..

AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Events.cs

@@ -374,11 +374,26 @@ namespace AGVNavigationCore.Controls
                     foreach (var targetNode in node.ConnectedMapNodes)
                     {
                         if (targetNode == null) continue;
+                        
+                        // 강조된 연결은 나중에 그리기 위해 건너뜀
+                        if (IsConnectionHighlighted(node.Id, targetNode.Id)) continue;
+                        
                         DrawConnection(g, node, targetNode);
                     }
                 }
             }
 
+            // 1.1 강조된 연결 그리기 (항상 위에 표시되도록)
+            if (_highlightedConnection.HasValue)
+            {
+                 var n1 = _nodes.FirstOrDefault(n => n.Id == _highlightedConnection.Value.FromNodeId);
+                 var n2 = _nodes.FirstOrDefault(n => n.Id == _highlightedConnection.Value.ToNodeId);
+                 if (n1 != null && n2 != null)
+                 {
+                     DrawConnection(g, n1, n2);
+                 }
+            }
+
             // 2. 마그넷 그리기 (별도 리스트 사용)
             if (_magnets != null)
             {
@@ -442,10 +457,17 @@ namespace AGVNavigationCore.Controls
                 g.DrawLine(_magnetPen, startPoint, endPoint);
             }
 
-            // 호버된 마그넷 강조
-            if (magnet == _hoveredNode)
+            // 호버되거나 선택된 마그넷 강조 (선택: Red, 호버: Orange)
+            bool isHovered = (magnet == _hoveredNode);
+            bool isSelected = (magnet == _selectedNode);
+
+            if (isHovered || isSelected)
             {
-                using (var highlightPen = new Pen(Color.Orange, 19))
+                Color highlightColor = isSelected ? Color.Red : Color.Orange;
+                // 선택된 상태에서 호버되면? -> 선택 색상 우선 (Red) 또는 명확한 구분 필요
+                // 여기서는 선택이 더 중요하므로 Red 유지
+
+                using (var highlightPen = new Pen(highlightColor, 19) { StartCap = LineCap.Round, EndCap = LineCap.Round })
                 {
                     if (magnet.ControlPoint != null)
                     {
@@ -470,15 +492,6 @@ namespace AGVNavigationCore.Controls
                         g.DrawLine(highlightPen, startPoint, endPoint);
                     }
                 }
-                // Redraw normal to keep it on top? No, highlight is usually outer. 
-                // If I draw highlight AFTER, it covers. 
-                // But DrawMagnet is void. If I draw highlight after, it's fine if I want it to glow.
-                // Actually _magnetPen is Width 15, very thick.
-                // If I draw highlight Width 19 *before* normal, it acts as border. 
-                // But this method draws normal first. 
-                // So I should refactor to calculate path first, then draw?
-                // Or just draw highlight on top with alpha?
-                // Let's draw highlight on top for now, maybe with alpha.
             }
 
             // 선택된 마그넷 핸들 그리기
@@ -859,7 +872,7 @@ namespace AGVNavigationCore.Controls
                 {
                     case NodeType.Normal:
                         var item = _selectedNode as MapNode;
-                        if ( item.StationType == StationType.Charger1 || item.StationType == StationType.Charger2)
+                        if ( item.StationType == StationType.Charger)
                             DrawTriangleGhost(g, ghostBrush);
                         else
                             DrawPentagonGhost(g, ghostBrush);
@@ -1049,13 +1062,12 @@ namespace AGVNavigationCore.Controls
                 switch (node.StationType)
                 {
                     case StationType.Loader:
-                    case StationType.UnLoader:
-                    case StationType.Clearner:
+                    case StationType.Cleaner:
+                    case StationType.Plating:
                     case StationType.Buffer:
                         DrawPentagonNodeShape(g, node, brush);
                         break;
-                    case StationType.Charger1:
-                    case StationType.Charger2:
+                    case StationType.Charger:
                         DrawTriangleNodeShape(g, node, brush);
                         break;
                     case StationType.Limit:
@@ -1470,7 +1482,7 @@ namespace AGVNavigationCore.Controls
 
             // 🔥 노드의 폰트 설정 사용 (0 이하일 경우 기본값 7.0f 사용)
             var topFont = new Font("Arial", 9, FontStyle.Bold);
-            var btmFont = new Font("Arial", 12, FontStyle.Bold);
+            var btmFont = new Font("Arial", node.NodeTextFontSize, FontStyle.Bold);
 
