..

2026-01-15 13:44:56 +09:00
parent 0396c61517
commit 82592e117d
6 changed files with 429 additions and 116 deletions
--- a/Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.Designer.cs
+++ b/Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.Designer.cs
@@ -67,6 +67,8 @@ namespace AGVMapEditor.Forms
            this.toolStripSeparator2 = new System.Windows.Forms.ToolStripSeparator();
            this.toolStripButton1 = new System.Windows.Forms.ToolStripDropDownButton();
            this.allTurnLeftRightCrossOnToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.tabPage2 = new System.Windows.Forms.TabPage();
+            this.lstMagnetDirection = new System.Windows.Forms.ListBox();
            this.statusStrip1.SuspendLayout();
            ((System.ComponentModel.ISupportInitialize)(this.splitContainer1)).BeginInit();
            this.splitContainer1.Panel1.SuspendLayout();
@@ -78,6 +80,7 @@ namespace AGVMapEditor.Forms
            this.toolStrip1.SuspendLayout();
            this.toolStrip3.SuspendLayout();
            this.toolStrip2.SuspendLayout();
+            this.tabPage2.SuspendLayout();
            this.SuspendLayout();
            // 
            // statusStrip1
@@ -120,6 +123,7 @@ namespace AGVMapEditor.Forms
            // 
            this.tabControl1.Controls.Add(this.tabPageNodes);
            this.tabControl1.Controls.Add(this.tabPage1);
+            this.tabControl1.Controls.Add(this.tabPage2);
            this.tabControl1.Dock = System.Windows.Forms.DockStyle.Fill;
            this.tabControl1.Location = new System.Drawing.Point(0, 0);
            this.tabControl1.Name = "tabControl1";
@@ -444,6 +448,26 @@ namespace AGVMapEditor.Forms
            this.allTurnLeftRightCrossOnToolStripMenuItem.Text = "All TurnLeft/Right/Cross On";
            this.allTurnLeftRightCrossOnToolStripMenuItem.Click += new System.EventHandler(this.allTurnLeftRightCrossOnToolStripMenuItem_Click);
            // 
+            // tabPage2
+            // 
+            this.tabPage2.Controls.Add(this.lstMagnetDirection);
+            this.tabPage2.Location = new System.Drawing.Point(4, 22);
+            this.tabPage2.Name = "tabPage2";
+            this.tabPage2.Size = new System.Drawing.Size(292, 309);
+            this.tabPage2.TabIndex = 2;
+            this.tabPage2.Text = "방향 관리";
+            this.tabPage2.UseVisualStyleBackColor = true;
+            // 
+            // lstMagnetDirection
+            // 
+            this.lstMagnetDirection.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.lstMagnetDirection.FormattingEnabled = true;
+            this.lstMagnetDirection.ItemHeight = 12;
+            this.lstMagnetDirection.Location = new System.Drawing.Point(0, 0);
+            this.lstMagnetDirection.Name = "lstMagnetDirection";
+            this.lstMagnetDirection.Size = new System.Drawing.Size(292, 309);
+            this.lstMagnetDirection.TabIndex = 3;
+            // 
            // MainForm
            // 
            this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
@@ -475,6 +499,7 @@ namespace AGVMapEditor.Forms
            this.toolStrip3.PerformLayout();
            this.toolStrip2.ResumeLayout(false);
            this.toolStrip2.PerformLayout();
+            this.tabPage2.ResumeLayout(false);
            this.ResumeLayout(false);
            this.PerformLayout();

