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This commit is contained in:
backuppc
2026-01-15 17:34:17 +09:00
parent 64ff2ecfb9
commit ddf111c69f
6 changed files with 232 additions and 81 deletions
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15
Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.Designer.cs generated
View File

@@ -76,6 +76,7 @@ namespace AGVMapEditor.Forms
this.button1 = new System.Windows.Forms.Button();
this.button2 = new System.Windows.Forms.Button();
this.button3 = new System.Windows.Forms.Button();
this.toolStripButton2 = new System.Windows.Forms.ToolStripButton();
this.statusStrip1.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.splitContainer1)).BeginInit();
this.splitContainer1.Panel1.SuspendLayout();
@@ -483,7 +484,8 @@ namespace AGVMapEditor.Forms
//
this.toolStrip4.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
this.btDirDelete,
this.btMakeDirdata});
this.btMakeDirdata,
this.toolStripButton2});
this.toolStrip4.Location = new System.Drawing.Point(0, 0);
this.toolStrip4.Name = "toolStrip4";
this.toolStrip4.Size = new System.Drawing.Size(292, 25);
@@ -560,6 +562,16 @@ namespace AGVMapEditor.Forms
this.button3.UseVisualStyleBackColor = true;
this.button3.Click += new System.EventHandler(this.button3_Click);
//
// toolStripButton2
//
this.toolStripButton2.Alignment = System.Windows.Forms.ToolStripItemAlignment.Right;
this.toolStripButton2.Image = ((System.Drawing.Image)(resources.GetObject("toolStripButton2.Image")));
this.toolStripButton2.ImageTransparentColor = System.Drawing.Color.Magenta;
this.toolStripButton2.Name = "toolStripButton2";
this.toolStripButton2.Size = new System.Drawing.Size(54, 22);
this.toolStripButton2.Text = "Clear";
this.toolStripButton2.Click += new System.EventHandler(this.toolStripButton2_Click);
//
// MainForm
//
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
@@ -650,5 +662,6 @@ namespace AGVMapEditor.Forms
private System.Windows.Forms.Button button1;
private System.Windows.Forms.Button button2;
private System.Windows.Forms.Button button3;
private System.Windows.Forms.ToolStripButton toolStripButton2;
}
}

42
Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.cs
View File

@@ -107,6 +107,7 @@ namespace AGVMapEditor.Forms
{
_mapCanvas = new UnifiedAGVCanvas();
_mapCanvas.Dock = DockStyle.Fill;
_mapCanvas.Mode = UnifiedAGVCanvas.CanvasMode.Edit;
// 이벤트 연결
_mapCanvas.NodeAdded += OnNodeAdded;
@@ -1496,15 +1497,15 @@ namespace AGVMapEditor.Forms
// 기존 목록을 모두 지울지 물어보고
var result = MessageBox.Show(
"기존 설정된 마그넷 방향 정보를 모두 초기화하시겠습니까?\n'예'를 선택하면 모든 방향 정보가 삭제된 후 재설정됩니다.\n'아니오'를 선택하면 기존 정보는 유지되고 없는 부분만 추가됩니다.",
"마그넷방향을 자동 생성할까요? 없는 부분만 추가됩니다.",
"마그넷 방향 자동 생성",
MessageBoxButtons.YesNoCancel,
MessageBoxButtons.YesNo,
MessageBoxIcon.Question);
if (result == DialogResult.Cancel)
if (result != DialogResult.Yes)
return;
bool clearAll = (result == DialogResult.Yes);
bool clearAll = false;// (result == DialogResult.Yes);
int updateCount = 0;
@@ -1639,5 +1640,38 @@ namespace AGVMapEditor.Forms
else if (info.Direction == MagnetPosition.S) button2.BackColor = Color.Lime;
else if (info.Direction == MagnetPosition.R) button3.BackColor = Color.Lime;
}
private void toolStripButton2_Click(object sender, EventArgs e)
{
var result = MessageBox.Show(
"기존 설정된 마그넷 방향 정보를 모두 초기화하시겠습니까?",
"마그넷 방향 일괄 삭제",
MessageBoxButtons.YesNoCancel,
MessageBoxIcon.Question);
if (result == DialogResult.Cancel)
return;
bool clearAll = (result == DialogResult.Yes);
int updateCount = 0;
foreach (var node in this._mapCanvas.Nodes)
{
// 연결 노드가 3개 이상인 노드들을 찾아서
if (node.Type == NodeType.Normal && node is MapNode mapNode)
{
if (clearAll)
{
if (mapNode.MagnetDirections != null)
mapNode.MagnetDirections.Clear();
else mapNode.MagnetDirections = new Dictionary<string, MagnetPosition>();
}
}
}
// 현재 선택된 노드의 속성창 및 리스트 갱신
UpdateNodeProperties();
}
}
}