             // 메인 텍스트 크기 측정
             var TopSize = g.MeasureString(TopIDText, topFont);
@@ -1496,8 +1508,7 @@ namespace AGVNavigationCore.Controls
                 Color bgColor = Color.White;
                 switch (node.StationType)
                 {   
-                    case StationType.Charger1:
-                    case StationType.Charger2:
+                    case StationType.Charger:
                         fgColor = Color.White;
                         bgColor = Color.Tomato;
                         break;
@@ -1505,12 +1516,12 @@ namespace AGVNavigationCore.Controls
                         fgColor = Color.Black;
                         bgColor = Color.White;
                         break;
-                    case StationType.Clearner:
+                    case StationType.Plating:
                         fgColor = Color.Black;
                         bgColor = Color.DeepSkyBlue;
                         break;
                     case StationType.Loader:
-                    case StationType.UnLoader:
+                    case StationType.Cleaner:
                         fgColor = Color.Black;
                         bgColor = Color.Gold;
                         break;
@@ -1519,6 +1530,8 @@ namespace AGVNavigationCore.Controls
                         break;
                 }
 
+                
+
 
 
                 var rectpaddingx = 4;
@@ -1541,7 +1554,8 @@ namespace AGVNavigationCore.Controls
                 }
 
 
-                using (var descBrush = new SolidBrush(fgColor))
+                
+                using (var descBrush = new SolidBrush(node.NodeTextForeColor))
                 {
                     g.DrawString(BottomLabelText, btmFont, descBrush, roundRect, new StringFormat
                     {
@@ -1793,12 +1807,16 @@ namespace AGVNavigationCore.Controls
 
             switch (node.StationType)
             {
-                case StationType.Normal: bgColor = Color.DeepSkyBlue; break;
-                case StationType.Charger1: bgColor = Color.Tomato; break;
-                case StationType.Charger2: bgColor = Color.Tomato; break;
+                case StationType.Normal:
+                    if(node.CanTurnLeft || node.CanTurnRight)
+                        bgColor = Color.Violet;
+                    else 
+                        bgColor = Color.DeepSkyBlue;
+                    break;
+                case StationType.Charger: bgColor = Color.Tomato; break;
                 case StationType.Loader:
-                case StationType.UnLoader: bgColor = Color.Gold; break;
-                case StationType.Clearner: bgColor = Color.DeepSkyBlue; break;
+                case StationType.Cleaner: bgColor = Color.Gold; break;
+                case StationType.Plating: bgColor = Color.DeepSkyBlue; break;
                 case StationType.Buffer: bgColor = Color.WhiteSmoke; break;
                 case StationType.Limit: bgColor = Color.Red; break;
                 default: bgColor = Color.White; break;

AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Mouse.cs

@@ -104,6 +104,10 @@ namespace AGVNavigationCore.Controls
                     HandleConnectClick(hitNode as MapNode);
                     break;
 
+                case EditMode.ConnectDirection:
+                    HandleConnectDirectionClick(hitNode as MapNode);
+                    break;
+
                 case EditMode.Delete:
                     HandleDeleteClick(hitNode);
                     break;
@@ -227,6 +231,23 @@ namespace AGVNavigationCore.Controls
                         if (handleIdx != -1)
                         {
                             _dragHandleIndex = handleIdx;
+
+                            // 핸들 드래그 시 초기 오프셋 설정 (점프 현상 방지)
+                            if (_selectedNode is MapMagnet magnet)
+                            {
+                                Point handlePos = Point.Empty;
+                                if (handleIdx == 0) handlePos = magnet.StartPoint;
+                                else if (handleIdx == 1) handlePos = magnet.EndPoint;
+                                else if (handleIdx == 2 && magnet.ControlPoint != null)
+                                    handlePos = new Point((int)magnet.ControlPoint.X, (int)magnet.ControlPoint.Y);
+
+                                _dragOffset = new Point(worldPoint.X - handlePos.X, worldPoint.Y - handlePos.Y);
+                            }
+                            else
+                            {
+                                _dragOffset = Point.Empty; // Mark 등은 오프셋 없이 마우스 포인터 기준 계산
+                            }
+
                             _isDragging = true;
                             _isPanning = false;
                             Capture = true;
@@ -562,12 +583,11 @@ namespace AGVNavigationCore.Controls
             switch (node.StationType)
             {
                 case StationType.Loader:
-                case StationType.UnLoader:
-                case StationType.Clearner:
+                case StationType.Cleaner:
+                case StationType.Plating:
                 case StationType.Buffer:
                     return IsPointInPentagon(point, node);
-                case StationType.Charger2:
-                case StationType.Charger1:
+                case StationType.Charger:
                     return IsPointInTriangle(point, node);
                 default:
                     return IsPointInCircle(point, node);
@@ -887,7 +907,9 @@ namespace AGVNavigationCore.Controls
             var newNode = new MapNode
             {
                 Id = newNodeId,
-                Position = worldPoint
+                Position = worldPoint,
+                 CanTurnLeft=false,
+                  CanTurnRight= false,
             };
 
