agv 노드 정보 정리 세분화
This commit is contained in:
backuppc
@@ -62,7 +62,6 @@
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<Compile Include="Models\ImagePathEditor.cs" />
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<Compile Include="Models\MapImage.cs" />
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<Compile Include="Models\MapLabel.cs" />
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<Compile Include="Models\NodePropertyWrapper.cs" />
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<Compile Include="Forms\MainForm.cs">
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<SubType>Form</SubType>
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</Compile>
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@@ -64,6 +64,9 @@ namespace AGVMapEditor.Forms
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this.toolStripSeparator3 = new System.Windows.Forms.ToolStripSeparator();
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this.btnSave = new System.Windows.Forms.ToolStripButton();
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this.btnSaveAs = new System.Windows.Forms.ToolStripButton();
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this.toolStripSeparator2 = new System.Windows.Forms.ToolStripSeparator();
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this.toolStripButton1 = new System.Windows.Forms.ToolStripDropDownButton();
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this.allTurnLeftRightCrossOnToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
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this.statusStrip1.SuspendLayout();
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((System.ComponentModel.ISupportInitialize)(this.splitContainer1)).BeginInit();
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this.splitContainer1.Panel1.SuspendLayout();
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@@ -351,7 +354,9 @@ namespace AGVMapEditor.Forms
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this.btnClose,
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this.toolStripSeparator3,
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this.btnSave,
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this.btnSaveAs});
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this.btnSaveAs,
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this.toolStripSeparator2,
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this.toolStripButton1});
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this.toolStrip2.Location = new System.Drawing.Point(0, 0);
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this.toolStrip2.Name = "toolStrip2";
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this.toolStrip2.Size = new System.Drawing.Size(1200, 25);
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@@ -417,6 +422,28 @@ namespace AGVMapEditor.Forms
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this.btnSaveAs.ToolTipText = "다른 이름으로 저장";
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this.btnSaveAs.Click += new System.EventHandler(this.btnSaveAs_Click);
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//
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// toolStripSeparator2
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//
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this.toolStripSeparator2.Name = "toolStripSeparator2";
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this.toolStripSeparator2.Size = new System.Drawing.Size(6, 25);
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//
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// toolStripButton1
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//
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this.toolStripButton1.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
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this.allTurnLeftRightCrossOnToolStripMenuItem});
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this.toolStripButton1.Image = ((System.Drawing.Image)(resources.GetObject("toolStripButton1.Image")));
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this.toolStripButton1.ImageTransparentColor = System.Drawing.Color.Magenta;
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this.toolStripButton1.Name = "toolStripButton1";
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this.toolStripButton1.Size = new System.Drawing.Size(68, 22);
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this.toolStripButton1.Text = "Debig";
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//
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// allTurnLeftRightCrossOnToolStripMenuItem
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//
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this.allTurnLeftRightCrossOnToolStripMenuItem.Name = "allTurnLeftRightCrossOnToolStripMenuItem";
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this.allTurnLeftRightCrossOnToolStripMenuItem.Size = new System.Drawing.Size(223, 22);
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this.allTurnLeftRightCrossOnToolStripMenuItem.Text = "All TurnLeft/Right/Cross On";
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this.allTurnLeftRightCrossOnToolStripMenuItem.Click += new System.EventHandler(this.allTurnLeftRightCrossOnToolStripMenuItem_Click);
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//
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// MainForm
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//
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this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
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@@ -490,5 +517,8 @@ namespace AGVMapEditor.Forms
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private System.Windows.Forms.ToolStripButton btnAddImage;
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private System.Windows.Forms.ToolStripSeparator toolStripSeparator1;
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private System.Windows.Forms.Panel panel1;
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private System.Windows.Forms.ToolStripSeparator toolStripSeparator2;
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private System.Windows.Forms.ToolStripDropDownButton toolStripButton1;
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private System.Windows.Forms.ToolStripMenuItem allTurnLeftRightCrossOnToolStripMenuItem;
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}
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}
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@@ -221,8 +221,8 @@ namespace AGVMapEditor.Forms
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toolStripStatusLabel1.Text = $"{nodes.Count}개 노드 선택됨 - PropertyGrid에서 공통 속성 일괄 변경 가능";
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// 다중 선택 PropertyWrapper 표시
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var multiWrapper = new MultiNodePropertyWrapper(nodes);
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_propertyGrid.SelectedObject = multiWrapper;
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//var multiWrapper = new MultiNodePropertyWrapper(nodes);
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_propertyGrid.SelectedObjects = nodes.ToArray();// multiWrapper;
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_propertyGrid.Focus();
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}
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}
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@@ -833,11 +833,10 @@ namespace AGVMapEditor.Forms
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foreColor = Color.Black;
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backColor = Color.White;
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break;
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case NodeType.Rotation:
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foreColor = Color.DarkOrange;
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backColor = Color.LightYellow;
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break;
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case NodeType.Docking:
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case NodeType.Loader:
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case NodeType.UnLoader:
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case NodeType.Clearner:
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case NodeType.Buffer:
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foreColor = Color.DarkGreen;
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backColor = Color.LightGreen;
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break;
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@@ -975,9 +974,7 @@ namespace AGVMapEditor.Forms
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return;
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}
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// 노드 래퍼 객체 생성 (타입에 따라 다른 래퍼 사용)
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var nodeWrapper = NodePropertyWrapperFactory.CreateWrapper(_selectedNode, _mapNodes);
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_propertyGrid.SelectedObject = nodeWrapper;
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_propertyGrid.SelectedObject = _selectedNode;
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_propertyGrid.Focus();
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// 이미지 노드인 경우 편집 버튼 활성화
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@@ -989,8 +986,7 @@ namespace AGVMapEditor.Forms
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/// </summary>
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private void ShowCanvasProperties()
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{
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var canvasWrapper = new CanvasPropertyWrapper(_mapCanvas);
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_propertyGrid.SelectedObject = canvasWrapper;
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_propertyGrid.SelectedObject = _mapCanvas;
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DisableImageEditButton();
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}
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@@ -1124,7 +1120,9 @@ namespace AGVMapEditor.Forms
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UpdateTitle();
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// 🔥 다중 선택 여부 확인 및 선택된 노드들 저장
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bool isMultiSelect = _propertyGrid.SelectedObject is MultiNodePropertyWrapper;
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bool isMultiSelect = _propertyGrid.SelectedObjects is MapNode[]; // _propertyGrid.SelectedObject is MapNode[];
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//var a = _propertyGrid.SelectedObject;
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List<MapNode> selectedNodes = null;
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if (isMultiSelect)
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{
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@@ -1146,9 +1144,9 @@ namespace AGVMapEditor.Forms
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// 🔥 다중 선택인 경우 MultiNodePropertyWrapper를 다시 생성하여 바인딩
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if (isMultiSelect && selectedNodes != null && selectedNodes.Count > 0)
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{
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System.Diagnostics.Debug.WriteLine($"[PropertyGrid] MultiNodePropertyWrapper 재생성: {selectedNodes.Count}개");
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var multiWrapper = new MultiNodePropertyWrapper(selectedNodes);
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_propertyGrid.SelectedObject = multiWrapper;
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// System.Diagnostics.Debug.WriteLine($"[PropertyGrid] MultiNodePropertyWrapper 재생성: {selectedNodes.Count}개");
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//var multiWrapper = new MultiNodePropertyWrapper(selectedNodes);
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_propertyGrid.SelectedObjects = selectedNodes.ToArray();// multiWrapper;
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}
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// PropertyGrid 새로고침
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@@ -1180,18 +1178,18 @@ namespace AGVMapEditor.Forms
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var selectedObject = _propertyGrid.SelectedObject;
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// 다양한 PropertyWrapper 타입 처리
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if (selectedObject is NodePropertyWrapper nodeWrapper)
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{
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currentNodeId = nodeWrapper.WrappedNode?.NodeId;
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}
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else if (selectedObject is LabelNodePropertyWrapper labelWrapper)
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{
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currentNodeId = labelWrapper.WrappedNode?.NodeId;
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}
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else if (selectedObject is ImageNodePropertyWrapper imageWrapper)
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{
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currentNodeId = imageWrapper.WrappedNode?.NodeId;
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}
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//if (selectedObject is NodePropertyWrapper nodeWrapper)
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//{
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// currentNodeId = nodeWrapper.WrappedNode?.NodeId;
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//}
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//else if (selectedObject is LabelNodePropertyWrapper labelWrapper)
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//{
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// currentNodeId = labelWrapper.WrappedNode?.NodeId;
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//}
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//else if (selectedObject is ImageNodePropertyWrapper imageWrapper)
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//{
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// currentNodeId = imageWrapper.WrappedNode?.NodeId;
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//}
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int duplicateCount = 0;
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foreach (var node in _mapNodes)
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@@ -1370,5 +1368,46 @@ namespace AGVMapEditor.Forms
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#endregion
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private void allTurnLeftRightCrossOnToolStripMenuItem_Click(object sender, EventArgs e)
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{
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//모든노드의 trun left/right/ cross 속성을 true로 변경합니다
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if (_mapNodes == null || _mapNodes.Count == 0)
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{
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MessageBox.Show("맵에 노드가 없습니다.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
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return;
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}
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var result = MessageBox.Show(
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$"모든 노드({_mapNodes.Count}개)의 회전/교차 속성을 활성화하시겠습니까?\n\n" +
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"• CanTurnLeft = true\n" +
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"• CanTurnRight = true\n" +
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"• DisableCross = false",
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"일괄 속성 변경",
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MessageBoxButtons.YesNo,
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MessageBoxIcon.Question);
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if (result == DialogResult.Yes)
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{
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foreach (var node in _mapNodes)
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{
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node.CanTurnLeft = true;
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node.CanTurnRight = true;
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node.DisableCross =false;
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node.ModifiedDate = DateTime.Now;
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}
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_hasChanges = true;
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UpdateTitle();
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RefreshMapCanvas();
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MessageBox.Show(
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$"{_mapNodes.Count}개 노드의 회전/교차 속성이 모두 활성화되었습니다.",
