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refactor: Consolidate RFID mapping and add bidirectional pathfinding

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Major improvements to AGV navigation system:

• Consolidated RFID management into MapNode, removing duplicate RfidMapping class
• Enhanced MapNode with RFID metadata fields (RfidStatus, RfidDescription)
• Added automatic bidirectional connection generation in pathfinding algorithms
• Updated all components to use unified MapNode-based RFID system
• Added command line argument support for AGVMapEditor auto-loading files
• Fixed pathfinding failures by ensuring proper node connectivity

Technical changes:
- Removed RfidMapping class and dependencies across all projects
- Updated AStarPathfinder with EnsureBidirectionalConnections() method
- Modified MapLoader to use AssignAutoRfidIds() for RFID automation
- Enhanced UnifiedAGVCanvas, SimulatorForm, and MainForm for MapNode integration
- Improved data consistency and reduced memory footprint

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

Co-Authored-By: Claude <noreply@anthropic.com>
This commit is contained in:
ChiKyun Kim
2025-09-11 16:41:52 +09:00
parent 7567602479
commit de0e39e030
50 changed files with 9578 additions and 1854 deletions
Download Patch File Download Diff File Expand all files Collapse all files

218
Cs_HMI/AGVMapEditor/Forms/MainForm.Designer.cs generated
View File

@@ -35,6 +35,7 @@ namespace AGVMapEditor.Forms
this.toolStripSeparator1 = new System.Windows.Forms.ToolStripSeparator();
this.saveToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.saveAsToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.closeToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.toolStripSeparator2 = new System.Windows.Forms.ToolStripSeparator();
this.exitToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.statusStrip1 = new System.Windows.Forms.StatusStrip();
@@ -42,20 +43,9 @@ namespace AGVMapEditor.Forms
this.splitContainer1 = new System.Windows.Forms.SplitContainer();
this.tabControl1 = new System.Windows.Forms.TabControl();
this.tabPageNodes = new System.Windows.Forms.TabPage();
this.btnRemoveConnection = new System.Windows.Forms.Button();
this.btnAddConnection = new System.Windows.Forms.Button();
this.btnDeleteNode = new System.Windows.Forms.Button();
this.btnAddNode = new System.Windows.Forms.Button();
this.listBoxNodes = new System.Windows.Forms.ListBox();
this._propertyGrid = new System.Windows.Forms.PropertyGrid();
this.label1 = new System.Windows.Forms.Label();
this.tabPageRfid = new System.Windows.Forms.TabPage();
this.btnDeleteRfidMapping = new System.Windows.Forms.Button();
this.btnAddRfidMapping = new System.Windows.Forms.Button();
this.listBoxRfidMappings = new System.Windows.Forms.ListBox();
this.label2 = new System.Windows.Forms.Label();
this.tabPageProperties = new System.Windows.Forms.TabPage();
this.labelSelectedNode = new System.Windows.Forms.Label();
this.label3 = new System.Windows.Forms.Label();
this.menuStrip1.SuspendLayout();
this.statusStrip1.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.splitContainer1)).BeginInit();
@@ -63,8 +53,6 @@ namespace AGVMapEditor.Forms
this.splitContainer1.SuspendLayout();
this.tabControl1.SuspendLayout();
this.tabPageNodes.SuspendLayout();
this.tabPageRfid.SuspendLayout();
this.tabPageProperties.SuspendLayout();
this.SuspendLayout();
//
// menuStrip1
@@ -82,6 +70,7 @@ namespace AGVMapEditor.Forms
this.fileToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
this.newToolStripMenuItem,
this.openToolStripMenuItem,
this.closeToolStripMenuItem,
this.toolStripSeparator1,
this.saveToolStripMenuItem,
this.saveAsToolStripMenuItem,
@@ -95,7 +84,7 @@ namespace AGVMapEditor.Forms
//
this.newToolStripMenuItem.Name = "newToolStripMenuItem";
this.newToolStripMenuItem.ShortcutKeys = ((System.Windows.Forms.Keys)((System.Windows.Forms.Keys.Control | System.Windows.Forms.Keys.N)));
this.newToolStripMenuItem.Size = new System.Drawing.Size(180, 22);
this.newToolStripMenuItem.Size = new System.Drawing.Size(198, 22);
this.newToolStripMenuItem.Text = "새로 만들기(&N)";
this.newToolStripMenuItem.Click += new System.EventHandler(this.newToolStripMenuItem_Click);
//
@@ -103,39 +92,46 @@ namespace AGVMapEditor.Forms
//
this.openToolStripMenuItem.Name = "openToolStripMenuItem";
this.openToolStripMenuItem.ShortcutKeys = ((System.Windows.Forms.Keys)((System.Windows.Forms.Keys.Control | System.Windows.Forms.Keys.O)));
this.openToolStripMenuItem.Size = new System.Drawing.Size(180, 22);
