..

Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.Designer.cs

@@ -67,6 +67,16 @@ namespace AGVMapEditor.Forms
             this.toolStripSeparator2 = new System.Windows.Forms.ToolStripSeparator();
             this.toolStripButton1 = new System.Windows.Forms.ToolStripDropDownButton();
             this.allTurnLeftRightCrossOnToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.tabPage2 = new System.Windows.Forms.TabPage();
+            this.lstMagnetDirection = new System.Windows.Forms.ListBox();
+            this.toolStrip4 = new System.Windows.Forms.ToolStrip();
+            this.btDirDelete = new System.Windows.Forms.ToolStripButton();
+            this.btMakeDirdata = new System.Windows.Forms.ToolStripButton();
+            this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
+            this.button1 = new System.Windows.Forms.Button();
+            this.button2 = new System.Windows.Forms.Button();
+            this.button3 = new System.Windows.Forms.Button();
+            this.toolStripButton2 = new System.Windows.Forms.ToolStripButton();
             this.statusStrip1.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.splitContainer1)).BeginInit();
             this.splitContainer1.Panel1.SuspendLayout();
@@ -78,6 +88,9 @@ namespace AGVMapEditor.Forms
             this.toolStrip1.SuspendLayout();
             this.toolStrip3.SuspendLayout();
             this.toolStrip2.SuspendLayout();
+            this.tabPage2.SuspendLayout();
+            this.toolStrip4.SuspendLayout();
+            this.tableLayoutPanel1.SuspendLayout();
             this.SuspendLayout();
             // 
             // statusStrip1
@@ -120,6 +133,7 @@ namespace AGVMapEditor.Forms
             // 
             this.tabControl1.Controls.Add(this.tabPageNodes);
             this.tabControl1.Controls.Add(this.tabPage1);
+            this.tabControl1.Controls.Add(this.tabPage2);
             this.tabControl1.Dock = System.Windows.Forms.DockStyle.Fill;
             this.tabControl1.Location = new System.Drawing.Point(0, 0);
             this.tabControl1.Name = "tabControl1";
@@ -444,6 +458,120 @@ namespace AGVMapEditor.Forms
             this.allTurnLeftRightCrossOnToolStripMenuItem.Text = "All TurnLeft/Right/Cross On";
             this.allTurnLeftRightCrossOnToolStripMenuItem.Click += new System.EventHandler(this.allTurnLeftRightCrossOnToolStripMenuItem_Click);
             // 
+            // tabPage2
+            // 
+            this.tabPage2.Controls.Add(this.lstMagnetDirection);
+            this.tabPage2.Controls.Add(this.tableLayoutPanel1);
+            this.tabPage2.Controls.Add(this.toolStrip4);
+            this.tabPage2.Location = new System.Drawing.Point(4, 22);
+            this.tabPage2.Name = "tabPage2";
+            this.tabPage2.Size = new System.Drawing.Size(292, 309);
+            this.tabPage2.TabIndex = 2;
+            this.tabPage2.Text = "방향 관리";
+            this.tabPage2.UseVisualStyleBackColor = true;
+            // 
+            // lstMagnetDirection
+            // 
+            this.lstMagnetDirection.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.lstMagnetDirection.FormattingEnabled = true;
+            this.lstMagnetDirection.ItemHeight = 12;
+            this.lstMagnetDirection.Location = new System.Drawing.Point(0, 25);
+            this.lstMagnetDirection.Name = "lstMagnetDirection";
+            this.lstMagnetDirection.Size = new System.Drawing.Size(292, 246);
+            this.lstMagnetDirection.TabIndex = 3;
+            // 
+            // toolStrip4
+            // 
+            this.toolStrip4.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
+            this.btDirDelete,
+            this.btMakeDirdata,
+            this.toolStripButton2});
+            this.toolStrip4.Location = new System.Drawing.Point(0, 0);
+            this.toolStrip4.Name = "toolStrip4";
+            this.toolStrip4.Size = new System.Drawing.Size(292, 25);
+            this.toolStrip4.TabIndex = 5;
+            this.toolStrip4.Text = "toolStrip4";
+            // 
+            // btDirDelete
+            // 
+            this.btDirDelete.Image = ((System.Drawing.Image)(resources.GetObject("btDirDelete.Image")));
+            this.btDirDelete.ImageTransparentColor = System.Drawing.Color.Magenta;
+            this.btDirDelete.Name = "btDirDelete";
+            this.btDirDelete.Size = new System.Drawing.Size(61, 22);
