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>
This commit is contained in:
ChiKyun Kim
536
Cs_HMI/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs
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536
Cs_HMI/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs
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@@ -0,0 +1,536 @@
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using System;
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using System.Collections.Generic;
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using System.Drawing;
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using System.Drawing.Drawing2D;
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using System.Linq;
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using System.Windows.Forms;
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using AGVNavigationCore.Models;
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using AGVNavigationCore.PathFinding;
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namespace AGVNavigationCore.Controls
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{
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/// <summary>
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/// 통합 AGV 캔버스 컨트롤
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/// 맵 편집, AGV 시뮬레이션, 실시간 모니터링을 모두 지원
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/// </summary>
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public partial class UnifiedAGVCanvas : UserControl
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{
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#region Constants
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private const int NODE_SIZE = 24;
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private const int NODE_RADIUS = NODE_SIZE / 2;
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private const int GRID_SIZE = 20;
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private const float CONNECTION_WIDTH = 2.0f;
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private const int SNAP_DISTANCE = 10;
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private const int AGV_SIZE = 30;
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private const int CONNECTION_ARROW_SIZE = 8;
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#endregion
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#region Enums
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/// <summary>
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/// 캔버스 모드
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/// </summary>
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public enum CanvasMode
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{
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ViewOnly, // 읽기 전용 (시뮬레이터, 모니터링)
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Edit // 편집 가능 (맵 에디터)
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}
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/// <summary>
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/// 편집 모드 (CanvasMode.Edit일 때만 적용)
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/// </summary>
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public enum EditMode
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{
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Select, // 선택 모드
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Move, // 이동 모드
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AddNode, // 노드 추가 모드
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Connect, // 연결 모드
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Delete, // 삭제 모드
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AddLabel, // 라벨 추가 모드
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AddImage // 이미지 추가 모드
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}
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#endregion
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#region Fields
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// 캔버스 모드
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private CanvasMode _canvasMode = CanvasMode.ViewOnly;
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private EditMode _editMode = EditMode.Select;
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// 맵 데이터
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private List<MapNode> _nodes;
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private MapNode _selectedNode;
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private MapNode _hoveredNode;
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// AGV 관련
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private List<IAGV> _agvList;
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private Dictionary<string, Point> _agvPositions;
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private Dictionary<string, AgvDirection> _agvDirections;
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private Dictionary<string, AGVState> _agvStates;
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// 경로 관련
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private PathResult _currentPath;
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private List<PathResult> _allPaths;
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// UI 요소들
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private Image _companyLogo;
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private string _companyLogoPath = string.Empty;
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private string _measurementInfo = "스케일: 1:100\n면적: 1000㎡\n최종 수정: " + DateTime.Now.ToString("yyyy-MM-dd");
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// 편집 관련 (EditMode에서만 사용)
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private bool _isDragging;
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private Point _dragOffset;
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private Point _lastMousePosition;
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private bool _isConnectionMode;
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private MapNode _connectionStartNode;
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private Point _connectionEndPoint;
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// 그리드 및 줌 관련
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private bool _showGrid = true;
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private float _zoomFactor = 1.0f;
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private Point _panOffset = Point.Empty;
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private bool _isPanning;
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// 자동 증가 카운터
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private int _nodeCounter = 1;
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// 브러쉬 및 펜
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private Brush _normalNodeBrush;
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private Brush _rotationNodeBrush;
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private Brush _dockingNodeBrush;
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private Brush _chargingNodeBrush;
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private Brush _selectedNodeBrush;
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private Brush _hoveredNodeBrush;
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private Brush _gridBrush;
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private Brush _agvBrush;
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private Brush _pathBrush;
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private Pen _connectionPen;
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private Pen _gridPen;
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private Pen _tempConnectionPen;
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private Pen _selectedNodePen;
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private Pen _pathPen;
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private Pen _agvPen;
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// 컨텍스트 메뉴
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private ContextMenuStrip _contextMenu;
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#endregion
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#region Events
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// 맵 편집 이벤트
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public event EventHandler<MapNode> NodeAdded;
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public event EventHandler<MapNode> NodeSelected;
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public event EventHandler<MapNode> NodeDeleted;
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public event EventHandler<MapNode> NodeMoved;
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public event EventHandler MapChanged;
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// AGV 이벤트
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public event EventHandler<IAGV> AGVSelected;
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public event EventHandler<IAGV> AGVStateChanged;
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#endregion
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#region Properties
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/// <summary>
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/// 캔버스 모드
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/// </summary>
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public CanvasMode Mode
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{