118
Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.resx
View File

@@ -123,15 +123,6 @@
<metadata name="toolStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>249, 17</value>
</metadata>
<metadata name="toolStrip4.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>17, 56</value>
</metadata>
<metadata name="toolStrip3.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>462, 17</value>
</metadata>
<metadata name="toolStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>249, 17</value>
</metadata>
<assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
<data name="btNodeRemove.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
@@ -148,6 +139,57 @@
nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
</value>
</data>
<metadata name="toolStrip4.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>17, 56</value>
</metadata>
<data name="btDirDelete.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAIFSURBVDhPpZLtS1NhGMbPPxJmmlYSgqHiKzGU1EDxg4iK
YKyG2WBogqMYJQOtCEVRFBGdTBCJfRnkS4VaaWNT5sqx1BUxRXxDHYxAJLvkusEeBaPAB+5z4Jzn+t3X
/aLhnEfjo8m+dCoa+7/C3O2Hqe0zDC+8KG+cRZHZhdzaaWTVTCLDMIY0vfM04Nfh77/G/sEhwpEDbO3t
I7TxE8urEVy99fT/AL5gWDLrTB/hnF4XsW0khCu5ln8DmJliT2AXrcNBsU1gj/MH4nMeKwBrPktM28xM
cX79DFKrHHD5d9D26hvicx4pABt2lpg10zYzU0zr7+e3xXGcrkEB2O2TNec9nJFwB3alZn5jZorfeDZh
6Q3g8s06BeCoKF4MRURoH1+BY2oNCbeb0TIclIYxOhzf8frTOuo7FxCbbVIAzpni0iceEc8vhzEwGkJD
lx83ymxifejdKjRNk/8PWnyIyTQqAJek0jqHwfEVscu31baIu8+90sTE4nY025dQ2/5FIPpnXlzKuK8A
HBUzHot52djqQ6HZhfR7IwK4mKpHtvEDMqvfCiQ6zaAAXM8x94aIWTNrLLG4kVUzgaTSPlzLtyJOZxbb
1wtfyg4Q+AfA3aZlButjSfxGcUJBk4g5tuP3haQKRKXcUQDOmbvNTpPOJeFFjordZmbWTNvMTHFUcpUC
nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
</value>
</data>
<data name="btMakeDirdata.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAIFSURBVDhPpZLtS1NhGMbPPxJmmlYSgqHiKzGU1EDxg4iK
YKyG2WBogqMYJQOtCEVRFBGdTBCJfRnkS4VaaWNT5sqx1BUxRXxDHYxAJLvkusEeBaPAB+5z4Jzn+t3X
/aLhnEfjo8m+dCoa+7/C3O2Hqe0zDC+8KG+cRZHZhdzaaWTVTCLDMIY0vfM04Nfh77/G/sEhwpEDbO3t
I7TxE8urEVy99fT/AL5gWDLrTB/hnF4XsW0khCu5ln8DmJliT2AXrcNBsU1gj/MH4nMeKwBrPktM28xM
cX79DFKrHHD5d9D26hvicx4pABt2lpg10zYzU0zr7+e3xXGcrkEB2O2TNec9nJFwB3alZn5jZorfeDZh
6Q3g8s06BeCoKF4MRURoH1+BY2oNCbeb0TIclIYxOhzf8frTOuo7FxCbbVIAzpni0iceEc8vhzEwGkJD
lx83ymxifejdKjRNk/8PWnyIyTQqAJek0jqHwfEVscu31baIu8+90sTE4nY025dQ2/5FIPpnXlzKuK8A
HBUzHot52djqQ6HZhfR7IwK4mKpHtvEDMqvfCiQ6zaAAXM8x94aIWTNrLLG4kVUzgaTSPlzLtyJOZxbb
1wtfyg4Q+AfA3aZlButjSfxGcUJBk4g5tuP3haQKRKXcUQDOmbvNTpPOJeFFjordZmbWTNvMTHFUcpUC
nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
</value>
</data>
<data name="toolStripButton2.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAIFSURBVDhPpZLtS1NhGMbPPxJmmlYSgqHiKzGU1EDxg4iK
YKyG2WBogqMYJQOtCEVRFBGdTBCJfRnkS4VaaWNT5sqx1BUxRXxDHYxAJLvkusEeBaPAB+5z4Jzn+t3X
/aLhnEfjo8m+dCoa+7/C3O2Hqe0zDC+8KG+cRZHZhdzaaWTVTCLDMIY0vfM04Nfh77/G/sEhwpEDbO3t
I7TxE8urEVy99fT/AL5gWDLrTB/hnF4XsW0khCu5ln8DmJliT2AXrcNBsU1gj/MH4nMeKwBrPktM28xM
cX79DFKrHHD5d9D26hvicx4pABt2lpg10zYzU0zr7+e3xXGcrkEB2O2TNec9nJFwB3alZn5jZorfeDZh
6Q3g8s06BeCoKF4MRURoH1+BY2oNCbeb0TIclIYxOhzf8frTOuo7FxCbbVIAzpni0iceEc8vhzEwGkJD
lx83ymxifejdKjRNk/8PWnyIyTQqAJek0jqHwfEVscu31baIu8+90sTE4nY025dQ2/5FIPpnXlzKuK8A