this.openToolStripMenuItem.Size = new System.Drawing.Size(198, 22);
this.openToolStripMenuItem.Text = "열기(&O)";
this.openToolStripMenuItem.Click += new System.EventHandler(this.openToolStripMenuItem_Click);
//
// toolStripSeparator1
//
this.toolStripSeparator1.Name = "toolStripSeparator1";
this.toolStripSeparator1.Size = new System.Drawing.Size(177, 6);
this.toolStripSeparator1.Size = new System.Drawing.Size(195, 6);
//
// saveToolStripMenuItem
//
this.saveToolStripMenuItem.Name = "saveToolStripMenuItem";
this.saveToolStripMenuItem.ShortcutKeys = ((System.Windows.Forms.Keys)((System.Windows.Forms.Keys.Control | System.Windows.Forms.Keys.S)));
this.saveToolStripMenuItem.Size = new System.Drawing.Size(180, 22);
this.saveToolStripMenuItem.Size = new System.Drawing.Size(198, 22);
this.saveToolStripMenuItem.Text = "저장(&S)";
this.saveToolStripMenuItem.Click += new System.EventHandler(this.saveToolStripMenuItem_Click);
//
// saveAsToolStripMenuItem
//
this.saveAsToolStripMenuItem.Name = "saveAsToolStripMenuItem";
this.saveAsToolStripMenuItem.Size = new System.Drawing.Size(180, 22);
this.saveAsToolStripMenuItem.Size = new System.Drawing.Size(198, 22);
this.saveAsToolStripMenuItem.Text = "다른 이름으로 저장(&A)";
this.saveAsToolStripMenuItem.Click += new System.EventHandler(this.saveAsToolStripMenuItem_Click);
//
// closeToolStripMenuItem
//
this.closeToolStripMenuItem.Name = "closeToolStripMenuItem";
this.closeToolStripMenuItem.Size = new System.Drawing.Size(198, 22);
this.closeToolStripMenuItem.Text = "닫기(&C)";
this.closeToolStripMenuItem.Click += new System.EventHandler(this.closeToolStripMenuItem_Click);
//
// toolStripSeparator2
//
this.toolStripSeparator2.Name = "toolStripSeparator2";
this.toolStripSeparator2.Size = new System.Drawing.Size(177, 6);
this.toolStripSeparator2.Size = new System.Drawing.Size(195, 6);
//
// exitToolStripMenuItem
//
this.exitToolStripMenuItem.Name = "exitToolStripMenuItem";
this.exitToolStripMenuItem.Size = new System.Drawing.Size(180, 22);
this.exitToolStripMenuItem.Size = new System.Drawing.Size(198, 22);
this.exitToolStripMenuItem.Text = "종료(&X)";
this.exitToolStripMenuItem.Click += new System.EventHandler(this.exitToolStripMenuItem_Click);
//
@@ -172,8 +168,6 @@ namespace AGVMapEditor.Forms
// tabControl1
//
this.tabControl1.Controls.Add(this.tabPageNodes);
this.tabControl1.Controls.Add(this.tabPageRfid);
this.tabControl1.Controls.Add(this.tabPageProperties);
this.tabControl1.Dock = System.Windows.Forms.DockStyle.Fill;
this.tabControl1.Location = new System.Drawing.Point(0, 0);
this.tabControl1.Name = "tabControl1";
@@ -183,11 +177,8 @@ namespace AGVMapEditor.Forms
//
// tabPageNodes
//
this.tabPageNodes.Controls.Add(this.btnRemoveConnection);
this.tabPageNodes.Controls.Add(this.btnAddConnection);
this.tabPageNodes.Controls.Add(this.btnDeleteNode);
this.tabPageNodes.Controls.Add(this.btnAddNode);
this.tabPageNodes.Controls.Add(this.listBoxNodes);
this.tabPageNodes.Controls.Add(this._propertyGrid);
this.tabPageNodes.Controls.Add(this.label1);
this.tabPageNodes.Location = new System.Drawing.Point(4, 22);
this.tabPageNodes.Name = "tabPageNodes";
@@ -197,163 +188,33 @@ namespace AGVMapEditor.Forms
this.tabPageNodes.Text = "노드 관리";
this.tabPageNodes.UseVisualStyleBackColor = true;
//
// btnRemoveConnection
//
this.btnRemoveConnection.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.btnRemoveConnection.Location = new System.Drawing.Point(6, 637);
this.btnRemoveConnection.Name = "btnRemoveConnection";
this.btnRemoveConnection.Size = new System.Drawing.Size(280, 25);
this.btnRemoveConnection.TabIndex = 5;
this.btnRemoveConnection.Text = "연결 제거";
this.btnRemoveConnection.UseVisualStyleBackColor = true;
this.btnRemoveConnection.Click += new System.EventHandler(this.btnRemoveConnection_Click);
//
// btnAddConnection
//
this.btnAddConnection.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.btnAddConnection.Location = new System.Drawing.Point(6, 606);
this.btnAddConnection.Name = "btnAddConnection";
this.btnAddConnection.Size = new System.Drawing.Size(280, 25);
this.btnAddConnection.TabIndex = 4;
this.btnAddConnection.Text = "연결 추가";
this.btnAddConnection.UseVisualStyleBackColor = true;
this.btnAddConnection.Click += new System.EventHandler(this.btnAddConnection_Click);
//
// btnDeleteNode
//
this.btnDeleteNode.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.btnDeleteNode.Location = new System.Drawing.Point(148, 670);
this.btnDeleteNode.Name = "btnDeleteNode";
this.btnDeleteNode.Size = new System.Drawing.Size(138, 25);
