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agv 노드 정보 정리 세분화

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This commit is contained in:
backuppc
2025-12-09 13:18:22 +09:00
parent 455e18f427
commit 9db031c305
28 changed files with 992 additions and 1476 deletions
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40
Cs_HMI/AGVLogic/AGVNavigationCore/Models/Enums.cs
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@@ -11,10 +11,20 @@ namespace AGVNavigationCore.Models
{
/// <summary>일반 경로 노드</summary>
Normal,
/// <summary>회전 가능 지점</summary>
Rotation,
/// <summary>도킹 스테이션</summary>
Docking,
/// <summary>로더</summary>
Loader,
/// <summary>
/// 언로더
/// </summary>
UnLoader,
/// <summary>
/// 클리너
/// </summary>
Clearner,
/// <summary>
/// 버퍼
/// </summary>
Buffer,
/// <summary>충전 스테이션</summary>
Charging,
/// <summary>라벨 (UI 요소)</summary>
@@ -58,6 +68,10 @@ namespace AGVNavigationCore.Models
/// </summary>
public enum StationType
{
/// <summary>
/// 일반노드
/// </summary>
Node,
/// <summary>로더</summary>
Loader,
/// <summary>클리너</summary>
@@ -70,6 +84,24 @@ namespace AGVNavigationCore.Models
Charger
}
/// <summary>
/// AGV턴상태
/// </summary>
public enum AGVTurn
{
None=0,
/// <summary>
/// left turn 90"
/// </summary>
L90,
/// <summary>
/// right turn 90"
/// </summary>
R90
}
/// <summary>
/// 모터 명령 열거형 (실제 AGV 제어용)
/// </summary>

5
Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapLoader.cs
View File

@@ -226,7 +226,10 @@ namespace AGVNavigationCore.Models
case NodeType.Charging:
node.DockDirection = DockingDirection.Forward;
break;
case NodeType.Docking:
case NodeType.Loader:
case NodeType.UnLoader:
case NodeType.Clearner:
case NodeType.Buffer:
node.DockDirection = DockingDirection.Backward;
break;
default:

98
Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapNode.cs
View File

@@ -34,6 +34,19 @@ namespace AGVNavigationCore.Models
/// </summary>
public NodeType Type { get; set; } = NodeType.Normal;
public bool CanDocking
{
get
{
if (Type == NodeType.Buffer) return true;
if (Type == NodeType.Loader) return true;
if (Type == NodeType.UnLoader) return true;
if (Type == NodeType.Clearner) return true;
if (Type == NodeType.Charging) return true;
return false;
}
}
/// <summary>
/// 도킹 방향 (도킹/충전 노드인 경우에만 Forward/Backward, 일반 노드는 DontCare)
/// </summary>
@@ -53,18 +66,38 @@ namespace AGVNavigationCore.Models
/// <summary>
/// 회전 가능 여부 (180도 회전 가능한 지점)
/// </summary>
public bool CanRotate { get; set; } = false;
public bool CanTurnLeft { get; set; } = true;
/// <summary>
/// 회전 가능 여부 (180도 회전 가능한 지점)
/// </summary>
public bool CanTurnRight { get; set; } = true;
/// <summary>
/// 교차로로 이용가능한지
/// </summary>
public bool DisableCross
{
get
{
if (Type != NodeType.Normal) return true;
return _disablecross;
}
set { _disablecross = value; }
}
private bool _disablecross = false;
/// <summary>
/// 장비 ID (도킹/충전 스테이션인 경우)
/// 예: "LOADER1", "CLEANER1", "BUFFER1", "CHARGER1"
/// </summary>
public string StationId { get; set; } = string.Empty;
public string NodeAlias { get; set; } = string.Empty;
/// <summary>
/// 장비 타입 (도킹/충전 스테이션인 경우)
/// </summary>
public StationType? StationType { get; set; } = null;
// public StationType? StationType { get; set; } = null;
/// <summary>
/// 노드 생성 일자
@@ -224,7 +257,7 @@ namespace AGVNavigationCore.Models
Type = type;
CreatedDate = DateTime.Now;
ModifiedDate = DateTime.Now;
// 타입별 기본 색상 설정
SetDefaultColorByType(type);
}
@@ -240,10 +273,10 @@ namespace AGVNavigationCore.Models
case NodeType.Normal:
DisplayColor = Color.Blue;
break;
case NodeType.Rotation:
DisplayColor = Color.Orange;
break;
case NodeType.Docking:
case NodeType.UnLoader:
case NodeType.Clearner:
case NodeType.Buffer:
case NodeType.Loader:
DisplayColor = Color.Green;
break;
case NodeType.Charging:
@@ -283,21 +316,20 @@ namespace AGVNavigationCore.Models
}
}
/// <summary>
/// 도킹 스테이션 설정
/// </summary>
/// <param name="stationId">장비 ID</param>
/// <param name="stationType">장비 타입</param>
/// <param name="dockDirection">도킹 방향</param>
public void SetDockingStation(string stationId, StationType stationType, DockingDirection dockDirection)
{
Type = NodeType.Docking;
StationId = stationId;
StationType = stationType;
DockDirection = dockDirection;
SetDefaultColorByType(NodeType.Docking);
ModifiedDate = DateTime.Now;
}
///// <summary>
///// 도킹 스테이션 설정
///// </summary>
///// <param name="stationId">장비 ID</param>
///// <param name="stationType">장비 타입</param>
///// <param name="dockDirection">도킹 방향</param>
//public void SetDockingStation(string stationId, StationType stationType, DockingDirection dockDirection)
//{
// Type = NodeType.Docking;
// NodeAlias = stationId;
// DockDirection = dockDirection;
// SetDefaultColorByType(NodeType.Docking);
// ModifiedDate = DateTime.Now;
//}
/// <summary>
/// 충전 스테이션 설정
@@ -306,8 +338,7 @@ namespace AGVNavigationCore.Models
public void SetChargingStation(string stationId)
{
Type = NodeType.Charging;
StationId = stationId;
StationType = Models.StationType.Charger;
NodeAlias = stationId;
DockDirection = DockingDirection.Forward; // 충전기는 항상 전진 도킹
SetDefaultColorByType(NodeType.Charging);
ModifiedDate = DateTime.Now;
@@ -329,17 +360,17 @@ namespace AGVNavigationCore.Models
get
{
var displayText = NodeId;
if (!string.IsNullOrEmpty(Name))
{
displayText += $" - {Name}";
}
if (!string.IsNullOrEmpty(RfidId))
{
displayText += $" - [{RfidId}]";
}
return displayText;
}
}
@@ -358,9 +389,12 @@ namespace AGVNavigationCore.Models
Type = Type,
DockDirection = DockDirection,
ConnectedNodes = new List<string>(ConnectedNodes),
CanRotate = CanRotate,
StationId = StationId,
StationType = StationType,
CanTurnLeft = CanTurnLeft,
CanTurnRight = CanTurnRight,
DisableCross = DisableCross,
NodeAlias = NodeAlias,
CreatedDate = CreatedDate,
ModifiedDate = ModifiedDate,
IsActive = IsActive,
@@ -475,7 +509,7 @@ namespace AGVNavigationCore.Models
public Size GetDisplaySize()
{
if (Type != NodeType.Image || LoadedImage == null) return Size.Empty;
return new Size(
(int)(LoadedImage.Width * Scale.Width),
(int)(LoadedImage.Height * Scale.Height)