             _nodes.Add(newNode);
@@ -998,6 +1020,31 @@ namespace AGVNavigationCore.Controls
             Invalidate();
         }
 
+        private void HandleConnectDirectionClick(MapNode hitNode)
+        {
+            if (hitNode == null) return;
+
+            if (!_isConnectionMode)
+            {
+                // 연결 시작 (방향 설정)
+                _isConnectionMode = true;
+                _connectionStartNode = hitNode;
+                _selectedNode = hitNode;
+            }
+            else
+            {
+                // 연결 완료
+                if (_connectionStartNode != null && _connectionStartNode != hitNode)
+                {
+                    // 기본값 S (Straight)로 방향 설정
+                    SetMagnetDirection(_connectionStartNode, hitNode, MagnetPosition.S);
+                }
+                CancelConnection();
+            }
+
+            Invalidate();
+        }
+
         private void HandleDeleteClick(MapNode hitNode)
         {
             if (hitNode == null) return;
@@ -1025,10 +1072,46 @@ namespace AGVNavigationCore.Controls
                 toNode.ConnectedNodes.Contains(fromNode.Id))
                 return;
 
+            // 양방향 연결 생성 (AGV가 양쪽 방향으로 이동 가능하도록)
             // 양방향 연결 생성 (AGV가 양쪽 방향으로 이동 가능하도록)
             fromNode.AddConnection(toNode.Id);
             toNode.AddConnection(fromNode.Id);
 
+            // 🔥 화면 표시용 ConnectedMapNodes 리스트도 즉시 갱신해야 함
+            if (!fromNode.ConnectedMapNodes.Contains(toNode))
+                fromNode.ConnectedMapNodes.Add(toNode);
+            
+            if (!toNode.ConnectedMapNodes.Contains(fromNode))
+                toNode.ConnectedMapNodes.Add(fromNode);
+
+            ConnectionCreated?.Invoke(this, (fromNode, toNode));
+            MapChanged?.Invoke(this, EventArgs.Empty);
+        }
+
+        public void SetMagnetDirection(MapNode fromNode, MapNode toNode, MagnetPosition direction)
+        {
+            if (fromNode == null || toNode == null) return;
+
+            // 이미 연결된 노드인지 확인 (연결되어 있어야 방향 설정 가능)
+            // 이미 연결된 노드인지 확인 (연결되어 있어야 방향 설정 가능)
+            if (!fromNode.ConnectedNodes.Contains(toNode.Id))
+            {
+                // 연결되어 있지 않으면 자동 연결
+                CreateConnection(fromNode, toNode);
+            }
+
+            if (fromNode.MagnetDirections == null)
+                fromNode.MagnetDirections = new Dictionary<string, MagnetPosition>();
+
+            if (fromNode.MagnetDirections.ContainsKey(toNode.Id))
+            {
+                fromNode.MagnetDirections[toNode.Id] = direction;
+            }
+            else
+            {
+                fromNode.MagnetDirections.Add(toNode.Id, direction);
+            }
+
             MapChanged?.Invoke(this, EventArgs.Empty);
         }
 

AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs

@@ -20,7 +20,7 @@ namespace AGVNavigationCore.Controls
     {
         #region Constants
 
