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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
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2
Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DirectionalHelper.cs
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@@ -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
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@@ -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 ===");
}