this.btnDeleteNode.TabIndex = 3;
this.btnDeleteNode.Text = "노드 삭제";
this.btnDeleteNode.UseVisualStyleBackColor = true;
this.btnDeleteNode.Click += new System.EventHandler(this.btnDeleteNode_Click);
//
// btnAddNode
//
this.btnAddNode.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.btnAddNode.Location = new System.Drawing.Point(6, 670);
this.btnAddNode.Name = "btnAddNode";
this.btnAddNode.Size = new System.Drawing.Size(138, 25);
this.btnAddNode.TabIndex = 2;
this.btnAddNode.Text = "노드 추가";
this.btnAddNode.UseVisualStyleBackColor = true;
this.btnAddNode.Click += new System.EventHandler(this.btnAddNode_Click);
//
// listBoxNodes
//
this.listBoxNodes.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.listBoxNodes.Dock = System.Windows.Forms.DockStyle.Fill;
this.listBoxNodes.FormattingEnabled = true;
this.listBoxNodes.ItemHeight = 12;
this.listBoxNodes.Location = new System.Drawing.Point(6, 25);
this.listBoxNodes.Location = new System.Drawing.Point(3, 3);
this.listBoxNodes.Name = "listBoxNodes";
this.listBoxNodes.Size = new System.Drawing.Size(280, 568);
this.listBoxNodes.Size = new System.Drawing.Size(286, 245);
this.listBoxNodes.TabIndex = 1;
//
// _propertyGrid
//
this._propertyGrid.Dock = System.Windows.Forms.DockStyle.Bottom;
this._propertyGrid.Location = new System.Drawing.Point(3, 248);
this._propertyGrid.Name = "_propertyGrid";
this._propertyGrid.Size = new System.Drawing.Size(286, 450);
this._propertyGrid.TabIndex = 6;
//
// label1
//
this.label1.AutoSize = true;
this.label1.Location = new System.Drawing.Point(6, 6);
this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(53, 12);
this.label1.Size = new System.Drawing.Size(57, 12);
this.label1.TabIndex = 0;
this.label1.Text = "노드 목록";
//
// tabPageRfid
//
this.tabPageRfid.Controls.Add(this.btnDeleteRfidMapping);
this.tabPageRfid.Controls.Add(this.btnAddRfidMapping);
this.tabPageRfid.Controls.Add(this.listBoxRfidMappings);
this.tabPageRfid.Controls.Add(this.label2);
this.tabPageRfid.Location = new System.Drawing.Point(4, 22);
this.tabPageRfid.Name = "tabPageRfid";
this.tabPageRfid.Padding = new System.Windows.Forms.Padding(3);
this.tabPageRfid.Size = new System.Drawing.Size(292, 701);
this.tabPageRfid.TabIndex = 1;
this.tabPageRfid.Text = "RFID 매핑";
this.tabPageRfid.UseVisualStyleBackColor = true;
//
// btnDeleteRfidMapping
//
this.btnDeleteRfidMapping.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.btnDeleteRfidMapping.Location = new System.Drawing.Point(148, 670);
this.btnDeleteRfidMapping.Name = "btnDeleteRfidMapping";
this.btnDeleteRfidMapping.Size = new System.Drawing.Size(138, 25);
this.btnDeleteRfidMapping.TabIndex = 3;
this.btnDeleteRfidMapping.Text = "매핑 삭제";
this.btnDeleteRfidMapping.UseVisualStyleBackColor = true;
this.btnDeleteRfidMapping.Click += new System.EventHandler(this.btnDeleteRfidMapping_Click);
//
// btnAddRfidMapping
//
this.btnAddRfidMapping.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.btnAddRfidMapping.Location = new System.Drawing.Point(6, 670);
this.btnAddRfidMapping.Name = "btnAddRfidMapping";
this.btnAddRfidMapping.Size = new System.Drawing.Size(138, 25);
this.btnAddRfidMapping.TabIndex = 2;
this.btnAddRfidMapping.Text = "매핑 추가";
this.btnAddRfidMapping.UseVisualStyleBackColor = true;
this.btnAddRfidMapping.Click += new System.EventHandler(this.btnAddRfidMapping_Click);
//
// listBoxRfidMappings
//
this.listBoxRfidMappings.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.listBoxRfidMappings.FormattingEnabled = true;
this.listBoxRfidMappings.ItemHeight = 12;
this.listBoxRfidMappings.Location = new System.Drawing.Point(6, 25);
this.listBoxRfidMappings.Name = "listBoxRfidMappings";
this.listBoxRfidMappings.Size = new System.Drawing.Size(280, 628);
this.listBoxRfidMappings.TabIndex = 1;
//
// label2
//
this.label2.AutoSize = true;
this.label2.Location = new System.Drawing.Point(6, 6);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(77, 12);
this.label2.TabIndex = 0;
this.label2.Text = "RFID 매핑 목록";
//
// tabPageProperties
//
this.tabPageProperties.Controls.Add(this.labelSelectedNode);
this.tabPageProperties.Controls.Add(this.label3);
this.tabPageProperties.Location = new System.Drawing.Point(4, 22);
this.tabPageProperties.Name = "tabPageProperties";
this.tabPageProperties.Size = new System.Drawing.Size(292, 701);
this.tabPageProperties.TabIndex = 2;
this.tabPageProperties.Text = "속성";
this.tabPageProperties.UseVisualStyleBackColor = true;
//
// labelSelectedNode
//
this.labelSelectedNode.AutoSize = true;
this.labelSelectedNode.Location = new System.Drawing.Point(8, 35);