-        private const int NODE_SIZE = 24;
+        private const int NODE_SIZE = 18;
         private const int NODE_RADIUS = NODE_SIZE / 2;
         private const int GRID_SIZE = 20;
         private const float CONNECTION_WIDTH = 1.0f;
@@ -56,6 +56,7 @@ namespace AGVNavigationCore.Controls
             DeleteConnection, // 연결 삭제 모드
             AddLabel,       // 라벨 추가 모드
             AddImage,       // 이미지 추가 모드
+            ConnectDirection, // 방향 연결 모드
         }
 
         #endregion
@@ -139,7 +140,7 @@ namespace AGVNavigationCore.Controls
 
         string _alertmesage = "";
         bool showalert = false;
-        
+
         // 깜박임 효과를 위한 타이머 및 상태
         private Timer _alertBlinkTimer;
         private bool _isAlertBlinkOn = true;
@@ -176,7 +177,7 @@ namespace AGVNavigationCore.Controls
             //_isAlertBlinkOn = !_isAlertBlinkOn;
             //Invalidate();
         }
-        
+
 
         // 브러쉬 및 펜
         private Brush _normalNodeBrush;
@@ -220,6 +221,7 @@ namespace AGVNavigationCore.Controls
         public event EventHandler<List<NodeBase>> NodesSelected; // 다중 선택 이벤트
         public event EventHandler<NodeBase> NodeDeleted;
         public event EventHandler<NodeBase> NodeMoved;
+        public event EventHandler<(MapNode From, MapNode To)> ConnectionCreated; // 연결 생성 이벤트 추가
         public event EventHandler<(MapNode From, MapNode To)> ConnectionDeleted;
         public event EventHandler<MapImage> ImageDoubleClicked;
         public event EventHandler<MapLabel> LabelDoubleClicked;
@@ -266,6 +268,18 @@ namespace AGVNavigationCore.Controls
         {
             if (_nodes != null && _nodes.Contains(node))
             {
+                // 🔥 삭제되는 노드와 연결된 다른 노드들의 연결 정보도 삭제
+                foreach (var otherNode in _nodes.ToList()) // ToList()로 복사본 순회 (안전장치)
+                {
+                    if (otherNode == node) continue;
+
+                    // 다른 노드 -> 삭제되는 노드 연결 제거
+                    if (otherNode.ConnectedNodes.Contains(node.Id))
+                    {
+                        otherNode.RemoveConnection(node.Id);
+                    }
+                }
+
                 _nodes.Remove(node);
                 Invalidate();
             }
@@ -336,10 +350,10 @@ namespace AGVNavigationCore.Controls
         {
             // Zoom 값 범위 제한
             float newZoom = Math.Max(0.1f, Math.Min(5.0f, zoom));
-            
+
             _panOffset = new PointF(panX, panY);
             _zoomFactor = newZoom;
-            
+
             Invalidate();
         }
 
@@ -408,12 +422,12 @@ namespace AGVNavigationCore.Controls
         /// <summary>
         /// 선택된 노드 (단일)
         /// </summary>
-        public MapNode SelectedNode
+        public NodeBase SelectedNode
         {
-            get { return this._selectedNode as MapNode; }
-            set 
-            { 
-                _selectedNode = value; 
+            get { return this._selectedNode; }
+            set
+            {
+                _selectedNode = value;
                 if (value != null)
                 {
                     _selectedNodes.Clear();
@@ -423,7 +437,7 @@ namespace AGVNavigationCore.Controls
                 {
                     _selectedNodes.Clear();
                 }
-                Invalidate(); 
+                Invalidate();
             }
         }
 
@@ -746,8 +760,8 @@ namespace AGVNavigationCore.Controls
             _destinationNodePen = new Pen(Color.Orange, 4);
             _pathPen = new Pen(Color.Purple, 3);
             _agvPen = new Pen(Color.Red, 3);
-            _highlightedConnectionPen = new Pen(Color.Red, 4) { DashStyle = DashStyle.Solid };
-            _magnetPen = new Pen(Color.FromArgb(100, Color.LightSkyBlue), 15) { DashStyle = DashStyle.Solid };
+            _highlightedConnectionPen = new Pen(Color.Red, 6) { DashStyle = DashStyle.Solid };
+            _magnetPen = new Pen(Color.FromArgb(100, Color.LightSkyBlue), 15) { DashStyle = DashStyle.Solid, StartCap = LineCap.Round, EndCap = LineCap.Round };
             _markPen = new Pen(Color.White, 3); // 마크는 흰색 선으로 표시
         }
 

