusGroup.SuspendLayout();
             this._pathGroup.SuspendLayout();
             this._agvControlGroup.SuspendLayout();
+            this._agvInfoPanel.SuspendLayout();
             this.SuspendLayout();
             // 
             // _menuStrip
@@ -139,7 +148,7 @@ namespace AGVSimulator.Forms
             // 
             this.openMapToolStripMenuItem.Name = "openMapToolStripMenuItem";
             this.openMapToolStripMenuItem.ShortcutKeys = ((System.Windows.Forms.Keys)((System.Windows.Forms.Keys.Control | System.Windows.Forms.Keys.O)));
-            this.openMapToolStripMenuItem.Size = new System.Drawing.Size(183, 22);
+            this.openMapToolStripMenuItem.Size = new System.Drawing.Size(221, 22);
             this.openMapToolStripMenuItem.Text = "맵 열기(&O)...";
             this.openMapToolStripMenuItem.Click += new System.EventHandler(this.OnOpenMap_Click);
             // 
@@ -147,33 +156,33 @@ namespace AGVSimulator.Forms
             // 
             this.reloadMapToolStripMenuItem.Name = "reloadMapToolStripMenuItem";
             this.reloadMapToolStripMenuItem.ShortcutKeys = ((System.Windows.Forms.Keys)((System.Windows.Forms.Keys.Control | System.Windows.Forms.Keys.R)));
-            this.reloadMapToolStripMenuItem.Size = new System.Drawing.Size(183, 22);
+            this.reloadMapToolStripMenuItem.Size = new System.Drawing.Size(221, 22);
             this.reloadMapToolStripMenuItem.Text = "맵 다시열기(&R)";
             this.reloadMapToolStripMenuItem.Click += new System.EventHandler(this.OnReloadMap_Click);
             // 
             // toolStripSeparator1
             // 
             this.toolStripSeparator1.Name = "toolStripSeparator1";
-            this.toolStripSeparator1.Size = new System.Drawing.Size(180, 6);
+            this.toolStripSeparator1.Size = new System.Drawing.Size(218, 6);
             // 
             // launchMapEditorToolStripMenuItem
             // 
             this.launchMapEditorToolStripMenuItem.Name = "launchMapEditorToolStripMenuItem";
             this.launchMapEditorToolStripMenuItem.ShortcutKeys = ((System.Windows.Forms.Keys)((System.Windows.Forms.Keys.Control | System.Windows.Forms.Keys.M)));
-            this.launchMapEditorToolStripMenuItem.Size = new System.Drawing.Size(183, 22);
+            this.launchMapEditorToolStripMenuItem.Size = new System.Drawing.Size(221, 22);
             this.launchMapEditorToolStripMenuItem.Text = "MapEditor 실행(&M)";
             this.launchMapEditorToolStripMenuItem.Click += new System.EventHandler(this.OnLaunchMapEditor_Click);
             // 
             // toolStripSeparator4
             // 
             this.toolStripSeparator4.Name = "toolStripSeparator4";
-            this.toolStripSeparator4.Size = new System.Drawing.Size(180, 6);
+            this.toolStripSeparator4.Size = new System.Drawing.Size(218, 6);
             // 
             // exitToolStripMenuItem
             // 
             this.exitToolStripMenuItem.Name = "exitToolStripMenuItem";
             this.exitToolStripMenuItem.ShortcutKeys = ((System.Windows.Forms.Keys)((System.Windows.Forms.Keys.Alt | System.Windows.Forms.Keys.F4)));
-            this.exitToolStripMenuItem.Size = new System.Drawing.Size(183, 22);
+            this.exitToolStripMenuItem.Size = new System.Drawing.Size(221, 22);
             this.exitToolStripMenuItem.Text = "종료(&X)";
             this.exitToolStripMenuItem.Click += new System.EventHandler(this.OnExit_Click);
             // 
@@ -284,7 +293,7 @@ namespace AGVSimulator.Forms
             // 
             this.reloadMapToolStripButton.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Text;
             this.reloadMapToolStripButton.Name = "reloadMapToolStripButton";
-            this.reloadMapToolStripButton.Size = new System.Drawing.Size(63, 22);
+            this.reloadMapToolStripButton.Size = new System.Drawing.Size(59, 22);
             this.reloadMapToolStripButton.Text = "다시열기";
             this.reloadMapToolStripButton.ToolTipText = "현재 맵을 다시 로드합니다";
             this.reloadMapToolStripButton.Click += new System.EventHandler(this.OnReloadMap_Click);
@@ -293,7 +302,7 @@ namespace AGVSimulator.Forms
             // 
             this.launchMapEditorToolStripButton.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Text;
             this.launchMapEditorToolStripButton.Name = "launchMapEditorToolStripButton";
-            this.launchMapEditorToolStripButton.Size = new System.Drawing.Size(71, 22);
+            this.launchMapEditorToolStripButton.Size = new System.Drawing.Size(66, 22);
             this.launchMapEditorToolStripButton.Text = "MapEditor";
             this.launchMapEditorToolStripButton.ToolTipText = "MapEditor를 실행합니다";
             this.launchMapEditorToolStripButton.Click += new System.EventHandler(this.OnLaunchMapEditor_Click);