this.labelSelectedNode.Name = "labelSelectedNode";
this.labelSelectedNode.Size = new System.Drawing.Size(93, 12);
this.labelSelectedNode.TabIndex = 1;
this.labelSelectedNode.Text = "선택된 노드: 없음";
//
// label3
//
this.label3.AutoSize = true;
this.label3.Location = new System.Drawing.Point(8, 12);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(53, 12);
this.label3.TabIndex = 0;
this.label3.Text = "노드 속성";
//
// MainForm
//
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
@@ -378,11 +239,6 @@ namespace AGVMapEditor.Forms
this.tabControl1.ResumeLayout(false);
this.tabPageNodes.ResumeLayout(false);
this.tabPageNodes.PerformLayout();
this.tabPageRfid.ResumeLayout(false);
this.tabPageRfid.ResumeLayout(false);
this.tabPageRfid.PerformLayout();
this.tabPageProperties.ResumeLayout(false);
this.tabPageProperties.PerformLayout();
this.ResumeLayout(false);
this.PerformLayout();
@@ -397,6 +253,7 @@ namespace AGVMapEditor.Forms
private System.Windows.Forms.ToolStripSeparator toolStripSeparator1;
private System.Windows.Forms.ToolStripMenuItem saveToolStripMenuItem;
private System.Windows.Forms.ToolStripMenuItem saveAsToolStripMenuItem;
private System.Windows.Forms.ToolStripMenuItem closeToolStripMenuItem;
private System.Windows.Forms.ToolStripSeparator toolStripSeparator2;
private System.Windows.Forms.ToolStripMenuItem exitToolStripMenuItem;
private System.Windows.Forms.StatusStrip statusStrip1;
@@ -404,19 +261,8 @@ namespace AGVMapEditor.Forms
private System.Windows.Forms.SplitContainer splitContainer1;
private System.Windows.Forms.TabControl tabControl1;
private System.Windows.Forms.TabPage tabPageNodes;
private System.Windows.Forms.TabPage tabPageRfid;
private System.Windows.Forms.Button btnDeleteNode;
private System.Windows.Forms.Button btnAddNode;
private System.Windows.Forms.ListBox listBoxNodes;
private System.Windows.Forms.Label label1;
private System.Windows.Forms.Button btnDeleteRfidMapping;
private System.Windows.Forms.Button btnAddRfidMapping;
private System.Windows.Forms.ListBox listBoxRfidMappings;
private System.Windows.Forms.Label label2;
private System.Windows.Forms.TabPage tabPageProperties;
private System.Windows.Forms.Label labelSelectedNode;
private System.Windows.Forms.Label label3;
private System.Windows.Forms.Button btnRemoveConnection;
private System.Windows.Forms.Button btnAddConnection;
private System.Windows.Forms.PropertyGrid _propertyGrid;
}
}

504
Cs_HMI/AGVMapEditor/Forms/MainForm.cs
View File

@@ -5,7 +5,8 @@ using System.IO;
using System.Linq;
using System.Windows.Forms;
using AGVMapEditor.Models;
using AGVMapEditor.Controls;
using AGVNavigationCore.Controls;
using AGVNavigationCore.Models;
using Newtonsoft.Json;
namespace AGVMapEditor.Forms
@@ -17,28 +18,46 @@ namespace AGVMapEditor.Forms
{
#region Fields
private NodeResolver _nodeResolver;
private List<MapNode> _mapNodes;
private List<RfidMapping> _rfidMappings;
private MapCanvas _mapCanvas;
private UnifiedAGVCanvas _mapCanvas;
// 현재 선택된 노드
private MapNode _selectedNode;
// 파일 경로
private string _currentMapFile = string.Empty;
private bool _hasChanges = false;
#endregion
#region Constructor
public MainForm()
public MainForm() : this(null)
{
}
public MainForm(string[] args)
{
InitializeComponent();
InitializeData();
InitializeMapCanvas();
UpdateTitle();
// 명령줄 인수로 파일이 전달되었으면 자동으로 열기
if (args != null && args.Length > 0)
{
string filePath = args[0];
if (System.IO.File.Exists(filePath))
{
LoadMapFromFile(filePath);
}
else
{
MessageBox.Show($"지정된 파일을 찾을 수 없습니다: {filePath}", "파일 오류",
MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
}
}
#endregion
@@ -48,20 +67,117 @@ namespace AGVMapEditor.Forms
private void InitializeData()
{
_mapNodes = new List<MapNode>();
_rfidMappings = new List<RfidMapping>();
_nodeResolver = new NodeResolver(_rfidMappings, _mapNodes);
}
private void InitializeMapCanvas()
{
_mapCanvas = new MapCanvas(_mapNodes);
_mapCanvas = new UnifiedAGVCanvas();
_mapCanvas.Dock = DockStyle.Fill;
_mapCanvas.Mode = UnifiedAGVCanvas.CanvasMode.Edit;
_mapCanvas.Nodes = _mapNodes;
// RfidMappings 제거 - MapNode에 통합됨
// 이벤트 연결
_mapCanvas.NodeAdded += OnNodeAdded;
_mapCanvas.NodeSelected += OnNodeSelected;
_mapCanvas.NodeMoved += OnNodeMoved;
_mapCanvas.BackgroundClicked += OnBackgroundClicked;
_mapCanvas.NodeDeleted += OnNodeDeleted;
_mapCanvas.MapChanged += OnMapChanged;
// 스플리터 패널에 맵 캔버스 추가
splitContainer1.Panel2.Controls.Add(_mapCanvas);
// 편집 모드 툴바 초기화
InitializeEditModeToolbar();
}
private void InitializeEditModeToolbar()
{
// 툴바 패널 생성
