..

Cs_HMI/SubProject/AGVControl/MapControl.cs

@@ -14,13 +14,38 @@ using AGVControl.Models;
 
 namespace AGVControl
 {
+    public class RFIDConnection
+    {
+        public uint StartRFID { get; set; }
+        public uint EndRFID { get; set; }
+        public bool IsBidirectional { get; set; }
+        public float Distance { get; set; }
+        public List<uint> IntermediateRFIDs { get; set; } = new List<uint>();
+
+        public override bool Equals(object obj)
+        {
+            if (obj is RFIDConnection other)
+            {
+                return (StartRFID == other.StartRFID && EndRFID == other.EndRFID) ||
+                       (IsBidirectional && other.IsBidirectional && 
+                        StartRFID == other.EndRFID && EndRFID == other.StartRFID);
+            }
+            return false;
+        }
+
+        public override int GetHashCode()
+        {
+            return StartRFID.GetHashCode() ^ EndRFID.GetHashCode();
+        }
+    }
+
     public partial class MapControl : Control
     {
         private List<RFIDPoint> rfidPoints;
-        private List<MagnetLine> magnetLines;
         private List<MapText> mapTexts;
         private List<CustomLine> customLines;
         private List<RFIDLine> rfidLines;
+        private HashSet<RFIDConnection> rfidConnections;
         public AGV agv;
         private float zoom = 1.0f;
         private PointF offset = PointF.Empty;
@@ -41,14 +66,12 @@ namespace AGVControl
         private bool isAddingText = false;
         private bool isAddingPoint = false;
         private bool isDrawingCustomLine = false;
-        private bool isDrawingMagnetLine = false;
         private bool isDrawingRFIDLine = false;
         private bool isDeletingRFIDLine = false;
         private bool isDrawingLine = false;
         private MapText selectedText = null;
         private CustomLine selectedLine = null;
         private RFIDPoint selectedRFID = null;
-        private MagnetLine selectedMagnetLine = null;
         private RFIDLine selectedRFIDLine = null;
         private Point? draggingPoint = null;
         private bool isDraggingPoint = false;
@@ -61,7 +84,6 @@ namespace AGVControl
         public MapText SelectedText => selectedText;
         public CustomLine SelectedLine => selectedLine;
         public RFIDPoint SelectedRFID => selectedRFID;
-        public MagnetLine SelectedMagnetLine => selectedMagnetLine;
         public RFIDLine SelectedRFIDLine => selectedRFIDLine;
 
 
@@ -77,10 +99,10 @@ namespace AGVControl
         {
             this.DoubleBuffered = true;
             rfidPoints = new List<RFIDPoint>();
-            magnetLines = new List<MagnetLine>();
             mapTexts = new List<MapText>();
             customLines = new List<CustomLine>();
             rfidLines = new List<RFIDLine>();
+            rfidConnections = new HashSet<RFIDConnection>();
             agv = new AGV();
 
             // 툴바 버튼 영역 초기화
@@ -177,19 +199,6 @@ namespace AGVControl
                 }
             }
 
-            // 마그넷 라인의 끝점과 근접한지 확인
-            foreach (var line in magnetLines)
-            {
-                if (GetDistance(point, line.StartPoint) <= SNAP_DISTANCE)
-                {
-                    return line.StartPoint;
-                }
-                if (GetDistance(point, line.EndPoint) <= SNAP_DISTANCE)
-                {
-                    return line.EndPoint;
-                }
-            }
-
             return point;
         }
 
@@ -245,7 +254,7 @@ namespace AGVControl
                 isDragging = true;
                 this.Cursor = Cursors.SizeAll;
             }
-            else if (e.Button == MouseButtons.Left && !isAddingText && !isDrawingCustomLine && !isDrawingRFIDLine && !isDrawingMagnetLine)
+            else if (e.Button == MouseButtons.Left && !isAddingText && !isDrawingCustomLine && !isDrawingRFIDLine)
             {
                 isDragging = true;
 
@@ -822,9 +831,6 @@ namespace AGVControl
                                     };
                                     rfidLines.Add(line);
                                     selectedRFIDLine = line;
-
-                                    // 선 근처의 RFID 포인트들을 찾아서 추가
-                                    AddNearbyRFIDPoints(line);
                                 }
                                 // 다음 라인을 위해 현재 클릭한 RFID를 시작점으로 설정
                                 previewStartPoint = clickedRFID.Location;
@@ -967,12 +973,6 @@ namespace AGVControl
             this.Invalidate();
         }
 