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"완료",
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MessageBoxButtons.OK,
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MessageBoxIcon.Information);
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UpdateStatusBar($"모든 노드의 회전/교차 속성 활성화 완료");
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}
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}
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}
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}
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@@ -120,22 +120,40 @@
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<metadata name="statusStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
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<value>132, 17</value>
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</metadata>
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<metadata name="toolStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
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<value>249, 17</value>
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</metadata>
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<assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
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<data name="btNodeRemove.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
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<value>
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</value>
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</data>
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<metadata name="toolStrip3.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
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<value>462, 17</value>
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</metadata>
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<assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
|
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<data name="btnSelect.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
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<value>
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</value>
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</data>
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||||
<data name="btnMove.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
|
||||
@@ -156,75 +174,75 @@
|
||||
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<value>
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
OMtS8OvWLDxcqf7i1KfsUnr+q+Gqozv7Sw5ZHKa0bYm/v22YpTjaxhhxAAAAAElFTkSuQmCC
|
||||
</value>
|
||||
</data>
|
||||
<metadata name="toolStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
|
||||
<value>249, 17</value>
|
||||
</metadata>
|
||||
<metadata name="toolStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
|
||||
<value>249, 17</value>
|
||||
</metadata>
|
||||
<data name="btNodeRemove.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
|
||||
<value>
|
||||
iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
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||||
YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAIFSURBVDhPpZLtS1NhGMbPPxJmmlYSgqHiKzGU1EDxg4iK
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
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||||
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||||
jzZqcJ9V/cVtTNul9PxX/eVHd3aVHLK7LBnbkn9/ARsspRTlWFT8AAAAAElFTkSuQmCC
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</value>
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</data>
|
||||
<metadata name="toolStrip2.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
|
||||
@@ -386,6 +383,21 @@
|
||||
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||||
CvLG4etIrxoHvigqHxh+pXIo+nLlIEWVA6KoYkCUnXUy+Ff+FYK4Nr4lkOwikO7CtWEB5mjqCvLm5zfY
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||||
9qme1o7PBh0fmsYxmic4+v08R1pnqTJPU30uwBGzl11VN3jp427+BmRb26lRD0KdAAAAAElFTkSuQmCC
|
||||
</value>
|
||||
</data>
|
||||
<data name="toolStripButton1.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
|
||||
<value>
|
||||
iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
|
||||
</value>
|
||||
</data>
|
||||
</root>
|
||||
@@ -1,825 +0,0 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.ComponentModel;
|
||||
using System.Drawing;
|
||||
using System.Drawing.Design;
|
||||
using AGVNavigationCore.Models;
|
||||
using AGVNavigationCore.Controls;
|
||||
|
||||
namespace AGVMapEditor.Models
|
||||
{
|
||||
/// <summary>
|
||||
/// 노드 타입에 따른 PropertyWrapper 팩토리
|
||||
/// </summary>
|
||||
public static class NodePropertyWrapperFactory
|
||||
{
|
||||
public static object CreateWrapper(MapNode node, List<MapNode> mapNodes)
|
||||
{
|
||||
switch (node.Type)
|
||||
{
|
||||
case NodeType.Label:
|
||||
return new LabelNodePropertyWrapper(node, mapNodes);
|
||||
case NodeType.Image:
|
||||
return new ImageNodePropertyWrapper(node, mapNodes);
|
||||
default:
|
||||
return new NodePropertyWrapper(node, mapNodes);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 라벨 노드 전용 PropertyWrapper
|
||||
/// </summary>
|
||||
public class LabelNodePropertyWrapper
|
||||
{
|
||||
private MapNode _node;
|
||||
private List<MapNode> _mapNodes;
|
||||
|
||||
public LabelNodePropertyWrapper(MapNode node, List<MapNode> mapNodes)
|
||||
{
|
||||
_node = node;
|
||||
_mapNodes = mapNodes;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 래핑된 MapNode 인스턴스 접근
|
||||
/// </summary>
|
||||
public MapNode WrappedNode => _node;
|
||||
|
||||
[Category("기본 정보")]
|
||||
[DisplayName("노드 ID")]
|
||||
[Description("노드의 고유 식별자")]
|
||||
[ReadOnly(true)]
|
||||
public string NodeId
|
||||
{
|
||||
get => _node.NodeId;
|
||||
}
|
||||
|
||||
[Category("기본 정보")]
|
||||
[DisplayName("노드 타입")]
|
||||
[Description("노드의 타입")]
|
||||
[ReadOnly(true)]
|
||||
public NodeType Type
|
||||
{
|
||||
get => _node.Type;
|
||||
}
|
||||
|
||||
[Category("라벨")]
|
||||
[DisplayName("텍스트")]
|
||||
[Description("표시할 텍스트")]
|
||||
public string LabelText
|
||||
{
|
||||
get => _node.LabelText;
|
||||
set
|
||||
{
|
||||
_node.LabelText = value ?? "";
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("라벨")]
|
||||
[DisplayName("폰트 패밀리")]
|
||||
[Description("폰트 패밀리")]
|
||||
public string FontFamily
|
||||
{
|
||||
get => _node.FontFamily;
|
||||
set
|
||||
{
|
||||
_node.FontFamily = value ?? "Arial";
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("라벨")]
|
||||
[DisplayName("폰트 크기")]
|
||||
[Description("폰트 크기")]
|
||||
public float FontSize
|
||||
{
|
||||
get => _node.FontSize;
|
||||
set
|
||||
{
|
||||
_node.FontSize = Math.Max(6, Math.Min(72, value));
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("라벨")]
|
||||
[DisplayName("폰트 스타일")]
|
||||
[Description("폰트 스타일")]
|
||||
public FontStyle FontStyle
|
||||
{
|
||||
get => _node.FontStyle;
|
||||
set
|
||||
{
|
||||
_node.FontStyle = value;
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("라벨")]
|
||||
[DisplayName("전경색")]
|
||||
[Description("텍스트 색상")]
|
||||
public Color ForeColor
|
||||
{
|
||||
get => _node.ForeColor;
|
||||
set
|
||||
{
|
||||
_node.ForeColor = value;
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("라벨")]
|
||||
[DisplayName("배경색")]
|
||||
[Description("배경 색상")]
|
||||
public Color BackColor
|
||||
{
|
||||
get => _node.BackColor;
|
||||
set
|
||||
{
|
||||
_node.BackColor = value;
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("라벨")]
|
||||
[DisplayName("배경 표시")]
|
||||
[Description("배경을 표시할지 여부")]
|
||||
public bool ShowBackground
|
||||
{
|
||||
get => _node.ShowBackground;
|
||||
set
|
||||
{
|
||||
_node.ShowBackground = value;
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("라벨")]
|
||||
[DisplayName("패딩")]
|
||||
[Description("텍스트 주변 여백 (픽셀 단위)")]
|
||||
public int Padding
|
||||
{
|
||||
get => _node.Padding;
|
||||
set
|
||||
{
|
||||
_node.Padding = Math.Max(0, Math.Min(50, value));
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("위치")]
|
||||
[DisplayName("X 좌표")]
|
||||
[Description("맵에서의 X 좌표")]
|
||||
public int PositionX
|
||||
{
|
||||
get => _node.Position.X;
|
||||
set
|
||||
{
|
||||
_node.Position = new Point(value, _node.Position.Y);
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("위치")]
|
||||
[DisplayName("Y 좌표")]
|
||||
[Description("맵에서의 Y 좌표")]
|
||||
public int PositionY
|
||||
{
|
||||
get => _node.Position.Y;
|
||||
set
|
||||
{
|
||||
_node.Position = new Point(_node.Position.X, value);
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("정보")]
|
||||
[DisplayName("생성 일시")]
|
||||
[Description("노드가 생성된 일시")]
|
||||
[ReadOnly(true)]
|
||||
public DateTime CreatedDate
|
||||
{
|
||||
get => _node.CreatedDate;
|
||||
}
|
||||
|
||||
[Category("정보")]
|
||||
[DisplayName("수정 일시")]
|
||||
[Description("노드가 마지막으로 수정된 일시")]
|
||||
[ReadOnly(true)]
|
||||
public DateTime ModifiedDate
|
||||
{
|
||||
get => _node.ModifiedDate;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 이미지 노드 전용 PropertyWrapper
|
||||
/// </summary>
|
||||
public class ImageNodePropertyWrapper
|
||||
{
|
||||
private MapNode _node;
|
||||
private List<MapNode> _mapNodes;
|
||||
|
||||
public ImageNodePropertyWrapper(MapNode node, List<MapNode> mapNodes)
|
||||
{
|
||||
_node = node;
|
||||
_mapNodes = mapNodes;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 래핑된 MapNode 인스턴스 접근
|
||||
/// </summary>
|
||||
public MapNode WrappedNode => _node;
|
||||
|
||||
[Category("기본 정보")]
|
||||
[DisplayName("노드 ID")]
|
||||
[Description("노드의 고유 식별자")]
|
||||
[ReadOnly(true)]
|
||||
public string NodeId
|
||||
{
|
||||
get => _node.NodeId;
|
||||
}
|
||||
|
||||
[Category("기본 정보")]
|
||||
[DisplayName("노드 타입")]
|
||||
[Description("노드의 타입")]
|
||||
[ReadOnly(true)]
|
||||
public NodeType Type
|
||||
{
|
||||
get => _node.Type;
|
||||
}
|
||||
|
||||
[Category("이미지")]
|
||||
[DisplayName("이미지 경로")]
|
||||
[Description("이미지 파일 경로 (... 버튼으로 파일 선택)")]
|
||||
[Editor(typeof(ImagePathEditor), typeof(UITypeEditor))]
|
||||
public string ImagePath
|
||||
{
|
||||
get => _node.ImagePath;
|
||||
set
|
||||
{
|
||||
if (string.IsNullOrEmpty(value))
|
||||
{
|
||||
_node.ImagePath = "";
|
||||
return;
|
||||
}
|
||||
|
||||
// 파일이 존재하면 Base64로 변환하여 저장
|
||||
if (System.IO.File.Exists(value))
|
||||
{
|
||||
_node.ConvertImageToBase64(value);
|
||||
_node.LoadImage(); // 이미지 다시 로드
|
||||
}
|
||||
else
|
||||
{
|
||||
_node.ImagePath = value;
|
||||
}
|
||||
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("이미지")]
|
||||
[DisplayName("가로 배율")]
|
||||
[Description("가로 배율 (1.0 = 원본 크기)")]
|
||||
public float ScaleWidth
|
||||
{
|
||||
get => _node.Scale.Width;
|
||||
set
|
||||
{
|
||||
_node.Scale = new SizeF(Math.Max(0.1f, Math.Min(5.0f, value)), _node.Scale.Height);
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("이미지")]
|
||||
[DisplayName("세로 배율")]
|
||||
[Description("세로 배율 (1.0 = 원본 크기)")]
|
||||
public float ScaleHeight
|
||||
{
|
||||
get => _node.Scale.Height;
|
||||
set
|
||||
{
|
||||
_node.Scale = new SizeF(_node.Scale.Width, Math.Max(0.1f, Math.Min(5.0f, value)));
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("이미지")]
|
||||
[DisplayName("투명도")]
|
||||
[Description("투명도 (0.0 = 투명, 1.0 = 불투명)")]
|
||||
public float Opacity
|
||||
{
|
||||
get => _node.Opacity;
|
||||
set
|
||||
{
|
||||
_node.Opacity = Math.Max(0.0f, Math.Min(1.0f, value));
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("이미지")]
|
||||
[DisplayName("회전각도")]
|
||||
[Description("회전 각도 (도 단위)")]
|
||||
public float Rotation
|
||||
{
|
||||
get => _node.Rotation;
|
||||
set
|
||||
{
|
||||
_node.Rotation = value % 360;
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("위치")]
|
||||
[DisplayName("X 좌표")]
|
||||
[Description("맵에서의 X 좌표")]
|
||||
public int PositionX
|
||||
{
|
||||
get => _node.Position.X;
|
||||
set
|
||||
{
|
||||
_node.Position = new Point(value, _node.Position.Y);
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("위치")]
|
||||
[DisplayName("Y 좌표")]
|
||||
[Description("맵에서의 Y 좌표")]
|
||||
public int PositionY
|
||||
{
|
||||
get => _node.Position.Y;
|
||||
set
|
||||
{
|
||||
_node.Position = new Point(_node.Position.X, value);
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("정보")]
|
||||
[DisplayName("생성 일시")]
|
||||
[Description("노드가 생성된 일시")]
|
||||
[ReadOnly(true)]
|
||||
public DateTime CreatedDate
|
||||
{
|
||||
get => _node.CreatedDate;
|
||||
}
|
||||
|
||||
[Category("정보")]
|
||||
[DisplayName("수정 일시")]
|
||||
[Description("노드가 마지막으로 수정된 일시")]
|
||||
[ReadOnly(true)]
|
||||
public DateTime ModifiedDate
|
||||
{
|
||||
get => _node.ModifiedDate;
|
||||
}
|
||||
}
|
||||
/// <summary>
|
||||
/// PropertyGrid에서 사용할 노드 속성 래퍼 클래스
|
||||
/// </summary>
|
||||
public class NodePropertyWrapper
|
||||
{
|
||||
private MapNode _node;
|
||||
private List<MapNode> _mapNodes;
|
||||
|
||||
public NodePropertyWrapper(MapNode node, List<MapNode> mapNodes)
|
||||
{
|
||||
_node = node;
|
||||
_mapNodes = mapNodes;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 래핑된 MapNode 인스턴스 접근
|
||||
/// </summary>
|
||||
public MapNode WrappedNode => _node;
|
||||
|
||||
[Category("기본 정보")]
|
||||
[DisplayName("노드 ID")]
|
||||
[Description("노드의 고유 식별자")]
|
||||
[ReadOnly(true)]
|
||||
public string NodeId
|
||||
{
|
||||
get => _node.NodeId;
|
||||
set => _node.NodeId = value;
|
||||
}
|
||||
|
||||
[Category("기본 정보")]
|
||||
[DisplayName("노드 이름")]
|
||||
[Description("노드의 표시 이름")]
|
||||
public string Name
|
||||
{
|
||||
get => _node.Name;
|
||||
set
|
||||
{
|
||||
_node.Name = value;
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
[Category("기본 정보")]
|
||||
[DisplayName("노드 타입")]
|
||||
[Description("노드의 타입 (Normal, Rotation, Docking, Charging)")]
|
||||
public NodeType Type
|
||||
{
|
||||
get => _node.Type;
|
||||
set
|
||||
{
|
||||
_node.Type = value;
|
||||
_node.CanRotate = value == NodeType.Rotation;
|
||||
_node.SetDefaultColorByType(value);
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("기본 정보")]
|
||||
[DisplayName("도킹 방향")]
|
||||
[Description("도킹이 필요한 노드의 경우 AGV 진입 방향 (DontCare: 방향 무관, Forward: 전진 도킹, Backward: 후진 도킹)")]
|
||||
public DockingDirection DockDirection
|
||||
{
|
||||
get => _node.DockDirection;
|
||||
set
|
||||
{
|
||||
_node.DockDirection = value;
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
[Category("위치")]
|
||||
[DisplayName("X 좌표")]
|
||||
[Description("맵에서의 X 좌표")]
|
||||
public int PositionX
|
||||
{
|
||||
get => _node.Position.X;
|
||||
set
|
||||
{
|
||||
_node.Position = new Point(value, _node.Position.Y);
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("위치")]
|
||||
[DisplayName("Y 좌표")]
|
||||
[Description("맵에서의 Y 좌표")]
|
||||
public int PositionY
|
||||
{
|
||||
get => _node.Position.Y;
|
||||
set
|
||||
{
|
||||
_node.Position = new Point(_node.Position.X, value);
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
[Category("고급")]
|
||||
[DisplayName("회전 가능")]
|
||||
[Description("이 노드에서 AGV가 회전할 수 있는지 여부")]
|
||||
public bool CanRotate
|
||||
{
|
||||
get => _node.CanRotate;
|
||||
set
|
||||
{
|
||||
_node.CanRotate = value;
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("고급")]
|
||||
[DisplayName("RFID")]
|
||||
[Description("RFID ID")]
|
||||
public string RFID
|
||||
{
|
||||
get => _node.RfidId;
|
||||
set
|
||||
{
|
||||
_node.RfidId = value;
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
[Category("고급")]
|
||||
[DisplayName("활성화")]
|
||||
[Description("노드 활성화 여부")]
|
||||
public bool IsActive
|
||||
{
|
||||
get => _node.IsActive;
|
||||
set
|
||||
{
|
||||
_node.IsActive = value;
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("표시")]
|
||||
[DisplayName("노드 배경색")]
|
||||
[Description("노드 배경 색상")]
|
||||
public Color DisplayColor
|
||||
{
|
||||
get => _node.DisplayColor;
|
||||
set
|
||||
{
|
||||
_node.DisplayColor = value;
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("표시")]
|
||||
[DisplayName("글자 색상")]
|
||||
[Description("노드 텍스트 색상 (NodeId, Name 등)")]
|
||||
public Color ForeColor
|
||||
{
|
||||
get => _node.ForeColor;
|
||||
set
|
||||
{
|
||||
_node.ForeColor = value;
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("표시")]
|
||||
[DisplayName("글자 크기")]
|
||||
[Description("노드 텍스트 크기 (픽셀)")]
|
||||
public float TextFontSize
|
||||
{
|
||||
get => _node.TextFontSize;
|
||||
set
|
||||
{
|
||||
_node.TextFontSize = Math.Max(5.0f, Math.Min(20.0f, value));
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("표시")]
|
||||
[DisplayName("글자 굵게")]
|
||||
[Description("노드 텍스트 볼드 표시")]
|
||||
public bool TextFontBold
|
||||
{
|
||||
get => _node.TextFontBold;
|
||||
set
|
||||
{
|
||||
_node.TextFontBold = value;
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("표시")]
|
||||
[DisplayName("이름 말풍선 배경색")]
|
||||
[Description("노드 이름 말풍선(하단 표시) 배경색")]
|
||||
public Color NameBubbleBackColor
|
||||
{
|
||||
get => _node.NameBubbleBackColor;
|
||||
set
|
||||
{
|
||||
_node.NameBubbleBackColor = value;
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("표시")]
|
||||
[DisplayName("이름 말풍선 글자색")]
|
||||
[Description("노드 이름 말풍선(하단 표시) 글자색")]
|
||||
public Color NameBubbleForeColor
|
||||
{
|
||||
get => _node.NameBubbleForeColor;
|
||||
set
|
||||
{
|
||||
_node.NameBubbleForeColor = value;
|
||||
_node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
|
||||
[Category("정보")]
|
||||
[DisplayName("생성 일시")]
|
||||
[Description("노드가 생성된 일시")]
|
||||
[ReadOnly(true)]
|
||||
public DateTime CreatedDate