@@ -330,6 +339,15 @@ namespace AGVSimulator.Forms
             this.resetToolStripButton.ToolTipText = "시뮬레이션을 초기화합니다";
             this.resetToolStripButton.Click += new System.EventHandler(this.OnReset_Click);
             // 
+            // btAllReset
+            // 
+            this.btAllReset.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Text;
+            this.btAllReset.Name = "btAllReset";
+            this.btAllReset.Size = new System.Drawing.Size(71, 22);
+            this.btAllReset.Text = "전체초기화";
+            this.btAllReset.ToolTipText = "시뮬레이션을 초기화합니다";
+            this.btAllReset.Click += new System.EventHandler(this.btAllReset_Click);
+            // 
             // toolStripSeparator3
             // 
             this.toolStripSeparator3.Name = "toolStripSeparator3";
@@ -382,9 +400,9 @@ namespace AGVSimulator.Forms
             this._controlPanel.Controls.Add(this._pathGroup);
             this._controlPanel.Controls.Add(this._agvControlGroup);
             this._controlPanel.Dock = System.Windows.Forms.DockStyle.Right;
-            this._controlPanel.Location = new System.Drawing.Point(950, 49);
+            this._controlPanel.Location = new System.Drawing.Point(967, 49);
             this._controlPanel.Name = "_controlPanel";
-            this._controlPanel.Size = new System.Drawing.Size(250, 729);
+            this._controlPanel.Size = new System.Drawing.Size(233, 729);
             this._controlPanel.TabIndex = 3;
             // 
             // _statusGroup
@@ -392,9 +410,10 @@ namespace AGVSimulator.Forms
             this._statusGroup.Controls.Add(this._pathLengthLabel);
             this._statusGroup.Controls.Add(this._agvCountLabel);
             this._statusGroup.Controls.Add(this._simulationStatusLabel);
-            this._statusGroup.Location = new System.Drawing.Point(10, 356);
+            this._statusGroup.Dock = System.Windows.Forms.DockStyle.Top;
+            this._statusGroup.Location = new System.Drawing.Point(0, 404);
             this._statusGroup.Name = "_statusGroup";
-            this._statusGroup.Size = new System.Drawing.Size(230, 100);
+            this._statusGroup.Size = new System.Drawing.Size(233, 100);
             this._statusGroup.TabIndex = 3;
             this._statusGroup.TabStop = false;
             this._statusGroup.Text = "상태 정보";
@@ -431,20 +450,22 @@ namespace AGVSimulator.Forms
             this._pathGroup.Controls.Add(this._clearPathButton);
             this._pathGroup.Controls.Add(this._startPathButton);
             this._pathGroup.Controls.Add(this._calculatePathButton);
+            this._pathGroup.Controls.Add(this._avoidRotationCheckBox);
             this._pathGroup.Controls.Add(this._targetNodeCombo);
             this._pathGroup.Controls.Add(this.targetNodeLabel);
             this._pathGroup.Controls.Add(this._startNodeCombo);
             this._pathGroup.Controls.Add(this.startNodeLabel);
-            this._pathGroup.Location = new System.Drawing.Point(10, 200);
+            this._pathGroup.Dock = System.Windows.Forms.DockStyle.Top;
+            this._pathGroup.Location = new System.Drawing.Point(0, 214);
             this._pathGroup.Name = "_pathGroup";
-            this._pathGroup.Size = new System.Drawing.Size(230, 150);
+            this._pathGroup.Size = new System.Drawing.Size(233, 190);
             this._pathGroup.TabIndex = 1;
             this._pathGroup.TabStop = false;
             this._pathGroup.Text = "경로 제어";
             // 
             // _clearPathButton
             // 
-            this._clearPathButton.Location = new System.Drawing.Point(150, 120);
+            this._clearPathButton.Location = new System.Drawing.Point(150, 148);
             this._clearPathButton.Name = "_clearPathButton";
             this._clearPathButton.Size = new System.Drawing.Size(70, 25);
             this._clearPathButton.TabIndex = 6;
@@ -454,7 +475,7 @@ namespace AGVSimulator.Forms
             // 
             // _startPathButton
             // 
-            this._startPathButton.Location = new System.Drawing.Point(80, 120);
+            this._startPathButton.Location = new System.Drawing.Point(80, 148);
             this._startPathButton.Name = "_startPathButton";
             this._startPathButton.Size = new System.Drawing.Size(65, 25);
             this._startPathButton.TabIndex = 5;
@@ -464,7 +485,7 @@ namespace AGVSimulator.Forms
             // 
             // _calculatePathButton
             // 
-            this._calculatePathButton.Location = new System.Drawing.Point(10, 120);
+            this._calculatePathButton.Location = new System.Drawing.Point(10, 148);
             this._calculatePathButton.Name = "_calculatePathButton";
