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>
2025-09-11 16:41:52 +09:00
parent 7567602479
commit de0e39e030
50 changed files with 9578 additions and 1854 deletions
--- a/Cs_HMI/AGVNavigationCore/PathFinding/AGVPathResult.cs
+++ b/Cs_HMI/AGVNavigationCore/PathFinding/AGVPathResult.cs
@@ -0,0 +1,244 @@
+using System;
+using System.Collections.Generic;
+using AGVNavigationCore.Models;
+
+namespace AGVNavigationCore.PathFinding
+{
+    /// <summary>
+    /// AGV 경로 계산 결과 (방향성 및 명령어 포함)
+    /// </summary>
+    public class AGVPathResult
+    {
+        /// <summary>
+        /// 경로 찾기 성공 여부
+        /// </summary>
+        public bool Success { get; set; }
+
+        /// <summary>
+        /// 경로 노드 ID 목록 (시작 → 목적지 순서)
+        /// </summary>
+        public List<string> Path { get; set; }
+
+        /// <summary>
+        /// AGV 명령어 목록 (이동 방향 시퀀스)
+        /// </summary>
+        public List<AgvDirection> Commands { get; set; }
+
+        /// <summary>
+        /// 총 거리
+        /// </summary>
+        public float TotalDistance { get; set; }
+
+        /// <summary>
+        /// 계산 소요 시간 (밀리초)
+        /// </summary>
+        public long CalculationTimeMs { get; set; }
+
+        /// <summary>
+        /// 예상 소요 시간 (초)
+        /// </summary>
+        public float EstimatedTimeSeconds { get; set; }
+
+        /// <summary>
+        /// 회전 횟수
+        /// </summary>
+        public int RotationCount { get; set; }
+
+        /// <summary>
+        /// 오류 메시지 (실패시)
+        /// </summary>
+        public string ErrorMessage { get; set; }
+
+        /// <summary>
+        /// 기본 생성자
+        /// </summary>
+        public AGVPathResult()
+        {
+            Success = false;
+            Path = new List<string>();
+            Commands = new List<AgvDirection>();
+            TotalDistance = 0;
+            CalculationTimeMs = 0;
+            EstimatedTimeSeconds = 0;
+            RotationCount = 0;
+            ErrorMessage = string.Empty;
+        }
+
+        /// <summary>
+        /// 성공 결과 생성
+        /// </summary>
+        /// <param name="path">경로</param>
+        /// <param name="commands">AGV 명령어 목록</param>
+        /// <param name="totalDistance">총 거리</param>
+        /// <param name="calculationTimeMs">계산 시간</param>
+        /// <returns>성공 결과</returns>
+        public static AGVPathResult CreateSuccess(List<string> path, List<AgvDirection> commands, float totalDistance, long calculationTimeMs)
+        {
+            var result = new AGVPathResult
+            {
+                Success = true,
+                Path = new List<string>(path),
+                Commands = new List<AgvDirection>(commands),
+                TotalDistance = totalDistance,
+                CalculationTimeMs = calculationTimeMs
+            };
+
+            result.CalculateMetrics();
+            return result;
+        }
+
+        /// <summary>
+        /// 실패 결과 생성
+        /// </summary>
+        /// <param name="errorMessage">오류 메시지</param>
+        /// <param name="calculationTimeMs">계산 시간</param>
+        /// <returns>실패 결과</returns>
+        public static AGVPathResult CreateFailure(string errorMessage, long calculationTimeMs)
+        {
+            return new AGVPathResult
+            {
+                Success = false,
+                ErrorMessage = errorMessage,
+                CalculationTimeMs = calculationTimeMs
+            };
+        }
+
+        /// <summary>
+        /// 경로 메트릭 계산
+        /// </summary>
+        private void CalculateMetrics()
+        {
+            RotationCount = CountRotations();
+            EstimatedTimeSeconds = CalculateEstimatedTime();
+        }
+
+        /// <summary>
+        /// 회전 횟수 계산
+        /// </summary>
+        private int CountRotations()
+        {
+            int count = 0;