|
||||
{
|
||||
get => _node.CreatedDate;
|
||||
}
|
||||
|
||||
[Category("정보")]
|
||||
[DisplayName("수정 일시")]
|
||||
[Description("노드가 마지막으로 수정된 일시")]
|
||||
[ReadOnly(true)]
|
||||
public DateTime ModifiedDate
|
||||
{
|
||||
get => _node.ModifiedDate;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 다중 노드 선택 시 공통 속성 편집용 래퍼
|
||||
/// </summary>
|
||||
public class MultiNodePropertyWrapper
|
||||
{
|
||||
private List<MapNode> _nodes;
|
||||
|
||||
public MultiNodePropertyWrapper(List<MapNode> nodes)
|
||||
{
|
||||
_nodes = nodes ?? new List<MapNode>();
|
||||
}
|
||||
|
||||
[Category("다중 선택")]
|
||||
[DisplayName("선택된 노드 수")]
|
||||
[Description("현재 선택된 노드의 개수")]
|
||||
[ReadOnly(true)]
|
||||
public int SelectedCount => _nodes.Count;
|
||||
|
||||
[Category("표시")]
|
||||
[DisplayName("노드 배경색")]
|
||||
[Description("선택된 모든 노드의 배경색을 일괄 변경")]
|
||||
public Color DisplayColor
|
||||
{
|
||||
get => _nodes.Count > 0 ? _nodes[0].DisplayColor : Color.Blue;
|
||||
set
|
||||
{
|
||||
foreach (var node in _nodes)
|
||||
{
|
||||
node.DisplayColor = value;
|
||||
node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
[Category("표시")]
|
||||
[DisplayName("글자 색상")]
|
||||
[Description("선택된 모든 노드의 글자 색상을 일괄 변경")]
|
||||
public Color ForeColor
|
||||
{
|
||||
get => _nodes.Count > 0 ? _nodes[0].ForeColor : Color.Black;
|
||||
set
|
||||
{
|
||||
foreach (var node in _nodes)
|
||||
{
|
||||
node.ForeColor = value;
|
||||
node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
[Category("표시")]
|
||||
[DisplayName("글자 크기")]
|
||||
[Description("선택된 모든 노드의 글자 크기를 일괄 변경 (5~20 픽셀)")]
|
||||
public float TextFontSize
|
||||
{
|
||||
get => _nodes.Count > 0 ? _nodes[0].TextFontSize : 7.0f;
|
||||
set
|
||||
{
|
||||
var validValue = Math.Max(5.0f, Math.Min(20.0f, value));
|
||||
System.Diagnostics.Debug.WriteLine($"[MultiNode] TextFontSize 변경 시작: {validValue}, 노드 수: {_nodes.Count}");
|
||||
|
||||
foreach (var node in _nodes)
|
||||
{
|
||||
System.Diagnostics.Debug.WriteLine($" - 노드 {node.NodeId}: {node.TextFontSize} → {validValue}");
|
||||
node.TextFontSize = validValue;
|
||||
node.ModifiedDate = DateTime.Now;
|
||||
System.Diagnostics.Debug.WriteLine($" - 변경 후: {node.TextFontSize}");
|
||||
}
|
||||
|
||||
System.Diagnostics.Debug.WriteLine($"[MultiNode] TextFontSize 변경 완료");
|
||||
}
|
||||
}
|
||||
|
||||
[Category("표시")]
|
||||
[DisplayName("글자 굵게")]
|
||||
[Description("선택된 모든 노드의 글자 굵기를 일괄 변경")]
|
||||
public bool TextFontBold
|
||||
{
|
||||
get
|
||||
{
|
||||
var result = _nodes.Count > 0 ? _nodes[0].TextFontBold : true;
|
||||
System.Diagnostics.Debug.WriteLine($"[MultiNode] TextFontBold GET: {result}");
|
||||
return result;
|
||||
}
|
||||
set
|
||||
{
|
||||
System.Diagnostics.Debug.WriteLine($"[MultiNode] TextFontBold 변경 시작: {value}, 노드 수: {_nodes.Count}");
|
||||
|
||||
foreach (var node in _nodes)
|
||||
{
|
||||
System.Diagnostics.Debug.WriteLine($" - 노드 {node.NodeId}: {node.TextFontBold} → {value}");
|
||||
node.TextFontBold = value;
|
||||
node.ModifiedDate = DateTime.Now;
|
||||
System.Diagnostics.Debug.WriteLine($" - 변경 후: {node.TextFontBold}");
|
||||
}
|
||||
|
||||
System.Diagnostics.Debug.WriteLine($"[MultiNode] TextFontBold 변경 완료");
|
||||
}
|
||||
}
|
||||
|
||||
[Category("표시")]
|
||||
[DisplayName("이름 말풍선 배경색")]
|
||||
[Description("선택된 모든 노드의 이름 말풍선(하단 표시) 배경색을 일괄 변경")]
|
||||
public Color NameBubbleBackColor
|
||||
{
|
||||
get => _nodes.Count > 0 ? _nodes[0].NameBubbleBackColor : Color.Gold;
|
||||
set
|
||||
{
|
||||
foreach (var node in _nodes)
|
||||
{
|
||||
node.NameBubbleBackColor = value;
|
||||
node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
[Category("표시")]
|
||||
[DisplayName("이름 말풍선 글자색")]
|
||||
[Description("선택된 모든 노드의 이름 말풍선(하단 표시) 글자색을 일괄 변경")]
|
||||
public Color NameBubbleForeColor
|
||||
{
|
||||
get => _nodes.Count > 0 ? _nodes[0].NameBubbleForeColor : Color.Black;
|
||||
set
|
||||
{
|
||||
foreach (var node in _nodes)
|
||||
{
|
||||
node.NameBubbleForeColor = value;
|
||||
node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
[Category("고급")]
|
||||
[DisplayName("활성화")]
|
||||
[Description("선택된 모든 노드의 활성화 상태를 일괄 변경")]
|
||||
public bool IsActive
|
||||
{
|
||||
get => _nodes.Count > 0 ? _nodes[0].IsActive : true;
|
||||
set
|
||||
{
|
||||
foreach (var node in _nodes)
|
||||
{
|
||||
node.IsActive = value;
|
||||
node.ModifiedDate = DateTime.Now;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
[Category("정보")]
|
||||
[DisplayName("안내")]
|
||||
[Description("다중 선택 시 공통 속성만 변경할 수 있습니다")]
|
||||
[ReadOnly(true)]
|
||||
public string HelpText => "위 속성을 변경하면 선택된 모든 노드에 일괄 적용됩니다.";
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 캔버스 속성 래퍼 (배경색 등 캔버스 전체 속성 편집)
|
||||
/// </summary>
|
||||
public class CanvasPropertyWrapper
|
||||
{
|
||||
private UnifiedAGVCanvas _canvas;
|
||||
|
||||
public CanvasPropertyWrapper(UnifiedAGVCanvas canvas)
|
||||
{
|
||||
_canvas = canvas;
|
||||
}
|
||||
|
||||
[Category("배경")]
|
||||
[DisplayName("배경색")]
|
||||
[Description("맵 캔버스 배경색")]
|
||||
public Color BackgroundColor
|
||||
{
|
||||
get => _canvas.BackColor;
|
||||
set
|
||||
{
|
||||
_canvas.BackColor = value;
|
||||
_canvas.Invalidate();
|
||||
}
|
||||
}
|
||||
|
||||
[Category("그리드")]
|
||||
[DisplayName("그리드 표시")]
|
||||
[Description("그리드 표시 여부")]
|
||||
public bool ShowGrid
|
||||
{
|
||||
get => _canvas.ShowGrid;
|
||||
set
|
||||
{
|
||||
_canvas.ShowGrid = value;
|
||||
_canvas.Invalidate();
|
||||
}
|
||||
}
|
||||
|
||||
[Category("정보")]
|
||||
[DisplayName("설명")]
|
||||
[Description("맵 캔버스 전체 속성")]
|
||||
[ReadOnly(true)]
|
||||
public string Description
|
||||
{
|
||||
get => "빈 공간을 클릭하면 캔버스 전체 속성을 편집할 수 있습니다.";
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@@ -416,10 +416,10 @@ namespace AGVNavigationCore.Controls
|
||||
case NodeType.Normal:
|
||||
ghostBrush = new SolidBrush(Color.FromArgb(120, 100, 149, 237)); // 반투명 파란색
|
||||
break;
|
||||
case NodeType.Rotation:
|
||||
ghostBrush = new SolidBrush(Color.FromArgb(120, 255, 165, 0)); // 반투명 주황색
|
||||
break;
|
||||
case NodeType.Docking:
|
||||
case NodeType.Loader:
|
||||
case NodeType.UnLoader:
|
||||
case NodeType.Clearner:
|
||||
case NodeType.Buffer:
|
||||
ghostBrush = new SolidBrush(Color.FromArgb(120, 50, 205, 50)); // 반투명 초록색
|
||||
break;
|
||||
case NodeType.Charging:
|
||||
@@ -439,7 +439,10 @@ namespace AGVNavigationCore.Controls
|
||||
case NodeType.Image:
|
||||
DrawImageGhost(g);
|
||||
break;
|
||||
case NodeType.Docking:
|
||||
case NodeType.Loader:
|
||||
case NodeType.UnLoader:
|
||||
case NodeType.Clearner:
|
||||
case NodeType.Buffer:
|
||||
DrawPentagonGhost(g, ghostBrush);
|
||||
break;
|
||||
case NodeType.Charging:
|
||||
@@ -646,7 +649,10 @@ namespace AGVNavigationCore.Controls
|
||||
|
||||
switch (node.Type)
|
||||
{
|
||||
case NodeType.Docking:
|
||||
case NodeType.Loader:
|
||||
case NodeType.UnLoader:
|
||||
case NodeType.Clearner:
|
||||
case NodeType.Buffer:
|
||||
DrawPentagonNodeShape(g, node, brush);
|
||||
break;
|
||||
case NodeType.Charging:
|
||||
@@ -723,6 +729,13 @@ namespace AGVNavigationCore.Controls
|
||||
{
|
||||
DrawDuplicateRfidMarker(g, node);
|
||||
}
|
||||
|
||||
// CanCross 가능 노드 표시 (교차지점으로 사용 가능)
|
||||
if (node.DisableCross==true)
|
||||
{
|
||||
var crossRect = new Rectangle(rect.X - 3, rect.Y - 3, rect.Width + 6, rect.Height + 6);
|
||||
g.DrawEllipse(new Pen(Color.DeepSkyBlue, 3), crossRect);
|
||||
}
|
||||
}
|
||||
|
||||
private void DrawPentagonNodeShape(Graphics g, MapNode node, Brush brush)
|
||||
@@ -826,6 +839,21 @@ namespace AGVNavigationCore.Controls
|
||||
{
|
||||
DrawDuplicateRfidMarker(g, node);
|
||||
}
|
||||
|
||||
// CanCross 가능 노드 표시 (교차지점으로 사용 가능)
|
||||
if (node.DisableCross==false)
|
||||
{
|
||||
var crossPoints = new Point[5];
|
||||
for (int i = 0; i < 5; i++)
|
||||
{
|
||||
var angle = (Math.PI * 2 * i / 5) - Math.PI / 2;
|
||||
crossPoints[i] = new Point(
|
||||
(int)(center.X + (radius + 4) * Math.Cos(angle)),
|
||||
(int)(center.Y + (radius + 4) * Math.Sin(angle))
|
||||
);
|
||||
}
|
||||
g.DrawPolygon(new Pen(Color.Gold, 3), crossPoints);
|
||||
}
|
||||
}
|
||||
|
||||
private void DrawTriangleNodeShape(Graphics g, MapNode node, Brush brush)
|
||||
@@ -929,6 +957,21 @@ namespace AGVNavigationCore.Controls
|
||||
{
|
||||
DrawDuplicateRfidMarker(g, node);
|
||||
}
|
||||
|
||||
// CanCross 가능 노드 표시 (교차지점으로 사용 가능)
|
||||
if (node.DisableCross==false)
|
||||
{
|
||||
var crossPoints = new Point[3];
|
||||
for (int i = 0; i < 3; i++)
|
||||
{
|
||||
var angle = (Math.PI * 2 * i / 3) - Math.PI / 2;
|
||||
crossPoints[i] = new Point(
|
||||
(int)(center.X + (radius + 4) * Math.Cos(angle)),
|
||||
(int)(center.Y + (radius + 4) * Math.Sin(angle))
|
||||
);
|
||||
}
|
||||
g.DrawPolygon(new Pen(Color.Gold, 3), crossPoints);
|
||||
}
|
||||
}
|
||||
|
||||
private void DrawNodeLabel(Graphics g, MapNode node)
|
||||
|
||||
@@ -108,8 +108,10 @@ namespace AGVNavigationCore.Controls
|
||||
switch (hitNode.Type)
|
||||
{
|
||||
case NodeType.Normal:
|
||||
case NodeType.Rotation:
|
||||
case NodeType.Docking:
|
||||
case NodeType.Loader:
|
||||
case NodeType.UnLoader:
|
||||
case NodeType.Clearner:
|
||||
case NodeType.Buffer:
|
||||
case NodeType.Charging:
|
||||
HandleNormalNodeDoubleClick(hitNode);
|
||||
break;
|
||||
@@ -429,7 +431,10 @@ namespace AGVNavigationCore.Controls
|
||||
{
|
||||
switch (node.Type)
|
||||
{
|
||||
case NodeType.Docking:
|
||||
case NodeType.Loader:
|
||||
case NodeType.UnLoader:
|
||||
case NodeType.Clearner:
|
||||
case NodeType.Buffer:
|
||||
return IsPointInPentagon(point, node);
|
||||
case NodeType.Charging:
|
||||
return IsPointInTriangle(point, node);
|
||||
|
||||
@@ -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>
|
||||
|
||||
@@ -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:
|
||||
|
||||
@@ -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
|
||||
@@ -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;
|
||||
@@ -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,
|
||||
|
||||
@@ -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>
|
||||
|
||||
@@ -101,7 +101,7 @@ namespace AGVNavigationCore.PathFinding.Core
|
||||
/// <param name="startNodeId">시작 노드 ID</param>
|
||||
/// <param name="endNodeId">목적지 노드 ID</param>
|
||||
/// <returns>경로 계산 결과</returns>
|
||||
public AGVPathResult FindPath(string startNodeId, string endNodeId)
|
||||
public AGVPathResult FindPathAStar(string startNodeId, string endNodeId)
|
||||
{
|
||||
var stopwatch = System.Diagnostics.Stopwatch.StartNew();
|
||||
|
||||
@@ -126,7 +126,6 @@ namespace AGVNavigationCore.PathFinding.Core
|
||||
|
||||
var startNode = _nodeMap[startNodeId];
|
||||
var endNode = _nodeMap[endNodeId];
|
||||
|
||||
var openSet = new List<PathNode>();
|
||||
var closedSet = new HashSet<string>();
|
||||
var exploredCount = 0;
|
||||
@@ -199,7 +198,7 @@ namespace AGVNavigationCore.PathFinding.Core
|
||||
// 경유지가 없으면 기본 FindPath 호출
|
||||
if (waypointNodeIds == null || waypointNodeIds.Length == 0)
|
||||
{
|
||||
return FindPath(startNodeId, endNodeId);
|
||||
return FindPathAStar(startNodeId, endNodeId);
|
||||
}
|
||||
|
||||
// 경유지 유효성 검증
|
||||
@@ -220,7 +219,7 @@ namespace AGVNavigationCore.PathFinding.Core
|
||||
// 경유지가 없으면 기본 경로 계산
|
||||
if (validWaypoints.Count == 0)
|
||||
{
|
||||
return FindPath(startNodeId, endNodeId);
|
||||
return FindPathAStar(startNodeId, endNodeId);
|
||||
}
|
||||
|
||||
// 첫 번째 경유지가 시작노드와 같은지 검사
|
||||
@@ -267,7 +266,7 @@ namespace AGVNavigationCore.PathFinding.Core
|
||||
string waypoint = validWaypoints[i];
|
||||
|
||||
// 현재 위치에서 경유지까지의 경로 계산
|
||||
var segmentResult = FindPath(currentStart, waypoint);
|
||||
var segmentResult = FindPathAStar(currentStart, waypoint);
|
||||
|
||||
if (!segmentResult.Success)
|
||||
{
|
||||
@@ -295,7 +294,7 @@ namespace AGVNavigationCore.PathFinding.Core
|
||||
}
|
||||
|
||||
// 2단계: 마지막 경유지에서 최종 목적지까지의 경로 계산
|
||||
var finalSegmentResult = FindPath(currentStart, endNodeId);
|
||||
var finalSegmentResult = FindPathAStar(currentStart, endNodeId);
|
||||
|
||||
if (!finalSegmentResult.Success)
|
||||
{
|
||||
@@ -442,7 +441,7 @@ namespace AGVNavigationCore.PathFinding.Core
|
||||
AGVPathResult bestResult = null;
|
||||
foreach (var targetId in targetNodeIds)
|
||||
{
|
||||
var result = FindPath(startNodeId, targetId);
|
||||
var result = FindPathAStar(startNodeId, targetId);
|
||||
if (result.Success && (bestResult == null || result.TotalDistance < bestResult.TotalDistance))
|
||||
{
|
||||
bestResult = result;
|
||||
|
||||
@@ -22,8 +22,6 @@ namespace AGVNavigationCore.PathFinding.Planning
|
||||
private readonly JunctionAnalyzer _junctionAnalyzer;
|
||||
private readonly DirectionChangePlanner _directionChangePlanner;
|
||||
|
||||
|
||||
|
||||
public AGVPathfinder(List<MapNode> mapNodes)
|
||||
{
|
||||
_mapNodes = mapNodes ?? new List<MapNode>();
|
||||
@@ -49,8 +47,9 @@ namespace AGVNavigationCore.PathFinding.Planning
|
||||
n.IsActive &&
|
||||
n.IsNavigationNode() &&
|
||||
n.ConnectedNodes != null &&
|
||||
n.DisableCross == false &&
|
||||
n.ConnectedNodes.Count >= 3 &&
|
||||
n.ConnectedMapNodes.Where(t => t.Type == NodeType.Docking || t.Type == NodeType.Charging).Any() == false &&
|
||||
n.ConnectedMapNodes.Where(t => t.CanDocking).Any() == false &&
|
||||
n.NodeId != startNode.NodeId
|
||||
).ToList();
|
||||
|
||||
@@ -99,9 +98,10 @@ namespace AGVNavigationCore.PathFinding.Planning
|
||||
if (pathNode != null &&
|
||||
pathNode.IsActive &&
|
||||
pathNode.IsNavigationNode() &&
|
||||
pathNode.DisableCross == false &&
|
||||
pathNode.ConnectedNodes != null &&
|
||||
pathNode.ConnectedNodes.Count >= 3 &&
|
||||
pathNode.ConnectedMapNodes.Where(t => t.Type == NodeType.Docking || t.Type == NodeType.Charging).Any() == false)
|
||||
pathNode.ConnectedMapNodes.Where(t => t.CanDocking).Any() == false)
|
||||
{
|
||||
if (pathNode.NodeId.Equals(StartNode.NodeId) == false)
|
||||
return pathNode;
|
||||
@@ -122,12 +122,12 @@ namespace AGVNavigationCore.PathFinding.Planning
|
||||
if (prevNode == null)
|
||||
return AGVPathResult.CreateFailure("이전위치 노드가 null입니다.", 0, 0);
|
||||
if (startNode.NodeId == targetNode.NodeId && targetNode.DockDirection.MatchAGVDirection(prevDirection))
|
||||
return AGVPathResult.CreateSuccess(new List<MapNode> { startNode,startNode }, new List<AgvDirection>(), 0, 0);
|
||||
return AGVPathResult.CreateSuccess(new List<MapNode> { startNode, startNode }, new List<AgvDirection>(), 0, 0);
|
||||
|
||||
var ReverseDirection = (currentDirection == AgvDirection.Forward ? AgvDirection.Backward : AgvDirection.Forward);
|
||||
|
||||
//1.목적지까지의 최단거리 경로를 찾는다.
|
||||
var pathResult = _basicPathfinder.FindPath(startNode.NodeId, targetNode.NodeId);
|
||||
var pathResult = _basicPathfinder.FindPathAStar(startNode.NodeId, targetNode.NodeId);
|
||||
pathResult.PrevNode = prevNode;
|
||||
pathResult.PrevDirection = prevDirection;
|
||||
if (!pathResult.Success || pathResult.Path == null || pathResult.Path.Count == 0)
|
||||
@@ -221,7 +221,7 @@ namespace AGVNavigationCore.PathFinding.Planning
|
||||
//진행방향으로 이동했을때 나오는 노드를 사용한다.
|
||||
if (nextNodeForward != null)
|
||||
{
|
||||
var Path0 = _basicPathfinder.FindPath(startNode.NodeId, nextNodeForward.NodeId);
|
||||
var Path0 = _basicPathfinder.FindPathAStar(startNode.NodeId, nextNodeForward.NodeId);
|
||||
Path0.PrevNode = prevNode;
|
||||
Path0.PrevDirection = prevDirection;
|
||||
MakeDetailData(Path0, prevDirection);
|
||||
@@ -267,7 +267,7 @@ namespace AGVNavigationCore.PathFinding.Planning
|
||||
//경유지를 포함하여 경로를 다시 계산한다.
|
||||
|
||||
//1.시작위치 - 교차로(여기까지는 현재 방향으로 그대로 이동을 한다)
|
||||
var path1 = _basicPathfinder.FindPath(startNode.NodeId, JunctionInPath.NodeId);
|
||||
var path1 = _basicPathfinder.FindPathAStar(startNode.NodeId, JunctionInPath.NodeId);
|
||||
path1.PrevNode = prevNode;
|
||||
path1.PrevDirection = prevDirection;
|
||||
|
||||
@@ -295,7 +295,7 @@ namespace AGVNavigationCore.PathFinding.Planning
|
||||
|
||||
|
||||
//2.교차로 - 종료위치
|
||||
var path2 = _basicPathfinder.FindPath(JunctionInPath.NodeId, targetNode.NodeId);
|
||||
var path2 = _basicPathfinder.FindPathAStar(JunctionInPath.NodeId, targetNode.NodeId);
|
||||
path2.PrevNode = prevNode;
|
||||
path2.PrevDirection = prevDirection;
|
||||
|
||||
@@ -332,7 +332,7 @@ namespace AGVNavigationCore.PathFinding.Planning
|
||||
//if (tempNode != null)
|
||||
{
|
||||
// 교차로 → 대체노드 경로 계산
|
||||
var pathToTemp = _basicPathfinder.FindPath(JunctionInPath.NodeId, tempNode.NodeId);
|
||||
var pathToTemp = _basicPathfinder.FindPathAStar(JunctionInPath.NodeId, tempNode.NodeId);
|
||||
pathToTemp.PrevNode = JunctionInPath;
|
||||
pathToTemp.PrevDirection = (ReverseCheck ? ReverseDirection : currentDirection);
|
||||
if (!pathToTemp.Success)
|
||||
@@ -348,7 +348,7 @@ namespace AGVNavigationCore.PathFinding.Planning
|
||||
combinedResult = _basicPathfinder.CombineResults(combinedResult, pathToTemp);
|
||||
|
||||
// 대체노드 → 교차로 경로 계산 (역방향)
|
||||
var pathFromTemp = _basicPathfinder.FindPath(tempNode.NodeId, JunctionInPath.NodeId);
|
||||
var pathFromTemp = _basicPathfinder.FindPathAStar(tempNode.NodeId, JunctionInPath.NodeId);
|
||||
pathFromTemp.PrevNode = JunctionInPath;
|
||||
pathFromTemp.PrevDirection = (ReverseCheck ? ReverseDirection : currentDirection);
|
||||
if (!pathFromTemp.Success)
|
||||
@@ -362,7 +362,7 @@ namespace AGVNavigationCore.PathFinding.Planning
|
||||
|
||||
//현재까지 노드에서 목적지까지의 방향이 일치하면 그대로 사용한다.