@@ -520,5 +545,7 @@ namespace AGVMapEditor.Forms
        private System.Windows.Forms.ToolStripSeparator toolStripSeparator2;
        private System.Windows.Forms.ToolStripDropDownButton toolStripButton1;
        private System.Windows.Forms.ToolStripMenuItem allTurnLeftRightCrossOnToolStripMenuItem;
+        private System.Windows.Forms.TabPage tabPage2;
+        private System.Windows.Forms.ListBox lstMagnetDirection;
    }
 }
--- a/Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.resx
+++ b/Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.resx
@@ -146,14 +146,14 @@
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+        30GyrKauYj3hwQIWk9dIPsglfPNL7jTmELR/MhewffBqGpiLCsyu9zE1bWTfqXex579OSNnC4Ik1PA4d
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+        44GPSYxsJxzMY7juQ+Ymfmc2vcqBv1fZ0ayW2M/0dqWWIyW7it+G2EPu2rfgM79Md80GvEffXGxQPHrq
+        vPxsr+ZoVuUMsDSHja8szF+vZD5QTuDIak4Yl+kdphWrlvb9aza98ZKQjMsX2o9tWOgsfetqa97K5Ut7
+        ns8f9tyLJQW2uh8AAAAASUVORK5CYII=
 </value>
  </data>
  <data name="btnConnect.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
@@ -263,16 +263,16 @@
  <data name="btnDeleteConnection.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
    <value>
        iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
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-        H8FtoS6iFinWKwn2MaPdheJikIEJvGCuElpcaKOtTKUMdNxEZBut1Z1BipAiDZrSJvPEM5CYOP9BB154
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-        rkJggg==
+        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAHvSURBVDhP7Y7Ni1JhGMVvXadgWrWzRQyzTEFyFa7U0Wvg
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+        W391fen3p7VlfI4uQPGdQPWyarRtPflglj1WO57zkYqF36Nv04/+lg8BALcaCRX7gQ0AAAAASUVORK5C
+        YII=
 </value>
  </data>
  <data name="btnToggleGrid.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
@@ -287,18 +287,18 @@
  <data name="btnFitMap.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
    <value>
        iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
-        YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAKYSURBVDhPhZBfSFNRHMfvY0RPEfQSFD2tniKh9WBZmM5W
-        es02del1ii7LJAsjtG6pOCdZuiJLZg8TbFMzuiSKlm7m/LPU3XOWkUKF89xBK0ak51pBcDlx1L1cF33h
-        vBy+n+/v+/sxzIZm3flasatAAF3m6Ey3WZl2c4rfyUX97TmCv/WsNuaLK+jmLPBpUUTsLACzHef4gNOk
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+        v2rMwf1l6i8eQ9oOpee/Gqg4vL275IDdXZqxJfn3F2EzpMPWLB83AAAAAElFTkSuQmCC
 </value>
  </data>
  <metadata name="toolStrip2.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
--- a/Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/AGVPathfinder.cs
+++ b/Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/AGVPathfinder.cs
@@ -111,13 +111,13 @@ namespace AGVNavigationCore.PathFinding.Planning
            return null;
        }

-  
+
        public AGVPathResult FindPathAStar(MapNode startNode, MapNode targetNode)
        {
            // 기본값으로 경로 탐색 (이전 위치 = 현재 위치, 방향 = 전진)
            return _basicPathfinder.FindPathAStar(startNode, targetNode);
        }
-       
+

        /// <summary>
        /// 이 작업후에 MakeMagnetDirection 를 추가로 실행 하세요
@@ -140,6 +140,7 @@ namespace AGVNavigationCore.PathFinding.Planning
            if (!pathResult.Success)
                return AGVPathResult.CreateFailure(pathResult.ErrorMessage ?? "경로 없음", 0, 0);

+            // 3. 상세 데이터 생성 (갈림길 마그넷 방향 계산 포함)
            // 3. 상세 데이터 생성 (갈림길 마그넷 방향 계산 포함)
            if (pathResult.Path != null && pathResult.Path.Count > 0)
            {
@@ -149,53 +150,51 @@ namespace AGVNavigationCore.PathFinding.Planning
                    var node = pathResult.Path[i];
                    var nextNode = (i + 1 < pathResult.Path.Count) ? pathResult.Path[i + 1] : null;

+                    // 마그넷 방향 계산 (갈림길인 경우)
                    // 마그넷 방향 계산 (갈림길인 경우)
                    MagnetDirection magnetDirection = MagnetDirection.Straight;
-                    
-                    if ((node.ConnectedNodes?.Count ?? 0) >= 2 && nextNode != null)
-                    {
-                        // 갈림길인 경우: 진입 방향과 진출 방향의 각도 계산
-                        //var prevNode = pathResult.Path[i - 1];
-                        //var nextNode = pathResult.Path[i + 1];
-                        
-                        // 진입 각도 계산 (이전 노드 → 현재 노드)
-                        //double entryAngle = Math.Atan2(
-                        //    node.Position.Y - prevNode.Position.Y,
-                        //    node.Position.X - prevNode.Position.X
-                        //) * 180.0 / Math.PI;
-                        
-                        // 진출 각도 계산 (현재 노드 → 다음 노드)
-                        double exitAngle = Math.Atan2(
-                            nextNode.Position.Y - node.Position.Y,
-                            nextNode.Position.X - node.Position.X
-                        ) * 180.0 / Math.PI;

