Amkor/ENIG
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

..

Browse Source
This commit is contained in:
backuppc
2025-12-15 17:34:43 +09:00
parent 9db88e5d6b
commit a7f938ff19
29 changed files with 535 additions and 1556 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Events.cs
View File

@@ -1140,7 +1140,8 @@ namespace AGVNavigationCore.Controls
// 위쪽에 표시할 이름 (노드의 Name 속성)
string TopIDText = node.HasRfid() ? node.RfidId : $"[{node.Id}]";
string TopIDText = node.HasRfid() ? node.RfidId.ToString("0000") : $"[{node.Id}]";
// 아래쪽에 표시할 값 (RFID 우선, 없으면 노드ID)
string BottomLabelText = node.Text;

22
Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Mouse.cs
View File

@@ -121,7 +121,7 @@ namespace AGVNavigationCore.Controls
if (hitNode == null) return;
if (hitNode.Type == NodeType.Normal)
if (hitNode.Type == NodeType.Normal)
{
HandleNormalNodeDoubleClick(hitNode as MapNode);
}
@@ -146,15 +146,19 @@ namespace AGVNavigationCore.Controls
private void HandleNormalNodeDoubleClick(MapNode node)
{
// RFID 입력창 표시
string currentRfid = node.RfidId ?? "";
var currentRfid = node.RfidId;
string newRfid = Microsoft.VisualBasic.Interaction.InputBox(
$"노드 '{node.RfidId}[{node.Id}]'의 RFID를 입력하세요:",
"RFID 설정",
currentRfid);
currentRfid.ToString());
if (!string.IsNullOrWhiteSpace(newRfid) && newRfid != currentRfid)
if (ushort.TryParse(newRfid, out ushort newrfidvalue) == false) return;
if (newrfidvalue < 1) return;
if (newrfidvalue != currentRfid)
{
node.RfidId = newRfid.Trim();
node.RfidId = newrfidvalue;
MapChanged?.Invoke(this, EventArgs.Empty);
Invalidate();
}
@@ -229,7 +233,7 @@ namespace AGVNavigationCore.Controls
return;
}
}
// 팬 시작 (좌클릭 - 모드에 따라)
@@ -272,7 +276,7 @@ namespace AGVNavigationCore.Controls
// 호버 업데이트
var newHoveredNode = GetItemAt(worldPoint);
bool hoverChanged = (newHoveredNode != _hoveredNode) ;
bool hoverChanged = (newHoveredNode != _hoveredNode);
if (hoverChanged)
{
@@ -700,8 +704,8 @@ namespace AGVNavigationCore.Controls
{
// 연결선을 클릭했을 때 삭제 확인
var (fromNode, toNode) = connection.Value;
string fromDisplay = !string.IsNullOrEmpty(fromNode.RfidId) ? fromNode.RfidId : fromNode.Id;
string toDisplay = !string.IsNullOrEmpty(toNode.RfidId) ? toNode.RfidId : toNode.Id;
string fromDisplay = fromNode.HasRfid() ? fromNode.RfidId.ToString("0000") : fromNode.Id;
string toDisplay = toNode.HasRfid() ? toNode.RfidId.ToString("0000") : toNode.Id;
var result = MessageBox.Show(
$"연결을 삭제하시겠습니까?\n\n{fromDisplay} ↔ {toDisplay}",

4
Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs
View File

@@ -851,13 +851,13 @@ namespace AGVNavigationCore.Controls
return;
// RFID값과 해당 노드의 인덱스를 저장
var rfidToNodeIndex = new Dictionary<string, List<int>>();
var rfidToNodeIndex = new Dictionary<ushort, List<int>>();
// 모든 노드의 RFID값 수집
for (int i = 0; i < _nodes.Count; i++)
{
var node = _nodes[i];
if (!string.IsNullOrEmpty(node.RfidId))
if (node.HasRfid())
{
if (!rfidToNodeIndex.ContainsKey(node.RfidId))
{

4
Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapNode.cs
View File

@@ -83,7 +83,7 @@ namespace AGVNavigationCore.Models
[Category("RFID 정보")]
[Description("물리적 RFID 태그 ID입니다.")]
public string RfidId { get; set; } = string.Empty;
public UInt16 RfidId { get; set; } = 0;
[Category("노드 텍스트"), DisplayName("TextColor")]
@@ -161,7 +161,7 @@ namespace AGVNavigationCore.Models
public bool HasRfid()
{
return !string.IsNullOrEmpty(RfidId);
return RfidId > 0;
}
}
}