|
||||
bool temp3ok = false;
|
||||
var TempCheck3 = _basicPathfinder.FindPath(combinedResult.Path.Last().NodeId, targetNode.NodeId);
|
||||
var TempCheck3 = _basicPathfinder.FindPathAStar(combinedResult.Path.Last().NodeId, targetNode.NodeId);
|
||||
if (TempCheck3.Path.First().NodeId.Equals(combinedResult.Path.Last().NodeId))
|
||||
{
|
||||
if (targetNode.DockDirection == DockingDirection.Forward && combinedResult.DetailedPath.Last().MotorDirection == AgvDirection.Forward)
|
||||
@@ -385,7 +385,7 @@ namespace AGVNavigationCore.PathFinding.Planning
|
||||
combinedResult.Path[combinedResult.Path.Count - 2].NodeId,
|
||||
path2.Path[1].NodeId);
|
||||
|
||||
var pathToTemp2 = _basicPathfinder.FindPath(JunctionInPath.NodeId, tempNode2.NodeId);
|
||||
var pathToTemp2 = _basicPathfinder.FindPathAStar(JunctionInPath.NodeId, tempNode2.NodeId);
|
||||
if (ReverseCheck) MakeDetailData(pathToTemp2, currentDirection);
|
||||
else MakeDetailData(pathToTemp2, ReverseDirection);
|
||||
|
||||
@@ -400,7 +400,7 @@ namespace AGVNavigationCore.PathFinding.Planning
|
||||
combinedResult.DetailedPath[combinedResult.DetailedPath.Count - 1].MotorDirection = currentDirection;
|
||||
}
|
||||
|
||||
var pathToTemp3 = _basicPathfinder.FindPath(tempNode2.NodeId, JunctionInPath.NodeId);
|
||||
var pathToTemp3 = _basicPathfinder.FindPathAStar(tempNode2.NodeId, JunctionInPath.NodeId);
|
||||
if (ReverseCheck) MakeDetailData(pathToTemp3, ReverseDirection);
|
||||
else MakeDetailData(pathToTemp3, currentDirection);
|
||||
|
||||
@@ -438,7 +438,7 @@ namespace AGVNavigationCore.PathFinding.Planning
|
||||
string nextNodeId = (i + 1 < path1.Path.Count) ? path1.Path[i + 1].NodeId : null;
|
||||
|
||||
// 노드 정보 생성 (현재 방향 유지)
|
||||
var nodeInfo = new NodeMotorInfo(i+1,
|
||||
var nodeInfo = new NodeMotorInfo(i + 1,
|
||||
nodeId, RfidId,
|
||||
currentDirection,
|
||||
nextNodeId,
|
||||
|
||||
@@ -73,7 +73,7 @@ namespace AGVNavigationCore.PathFinding.Planning
|
||||
// 방향이 같으면 직접 경로 계산
|
||||
if (currentDirection == requiredDirection)
|
||||
{
|
||||
var directPath = _pathfinder.FindPath(startNodeId, targetNodeId);
|
||||
var directPath = _pathfinder.FindPathAStar(startNodeId, targetNodeId);
|
||||
if (directPath.Success)
|
||||
{
|
||||
return DirectionChangePlan.CreateSuccess(
|
||||
@@ -85,7 +85,7 @@ namespace AGVNavigationCore.PathFinding.Planning
|
||||
}
|
||||
|
||||
// 방향 전환이 필요한 경우 - 먼저 간단한 직접 경로 확인
|
||||
var directPath2 = _pathfinder.FindPath(startNodeId, targetNodeId);
|
||||
var directPath2 = _pathfinder.FindPathAStar(startNodeId, targetNodeId);
|
||||
if (directPath2.Success)
|
||||
{
|
||||
// 직접 경로에 갈림길이 포함된 경우 그 갈림길에서 방향 전환
|
||||
@@ -160,7 +160,7 @@ namespace AGVNavigationCore.PathFinding.Planning
|
||||
}
|
||||
|
||||
// 2. 직진 경로상의 갈림길들도 검색 (단, 되돌아가기 방지)
|
||||
var directPath = _pathfinder.FindPath(startNodeId, targetNodeId);
|
||||
var directPath = _pathfinder.FindPathAStar(startNodeId, targetNodeId);
|
||||
if (directPath.Success)
|
||||
{
|
||||
foreach (var node in directPath.Path.Skip(2)) // 시작점과 다음 노드는 제외
|
||||
@@ -261,7 +261,7 @@ namespace AGVNavigationCore.PathFinding.Planning
|
||||
|
||||
foreach (var junction in junctions)
|
||||
{
|
||||
var path = _pathfinder.FindPath(startNodeId, junction);
|
||||
var path = _pathfinder.FindPathAStar(startNodeId, junction);
|
||||
double distance = path.Success ? path.TotalDistance : double.MaxValue;
|
||||
distances.Add((junction, distance));
|
||||
}
|
||||
@@ -313,12 +313,12 @@ namespace AGVNavigationCore.PathFinding.Planning
|
||||
var fullPath = new List<MapNode>();
|
||||
|
||||
// 1. 시작점에서 갈림길까지의 경로
|
||||
var toJunctionPath = _pathfinder.FindPath(startNodeId, junctionNodeId);
|
||||
var toJunctionPath = _pathfinder.FindPathAStar(startNodeId, junctionNodeId);
|
||||
if (!toJunctionPath.Success)
|
||||
return fullPath;
|
||||
|
||||
// 2. 인근 갈림길을 통한 우회인지, 직진 경로상 갈림길인지 판단
|
||||
var directPath = _pathfinder.FindPath(startNodeId, targetNodeId);
|
||||
var directPath = _pathfinder.FindPathAStar(startNodeId, targetNodeId);
|
||||
bool isNearbyDetour = !directPath.Success || !directPath.Path.Any(n => n.NodeId == junctionNodeId);
|
||||
|
||||
if (isNearbyDetour)
|
||||
@@ -341,7 +341,7 @@ namespace AGVNavigationCore.PathFinding.Planning
|
||||
var fullPath = new List<MapNode>();
|
||||
|
||||
// 1. 시작점에서 갈림길까지 직진 (현재 방향 유지)
|
||||
var toJunctionPath = _pathfinder.FindPath(startNodeId, junctionNodeId);
|
||||
var toJunctionPath = _pathfinder.FindPathAStar(startNodeId, junctionNodeId);
|
||||
if (!toJunctionPath.Success)
|
||||
return fullPath;
|
||||
|
||||
@@ -349,7 +349,7 @@ namespace AGVNavigationCore.PathFinding.Planning
|
||||
|
||||
// 2. 갈림길에서 방향 전환 후 목적지로
|
||||
// 이때 마그넷 센서를 이용해 목적지 방향으로 진입
|
||||
var fromJunctionPath = _pathfinder.FindPath(junctionNodeId, targetNodeId);
|
||||
var fromJunctionPath = _pathfinder.FindPathAStar(junctionNodeId, targetNodeId);
|
||||
if (fromJunctionPath.Success && fromJunctionPath.Path.Count > 1)
|
||||
{
|
||||
fullPath.AddRange(fromJunctionPath.Path.Skip(1)); // 중복 노드 제거
|
||||
@@ -366,7 +366,7 @@ namespace AGVNavigationCore.PathFinding.Planning
|
||||
var fullPath = new List<MapNode>();
|
||||
|
||||
// 1. 시작점에서 갈림길까지의 경로
|
||||
var toJunctionPath = _pathfinder.FindPath(startNodeId, junctionNodeId);
|
||||
var toJunctionPath = _pathfinder.FindPathAStar(startNodeId, junctionNodeId);
|
||||
if (!toJunctionPath.Success)
|
||||
return fullPath;
|
||||
|
||||
@@ -387,7 +387,7 @@ namespace AGVNavigationCore.PathFinding.Planning
|
||||
|
||||
// 3. 갈림길에서 목표점까지의 경로
|
||||
string lastNode = fullPath.LastOrDefault()?.NodeId ?? junctionNodeId;
|
||||
var fromJunctionPath = _pathfinder.FindPath(lastNode, targetNodeId);
|
||||
var fromJunctionPath = _pathfinder.FindPathAStar(lastNode, targetNodeId);
|
||||
if (fromJunctionPath.Success && fromJunctionPath.Path.Count > 1)
|
||||
{
|
||||
fullPath.AddRange(fromJunctionPath.Path.Skip(1));
|
||||
@@ -609,7 +609,7 @@ namespace AGVNavigationCore.PathFinding.Planning
|
||||
private bool CanReachTargetViaJunction(string junctionNodeId, string targetNodeId)
|
||||
{
|
||||
// 갈림길에서 목적지까지의 경로가 존재하는지 확인
|
||||
var pathToTarget = _pathfinder.FindPath(junctionNodeId, targetNodeId);
|
||||
var pathToTarget = _pathfinder.FindPathAStar(junctionNodeId, targetNodeId);
|
||||
return pathToTarget.Success;
|
||||
}
|
||||
|
||||
|
||||
@@ -153,7 +153,7 @@ namespace AGVNavigationCore.Utils
|
||||
Console.WriteLine($"이름: {node.Name}");
|
||||
Console.WriteLine($"위치: {node.Position}");
|
||||
Console.WriteLine($"타입: {GetNodeTypeName(node.Type)}");
|
||||
Console.WriteLine($"회전 가능: {node.CanRotate}");
|
||||
Console.WriteLine($"TurnLeft/Right/교차로 : {(node.CanTurnLeft ? "O":"X")}/{(node.CanTurnRight ? "O" : "X")}/{(node.DisableCross ? "X" : "O")}");
|
||||
Console.WriteLine($"활성: {node.IsActive}");
|
||||
Console.WriteLine($"연결된 노드:");
|
||||
|
||||
|
||||
@@ -338,6 +338,17 @@ namespace AGVSimulator.Forms
|
||||
advancedResult.DockingValidation = DockingValidator.ValidateDockingDirection(advancedResult, _mapNodes);
|
||||
}
|
||||
|
||||
//마지막대상이 버퍼라면 시퀀스처리를 해야한다
|
||||
if(targetNode.Type == NodeType.Buffer)
|
||||
{
|
||||
var lastDetailPath = advancedResult.DetailedPath.Last();
|
||||
if(lastDetailPath.NodeId == targetNode.NodeId)
|
||||
{
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
_simulatorCanvas.CurrentPath = advancedResult;
|
||||
_pathLengthLabel.Text = $"경로 길이: {advancedResult.TotalDistance:F1}";
|
||||
_statusLabel.Text = $"경로 계산 완료 ({advancedResult.CalculationTimeMs}ms)";
|
||||
@@ -1443,7 +1454,7 @@ namespace AGVSimulator.Forms
|
||||
|
||||
// 도킹 타겟 노드 찾기
|
||||
var dockingTargets = _mapNodes.Where(n =>
|
||||
n.Type == NodeType.Charging || n.Type == NodeType.Docking).ToList();
|
||||
n.Type == NodeType.Charging || n.Type == NodeType.Loader || n.Type == NodeType.UnLoader || n.Type == NodeType.Clearner || n.Type == NodeType.Buffer).ToList();
|
||||
|
||||
if (dockingTargets.Count == 0)
|
||||
{
|
||||
|
||||
@@ -9,11 +9,13 @@
|
||||
"ConnectedNodes": [
|
||||
"N002"
|
||||
],
|
||||
"CanRotate": false,
|
||||
"CanTurnLeft": true,
|
||||
"CanTurnRight": true,
|
||||
"DisableCross": true,
|
||||
"StationId": "",
|
||||
"StationType": null,
|
||||
"StationType": 3,
|
||||
"CreatedDate": "2025-09-11T08:34:44.9548285+09:00",
|
||||
"ModifiedDate": "2025-12-08T11:54:03.1730939+09:00",
|
||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
|
||||
"IsActive": true,
|
||||
"DisplayColor": "Red",
|
||||
"RfidId": "0001",
|
||||
@@ -47,11 +49,13 @@
|
||||
"N003",
|
||||
"N001"
|
||||
],
|
||||
"CanRotate": false,
|
||||
"CanTurnLeft": true,
|
||||
"CanTurnRight": true,
|
||||
"DisableCross": false,
|
||||
"StationId": "",
|
||||
"StationType": null,
|
||||
"CreatedDate": "2025-09-11T08:34:48.2957516+09:00",
|
||||
"ModifiedDate": "2025-12-08T11:54:05.9083675+09:00",
|
||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
|
||||
"IsActive": true,
|
||||
"DisplayColor": "Cyan",
|
||||
"RfidId": "0002",
|
||||
@@ -85,11 +89,13 @@
|
||||
"N004",
|
||||
"N002"
|
||||
],
|
||||
"CanRotate": false,
|
||||
"CanTurnLeft": true,
|
||||
"CanTurnRight": true,
|
||||
"DisableCross": false,
|
||||
"StationId": "",
|
||||
"StationType": null,
|
||||
"CreatedDate": "2025-09-11T08:34:49.2226656+09:00",
|
||||
"ModifiedDate": "2025-12-08T11:54:07.7966472+09:00",
|
||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
|
||||
"IsActive": true,
|
||||
"DisplayColor": "Cyan",
|
||||
"RfidId": "0003",
|
||||
@@ -125,11 +131,13 @@
|
||||
"N011",
|
||||
"N003"
|
||||
],
|
||||
"CanRotate": false,
|
||||
"CanTurnLeft": true,
|
||||
"CanTurnRight": true,
|
||||
"DisableCross": false,
|
||||
"StationId": "",
|
||||
"StationType": null,
|
||||
"CreatedDate": "2025-09-11T08:34:50.1681027+09:00",
|
||||
"ModifiedDate": "2025-12-08T11:54:09.4014966+09:00",
|
||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
|
||||
"IsActive": true,
|
||||
"DisplayColor": "Cyan",
|
||||
"RfidId": "0004",
|
||||
@@ -163,11 +171,13 @@
|
||||
"N007",
|
||||
"N022"
|
||||
],
|
||||
"CanRotate": false,
|
||||
"CanTurnLeft": true,
|
||||
"CanTurnRight": true,
|
||||
"DisableCross": false,
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"StationId": "",
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"StationType": null,
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"CreatedDate": "2025-09-11T08:34:51.1111368+09:00",
|
||||
"ModifiedDate": "2025-12-08T11:54:49.3718611+09:00",
|
||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
|
||||
"IsActive": true,
|
||||
"DisplayColor": "Cyan",
|
||||
"RfidId": "0013",
|
||||
@@ -201,11 +211,13 @@
|
||||
"N019",
|
||||
"N006"
|
||||
],
|
||||
"CanRotate": false,
|
||||
"CanTurnLeft": true,
|
||||
"CanTurnRight": true,
|
||||
"DisableCross": false,
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"StationId": "",
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"StationType": null,
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"CreatedDate": "2025-09-11T08:34:51.9266982+09:00",
|
||||
"ModifiedDate": "2025-12-08T11:54:51.4185821+09:00",
|
||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
|
||||
"IsActive": true,
|
||||
"DisplayColor": "Cyan",
|
||||
"RfidId": "0014",
|
||||
@@ -239,11 +251,13 @@
|
||||
"N009",
|
||||
"N031"
|
||||
],
|
||||
"CanRotate": false,
|
||||
"CanTurnLeft": true,
|
||||
"CanTurnRight": true,
|
||||
"DisableCross": false,
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"StationId": "",
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"StationType": null,
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"CreatedDate": "2025-09-11T08:34:53.9595825+09:00",
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||||
"ModifiedDate": "2025-12-08T11:54:13.626916+09:00",
|
||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
|
||||
"IsActive": true,
|
||||
"DisplayColor": "Cyan",
|
||||
"RfidId": "0009",
|
||||
@@ -277,11 +291,13 @@
|
||||
"N010",
|
||||
"N008"
|
||||
],
|
||||
"CanRotate": false,
|
||||
"CanTurnLeft": true,
|
||||
"CanTurnRight": true,
|
||||
"DisableCross": false,
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"StationId": "",
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"StationType": null,
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"CreatedDate": "2025-09-11T08:34:54.5035702+09:00",
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||||
"ModifiedDate": "2025-12-08T11:54:15.2395639+09:00",
|
||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
|
||||
"IsActive": true,
|
||||
"DisplayColor": "Cyan",
|
||||
"RfidId": "0010",
|
||||
@@ -314,11 +330,13 @@
|
||||
"ConnectedNodes": [
|
||||
"N009"
|
||||
],
|
||||
"CanRotate": false,
|
||||
"CanTurnLeft": true,
|
||||
"CanTurnRight": true,
|
||||
"DisableCross": true,
|
||||
"StationId": "",
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"StationType": null,
|
||||
"StationType": 2,
|
||||
"CreatedDate": "2025-09-11T08:34:55.0563237+09:00",
|
||||
"ModifiedDate": "2025-12-08T11:54:17.075895+09:00",
|
||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
|
||||
"IsActive": true,
|
||||
"DisplayColor": "Red",
|
||||
"RfidId": "0011",
|
||||
@@ -353,11 +371,13 @@
|
||||
"N015",
|
||||
"N004"
|
||||
],
|
||||
"CanRotate": false,
|
||||
"CanTurnLeft": true,
|
||||
"CanTurnRight": true,
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||||
"DisableCross": false,
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"StationId": "",
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"StationType": null,
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"CreatedDate": "2025-09-11T08:34:55.8875335+09:00",
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||||
"ModifiedDate": "2025-12-08T11:54:30.5451017+09:00",
|
||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
|
||||
"IsActive": true,
|
||||
"DisplayColor": "Cyan",
|
||||
"RfidId": "0005",
|
||||
@@ -391,11 +411,13 @@
|
||||
"N013",
|
||||
"N011"
|
||||
],
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||||
"CanRotate": false,
|
||||
"CanTurnLeft": true,
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||||
"CanTurnRight": true,
|
||||
"DisableCross": false,
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"StationId": "",
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"StationType": null,
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||||
"CreatedDate": "2025-09-11T08:34:56.3678144+09:00",
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||||
"ModifiedDate": "2025-12-08T11:54:32.3566504+09:00",
|
||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
|
||||
"IsActive": true,
|
||||
"DisplayColor": "Cyan",
|
||||
"RfidId": "0006",
|
||||
@@ -429,11 +451,13 @@
|
||||
"N014",
|
||||
"N012"
|
||||
],
|
||||
"CanRotate": false,
|
||||
"CanTurnLeft": true,
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||||
"CanTurnRight": true,
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||||
"DisableCross": false,
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"StationId": "",
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"StationType": null,
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"CreatedDate": "2025-09-11T08:34:56.8390845+09:00",
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||||
"ModifiedDate": "2025-12-08T11:54:34.1608589+09:00",
|
||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
|
||||
"IsActive": true,
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||||
"DisplayColor": "Cyan",
|
||||
"RfidId": "0007",
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||||
@@ -466,11 +490,13 @@
|
||||
"ConnectedNodes": [
|
||||
"N013"
|
||||
],
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||||
"CanRotate": false,
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||||
"CanTurnLeft": true,
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||||
"CanTurnRight": true,
|
||||
"DisableCross": true,
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||||
"StationId": "",
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||||
"StationType": null,
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||||
"StationType": 1,
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||||
"CreatedDate": "2025-09-11T08:34:57.2549726+09:00",
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||||
"ModifiedDate": "2025-12-08T11:54:36.2103863+09:00",
|
||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
|
||||
"IsActive": true,
|
||||
"DisplayColor": "Red",
|
||||
"RfidId": "0008",
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||||
@@ -503,11 +529,13 @@
|
||||
"ConnectedNodes": [
|
||||
"N007"
|
||||
],
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||||
"CanRotate": false,
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||||
"CanTurnLeft": true,
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||||
"CanTurnRight": true,
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||||
"DisableCross": true,
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||||
"StationId": "",
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||||
"StationType": null,
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||||
"StationType": 5,
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||||
"CreatedDate": "2025-09-11T08:35:56.5359098+09:00",
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||||
"ModifiedDate": "2025-12-08T11:54:53.4706808+09:00",
|
||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
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||||
"IsActive": true,
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||||
"DisplayColor": "Magenta",
|
||||
"RfidId": "0015",
|
||||
@@ -542,11 +570,13 @@
|
||||
"N004",
|
||||
"N006"
|
||||
],
|
||||
"CanRotate": false,
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||||
"CanTurnLeft": true,
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||||
"CanTurnRight": true,
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||||
"DisableCross": false,
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"StationId": "",
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||||
"StationType": null,
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||||
"CreatedDate": "2025-09-11T08:36:48.0311551+09:00",
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||||
"ModifiedDate": "2025-12-08T11:54:47.1279261+09:00",
|
||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
|
||||
"IsActive": true,
|
||||
"DisplayColor": "Cyan",
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||||
"RfidId": "0012",
|
||||
@@ -580,11 +610,13 @@
|
||||
"N024",
|
||||
"N022"
|
||||
],
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||||
"CanRotate": false,
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||||
"CanTurnLeft": true,
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||||
"CanTurnRight": true,
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||||
"DisableCross": false,
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"StationId": "",
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"StationType": null,
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||||
"CreatedDate": "2025-09-11T09:41:36.8738794+09:00",
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||||
"ModifiedDate": "2025-12-08T11:55:02.2993636+09:00",