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get => _canvasMode;
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set
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{
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_canvasMode = value;
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UpdateModeUI();
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Invalidate();
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}
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}
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/// <summary>
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/// 편집 모드 (CanvasMode.Edit일 때만 적용)
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/// </summary>
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public EditMode CurrentEditMode
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{
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get => _editMode;
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set
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{
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if (_canvasMode != CanvasMode.Edit) return;
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_editMode = value;
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if (_editMode != EditMode.Connect)
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{
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CancelConnection();
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}
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Cursor = GetCursorForMode(_editMode);
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Invalidate();
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}
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}
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/// <summary>
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/// 그리드 표시 여부
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/// </summary>
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public bool ShowGrid
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{
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get => _showGrid;
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set
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{
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_showGrid = value;
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Invalidate();
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}
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}
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/// <summary>
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/// 줌 팩터
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/// </summary>
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public float ZoomFactor
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{
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get => _zoomFactor;
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set
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{
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_zoomFactor = Math.Max(0.1f, Math.Min(5.0f, value));
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Invalidate();
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}
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}
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/// <summary>
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/// 선택된 노드
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/// </summary>
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public MapNode SelectedNode => _selectedNode;
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/// <summary>
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/// 노드 목록
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/// </summary>
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public List<MapNode> Nodes
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{
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get => _nodes ?? new List<MapNode>();
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set
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{
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_nodes = value ?? new List<MapNode>();
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Invalidate();
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}
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}
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/// <summary>
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/// AGV 목록
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/// </summary>
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public List<IAGV> AGVList
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{
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get => _agvList ?? new List<IAGV>();
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set
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{
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_agvList = value ?? new List<IAGV>();
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UpdateAGVData();
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Invalidate();
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}
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}
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/// <summary>
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/// 현재 표시할 경로
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/// </summary>
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public PathResult CurrentPath
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{
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get => _currentPath;
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set
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{
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_currentPath = value;
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Invalidate();
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}
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}
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/// <summary>
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/// 모든 경로 목록 (다중 AGV 경로 표시용)
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/// </summary>
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public List<PathResult> AllPaths
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{
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get => _allPaths ?? new List<PathResult>();
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set
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{
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_allPaths = value ?? new List<PathResult>();
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Invalidate();
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}
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}
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/// <summary>
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/// 회사 로고 이미지
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/// </summary>
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public Image CompanyLogo
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{
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get => _companyLogo;
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set
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{
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_companyLogo = value;
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Invalidate();
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}
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}
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/// <summary>
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/// 측정 정보 텍스트
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/// </summary>
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public string MeasurementInfo
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{
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get => _measurementInfo;
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set
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{
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_measurementInfo = value;
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Invalidate();
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}
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}
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#endregion
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#region Constructor
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public UnifiedAGVCanvas()
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{
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InitializeComponent();
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InitializeCanvas();
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}
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#endregion
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#region Initialization
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private void InitializeCanvas()
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{
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SetStyle(ControlStyles.AllPaintingInWmPaint |
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ControlStyles.UserPaint |
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ControlStyles.DoubleBuffer |
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ControlStyles.ResizeRedraw, true);
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_nodes = new List<MapNode>();
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_agvList = new List<IAGV>();