HBUzHot52djqQ6HZhfR7IwK4mKpHtvEDMqvfCiQ6zaAAXM8x94aIWTNrLLG4kVUzgaTSPlzLtyJOZxbb
1wtfyg4Q+AfA3aZlButjSfxGcUJBk4g5tuP3haQKRKXcUQDOmbvNTpPOJeFFjordZmbWTNvMTHFUcpUC
nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
</value>
</data>
<metadata name="toolStrip3.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>462, 17</value>
</metadata>
<data name="btnSelect.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
@@ -175,20 +217,6 @@
YIGDKaeH7rEGFFd1IN1M4c5nAYIcIXLXvmW+uOKfXMvpRO9rFnzJi9lqBKPZYVCedzYsH6SQ2l+Eu2SD
bfNyWeHqqhbxahSCGIM2MwSKrYzDWboBx5sxIsP6yvTPH0lk3YoGI9lhaB8NQZO+gl8Dj7SN1tpAvgAA
AABJRU5ErkJggg==
</value>
</data>
<data name="btnAddNode.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAHdSURBVDhPnZLra9NgFMb3T/hV8b8YFP+efZE5RL+qQxEV
dN6+OXfBTynNZtYmbeKSxfSS1pDSNq29UEpJW9tSULT6lvXCI+8LicTpij4QQs45z+85kLNSqVRQLpdR
KpVQLBZRKBSQz+dh2zZ9X1hZJsdxsFgszjzdbpdBDMM4H0KTqcF1XZbcbrd9CK1ZlnU+hK5Mh2ka/c7l
cvZ4PMZsNmN1CjRN8+8QmuoNplKp03Q67U4mEwy/dPDeOWS9VquFZDL5ZwhN9laez+eg5tHXT3ga3cDD
gzXozgHrNZtN6LoOSZKCEMuyyGg0YkPT6RSDzx1sRa/h1btb2NXu4ll0w4c0Gg2oqhqEZLPZK6ZpkuFw
yIY+uh/w6HANr4/v4I3+AHvavQCkXq9DluUgJJPJhFRVJYPBgA3VOnk8Edaxc7zpQ7aO1qEWw6xfrVYh
iiI4jvsFMQwjpCgK6ff7ZyD7J/fxUrqBF0c3MZtP2RbxeByRSOSSD6DSNC2USCRIr9fzIY/fXsXz2HVs
K5v4/uObb+Y47nLA7EmWZQahl8jWdW1sK7cxOSXLzZ5EUQzFYjFCL9H7xdQsSdJysydBEFYFQSD0wGq1
2r+ZPfE8v8rzPPkvsycKCYfDF3+ve/oJ+zEPR++RdtEAAAAASUVORK5CYII=
</value>
</data>
<data name="btnAddLabel.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
@@ -217,6 +245,20 @@
lIotLMtCsVh8lQG4PM/L2bZNlstlBjno78Ds90jcG+zJLjMrivL6yCzlOI6A8EsUkEUP1PsItk/Om6UM
w8jpuk74JcpfzM2maZ43S2madqlpGuEHNhwO/80sparqpaqq5L/MUhxSKBRe/l6X+gWA2x2MFEPZrwAA
AABJRU5ErkJggg==
</value>
</data>
<data name="btnAddNode.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAAHdSURBVDhPnZLra9NgFMb3T/hV8b8YFP+efZE5RL+qQxEV
dN6+OXfBTynNZtYmbeKSxfSS1pDSNq29UEpJW9tSULT6lvXCI+8LicTpij4QQs45z+85kLNSqVRQLpdR
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cvZ4PMZsNmN1CjRN8+8QmuoNplKp03Q67U4mEwy/dPDeOWS9VquFZDL5ZwhN9laez+eg5tHXT3ga3cDD
gzXozgHrNZtN6LoOSZKCEMuyyGg0YkPT6RSDzx1sRa/h1btb2NXu4ll0w4c0Gg2oqhqEZLPZK6ZpkuFw
yIY+uh/w6HANr4/v4I3+AHvavQCkXq9DluUgJJPJhFRVJYPBgA3VOnk8Edaxc7zpQ7aO1qEWw6xfrVYh
iiI4jvsFMQwjpCgK6ff7ZyD7J/fxUrqBF0c3MZtP2RbxeByRSOSSD6DSNC2USCRIr9fzIY/fXsXz2HVs
K5v4/uObb+Y47nLA7EmWZQahl8jWdW1sK7cxOSXLzZ5EUQzFYjFCL9H7xdQsSdJysydBEFYFQSD0wGq1
2r+ZPfE8v8rzPPkvsycKCYfDF3+ve/oJ+zEPR++RdtEAAAAASUVORK5CYII=
</value>
</data>
<data name="btnDelete.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
@@ -404,36 +446,6 @@
HBUzHot52djqQ6HZhfR7IwK4mKpHtvEDMqvfCiQ6zaAAXM8x94aIWTNrLLG4kVUzgaTSPlzLtyJOZxbb
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nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
</value>
</data>
<data name="btDirDelete.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
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nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
</value>
</data>
<data name="btMakeDirdata.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
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nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
</value>
</data>
</root>