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||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
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||||
"IsActive": true,
|
||||
"DisplayColor": "Cyan",
|
||||
"RfidId": "0016",
|
||||
@@ -618,11 +650,13 @@
|
||||
"N025",
|
||||
"N023"
|
||||
],
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||||
"CanRotate": false,
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||||
"CanTurnLeft": true,
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||||
"CanTurnRight": true,
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||||
"DisableCross": false,
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"StationId": "",
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||||
"StationType": null,
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||||
"CreatedDate": "2025-09-11T09:41:37.4551853+09:00",
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||||
"ModifiedDate": "2025-12-08T11:55:00.0899323+09:00",
|
||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
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||||
"IsActive": true,
|
||||
"DisplayColor": "Cyan",
|
||||
"RfidId": "0017",
|
||||
@@ -656,11 +690,13 @@
|
||||
"N026",
|
||||
"N024"
|
||||
],
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||||
"CanRotate": false,
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||||
"CanTurnLeft": true,
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||||
"CanTurnRight": true,
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||||
"DisableCross": false,
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"StationId": "",
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"StationType": null,
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"CreatedDate": "2025-09-11T09:41:38.0142374+09:00",
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||||
"ModifiedDate": "2025-12-08T11:54:57.8459375+09:00",
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||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
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||||
"IsActive": true,
|
||||
"DisplayColor": "Cyan",
|
||||
"RfidId": "0018",
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||||
@@ -693,11 +729,13 @@
|
||||
"ConnectedNodes": [
|
||||
"N025"
|
||||
],
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||||
"CanRotate": false,
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||||
"CanTurnLeft": true,
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||||
"CanTurnRight": true,
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||||
"DisableCross": true,
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||||
"StationId": "",
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"StationType": null,
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"StationType": 5,
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||||
"CreatedDate": "2025-09-11T09:41:38.5834487+09:00",
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||||
"ModifiedDate": "2025-12-08T11:54:55.6038784+09:00",
|
||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
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||||
"IsActive": true,
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||||
"DisplayColor": "Magenta",
|
||||
"RfidId": "0019",
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||||
@@ -728,11 +766,13 @@
|
||||
"Type": 4,
|
||||
"DockDirection": 0,
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||||
"ConnectedNodes": [],
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||||
"CanRotate": false,
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||||
"CanTurnLeft": true,
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"CanTurnRight": true,
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"DisableCross": true,
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"StationId": "",
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"StationType": null,
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||||
"CreatedDate": "2025-09-11T11:08:22.4048927+09:00",
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||||
"ModifiedDate": "2025-10-30T17:14:35.0184087+09:00",
|
||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
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||||
"IsActive": true,
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||||
"DisplayColor": "Purple",
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||||
"RfidId": "",
|
||||
@@ -763,11 +803,13 @@
|
||||
"Type": 5,
|
||||
"DockDirection": 0,
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||||
"ConnectedNodes": [],
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||||
"CanRotate": false,
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"CanTurnLeft": true,
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||||
"CanTurnRight": true,
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||||
"DisableCross": true,
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"StationId": "",
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"StationType": null,
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"CreatedDate": "2025-09-11T11:08:44.7897541+09:00",
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||||
"ModifiedDate": "2025-10-23T12:21:16.7786615+09:00",
|
||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
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||||
"IsActive": true,
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||||
"DisplayColor": "Brown",
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||||
"RfidId": "",
|
||||
@@ -801,11 +843,13 @@
|
||||
"N016",
|
||||
"N011"
|
||||
],
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||||
"CanRotate": false,
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||||
"CanTurnLeft": true,
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||||
"CanTurnRight": true,
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"DisableCross": false,
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"StationId": "",
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"StationType": null,
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"CreatedDate": "2025-09-12T17:22:47.8065756+09:00",
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"ModifiedDate": "2025-12-08T11:54:28.0157957+09:00",
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||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
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||||
"IsActive": true,
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||||
"DisplayColor": "Cyan",
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||||
"RfidId": "0037",
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||||
@@ -839,11 +883,13 @@
|
||||
"N017",
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||||
"N015"
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||||
],
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"CanRotate": false,
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"CanTurnLeft": true,
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||||
"CanTurnRight": true,
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"DisableCross": false,
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"StationId": "",
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"StationType": null,
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"CreatedDate": "2025-09-12T17:22:48.6628848+09:00",
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"ModifiedDate": "2025-12-08T11:54:26.4584771+09:00",
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"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
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||||
"IsActive": true,
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||||
"DisplayColor": "Cyan",
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||||
"RfidId": "0036",
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||||
@@ -877,11 +923,13 @@
|
||||
"N018",
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||||
"N016"
|
||||
],
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||||
"CanRotate": false,
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"CanTurnLeft": true,
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||||
"CanTurnRight": true,
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"DisableCross": false,
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"StationId": "",
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"StationType": null,
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"CreatedDate": "2025-09-12T17:22:49.8138877+09:00",
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||||
"ModifiedDate": "2025-12-08T11:54:24.9652264+09:00",
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||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
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||||
"IsActive": true,
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||||
"DisplayColor": "Cyan",
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||||
"RfidId": "0035",
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||||
@@ -916,11 +964,13 @@
|
||||
"N017",
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||||
"N005"
|
||||
],
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"CanRotate": false,
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"CanTurnLeft": true,
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"CanTurnRight": true,
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"DisableCross": true,
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"StationId": "",
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"StationType": null,
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"CreatedDate": "2025-09-12T17:22:50.6790623+09:00",
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"ModifiedDate": "2025-12-08T11:54:23.246666+09:00",
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"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
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||||
"IsActive": true,
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||||
"DisplayColor": "Cyan",
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||||
"RfidId": "0034",
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||||
@@ -955,11 +1005,13 @@
|
||||
"N029",
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||||
"N018"
|
||||
],
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||||
"CanRotate": false,
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"CanTurnLeft": true,
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"CanTurnRight": true,
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"DisableCross": true,
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"StationId": "",
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"CreatedDate": "2025-09-12T17:22:51.5267199+09:00",
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"ModifiedDate": "2025-12-08T11:54:21.6078399+09:00",
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"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
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"IsActive": true,
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"DisplayColor": "Cyan",
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||||
"RfidId": "0033",
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||||
@@ -994,11 +1046,13 @@
|
||||
"N028",
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||||
"N005"
|
||||
],
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"CanRotate": false,
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"CanTurnLeft": true,
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"CanTurnRight": true,
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"DisableCross": true,
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"StationId": "",
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"StationType": null,
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"CreatedDate": "2025-09-12T17:22:52.3666114+09:00",
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"ModifiedDate": "2025-12-08T11:54:20.2707567+09:00",
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"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
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||||
"IsActive": true,
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||||
"DisplayColor": "Cyan",
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||||
"RfidId": "0032",
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||||
@@ -1032,11 +1086,13 @@
|
||||
"N027",
|
||||
"N020"
|
||||
],
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||||
"CanRotate": false,
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"CanTurnLeft": true,
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"CanTurnRight": true,
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"DisableCross": true,
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"CreatedDate": "2025-09-12T17:22:53.0958619+09:00",
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"ModifiedDate": "2025-12-08T11:54:18.362104+09:00",
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"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
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||||
"IsActive": true,
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||||
"DisplayColor": "Cyan",
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||||
"RfidId": "0031",
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||||
@@ -1069,11 +1125,13 @@
|
||||
"ConnectedNodes": [
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||||
"N021"
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||||
],
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"CanRotate": false,
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"CanTurnLeft": true,
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"CanTurnRight": true,
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"DisableCross": true,
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"StationId": "",
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"StationType": null,
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"StationType": 4,
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||||
"CreatedDate": "2025-09-12T17:22:54.7345704+09:00",
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||||
"ModifiedDate": "2025-12-08T11:54:43.1573737+09:00",
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||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
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||||
"IsActive": true,
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||||
"DisplayColor": "Green",
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||||
"RfidId": "0041",
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||||
@@ -1106,11 +1164,13 @@
|
||||
"ConnectedNodes": [
|
||||
"N020"
|
||||
],
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||||
"CanRotate": false,
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||||
"CanTurnLeft": true,
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||||
"CanTurnRight": true,
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||||
"DisableCross": true,
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"StationId": "",
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"StationType": null,
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"StationType": 4,
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||||
"CreatedDate": "2025-09-12T17:22:55.5263512+09:00",
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||||
"ModifiedDate": "2025-12-08T11:54:41.5219283+09:00",
|
||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
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||||
"IsActive": true,
|
||||
"DisplayColor": "Green",
|
||||
"RfidId": "0040",
|
||||
@@ -1143,11 +1203,13 @@
|
||||
"ConnectedNodes": [
|
||||
"N005"
|
||||
],
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||||
"CanRotate": false,
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||||
"CanTurnLeft": true,
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||||
"CanTurnRight": true,
|
||||
"DisableCross": true,
|
||||
"StationId": "",
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||||
"StationType": null,
|
||||
"StationType": 4,
|
||||
"CreatedDate": "2025-09-12T17:22:56.6623294+09:00",
|
||||
"ModifiedDate": "2025-12-08T11:54:39.9945926+09:00",
|
||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
|
||||
"IsActive": true,
|
||||
"DisplayColor": "Green",
|
||||
"RfidId": "0039",
|
||||
@@ -1180,11 +1242,13 @@
|
||||
"ConnectedNodes": [
|
||||
"N018"
|
||||
],
|
||||
"CanRotate": false,
|
||||
"CanTurnLeft": true,
|
||||
"CanTurnRight": true,
|
||||
"DisableCross": true,
|
||||
"StationId": "",
|
||||
"StationType": null,
|
||||
"StationType": 4,
|
||||
"CreatedDate": "2025-09-12T17:22:57.5510908+09:00",
|
||||
"ModifiedDate": "2025-12-08T11:54:38.3326835+09:00",
|
||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
|
||||
"IsActive": true,
|
||||
"DisplayColor": "Green",
|
||||
"RfidId": "0038",
|
||||
@@ -1218,11 +1282,13 @@
|
||||
"N004",
|
||||
"N008"
|
||||
],
|
||||
"CanRotate": false,
|
||||
"CanTurnLeft": true,
|
||||
"CanTurnRight": true,
|
||||
"DisableCross": false,
|
||||
"StationId": "",
|
||||
"StationType": null,
|
||||
"CreatedDate": "2025-09-15T11:18:40.5366059+09:00",
|
||||
"ModifiedDate": "2025-12-08T11:54:12.0214781+09:00",
|
||||
"ModifiedDate": "2025-12-09T08:41:57.1293017+09:00",
|
||||
"IsActive": true,
|
||||
"DisplayColor": "Cyan",
|
||||
"RfidId": "0030",
|
||||
@@ -1251,6 +1317,6 @@
|
||||
"BackgroundColorArgb": -14671840,
|
||||
"ShowGrid": false
|
||||
},
|
||||
"CreatedDate": "2025-12-08T11:55:04.9060276+09:00",
|
||||
"CreatedDate": "2025-12-09T11:45:02.0324252+09:00",
|
||||
"Version": "1.1"
|
||||
}
|
||||
@@ -246,6 +246,11 @@ namespace Project
|
||||
|
||||
public bool AutoModeOffAndClearPosition { get; set; }
|
||||
|
||||
|
||||
[Browsable(false)]
|
||||
public UInt16 GDSValue { get; set; }
|
||||
|
||||
|
||||
[Browsable(false)]
|
||||
public string musicfile { get; set; }
|
||||
|
||||
@@ -366,6 +371,7 @@ namespace Project
|
||||
if (StatusInterval < 10) StatusInterval = 300; //5분간격
|
||||
if (XBE_ID < 1) XBE_ID = 0xFF; //0은 acs 이므로 쓰지못하게한다.
|
||||
if (SAD == 0) SAD = 999;
|
||||
if (GDSValue == 0) GDSValue = 1000;
|
||||
if (TAGF1A == 0)
|
||||
{
|
||||
TAGNOT = 9000;
|
||||
|
||||
@@ -79,6 +79,10 @@ namespace Project
|
||||
synlist.Add("STT", PUB.setting.STT.ToString("0000"));
|
||||
//synlist.Add("SBN", PUB.setting.ChargerID.ToString("0000"));
|
||||
|
||||
synlist.Add("SGS", PUB.setting.GDSValue.ToString("0000"));
|
||||
|
||||
|
||||
|
||||
PUB.AddEEDB($"SYNC시작({PUB.Result.TargetPos})");
|
||||
|
||||
synidx = 0;
|
||||
|
||||
@@ -138,7 +138,10 @@ namespace Project.ViewForm
|
||||
|
||||
private void button9_Click(object sender, EventArgs e)
|
||||
{
|
||||
PUB.AGV.TurnGDSCenterScope();
|
||||
var inputbox = AR.UTIL.InputBox("input value", "1000");
|
||||
if (inputbox.Item1 == false) return;
|
||||
if (UInt16.TryParse(inputbox.Item2, out UInt16 value) == false) return;
|
||||
PUB.AGV.TurnGDSCenterScope(value);
|
||||
if (PUB.sm.Step == StateMachine.eSMStep.RUN)
|
||||
PUB.sm.SetNewStep(StateMachine.eSMStep.IDLE);