var toolbarPanel = new Panel();
toolbarPanel.Height = 35;
toolbarPanel.Dock = DockStyle.Top;
toolbarPanel.BackColor = SystemColors.Control;
// 선택 모드 버튼
var btnSelect = new Button();
btnSelect.Text = "선택 (S)";
btnSelect.Size = new Size(70, 28);
btnSelect.Location = new Point(5, 3);
btnSelect.Click += (s, e) => _mapCanvas.CurrentEditMode = UnifiedAGVCanvas.EditMode.Select;
// 이동 모드 버튼
var btnMove = new Button();
btnMove.Text = "이동 (M)";
btnMove.Size = new Size(70, 28);
btnMove.Location = new Point(80, 3);
btnMove.Click += (s, e) => _mapCanvas.CurrentEditMode = UnifiedAGVCanvas.EditMode.Move;
// 노드 추가 버튼
var btnAddNode = new Button();
btnAddNode.Text = "노드 추가 (A)";
btnAddNode.Size = new Size(80, 28);
btnAddNode.Location = new Point(155, 3);
btnAddNode.Click += (s, e) => _mapCanvas.CurrentEditMode = UnifiedAGVCanvas.EditMode.AddNode;
// 라벨 추가 버튼
var btnAddLabel = new Button();
btnAddLabel.Text = "라벨 추가 (L)";
btnAddLabel.Size = new Size(80, 28);
btnAddLabel.Location = new Point(240, 3);
btnAddLabel.Click += (s, e) => _mapCanvas.CurrentEditMode = UnifiedAGVCanvas.EditMode.AddLabel;
// 이미지 추가 버튼
var btnAddImage = new Button();
btnAddImage.Text = "이미지 추가 (I)";
btnAddImage.Size = new Size(90, 28);
btnAddImage.Location = new Point(325, 3);
btnAddImage.Click += (s, e) => _mapCanvas.CurrentEditMode = UnifiedAGVCanvas.EditMode.AddImage;
// 연결 모드 버튼
var btnConnect = new Button();
btnConnect.Text = "연결 (C)";
btnConnect.Size = new Size(70, 28);
btnConnect.Location = new Point(420, 3);
btnConnect.Click += (s, e) => _mapCanvas.CurrentEditMode = UnifiedAGVCanvas.EditMode.Connect;
// 삭제 모드 버튼
var btnDelete = new Button();
btnDelete.Text = "삭제 (D)";
btnDelete.Size = new Size(70, 28);
btnDelete.Location = new Point(495, 3);
btnDelete.Click += (s, e) => _mapCanvas.CurrentEditMode = UnifiedAGVCanvas.EditMode.Delete;
// 구분선
var separator1 = new Label();
separator1.Text = "|";
separator1.Size = new Size(10, 28);
separator1.Location = new Point(570, 3);
separator1.TextAlign = ContentAlignment.MiddleCenter;
// 그리드 토글 버튼
var btnToggleGrid = new Button();
btnToggleGrid.Text = "그리드";
btnToggleGrid.Size = new Size(60, 28);
btnToggleGrid.Location = new Point(585, 3);
btnToggleGrid.Click += (s, e) => _mapCanvas.ShowGrid = !_mapCanvas.ShowGrid;
// 맵 맞춤 버튼
var btnFitMap = new Button();
btnFitMap.Text = "맵 맞춤";
btnFitMap.Size = new Size(70, 28);
btnFitMap.Location = new Point(650, 3);
btnFitMap.Click += (s, e) => _mapCanvas.FitToNodes();
// 툴바에 버튼들 추가
toolbarPanel.Controls.AddRange(new Control[]
{
btnSelect, btnMove, btnAddNode, btnAddLabel, btnAddImage, btnConnect, btnDelete, separator1, btnToggleGrid, btnFitMap
});
// 스플리터 패널에 툴바 추가 (맨 위에)
splitContainer1.Panel2.Controls.Add(toolbarPanel);
toolbarPanel.BringToFront();
}
#endregion
@@ -71,7 +187,16 @@ namespace AGVMapEditor.Forms
private void MainForm_Load(object sender, EventArgs e)
{
RefreshNodeList();
RefreshRfidMappingList();
// 속성 변경 시 이벤트 연결
_propertyGrid.PropertyValueChanged += PropertyGrid_PropertyValueChanged;
}
private void OnNodeAdded(object sender, MapNode node)
{
_hasChanges = true;
UpdateTitle();
RefreshNodeList();
// RFID 자동 할당
}
private void OnNodeSelected(object sender, MapNode node)
@@ -87,6 +212,28 @@ namespace AGVMapEditor.Forms
RefreshNodeList();
}
private void OnNodeDeleted(object sender, MapNode node)
{
_hasChanges = true;
UpdateTitle();
RefreshNodeList();
ClearNodeProperties();
// RFID 자동 할당
}
private void OnConnectionCreated(object sender, (MapNode From, MapNode To) connection)
{
_hasChanges = true;
UpdateTitle();
UpdateNodeProperties(); // 연결 정보 업데이트
}
private void OnMapChanged(object sender, EventArgs e)
{
_hasChanges = true;
UpdateTitle();
}
private void OnBackgroundClicked(object sender, Point location)
{
_selectedNode = null;
@@ -123,6 +270,11 @@ namespace AGVMapEditor.Forms
SaveAsMap();
}
private void closeToolStripMenuItem_Click(object sender, EventArgs e)
{
CloseMap();
}
private void exitToolStripMenuItem_Click(object sender, EventArgs e)
{
this.Close();
@@ -152,16 +304,6 @@ namespace AGVMapEditor.Forms
RemoveConnectionFromSelectedNode();
}
private void btnAddRfidMapping_Click(object sender, EventArgs e)
{
AddNewRfidMapping();
}
private void btnDeleteRfidMapping_Click(object sender, EventArgs e)
{
DeleteSelectedRfidMapping();
}
#endregion
#region Node Management
@@ -171,12 +313,12 @@ namespace AGVMapEditor.Forms
var nodeId = GenerateNodeId();
var nodeName = $"노드{_mapNodes.Count + 1}";
var position = new Point(100 + _mapNodes.Count * 50, 100 + _mapNodes.Count * 50);
var node = new MapNode(nodeId, nodeName, position, NodeType.Normal);