+            foreach (var command in Commands)
+            {
+                if (command == AgvDirection.Left || command == AgvDirection.Right)
+                {
+                    count++;
+                }
+            }
+            return count;
+        }
+
+        /// <summary>
+        /// 예상 소요 시간 계산
+        /// </summary>
+        /// <param name="agvSpeed">AGV 속도 (픽셀/초, 기본값: 100)</param>
+        /// <param name="rotationTime">회전 시간 (초, 기본값: 3)</param>
+        /// <returns>예상 소요 시간 (초)</returns>
+        private float CalculateEstimatedTime(float agvSpeed = 100.0f, float rotationTime = 3.0f)
+        {
+            float moveTime = TotalDistance / agvSpeed;
+            float totalRotationTime = RotationCount * rotationTime;
+            return moveTime + totalRotationTime;
+        }
+
+        /// <summary>
+        /// 명령어 요약 생성
+        /// </summary>
+        /// <returns>명령어 요약 문자열</returns>
+        public string GetCommandSummary()
+        {
+            if (!Success) return "실패";
+
+            var summary = new List<string>();
+            var currentCommand = AgvDirection.Stop;
+            var count = 0;
+
+            foreach (var command in Commands)
+            {
+                if (command == currentCommand)
+                {
+                    count++;
+                }
+                else
+                {
+                    if (count > 0)
+                    {
+                        summary.Add($"{GetCommandText(currentCommand)}×{count}");
+                    }
+                    currentCommand = command;
+                    count = 1;
+                }
+            }
+
+            if (count > 0)
+            {
+                summary.Add($"{GetCommandText(currentCommand)}×{count}");
+            }
+
+            return string.Join(" → ", summary);
+        }
+
+        /// <summary>
+        /// 명령어 텍스트 반환
+        /// </summary>
+        private string GetCommandText(AgvDirection command)
+        {
+            switch (command)
+            {
+                case AgvDirection.Forward: return "전진";
+                case AgvDirection.Backward: return "후진";
+                case AgvDirection.Left: return "좌회전";
+                case AgvDirection.Right: return "우회전";
+                case AgvDirection.Stop: return "정지";
+                default: return command.ToString();
+            }
+        }
+
+        /// <summary>
+        /// 상세 경로 정보 반환
+        /// </summary>
+        /// <returns>상세 정보 문자열</returns>
+        public string GetDetailedInfo()
+        {
+            if (!Success)
+            {
+                return $"경로 계산 실패: {ErrorMessage} (계산시간: {CalculationTimeMs}ms)";
+            }
+
+            return $"경로: {Path.Count}개 노드, 거리: {TotalDistance:F1}px, " +
+                   $"회전: {RotationCount}회, 예상시간: {EstimatedTimeSeconds:F1}초, " +
+                   $"계산시간: {CalculationTimeMs}ms";
+        }
+
+        /// <summary>
+        /// PathResult로 변환 (호환성을 위해)
+        /// </summary>
+        /// <returns>PathResult 객체</returns>
+        public PathResult ToPathResult()
+        {
+            if (Success)
+            {
+                return PathResult.CreateSuccess(Path, TotalDistance, CalculationTimeMs, 0);
+            }
+            else
+            {
+                return PathResult.CreateFailure(ErrorMessage, CalculationTimeMs, 0);
+            }
+        }
+
+        /// <summary>
+        /// 문자열 표현
+        /// </summary>
+        public override string ToString()
+        {
+            if (Success)
+            {
+                return $"Success: {Path.Count} nodes, {TotalDistance:F1}px, {RotationCount} rotations, {EstimatedTimeSeconds:F1}s";
+            }
+            else
+            {
+                return $"Failed: {ErrorMessage}";
+            }
+        }
+    }
+}