..

2026-01-30 16:58:14 +09:00
parent 3a8cbd3283
commit faf13f5c37
22 changed files with 1137 additions and 417 deletions
--- a/HMI/Project/Dialog/fSetCurrentPosition.cs
+++ b/HMI/Project/Dialog/fSetCurrentPosition.cs
@@ -0,0 +1,128 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+using AGVNavigationCore.Models;
+using AGVNavigationCore.Controls;
+
+namespace Project.Dialog
+{
+    public partial class fSetCurrentPosition : Form
+    {
+        private UnifiedAGVCanvas _canvas;
+        private MapNode _selectedNode;
+        private AgvDirection _selectedDirection = AgvDirection.Forward;
+        private AGVTurn _selectedTurn = AGVTurn.None;
+
+        public MapNode SelectedNode => _selectedNode;
+        public AgvDirection SelectedDirection => _selectedDirection;
+        public AGVTurn SelectedTurn => _selectedTurn;
+
+        public fSetCurrentPosition()
+        {
+            InitializeComponent();
+            if (PUB.setting.FullScreen) this.WindowState = FormWindowState.Maximized;
+            SetupCanvas();
+            WireEvents();
+            this.Load += FSetCurrentPosition_Load;
+
+        }
+
+        private void SetupCanvas()
+        {
+            _canvas = new UnifiedAGVCanvas
+            {
+                Dock = DockStyle.Fill,
+                Mode = UnifiedAGVCanvas.CanvasMode.Run,
+                BackColor = Color.FromArgb(45, 45, 48),
+                 ShowGrid=false,
+            };
+            mainLayout.Controls.Add(_canvas, 1, 0);
+        }
+
+        private void WireEvents()
+        {
+            _canvas.NodeSelect += _canvas_NodeSelect;
+            btnForward.Click += (s, e) => { _selectedDirection = AgvDirection.Forward; UpdateStatus(); };
+            btnBackward.Click += (s, e) => { _selectedDirection = AgvDirection.Backward; UpdateStatus(); };
+            btnTurnNone.Click += (s, e) => { _selectedTurn = AGVTurn.None; UpdateStatus(); };
+            btnTurnL90.Click += (s, e) => { _selectedTurn = AGVTurn.L90; UpdateStatus(); };
+            btnTurnR90.Click += (s, e) => { _selectedTurn = AGVTurn.R90; UpdateStatus(); };
+            btnOK.Click += BtnOK_Click;
+            btnCancel.Click += (s, e) => { this.DialogResult = DialogResult.Cancel; this.Close(); };
+        }
+
+        private void FSetCurrentPosition_Load(object sender, EventArgs e)
+        {
+            // 맵 데이터 강제 복사 (PUB과 동일한 맵 사용)
+            if (PUB._mapCanvas != null)
+            {
+                _canvas.SetMapData(PUB._mapCanvas.Nodes, PUB._mapCanvas.Labels, PUB._mapCanvas.Images, PUB._mapCanvas.Marks, PUB._mapCanvas.Magnets);
+            }
+
+            // 마지막 위치 로드
+            var lastPos = PUB.LoadLastPosition();
+            if (lastPos != null)
+            {
+                _selectedNode = _canvas.Nodes.FirstOrDefault(n => n.Id == lastPos.NodeId);
+                _selectedDirection = lastPos.Direction;
+                _selectedTurn = lastPos.Turn;
+                
+                if (_selectedNode != null)
+                {
+                    _canvas.SelectedNode = _selectedNode;
+                    _canvas.PanToNode(_selectedNode.Id);
+                    UpdateStatus(isRestore: true);
+                }
+            }
+            this.Show();
+            _canvas.ResetZoom();
+        }
+
+        private void _canvas_NodeSelect(object sender, NodeBase node, MouseEventArgs e)
+        {
+            if (node is MapNode mapNode && mapNode.IsNavigationNode())
+            {
+                _selectedNode = mapNode;
+                _canvas.SelectedNode = mapNode;
+                UpdateStatus();
+            }
+        }
+
+        private void UpdateStatus(bool isRestore = false)
+        {
+            if (_selectedNode == null)
+            {
+                _lblStatus.Text = "위치를 선택해 주세요.";
+                _lblStatus.ForeColor = Color.White;
+                return;
+            }
+
+            string dirStr = _selectedDirection == AgvDirection.Forward ? "전진" : "후진";
+            _lblStatus.Text = $"{(isRestore ? "[복원됨] " : "")}위치: {_selectedNode.Id} ({_selectedNode.ID2}) | 방향: {dirStr} | Turn: {_selectedTurn}";
+            _lblStatus.ForeColor = isRestore ? Color.Yellow : Color.Cyan;
+            
+            // 캔버스에 가상 AGV 미리보기 (선택 사항)
+            _canvas.Invalidate();
+        }
+
+        private void BtnOK_Click(object sender, EventArgs e)
+        {
+            if (_selectedNode == null)
+            {
+                MessageBox.Show("AGV의 현재 위치를 맵에서 클릭하여 선택해 주세요.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Warning);
+                return;
+            }
+
+            this.DialogResult = DialogResult.OK;
+            this.Close();
+        }
+
+       
+    }
+}