+            this.btDirDelete.Text = "Delete";
+            this.btDirDelete.Click += new System.EventHandler(this.btDirDelete_Click);
+            // 
+            // btMakeDirdata
+            // 
+            this.btMakeDirdata.Alignment = System.Windows.Forms.ToolStripItemAlignment.Right;
+            this.btMakeDirdata.Image = ((System.Drawing.Image)(resources.GetObject("btMakeDirdata.Image")));
+            this.btMakeDirdata.ImageTransparentColor = System.Drawing.Color.Magenta;
+            this.btMakeDirdata.Name = "btMakeDirdata";
+            this.btMakeDirdata.Size = new System.Drawing.Size(69, 22);
+            this.btMakeDirdata.Text = "Remake";
+            this.btMakeDirdata.Click += new System.EventHandler(this.toolStripButton3_Click);
+            // 
+            // tableLayoutPanel1
+            // 
+            this.tableLayoutPanel1.ColumnCount = 3;
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
+            this.tableLayoutPanel1.Controls.Add(this.button1, 0, 0);
+            this.tableLayoutPanel1.Controls.Add(this.button2, 1, 0);
+            this.tableLayoutPanel1.Controls.Add(this.button3, 2, 0);
+            this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Bottom;
+            this.tableLayoutPanel1.Location = new System.Drawing.Point(0, 271);
+            this.tableLayoutPanel1.Name = "tableLayoutPanel1";
+            this.tableLayoutPanel1.RowCount = 1;
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 20F));
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(292, 38);
+            this.tableLayoutPanel1.TabIndex = 6;
+            // 
+            // button1
+            // 
+            this.button1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.button1.Location = new System.Drawing.Point(3, 3);
+            this.button1.Name = "button1";
+            this.button1.Size = new System.Drawing.Size(91, 32);
+            this.button1.TabIndex = 0;
+            this.button1.Text = "Left";
+            this.button1.UseVisualStyleBackColor = true;
+            this.button1.Click += new System.EventHandler(this.button1_Click);
+            // 
+            // button2
+            // 
+            this.button2.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.button2.Location = new System.Drawing.Point(100, 3);
+            this.button2.Name = "button2";
+            this.button2.Size = new System.Drawing.Size(91, 32);
+            this.button2.TabIndex = 0;
+            this.button2.Text = "Straight";
+            this.button2.UseVisualStyleBackColor = true;
+            this.button2.Click += new System.EventHandler(this.button2_Click);
+            // 
+            // button3
+            // 
+            this.button3.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.button3.Location = new System.Drawing.Point(197, 3);
+            this.button3.Name = "button3";
+            this.button3.Size = new System.Drawing.Size(92, 32);
+            this.button3.TabIndex = 0;
+            this.button3.Text = "Right";
+            this.button3.UseVisualStyleBackColor = true;
+            this.button3.Click += new System.EventHandler(this.button3_Click);
+            // 
+            // toolStripButton2
+            // 
+            this.toolStripButton2.Alignment = System.Windows.Forms.ToolStripItemAlignment.Right;
+            this.toolStripButton2.Image = ((System.Drawing.Image)(resources.GetObject("toolStripButton2.Image")));
+            this.toolStripButton2.ImageTransparentColor = System.Drawing.Color.Magenta;
+            this.toolStripButton2.Name = "toolStripButton2";
+            this.toolStripButton2.Size = new System.Drawing.Size(54, 22);
+            this.toolStripButton2.Text = "Clear";
+            this.toolStripButton2.Click += new System.EventHandler(this.toolStripButton2_Click);
+            // 
             // MainForm
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 12F);
@@ -475,6 +603,11 @@ namespace AGVMapEditor.Forms
             this.toolStrip3.PerformLayout();
             this.toolStrip2.ResumeLayout(false);
             this.toolStrip2.PerformLayout();
+            this.tabPage2.ResumeLayout(false);
+            this.tabPage2.PerformLayout();
+            this.toolStrip4.ResumeLayout(false);
+            this.toolStrip4.PerformLayout();
+            this.tableLayoutPanel1.ResumeLayout(false);
             this.ResumeLayout(false);
             this.PerformLayout();
 