-        public void SetMagnetLines(List<MagnetLine> lines)
-        {
-            magnetLines = lines;
-            this.Invalidate();
-        }
-
         public void SetAGV(AGV vehicle)
         {
             agv = vehicle;
@@ -1076,7 +1076,6 @@ namespace AGVControl
         {
             isDrawingCustomLine = false;
             isDrawingLine = false;
-            isDrawingMagnetLine = false;
             isDrawingRFIDLine = false;
             isAddingPoint = value;
             this.Cursor = value ? Cursors.Cross : Cursors.Default;
@@ -1142,25 +1141,12 @@ namespace AGVControl
                 }
             }
 
-            if (selectedMagnetLine != null)
+            if (selectedRFIDLine != null)
             {
                 using (Pen pen = new Pen(Color.Magenta, 2))
                 {
                     pen.DashStyle = System.Drawing.Drawing2D.DashStyle.Dash;
-                    e.Graphics.DrawLine(pen, selectedMagnetLine.StartPoint, selectedMagnetLine.EndPoint);
+                    e.Graphics.DrawLine(pen, selectedRFIDLine.StartPoint, selectedRFIDLine.EndPoint);
-                    foreach (var branch in selectedMagnetLine.BranchPoints)
-                    {
-                        e.Graphics.DrawEllipse(pen, branch.X - 5, branch.Y - 5, 10, 10);
-                    }
-                }
-            }
-
-            if (selectedLine != null)
-            {
-                using (Pen pen = new Pen(Color.Magenta, 2))
-                {
-                    pen.DashStyle = System.Drawing.Drawing2D.DashStyle.Dash;
-                    e.Graphics.DrawLine(pen, selectedLine.StartPoint, selectedLine.EndPoint);
                 }
             }
 
@@ -1185,23 +1171,6 @@ namespace AGVControl
 
         private void DrawMap(Graphics g)
         {
-            //// 마그넷 라인 그리기
-            //foreach (var line in magnetLines)
-            //{
-            //    using (Pen linePen = new Pen(Color.FromArgb(180, Color.Yellow), LINE_WIDTH))
-            //    {
-            //        g.DrawLine(linePen, line.StartPoint, line.EndPoint);
-            //    }
-
-            //    // 분기점 그리기
-            //    foreach (var branch in line.BranchPoints)
-            //    {
-            //        g.FillEllipse(Brushes.Red, branch.X - 3, branch.Y - 3, 6, 6);
-            //        var direction = line.BranchDirections[branch];
-            //        g.DrawString(direction.ToString(), Font, Brushes.Black, branch.X + 5, branch.Y - 5);
-            //    }
-            //}
-
             // RFID 포인트 그리기
             foreach (var rfid in rfidPoints)
             {
@@ -1297,20 +1266,23 @@ namespace AGVControl
 
         private void DrawRFIDLines(Graphics g)
         {
-            foreach (var line in rfidLines)
+            foreach (var connection in rfidConnections)
             {
+                var startPoint = rfidPoints.First(p => p.RFIDValue == connection.StartRFID).Location;
+                var endPoint = rfidPoints.First(p => p.RFIDValue == connection.EndRFID).Location;
+
                 using (Pen linePen = new Pen(Color.FromArgb(50, Color.Wheat), 2))
                 {
-                    if (line.IsBidirectional)
+                    if (connection.IsBidirectional)
                     {
                         // 단방향 화살표 그리기
                         var arrowSize = 10;
-                        var angle = Math.Atan2(line.EndPoint.Y - line.StartPoint.Y, line.EndPoint.X - line.StartPoint.X);
+                        var angle = Math.Atan2(endPoint.Y - startPoint.Y, endPoint.X - startPoint.X);
                         var arrowPoint = new PointF(
-                            line.EndPoint.X - (float)(arrowSize * Math.Cos(angle)),
+                            endPoint.X - (float)(arrowSize * Math.Cos(angle)),
-                            line.EndPoint.Y - (float)(arrowSize * Math.Sin(angle))
+                            endPoint.Y - (float)(arrowSize * Math.Sin(angle))
                         );
-                        g.DrawLine(linePen, line.StartPoint, arrowPoint);
+                        g.DrawLine(linePen, startPoint, arrowPoint);
 
                         // 화살표 머리 그리기
                         var arrowAngle = Math.PI / 6;
@@ -1328,7 +1300,7 @@ namespace AGVControl
                     }
                     else
                     {
-                        g.DrawLine(linePen, line.StartPoint, line.EndPoint);
+                        g.DrawLine(linePen, startPoint, endPoint);
                     }
                 }
             }
@@ -1368,21 +1340,6 @@ namespace AGVControl
             return rfidPoints;
         }
 
