From e8b9fceb881f9289835733cda12aeda222d0047f Mon Sep 17 00:00:00 2001
From: backuppc <backuppc@mail.com>
Date: Tue, 28 Oct 2025 17:32:59 +0900
Subject: [PATCH] fix: Prevent returning to previous node when direction is
 maintained
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방향 유지 시 이전 노드로 되돌아가는 문제 수정

- 방향 유지(prevDirection == direction): 이전 노드 제외
- 방향 전환(prevDirection != direction): 모든 연결 노드 허용 (U-turn 가능)

수정 파일: DirectionalHelper.cs:61-73

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

Co-Authored-By: Claude <noreply@anthropic.com>
---
 .../AGVNavigationCore/Utils/DirectionalHelper.cs   | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DirectionalHelper.cs b/Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DirectionalHelper.cs
index 9ca99f4..7ee251e 100644
--- a/Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DirectionalHelper.cs
+++ b/Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DirectionalHelper.cs
@@ -58,9 +58,19 @@ namespace AGVNavigationCore.Utils
             if (connectedNodeIds == null || connectedNodeIds.Count == 0)
                 return null;
 
-            var candidateNodes = allNodes.Where(n =>
+            List<MapNode> candidateNodes = new List<MapNode>();
+            if (prevDirection == direction)
+            {
+                candidateNodes = allNodes.Where(n => n.NodeId != prevNode.NodeId &&
                 connectedNodeIds.Contains(n.NodeId)
-            ).ToList();
+                ).ToList();
+            }
+            else
+            {
+                candidateNodes = allNodes.Where(n =>
+                connectedNodeIds.Contains(n.NodeId)
+                ).ToList();
+            }
 
             if (candidateNodes.Count == 0)
                 return null;