             this._calculatePathButton.Size = new System.Drawing.Size(65, 25);
             this._calculatePathButton.TabIndex = 4;
@@ -472,10 +493,20 @@ namespace AGVSimulator.Forms
             this._calculatePathButton.UseVisualStyleBackColor = true;
             this._calculatePathButton.Click += new System.EventHandler(this.OnCalculatePath_Click);
             // 
+            // _avoidRotationCheckBox
+            // 
+            this._avoidRotationCheckBox.AutoSize = true;
+            this._avoidRotationCheckBox.Location = new System.Drawing.Point(10, 126);
+            this._avoidRotationCheckBox.Name = "_avoidRotationCheckBox";
+            this._avoidRotationCheckBox.Size = new System.Drawing.Size(104, 16);
+            this._avoidRotationCheckBox.TabIndex = 7;
+            this._avoidRotationCheckBox.Text = "회전 구간 회피";
+            this._avoidRotationCheckBox.UseVisualStyleBackColor = true;
+            // 
             // _targetNodeCombo
             // 
             this._targetNodeCombo.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
-            this._targetNodeCombo.Location = new System.Drawing.Point(10, 95);
+            this._targetNodeCombo.Location = new System.Drawing.Point(10, 97);
             this._targetNodeCombo.Name = "_targetNodeCombo";
             this._targetNodeCombo.Size = new System.Drawing.Size(210, 20);
             this._targetNodeCombo.TabIndex = 3;
@@ -511,14 +542,17 @@ namespace AGVSimulator.Forms
             this._agvControlGroup.Controls.Add(this._setPositionButton);
             this._agvControlGroup.Controls.Add(this._rfidTextBox);
             this._agvControlGroup.Controls.Add(this._rfidLabel);
+            this._agvControlGroup.Controls.Add(this._directionCombo);
+            this._agvControlGroup.Controls.Add(this._directionLabel);
             this._agvControlGroup.Controls.Add(this._stopSimulationButton);
             this._agvControlGroup.Controls.Add(this._startSimulationButton);
             this._agvControlGroup.Controls.Add(this._removeAgvButton);
             this._agvControlGroup.Controls.Add(this._addAgvButton);
             this._agvControlGroup.Controls.Add(this._agvListCombo);
-            this._agvControlGroup.Location = new System.Drawing.Point(10, 10);
+            this._agvControlGroup.Dock = System.Windows.Forms.DockStyle.Top;
+            this._agvControlGroup.Location = new System.Drawing.Point(0, 0);
             this._agvControlGroup.Name = "_agvControlGroup";
-            this._agvControlGroup.Size = new System.Drawing.Size(230, 180);
+            this._agvControlGroup.Size = new System.Drawing.Size(233, 214);
             this._agvControlGroup.TabIndex = 0;
             this._agvControlGroup.TabStop = false;
             this._agvControlGroup.Text = "AGV 제어";
@@ -527,7 +561,7 @@ namespace AGVSimulator.Forms
             // 
             this._setPositionButton.Location = new System.Drawing.Point(160, 138);
             this._setPositionButton.Name = "_setPositionButton";
-            this._setPositionButton.Size = new System.Drawing.Size(60, 25);
+            this._setPositionButton.Size = new System.Drawing.Size(60, 67);
             this._setPositionButton.TabIndex = 7;
             this._setPositionButton.Text = "위치설정";
             this._setPositionButton.UseVisualStyleBackColor = true;
@@ -550,6 +584,24 @@ namespace AGVSimulator.Forms
             this._rfidLabel.TabIndex = 5;
             this._rfidLabel.Text = "RFID 현재위치:";
             // 
+            // _directionCombo
+            // 
+            this._directionCombo.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this._directionCombo.FormattingEnabled = true;
+            this._directionCombo.Location = new System.Drawing.Point(10, 185);
+            this._directionCombo.Name = "_directionCombo";
+            this._directionCombo.Size = new System.Drawing.Size(140, 20);
+            this._directionCombo.TabIndex = 8;
+            // 
+            // _directionLabel
+            // 
+            this._directionLabel.AutoSize = true;
+            this._directionLabel.Location = new System.Drawing.Point(10, 165);
+            this._directionLabel.Name = "_directionLabel";
+            this._directionLabel.Size = new System.Drawing.Size(85, 12);
+            this._directionLabel.TabIndex = 9;
+            this._directionLabel.Text = "모터 구동방향:";
+            // 
             // _stopSimulationButton
             // 
             this._stopSimulationButton.Location = new System.Drawing.Point(120, 85);
@@ -602,19 +654,65 @@ namespace AGVSimulator.Forms
             // _canvasPanel
             // 
             this._canvasPanel.Dock = System.Windows.Forms.DockStyle.Fill;
-            this._canvasPanel.Location = new System.Drawing.Point(0, 49);
