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fix: Add motor direction parameter to magnet direction calculation in pathfinding

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- Fixed critical issue in ConvertToDetailedPath where motor direction was not passed to GetRequiredMagnetDirection
- Motor direction is essential for backward movement as Left/Right directions must be inverted
- Modified AGVPathfinder.cs line 280 to pass currentDirection parameter
- Ensures backward motor direction properly inverts magnet sensor directions

feat: Add waypoint support to pathfinding system

- Added FindPath overload with params string[] waypointNodeIds in AStarPathfinder
- Supports sequential traversal through multiple intermediate nodes
- Validates waypoints and prevents duplicates in sequence
- Returns combined path result with aggregated metrics

feat: Implement path result merging with DetailedPath preservation

- Added CombineResults method in AStarPathfinder for intelligent path merging
- Automatically deduplicates nodes when last of previous path equals first of current
- Preserves DetailedPath information including motor and magnet directions
- Essential for multi-segment path operations

feat: Integrate magnet direction with motor direction awareness

- Modified JunctionAnalyzer.GetRequiredMagnetDirection to accept AgvDirection parameter
- Inverts Left/Right magnet directions when moving Backward
- Properly handles motor direction context throughout pathfinding

feat: Add automatic start node selection in simulator

- Added SetStartNodeToCombo method to SimulatorForm
- Automatically selects start node combo box when AGV position is set via RFID
- Improves UI usability and workflow efficiency

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

Co-Authored-By: Claude <noreply@anthropic.com>
This commit is contained in:
backuppc
2025-10-24 15:46:16 +09:00
parent 3ddecf63ed
commit d932b8d332
47 changed files with 7473 additions and 1088 deletions
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35
Cs_HMI/AGVLogic/AGVLogic.sln
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