AGVLogic/AGVNavigationCore/Models/Enums.cs

@@ -67,15 +67,13 @@ namespace AGVNavigationCore.Models
         /// <summary>로더</summary>
         Loader,
         /// <summary>클리너</summary>
-        Clearner,
+        Plating,
         /// <summary>오프로더</summary>
-        UnLoader,
+        Cleaner,
         /// <summary>버퍼</summary>
         Buffer,
         /// <summary>충전기1</summary>
-        Charger1,
-        /// <summary>충전기2</summary>
-        Charger2,
+        Charger,
 
         /// <summary>
         /// 끝점(더이상 이동불가)

AGVLogic/AGVNavigationCore/Models/MapMagnet.cs

@@ -76,5 +76,17 @@ namespace AGVNavigationCore.Models
             get => new Point((int)P2.X, (int)P2.Y);
             set { P2.X = value.X; P2.Y = value.Y; }
         }
+
+        public override string ToString()
+        {
+            if (ControlPoint == null)
+            {
+               return $"[LINE]  ({P1.X:F0},{P1.Y:F0}) -> ({P2.X:F0},{P2.Y:F0})";
+            }
+            else
+            {
+               return $"[CURVE] ({P1.X:F0},{P1.Y:F0}) -> ({P2.X:F0},{P2.Y:F0})";
+            }
+        }
     }
 }

AGVLogic/AGVNavigationCore/Models/MapNode.cs

@@ -15,9 +15,7 @@ namespace AGVNavigationCore.Models
     {
 
 
-        [Category("라벨 설정")]
-        [Description("표시할 텍스트입니다.")]
-        public string Text { get; set; } = "";
+     
 
         public StationType StationType { get; set; }
 
@@ -28,10 +26,9 @@ namespace AGVNavigationCore.Models
             {
                 if (StationType == StationType.Buffer) return true;
                 if (StationType == StationType.Loader) return true;
-                if (StationType == StationType.UnLoader) return true;
-                if (StationType == StationType.Clearner) return true;
-                if (StationType == StationType.Charger1) return true;
-                if (StationType == StationType.Charger2) return true;
+                if (StationType == StationType.Cleaner) return true;
+                if (StationType == StationType.Plating) return true;
+                if (StationType == StationType.Charger) return true;
                 return false;
             }
         }
@@ -56,11 +53,11 @@ namespace AGVNavigationCore.Models
 
         [Category("주행 설정")]
         [Description("제자리 회전(좌) 가능 여부입니다.")]
-        public bool CanTurnLeft { get; set; } = true;
+        public bool CanTurnLeft { get; set; } = false;
 
         [Category("주행 설정")]
         [Description("제자리 회전(우) 가능 여부입니다.")]
-        public bool CanTurnRight { get; set; } = true;
+        public bool CanTurnRight { get; set; } = false;
 
         [Category("주행 설정")]
         [Description("교차로 주행 가능 여부입니다.")]
@@ -73,7 +70,7 @@ namespace AGVNavigationCore.Models
             }
             set { _disablecross = value; }
         }
-        private bool _disablecross = false;
+        private bool _disablecross = true;
 
         [Category("주행 설정")]
         [Description("노드 통과 시 제한 속도입니다.")]
@@ -105,6 +102,10 @@ namespace AGVNavigationCore.Models
             set => _textFontSize = value > 0 ? value : 7.0f;
         }
 
+        [Category("노드 텍스트")]
+        [Description("표시할 텍스트입니다.")]
+        public string Text { get; set; } = "";
+
         public MapNode() : base()
         {
             Type = NodeType.Normal;
@@ -121,9 +122,9 @@ namespace AGVNavigationCore.Models
         {
             get
             {
-                if (StationType == StationType.Charger1 || StationType == StationType.Charger2 || StationType == StationType.Buffer ||
-                     StationType == StationType.Clearner || StationType == StationType.Loader ||
-                     StationType == StationType.UnLoader) return true;
+                if (StationType == StationType.Charger ||  StationType == StationType.Buffer ||
+                     StationType == StationType.Plating || StationType == StationType.Loader ||
+                     StationType == StationType.Cleaner) return true;
                 return false;
             }
         }
@@ -141,6 +142,15 @@ namespace AGVNavigationCore.Models
         {
             if (ConnectedNodes.Remove(nodeId))
             {
+                if (MagnetDirections != null && MagnetDirections.ContainsKey(nodeId))
+                {
+                    MagnetDirections.Remove(nodeId);
+                }
+
+                // 🔥 ConnectedMapNodes에서도 제거 (화면 갱신용)
+                var target = ConnectedMapNodes.Find(n => n.Id == nodeId);
+                if (target != null) ConnectedMapNodes.Remove(target);
+                
                 ModifiedDate = DateTime.Now;
             }
         }

