..

HMI/Project/PUB.cs

@@ -8,6 +8,8 @@ using System.Media;
 using System.Runtime.InteropServices;
 using System.Windows.Forms;
 using System;
+using System.IO;
+using Newtonsoft.Json;
 
 #if SPEECH
 using Microsoft.Speech.Synthesis;
@@ -23,6 +25,14 @@ using System.Drawing;
 
 namespace Project
 {
+    public class LastPositionData
+    {
+        public string NodeId { get; set; }
+        public AgvDirection Direction { get; set; }
+        public AGVTurn Turn { get; set; }
+        public DateTime SaveTime { get; set; }
+    }
+
     public static class PUB
     {
         //public static Device.CFlag flag;
@@ -633,72 +643,8 @@ namespace Project
             if (rfidValue.isEmpty()) return null;
             return _mapNodes.Where(t => t.RfidId.Equals(rfidValue)).FirstOrDefault();
         }
-        public static List<MapNode> FindByNodeAlias(string alias)
-        {
-            var _mapNodes = PUB._mapCanvas.Nodes;
-            if (_mapNodes == null || _mapNodes.Any() == false) return null;
-            if (alias.isEmpty()) return null;
-            var lst = _mapNodes.Where(t => t.AliasName.Equals(alias));
-            if (lst.Any() == false) return null;
-            return lst.ToList();
-        }
-        public static List<MapNode> FindByNodeType(AGVNavigationCore.Models.MapNode type)
-        {
-            var _mapNodes = PUB._mapCanvas.Nodes;
-            if (_mapNodes == null || _mapNodes.Any() == false) return null;
-            var lst = _mapNodes.Where(t => t.Type.Equals(type));
-            if (lst.Any() == false) return null;
-            return lst.ToList();
-        }
-        /// <summary>
-        /// RFID 읽기 시 해당 노드 위치로 AGV 업데이트
-        /// </summary>
-        /// <param name="rfidId">읽은 RFID ID</param>
-        /// <param name="motorDirection">모터 방향 (Forward/Backward)</param>
-        /// <returns>업데이트 성공 여부</returns>
-        public static bool UpdateAGVFromRFID(ushort rfidId, AgvDirection motorDirection = AgvDirection.Forward)
-        {
-            var _mapNodes = PUB._mapCanvas.Nodes;
-            if (_virtualAGV == null || _mapNodes == null) return false;
+       
 
-            // RFID에 해당하는 노드 찾기
-            var node = _mapNodes.FirstOrDefault(n => n.RfidId == rfidId);
-            if (node != null)
-            {
-                _virtualAGV.SetPosition(node, motorDirection);
-                RefreshAGVCanvas();
-
-                log.Add($"[AGV] RFID {rfidId} 감지 → 노드 {node.Id} 위치 업데이트 (방향: {motorDirection})");
-                return true;
-            }
-
-            log.Add($"[AGV] RFID {rfidId}에 해당하는 노드를 찾을 수 없음");
-            return false;
-        }
-
-        /// <summary>
-        /// 노드ID로 AGV 위치 업데이트
-        /// </summary>
-        /// <param name="nodeId">노드 ID</param>
-        /// <param name="motorDirection">모터 방향 (Forward/Backward)</param>
-        /// <returns>업데이트 성공 여부</returns>
-        public static bool UpdateAGVToNode(string nodeId, AgvDirection motorDirection = AgvDirection.Forward)
-        {
-            var _mapNodes = PUB._mapCanvas.Nodes;
-            if (_virtualAGV == null || _mapNodes == null) return false;
-
-            var node = _mapNodes.FirstOrDefault(n => n.Id == nodeId);
-            if (node != null)
-            {
-                _virtualAGV.SetPosition(node, motorDirection);
-                RefreshAGVCanvas();
-
-                log.Add($"[AGV] 노드 {nodeId} 위치로 이동 (방향: {motorDirection})");
-                return true;
-            }
-
-            return false;
-        }
 
         /// <summary>
         /// 모든 로그를 플러시 합니다.
@@ -718,10 +664,14 @@ namespace Project
         /// <param name="direction">새로운 방향</param>
         public static void UpdateAGVDirection(AgvDirection direction)
         {
-            if (_virtualAGV == null) return;
 
-            _virtualAGV.CurrentDirection = direction;
-            RefreshAGVCanvas();
+            if (_virtualAGV == null) return;
+            if(_virtualAGV.CurrentDirection != direction)
+            {
+                PUB.log.Add($"[PUB] AGV Direction Change {_virtualAGV.CurrentDirection}->{direction}");
+                _virtualAGV.CurrentDirection = direction;
+                RefreshAGVCanvas();
+            }
         }
 
         /// <summary>
@@ -732,8 +682,13 @@ namespace Project
         {
             if (_virtualAGV == null) return;
 
-            _virtualAGV.CurrentState = state;
-            RefreshAGVCanvas();
+            if(_virtualAGV.CurrentState != state)
+            {
+                PUB.log.Add($"[PUB] AGV State Change {_virtualAGV.CurrentState}->{state}");
+                _virtualAGV.CurrentState = state;
+                RefreshAGVCanvas();
+            }
+            
         }
 
         /// <summary>
@@ -760,6 +715,51 @@ namespace Project
         }
 
       
+        #region "Starting Position Persistence"
+
+        private static string LastPosFilePath => Path.Combine(UTIL.CurrentPath, "Data", "last_pos.json");
+
+        public static void SaveLastPosition()
+        {
+            if (_virtualAGV == null || _virtualAGV.CurrentNode == null) return;
+
+            try
+            {
+                var data = new LastPositionData
+                {
+                    NodeId = _virtualAGV.CurrentNode.Id,
+                    Direction = _virtualAGV.CurrentDirection,
+                    Turn = _virtualAGV.Turn,
+                    SaveTime = DateTime.Now
+                };
+
+                string json = JsonConvert.SerializeObject(data, Formatting.Indented);
+                File.WriteAllText(LastPosFilePath, json);
+            }
+            catch (Exception ex)
+            {
+                log.AddE($"[PUB] Failed to save last position: {ex.Message}");
+            }
+        }
+
+        public static LastPositionData LoadLastPosition()
+        {
+            try
+            {
+                if (!File.Exists(LastPosFilePath)) return null;
+
+                string json = File.ReadAllText(LastPosFilePath);
+                return JsonConvert.DeserializeObject<LastPositionData>(json);
+            }
+            catch (Exception ex)
+            {
+                log.AddE($"[PUB] Failed to load last position: {ex.Message}");
+                return null;
+            }
+        }
+
+        #endregion
+
         #endregion
 
     }