102
Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Events.cs
View File

@@ -72,6 +72,9 @@ namespace AGVNavigationCore.Controls
DrawDragGhost(g);
}
// 마그넷 방향 텍스트 그리기 (노드 위에 표시)
DrawMagnetDirections(g);
// AGV 그리기
DrawAGVs(g);
@@ -105,6 +108,105 @@ namespace AGVNavigationCore.Controls
}
private void DrawMagnetDirections(Graphics g)
{
if (_nodes == null) return;
using (var font = new Font("Arial", 8, FontStyle.Bold))
using (var brushS = new SolidBrush(Color.Magenta))
using (var brushL = new SolidBrush(Color.Green))
using (var brushR = new SolidBrush(Color.Blue))
using (var brushBg = new SolidBrush(Color.FromArgb(180, 255, 255, 255)))
{
foreach (var node in _nodes)
{
if (node.MagnetDirections != null && node.MagnetDirections.Count > 0)
{
foreach (var kvp in node.MagnetDirections)
{
var targetId = kvp.Key;
var dir = kvp.Value;
var targetNode = _nodes.FirstOrDefault(n => n.Id == targetId);
if (targetNode != null)
{
// 방향 텍스트 위치 계산 (출발 -> 도착 벡터의 일정 거리 지점)
var start = node.Position;
var end = targetNode.Position;
var angle = Math.Atan2(end.Y - start.Y, end.X - start.X);
// 박스(텍스트) 중심 위치: 약 40px 거리
var boxDist = 40;
var boxX = start.X + boxDist * Math.Cos(angle);
var boxY = start.Y + boxDist * Math.Sin(angle);
string text = dir.ToString();
Color color = Color.Blue;
if (dir == MagnetPosition.L) color = Color.LimeGreen;
else if (dir == MagnetPosition.R) color = Color.Red;
// 화살표 및 텍스트 설정
using (var arrowBrush = new SolidBrush(color))
using (var arrowPen = new Pen(color, 2)) // 두께 약간 증가
using (var textBrush = new SolidBrush(color))
{
// 1. 화살표 그리기 (박스를 가로지르는 선)
// 시작점: 노드 근처 (25px)
// 끝점: 박스 너머 (55px)
var arrowStartDist = 25;
var arrowEndDist = 55;
var pStart = new PointF((float)(start.X + arrowStartDist * Math.Cos(angle)), (float)(start.Y + arrowStartDist * Math.Sin(angle)));
var pEnd = new PointF((float)(start.X + arrowEndDist * Math.Cos(angle)), (float)(start.Y + arrowEndDist * Math.Sin(angle)));
// 화살표 선 그리기
g.DrawLine(arrowPen, pStart, pEnd);
// 화살표 머리 그리기 (끝점에)
var arrowSize = 6;
var pHead1 = new PointF((float)(pEnd.X + arrowSize * Math.Cos(angle)), (float)(pEnd.Y + arrowSize * Math.Sin(angle))); // 뾰족한 끝
// 삼각형 머리 (채우기)
var pBackL = new PointF((float)(pEnd.X + arrowSize * Math.Cos(angle + 2.5)), (float)(pEnd.Y + arrowSize * Math.Sin(angle + 2.5)));
var pBackR = new PointF((float)(pEnd.X + arrowSize * Math.Cos(angle - 2.5)), (float)(pEnd.Y + arrowSize * Math.Sin(angle - 2.5)));
// pHead1이 가장 먼 쪽이 되도록 조정 (pEnd가 삼각형의 뒷부분 중심이 되도록)
// pEnd에서 시작해서 앞으로 나가는 삼각형
// pTip = pEnd + size * angle
// pBackL = pEnd + size/2 * angle_back_L (약간 뒤로)
// 현재 코드는 pEnd를 중심으로, pHead1이 앞, pBackL/R이 뒤... 가 아니라
// pHead1, pBackK, pBackR로 삼각형을 그림.
// pHead1이 팁.
g.FillPolygon(arrowBrush, new PointF[] { pHead1, pBackL, pBackR });
// 2. 텍스트 그리기 (화살표 위에 박스, 그 위에 텍스트)
var textSize = g.MeasureString(text, font);
var textPoint = new PointF((float)(boxX - textSize.Width / 2), (float)(boxY - textSize.Height / 2));
//편집모드에서만 글자를 표시한다.
if(Mode == CanvasMode.Edit)
{
// 텍스트 배경 (반투명 - 선이 은은하게 보이도록 투명도 조절하거나, 가독성을 위해 불투명하게 처리)
// 사용자가 "박스를 가로지르는" 느낌을 원했으므로 선이 보여야 함. 하지만 텍스트 가독성도 필요.
// 배경을 아주 옅게 (Alpha 100정도) 처리하여 선이 보이게 함.
using (var translucentBg = new SolidBrush(Color.FromArgb(120, 255, 255, 255)))
{
g.FillRectangle(translucentBg, textPoint.X - 1, textPoint.Y - 1, textSize.Width + 2, textSize.Height + 2);
}
g.DrawString(text, font, textBrush, textPoint);
}
}
}
}
}
}
}
}
void DrawAlertMessage(Graphics g)
{
if (showalert == false) return;