-                        // 각도 차이 계산 (-180~180 범위로 정규화)
-                        double angleDiff = exitAngle;// - entryAngle;
-                        while (angleDiff > 180) angleDiff -= 360;
-                        while (angleDiff < -180) angleDiff += 360;
-                        
-                        // 10도 이상 차이나면 좌/우회전 처리
-                        if (Math.Abs(angleDiff) >= 10)
+                    //갈림길에 있다면 미리 방향을 저장해준다.
+                    if ((node.ConnectedNodes?.Count ?? 0) > 2 && nextNode != null)
+                    {
+                        switch (node.RfidId)
                        {
-                            if (angleDiff > 0)
-                            {
-                                magnetDirection = MagnetDirection.Right;
-                            }
-                            else
-                            {
-                                magnetDirection = MagnetDirection.Left;
-                            }
+                            case 6:
+                                if (nextNode.RfidId == 7)
+                                    magnetDirection = MagnetDirection.Left;
+                                else if (nextNode.RfidId == 13)
+                                    magnetDirection = MagnetDirection.Right;
+                                else
+                                    return AGVPathResult.CreateFailure($"{node.ID2}->{nextNode.ID2} 의 (목표)갈림길 방향이 입력되지 않았습니다", 0, 0);
+                                break;
+                            case 7:
+                                if (nextNode.RfidId == 6)
+                                    magnetDirection = MagnetDirection.Right;
+                                else
+                                    return AGVPathResult.CreateFailure( $"{node.ID2}->{nextNode.ID2} 의 (목표)갈림길 방향이 입력되지 않았습니다", 0, 0);
+                                break;
+                            case 13:
+                                if (nextNode.RfidId == 6)
+                                    magnetDirection = MagnetDirection.Left;
+                                else
+                                    return AGVPathResult.CreateFailure( $"{node.ID2}->{nextNode.ID2} 의 (목표)갈림길 방향이 입력되지 않았습니다", 0, 0);
+                                break;
+                            default:
+                                return AGVPathResult.CreateFailure( $"{node.ID2}->{nextNode.ID2} 의 (시작)갈림길 방향이 입력되지 않았습니다", 0, 0);
                        }
                    }

-                    var nodeInfo = new NodeMotorInfo(i + 1, node.Id, node.RfidId, prevDirection, nextNode.Id, magnetDirection);
+                    var nodeInfo = new NodeMotorInfo(i + 1, node.Id, node.RfidId, prevDirection, nextNode, magnetDirection);

                    // 속도 설정
                    var mapNode = _mapNodes.FirstOrDefault(n => n.Id == node.Id);
-                    if (mapNode != null) nodeInfo.Speed = mapNode.SpeedLimit;
+                    if (mapNode != null)
+                    {
+                        nodeInfo.Speed = mapNode.SpeedLimit;
+                        detailedPath.Add(nodeInfo);
+                    }
+

-                    detailedPath.Add(nodeInfo);
                }
                pathResult.DetailedPath = detailedPath;
            }
@@ -203,7 +202,7 @@ namespace AGVNavigationCore.PathFinding.Planning
            return pathResult;
        }

-       
+


    }
--- a/Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/NodeMotorInfo.cs
+++ b/Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/NodeMotorInfo.cs
@@ -60,7 +60,7 @@ namespace AGVNavigationCore.PathFinding.Planning
        /// <summary>
        /// 다음 노드 ID (경로예측용)
        /// </summary>
-        public string NextNodeId { get; set; }
+        public MapNode NextNode { get; set; }

        /// <summary>
        /// 회전 가능 노드 여부
@@ -87,14 +87,14 @@ namespace AGVNavigationCore.PathFinding.Planning
        /// </summary>
        public string SpecialActionDescription { get; set; }

-        public NodeMotorInfo(int seqno,string nodeId,ushort rfid, AgvDirection motorDirection, string nextNodeId = null, MagnetDirection magnetDirection = MagnetDirection.Straight)
+        public NodeMotorInfo(int seqno,string nodeId,ushort rfid, AgvDirection motorDirection, MapNode nextNodeId = null, MagnetDirection magnetDirection = MagnetDirection.Straight)
        {
            seq = seqno;
            NodeId = nodeId;
            RfidId = rfid;
            MotorDirection = motorDirection;
            MagnetDirection = magnetDirection;
-            NextNodeId = nextNodeId;
+            NextNode = nextNodeId;
            CanRotate = false;
            IsDirectionChangePoint = false;
            RequiresSpecialAction = false;
--- a/Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.cs
+++ b/Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.cs
@@ -1273,7 +1273,21 @@ namespace AGVSimulator.Forms
            {
                var info = advancedResult.DetailedPath[i];
                var rfidId = GetRfidByNodeId(info.NodeId);
-                var nextRfidId = info.NextNodeId != null ? GetRfidByNodeId(info.NextNodeId).ToString("0000") : "-END-";
+
+                var nextRfidId = "";
+                if (info.NextNode != null && info.NextNode.HasRfid())
+                {
+                    nextRfidId = info.NextNode.RfidId.ToString("0000");
+                }
+                else if (info.NextNode != null)
+                {
+                    nextRfidId = info.NextNode.Id;
+                }
+                else
+                {
+                    nextRfidId = "-END-";
+                }
+

                var flags = new List<string>();
                if (info.CanRotate) flags.Add("회전가능");