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

@@ -611,18 +611,7 @@ namespace AGVNavigationCore.Models
PositionChanged?.Invoke(this, (_currentPosition, _currentDirection, _currentNode));
}
/// <summary>
/// 현재 RFID 시뮬레이션 (현재 위치 기준)
/// </summary>
public string SimulateRfidReading(List<MapNode> mapNodes)
{
var closestNode = FindClosestNode(_currentPosition, mapNodes);
if (closestNode == null)
return null;
return closestNode.HasRfid() ? closestNode.RfidId : null;
}
#endregion
@@ -630,10 +619,11 @@ namespace AGVNavigationCore.Models
/// <summary>
/// 노드 ID를 RFID 값으로 변환 (NodeResolver 사용)
/// </summary>
public string GetRfidByNodeId(List<MapNode> _mapNodes, string nodeId)
public ushort GetRfidByNodeId(List<MapNode> _mapNodes, string nodeId)
{
var node = _mapNodes?.FirstOrDefault(n => n.Id == nodeId);
return node?.HasRfid() == true ? node.RfidId : nodeId;
if ((node?.HasRfid() ?? false) == false) return 0;
return node.RfidId;
}

2
Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/AGVPathfinder.cs
View File

@@ -447,7 +447,7 @@ namespace AGVNavigationCore.PathFinding.Planning
{
var node = path1.Path[i];
string nodeId = node.Id;
string RfidId = node.RfidId;
var RfidId = node.RfidId;
string nextNodeId = (i + 1 < path1.Path.Count) ? path1.Path[i + 1].Id : null;
// 노드 정보 생성 (현재 방향 유지)

4
Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/DirectionChangePlanner.cs
View File

@@ -770,9 +770,9 @@ namespace AGVNavigationCore.PathFinding.Planning
private string GetDisplayName(string nodeId)
{
var node = _mapNodes.FirstOrDefault(n => n.Id == nodeId);
if (node != null && !string.IsNullOrEmpty(node.RfidId))
if (node != null && node.HasRfid())
{
return node.RfidId;
return node.RfidId.ToString("0000");
}
return $"({nodeId})";
}

4
Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/NodeMotorInfo.cs
View File

@@ -40,7 +40,7 @@ namespace AGVNavigationCore.PathFinding.Planning
/// <summary>
/// RFID Value
/// </summary>
public string RfidId { get; set; }
public ushort RfidId { get; set; }
/// <summary>
/// 해당 노드에서의 모터방향
@@ -87,7 +87,7 @@ namespace AGVNavigationCore.PathFinding.Planning
/// </summary>
public string SpecialActionDescription { get; set; }
public NodeMotorInfo(int seqno,string nodeId,string rfid, AgvDirection motorDirection, string nextNodeId = null, MagnetDirection magnetDirection = MagnetDirection.Straight)
public NodeMotorInfo(int seqno,string nodeId,ushort rfid, AgvDirection motorDirection, string nextNodeId = null, MagnetDirection magnetDirection = MagnetDirection.Straight)
{
seq = seqno;
NodeId = nodeId;

2
Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DirectionalHelper.cs
View File

@@ -204,7 +204,7 @@ namespace AGVNavigationCore.Utils
}
Console.WriteLine(
$"\n 최종선택: {bestNode?.RfidId ?? "null"}[{bestNode?.Id ?? "null"}] (점수: {bestScore:F4})");
$"\n 최종선택: {bestNode?.RfidId ?? 0}[{bestNode?.Id ?? "null"}] (점수: {bestScore:F4})");
Console.WriteLine(
$"[GetNextNodeByDirection] ========== 다음 노드 선택 종료 ==========\n");

10
Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DirectionalPathfinderTest.cs
View File

@@ -16,12 +16,12 @@ namespace AGVNavigationCore.Utils
public class DirectionalPathfinderTest
{
private List<MapNode> _allNodes;
private Dictionary<string, MapNode> _nodesByRfidId;
private Dictionary<ushort, MapNode> _nodesByRfidId;
private AGVDirectionCalculator _calculator;
public DirectionalPathfinderTest()
{
_nodesByRfidId = new Dictionary<string, MapNode>();
_nodesByRfidId = new Dictionary<ushort, MapNode>();
_calculator = new AGVDirectionCalculator();
}
@@ -52,7 +52,7 @@ namespace AGVNavigationCore.Utils
// RFID ID로 인덱싱
foreach (var node in _allNodes)
{
if (!string.IsNullOrEmpty(node.RfidId))
if (node.HasRfid())
{
_nodesByRfidId[node.RfidId] = node;
}
@@ -71,7 +71,7 @@ namespace AGVNavigationCore.Utils
/// <summary>
/// 테스트: RFID 번호로 노드를 찾고, 다음 노드를 계산
/// </summary>
public void TestDirectionalMovement(string previousRfidId, string currentRfidId, AgvDirection direction)
public void TestDirectionalMovement(ushort previousRfidId, ushort currentRfidId, AgvDirection direction)
{
Console.WriteLine($"\n========================================");
Console.WriteLine($"테스트: {previousRfidId} → {currentRfidId} (방향: {direction})");
@@ -140,7 +140,7 @@ namespace AGVNavigationCore.Utils
/// <summary>
/// 특정 RFID 노드의 상세 정보 출력
/// </summary>
public void PrintNodeInfo(string rfidId)
public void PrintNodeInfo(ushort rfidId)
{
if (!_nodesByRfidId.TryGetValue(rfidId, out var node))
{