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_agvPositions = new Dictionary<string, Point>();
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_agvDirections = new Dictionary<string, AgvDirection>();
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_agvStates = new Dictionary<string, AGVState>();
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_allPaths = new List<PathResult>();
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InitializeBrushesAndPens();
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CreateContextMenu();
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}
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private void InitializeBrushesAndPens()
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{
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// 노드 브러쉬
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_normalNodeBrush = new SolidBrush(Color.LightBlue);
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_rotationNodeBrush = new SolidBrush(Color.Yellow);
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_dockingNodeBrush = new SolidBrush(Color.Orange);
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_chargingNodeBrush = new SolidBrush(Color.Green);
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_selectedNodeBrush = new SolidBrush(Color.Red);
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_hoveredNodeBrush = new SolidBrush(Color.LightCyan);
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// AGV 및 경로 브러쉬
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_agvBrush = new SolidBrush(Color.Red);
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_pathBrush = new SolidBrush(Color.Purple);
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// 그리드 브러쉬
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_gridBrush = new SolidBrush(Color.LightGray);
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// 펜
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_connectionPen = new Pen(Color.DarkBlue, CONNECTION_WIDTH);
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_connectionPen.EndCap = LineCap.ArrowAnchor;
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_gridPen = new Pen(Color.LightGray, 1);
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_tempConnectionPen = new Pen(Color.Orange, 2) { DashStyle = DashStyle.Dash };
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_selectedNodePen = new Pen(Color.Red, 3);
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_pathPen = new Pen(Color.Purple, 3);
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_agvPen = new Pen(Color.Red, 3);
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}
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private void CreateContextMenu()
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{
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_contextMenu = new ContextMenuStrip();
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// 컨텍스트 메뉴는 EditMode에서만 사용
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}
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private void UpdateModeUI()
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{
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// 모드에 따른 UI 업데이트
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if (_canvasMode == CanvasMode.ViewOnly)
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{
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Cursor = Cursors.Default;
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_contextMenu.Enabled = false;
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}
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else
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{
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_contextMenu.Enabled = true;
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Cursor = GetCursorForMode(_editMode);
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}
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}
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#endregion
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#region AGV Management
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/// <summary>
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/// AGV 위치 업데이트
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/// </summary>
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public void UpdateAGVPosition(string agvId, Point position)
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{
|
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if (_agvPositions.ContainsKey(agvId))
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_agvPositions[agvId] = position;
|
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else
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_agvPositions.Add(agvId, position);
|
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|
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Invalidate();
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}
|
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||||
/// <summary>
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/// AGV 방향 업데이트
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/// </summary>
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public void UpdateAGVDirection(string agvId, AgvDirection direction)
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{
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if (_agvDirections.ContainsKey(agvId))
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_agvDirections[agvId] = direction;
|
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else
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_agvDirections.Add(agvId, direction);
|
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|
||||
Invalidate();
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}
|
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/// <summary>
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/// AGV 상태 업데이트
|
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/// </summary>
|
||||
public void UpdateAGVState(string agvId, AGVState state)
|
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{
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||||
if (_agvStates.ContainsKey(agvId))
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_agvStates[agvId] = state;
|
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else
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_agvStates.Add(agvId, state);
|
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|
||||
Invalidate();
|
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}
|
||||
|
||||
/// <summary>
|
||||
/// AGV 위치 설정 (시뮬레이터용)
|
||||
/// </summary>
|
||||
/// <param name="agvId">AGV ID</param>
|
||||
/// <param name="position">새로운 위치</param>
|
||||
public void SetAGVPosition(string agvId, Point position)
|
||||
{
|
||||
UpdateAGVPosition(agvId, position);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// AGV 데이터 동기화
|
||||
/// </summary>
|
||||
private void UpdateAGVData()
|
||||
{
|
||||
if (_agvList == null) return;
|
||||
|
||||
foreach (var agv in _agvList)
|
||||
{
|
||||
UpdateAGVPosition(agv.AgvId, agv.CurrentPosition);
|
||||
UpdateAGVDirection(agv.AgvId, agv.CurrentDirection);
|
||||
UpdateAGVState(agv.AgvId, agv.CurrentState);
|
||||
}
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region Helper Methods
|
||||
|
||||
private Cursor GetCursorForMode(EditMode mode)
|
||||
{
|
||||
if (_canvasMode != CanvasMode.Edit)
|
||||
return Cursors.Default;
|
||||
|
||||
switch (mode)
|
||||
{
|
||||
case EditMode.AddNode:
|
||||
return Cursors.Cross;
|
||||
case EditMode.Move:
|
||||
return Cursors.SizeAll;
|
||||
case EditMode.Connect:
|
||||
return Cursors.Hand;
|
||||
case EditMode.Delete:
|
||||
return Cursors.No;
|
||||
default:
|
||||
return Cursors.Default;
|
||||
}
|
||||
}
|
||||
|
||||
private void CancelConnection()
|
||||
{
|
||||
_isConnectionMode = false;
|
||||
_connectionStartNode = null;
|
||||
_connectionEndPoint = Point.Empty;
|
||||
Invalidate();
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region Cleanup
|
||||
|
||||
protected override void Dispose(bool disposing)
|
||||
{
|
||||
if (disposing)
|
||||
{
|
||||
|
||||
// 브러쉬 정리
|
||||
_normalNodeBrush?.Dispose();
|
||||
_rotationNodeBrush?.Dispose();
|
||||
_dockingNodeBrush?.Dispose();
|
||||
_chargingNodeBrush?.Dispose();
|
||||
_selectedNodeBrush?.Dispose();
|
||||
_hoveredNodeBrush?.Dispose();
|
||||
_gridBrush?.Dispose();
|
||||
_agvBrush?.Dispose();
|
||||
_pathBrush?.Dispose();
|
||||
|
||||
// 펜 정리
|
||||
_connectionPen?.Dispose();
|
||||
_gridPen?.Dispose();
|
||||
_tempConnectionPen?.Dispose();
|
||||
_selectedNodePen?.Dispose();
|
||||
_pathPen?.Dispose();
|
||||
_agvPen?.Dispose();
|
||||
|
||||
// 컨텍스트 메뉴 정리
|
||||
_contextMenu?.Dispose();
|
||||
|
||||
// 이미지 정리
|
||||
_companyLogo?.Dispose();
|
||||
}
|
||||
|
||||
base.Dispose(disposing);
|
||||
}
|
||||
|
||||
#endregion
|
||||
}
|
||||
|
||||
#region Interfaces
|
||||
|
||||
/// <summary>
|
||||
/// AGV 인터페이스 (가상/실제 AGV 통합)
|
||||
/// </summary>
|
||||
public interface IAGV
|
||||
{
|
||||
string AgvId { get; }
|
||||
Point CurrentPosition { get; }
|
||||
AgvDirection CurrentDirection { get; }
|
||||
AGVState CurrentState { get; }
|
||||
float BatteryLevel { get; }
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// AGV 상태 열거형
|
||||
/// </summary>
|
||||
public enum AGVState
|
||||
{
|
||||
Idle, // 대기
|
||||
Moving, // 이동 중
|
||||
Rotating, // 회전 중
|
||||
Docking, // 도킹 중
|
||||
Charging, // 충전 중
|
||||
Error // 오류
|
||||
}
|
||||
|
||||
#endregion
|
||||
}
|
||||
Reference in New Issue
Block a user