33
Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/AGVPathfinder.cs
View File

@@ -157,31 +157,20 @@ namespace AGVNavigationCore.PathFinding.Planning
//갈림길에 있다면 미리 방향을 저장해준다.
if ((node.ConnectedNodes?.Count ?? 0) > 2 && nextNode != null)
{
switch (node.RfidId)
//다음 노드ID를 확인해서 마그넷 방향 데이터를 찾는다.
if (node.MagnetDirections.ContainsKey(nextNode.Id) == false)
{
case 6:
if (nextNode.RfidId == 7)
magnetDirection = MagnetDirection.Left;
else if (nextNode.RfidId == 13)
magnetDirection = MagnetDirection.Right;
else
return AGVPathResult.CreateFailure($"{node.ID2}->{nextNode.ID2} 의 (목표)갈림길 방향이 입력되지 않았습니다", 0, 0);
break;
case 7:
if (nextNode.RfidId == 6)
magnetDirection = MagnetDirection.Right;
else
return AGVPathResult.CreateFailure( $"{node.ID2}->{nextNode.ID2} 의 (목표)갈림길 방향이 입력되지 않았습니다", 0, 0);
break;
case 13:
if (nextNode.RfidId == 6)
magnetDirection = MagnetDirection.Left;
else
return AGVPathResult.CreateFailure( $"{node.ID2}->{nextNode.ID2} 의 (목표)갈림길 방향이 입력되지 않았습니다", 0, 0);
break;
default:
return AGVPathResult.CreateFailure( $"{node.ID2}->{nextNode.ID2} 의 (시작)갈림길 방향이 입력되지 않았습니다", 0, 0);
}
else
{
var magdir = node.MagnetDirections[nextNode.Id].ToString();
if (magdir == "L") magnetDirection = MagnetDirection.Left;
else if (magdir == "R") magnetDirection = MagnetDirection.Right;
}
}
var nodeInfo = new NodeMotorInfo(i + 1, node.Id, node.RfidId, prevDirection, nextNode, magnetDirection);

1
Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.cs
View File

@@ -186,6 +186,7 @@ namespace AGVSimulator.Forms
{
_simulatorCanvas = new UnifiedAGVCanvas();
_simulatorCanvas.Dock = DockStyle.Fill;
_simulatorCanvas.Mode = UnifiedAGVCanvas.CanvasMode.Emulator;
// 목적지 선택 이벤트 구독
_simulatorCanvas.NodesSelected += OnTargetNodeSelected;