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Cs_HMI/Project/StateMachine/AGVStateManager.cs

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+using System;
+using System.Collections.Generic;
+
+namespace Project.StateMachine
+{
+    public class AGVStateManager
+    {
+        public enum AGVState
+        {
+            Idle,
+            Moving,
+            Loading,
+            Unloading,
+            Error
+        }
+
+        public enum AGVCommand
+        {
+            MoveToTops1,
+            MoveToSstron1,
+            MoveToSstron2,
+            PickupCart,
+            DropoffCart,
+            EmergencyStop
+        }
+
+        private AGVState currentState;
+        private static AGVStateManager instance;
+        private AGVPosition positionManager;
+
+        private AGVStateManager()
+        {
+            currentState = AGVState.Idle;
+            positionManager = AGVPosition.Instance;
+        }
+
+        public static AGVStateManager Instance
+        {
+            get
+            {
+                if (instance == null)
+                {
+                    instance = new AGVStateManager();
+                }
+                return instance;
+            }
+        }
+
+        public AGVState CurrentState
+        {
+            get { return currentState; }
+        }
+
+        public bool ProcessCommand(AGVCommand command)
+        {
+            switch (command)
+            {
+                case AGVCommand.MoveToTops1:
+                    return HandleMoveCommand(100); // Tops 1 RFID
+                case AGVCommand.MoveToSstron1:
+                    return HandleMoveCommand(200); // Sstron 1 RFID
+                case AGVCommand.MoveToSstron2:
+                    return HandleMoveCommand(300); // Sstron 2 RFID
+                case AGVCommand.PickupCart:
+                    return HandlePickupCommand();
+                case AGVCommand.DropoffCart:
+                    return HandleDropoffCommand();
+                case AGVCommand.EmergencyStop:
+                    return HandleEmergencyStop();
+                default:
+                    return false;
+            }
+        }
+
+        private bool HandleMoveCommand(int targetRfid)
+        {
+            if (currentState != AGVState.Idle && currentState != AGVState.Moving)
+            {
+                return false;
+            }
+
+            // 현재 위치에서 목표 위치까지의 경로를 찾음
+            var currentRfid = GetCurrentRfid(); // 실제 구현에서는 현재 RFID 값을 가져와야 함
+            var path = positionManager.FindPath(currentRfid, targetRfid);
+
+            if (path == null)
+            {
+                return false;
+            }
+
+            currentState = AGVState.Moving;
+            // 경로를 따라 이동하는 로직 구현
+            return true;
+        }
+
+        private bool HandlePickupCommand()
+        {
+            if (currentState != AGVState.Moving)
+            {
+                return false;
+            }
+
+            // 현재 위치가 Tops 1인지 확인
+            var currentRfid = GetCurrentRfid();
+            var position = positionManager.GetPosition(currentRfid);
+            
+            if (position == null || position.Type != AGVPosition.PositionType.Tops1)
+            {
+                return false;
+            }
+
+            currentState = AGVState.Loading;
+            // 카트 적재 로직 구현
+            return true;
+        }
+
+        private bool HandleDropoffCommand()
+        {
+            if (currentState != AGVState.Moving)
+            {
+                return false;
+            }
+
+            // 현재 위치가 Sstron 1 또는 Sstron 2인지 확인
+            var currentRfid = GetCurrentRfid();
+            var position = positionManager.GetPosition(currentRfid);
+            
+            if (position == null || 
+                (position.Type != AGVPosition.PositionType.Sstron1 && 
+                 position.Type != AGVPosition.PositionType.Sstron2))
+            {
+                return false;
+            }
+
+            currentState = AGVState.Unloading;
+            // 카트 하역 로직 구현
+            return true;
+        }
+
+        private bool HandleEmergencyStop()
+        {
+            currentState = AGVState.Error;
+            // 비상 정지 로직 구현
+            return true;
+        }
+
+        private int GetCurrentRfid()
+        {
+            // 실제 구현에서는 AGV의 현재 RFID 값을 반환해야 함
+            // 예시로 100(Tops 1)을 반환
+            return 100;
+        }
+
+        public void UpdateState(AGVState newState)
+        {
+            currentState = newState;
+        }
+    }
+}