refactor: Consolidate RFID mapping and add bidirectional pathfinding

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>

Cs_HMI/AGVMapEditor/Forms/MainForm.cs

@@ -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
+      
     }
 }