-        public List<MagnetLine> GetMagnetLines()
-        {
-            return magnetLines;
-        }
-
-        public List<MapText> GetMapTexts()
-        {
-            return mapTexts;
-        }
-
-        public List<CustomLine> GetCustomLines()
-        {
-            return customLines;
-        }
-
         public List<RFIDLine> GetRFIDLines()
         {
             return rfidLines;
@@ -1466,7 +1423,6 @@ namespace AGVControl
         public void LoadMapData(MapData mapData)
         {
             rfidPoints = mapData.RFIDPoints ?? new List<RFIDPoint>();
-            magnetLines = mapData.MagnetLines ?? new List<MagnetLine>();
             mapTexts = mapData.MapTexts ?? new List<MapText>();
             customLines = mapData.CustomLines ?? new List<CustomLine>();
             rfidLines = mapData.RFIDLines ?? new List<RFIDLine>();
@@ -1476,7 +1432,6 @@ namespace AGVControl
         public void ClearMap()
         {
             rfidPoints.Clear();
-            magnetLines.Clear();
             mapTexts.Clear();
             customLines.Clear();
             rfidLines.Clear();
@@ -1485,7 +1440,6 @@ namespace AGVControl
             selectedText = null;
             selectedLine = null;
             selectedRFID = null;
-            selectedMagnetLine = null;
             selectedRFIDLine = null;
             draggingPoint = null;
 
@@ -1509,25 +1463,6 @@ namespace AGVControl
             this.Invalidate();
         }
 
-        public void AddMagnetLine(Point startPoint, Point endPoint, Point? branchPoint = null, BranchDirection? branchDirection = null)
-        {
-            // 이미 맵 좌표로 변환된 위치를 받아서 사용
-            var line = new MagnetLine
-            {
-                StartPoint = startPoint,
-                EndPoint = endPoint
-            };
-
-            if (branchPoint.HasValue && branchDirection.HasValue)
-            {
-                line.BranchPoints.Add(branchPoint.Value);
-                line.BranchDirections[branchPoint.Value] = branchDirection.Value;
-            }
-
-            magnetLines.Add(line);
-            this.Invalidate();
-        }
-
         public void SaveToFile(string filename)
         {
             var lines = new List<string>();
@@ -1541,10 +1476,12 @@ namespace AGVControl
 
             // RFID 라인 저장
             lines.Add("[RFID_LINES]");
-            foreach (var line in rfidLines)
+            foreach (var connection in rfidConnections)
             {
-                lines.Add($"{line.StartPoint.X},{line.StartPoint.Y},{line.EndPoint.X},{line.EndPoint.Y}," +
+                var startPoint = rfidPoints.First(p => p.RFIDValue == connection.StartRFID).Location;
-                    $"{line.StartRFID},{line.EndRFID},{line.IsBidirectional},{line.Distance}");
+                var endPoint = rfidPoints.First(p => p.RFIDValue == connection.EndRFID).Location;
+                lines.Add($"{startPoint.X},{startPoint.Y},{endPoint.X},{endPoint.Y}," +
+                    $"{connection.StartRFID},{connection.EndRFID},{connection.IsBidirectional},{connection.Distance}");
             }
 
             // 텍스트 저장
@@ -1561,7 +1498,6 @@ namespace AGVControl
                 lines.Add($"{line.StartPoint.X},{line.StartPoint.Y},{line.EndPoint.X},{line.EndPoint.Y},{line.LineColor.ToArgb()},{line.LineWidth}");
             }
 
-
             File.WriteAllLines(filename, lines);
         }
 
@@ -1614,35 +1550,6 @@ namespace AGVControl
                         }
                         break;
 