+            this._canvasPanel.Location = new System.Drawing.Point(0, 109);
             this._canvasPanel.Name = "_canvasPanel";
-            this._canvasPanel.Size = new System.Drawing.Size(950, 729);
+            this._canvasPanel.Size = new System.Drawing.Size(967, 669);
             this._canvasPanel.TabIndex = 4;
             // 
-            // btAllReset
+            // _agvInfoPanel
             // 
-            this.btAllReset.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Text;
-            this.btAllReset.Name = "btAllReset";
-            this.btAllReset.Size = new System.Drawing.Size(71, 22);
-            this.btAllReset.Text = "전체초기화";
-            this.btAllReset.ToolTipText = "시뮬레이션을 초기화합니다";
-            this.btAllReset.Click += new System.EventHandler(this.btAllReset_Click);
+            this._agvInfoPanel.BackColor = System.Drawing.Color.LightBlue;
+            this._agvInfoPanel.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+            this._agvInfoPanel.Controls.Add(this._agvInfoTitleLabel);
+            this._agvInfoPanel.Controls.Add(this._liftDirectionLabel);
+            this._agvInfoPanel.Controls.Add(this._motorDirectionLabel);
+            this._agvInfoPanel.Controls.Add(this._pathDebugLabel);
+            this._agvInfoPanel.Dock = System.Windows.Forms.DockStyle.Top;
+            this._agvInfoPanel.Location = new System.Drawing.Point(0, 49);
+            this._agvInfoPanel.Name = "_agvInfoPanel";
+            this._agvInfoPanel.Size = new System.Drawing.Size(967, 60);
+            this._agvInfoPanel.TabIndex = 5;
+            // 
+            // _agvInfoTitleLabel
+            // 
+            this._agvInfoTitleLabel.AutoSize = true;
+            this._agvInfoTitleLabel.Font = new System.Drawing.Font("맑은 고딕", 9F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this._agvInfoTitleLabel.Location = new System.Drawing.Point(10, 12);
+            this._agvInfoTitleLabel.Name = "_agvInfoTitleLabel";
+            this._agvInfoTitleLabel.Size = new System.Drawing.Size(91, 15);
+            this._agvInfoTitleLabel.TabIndex = 0;
+            this._agvInfoTitleLabel.Text = "AGV 상태 정보:";
+            // 
+            // _liftDirectionLabel
+            // 
+            this._liftDirectionLabel.AutoSize = true;
+            this._liftDirectionLabel.Font = new System.Drawing.Font("맑은 고딕", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this._liftDirectionLabel.Location = new System.Drawing.Point(120, 12);
+            this._liftDirectionLabel.Name = "_liftDirectionLabel";
+            this._liftDirectionLabel.Size = new System.Drawing.Size(83, 15);
+            this._liftDirectionLabel.TabIndex = 1;
+            this._liftDirectionLabel.Text = "리프트 방향: -";
+            // 
+            // _motorDirectionLabel
+            // 
+            this._motorDirectionLabel.AutoSize = true;
+            this._motorDirectionLabel.Font = new System.Drawing.Font("맑은 고딕", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this._motorDirectionLabel.Location = new System.Drawing.Point(250, 12);
+            this._motorDirectionLabel.Name = "_motorDirectionLabel";
+            this._motorDirectionLabel.Size = new System.Drawing.Size(71, 15);
+            this._motorDirectionLabel.TabIndex = 2;
+            this._motorDirectionLabel.Text = "모터 방향: -";
+            // 
+            // _pathDebugLabel
+            // 
+            this._pathDebugLabel.AutoSize = true;
+            this._pathDebugLabel.Font = new System.Drawing.Font("맑은 고딕", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this._pathDebugLabel.ForeColor = System.Drawing.Color.DarkBlue;
+            this._pathDebugLabel.Location = new System.Drawing.Point(10, 30);
+            this._pathDebugLabel.Name = "_pathDebugLabel";
+            this._pathDebugLabel.Size = new System.Drawing.Size(114, 15);
+            this._pathDebugLabel.TabIndex = 3;
+            this._pathDebugLabel.Text = "경로: 설정되지 않음";
             // 
             // SimulatorForm
             // 
@@ -622,6 +720,7 @@ namespace AGVSimulator.Forms
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
             this.ClientSize = new System.Drawing.Size(1200, 800);
             this.Controls.Add(this._canvasPanel);
+            this.Controls.Add(this._agvInfoPanel);
             this.Controls.Add(this._controlPanel);
             this.Controls.Add(this._statusStrip);
             this.Controls.Add(this._toolStrip);
@@ -644,6 +743,8 @@ namespace AGVSimulator.Forms
             this._pathGroup.PerformLayout();
             this._agvControlGroup.ResumeLayout(false);
             this._agvControlGroup.PerformLayout();
+            this._agvInfoPanel.ResumeLayout(false);
+            this._agvInfoPanel.PerformLayout();
             this.ResumeLayout(false);
             this.PerformLayout();
 