_mapNodes.Add(node);
_hasChanges = true;
RefreshNodeList();
RefreshMapCanvas();
UpdateTitle();
@@ -190,17 +332,17 @@ namespace AGVMapEditor.Forms
return;
}
var result = MessageBox.Show($"노드 '{_selectedNode.Name}'를 삭제하시겠습니까?\n연결된 RFID 매핑도 함께 삭제됩니다.",
var result = MessageBox.Show($"노드 '{_selectedNode.Name}'를 삭제하시겠습니까?\n연결된 RFID 매핑도 함께 삭제됩니다.",
"삭제 확인", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
if (result == DialogResult.Yes)
{
_nodeResolver.RemoveMapNode(_selectedNode.NodeId);
// 노드 제거
_mapNodes.Remove(_selectedNode);
_selectedNode = null;
_hasChanges = true;
RefreshNodeList();
RefreshRfidMappingList();
RefreshMapCanvas();
ClearNodeProperties();
UpdateTitle();
@@ -216,9 +358,9 @@ namespace AGVMapEditor.Forms
}
// 다른 노드들 중에서 선택
var availableNodes = _mapNodes.Where(n => n.NodeId != _selectedNode.NodeId &&
var availableNodes = _mapNodes.Where(n => n.NodeId != _selectedNode.NodeId &&
!_selectedNode.ConnectedNodes.Contains(n.NodeId)).ToList();
if (availableNodes.Count == 0)
{
MessageBox.Show("연결 가능한 노드가 없습니다.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
@@ -228,7 +370,7 @@ namespace AGVMapEditor.Forms
// 간단한 선택 다이얼로그 (실제로는 별도 폼을 만들어야 함)
var nodeNames = availableNodes.Select(n => $"{n.NodeId}: {n.Name}").ToArray();
var input = Microsoft.VisualBasic.Interaction.InputBox("연결할 노드를 선택하세요:", "노드 연결", nodeNames[0]);
var targetNode = availableNodes.FirstOrDefault(n => input.StartsWith(n.NodeId));
if (targetNode != null)
{
@@ -249,14 +391,14 @@ namespace AGVMapEditor.Forms
}
// 연결된 노드들 중에서 선택
var connectedNodeNames = _selectedNode.ConnectedNodes.Select(connectedNodeId =>
var connectedNodeNames = _selectedNode.ConnectedNodes.Select(connectedNodeId =>
{
var node = _mapNodes.FirstOrDefault(n => n.NodeId == connectedNodeId);
return node != null ? $"{node.NodeId}: {node.Name}" : connectedNodeId;
}).ToArray();
var input = Microsoft.VisualBasic.Interaction.InputBox("제거할 연결을 선택하세요:", "연결 제거", connectedNodeNames[0]);
var targetNodeId = input.Split(':')[0];
if (_selectedNode.ConnectedNodes.Contains(targetNodeId))
{
@@ -272,110 +414,50 @@ namespace AGVMapEditor.Forms
{
int counter = 1;
string nodeId;
do
{
nodeId = $"N{counter:D3}";
counter++;
} while (_mapNodes.Any(n => n.NodeId == nodeId));
return nodeId;
}
#endregion
#region RFID Mapping Management
private void AddNewRfidMapping()
{
if (_mapNodes.Count == 0)
{
MessageBox.Show("매핑할 노드가 없습니다. 먼저 노드를 추가하세요.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
var unmappedNodes = _nodeResolver.GetUnmappedNodes();
if (unmappedNodes.Count == 0)
{
MessageBox.Show("모든 노드가 이미 RFID에 매핑되어 있습니다.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
// RFID 값 입력
var rfidValue = Microsoft.VisualBasic.Interaction.InputBox("RFID 값을 입력하세요:", "RFID 매핑 추가");
if (string.IsNullOrEmpty(rfidValue))
return;
// 노드 선택
var nodeNames = unmappedNodes.Select(n => $"{n.NodeId}: {n.Name}").ToArray();
var selectedNode = Microsoft.VisualBasic.Interaction.InputBox("매핑할 노드를 선택하세요:", "노드 선택", nodeNames[0]);
var nodeId = selectedNode.Split(':')[0];
var description = Microsoft.VisualBasic.Interaction.InputBox("설명을 입력하세요 (선택사항):", "설명");
if (_nodeResolver.AddRfidMapping(rfidValue, nodeId, description))
{
_hasChanges = true;
RefreshRfidMappingList();
UpdateTitle();
MessageBox.Show("RFID 매핑이 추가되었습니다.", "성공", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
else
{
MessageBox.Show("RFID 매핑 추가에 실패했습니다. 중복된 RFID이거나 노드가 존재하지 않습니다.", "오류", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
private void DeleteSelectedRfidMapping()
{
if (listBoxRfidMappings.SelectedItem == null)
{
MessageBox.Show("삭제할 RFID 매핑을 선택하세요.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
var mapping = listBoxRfidMappings.SelectedItem as RfidMapping;
var result = MessageBox.Show($"RFID 매핑 '{mapping.RfidId} → {mapping.LogicalNodeId}'를 삭제하시겠습니까?",
"삭제 확인", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
if (result == DialogResult.Yes)
{
if (_nodeResolver.RemoveRfidMapping(mapping.RfidId))
{
_hasChanges = true;
RefreshRfidMappingList();
UpdateTitle();
MessageBox.Show("RFID 매핑이 삭제되었습니다.", "성공", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
else
{
MessageBox.Show("RFID 매핑 삭제에 실패했습니다.", "오류", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
}
#endregion
#region File Operations
private void NewMap()
{
_mapNodes.Clear();
_rfidMappings.Clear();
_nodeResolver = new NodeResolver(_rfidMappings, _mapNodes);
_selectedNode = null;
_currentMapFile = string.Empty;
_hasChanges = false;
RefreshAll();
UpdateTitle();
}
private void CloseMap()
{