AGVLogic/AGVNavigationCore/PathFinding/Planning/AGVPathfinder.cs

@@ -240,17 +240,17 @@ namespace AGVNavigationCore.PathFinding.Planning
 
                 // 2. Buffer-to-Buffer 예외 처리
                 // 05~31 구간 체크
-                var node05 = _mapNodes.FirstOrDefault(n => n.RfidId == 5);
-                var node31 = _mapNodes.FirstOrDefault(n => n.RfidId == 31);
+                var node_buff_sta = _mapNodes.Where(t => t.StationType == StationType.Buffer).OrderBy(s => s.RfidId).FirstOrDefault();// (n => n.RfidId == 5);
+                var node_buff_end = _mapNodes.Where(t => t.StationType == StationType.Buffer).OrderByDescending(s => s.RfidId).FirstOrDefault();//
 
                 bool fixpath = false;
                 Retval = null;
                 MapNode gatewayNode = null;
 
-                if (node05 != null && node31 != null)
+                if (node_buff_sta != null && node_buff_end != null)
                 {
                     // 버퍼 구간 경로 테스트
-                    var rlt = this.FindPathAStar(node05, node31);
+                    var rlt = this.FindPathAStar(node_buff_sta, node_buff_end);
                     if (rlt.Success)
                     {
                         // 버퍼구간내에 시작과 종료가 모두 포함되어있다
@@ -265,53 +265,89 @@ namespace AGVNavigationCore.PathFinding.Planning
 
                 if (!fixpath)
                 {
-                    // 3. 목적지별 Gateway 및 진입 조건 확인
-                    gatewayNode = GetGatewayNode(targetNode);
+                
 
-                    if (gatewayNode == null)
+                    if (targetNode.StationType == StationType.Limit || targetNode.StationType == StationType.Normal)
                     {
-                        // 게이트웨이가 없는 경우라면(일반 노드 등), Gateway 로직 없이 기본 경로 탐색
+                        //일반노드라면 방향 무관하게 그냥 이동하게한다.
                         Retval = this.FindBasicPath(startNode, targetNode, prevNode, prevDir);
                     }
                     else
                     {
-                        // Gateway Node 찾음
-                        // 4. Start -> Gateway 경로 계산 (A*)
-                        var pathToGateway = this.FindBasicPath(startNode, gatewayNode, prevNode, prevDir);
-                        if (pathToGateway.Success == false)
-                            return AGVPathResult.CreateFailure($"Gateway({gatewayNode.ID2})까지 경로 실패: {pathToGateway.Message}");
+
+                        //목적지까지 그대로 방향을 계산한다.
+                        var pathToTaget = this.FindBasicPath(startNode, targetNode, prevNode, prevDir);
+                        if (pathToTaget.Success == false)
+                            return AGVPathResult.CreateFailure($"Target({targetNode.ID2})까지 경로 실패: {pathToTaget.Message}");
 