@@ -692,6 +793,7 @@ namespace AGVSimulator.Forms
         private System.Windows.Forms.Button _calculatePathButton;
         private System.Windows.Forms.Button _startPathButton;
         private System.Windows.Forms.Button _clearPathButton;
+        private System.Windows.Forms.CheckBox _avoidRotationCheckBox;
         private System.Windows.Forms.GroupBox _statusGroup;
         private System.Windows.Forms.Label _simulationStatusLabel;
         private System.Windows.Forms.Label _agvCountLabel;
@@ -700,11 +802,18 @@ namespace AGVSimulator.Forms
         private System.Windows.Forms.Label _rfidLabel;
         private System.Windows.Forms.TextBox _rfidTextBox;
         private System.Windows.Forms.Button _setPositionButton;
+        private System.Windows.Forms.ComboBox _directionCombo;
+        private System.Windows.Forms.Label _directionLabel;
         private System.Windows.Forms.ToolStripButton btAllReset;
         private System.Windows.Forms.ToolStripMenuItem reloadMapToolStripMenuItem;
         private System.Windows.Forms.ToolStripMenuItem launchMapEditorToolStripMenuItem;
         private System.Windows.Forms.ToolStripSeparator toolStripSeparator4;
         private System.Windows.Forms.ToolStripButton reloadMapToolStripButton;
         private System.Windows.Forms.ToolStripButton launchMapEditorToolStripButton;
+        private System.Windows.Forms.Panel _agvInfoPanel;
+        private System.Windows.Forms.Label _liftDirectionLabel;
+        private System.Windows.Forms.Label _motorDirectionLabel;
+        private System.Windows.Forms.Label _agvInfoTitleLabel;
+        private System.Windows.Forms.Label _pathDebugLabel;
     }
 }