if (CheckSaveChanges())
{
_mapNodes.Clear();
_selectedNode = null;
_currentMapFile = string.Empty;
_hasChanges = false;
RefreshAll();
UpdateTitle();
}
}
private void OpenMap()
{
var openFileDialog = new OpenFileDialog
{
Filter = "AGV Map Files (*.agvmap)|*.agvmap|JSON Files (*.json)|*.json|All Files (*.*)|*.*",
Filter = "AGV Map Files (*.agvmap)|*.agvmap|All Files (*.*)|*.*",
DefaultExt = "agvmap"
};
@@ -388,7 +470,6 @@ namespace AGVMapEditor.Forms
_hasChanges = false;
RefreshAll();
UpdateTitle();
MessageBox.Show("맵이 성공적으로 로드되었습니다.", "성공", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
catch (Exception ex)
{
@@ -423,7 +504,7 @@ namespace AGVMapEditor.Forms
{
var saveFileDialog = new SaveFileDialog
{
Filter = "AGV Map Files (*.agvmap)|*.agvmap|JSON Files (*.json)|*.json",
Filter = "AGV Map Files (*.agvmap)|*.agvmap",
DefaultExt = "agvmap",
FileName = "NewMap.agvmap"
};
@@ -447,35 +528,48 @@ namespace AGVMapEditor.Forms
private void LoadMapFromFile(string filePath)
{
var json = File.ReadAllText(filePath);
var mapData = JsonConvert.DeserializeObject<MapData>(json);
var result = MapLoader.LoadMapFromFile(filePath);
_mapNodes = mapData.Nodes ?? new List<MapNode>();
_rfidMappings = mapData.RfidMappings ?? new List<RfidMapping>();
_nodeResolver = new NodeResolver(_rfidMappings, _mapNodes);
if (result.Success)
{
_mapNodes = result.Nodes;
// 맵 캔버스에 데이터 설정
_mapCanvas.Nodes = _mapNodes;
// RfidMappings 제거됨 - MapNode에 통합
}
else
{
MessageBox.Show($"맵 파일 로딩 실패: {result.ErrorMessage}", "오류",
MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
private void SaveMapToFile(string filePath)
{
var mapData = new MapData
if (!MapLoader.SaveMapToFile(filePath, _mapNodes))
{
Nodes = _mapNodes,
RfidMappings = _rfidMappings,
CreatedDate = DateTime.Now,
Version = "1.0"
};
var json = JsonConvert.SerializeObject(mapData, Formatting.Indented);
File.WriteAllText(filePath, json);
MessageBox.Show("맵 파일 저장 실패", "오류",
MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
/// <summary>
/// RFID 매핑 업데이트 (공용 MapLoader 사용)
/// </summary>
private void UpdateRfidMappings()
{
// 네비게이션 노드들에 RFID 자동 할당
MapLoader.AssignAutoRfidIds(_mapNodes);
}
private bool CheckSaveChanges()
{
if (_hasChanges)
{
var result = MessageBox.Show("변경사항이 있습니다. 저장하시겠습니까?", "변경사항 저장",
var result = MessageBox.Show("변경사항이 있습니다. 저장하시겠습니까?", "변경사항 저장",
MessageBoxButtons.YesNoCancel, MessageBoxIcon.Question);
if (result == DialogResult.Yes)
{
SaveMap();
@@ -486,7 +580,7 @@ namespace AGVMapEditor.Forms
return false;
}
}
return true;
}
@@ -497,7 +591,6 @@ namespace AGVMapEditor.Forms
private void RefreshAll()
{
RefreshNodeList();
RefreshRfidMappingList();
RefreshMapCanvas();
ClearNodeProperties();
}
@@ -506,15 +599,99 @@ namespace AGVMapEditor.Forms
{
listBoxNodes.DataSource = null;
listBoxNodes.DataSource = _mapNodes;
listBoxNodes.DisplayMember = "Name";
listBoxNodes.DisplayMember = "DisplayText";
listBoxNodes.ValueMember = "NodeId";
// 노드 목록 클릭 이벤트 연결
listBoxNodes.SelectedIndexChanged -= ListBoxNodes_SelectedIndexChanged;
listBoxNodes.SelectedIndexChanged += ListBoxNodes_SelectedIndexChanged;
// 노드 타입별 색상 적용
listBoxNodes.DrawMode = DrawMode.OwnerDrawFixed;
listBoxNodes.DrawItem -= ListBoxNodes_DrawItem;
listBoxNodes.DrawItem += ListBoxNodes_DrawItem;
}
private void RefreshRfidMappingList()
private void ListBoxNodes_SelectedIndexChanged(object sender, EventArgs e)
{
listBoxRfidMappings.DataSource = null;
listBoxRfidMappings.DataSource = _rfidMappings;
listBoxRfidMappings.DisplayMember = "ToString";
if (listBoxNodes.SelectedItem is MapNode selectedNode)
{
_selectedNode = selectedNode;
UpdateNodeProperties();
// 맵 캔버스에서도 선택된 노드 표시
if (_mapCanvas != null)
{
_mapCanvas.Invalidate();
}
}
}
private void ListBoxNodes_DrawItem(object sender, DrawItemEventArgs e)
{
e.DrawBackground();
if (e.Index >= 0 && e.Index < _mapNodes.Count)
{
var node = _mapNodes[e.Index];
// 노드 타입에 따른 색상 설정
Color foreColor = Color.Black;
Color backColor = e.BackColor;
if ((e.State & DrawItemState.Selected) == DrawItemState.Selected)
{
backColor = SystemColors.Highlight;
foreColor = SystemColors.HighlightText;
}
else
{
switch (node.Type)
{
case NodeType.Normal:
foreColor = Color.Black;
backColor = Color.White;
break;
case NodeType.Rotation:
foreColor = Color.DarkOrange;
backColor = Color.LightYellow;
break;
case NodeType.Docking:
foreColor = Color.DarkGreen;
backColor = Color.LightGreen;
break;
case NodeType.Charging:
foreColor = Color.DarkRed;
backColor = Color.LightPink;
break;
}
}
// 배경 그리기
using (var brush = new SolidBrush(backColor))
{
