Path Direction Detection (AGVPathfinder.cs):
- Added GetNextNodeByDirection() method to determine next node based on Forward/Backward direction
- Implements vector-based angle calculation for intelligent node selection
- Forward: selects node in continuous direction
- Backward: selects node in opposite direction
- Validates if selected direction matches path requirements
Logic additions at line 150-167:
- Detects next node for Forward and Backward directions
- Checks if backward movement aligns with path's next node
- Returns path with appropriate motor direction (ReverseDirection when applicable)
Improved Path Visualization (UnifiedAGVCanvas.Events.cs):
- Refined equilateral triangle arrows (8 pixels, symmetric)
- 50% transparency for purple path lines with 2x thickness
- Bidirectional path detection (darker color for repeated segments)
- Better visual distinction for calculated paths
Technical Details:
- Added System.Drawing using statement for PointF operations
- Added DirectionalPathfinder initialization
- Vector normalization for angle-based decisions
- Dot product calculation for direction similarity scoring
Result: AGV can now intelligently select next node based on current movement direction and validate path feasibility
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Co-Authored-By: Claude <noreply@anthropic.com>
Enhanced path drawing with better visibility:
1. Arrow improvements:
- Changed from line-based arrows to filled triangle shapes
- Increased arrow size by 1.5x for better visibility
- Added polygon fill with outline for clearer identification
2. Path line improvements:
- Added 50% transparency to purple path color (Alpha: 128)
- Increased line thickness by 2x (from 4 to 8 pixels)
- Improved visual contrast and clarity
3. Bidirectional path detection:
- Detect routes that traverse the same segment multiple times
- Display bidirectional paths with higher opacity (darker color, Alpha: 200)
- Visual distinction helps identify round-trip routes
Changes in UnifiedAGVCanvas.Events.cs:
- Modified DrawDirectionArrow() to use FillPolygon instead of DrawLine
- Enhanced DrawPath() with transparency, thickness, and bidirectional detection
- Added System.Collections.Generic using statement
Result: Much better visual identification of calculated paths in HMI
🤖 Generated with [Claude Code](https://claude.com/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
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Co-Authored-By: Claude <noreply@anthropic.com>
- Fix grid line coordinate transformation (world to screen)
- Properly align grid with zoom and pan transformations
- Calculate grid start position at GRID_SIZE multiples
- Draw grid lines across entire visible canvas area
- Ensure grid lines render completely regardless of zoom level
- Grid now displays consistently at all zoom magnifications
Fixes: Grid no longer disappears or renders incompletely when zoomed in
🤖 Generated with Claude Code
Co-Authored-By: Claude <noreply@anthropic.com>
- Support middle mouse button (wheel) for map panning alongside left button
- Middle button drag always enables panning regardless of edit mode
- Change cursor to hand icon during middle button panning for clarity
- Left button panning remains unchanged (mode-dependent behavior preserved)
🤖 Generated with Claude Code
Co-Authored-By: Claude <noreply@anthropic.com>
- Fix ScreenToWorld coordinate transformation bug in wheel event
- Implement proper mouse cursor-centered zoom calculation
- Calculate world coordinates before zoom and maintain them after zoom
- Adjust pan offset to keep mouse cursor pointing at same world position
- Remove matrix-based transformation that was causing coordinate issues
Fixes: Wheel zoom now correctly centers on mouse cursor position and no longer causes erratic panning
🤖 Generated with 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>