                         // 방향을 확인하여, 왔던 방향으로 되돌아가야 한다면 방향 반전
-                        if (pathToGateway.Path.Count > 1)
+                        //다음이동방향이 이전노드와 동일하다면? 되돌아가야한다는것이다
+                        var predictNext = pathToTaget.Path[1];
+                        if (predictNext.Id == prevNode.Id)
                         {
-                            var predictNext = pathToGateway.Path[1];
-                            if (predictNext.Id == prevNode.Id)
+                            var reverseDir = prevDir == AgvDirection.Backward ? AgvDirection.Forward : AgvDirection.Backward;
+                            foreach (var item in pathToTaget.DetailedPath)
+                                item.MotorDirection = reverseDir;
+                        }
+
+                        if (targetNode.DockDirection != DockingDirection.DontCare)
+                        {
+                            Retval = pathToTaget;
+                        }
+                        //현재 진행방향과 목적지의 도킹방향이 일치하는지 확인한다.
+                        else if ((pathToTaget.DetailedPath.Last().MotorDirection == AgvDirection.Backward && targetNode.DockDirection == DockingDirection.Backward) ||
+                           (pathToTaget.DetailedPath.Last().MotorDirection == AgvDirection.Forward && targetNode.DockDirection == DockingDirection.Forward))
+                        {
+                            //일치하는 경우 그대로 사용하낟.
+                            Retval = pathToTaget;
+                        }
+                        else
+                        {
+                            //불일치하는경우라면  Turn 가능노드를 찾아서 이동한 후 턴을 한다.
+
+                            // 3. 목적지별 Turn 및 진입 조건 확인
+                            gatewayNode = GetTurnNode(targetNode);
+
+
+                            // Gateway Node 찾음
+                            // 4. Start -> Gateway 경로 계산 (A*)
+                            var pathToGateway = this.FindBasicPath(startNode, gatewayNode, prevNode, prevDir);
+                            if (pathToGateway.Success == false)
+                                return AGVPathResult.CreateFailure($"Gateway({gatewayNode.ID2})까지 경로 실패: {pathToGateway.Message}");
+
+                            // 방향을 확인하여, 왔던 방향으로 되돌아가야 한다면 방향 반전
+                            if (pathToGateway.Path.Count > 1)
                             {
-                                var reverseDir = prevDir == AgvDirection.Backward ? AgvDirection.Forward : AgvDirection.Backward;
-                                foreach (var item in pathToGateway.DetailedPath)
-                                    item.MotorDirection = reverseDir;
+                                //다음이동방향이 이전노드와 동일하다면? 되돌아가야한다는것이다
+                                 predictNext = pathToGateway.Path[1];
+                                if (predictNext.Id == prevNode.Id)
+                                {
+                                    var reverseDir = prevDir == AgvDirection.Backward ? AgvDirection.Forward : AgvDirection.Backward;
+                                    foreach (var item in pathToGateway.DetailedPath)
+                                        item.MotorDirection = reverseDir;
+                                }
                             }
+
+                            // 마지막 경로는 게이트웨이이므로 제거 (Gateway 진입 후 처리는 GetPathFromGateway에서 담당)
+                            if (pathToGateway.Path.Count > 0 && pathToGateway.Path.Last().Id == gatewayNode.Id)
+                            {
+                                var idx = pathToGateway.Path.Count - 1;
+                                pathToGateway.Path.RemoveAt(idx);
+                                pathToGateway.DetailedPath.RemoveAt(idx);
+                            }
+
+                            // 5. Gateway -> Target 경로 계산 (회차 패턴 및 최종 진입 포함)
+                            MapNode GateprevNode = pathToGateway.Path.LastOrDefault() ?? prevNode;
+                            NodeMotorInfo GatePrevDetail = pathToGateway.DetailedPath.LastOrDefault();
+
+                            var arrivalOrientation = GatePrevDetail?.MotorDirection ?? prevDir;
+                            var gatewayPathResult = GetPathFromGateway(gatewayNode, targetNode, GateprevNode, arrivalOrientation);
+
+                            if (!gatewayPathResult.Success)
+                                return AGVPathResult.CreateFailure($"{gatewayPathResult.Message}");
+
+                            Retval = CombinePaths(pathToGateway, gatewayPathResult);
                         }
-
-                        // 마지막 경로는 게이트웨이이므로 제거 (Gateway 진입 후 처리는 GetPathFromGateway에서 담당)
-                        if (pathToGateway.Path.Count > 0 && pathToGateway.Path.Last().Id == gatewayNode.Id)
-                        {
-                            var idx = pathToGateway.Path.Count - 1;
-                            pathToGateway.Path.RemoveAt(idx);
-                            pathToGateway.DetailedPath.RemoveAt(idx);
-                        }
-
-                        // 5. Gateway -> Target 경로 계산 (회차 패턴 및 최종 진입 포함)
-                        MapNode GateprevNode = pathToGateway.Path.LastOrDefault() ?? prevNode;
-                        NodeMotorInfo GatePrevDetail = pathToGateway.DetailedPath.LastOrDefault();
-
-                        var arrivalOrientation = GatePrevDetail?.MotorDirection ?? prevDir;
-                        var gatewayPathResult = GetPathFromGateway(gatewayNode, targetNode, GateprevNode, arrivalOrientation);
-
-                        if (!gatewayPathResult.Success)
-                            return AGVPathResult.CreateFailure($"{gatewayPathResult.Message}");
-
-                        Retval = CombinePaths(pathToGateway, gatewayPathResult);
                     }
                 }
 
