..

Cs_HMI/Project/fMain.cs

@@ -33,7 +33,6 @@ namespace Project
         bool remoteClose = false;
         bool forceClose = false;
 
-        readonly usbdetect.DriveDetector usbdet;
         public fMain()
         {
             InitializeComponent();
@@ -57,19 +56,13 @@ namespace Project
 
                 if (DateTime.Now > PUB.LastInputTime) PUB.LastInputTime = DateTime.Now;
             };
-            usbdet = new usbdetect.DriveDetector(this);
-            usbdet.DeviceArrived += Usbdet_DeviceArrived;
-            usbdet.DeviceRemoved += Usbdet_DeviceRemoved;
-
-
+      
             PUB._mapCanvas = new AGVNavigationCore.Controls.UnifiedAGVCanvas();
             PUB._mapCanvas.Dock = DockStyle.Fill;
             PUB._mapCanvas.ShowGrid = false;
             PUB._mapCanvas.BackColor = Color.FromArgb(32, 32, 32);
             PUB._mapCanvas.ForeColor = Color.White;
 
-
-
             this.panTopMenu.MouseMove += LbTitle_MouseMove;
             this.panTopMenu.MouseUp += LbTitle_MouseUp;
             this.panTopMenu.MouseDown += LbTitle_MouseDown;
@@ -82,33 +75,7 @@ namespace Project
 
         }
 
-        protected override void WndProc(ref Message m)
-        {
-            base.WndProc(ref m);
-            if (usbdet != null)
-            {
-                usbdet.WndProc(ref m);
-            }
-        }
-
-        private void Usbdet_DeviceRemoved(object sender, usbdetect.DriveDetectorEventArgs e)
-        {
-            //throw new NotImplementedException();
-            Console.WriteLine(e.Drive);
-        }
-
-        private void Usbdet_DeviceArrived(object sender, usbdetect.DriveDetectorEventArgs e)
-        {
-            //throw new NotImplementedException();
-            using (var fUpdate = new Dialog.fUpdateForm(e.Drive))
-                if (fUpdate.ShowDialog() == DialogResult.Yes)
-                {
-                    //종료한다
-                    remoteClose = true;
-                    this.Close();
-                }
-        }
-
+    
         private void __Closing(object sender, FormClosingEventArgs e)
         {
             // 장치 관리 태스크는 _STEP_CLOSING_START에서 종료됨
@@ -182,6 +149,9 @@ namespace Project
 
             VAR.STR[eVarString.SWVersion] = Application.ProductVersion;
 
+
+            AutoLoadMapData();
+
             //SETTING H/W
             this.IOState.ItemClick += gridView2_ItemClick;
             VAR.BOOL.PropertyChanged += BOOL_PropertyChanged;
@@ -280,7 +250,7 @@ namespace Project
             //수량표시
             PUB.counter.PropertyChanged += (s1, e1) => Update_Count();
             Update_Count();
-
+            
             PUB.log.Add("프로그램 실행 기록 추가");
             PUB.CheckNRegister3(Application.ProductName, "chi", Application.ProductVersion);
 
@@ -290,6 +260,71 @@ namespace Project
             PUB.AddEEDB("프로그램 시작");
         }
 
+        void AutoLoadMapData()
+        {
+            //auto load 
+            var mapPath = new System.IO.DirectoryInfo("route");
+            if (mapPath.Exists == false) mapPath.Create();
+
+            //맵파일로딩
+            if (PUB.setting.LastMapFile.isEmpty()) PUB.setting.LastMapFile = System.IO.Path.Combine(mapPath.FullName, "default.json");
+            System.IO.FileInfo filePath = new System.IO.FileInfo(PUB.setting.LastMapFile);
+            if (filePath.Exists == false) filePath = new System.IO.FileInfo(System.IO.Path.Combine(mapPath.FullName, "default.json"));
+            if (filePath.Exists == false)  //그래도없다면 맵폴더에서 파일을 찾아본다.
+            {
+                var files = mapPath.GetFiles("*.json");
+                if (files.Any()) filePath = files[0];
+            }
+
+            if (filePath.Exists)
+            {
+                var result = MapLoader.LoadMapFromFile(filePath.FullName);
+
+                if (result.Success)
+                {
+                    PUB._mapCanvas.SetMapLoadResult(result);
+                    PUB._mapCanvas.MapFileName = filePath.FullName;
+
+                    // 🔥 가상 AGV 초기화 (첫 노드 위치에 생성)
+                    if (PUB._virtualAGV == null && PUB._mapCanvas.Nodes.Count > 0)
+                    {
+                        var startNode = PUB._mapCanvas.Nodes.FirstOrDefault(n => n.IsNavigationNode());
+                        if (startNode != null)
+                        {
+                            PUB._virtualAGV = new VirtualAGV(PUB.setting.MCID, startNode.Position, AgvDirection.Forward);
+                            PUB._virtualAGV.LowBatteryThreshold = PUB.setting.BatteryLimit_Low;
+                            PUB._virtualAGV.SetPosition(startNode, AgvDirection.Forward);
+
+                            // 캔버스에 AGV 리스트 설정
+                            var agvList = new System.Collections.Generic.List<AGVNavigationCore.Controls.IAGV> { PUB._virtualAGV };
+                            PUB._mapCanvas.AGVList = agvList;
+
+                            PUB.log.Add($"가상 AGV 생성: {startNode.Id} 위치");
+                        }
+                    }
+                    else if (PUB._virtualAGV != null)
+                    {
+                        PUB._virtualAGV.LowBatteryThreshold = PUB.setting.BatteryLimit_Low;
+                        // 기존 AGV가 있으면 캔버스에 다시 연결
+                        var agvList = new System.Collections.Generic.List<AGVNavigationCore.Controls.IAGV> { PUB._virtualAGV };
+                        PUB._mapCanvas.AGVList = agvList;
+                    }
+                    PUB.log.Add($"맵 파일 로드 완료: {filePath.Name}, 노드 수: {result.Nodes.Count}");
+                }
+                else
+                {
+                    PUB.log.Add($"맵 파일 로딩 실패: {result.ErrorMessage}");
+                    MessageBox.Show($"맵 파일 로딩 실패: {result.ErrorMessage}", "오류",
+                        MessageBoxButtons.OK, MessageBoxIcon.Error);
+                }
+            }
+            else
+            {
+                PUB.log.Add($"맵 파일을 찾을 수 없습니다: {filePath.FullName}");
+            }
+
+        }
+
         #region "Mouse Form Move"
 
         private Boolean fMove = false;