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Cs_HMI/Project/StateMachine/AGVPosition.cs

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+using System;
+using System.Collections.Generic;
+
+namespace Project.StateMachine
+{
+    public class AGVPosition
+    {
+        public enum PositionType
+        {
+            None,
+            Tops1,
+            Sstron1,
+            Sstron2,
+            Path
+        }
+
+        public class Position
+        {
+            public int RFID { get; set; }
+            public PositionType Type { get; set; }
+            public string Name { get; set; }
+            public string Direction { get; set; }
+            public List<int> ConnectedPositions { get; set; }
+
+            public Position(int rfid, PositionType type, string name, string direction)
+            {
+                RFID = rfid;
+                Type = type;
+                Name = name;
+                Direction = direction;
+                ConnectedPositions = new List<int>();
+            }
+        }
+
+        private Dictionary<int, Position> positionMap;
+        private static AGVPosition instance;
+
+        private AGVPosition()
+        {
+            positionMap = new Dictionary<int, Position>();
+            InitializePositions();
+        }
+
+        public static AGVPosition Instance
+        {
+            get
+            {
+                if (instance == null)
+                {
+                    instance = new AGVPosition();
+                }
+                return instance;
+            }
+        }
+
+        private void InitializePositions()
+        {
+            // Tops 1 관련 위치
+            AddPosition(100, PositionType.Tops1, "Tops 1", "0");
+            AddPosition(101, PositionType.Path, "Tops1-Sstron1 Path 1", "0");
+            AddPosition(102, PositionType.Path, "Tops1-Sstron1 Path 2", "0");
+
+            // Sstron 1 관련 위치
+            AddPosition(200, PositionType.Sstron1, "Sstron 1", "0");
+            AddPosition(201, PositionType.Path, "Sstron1-Sstron2 Path 1", "0");
+            AddPosition(202, PositionType.Path, "Sstron1-Sstron2 Path 2", "0");
+
+            // Sstron 2 관련 위치
+            AddPosition(300, PositionType.Sstron2, "Sstron 2", "0");
+
+            // 경로 연결 설정
+            ConnectPositions(100, 101);
+            ConnectPositions(101, 102);
+            ConnectPositions(102, 200);
+            ConnectPositions(200, 201);
+            ConnectPositions(201, 202);
+            ConnectPositions(202, 300);
+        }
+
+        private void AddPosition(int rfid, PositionType type, string name, string direction)
+        {
+            positionMap[rfid] = new Position(rfid, type, name, direction);
+        }
+
+        private void ConnectPositions(int pos1, int pos2)
+        {
+            if (positionMap.ContainsKey(pos1) && positionMap.ContainsKey(pos2))
+            {
+                positionMap[pos1].ConnectedPositions.Add(pos2);
+                positionMap[pos2].ConnectedPositions.Add(pos1);
+            }
+        }
+
+        public Position GetPosition(int rfid)
+        {
+            if (positionMap.ContainsKey(rfid))
+            {
+                return positionMap[rfid];
+            }
+            return null;
+        }
+
+        public List<int> FindPath(int startRfid, int endRfid)
+        {
+            if (!positionMap.ContainsKey(startRfid) || !positionMap.ContainsKey(endRfid))
+            {
+                return null;
+            }
+
+            var visited = new HashSet<int>();
+            var path = new List<int>();
+            if (FindPathDFS(startRfid, endRfid, visited, path))
+            {
+                return path;
+            }
+            return null;
+        }
+
+        private bool FindPathDFS(int current, int end, HashSet<int> visited, List<int> path)
+        {
+            if (current == end)
+            {
+                path.Add(current);
+                return true;
+            }
+
+            visited.Add(current);
+            path.Add(current);
+
+            foreach (var next in positionMap[current].ConnectedPositions)
+            {
+                if (!visited.Contains(next))
+                {
+                    if (FindPathDFS(next, end, visited, path))
+                    {
+                        return true;
+                    }
+                }
+            }
+
+            path.RemoveAt(path.Count - 1);
+            return false;
+        }
+    }
+}