|
||||
}
|
||||
|
||||
590
Cs_HMI/Project/ViewForm/fManual.Designer.cs
generated
590
Cs_HMI/Project/ViewForm/fManual.Designer.cs
generated
@@ -41,46 +41,45 @@
|
||||
this.btErrReset = new System.Windows.Forms.Button();
|
||||
this.timer1 = new System.Windows.Forms.Timer(this.components);
|
||||
this.panel2 = new System.Windows.Forms.Panel();
|
||||
this.groupBox3 = new System.Windows.Forms.GroupBox();
|
||||
this.btBack180 = new System.Windows.Forms.Button();
|
||||
this.panel1 = new System.Windows.Forms.Panel();
|
||||
this.btRight180 = new System.Windows.Forms.Button();
|
||||
this.panel10 = new System.Windows.Forms.Panel();
|
||||
this.btLeft180 = new System.Windows.Forms.Button();
|
||||
this.button1 = new System.Windows.Forms.Button();
|
||||
this.groupBox1 = new System.Windows.Forms.GroupBox();
|
||||
this.radpbs2 = new AGVControl.MyRadioButton();
|
||||
this.panel9 = new System.Windows.Forms.Panel();
|
||||
this.radpbs1 = new AGVControl.MyRadioButton();
|
||||
this.panel3 = new System.Windows.Forms.Panel();
|
||||
this.radpbs0 = new AGVControl.MyRadioButton();
|
||||
this.grpSpeed = new System.Windows.Forms.GroupBox();
|
||||
this.radspdh = new AGVControl.MyRadioButton();
|
||||
this.panel8 = new System.Windows.Forms.Panel();
|
||||
this.radspdm = new AGVControl.MyRadioButton();
|
||||
this.panel4 = new System.Windows.Forms.Panel();
|
||||
this.radspdl = new AGVControl.MyRadioButton();
|
||||
this.grpBunki = new System.Windows.Forms.GroupBox();
|
||||
this.radright = new AGVControl.MyRadioButton();
|
||||
this.panel7 = new System.Windows.Forms.Panel();
|
||||
this.radstrai = new AGVControl.MyRadioButton();
|
||||
this.panel5 = new System.Windows.Forms.Panel();
|
||||
this.radleft = new AGVControl.MyRadioButton();
|
||||
this.groupBox2 = new System.Windows.Forms.GroupBox();
|
||||
this.arLabel1 = new arCtl.arLabel();
|
||||
this.panel12 = new System.Windows.Forms.Panel();
|
||||
this.radbackward = new AGVControl.MyRadioButton();
|
||||
this.panel6 = new System.Windows.Forms.Panel();
|
||||
this.radforward = new AGVControl.MyRadioButton();
|
||||
this.label1 = new System.Windows.Forms.Label();
|
||||
this.radpbs2 = new AGVControl.MyRadioButton();
|
||||
this.radpbs1 = new AGVControl.MyRadioButton();
|
||||
this.radpbs0 = new AGVControl.MyRadioButton();
|
||||
this.radspdh = new AGVControl.MyRadioButton();
|
||||
this.radspdm = new AGVControl.MyRadioButton();
|
||||
this.radspdl = new AGVControl.MyRadioButton();
|
||||
this.radright = new AGVControl.MyRadioButton();
|
||||
this.radstrai = new AGVControl.MyRadioButton();
|
||||
this.radleft = new AGVControl.MyRadioButton();
|
||||
this.radbackward = new AGVControl.MyRadioButton();
|
||||
this.radforward = new AGVControl.MyRadioButton();
|
||||
this.guideSensor1 = new Narumi.UC.GuideSensor();
|
||||
this.btBack180 = new System.Windows.Forms.Button();
|
||||
this.tableLayoutPanel2 = new System.Windows.Forms.TableLayoutPanel();
|
||||
this.button2 = new System.Windows.Forms.Button();
|
||||
this.tableLayoutPanel1.SuspendLayout();
|
||||
this.panel2.SuspendLayout();
|
||||
this.groupBox3.SuspendLayout();
|
||||
this.groupBox1.SuspendLayout();
|
||||
this.grpSpeed.SuspendLayout();
|
||||
this.grpBunki.SuspendLayout();
|
||||
this.groupBox2.SuspendLayout();
|
||||
this.tableLayoutPanel2.SuspendLayout();
|
||||
this.SuspendLayout();
|
||||
//
|
||||
// tableLayoutPanel1
|
||||
@@ -105,7 +104,7 @@
|
||||
this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
|
||||
this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
|
||||
this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
|
||||
this.tableLayoutPanel1.Size = new System.Drawing.Size(604, 555);
|
||||
this.tableLayoutPanel1.Size = new System.Drawing.Size(604, 594);
|
||||
this.tableLayoutPanel1.TabIndex = 7;
|
||||
//
|
||||
// btStart
|
||||
@@ -125,7 +124,7 @@
|
||||
this.btStart.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
|
||||
this.btStart.GradientRepeatBG = false;
|
||||
this.btStart.isButton = true;
|
||||
this.btStart.Location = new System.Drawing.Point(204, 188);
|
||||
this.btStart.Location = new System.Drawing.Point(204, 201);
|
||||
this.btStart.MouseDownColor = System.Drawing.Color.Yellow;
|
||||
this.btStart.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
|
||||
this.btStart.msg = new string[] {
|
||||
@@ -147,7 +146,7 @@
|
||||
this.btStart.SignAlign = System.Drawing.ContentAlignment.BottomRight;
|
||||
this.btStart.SignColor = System.Drawing.Color.Yellow;
|
||||
this.btStart.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
|
||||
this.btStart.Size = new System.Drawing.Size(195, 179);
|
||||
this.btStart.Size = new System.Drawing.Size(195, 192);
|
||||
this.btStart.TabIndex = 6;
|
||||
this.btStart.Text = "RUN";
|
||||
this.btStart.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
@@ -172,7 +171,7 @@
|
||||
this.btRight.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
|
||||
this.btRight.GradientRepeatBG = false;
|
||||
this.btRight.isButton = true;
|
||||
this.btRight.Location = new System.Drawing.Point(405, 188);
|
||||
this.btRight.Location = new System.Drawing.Point(405, 201);
|
||||
this.btRight.MouseDownColor = System.Drawing.Color.Yellow;
|
||||
this.btRight.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
|
||||
this.btRight.msg = null;
|
||||
@@ -192,7 +191,7 @@
|
||||
this.btRight.SignAlign = System.Drawing.ContentAlignment.BottomRight;
|
||||
this.btRight.SignColor = System.Drawing.Color.Yellow;
|
||||
this.btRight.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
|
||||
this.btRight.Size = new System.Drawing.Size(196, 179);
|
||||
this.btRight.Size = new System.Drawing.Size(196, 192);
|
||||
this.btRight.TabIndex = 0;
|
||||
this.btRight.Text = "좌회전";
|
||||
this.btRight.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
@@ -238,7 +237,7 @@
|
||||
this.btBack.SignAlign = System.Drawing.ContentAlignment.BottomRight;
|
||||
this.btBack.SignColor = System.Drawing.Color.Yellow;
|
||||
this.btBack.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
|
||||
this.btBack.Size = new System.Drawing.Size(195, 179);
|
||||
this.btBack.Size = new System.Drawing.Size(195, 192);
|
||||
this.btBack.TabIndex = 0;
|
||||
this.btBack.Text = "후진";
|
||||
this.btBack.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
@@ -263,7 +262,7 @@
|
||||
this.btForward.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
|
||||
this.btForward.GradientRepeatBG = false;
|
||||
this.btForward.isButton = true;
|
||||
this.btForward.Location = new System.Drawing.Point(204, 373);
|
||||
this.btForward.Location = new System.Drawing.Point(204, 399);
|
||||
this.btForward.MouseDownColor = System.Drawing.Color.Yellow;
|
||||
this.btForward.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
|
||||
this.btForward.msg = null;
|
||||
@@ -283,7 +282,7 @@
|
||||
this.btForward.SignAlign = System.Drawing.ContentAlignment.BottomRight;
|
||||
this.btForward.SignColor = System.Drawing.Color.Yellow;
|
||||
this.btForward.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
|
||||
this.btForward.Size = new System.Drawing.Size(195, 179);
|
||||
this.btForward.Size = new System.Drawing.Size(195, 192);
|
||||
this.btForward.TabIndex = 0;
|
||||
this.btForward.Text = "전진";
|
||||
this.btForward.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
@@ -308,7 +307,7 @@
|
||||
this.btLeft.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
|
||||
this.btLeft.GradientRepeatBG = false;
|
||||
this.btLeft.isButton = true;
|
||||
this.btLeft.Location = new System.Drawing.Point(3, 188);
|
||||
this.btLeft.Location = new System.Drawing.Point(3, 201);
|
||||
this.btLeft.MouseDownColor = System.Drawing.Color.Yellow;
|
||||
this.btLeft.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
|
||||
this.btLeft.msg = null;
|
||||
@@ -328,7 +327,7 @@
|
||||
this.btLeft.SignAlign = System.Drawing.ContentAlignment.BottomRight;
|
||||
this.btLeft.SignColor = System.Drawing.Color.Yellow;
|
||||
this.btLeft.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
|
||||
this.btLeft.Size = new System.Drawing.Size(195, 179);
|
||||
this.btLeft.Size = new System.Drawing.Size(195, 192);
|
||||
this.btLeft.TabIndex = 0;
|
||||
this.btLeft.Text = "우회전";
|
||||
this.btLeft.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
@@ -342,7 +341,7 @@
|
||||
this.btMarkStop.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.btMarkStop.Location = new System.Drawing.Point(3, 3);
|
||||
this.btMarkStop.Name = "btMarkStop";
|
||||
this.btMarkStop.Size = new System.Drawing.Size(195, 179);
|
||||
this.btMarkStop.Size = new System.Drawing.Size(195, 192);
|
||||
this.btMarkStop.TabIndex = 7;
|
||||
this.btMarkStop.Text = "마크정지";
|
||||
this.btMarkStop.UseVisualStyleBackColor = true;
|
||||
@@ -352,9 +351,9 @@
|
||||
//
|
||||
this.btchargeOff.Dock = System.Windows.Forms.DockStyle.Fill;
|
||||
this.btchargeOff.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.btchargeOff.Location = new System.Drawing.Point(405, 373);
|
||||
this.btchargeOff.Location = new System.Drawing.Point(405, 399);
|
||||
this.btchargeOff.Name = "btchargeOff";
|
||||
this.btchargeOff.Size = new System.Drawing.Size(196, 179);
|
||||
this.btchargeOff.Size = new System.Drawing.Size(196, 192);
|
||||
this.btchargeOff.TabIndex = 8;
|
||||
this.btchargeOff.Text = "충전해제";
|
||||
this.btchargeOff.UseVisualStyleBackColor = true;
|
||||
@@ -364,9 +363,9 @@
|
||||
//
|
||||
this.btChargeOn.Dock = System.Windows.Forms.DockStyle.Fill;
|
||||
this.btChargeOn.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.btChargeOn.Location = new System.Drawing.Point(3, 373);
|
||||
this.btChargeOn.Location = new System.Drawing.Point(3, 399);
|
||||
this.btChargeOn.Name = "btChargeOn";
|
||||
this.btChargeOn.Size = new System.Drawing.Size(195, 179);
|
||||
this.btChargeOn.Size = new System.Drawing.Size(195, 192);
|
||||
this.btChargeOn.TabIndex = 9;
|
||||
this.btChargeOn.Text = "충전";
|
||||
this.btChargeOn.UseVisualStyleBackColor = true;
|
||||
@@ -378,7 +377,7 @@
|
||||
this.btErrReset.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.btErrReset.Location = new System.Drawing.Point(405, 3);
|
||||
this.btErrReset.Name = "btErrReset";
|
||||
this.btErrReset.Size = new System.Drawing.Size(196, 179);
|
||||
this.btErrReset.Size = new System.Drawing.Size(196, 192);
|
||||
this.btErrReset.TabIndex = 10;
|
||||
this.btErrReset.Text = "오류소거";
|
||||
this.btErrReset.UseVisualStyleBackColor = true;
|
||||
@@ -391,7 +390,7 @@
|
||||
//
|
||||
// panel2
|
||||
//
|
||||
this.panel2.Controls.Add(this.groupBox3);
|
||||
this.panel2.Controls.Add(this.tableLayoutPanel2);
|
||||
this.panel2.Controls.Add(this.button1);
|
||||
this.panel2.Controls.Add(this.groupBox1);
|
||||
this.panel2.Controls.Add(this.grpSpeed);
|
||||
@@ -400,79 +399,33 @@
|
||||
this.panel2.Dock = System.Windows.Forms.DockStyle.Fill;
|
||||
this.panel2.Location = new System.Drawing.Point(607, 21);
|
||||
this.panel2.Name = "panel2";
|
||||
this.panel2.Size = new System.Drawing.Size(404, 517);
|
||||
this.panel2.Size = new System.Drawing.Size(404, 556);
|
||||
this.panel2.TabIndex = 9;
|
||||
this.panel2.Paint += new System.Windows.Forms.PaintEventHandler(this.panel2_Paint);
|
||||
//
|
||||
// groupBox3
|
||||
//
|
||||
this.groupBox3.Controls.Add(this.btBack180);
|
||||
this.groupBox3.Controls.Add(this.panel1);
|
||||
this.groupBox3.Controls.Add(this.btRight180);
|
||||
this.groupBox3.Controls.Add(this.panel10);
|
||||
this.groupBox3.Controls.Add(this.btLeft180);
|
||||
this.groupBox3.Dock = System.Windows.Forms.DockStyle.Fill;
|
||||
this.groupBox3.Location = new System.Drawing.Point(0, 450);
|
||||
this.groupBox3.Name = "groupBox3";
|
||||
this.groupBox3.Padding = new System.Windows.Forms.Padding(10, 5, 5, 10);
|
||||
this.groupBox3.Size = new System.Drawing.Size(404, 67);
|
||||
this.groupBox3.TabIndex = 11;
|
||||
this.groupBox3.TabStop = false;
|
||||
//
|
||||
// btBack180
|
||||
//
|
||||
this.btBack180.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.btBack180.Cursor = System.Windows.Forms.Cursors.Hand;
|
||||
this.btBack180.Dock = System.Windows.Forms.DockStyle.Fill;
|
||||
this.btBack180.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold);
|
||||
this.btBack180.ForeColor = System.Drawing.Color.Black;
|
||||
this.btBack180.Location = new System.Drawing.Point(270, 19);
|
||||
this.btBack180.Name = "btBack180";
|
||||
this.btBack180.Size = new System.Drawing.Size(129, 38);
|
||||
this.btBack180.TabIndex = 15;
|
||||
this.btBack180.Text = "백후 180도 회전";
|
||||
this.btBack180.UseVisualStyleBackColor = false;
|
||||
this.btBack180.Click += new System.EventHandler(this.btBack180_Click);
|
||||
//
|
||||
// panel1
|
||||
//
|
||||
this.panel1.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.panel1.Location = new System.Drawing.Point(261, 19);
|
||||
this.panel1.Name = "panel1";
|
||||
this.panel1.Size = new System.Drawing.Size(9, 38);
|
||||
this.panel1.TabIndex = 14;
|
||||
//
|
||||
// btRight180
|
||||
//
|
||||
this.btRight180.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.btRight180.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.btRight180.Dock = System.Windows.Forms.DockStyle.Fill;
|
||||
this.btRight180.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold);
|
||||
this.btRight180.ForeColor = System.Drawing.Color.Black;
|
||||
this.btRight180.Location = new System.Drawing.Point(140, 19);
|
||||
this.btRight180.Location = new System.Drawing.Point(3, 62);
|
||||
this.btRight180.Name = "btRight180";
|
||||
this.btRight180.Size = new System.Drawing.Size(121, 38);
|
||||
this.btRight180.Size = new System.Drawing.Size(196, 53);
|
||||
this.btRight180.TabIndex = 6;
|
||||
this.btRight180.Text = "180도 우회전";
|
||||
this.btRight180.UseVisualStyleBackColor = false;
|
||||
this.btRight180.Click += new System.EventHandler(this.btRight180_Click);
|
||||
//
|
||||
// panel10
|
||||
//
|
||||
this.panel10.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.panel10.Location = new System.Drawing.Point(131, 19);
|
||||
this.panel10.Name = "panel10";
|
||||
this.panel10.Size = new System.Drawing.Size(9, 38);
|
||||
this.panel10.TabIndex = 12;
|
||||
//
|
||||
// btLeft180
|
||||
//
|
||||
this.btLeft180.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.btLeft180.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.btLeft180.Dock = System.Windows.Forms.DockStyle.Fill;
|
||||
this.btLeft180.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold);
|
||||
this.btLeft180.ForeColor = System.Drawing.Color.Black;
|
||||
this.btLeft180.Location = new System.Drawing.Point(10, 19);
|
||||
this.btLeft180.Location = new System.Drawing.Point(3, 3);
|
||||
this.btLeft180.Name = "btLeft180";
|
||||
this.btLeft180.Size = new System.Drawing.Size(121, 38);
|
||||
this.btLeft180.Size = new System.Drawing.Size(196, 53);
|
||||
this.btLeft180.TabIndex = 7;
|
||||
this.btLeft180.Text = "180도 좌회전";
|
||||
this.btLeft180.UseVisualStyleBackColor = false;
|
||||
@@ -484,7 +437,7 @@
|
||||
this.button1.Font = new System.Drawing.Font("맑은 고딕", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.button1.Location = new System.Drawing.Point(0, 380);
|
||||
this.button1.Name = "button1";
|
||||
this.button1.Size = new System.Drawing.Size(404, 70);
|
||||
this.button1.Size = new System.Drawing.Size(404, 58);
|
||||
this.button1.TabIndex = 10;
|
||||
this.button1.Text = "설정 적용";
|
||||
this.button1.UseVisualStyleBackColor = true;
|
||||
@@ -506,25 +459,6 @@
|
||||
this.groupBox1.TabStop = false;
|
||||
this.groupBox1.Text = "근접센서(PBS)";
|
||||
//
|
||||
// radpbs2
|
||||
//
|
||||
this.radpbs2.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.radpbs2.Bordercolor = System.Drawing.Color.DimGray;
|
||||
this.radpbs2.BorderRadius = 7;
|
||||
this.radpbs2.BorderSize = 2;
|
||||
this.radpbs2.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
|
||||
this.radpbs2.CheckOnColor = System.Drawing.Color.LimeGreen;
|
||||
this.radpbs2.CheckWidth = 30;
|
||||
this.radpbs2.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.radpbs2.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.radpbs2.Location = new System.Drawing.Point(278, 19);
|
||||
this.radpbs2.Name = "radpbs2";
|
||||
this.radpbs2.Size = new System.Drawing.Size(119, 66);
|
||||
this.radpbs2.TabIndex = 10;
|
||||
this.radpbs2.Text = "On(2)";
|
||||
this.radpbs2.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
this.radpbs2.UseVisualStyleBackColor = false;
|
||||
//
|
||||
// panel9
|
||||
//
|
||||
this.panel9.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
@@ -533,28 +467,6 @@
|
||||
this.panel9.Size = new System.Drawing.Size(15, 66);
|
||||
this.panel9.TabIndex = 12;
|
||||
//
|
||||
// radpbs1
|
||||
//
|
||||
this.radpbs1.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.radpbs1.Bordercolor = System.Drawing.Color.DimGray;
|
||||
this.radpbs1.BorderRadius = 7;
|
||||
this.radpbs1.BorderSize = 2;
|
||||
this.radpbs1.Checked = true;
|
||||
this.radpbs1.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
|
||||
this.radpbs1.CheckOnColor = System.Drawing.Color.LimeGreen;
|
||||
this.radpbs1.CheckWidth = 30;
|
||||
this.radpbs1.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.radpbs1.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.radpbs1.ForeColor = System.Drawing.Color.Blue;
|
||||
this.radpbs1.Location = new System.Drawing.Point(144, 19);
|
||||
this.radpbs1.Name = "radpbs1";
|
||||
this.radpbs1.Size = new System.Drawing.Size(119, 66);
|
||||
this.radpbs1.TabIndex = 9;
|
||||
this.radpbs1.TabStop = true;
|
||||
this.radpbs1.Text = "On(1)";
|
||||
this.radpbs1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
this.radpbs1.UseVisualStyleBackColor = false;
|
||||
//
|
||||
// panel3
|
||||
//
|
||||
this.panel3.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
@@ -563,25 +475,6 @@
|
||||
this.panel3.Size = new System.Drawing.Size(15, 66);
|
||||
this.panel3.TabIndex = 11;
|
||||
//
|
||||
// radpbs0
|
||||
//
|
||||
this.radpbs0.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.radpbs0.Bordercolor = System.Drawing.Color.DimGray;
|
||||
this.radpbs0.BorderRadius = 7;
|
||||
this.radpbs0.BorderSize = 2;
|
||||
this.radpbs0.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
|
||||
this.radpbs0.CheckOnColor = System.Drawing.Color.LimeGreen;
|
||||
this.radpbs0.CheckWidth = 30;
|
||||
this.radpbs0.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.radpbs0.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.radpbs0.Location = new System.Drawing.Point(10, 19);
|
||||
this.radpbs0.Name = "radpbs0";
|
||||
this.radpbs0.Size = new System.Drawing.Size(119, 66);
|
||||
this.radpbs0.TabIndex = 8;
|
||||
this.radpbs0.Text = "Off(0)";
|
||||
this.radpbs0.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
this.radpbs0.UseVisualStyleBackColor = false;
|
||||
//
|
||||
// grpSpeed
|
||||
//
|
||||
this.grpSpeed.Controls.Add(this.radspdh);
|
||||
@@ -598,25 +491,6 @@
|
||||
this.grpSpeed.TabStop = false;
|
||||
this.grpSpeed.Text = "속도";
|
||||
//
|
||||
// radspdh
|
||||
//
|
||||
this.radspdh.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.radspdh.Bordercolor = System.Drawing.Color.DimGray;
|
||||
this.radspdh.BorderRadius = 7;
|
||||
this.radspdh.BorderSize = 2;
|
||||
this.radspdh.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