e.Graphics.FillRectangle(brush, e.Bounds);
}
// 텍스트 그리기 (노드ID - 설명 - RFID 순서)
var displayText = node.NodeId;
if (!string.IsNullOrEmpty(node.Description))
{
displayText += $" - {node.Description}";
}
if (!string.IsNullOrEmpty(node.RfidId))
{
displayText += $" - [{node.RfidId}]";
}
using (var brush = new SolidBrush(foreColor))
{
e.Graphics.DrawString(displayText, e.Font, brush, e.Bounds.X + 2, e.Bounds.Y + 2);
}
}
e.DrawFocusRectangle();
}
private void RefreshMapCanvas()
@@ -530,30 +707,31 @@ namespace AGVMapEditor.Forms
return;
}
// 선택된 노드의 속성을 프로퍼티 패널에 표시
// (실제로는 PropertyGrid나 별도 컨트롤 사용)
labelSelectedNode.Text = $"선택된 노드: {_selectedNode.Name} ({_selectedNode.NodeId})";
// 노드 래퍼 객체 생성 (타입에 따라 다른 래퍼 사용)
var nodeWrapper = NodePropertyWrapperFactory.CreateWrapper(_selectedNode, _mapNodes);
_propertyGrid.SelectedObject = nodeWrapper;
_propertyGrid.Focus();
}
private void ClearNodeProperties()
{
labelSelectedNode.Text = "선택된 노드: 없음";
_propertyGrid.SelectedObject = null;
}
private void UpdateTitle()
{
var title = "AGV Map Editor";
if (!string.IsNullOrEmpty(_currentMapFile))
{
title += $" - {Path.GetFileName(_currentMapFile)}";
}
if (_hasChanges)
{
title += " *";
}
this.Text = title;
}
@@ -571,16 +749,38 @@ namespace AGVMapEditor.Forms
#endregion
#region Data Model for Serialization
#region PropertyGrid
private class MapData
private void PropertyGrid_PropertyValueChanged(object s, PropertyValueChangedEventArgs e)
{
public List<MapNode> Nodes { get; set; } = new List<MapNode>();
public List<RfidMapping> RfidMappings { get; set; } = new List<RfidMapping>();
public DateTime CreatedDate { get; set; }
public string Version { get; set; } = "1.0";
// 속성이 변경되었을 때 자동으로 변경사항 표시
_hasChanges = true;
UpdateTitle();
// 현재 선택된 노드를 기억
var currentSelectedNode = _selectedNode;
RefreshNodeList();
RefreshMapCanvas();
// 선택된 노드를 다시 선택
if (currentSelectedNode != null)
{
var nodeIndex = _mapNodes.IndexOf(currentSelectedNode);
if (nodeIndex >= 0)
{
listBoxNodes.SelectedIndex = nodeIndex;
}
}
}
#endregion
#region Data Model for Serialization
#endregion
}
}

67
Cs_HMI/AGVMapEditor/Forms/MainForm.resx
View File

@@ -1,5 +1,64 @@
<?xml version="1.0" encoding="utf-8"?>
<root>
<!--
Microsoft ResX Schema
Version 2.0
The primary goals of this format is to allow a simple XML format
that is mostly human readable. The generation and parsing of the
various data types are done through the TypeConverter classes
associated with the data types.
Example:
... ado.net/XML headers & schema ...
<resheader name="resmimetype">text/microsoft-resx</resheader>
<resheader name="version">2.0</resheader>
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
<value>[base64 mime encoded serialized .NET Framework object]</value>
</data>
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
<comment>This is a comment</comment>
</data>
There are any number of "resheader" rows that contain simple
name/value pairs.
Each data row contains a name, and value. The row also contains a
type or mimetype. Type corresponds to a .NET class that support
text/value conversion through the TypeConverter architecture.
Classes that don't support this are serialized and stored with the
mimetype set.
The mimetype is used for serialized objects, and tells the
ResXResourceReader how to depersist the object. This is currently not
extensible. For a given mimetype the value must be set accordingly:
Note - application/x-microsoft.net.object.binary.base64 is the format
that the ResXResourceWriter will generate, however the reader can
read any of the formats listed below.
mimetype: application/x-microsoft.net.object.binary.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.soap.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.bytearray.base64
value : The object must be serialized into a byte array
: using a System.ComponentModel.TypeConverter
: and then encoded with base64 encoding.
-->
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
<xsd:element name="root" msdata:IsDataSet="true">
@@ -28,9 +87,9 @@
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
</xsd:sequence>
<xsd:attribute name="name" use="required" type="xsd:string" />
<xsd:attribute name="type" type="xsd:string" />
<xsd:attribute name="mimetype" type="xsd:string" />
<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
@@ -39,7 +98,7 @@
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
</xsd:sequence>
<xsd:attribute name="name" use="required" type="xsd:string" />
<xsd:attribute name="name" type="xsd:string" use="required" />
</xsd:complexType>
</xsd:element>
</xsd:choice>