-                    case "[MAGNET_LINES]":
-                        var lineParts = line.Split('|');
-                        var mainParts = lineParts[0].Split(',');
-                        if (mainParts.Length >= 4)
-                        {
-                            var magnetLine = new MagnetLine
-                            {
-                                StartPoint = new Point(int.Parse(mainParts[0]), int.Parse(mainParts[1])),
-                                EndPoint = new Point(int.Parse(mainParts[2]), int.Parse(mainParts[3]))
-                            };
-
-                            // 분기점 정보 처리
-                            for (int i = 1; i < lineParts.Length; i++)
-                            {
-                                var branchParts = lineParts[i].Split(',');
-                                if (branchParts.Length >= 3)
-                                {
-                                    var branchPoint = new Point(
-                                        int.Parse(branchParts[0]),
-                                        int.Parse(branchParts[1])
-                                    );
-                                    magnetLine.BranchPoints.Add(branchPoint);
-                                    magnetLine.BranchDirections[branchPoint] = (BranchDirection)int.Parse(branchParts[2]);
-                                }
-                            }
-                            magnetLines.Add(magnetLine);
-                        }
-                        break;
-
                     case "[MAP_TEXTS]":
                         var textParts = line.Split(',');
                         if (textParts.Length >= 7)
@@ -1673,16 +1580,79 @@ namespace AGVControl
                             customLines.Add(customLine);
                         }
                         break;
-
-                 
                 }
             }
 
+            // RFID 연결 정보 처리
+            ProcessRFIDConnections();
+
             this.Invalidate();
 
             return sb.ToString();
         }
 
+        private void ProcessRFIDConnections()
+        {
+            rfidConnections.Clear();
+            var connectionSet = new HashSet<string>();
+
+            foreach (var line in rfidLines)
+            {
+                var start = line.StartPoint;
+                var end = line.EndPoint;
+
+                // 1. 선 위의 모든 RFID 포인트(시작, 끝 포함)를 projectionRatio로 정렬
+                var pointsOnThisLine = rfidPoints
+                    .Where(p => IsPointOnLine(p.Location, start, end, 15f)) // 오차 허용치 넉넉히
+                    .Select(p => new
+                    {
+                        RFID = p.RFIDValue,
+                        Ratio = GetProjectionRatio(p.Location, start, end)
+                    })
+                    .ToList();
+
+                // 2. 시작/끝 RFID가 목록에 없으면 강제로 추가
+                if (!pointsOnThisLine.Any(p => p.RFID == line.StartRFID))
+                    pointsOnThisLine.Add(new { RFID = line.StartRFID, Ratio = 0f });
+                if (!pointsOnThisLine.Any(p => p.RFID == line.EndRFID))
+                    pointsOnThisLine.Add(new { RFID = line.EndRFID, Ratio = 1f });
+
+                // 3. 정렬
+                pointsOnThisLine = pointsOnThisLine.OrderBy(p => p.Ratio).ToList();
+
+                // 4. 순서대로 1:1 연결
+                for (int i = 0; i < pointsOnThisLine.Count - 1; i++)
+                {
+                    var from = pointsOnThisLine[i].RFID;
+                    var to = pointsOnThisLine[i + 1].RFID;
+                    var key = $"{Math.Min(from, to)}_{Math.Max(from, to)}";
+                    if (connectionSet.Contains(key)) continue;
+
+                    var fromPt = rfidPoints.FirstOrDefault(p => p.RFIDValue == from)?.Location ?? line.StartPoint;
+                    var toPt = rfidPoints.FirstOrDefault(p => p.RFIDValue == to)?.Location ?? line.EndPoint;
+
+                    rfidConnections.Add(new RFIDConnection
+                    {
+                        StartRFID = from,
+                        EndRFID = to,
+                        IsBidirectional = line.IsBidirectional,
+                        Distance = GetDistance(fromPt, toPt)
+                    });
+                    connectionSet.Add(key);
+                }
+            }
+        }
+
+        // tolerance 인자를 받는 IsPointOnLine
+        private bool IsPointOnLine(Point point, Point lineStart, Point lineEnd, float tolerance = 10.0f)
+        {
+            var distance = GetDistanceToLine(point, lineStart, lineEnd);
+            if (distance > tolerance) return false;
+
+            var projectionRatio = GetProjectionRatio(point, lineStart, lineEnd);
+            return projectionRatio >= 0 && projectionRatio <= 1;
+        }
+
         private void DeleteNearbyRFIDLine(Point clickPoint)
         {
             const float DELETE_DISTANCE = 10.0f; // 클릭 지점으로부터의 허용 거리

Cs_HMI/SubProject/AGVControl/agvControl.csproj

@@ -57,9 +57,7 @@
     <Compile Include="GuideSensor.Designer.cs">
       <DependentUpon>GuideSensor.cs</DependentUpon>
     </Compile>
-    <Compile Include="MapControl.cs">
+    <Compile Include="MapControl.cs" />
-      <SubType>Component</SubType>
-    </Compile>
     <Compile Include="MapControl.Designer.cs">
       <DependentUpon>MapControl.cs</DependentUpon>
     </Compile>