Cs_HMI/AGVSimulator/Forms/SimulatorForm.cs

@@ -25,6 +25,7 @@ namespace AGVSimulator.Forms
         private List<MapNode> _mapNodes;
         private NodeResolver _nodeResolver;
         private PathCalculator _pathCalculator;
+        private AdvancedAGVPathfinder _advancedPathfinder;
         private List<VirtualAGV> _agvList;
         private SimulationState _simulationState;
         private Timer _simulationTimer;
@@ -50,6 +51,9 @@ namespace AGVSimulator.Forms
         {
             InitializeComponent();
             InitializeForm();
+
+            // Load 이벤트 연결
+            this.Load += SimulatorForm_Load;
         }
 
         #endregion
@@ -80,6 +84,8 @@ namespace AGVSimulator.Forms
 
             // 초기 상태 설정
             UpdateUI();
+
+            // 마지막 맵 파일 자동 로드 확인은 Form_Load에서 수행
         }
 
 
@@ -121,6 +127,12 @@ namespace AGVSimulator.Forms
 
         #region Event Handlers
 
+        private void SimulatorForm_Load(object sender, EventArgs e)
+        {
+            // 폼이 완전히 로드된 후 마지막 맵 파일 자동 로드 확인
+            CheckAndLoadLastMapFile();
+        }
+
         private void OnOpenMap_Click(object sender, EventArgs e)
         {
             using (var openDialog = new OpenFileDialog())
@@ -279,7 +291,39 @@ namespace AGVSimulator.Forms
                 _pathCalculator.SetMapData(_mapNodes);
             }
 
-            var agvResult = _pathCalculator.FindAGVPath(startNode.NodeId, targetNode.NodeId);
+            if (_advancedPathfinder == null)
+            {
+                _advancedPathfinder = new AdvancedAGVPathfinder(_mapNodes);
+            }
+
+            // 현재 AGV 방향 가져오기
+            var selectedAGV = _agvListCombo.SelectedItem as VirtualAGV;
+            var currentDirection = selectedAGV?.CurrentDirection ?? AgvDirection.Forward;
+
+            // 고급 경로 계획 사용
+            var advancedResult = _advancedPathfinder.FindAdvancedPath(startNode.NodeId, targetNode.NodeId, currentDirection);
+
+            if (advancedResult.Success)
+            {
+                // 고급 경로 결과를 기존 AGVPathResult 형태로 변환
+                var agvResult1 = ConvertToAGVPathResult(advancedResult);
+
+                _simulatorCanvas.CurrentPath = agvResult1.ToPathResult();
+                _pathLengthLabel.Text = $"경로 길이: {advancedResult.TotalDistance:F1}";
+                _statusLabel.Text = $"고급 경로 계산 완료 ({advancedResult.CalculationTimeMs}ms)";
+
+                // 고급 경로 디버깅 정보 표시
+                UpdateAdvancedPathDebugInfo(advancedResult);
+                return;
+            }
+
+            // 고급 경로 실패시 기존 방식으로 fallback
+            // 회전 회피 옵션 설정
+            var options = _avoidRotationCheckBox.Checked
+                ? PathfindingOptions.AvoidRotation
+                : PathfindingOptions.Default;
+
+            var agvResult = _pathCalculator.FindAGVPath(startNode.NodeId, targetNode.NodeId, null, options);
 
             if (agvResult.Success)
             {
@@ -434,8 +478,12 @@ namespace AGVSimulator.Forms
             if (nodesWithRfid.Count == 0)
                 return "RFID가 할당된 노드가 없습니다.";
 
-            // 처음 10개의 RFID만 표시
-            var rfidList = nodesWithRfid.Take(10).Select(n => $"- {n.RfidId} → {n.NodeId}");
+            // 처음 10개의 RFID만 표시 (노드 이름 포함)
+            var rfidList = nodesWithRfid.Take(10).Select(n =>
+            {
+                var nodeNamePart = !string.IsNullOrEmpty(n.Name) ? $" {n.Name}" : "";
+                return $"- {n.RfidId} → {n.NodeId}{nodeNamePart}";
+            });
             var result = string.Join("\n", rfidList);
 
             if (nodesWithRfid.Count > 10)
@@ -457,8 +505,7 @@ namespace AGVSimulator.Forms
                     _mapNodes = result.Nodes;
                     _currentMapFilePath = filePath;
 
-                    // RFID가 없는 노드들에 자동 할당
-                    MapLoader.AssignAutoRfidIds(_mapNodes);
+                    // RFID 자동 할당 제거 - 에디터에서 설정한 값 그대로 사용
 
                     // 시뮬레이터 캔버스에 맵 설정
                     _simulatorCanvas.Nodes = _mapNodes;
@@ -488,6 +535,35 @@ namespace AGVSimulator.Forms
             }
         }
 
