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backuppc
2026-01-30 16:58:14 +09:00
parent 3a8cbd3283
commit faf13f5c37
22 changed files with 1137 additions and 417 deletions
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39
HMI/Project/fMain.cs
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@@ -289,21 +289,17 @@ namespace Project
PUB._mapCanvas.MapFileName = filePath.FullName;
// 🔥 가상 AGV 초기화 (첫 노드 위치에 생성)
if (PUB._virtualAGV == null && PUB._mapCanvas.Nodes.Count > 0)
if (PUB._virtualAGV == null)
{
var startNode = PUB._mapCanvas.Nodes.FirstOrDefault(n => n.IsNavigationNode());
if (startNode != null)
{
PUB._virtualAGV = new VirtualAGV(PUB.setting.MCID, startNode.Position, AgvDirection.Forward);
PUB._virtualAGV.LowBatteryThreshold = PUB.setting.BatteryLimit_Low;
PUB._virtualAGV.SetPosition(startNode, AgvDirection.Forward);
PUB._virtualAGV = new VirtualAGV(PUB.setting.MCID, Point.Empty, AgvDirection.Forward);
PUB._virtualAGV.LowBatteryThreshold = PUB.setting.BatteryLimit_Low;
//PUB._virtualAGV.SetPosition(startNode, AgvDirection.Forward);
// 캔버스에 AGV 리스트 설정
var agvList = new System.Collections.Generic.List<AGVNavigationCore.Controls.IAGV> { PUB._virtualAGV };
PUB._mapCanvas.AGVList = agvList;
// 캔버스에 AGV 리스트 설정
var agvList = new System.Collections.Generic.List<AGVNavigationCore.Controls.IAGV> { PUB._virtualAGV };
PUB._mapCanvas.AGVList = agvList;
PUB.log.Add($"가상 AGV 생성: {startNode.Id} 위치");
}
PUB.log.Add($"가상 AGV 생성: PointZero 위치");
}
else if (PUB._virtualAGV != null)
{
@@ -313,6 +309,25 @@ namespace Project
PUB._mapCanvas.AGVList = agvList;
}
PUB.log.Add($"맵 파일 로드 완료: {filePath.Name}, 노드 수: {result.Nodes.Count}");
// 🔥 초기 위치 설정 및 확인 화면 표시
this.BeginInvoke(new Action(() =>
{
using (var f = new Dialog.fSetCurrentPosition())
{
if (f.ShowDialog() == DialogResult.OK)
{
if (f.SelectedNode != null)
{
PUB._virtualAGV.Turn = f.SelectedTurn;
PUB._virtualAGV.SetPosition(f.SelectedNode, f.SelectedDirection);
PUB._mapCanvas.SetAGVPosition(PUB.setting.MCID, f.SelectedNode, f.SelectedDirection);
PUB.SaveLastPosition();
PUB.log.Add($"[초기위치] 설정 완료: {f.SelectedNode.Id}, {f.SelectedDirection}, Turn:{f.SelectedTurn}");
}
}
}
}));
}
else
{