|
||||
this.radspdh.CheckOnColor = System.Drawing.Color.LimeGreen;
|
||||
this.radspdh.CheckWidth = 30;
|
||||
this.radspdh.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.radspdh.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.radspdh.Location = new System.Drawing.Point(278, 19);
|
||||
this.radspdh.Name = "radspdh";
|
||||
this.radspdh.Size = new System.Drawing.Size(119, 66);
|
||||
this.radspdh.TabIndex = 2;
|
||||
this.radspdh.Text = "고속";
|
||||
this.radspdh.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
this.radspdh.UseVisualStyleBackColor = false;
|
||||
//
|
||||
// panel8
|
||||
//
|
||||
this.panel8.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
@@ -625,28 +499,6 @@
|
||||
this.panel8.Size = new System.Drawing.Size(15, 66);
|
||||
this.panel8.TabIndex = 13;
|
||||
//
|
||||
// radspdm
|
||||
//
|
||||
this.radspdm.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.radspdm.Bordercolor = System.Drawing.Color.DimGray;
|
||||
this.radspdm.BorderRadius = 7;
|
||||
this.radspdm.BorderSize = 2;
|
||||
this.radspdm.Checked = true;
|
||||
this.radspdm.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
|
||||
this.radspdm.CheckOnColor = System.Drawing.Color.LimeGreen;
|
||||
this.radspdm.CheckWidth = 30;
|
||||
this.radspdm.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.radspdm.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.radspdm.ForeColor = System.Drawing.Color.Blue;
|
||||
this.radspdm.Location = new System.Drawing.Point(144, 19);
|
||||
this.radspdm.Name = "radspdm";
|
||||
this.radspdm.Size = new System.Drawing.Size(119, 66);
|
||||
this.radspdm.TabIndex = 1;
|
||||
this.radspdm.TabStop = true;
|
||||
this.radspdm.Text = "중속";
|
||||
this.radspdm.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
this.radspdm.UseVisualStyleBackColor = false;
|
||||
//
|
||||
// panel4
|
||||
//
|
||||
this.panel4.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
@@ -655,25 +507,6 @@
|
||||
this.panel4.Size = new System.Drawing.Size(15, 66);
|
||||
this.panel4.TabIndex = 12;
|
||||
//
|
||||
// radspdl
|
||||
//
|
||||
this.radspdl.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.radspdl.Bordercolor = System.Drawing.Color.DimGray;
|
||||
this.radspdl.BorderRadius = 7;
|
||||
this.radspdl.BorderSize = 2;
|
||||
this.radspdl.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
|
||||
this.radspdl.CheckOnColor = System.Drawing.Color.LimeGreen;
|
||||
this.radspdl.CheckWidth = 30;
|
||||
this.radspdl.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.radspdl.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.radspdl.Location = new System.Drawing.Point(10, 19);
|
||||
this.radspdl.Name = "radspdl";
|
||||
this.radspdl.Size = new System.Drawing.Size(119, 66);
|
||||
this.radspdl.TabIndex = 0;
|
||||
this.radspdl.Text = "저속";
|
||||
this.radspdl.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
this.radspdl.UseVisualStyleBackColor = false;
|
||||
//
|
||||
// grpBunki
|
||||
//
|
||||
this.grpBunki.Controls.Add(this.radright);
|
||||
@@ -690,25 +523,6 @@
|
||||
this.grpBunki.TabStop = false;
|
||||
this.grpBunki.Text = "분기";
|
||||
//
|
||||
// radright
|
||||
//
|
||||
this.radright.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.radright.Bordercolor = System.Drawing.Color.DimGray;
|
||||
this.radright.BorderRadius = 7;
|
||||
this.radright.BorderSize = 2;
|
||||
this.radright.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
|
||||
this.radright.CheckOnColor = System.Drawing.Color.LimeGreen;
|
||||
this.radright.CheckWidth = 30;
|
||||
this.radright.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.radright.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.radright.Location = new System.Drawing.Point(278, 19);
|
||||
this.radright.Name = "radright";
|
||||
this.radright.Size = new System.Drawing.Size(119, 66);
|
||||
this.radright.TabIndex = 4;
|
||||
this.radright.Text = "우측";
|
||||
this.radright.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
this.radright.UseVisualStyleBackColor = false;
|
||||
//
|
||||
// panel7
|
||||
//
|
||||
this.panel7.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
@@ -717,28 +531,6 @@
|
||||
this.panel7.Size = new System.Drawing.Size(15, 66);
|
||||
this.panel7.TabIndex = 13;
|
||||
//
|
||||
// radstrai
|
||||
//
|
||||
this.radstrai.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.radstrai.Bordercolor = System.Drawing.Color.DimGray;
|
||||
this.radstrai.BorderRadius = 7;
|
||||
this.radstrai.BorderSize = 2;
|
||||
this.radstrai.Checked = true;
|
||||
this.radstrai.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
|
||||
this.radstrai.CheckOnColor = System.Drawing.Color.LimeGreen;
|
||||
this.radstrai.CheckWidth = 30;
|
||||
this.radstrai.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.radstrai.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.radstrai.ForeColor = System.Drawing.Color.Blue;
|
||||
this.radstrai.Location = new System.Drawing.Point(144, 19);
|
||||
this.radstrai.Name = "radstrai";
|
||||
this.radstrai.Size = new System.Drawing.Size(119, 66);
|
||||
this.radstrai.TabIndex = 3;
|
||||
this.radstrai.TabStop = true;
|
||||
this.radstrai.Text = "직진";
|
||||
this.radstrai.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
this.radstrai.UseVisualStyleBackColor = false;
|
||||
//
|
||||
// panel5
|
||||
//
|
||||
this.panel5.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
@@ -747,25 +539,6 @@
|
||||
this.panel5.Size = new System.Drawing.Size(15, 66);
|
||||
this.panel5.TabIndex = 12;
|
||||
//
|
||||
// radleft
|
||||
//
|
||||
this.radleft.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.radleft.Bordercolor = System.Drawing.Color.DimGray;
|
||||
this.radleft.BorderRadius = 7;
|
||||
this.radleft.BorderSize = 2;
|
||||
this.radleft.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
|
||||
this.radleft.CheckOnColor = System.Drawing.Color.LimeGreen;
|
||||
this.radleft.CheckWidth = 30;
|
||||
this.radleft.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.radleft.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.radleft.Location = new System.Drawing.Point(10, 19);
|
||||
this.radleft.Name = "radleft";
|
||||
this.radleft.Size = new System.Drawing.Size(119, 66);
|
||||
this.radleft.TabIndex = 5;
|
||||
this.radleft.Text = "좌측";
|
||||
this.radleft.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
this.radleft.UseVisualStyleBackColor = false;
|
||||
//
|
||||
// groupBox2
|
||||
//
|
||||
this.groupBox2.Controls.Add(this.arLabel1);
|
||||
@@ -837,6 +610,208 @@
|
||||
this.panel12.Size = new System.Drawing.Size(15, 66);
|
||||
this.panel12.TabIndex = 14;
|
||||
//
|
||||
// panel6
|
||||
//
|
||||
this.panel6.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.panel6.Location = new System.Drawing.Point(129, 19);
|
||||
this.panel6.Name = "panel6";
|
||||
this.panel6.Size = new System.Drawing.Size(15, 66);
|
||||
this.panel6.TabIndex = 12;
|
||||
//
|
||||
// label1
|
||||
//
|
||||
this.label1.BackColor = System.Drawing.Color.Blue;
|
||||
this.label1.Dock = System.Windows.Forms.DockStyle.Bottom;
|
||||
this.label1.Font = new System.Drawing.Font("맑은 고딕", 11F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.label1.ForeColor = System.Drawing.Color.White;
|
||||
this.label1.Location = new System.Drawing.Point(607, 577);
|
||||
this.label1.Name = "label1";
|
||||
this.label1.Padding = new System.Windows.Forms.Padding(0, 3, 0, 3);
|
||||
this.label1.Size = new System.Drawing.Size(404, 38);
|
||||
this.label1.TabIndex = 9;
|
||||
this.label1.Text = "----------";
|
||||
this.label1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
//
|
||||
// radpbs2
|
||||
//
|
||||
this.radpbs2.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.radpbs2.Bordercolor = System.Drawing.Color.DimGray;
|
||||
this.radpbs2.BorderRadius = 7;
|
||||
this.radpbs2.BorderSize = 2;
|
||||
this.radpbs2.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
|
||||
this.radpbs2.CheckOnColor = System.Drawing.Color.LimeGreen;
|
||||
this.radpbs2.CheckWidth = 30;
|
||||
this.radpbs2.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.radpbs2.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.radpbs2.Location = new System.Drawing.Point(278, 19);
|
||||
this.radpbs2.Name = "radpbs2";
|
||||
this.radpbs2.Size = new System.Drawing.Size(119, 66);
|
||||
this.radpbs2.TabIndex = 10;
|
||||
this.radpbs2.Text = "On(2)";
|
||||
this.radpbs2.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
this.radpbs2.UseVisualStyleBackColor = false;
|
||||
//
|
||||
// radpbs1
|
||||
//
|
||||
this.radpbs1.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.radpbs1.Bordercolor = System.Drawing.Color.DimGray;
|
||||
this.radpbs1.BorderRadius = 7;
|
||||
this.radpbs1.BorderSize = 2;
|
||||
this.radpbs1.Checked = true;
|
||||
this.radpbs1.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
|
||||
this.radpbs1.CheckOnColor = System.Drawing.Color.LimeGreen;
|
||||
this.radpbs1.CheckWidth = 30;
|
||||
this.radpbs1.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.radpbs1.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.radpbs1.ForeColor = System.Drawing.Color.Blue;
|
||||
this.radpbs1.Location = new System.Drawing.Point(144, 19);
|
||||
this.radpbs1.Name = "radpbs1";
|
||||
this.radpbs1.Size = new System.Drawing.Size(119, 66);
|
||||
this.radpbs1.TabIndex = 9;
|
||||
this.radpbs1.TabStop = true;
|
||||
this.radpbs1.Text = "On(1)";
|
||||
this.radpbs1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
this.radpbs1.UseVisualStyleBackColor = false;
|
||||
//
|
||||
// radpbs0
|
||||
//
|
||||
this.radpbs0.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.radpbs0.Bordercolor = System.Drawing.Color.DimGray;
|
||||
this.radpbs0.BorderRadius = 7;
|
||||
this.radpbs0.BorderSize = 2;
|
||||
this.radpbs0.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
|
||||
this.radpbs0.CheckOnColor = System.Drawing.Color.LimeGreen;
|
||||
this.radpbs0.CheckWidth = 30;
|
||||
this.radpbs0.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.radpbs0.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.radpbs0.Location = new System.Drawing.Point(10, 19);
|
||||
this.radpbs0.Name = "radpbs0";
|
||||
this.radpbs0.Size = new System.Drawing.Size(119, 66);
|
||||
this.radpbs0.TabIndex = 8;
|
||||
this.radpbs0.Text = "Off(0)";
|
||||
this.radpbs0.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
this.radpbs0.UseVisualStyleBackColor = false;
|
||||
//
|
||||
// radspdh
|
||||
//
|
||||
this.radspdh.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.radspdh.Bordercolor = System.Drawing.Color.DimGray;
|
||||
this.radspdh.BorderRadius = 7;
|
||||
this.radspdh.BorderSize = 2;
|
||||
this.radspdh.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
|
||||
this.radspdh.CheckOnColor = System.Drawing.Color.LimeGreen;
|
||||
this.radspdh.CheckWidth = 30;
|
||||
this.radspdh.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.radspdh.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.radspdh.Location = new System.Drawing.Point(278, 19);
|
||||
this.radspdh.Name = "radspdh";
|
||||
this.radspdh.Size = new System.Drawing.Size(119, 66);
|
||||
this.radspdh.TabIndex = 2;
|
||||
this.radspdh.Text = "고속";
|
||||
this.radspdh.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
this.radspdh.UseVisualStyleBackColor = false;
|
||||
//
|
||||
// radspdm
|
||||
//
|
||||
this.radspdm.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.radspdm.Bordercolor = System.Drawing.Color.DimGray;
|
||||
this.radspdm.BorderRadius = 7;
|
||||
this.radspdm.BorderSize = 2;
|
||||
this.radspdm.Checked = true;
|
||||
this.radspdm.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
|
||||
this.radspdm.CheckOnColor = System.Drawing.Color.LimeGreen;
|
||||
this.radspdm.CheckWidth = 30;
|
||||
this.radspdm.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.radspdm.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.radspdm.ForeColor = System.Drawing.Color.Blue;
|
||||
this.radspdm.Location = new System.Drawing.Point(144, 19);
|
||||
this.radspdm.Name = "radspdm";
|
||||
this.radspdm.Size = new System.Drawing.Size(119, 66);
|
||||
this.radspdm.TabIndex = 1;
|
||||
this.radspdm.TabStop = true;
|
||||
this.radspdm.Text = "중속";
|
||||
this.radspdm.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
this.radspdm.UseVisualStyleBackColor = false;
|
||||
//
|
||||
// radspdl
|
||||
//
|
||||
this.radspdl.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.radspdl.Bordercolor = System.Drawing.Color.DimGray;
|
||||
this.radspdl.BorderRadius = 7;
|
||||
this.radspdl.BorderSize = 2;
|
||||
this.radspdl.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
|
||||
this.radspdl.CheckOnColor = System.Drawing.Color.LimeGreen;
|
||||
this.radspdl.CheckWidth = 30;
|
||||
this.radspdl.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.radspdl.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.radspdl.Location = new System.Drawing.Point(10, 19);
|
||||
this.radspdl.Name = "radspdl";
|
||||
this.radspdl.Size = new System.Drawing.Size(119, 66);
|
||||
this.radspdl.TabIndex = 0;
|
||||
this.radspdl.Text = "저속";
|
||||
this.radspdl.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
this.radspdl.UseVisualStyleBackColor = false;
|
||||
//
|
||||
// radright
|
||||
//
|
||||
this.radright.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.radright.Bordercolor = System.Drawing.Color.DimGray;
|
||||
this.radright.BorderRadius = 7;
|
||||
this.radright.BorderSize = 2;
|
||||
this.radright.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
|
||||
this.radright.CheckOnColor = System.Drawing.Color.LimeGreen;
|
||||
this.radright.CheckWidth = 30;
|
||||
this.radright.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.radright.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.radright.Location = new System.Drawing.Point(278, 19);
|
||||
this.radright.Name = "radright";
|
||||
this.radright.Size = new System.Drawing.Size(119, 66);
|
||||
this.radright.TabIndex = 4;
|
||||
this.radright.Text = "우측";
|
||||
this.radright.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
this.radright.UseVisualStyleBackColor = false;
|
||||
//
|
||||
// radstrai
|
||||
//
|
||||
this.radstrai.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.radstrai.Bordercolor = System.Drawing.Color.DimGray;
|
||||
this.radstrai.BorderRadius = 7;
|
||||
this.radstrai.BorderSize = 2;
|
||||
this.radstrai.Checked = true;
|
||||
this.radstrai.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
|
||||
this.radstrai.CheckOnColor = System.Drawing.Color.LimeGreen;
|
||||
this.radstrai.CheckWidth = 30;
|
||||
this.radstrai.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.radstrai.Font = new System.Drawing.Font("맑은 고딕", 16F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.radstrai.ForeColor = System.Drawing.Color.Blue;
|
||||
this.radstrai.Location = new System.Drawing.Point(144, 19);
|
||||
this.radstrai.Name = "radstrai";
|
||||
this.radstrai.Size = new System.Drawing.Size(119, 66);
|
||||
this.radstrai.TabIndex = 3;
|
||||
this.radstrai.TabStop = true;
|
||||
this.radstrai.Text = "직진";
|
||||
this.radstrai.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
this.radstrai.UseVisualStyleBackColor = false;
|
||||
//
|
||||
// radleft
|
||||
//
|
||||
this.radleft.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.radleft.Bordercolor = System.Drawing.Color.DimGray;
|
||||
this.radleft.BorderRadius = 7;
|
||||
this.radleft.BorderSize = 2;
|
||||
this.radleft.CheckOffColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
|
||||
this.radleft.CheckOnColor = System.Drawing.Color.LimeGreen;
|
||||
this.radleft.CheckWidth = 30;
|
||||
this.radleft.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.radleft.Font = new System.Drawing.Font("맑은 고딕", 14.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.radleft.Location = new System.Drawing.Point(10, 19);
|
||||
this.radleft.Name = "radleft";
|
||||
this.radleft.Size = new System.Drawing.Size(119, 66);
|
||||
this.radleft.TabIndex = 5;
|
||||
this.radleft.Text = "좌측";
|
||||
this.radleft.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
this.radleft.UseVisualStyleBackColor = false;
|
||||
//
|
||||
// radbackward
|
||||
//
|
||||
this.radbackward.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
@@ -856,14 +831,6 @@
|
||||
this.radbackward.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
this.radbackward.UseVisualStyleBackColor = false;
|
||||
//
|
||||
// panel6
|
||||
//
|
||||
this.panel6.Dock = System.Windows.Forms.DockStyle.Left;
|
||||
this.panel6.Location = new System.Drawing.Point(129, 19);
|
||||
this.panel6.Name = "panel6";
|
||||
this.panel6.Size = new System.Drawing.Size(15, 66);
|
||||
this.panel6.TabIndex = 12;
|
||||
//
|
||||
// radforward
|
||||
//
|
||||
this.radforward.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
@@ -886,20 +853,6 @@
|
||||
this.radforward.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
this.radforward.UseVisualStyleBackColor = false;
|
||||
//
|
||||
// label1
|
||||
//
|
||||
this.label1.BackColor = System.Drawing.Color.Blue;
|
||||
this.label1.Dock = System.Windows.Forms.DockStyle.Bottom;
|
||||
this.label1.Font = new System.Drawing.Font("맑은 고딕", 11F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.label1.ForeColor = System.Drawing.Color.White;
|
||||
this.label1.Location = new System.Drawing.Point(607, 538);
|
||||
this.label1.Name = "label1";
|
||||
this.label1.Padding = new System.Windows.Forms.Padding(0, 3, 0, 3);
|
||||
this.label1.Size = new System.Drawing.Size(404, 38);
|
||||
this.label1.TabIndex = 9;
|
||||
this.label1.Text = "----------";
|
||||
this.label1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
//
|
||||
// guideSensor1
|
||||
//
|
||||
this.guideSensor1.Dock = System.Windows.Forms.DockStyle.Top;
|
||||
@@ -912,11 +865,59 @@
|
||||
this.guideSensor1.TabIndex = 8;
|
||||
this.guideSensor1.Text = "guideSensor1";
|
||||
//
|
||||
// btBack180
|
||||
//
|
||||
this.btBack180.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.btBack180.Cursor = System.Windows.Forms.Cursors.Hand;
|
||||
this.btBack180.Dock = System.Windows.Forms.DockStyle.Fill;
|
||||
this.btBack180.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold);
|
||||
this.btBack180.ForeColor = System.Drawing.Color.Black;
|
||||
this.btBack180.Location = new System.Drawing.Point(205, 3);
|
||||
this.btBack180.Name = "btBack180";
|
||||
this.btBack180.Size = new System.Drawing.Size(196, 53);
|
||||
this.btBack180.TabIndex = 15;
|
||||
this.btBack180.Text = "백후 180도 회전 (Left)";
|
||||
this.btBack180.UseVisualStyleBackColor = false;
|
||||
this.btBack180.Click += new System.EventHandler(this.btBack180_Click);
|
||||
//
|
||||
// tableLayoutPanel2
|
||||
//
|
||||
this.tableLayoutPanel2.ColumnCount = 2;
|
||||
this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
|
||||
this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
|
||||
this.tableLayoutPanel2.Controls.Add(this.btBack180, 1, 0);
|
||||
this.tableLayoutPanel2.Controls.Add(this.btLeft180, 0, 0);
|
||||
this.tableLayoutPanel2.Controls.Add(this.btRight180, 0, 1);
|
||||
this.tableLayoutPanel2.Controls.Add(this.button2, 1, 1);
|
||||
this.tableLayoutPanel2.Dock = System.Windows.Forms.DockStyle.Fill;
|
||||
