refactor: PathFinding 폴더 구조 개선 및 도킹 에러 기능 추가

- PathFinding 폴더를 Core, Validation, Planning, Analysis로 세분화
- 네임스페이스 정리 및 using 문 업데이트
- UnifiedAGVCanvas에 SetDockingError 메서드 추가
- 도킹 검증 시스템 인프라 구축
- DockingValidator 유틸리티 클래스 추가
- 빌드 오류 수정 및 안정성 개선

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

Co-Authored-By: Claude <noreply@anthropic.com>

Cs_HMI/AGVNavigationCore/Controls/UnifiedAGVCanvas.Events.cs

@@ -1,10 +1,11 @@
+using AGVNavigationCore.Models;
+using AGVNavigationCore.PathFinding;
+using AGVNavigationCore.PathFinding.Core;
 using System;
 using System.Drawing;
 using System.Drawing.Drawing2D;
 using System.Linq;
 using System.Windows.Forms;
-using AGVNavigationCore.Models;
-using AGVNavigationCore.PathFinding;
 
 namespace AGVNavigationCore.Controls
 {
@@ -194,7 +195,7 @@ namespace AGVNavigationCore.Controls
             }
         }
 
-        private void DrawPath(Graphics g, PathResult path, Color color)
+        private void DrawPath(Graphics g, AGVPathResult path, Color color)
         {
             if (path?.Path == null || path.Path.Count < 2) return;
 

Cs_HMI/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs

@@ -6,6 +6,7 @@ using System.Linq;
 using System.Windows.Forms;
 using AGVNavigationCore.Models;
 using AGVNavigationCore.PathFinding;
+using AGVNavigationCore.PathFinding.Core;
 
 namespace AGVNavigationCore.Controls
 {
@@ -75,8 +76,11 @@ namespace AGVNavigationCore.Controls
         private Dictionary<string, AGVState> _agvStates;
 
         // 경로 관련
-        private PathResult _currentPath;
-        private List<PathResult> _allPaths;
+        private AGVPathResult _currentPath;
+        private List<AGVPathResult> _allPaths;
+
+        // 도킹 검증 관련
+        private Dictionary<string, bool> _dockingErrors;
 
         // UI 요소들
         private Image _companyLogo;
@@ -255,7 +259,7 @@ namespace AGVNavigationCore.Controls
         /// <summary>
         /// 현재 표시할 경로
         /// </summary>
-        public PathResult CurrentPath
+        public AGVPathResult CurrentPath
         {
             get => _currentPath;
             set
@@ -269,12 +273,12 @@ namespace AGVNavigationCore.Controls
         /// <summary>
         /// 모든 경로 목록 (다중 AGV 경로 표시용)
         /// </summary>
-        public List<PathResult> AllPaths
+        public List<AGVPathResult> AllPaths
         {
-            get => _allPaths ?? new List<PathResult>();
+            get => _allPaths ?? new List<AGVPathResult>();
             set
             {
-                _allPaths = value ?? new List<PathResult>();
+                _allPaths = value ?? new List<AGVPathResult>();
                 Invalidate();
             }
         }
@@ -371,7 +375,8 @@ namespace AGVNavigationCore.Controls
             _agvPositions = new Dictionary<string, Point>();
             _agvDirections = new Dictionary<string, AgvDirection>();
             _agvStates = new Dictionary<string, AGVState>();
-            _allPaths = new List<PathResult>();
+            _allPaths = new List<AGVPathResult>();
+            _dockingErrors = new Dictionary<string, bool>();
 
             InitializeBrushesAndPens();
             CreateContextMenu();
@@ -653,6 +658,47 @@ namespace AGVNavigationCore.Controls
             _nodeCounter = maxNumber + 1;
         }
 
+        /// <summary>
+        /// 특정 노드에 도킹 오류 표시를 설정/해제합니다.
+        /// </summary>
+        /// <param name="nodeId">노드 ID</param>
+        /// <param name="hasError">오류 여부</param>
+        public void SetDockingError(string nodeId, bool hasError)
+        {
+            if (string.IsNullOrEmpty(nodeId))
+                return;
+
+            if (hasError)
+            {
+                _dockingErrors[nodeId] = true;
+            }
+            else
+            {
+                _dockingErrors.Remove(nodeId);
+            }
+
+            Invalidate(); // 화면 다시 그리기
+        }
+
+        /// <summary>
+        /// 특정 노드에 도킹 오류가 있는지 확인합니다.
+        /// </summary>
+        /// <param name="nodeId">노드 ID</param>
+        /// <returns>도킹 오류 여부</returns>
+        public bool HasDockingError(string nodeId)
+        {
+            return _dockingErrors.ContainsKey(nodeId) && _dockingErrors[nodeId];
+        }
+
+        /// <summary>
+        /// 모든 도킹 오류를 초기화합니다.
+        /// </summary>
+        public void ClearDockingErrors()
+        {
+            _dockingErrors.Clear();
+            Invalidate();
+        }
+
     }
 
 }