+        /// <summary>
+        /// 마지막 맵 파일이 있는지 확인하고 사용자에게 로드할지 물어봄
+        /// </summary>
+        private void CheckAndLoadLastMapFile()
+        {
+            if (_config.AutoLoadLastMapFile && _config.HasValidLastMapFile())
+            {
+                string fileName = Path.GetFileName(_config.LastMapFilePath);
+                var result = MessageBox.Show(
+                    $"마지막으로 사용한 맵 파일을 찾았습니다:\n\n{fileName}\n\n이 파일을 열까요?",
+                    "마지막 맵 파일 로드",
+                    MessageBoxButtons.YesNo,
+                    MessageBoxIcon.Question);
+
+                if (result == DialogResult.Yes)
+                {
+                    try
+                    {
+                        LoadMapFile(_config.LastMapFilePath);
+                    }
+                    catch (Exception ex)
+                    {
+                        MessageBox.Show($"맵 파일 로드 중 오류가 발생했습니다:\n{ex.Message}",
+                            "맵 파일 로드 오류", MessageBoxButtons.OK, MessageBoxIcon.Error);
+                    }
+                }
+            }
+        }
+
         private void UpdateNodeComboBoxes()
         {
             _startNodeCombo.Items.Clear();
@@ -499,8 +575,9 @@ namespace AGVSimulator.Forms
                 {
                     if (node.IsActive && node.HasRfid())
                     {
-                        // {rfid} - [{node}] 형식으로 ComboBoxItem 생성
-                        var displayText = $"{node.RfidId} - [{node.NodeId}]";
+                        // {rfid} - [{node}] {name} 형식으로 ComboBoxItem 생성
+                        var nodeNamePart = !string.IsNullOrEmpty(node.Name) ? $" {node.Name}" : "";
+                        var displayText = $"{node.RfidId} - [{node.NodeId}]{nodeNamePart}";
                         var item = new ComboBoxItem<MapNode>(node, displayText);
                         
                         _startNodeCombo.Items.Add(item);
@@ -709,6 +786,111 @@ namespace AGVSimulator.Forms
             return node?.HasRfid() == true ? node.RfidId : nodeId;
         }
         