10
Cs_HMI/AGVLogic/AGVNavigationCore/Utils/GetNextNodeIdTest.cs
View File

@@ -28,10 +28,10 @@ namespace AGVNavigationCore.Utils
Console.WriteLine("================================================\n");
// 테스트 노드 생성
var node001 = new MapNode { Id = "N001", RfidId = "001", Position = new Point(65, 229), ConnectedNodes = new List<string> { "N002" } };
var node002 = new MapNode { Id = "N002", RfidId = "002", Position = new Point(206, 244), ConnectedNodes = new List<string> { "N001", "N003" } };
var node003 = new MapNode { Id = "N003", RfidId = "003", Position = new Point(278, 278), ConnectedNodes = new List<string> { "N002", "N004" } };
var node004 = new MapNode { Id = "N004", RfidId = "004", Position = new Point(380, 340), ConnectedNodes = new List<string> { "N003", "N022", "N031" } };
var node001 = new MapNode { Id = "N001", RfidId = 001, Position = new Point(65, 229), ConnectedNodes = new List<string> { "N002" } };
var node002 = new MapNode { Id = "N002", RfidId = 002, Position = new Point(206, 244), ConnectedNodes = new List<string> { "N001", "N003" } };
var node003 = new MapNode { Id = "N003", RfidId = 003, Position = new Point(278, 278), ConnectedNodes = new List<string> { "N002", "N004" } };
var node004 = new MapNode { Id = "N004", RfidId = 004, Position = new Point(380, 340), ConnectedNodes = new List<string> { "N003", "N022", "N031" } };
var allNodes = new List<MapNode> { node001, node002, node003, node004 };
@@ -114,7 +114,7 @@ namespace AGVNavigationCore.Utils
AgvDirection motorDir = currentMotorDirection ?? direction;
Console.WriteLine($"설명: {description}");
Console.WriteLine($"이전 위치: {prevPos} (RFID: {allNodes.First(n => n.Position == prevPos)?.RfidId ?? "?"})");
Console.WriteLine($"이전 위치: {prevPos} (RFID: {allNodes.First(n => n.Position == prevPos)?.RfidId.ToString("0000") ?? "?"})");
Console.WriteLine($"현재 노드: {currentNode.Id} (RFID: {currentNode.RfidId}) - 위치: {currentNode.Position}");
Console.WriteLine($"현재 모터 방향: {motorDir}");
Console.WriteLine($"요청 방향: {direction}");

20
Cs_HMI/AGVLogic/AGVNavigationCore/Utils/TestRunner.cs
View File

@@ -29,26 +29,26 @@ namespace AGVNavigationCore.Utils
tester.PrintAllNodes();
// 테스트 시나리오 1: 001 → 002 → Forward (003 기대)
tester.PrintNodeInfo("001");
tester.PrintNodeInfo("002");
tester.TestDirectionalMovement("001", "002", AgvDirection.Forward);
tester.PrintNodeInfo(001);
tester.PrintNodeInfo(002);
tester.TestDirectionalMovement(001, 002, AgvDirection.Forward);
// 테스트 시나리오 2: 002 → 001 → Backward (000 또는 이전 기대)
tester.TestDirectionalMovement("002", "001", AgvDirection.Backward);
tester.TestDirectionalMovement(002, 001, AgvDirection.Backward);
// 테스트 시나리오 3: 002 → 003 → Forward
tester.PrintNodeInfo("003");
tester.TestDirectionalMovement("002", "003", AgvDirection.Forward);
tester.PrintNodeInfo(003);
tester.TestDirectionalMovement(002, 003, AgvDirection.Forward);
// 테스트 시나리오 4: 003 → 004 → Forward
tester.PrintNodeInfo("004");
tester.TestDirectionalMovement("003", "004", AgvDirection.Forward);
tester.PrintNodeInfo(004);
tester.TestDirectionalMovement(003, 004, AgvDirection.Forward);
// 테스트 시나리오 5: 003 → 004 → Right (030 기대)
tester.TestDirectionalMovement("003", "004", AgvDirection.Right);
tester.TestDirectionalMovement(003, 004, AgvDirection.Right);
// 테스트 시나리오 6: 004 → 003 → Backward
tester.TestDirectionalMovement("004", "003", AgvDirection.Backward);
tester.TestDirectionalMovement(004, 003, AgvDirection.Backward);
Console.WriteLine("\n\n=== 테스트 완료 ===");
}