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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
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14
Cs_HMI/AGVSimulator/Controls/SimulatorCanvas.cs
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@@ -4,6 +4,8 @@ using System.Drawing;
using System.Linq;
using System.Windows.Forms;
using AGVMapEditor.Models;
using AGVNavigationCore.Models;
using AGVNavigationCore.PathFinding;
using AGVSimulator.Models;
namespace AGVSimulator.Controls
@@ -388,13 +390,13 @@ namespace AGVSimulator.Controls
private void DrawPath(Graphics g)
{
if (_currentPath?.NodeSequence == null || _currentPath.NodeSequence.Count < 2)
if (_currentPath?.Path == null || _currentPath.Path.Count < 2)
return;
for (int i = 0; i < _currentPath.NodeSequence.Count - 1; i++)
for (int i = 0; i < _currentPath.Path.Count - 1; i++)
{
var currentNodeId = _currentPath.NodeSequence[i];
var nextNodeId = _currentPath.NodeSequence[i + 1];
var currentNodeId = _currentPath.Path[i];
var nextNodeId = _currentPath.Path[i + 1];
var currentNode = _mapNodes?.FirstOrDefault(n => n.NodeId == currentNodeId);
var nextNode = _mapNodes?.FirstOrDefault(n => n.NodeId == nextNodeId);
@@ -583,11 +585,11 @@ namespace AGVSimulator.Controls
if (_currentPath != null && _currentPath.Success)
{
y += 10;
g.DrawString($"경로: {_currentPath.NodeSequence.Count}개 노드", font, brush, new PointF(10, y));
g.DrawString($"경로: {_currentPath.Path.Count}개 노드", font, brush, new PointF(10, y));
y += 15;
g.DrawString($"거리: {_currentPath.TotalDistance:F1}", font, brush, new PointF(10, y));
y += 15;
g.DrawString($"계산시간: {_currentPath.CalculationTime}ms", font, brush, new PointF(10, y));
g.DrawString($"계산시간: {_currentPath.CalculationTimeMs}ms", font, brush, new PointF(10, y));
}
font.Dispose();