주요 변경사항:
- ConnectedMapNodes 속성 추가로 런타임 객체 참조 지원
- 이미지 에디터 UI 개선 (ImageEditorCanvas 추가)
- 연결 생성 버그 수정: 양방향 연결 생성
- 연결 삭제 버그 수정: 양방향 모두 제거
- CleanupDuplicateConnections 비활성화 (단방향 변환 버그)
🤖 Generated with [Claude Code](https://claude.com/claude-code)
Co-Authored-By: Claude <noreply@anthropic.com>
- Add ProgressLogForm.cs for test result logging with ListView
- Implement real UI workflow simulation in path prediction test
- Test all connected node pairs to all docking targets
- Support CSV export for test results
- Keep List<string> ConnectedNodes structure (reverted List<MapNode> changes)
- Display RFID values in log for better readability
🤖 Generated with [Claude Code](https://claude.com/claude-code)
Co-Authored-By: Claude <noreply@anthropic.com>
## Summary
- Changed Path property type from List<string> to List<MapNode> for better type safety
- Eliminated O(n) node lookups throughout pathfinding system
- Added DirectionalHelper with motor direction consistency bonus/penalty
- Updated all path processing to work with MapNode objects directly
## Files Modified
- AGVPathResult.cs: Path property and CreateSuccess() method signature
- AStarPathfinder.cs: Path generation and node lookup optimization
- AGVPathfinder.cs: Path processing with MapNode objects
- DirectionChangePlanner.cs: Direction change planning with MapNode paths
- DockingValidator.cs: Docking validation with direct node access
- UnifiedAGVCanvas.Events.cs: Path visualization with MapNode iteration
- UnifiedAGVCanvas.cs: Destination node access
- VirtualAGV.cs: Path conversion to string IDs for storage
- DirectionalHelper.cs: Enhanced with motor direction awareness
- NodeMotorInfo.cs: Updated for new path structure
## Benefits
- Performance: Eliminated O(n) lookup searches
- Type Safety: Compile-time checking for node properties
- Code Quality: Direct property access instead of repeated lookups
- Maintainability: Single source of truth for node data
## Build Status
✅ AGVNavigationCore: Build successful (0 errors, 2 warnings)
🤖 Generated with Claude Code
Co-Authored-By: Claude <noreply@anthropic.com>
Removed from AGVPathfinder.cs:
- ConvertToDetailedPath() - unused private method
- CalculatePathDistance() - unused private method
- ValidatePath() - unused public method
- ValidatePhysicalConstraints() - only called by ValidatePath (now removed)
- OptimizePath() - unused public method (TODO placeholder only)
- GetPathSummary() - unused public method (debug helper)
Kept essential methods:
- FindNearestJunction() - used by FindPath_test
- FindNearestJunctionOnPath() - used by FindPath_test
- MakeDetailData() - used by FindPath_test
- MakeMagnetDirection() - used by FindPath_test
Removed from VirtualAGV.cs:
- _targetId field - never used
- _currentId field - never used
- _rotationSpeed field - never used (read-only, no references)
Removed from UnifiedAGVCanvas.cs:
- AGVSelected event - unused
- AGVStateChanged event - unused
Result: Cleaner codebase, reduced technical debt, easier maintenance
🤖 Generated with [Claude Code](https://claude.com/claude-code)
Co-Authored-By: Claude <noreply@anthropic.com>
- Fixed critical issue in ConvertToDetailedPath where motor direction was not passed to GetRequiredMagnetDirection
- Motor direction is essential for backward movement as Left/Right directions must be inverted
- Modified AGVPathfinder.cs line 280 to pass currentDirection parameter
- Ensures backward motor direction properly inverts magnet sensor directions
feat: Add waypoint support to pathfinding system
- Added FindPath overload with params string[] waypointNodeIds in AStarPathfinder
- Supports sequential traversal through multiple intermediate nodes
- Validates waypoints and prevents duplicates in sequence
- Returns combined path result with aggregated metrics
feat: Implement path result merging with DetailedPath preservation
- Added CombineResults method in AStarPathfinder for intelligent path merging
- Automatically deduplicates nodes when last of previous path equals first of current
- Preserves DetailedPath information including motor and magnet directions
- Essential for multi-segment path operations
feat: Integrate magnet direction with motor direction awareness
- Modified JunctionAnalyzer.GetRequiredMagnetDirection to accept AgvDirection parameter
- Inverts Left/Right magnet directions when moving Backward
- Properly handles motor direction context throughout pathfinding
feat: Add automatic start node selection in simulator
- Added SetStartNodeToCombo method to SimulatorForm
- Automatically selects start node combo box when AGV position is set via RFID
- Improves UI usability and workflow efficiency
🤖 Generated with [Claude Code](https://claude.com/claude-code)
Co-Authored-By: Claude <noreply@anthropic.com>
- Reorganized AGVMapEditor, AGVNavigationCore, AGVSimulator into AGVLogic folder
- Removed deleted project files from root folder tracking
- Updated CLAUDE.md with AGVLogic-specific development guidelines
- Clean separation of independent project development from main codebase
- Projects now ready for independent development and future integration
🤖 Generated with Claude Code
Co-Authored-By: Claude <noreply@anthropic.com>