+        /// <summary>
+        /// 고급 경로 결과를 기존 AGVPathResult 형태로 변환
+        /// </summary>
+        private AGVPathResult ConvertToAGVPathResult(AdvancedAGVPathfinder.AdvancedPathResult advancedResult)
+        {
+            var agvResult = new AGVPathResult();
+            agvResult.Success = advancedResult.Success;
+            agvResult.Path = advancedResult.GetSimplePath();
+            agvResult.NodeMotorInfos = advancedResult.DetailedPath;
+            agvResult.TotalDistance = advancedResult.TotalDistance;
+            agvResult.CalculationTimeMs = advancedResult.CalculationTimeMs;
+            agvResult.ExploredNodes = advancedResult.ExploredNodeCount;
+            agvResult.ErrorMessage = advancedResult.ErrorMessage;
+            return agvResult;
+        }
+
+        /// <summary>
+        /// 고급 경로 디버깅 정보 업데이트
+        /// </summary>
+        private void UpdateAdvancedPathDebugInfo(AdvancedAGVPathfinder.AdvancedPathResult advancedResult)
+        {
+            if (advancedResult == null || !advancedResult.Success)
+            {
+                _pathDebugLabel.Text = "고급 경로: 설정되지 않음";
+                return;
+            }
+
+            // 노드 ID를 RFID로 변환한 경로 생성
+            var pathWithRfid = advancedResult.GetSimplePath().Select(nodeId => GetRfidByNodeId(nodeId)).ToList();
+
+            // 콘솔 디버그 정보 출력
+            Program.WriteLine($"[ADVANCED DEBUG] 고급 경로 계산 완료:");
+            Program.WriteLine($"  전체 경로 (RFID): [{string.Join(" → ", pathWithRfid)}]");
+            Program.WriteLine($"  전체 경로 (NodeID): [{string.Join(" → ", advancedResult.GetSimplePath())}]");
+            Program.WriteLine($"  경로 노드 수: {advancedResult.DetailedPath.Count}");
+            Program.WriteLine($"  방향 전환 필요: {advancedResult.RequiredDirectionChange}");
+
+            if (advancedResult.RequiredDirectionChange && !string.IsNullOrEmpty(advancedResult.DirectionChangeNode))
+            {
+                Program.WriteLine($"  방향 전환 노드: {advancedResult.DirectionChangeNode}");
+            }
+
+            Program.WriteLine($"  설명: {advancedResult.PlanDescription}");
+
+            // 상세 경로 정보 출력
+            for (int i = 0; i < advancedResult.DetailedPath.Count; i++)
+            {
+                var info = advancedResult.DetailedPath[i];
+                var rfidId = GetRfidByNodeId(info.NodeId);
+                var nextRfidId = info.NextNodeId != null ? GetRfidByNodeId(info.NextNodeId) : "END";
+
+                var flags = new List<string>();
+                if (info.CanRotate) flags.Add("회전가능");
+                if (info.IsDirectionChangePoint) flags.Add("방향전환");
+                if (info.RequiresSpecialAction) flags.Add($"특수동작:{info.SpecialActionDescription}");
+                if (info.MagnetDirection != MagnetDirection.Straight) flags.Add($"마그넷:{info.MagnetDirection}");
+
+                var flagsStr = flags.Count > 0 ? $" [{string.Join(", ", flags)}]" : "";
+                Program.WriteLine($"    {i}: {rfidId}({info.NodeId}) → {info.MotorDirection} → {nextRfidId}{flagsStr}");
+            }
+
+            // 경로 문자열 구성 (마그넷 방향 포함)
+            var pathWithDetails = new List<string>();
+            for (int i = 0; i < advancedResult.DetailedPath.Count; i++)
+            {
+                var motorInfo = advancedResult.DetailedPath[i];
+                var rfidId = GetRfidByNodeId(motorInfo.NodeId);
+                string motorSymbol = motorInfo.MotorDirection == AgvDirection.Forward ? "[전진]" : "[후진]";
+
+                // 마그넷 방향 표시
+                if (motorInfo.MagnetDirection != MagnetDirection.Straight)
+                {
+                    string magnetSymbol = motorInfo.MagnetDirection == MagnetDirection.Left ? "[←]" : "[→]";
+                    motorSymbol += magnetSymbol;
+                }
+
+                // 특수 동작 표시
+                if (motorInfo.RequiresSpecialAction)
+                    motorSymbol += "[🔄]";
+                else if (motorInfo.IsDirectionChangePoint && motorInfo.CanRotate)
+                    motorSymbol += "[↻]";
+
+                pathWithDetails.Add($"{rfidId}{motorSymbol}");
+            }
+
+            string pathString = string.Join(" → ", pathWithDetails);
+
+            // UI에 표시 (길이 제한)
+            if (pathString.Length > 100)
+            {
+                pathString = pathString.Substring(0, 97) + "...";
+            }
+
+            // 통계 정보
+            var forwardCount = advancedResult.DetailedPath.Count(m => m.MotorDirection == AgvDirection.Forward);
+            var backwardCount = advancedResult.DetailedPath.Count(m => m.MotorDirection == AgvDirection.Backward);
+            var magnetDirectionChanges = advancedResult.DetailedPath.Count(m => m.MagnetDirection != MagnetDirection.Straight);
+
+            string stats = $"전진: {forwardCount}, 후진: {backwardCount}";
+            if (magnetDirectionChanges > 0)
+                stats += $", 마그넷제어: {magnetDirectionChanges}";
+
+            _pathDebugLabel.Text = $"고급경로: {pathString} (총 {advancedResult.DetailedPath.Count}개 노드, {advancedResult.TotalDistance:F1}px, {stats})";
+        }
+
         /// <summary>
         /// 경로 디버깅 정보 업데이트 (RFID 값 표시, 모터방향 정보 포함)
         /// </summary>
@@ -736,7 +918,14 @@ namespace AGVSimulator.Forms
                     var info = agvResult.NodeMotorInfos[i];
                     var rfidId = GetRfidByNodeId(info.NodeId);
                     var nextRfidId = info.NextNodeId != null ? GetRfidByNodeId(info.NextNodeId) : "END";
-                    Program.WriteLine($"    {i}: {rfidId}({info.NodeId}) → {info.MotorDirection} → {nextRfidId}");
+                    
+                    var flags = new List<string>();
+                    if (info.CanRotate) flags.Add("회전가능");
+                    if (info.IsDirectionChangePoint) flags.Add("방향전환");
+                    if (info.RequiresSpecialAction) flags.Add($"특수동작:{info.SpecialActionDescription}");
+                    
+                    var flagsStr = flags.Count > 0 ? $" [{string.Join(", ", flags)}]" : "";
+                    Program.WriteLine($"    {i}: {rfidId}({info.NodeId}) → {info.MotorDirection} → {nextRfidId}{flagsStr}");
                 }
             }
 
@@ -751,6 +940,13 @@ namespace AGVSimulator.Forms
                     var motorInfo = agvResult.NodeMotorInfos[i];
                     var rfidId = GetRfidByNodeId(motorInfo.NodeId);
                     string motorSymbol = motorInfo.MotorDirection == AgvDirection.Forward ? "[전진]" : "[후진]";
+                    
+                    // 특수 동작 표시 추가
+                    if (motorInfo.RequiresSpecialAction)
+                        motorSymbol += "[🔄]";
+                    else if (motorInfo.IsDirectionChangePoint && motorInfo.CanRotate)
+                        motorSymbol += "[↻]";
+                    
                     pathWithMotorInfo.Add($"{rfidId}{motorSymbol}");
                 }
                 pathString = string.Join(" → ", pathWithMotorInfo);