feat: 방향전환 경로 검증 시스템 구현

- PathValidationResult 클래스를 Validation 폴더에 적절히 배치
- BacktrackingPattern 클래스로 A→B→A 패턴 상세 검출
- DirectionChangePlanner에서 되돌아가기 패턴 자동 검증
- CLAUDE.md에 AGVNavigationCore 프로젝트 구조 가이드 추가
- 빌드 시스템 오류 모두 해결

🤖 Generated with [Claude Code](https://claude.ai/code)

Co-Authored-By: Claude <noreply@anthropic.com>

Cs_HMI/AGVNavigationCore/Controls/IAGV.cs

@@ -11,16 +11,17 @@ namespace AGVNavigationCore.Controls
     public interface IAGV
     {
         string AgvId { get; }
-        Point CurrentPosition { get; }
-        AgvDirection CurrentDirection { get; }
-        AGVState CurrentState { get; }
+        Point CurrentPosition { get; set; }
+        AgvDirection CurrentDirection { get; set; }
+        AGVState CurrentState { get; set; }
         float BatteryLevel { get; }
-        
+
         // 이동 경로 정보 추가
         Point? TargetPosition { get; }
         string CurrentNodeId { get; }
         string TargetNodeId { get; }
         DockingDirection DockingDirection { get; }
+
     }
 
         

Cs_HMI/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs

@@ -35,7 +35,6 @@ namespace AGVNavigationCore.Controls
         /// </summary>
         public enum CanvasMode
         {
-            ViewOnly,   // 읽기 전용 (시뮬레이터, 모니터링)
             Edit        // 편집 가능 (맵 에디터)
         }
 
@@ -52,7 +51,6 @@ namespace AGVNavigationCore.Controls
             DeleteConnection, // 연결 삭제 모드
             AddLabel,       // 라벨 추가 모드
             AddImage,       // 이미지 추가 모드
-            SelectTarget    // 목적지 선택 모드 (시뮬레이터 전용)
         }
 
         #endregion
@@ -60,7 +58,7 @@ namespace AGVNavigationCore.Controls
         #region Fields
 
         // 캔버스 모드
-        private CanvasMode _canvasMode = CanvasMode.ViewOnly;
+        private CanvasMode _canvasMode = CanvasMode.Edit;
         private EditMode _editMode = EditMode.Select;
 
         // 맵 데이터
@@ -121,7 +119,7 @@ namespace AGVNavigationCore.Controls
         private Brush _gridBrush;
         private Brush _agvBrush;
         private Brush _pathBrush;
-        
+
         private Pen _connectionPen;
         private Pen _gridPen;
         private Pen _tempConnectionPen;
@@ -150,9 +148,6 @@ namespace AGVNavigationCore.Controls
         public event EventHandler<IAGV> AGVSelected;
         public event EventHandler<IAGV> AGVStateChanged;
 
-        // 시뮬레이터 이벤트
-        public event EventHandler<MapNode> TargetNodeSelected;
-
         #endregion
 
         #region Properties
@@ -180,7 +175,7 @@ namespace AGVNavigationCore.Controls
             set
             {
                 if (_canvasMode != CanvasMode.Edit) return;
-                
+
                 _editMode = value;
                 if (_editMode != EditMode.Connect)
                 {
@@ -365,8 +360,8 @@ namespace AGVNavigationCore.Controls
 
         private void InitializeCanvas()
         {
-            SetStyle(ControlStyles.AllPaintingInWmPaint | 
-                     ControlStyles.UserPaint | 
+            SetStyle(ControlStyles.AllPaintingInWmPaint |
+                     ControlStyles.UserPaint |
                      ControlStyles.DoubleBuffer |
                      ControlStyles.ResizeRedraw, true);
 
@@ -392,7 +387,7 @@ namespace AGVNavigationCore.Controls
             _selectedNodeBrush = new SolidBrush(Color.Red);
             _hoveredNodeBrush = new SolidBrush(Color.LightCyan);
             _destinationNodeBrush = new SolidBrush(Color.Gold);
-            
+
             // AGV 및 경로 브러쉬
             _agvBrush = new SolidBrush(Color.Red);
             _pathBrush = new SolidBrush(Color.Purple);
@@ -403,7 +398,7 @@ namespace AGVNavigationCore.Controls
             // 펜
             _connectionPen = new Pen(Color.DarkBlue, CONNECTION_WIDTH);
             _connectionPen.EndCap = LineCap.ArrowAnchor;
-            
+
             _gridPen = new Pen(Color.LightGray, 1);
             _tempConnectionPen = new Pen(Color.Orange, 2) { DashStyle = DashStyle.Dash };
             _selectedNodePen = new Pen(Color.Red, 3);
@@ -422,16 +417,8 @@ namespace AGVNavigationCore.Controls
         private void UpdateModeUI()
         {
             // 모드에 따른 UI 업데이트
-            if (_canvasMode == CanvasMode.ViewOnly)
-            {
-                Cursor = Cursors.Default;
-                _contextMenu.Enabled = false;
-            }
-            else
-            {
-                _contextMenu.Enabled = true;
-                Cursor = GetCursorForMode(_editMode);
-            }
+            _contextMenu.Enabled = true;
+            Cursor = GetCursorForMode(_editMode);
         }
 
         #endregion
@@ -447,7 +434,7 @@ namespace AGVNavigationCore.Controls
                 _agvPositions[agvId] = position;
             else
                 _agvPositions.Add(agvId, position);
-            
+
             Invalidate();
         }
 
@@ -460,7 +447,7 @@ namespace AGVNavigationCore.Controls
                 _agvDirections[agvId] = direction;
             else
                 _agvDirections.Add(agvId, direction);
-            
+
             Invalidate();
         }
 
@@ -473,7 +460,7 @@ namespace AGVNavigationCore.Controls
                 _agvStates[agvId] = state;
             else
                 _agvStates.Add(agvId, state);
-            
+
             Invalidate();
         }
 
@@ -537,12 +524,12 @@ namespace AGVNavigationCore.Controls
         private void UpdateDestinationNode()
         {
             _destinationNode = null;
-            
+
             if (_currentPath != null && _currentPath.Success && _currentPath.Path != null && _currentPath.Path.Count > 0)
             {
                 // 경로의 마지막 노드가 목적지
                 string destinationNodeId = _currentPath.Path[_currentPath.Path.Count - 1];
-                
+
                 // 노드 목록에서 해당 노드 찾기
                 _destinationNode = _nodes?.FirstOrDefault(n => n.NodeId == destinationNodeId);
             }