18
Cs_HMI/AGVLogic/AGVNavigationCore/Models/VirtualAGV.cs
View File

@@ -61,12 +61,12 @@ namespace AGVNavigationCore.Models
private int _currentNodeIndex;
private MapNode _currentNode;
private MapNode _prevNode;
private AGVTurn _turn;
// 이동 관련
private DateTime _lastUpdateTime;
private Point _moveStartPosition;
private Point _moveTargetPosition;
private float _moveProgress;
// 도킹 관련
private DockingDirection _dockingDirection;
@@ -89,7 +89,6 @@ namespace AGVNavigationCore.Models
public AgvDirection PrevDirection => _prevDirection;
/// <summary>
/// AGV ID
/// </summary>
@@ -158,6 +157,11 @@ namespace AGVNavigationCore.Models
/// </summary>
public MapNode PrevNode => _prevNode;
/// <summary>
/// Turn 상태값
/// </summary>
public AGVTurn Turn { get; set; }
/// <summary>
/// 도킹 방향
/// </summary>
@@ -527,10 +531,10 @@ namespace AGVNavigationCore.Models
_prevPosition = targetPosition;
_moveStartPosition = _currentPosition;
_moveTargetPosition = targetPosition;
_moveProgress = 0;
SetState(AGVState.Moving);
_isMoving = true;
Turn = AGVTurn.None;
}
/// <summary>
@@ -620,7 +624,6 @@ namespace AGVNavigationCore.Models
if (item != null)
{
//item.IsPass = true;
//이전노드는 모두 지나친걸로 한다
CurrentPath.DetailedPath.Where(t => t.seq < item.seq).ToList().ForEach(t => t.IsPass = true);
}
@@ -865,7 +868,10 @@ namespace AGVNavigationCore.Models
{
case NodeType.Charging:
return DockingDirection.Forward;
case NodeType.Docking:
case NodeType.Loader:
case NodeType.UnLoader:
case NodeType.Clearner:
case NodeType.Buffer:
return DockingDirection.Backward;
default:
return DockingDirection.Forward;
@@ -880,8 +886,6 @@ namespace AGVNavigationCore.Models
#endregion
#region Cleanup
/// <summary>