this.tableLayoutPanel2.Location = new System.Drawing.Point(0, 438);
|
||||
this.tableLayoutPanel2.Name = "tableLayoutPanel2";
|
||||
this.tableLayoutPanel2.RowCount = 2;
|
||||
this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
|
||||
this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
|
||||
this.tableLayoutPanel2.Size = new System.Drawing.Size(404, 118);
|
||||
this.tableLayoutPanel2.TabIndex = 12;
|
||||
//
|
||||
// button2
|
||||
//
|
||||
this.button2.BackColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.button2.Cursor = System.Windows.Forms.Cursors.Hand;
|
||||
this.button2.Dock = System.Windows.Forms.DockStyle.Fill;
|
||||
this.button2.Font = new System.Drawing.Font("맑은 고딕", 10F, System.Drawing.FontStyle.Bold);
|
||||
this.button2.ForeColor = System.Drawing.Color.Black;
|
||||
this.button2.Location = new System.Drawing.Point(205, 62);
|
||||
this.button2.Name = "button2";
|
||||
this.button2.Size = new System.Drawing.Size(196, 53);
|
||||
this.button2.TabIndex = 15;
|
||||
this.button2.Text = "백후 180도 회전(Right)";
|
||||
this.button2.UseVisualStyleBackColor = false;
|
||||
this.button2.Click += new System.EventHandler(this.button2_Click);
|
||||
//
|
||||
// fManual
|
||||
//
|
||||
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
|
||||
this.BackColor = System.Drawing.Color.SlateGray;
|
||||
this.ClientSize = new System.Drawing.Size(1014, 579);
|
||||
this.ClientSize = new System.Drawing.Size(1014, 618);
|
||||
this.Controls.Add(this.panel2);
|
||||
this.Controls.Add(this.label1);
|
||||
this.Controls.Add(this.tableLayoutPanel1);
|
||||
@@ -929,11 +930,11 @@
|
||||
this.VisibleChanged += new System.EventHandler(this.fManual_VisibleChanged);
|
||||
this.tableLayoutPanel1.ResumeLayout(false);
|
||||
this.panel2.ResumeLayout(false);
|
||||
this.groupBox3.ResumeLayout(false);
|
||||
this.groupBox1.ResumeLayout(false);
|
||||
this.grpSpeed.ResumeLayout(false);
|
||||
this.grpBunki.ResumeLayout(false);
|
||||
this.groupBox2.ResumeLayout(false);
|
||||
this.tableLayoutPanel2.ResumeLayout(false);
|
||||
this.ResumeLayout(false);
|
||||
|
||||
}
|
||||
@@ -979,11 +980,10 @@
|
||||
private System.Windows.Forms.Button button1;
|
||||
private arCtl.arLabel arLabel1;
|
||||
private System.Windows.Forms.Panel panel12;
|
||||
private System.Windows.Forms.GroupBox groupBox3;
|
||||
private System.Windows.Forms.Button btBack180;
|
||||
private System.Windows.Forms.Panel panel1;
|
||||
private System.Windows.Forms.Button btRight180;
|
||||
private System.Windows.Forms.Panel panel10;
|
||||
private System.Windows.Forms.Button btLeft180;
|
||||
private System.Windows.Forms.Button btBack180;
|
||||
private System.Windows.Forms.TableLayoutPanel tableLayoutPanel2;
|
||||
private System.Windows.Forms.Button button2;
|
||||
}
|
||||
}
|
||||
@@ -368,7 +368,12 @@ namespace Project.ViewForm
|
||||
private void btBack180_Click(object sender, EventArgs e)
|
||||
{
|
||||
//[STX] C T B 0 0 0 0 9 9 [ETX]
|
||||
PUB.AGV.AGVMoveBack180Turn();
|
||||
PUB.AGV.AGVMoveBack180Turn(true);
|
||||
}
|
||||
|
||||
private void button2_Click(object sender, EventArgs e)
|
||||
{
|
||||
PUB.AGV.AGVMoveBack180Turn(false);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
26
Cs_HMI/Project/fMain.Designer.cs
generated
26
Cs_HMI/Project/fMain.Designer.cs
generated
@@ -299,7 +299,7 @@ namespace Project
|
||||
this.btAutoRun.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
|
||||
this.btAutoRun.GradientRepeatBG = false;
|
||||
this.btAutoRun.isButton = true;
|
||||
this.btAutoRun.Location = new System.Drawing.Point(0, 288);
|
||||
this.btAutoRun.Location = new System.Drawing.Point(0, 300);
|
||||
this.btAutoRun.Margin = new System.Windows.Forms.Padding(0);
|
||||
this.btAutoRun.MouseDownColor = System.Drawing.Color.Empty;
|
||||
this.btAutoRun.MouseOverColor = System.Drawing.Color.Empty;
|
||||
@@ -320,7 +320,7 @@ namespace Project
|
||||
this.btAutoRun.SignAlign = System.Drawing.ContentAlignment.BottomRight;
|
||||
this.btAutoRun.SignColor = System.Drawing.Color.Yellow;
|
||||
this.btAutoRun.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
|
||||
this.btAutoRun.Size = new System.Drawing.Size(259, 145);
|
||||
this.btAutoRun.Size = new System.Drawing.Size(259, 152);
|
||||
this.btAutoRun.TabIndex = 22;
|
||||
this.btAutoRun.Text = "수동";
|
||||
this.btAutoRun.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
@@ -367,7 +367,7 @@ namespace Project
|
||||
this.btChargeA.SignAlign = System.Drawing.ContentAlignment.BottomRight;
|
||||
this.btChargeA.SignColor = System.Drawing.Color.Yellow;
|
||||
this.btChargeA.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
|
||||
this.btChargeA.Size = new System.Drawing.Size(143, 144);
|
||||
this.btChargeA.Size = new System.Drawing.Size(143, 150);
|
||||
this.btChargeA.TabIndex = 141;
|
||||
this.btChargeA.Text = "자동충전";
|
||||
this.btChargeA.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
@@ -393,7 +393,7 @@ namespace Project
|
||||
this.lbTime.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
|
||||
this.lbTime.GradientRepeatBG = false;
|
||||
this.lbTime.isButton = false;
|
||||
this.lbTime.Location = new System.Drawing.Point(5, 574);
|
||||
this.lbTime.Location = new System.Drawing.Point(5, 593);
|
||||
this.lbTime.Margin = new System.Windows.Forms.Padding(0);
|
||||
this.lbTime.MouseDownColor = System.Drawing.Color.Yellow;
|
||||
this.lbTime.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
|
||||
@@ -982,7 +982,7 @@ namespace Project
|
||||
this.panRight.Location = new System.Drawing.Point(1015, 146);
|
||||
this.panRight.Name = "panRight";
|
||||
this.panRight.Padding = new System.Windows.Forms.Padding(5, 0, 0, 0);
|
||||
this.panRight.Size = new System.Drawing.Size(264, 599);
|
||||
this.panRight.Size = new System.Drawing.Size(264, 618);
|
||||
this.panRight.TabIndex = 131;
|
||||
//
|
||||
// tableLayoutPanel1
|
||||
@@ -1001,7 +1001,7 @@ namespace Project
|
||||
this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
|
||||
this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
|
||||
this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
|
||||
this.tableLayoutPanel1.Size = new System.Drawing.Size(259, 433);
|
||||
this.tableLayoutPanel1.Size = new System.Drawing.Size(259, 452);
|
||||
this.tableLayoutPanel1.TabIndex = 0;
|
||||
//
|
||||
// btHome
|
||||
@@ -1043,7 +1043,7 @@ namespace Project
|
||||
this.btHome.SignAlign = System.Drawing.ContentAlignment.BottomRight;
|
||||
this.btHome.SignColor = System.Drawing.Color.Yellow;
|
||||
this.btHome.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
|
||||
this.btHome.Size = new System.Drawing.Size(116, 288);
|
||||
this.btHome.Size = new System.Drawing.Size(116, 300);
|
||||
this.btHome.TabIndex = 141;
|
||||
this.btHome.Text = "홈";
|
||||
this.btHome.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
@@ -1068,7 +1068,7 @@ namespace Project
|
||||
this.btChargeM.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
|
||||
this.btChargeM.GradientRepeatBG = false;
|
||||
this.btChargeM.isButton = true;
|
||||
this.btChargeM.Location = new System.Drawing.Point(116, 144);
|
||||
this.btChargeM.Location = new System.Drawing.Point(116, 150);
|
||||
this.btChargeM.Margin = new System.Windows.Forms.Padding(0);
|
||||
this.btChargeM.MouseDownColor = System.Drawing.Color.Yellow;
|
||||
this.btChargeM.MouseOverColor = System.Drawing.Color.Lime;
|
||||
@@ -1089,7 +1089,7 @@ namespace Project
|
||||
this.btChargeM.SignAlign = System.Drawing.ContentAlignment.BottomRight;
|
||||
this.btChargeM.SignColor = System.Drawing.Color.Yellow;
|
||||
this.btChargeM.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
|
||||
this.btChargeM.Size = new System.Drawing.Size(143, 144);
|
||||
this.btChargeM.Size = new System.Drawing.Size(143, 150);
|
||||
this.btChargeM.TabIndex = 141;
|
||||
this.btChargeM.Text = "수동충전";
|
||||
this.btChargeM.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
@@ -1498,7 +1498,7 @@ namespace Project
|
||||
//
|
||||
this.panel5.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(18)))), ((int)(((byte)(18)))), ((int)(((byte)(18)))));
|
||||
this.panel5.Dock = System.Windows.Forms.DockStyle.Bottom;
|
||||
this.panel5.Location = new System.Drawing.Point(5, 569);
|
||||
this.panel5.Location = new System.Drawing.Point(5, 588);
|
||||
this.panel5.Name = "panel5";
|
||||
this.panel5.Size = new System.Drawing.Size(259, 5);
|
||||
this.panel5.TabIndex = 142;
|
||||
@@ -1752,7 +1752,7 @@ namespace Project
|
||||
//
|
||||
this.pandBottomDIO.Controls.Add(this.panel9);
|
||||
this.pandBottomDIO.Dock = System.Windows.Forms.DockStyle.Bottom;
|
||||
this.pandBottomDIO.Location = new System.Drawing.Point(1, 745);
|
||||
this.pandBottomDIO.Location = new System.Drawing.Point(1, 764);
|
||||
this.pandBottomDIO.Margin = new System.Windows.Forms.Padding(0);
|
||||
this.pandBottomDIO.Name = "pandBottomDIO";
|
||||
this.pandBottomDIO.Size = new System.Drawing.Size(1278, 35);
|
||||
@@ -1928,7 +1928,7 @@ namespace Project
|
||||
this.panDlg.Location = new System.Drawing.Point(1, 146);
|
||||
this.panDlg.Margin = new System.Windows.Forms.Padding(0);
|
||||
this.panDlg.Name = "panDlg";
|
||||
this.panDlg.Size = new System.Drawing.Size(1014, 599);
|
||||
this.panDlg.Size = new System.Drawing.Size(1014, 618);
|
||||
this.panDlg.TabIndex = 146;
|
||||
//
|
||||
// arPanel2
|
||||
@@ -2200,7 +2200,7 @@ namespace Project
|
||||
//
|
||||
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
|
||||
this.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(15)))), ((int)(((byte)(15)))), ((int)(((byte)(15)))));
|
||||
this.ClientSize = new System.Drawing.Size(1280, 781);
|
||||
this.ClientSize = new System.Drawing.Size(1280, 800);
|
||||
this.Controls.Add(this.panDlg);
|
||||
this.Controls.Add(this.panRight);
|
||||
this.Controls.Add(this.arPanel2);
|
||||
|
||||
106
Cs_HMI/Project/fSetup.Designer.cs
generated
106
Cs_HMI/Project/fSetup.Designer.cs
generated
@@ -39,6 +39,8 @@
|
||||
this.btAutoCharge = new arCtl.arLabel();
|
||||
this.btSpeaker = new arCtl.arLabel();
|
||||
this.tabPage1 = new System.Windows.Forms.TabPage();
|
||||
this.label7 = new System.Windows.Forms.Label();
|
||||
this.vcXBID = new AGVControl.ValueSelect();
|
||||
this.tbagvchannel = new System.Windows.Forms.TextBox();
|
||||
this.tbagvpanid = new System.Windows.Forms.TextBox();
|
||||
this.tbagvaddr = new System.Windows.Forms.TextBox();
|
||||
@@ -202,8 +204,8 @@
|
||||
this.bt1 = new arCtl.arLabel();
|
||||
this.bt0 = new arCtl.arLabel();
|
||||
this.btSave = new arCtl.arLabel();
|
||||
this.label7 = new System.Windows.Forms.Label();
|
||||
this.vcXBID = new AGVControl.ValueSelect();
|
||||
this.label13 = new System.Windows.Forms.Label();
|
||||
this.vcGDS = new AGVControl.ValueSelect();
|
||||
this.tabControl1.SuspendLayout();
|
||||
this.tabPage6.SuspendLayout();
|
||||
this.panel1.SuspendLayout();
|
||||
@@ -430,6 +432,8 @@
|
||||
// tabPage1
|
||||
//
|
||||
this.tabPage1.BackColor = System.Drawing.Color.Navy;
|
||||
this.tabPage1.Controls.Add(this.label13);
|
||||
this.tabPage1.Controls.Add(this.vcGDS);
|
||||
this.tabPage1.Controls.Add(this.label7);
|
||||
this.tabPage1.Controls.Add(this.vcXBID);
|
||||
this.tabPage1.Controls.Add(this.tbagvchannel);
|
||||
@@ -481,6 +485,41 @@
|
||||
this.tabPage1.TabIndex = 0;
|
||||
this.tabPage1.Text = "AGV";
|
||||
//
|
||||
// label7
|
||||
//
|
||||
this.label7.AutoSize = true;
|
||||
this.label7.Font = new System.Drawing.Font("궁서체", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.label7.ForeColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.label7.Location = new System.Drawing.Point(162, 524);
|
||||
this.label7.Name = "label7";
|
||||
this.label7.Size = new System.Drawing.Size(101, 24);
|
||||
this.label7.TabIndex = 79;
|
||||
this.label7.Text = "Xbee ID";
|
||||
this.label7.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
|
||||
//
|
||||
// vcXBID
|
||||
//
|
||||
this.vcXBID.BackColorButton = System.Drawing.Color.White;
|
||||
this.vcXBID.ButtonWidth = "30";
|
||||
this.vcXBID.ColorBorder = System.Drawing.Color.White;
|
||||
this.vcXBID.DecimalPosition = ((ushort)(0));
|
||||
this.vcXBID.Font = new System.Drawing.Font("맑은 고딕", 26.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.vcXBID.FontSideButton = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
|
||||
this.vcXBID.ForeColor = System.Drawing.Color.White;
|
||||
this.vcXBID.ForeColorButton = System.Drawing.Color.Black;
|
||||
this.vcXBID.Location = new System.Drawing.Point(269, 509);
|
||||
this.vcXBID.MaxValue = 9999D;
|
||||
this.vcXBID.MinValue = 0D;
|
||||
this.vcXBID.Name = "vcXBID";
|
||||
this.vcXBID.NullDisplay = "--";
|
||||
this.vcXBID.SideButtonClickValue = 1D;
|
||||
this.vcXBID.Size = new System.Drawing.Size(164, 54);
|
||||
this.vcXBID.TabIndex = 78;
|
||||
this.vcXBID.Tag = "SDH";
|
||||
this.vcXBID.Text = "30";
|
||||
this.vcXBID.Value = 30D;
|
||||
this.vcXBID.ButtonClick += new System.EventHandler<AGVControl.ValueSelect.ButtonClickEventArgs>(this.vcChargeLow_ButtonClick);
|
||||
//
|
||||
// tbagvchannel
|
||||
//
|
||||
this.tbagvchannel.Font = new System.Drawing.Font("맑은 고딕", 26.25F, System.Drawing.FontStyle.Bold);
|
||||
@@ -3333,40 +3372,39 @@
|
||||
this.btSave.TextVisible = true;
|
||||
this.btSave.Click += new System.EventHandler(this.btSave_Click);
|
||||
//
|
||||
// label7
|
||||
// label13
|
||||
//
|
||||
this.label7.AutoSize = true;
|
||||
this.label7.Font = new System.Drawing.Font("궁서체", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.label7.ForeColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.label7.Location = new System.Drawing.Point(162, 524);
|
||||
this.label7.Name = "label7";
|
||||
this.label7.Size = new System.Drawing.Size(101, 24);
|
||||
this.label7.TabIndex = 79;
|
||||
this.label7.Text = "Xbee ID";
|
||||
this.label7.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
|
||||
this.label13.AutoSize = true;
|
||||
this.label13.Font = new System.Drawing.Font("궁서체", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.label13.ForeColor = System.Drawing.Color.WhiteSmoke;
|
||||
this.label13.Location = new System.Drawing.Point(526, 524);
|
||||
this.label13.Name = "label13";
|
||||
this.label13.Size = new System.Drawing.Size(101, 24);
|
||||
this.label13.TabIndex = 81;
|
||||
this.label13.Text = "TurnGDS";
|
||||
this.label13.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
|
||||
//
|
||||
// vcXBID
|
||||
// vcTurnGDS
|
||||
//
|
||||
this.vcXBID.BackColorButton = System.Drawing.Color.White;
|
||||
this.vcXBID.ButtonWidth = "30";
|
||||
this.vcXBID.ColorBorder = System.Drawing.Color.White;
|
||||
this.vcXBID.DecimalPosition = ((ushort)(0));
|
||||
this.vcXBID.Font = new System.Drawing.Font("맑은 고딕", 26.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.vcXBID.FontSideButton = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
|
||||
this.vcXBID.ForeColor = System.Drawing.Color.White;
|
||||
this.vcXBID.ForeColorButton = System.Drawing.Color.Black;
|
||||
this.vcXBID.Location = new System.Drawing.Point(269, 509);
|
||||
this.vcXBID.MaxValue = 9999D;
|
||||
this.vcXBID.MinValue = 0D;
|
||||
this.vcXBID.Name = "vcXBID";
|
||||
this.vcXBID.NullDisplay = "--";
|
||||
this.vcXBID.SideButtonClickValue = 1D;
|
||||
this.vcXBID.Size = new System.Drawing.Size(164, 54);
|
||||
this.vcXBID.TabIndex = 78;
|
||||
this.vcXBID.Tag = "SDH";
|
||||
this.vcXBID.Text = "30";
|
||||
this.vcXBID.Value = 30D;
|
||||
this.vcXBID.ButtonClick += new System.EventHandler<AGVControl.ValueSelect.ButtonClickEventArgs>(this.vcChargeLow_ButtonClick);
|
||||
this.vcGDS.BackColorButton = System.Drawing.Color.White;
|
||||
this.vcGDS.ButtonWidth = "30";
|
||||
this.vcGDS.ColorBorder = System.Drawing.Color.White;
|
||||
this.vcGDS.DecimalPosition = ((ushort)(0));
|
||||
this.vcGDS.Font = new System.Drawing.Font("맑은 고딕", 26.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
|
||||
this.vcGDS.FontSideButton = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
|
||||
this.vcGDS.ForeColor = System.Drawing.Color.White;
|
||||
this.vcGDS.ForeColorButton = System.Drawing.Color.Black;
|
||||
this.vcGDS.Location = new System.Drawing.Point(633, 509);
|
||||
this.vcGDS.MaxValue = 9999D;
|
||||
this.vcGDS.MinValue = 0D;
|
||||
this.vcGDS.Name = "vcTurnGDS";
|
||||
this.vcGDS.NullDisplay = "--";
|
||||
this.vcGDS.SideButtonClickValue = 1D;
|
||||
this.vcGDS.Size = new System.Drawing.Size(164, 54);
|
||||
this.vcGDS.TabIndex = 80;
|
||||
this.vcGDS.Tag = "SDH";
|
||||
this.vcGDS.Text = "1000";
|
||||
this.vcGDS.Value = 1000D;
|
||||
//
|
||||
// fSetup
|
||||
//
|
||||
@@ -3588,5 +3626,7 @@
|
||||
private System.Windows.Forms.CheckBox chkClearPos;
|
||||
private System.Windows.Forms.Label label7;
|
||||
private AGVControl.ValueSelect vcXBID;
|
||||
private System.Windows.Forms.Label label13;
|
||||
private AGVControl.ValueSelect vcGDS;
|
||||
}
|
||||
}
|
||||
@@ -77,6 +77,7 @@ namespace Project
|
||||
vcSTT.Value = PUB.setting.STT;
|
||||
vcSAD.Value = PUB.setting.SAD;
|
||||
vcXBID.Value = PUB.setting.XBE_ID;
|
||||
vcGDS.Value = PUB.setting.GDSValue;
|
||||
|
||||
tbagvaddr.Text = PUB.setting.AGV_ADDRESS;
|
||||
tbagvpanid.Text = PUB.setting.AGV_PANID;
|
||||
@@ -262,6 +263,7 @@ namespace Project
|
||||
PUB.setting.STT = (int)vcSTT.Value;
|
||||
PUB.setting.SAD = (int)vcSAD.Value;
|
||||
PUB.setting.XBE_ID = (byte)vcXBID.Value;
|
||||
PUB.setting.GDSValue = (UInt16)vcGDS.Value;
|
||||
|
||||
//속도 저/중/고
|
||||
PUB.setting.SPD_L = (int)vcSpeedL.Value;
|
||||
|
||||
@@ -86,9 +86,10 @@ namespace arDev
|
||||
return AddCommand(eAgvCmd.GateoutTime, time.ToString("0000"));
|
||||
}
|
||||
|
||||
public bool TurnGDSCenterScope()
|
||||
public bool TurnGDSCenterScope(UInt16 time)
|
||||
{
|
||||
return AddCommand(eAgvCmd.TurnGDSCenterScope);
|
||||
if (time > 2000) time = 2000;
|
||||
return AddCommand(eAgvCmd.TurnGDSCenterScope, time.ToString("0000"));
|
||||
}
|
||||
public bool AGVMoveLeft180Turn()
|
||||
{
|
||||
@@ -98,9 +99,10 @@ namespace arDev
|
||||
{
|
||||
return AddCommand(eAgvCmd.TurnRight);
|
||||
}
|
||||
public bool AGVMoveBack180Turn()
|
||||
public bool AGVMoveBack180Turn(bool leftTurn)
|
||||
{
|
||||
return AddCommand(eAgvCmd.TurnBack);
|
||||
var dir = leftTurn ? "L" : "R";
|
||||
return AddCommand(eAgvCmd.BackAndTurn, dir);
|
||||
}
|
||||
|
||||
|
||||
@@ -240,8 +242,9 @@ namespace arDev
|
||||
cmdString = $"CTR0000";
|
||||
retval = AddCommand(cmdString);
|
||||
break;
|
||||
case eAgvCmd.TurnBack:
|
||||
cmdString = $"CTB0000";
|
||||
case eAgvCmd.BackAndTurn:
|
||||
if (param.isEmpty()) param = "L";
|
||||
cmdString = $"CTB000{param}";
|
||||
retval = AddCommand(cmdString);
|
||||
break;
|
||||
case eAgvCmd.CallCancle:
|
||||
@@ -270,7 +273,8 @@ namespace arDev
|
||||
retval = AddCommand(cmdString);
|
||||
break;
|
||||
case eAgvCmd.TurnGDSCenterScope:
|
||||
cmdString = "SGS1000";
|
||||
if (param.isEmpty()) param = "1000";
|
||||
cmdString = "SGS{param}";
|
||||
retval = AddCommand(cmdString);
|
||||
break;
|
||||
case eAgvCmd.BackTrunResumeTime:
|
||||
|
||||
@@ -151,7 +151,7 @@ namespace arDev
|
||||
/// <summary>
|
||||
/// CMD : CTB0000
|
||||
/// </summary>
|
||||
TurnBack,
|
||||
BackAndTurn,
|
||||
|
||||
/// <summary>
|
||||
/// CMD : CBZ
|
||||
|
||||
Reference in New Issue
Block a user