@@ -457,13 +493,13 @@ namespace AGVNavigationCore.PathFinding.Planning
                 var firstnode = Retval.Path.FirstOrDefault();
                 var firstDet = Retval.DetailedPath.First();
                 var failmessage = $"[{firstnode.ID2}] 노드의 시작모터 방향({firstDet.MotorDirection})이 올바르지 않습니다";
-                if (firstnode.StationType == StationType.Charger1 && firstDet.MotorDirection != AgvDirection.Forward)
+                if (firstnode.StationType == StationType.Charger && firstDet.MotorDirection != AgvDirection.Forward)
                     return AGVPathResult.CreateFailure(failmessage);
                 else if (firstnode.StationType == StationType.Loader && firstDet.MotorDirection != AgvDirection.Backward)
                     return AGVPathResult.CreateFailure(failmessage);
-                else if (firstnode.StationType == StationType.UnLoader && firstDet.MotorDirection != AgvDirection.Backward)
+                else if (firstnode.StationType == StationType.Cleaner && firstDet.MotorDirection != AgvDirection.Backward)
                     return AGVPathResult.CreateFailure(failmessage);
-                else if (firstnode.StationType == StationType.Clearner && firstDet.MotorDirection != AgvDirection.Backward)
+                else if (firstnode.StationType == StationType.Plating && firstDet.MotorDirection != AgvDirection.Backward)
                     return AGVPathResult.CreateFailure(failmessage);
                 else if (firstnode.StationType == StationType.Buffer)
                 {
@@ -621,7 +657,7 @@ namespace AGVNavigationCore.PathFinding.Planning
             if (deltaX > 0) isMonitorLeft = PrevDirection == AgvDirection.Backward;
             else isMonitorLeft = PrevDirection == AgvDirection.Forward;
 
-            if (targetNode.StationType == StationType.Loader || targetNode.StationType == StationType.Charger2)
+            if (targetNode.StationType == StationType.Loader)
             {
                 deltaX = GTNode.Position.Y - PrevNode.Position.Y;
                 if (deltaX < 0) isMonitorLeft = PrevDirection == AgvDirection.Backward;
@@ -631,14 +667,14 @@ namespace AGVNavigationCore.PathFinding.Planning
             switch (targetNode.StationType)
             {
                 case StationType.Loader:
-                case StationType.Charger2:
-                case StationType.Charger1:
-                case StationType.UnLoader:
-                case StationType.Clearner:
+                case StationType.Charger:
+                case StationType.Cleaner:
+                case StationType.Plating:
                 case StationType.Buffer:
                     var rlt1 = new AGVPathResult();
                     rlt1.Success = true;
 
+                    //단순 경로를 찾는다
                     var motdir = targetNode.DockDirection == DockingDirection.Backward ? AgvDirection.Backward : AgvDirection.Forward;
                     var pathtarget = this.FindBasicPath(GTNode, targetNode, PrevNode, motdir);
 
@@ -682,15 +718,14 @@ namespace AGVNavigationCore.PathFinding.Planning
             }
         }
 
-        private MapNode GetGatewayNode(MapNode node)
+        private MapNode GetTurnNode(MapNode node)
         {
             var rfid = 0;
-            if (node.StationType == StationType.UnLoader) rfid = 10;
-            else if (node.StationType == StationType.Charger1) rfid = 9;
-            else if (node.StationType == StationType.Clearner) rfid = 6;
-            else if (node.StationType == StationType.Charger2) rfid = 13;
-            else if (node.StationType == StationType.Loader) rfid = 13;
-            else if (node.StationType == StationType.Buffer) rfid = 6;
+            if (node.StationType == StationType.Cleaner) rfid = 3;
+            else if (node.StationType == StationType.Charger) rfid = 3;
+            else if (node.StationType == StationType.Plating) rfid = 3;
+            else if (node.StationType == StationType.Loader) rfid = 3;
+            else if (node.StationType == StationType.Buffer) rfid = 3;
 
             if (rfid == 0) return null;
             return _mapNodes.FirstOrDefault(t => t.RfidId == rfid);