@@ -520,5 +653,15 @@ namespace AGVMapEditor.Forms
         private System.Windows.Forms.ToolStripSeparator toolStripSeparator2;
         private System.Windows.Forms.ToolStripDropDownButton toolStripButton1;
         private System.Windows.Forms.ToolStripMenuItem allTurnLeftRightCrossOnToolStripMenuItem;
+        private System.Windows.Forms.TabPage tabPage2;
+        private System.Windows.Forms.ListBox lstMagnetDirection;
+        private System.Windows.Forms.ToolStrip toolStrip4;
+        private System.Windows.Forms.ToolStripButton btDirDelete;
+        private System.Windows.Forms.ToolStripButton btMakeDirdata;
+        private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1;
+        private System.Windows.Forms.Button button1;
+        private System.Windows.Forms.Button button2;
+        private System.Windows.Forms.Button button3;
+        private System.Windows.Forms.ToolStripButton toolStripButton2;
     }
 }

Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.cs

@@ -10,6 +10,7 @@ using AGVNavigationCore.Models;
 using MapImage = AGVNavigationCore.Models.MapImage;
 using MapLabel = AGVNavigationCore.Models.MapLabel;
 using Newtonsoft.Json;
+using System.ComponentModel;
 
 namespace AGVMapEditor.Forms
 {
@@ -44,7 +45,7 @@ namespace AGVMapEditor.Forms
             {
                 // RFID가 있으면 RFID(노드이름), 없으면 NodeID(노드이름) 형태로 표시
                 string fromDisplay = FromRfidId > 0
-                    ? $"{FromRfidId:0000}(*{FromNodeId.PadLeft(4,'0')})"
+                    ? $"{FromRfidId:0000}(*{FromNodeId.PadLeft(4, '0')})"
                     : $"(*{FromNodeId})";
 
                 string toDisplay = ToRfidId > 0
@@ -58,6 +59,7 @@ namespace AGVMapEditor.Forms
         }
 
 
+
         #endregion
 
         #region Constructor
@@ -105,6 +107,7 @@ namespace AGVMapEditor.Forms
         {
             _mapCanvas = new UnifiedAGVCanvas();
             _mapCanvas.Dock = DockStyle.Fill;
+            _mapCanvas.Mode = UnifiedAGVCanvas.CanvasMode.Edit;
 
             // 이벤트 연결
             _mapCanvas.NodeAdded += OnNodeAdded;
@@ -981,6 +984,9 @@ namespace AGVMapEditor.Forms
 
             // 이미지 노드인 경우 편집 버튼 활성화
             UpdateImageEditButton();
+
+            // 마그넷 방향 리스트 업데이트
+            RefreshMagnetDirectionList();
         }
 
         /// <summary>
@@ -996,6 +1002,7 @@ namespace AGVMapEditor.Forms
         {
             _propertyGrid.SelectedObject = null;
             DisableImageEditButton();
+            lstMagnetDirection.DataSource = null;
         }
 
         /// <summary>
@@ -1101,6 +1108,13 @@ namespace AGVMapEditor.Forms
             // 변경된 속성명 디버그 출력
             System.Diagnostics.Debug.WriteLine($"[PropertyGrid] 속성 변경됨: {e.ChangedItem.PropertyDescriptor.Name}");
 
+            // 🔥 MagnetDirectionInfo 변경 처리
+            if (_propertyGrid.SelectedObject is MagnetDirectionInfo magInfo)
+            {
+                ApplyDirectionChange(magInfo);
+                return;
+            }
+
             // RFID 값 변경시 중복 검사
             if (e.ChangedItem.PropertyDescriptor.Name == "RFID")
             {
@@ -1308,5 +1322,356 @@ namespace AGVMapEditor.Forms
                 UpdateStatusBar($"모든 노드의 회전/교차 속성 활성화 완료");
             }
         }
+
+        /// <summary>
+        /// 마그넷 방향 정보를 표현하는 클래스
+        /// </summary>
+        public class MagnetDirectionInfo
+        {
+            [JsonIgnore, Browsable(false)]
+            public MapNode FromNode { get; set; }
+
+            [JsonIgnore, Browsable(false)]
+            public MapNode ToNode { get; set; }
+
+            [Category("연결 정보")]
+            [DisplayName("출발 노드")]
+            [Description("출발 노드의 ID입니다.")]
+            [ReadOnly(true)]
+            public string FromNodeId => FromNode?.ID2 ?? "Unknown";
+
+            [Category("연결 정보")]
+            [DisplayName("도착 노드")]
+            [Description("도착 노드의 ID입니다.")]
+            [ReadOnly(true)]
+            public string ToNodeId => ToNode?.ID2 ?? "Unknown";
+
+            [Category("설정")]
+            [DisplayName("방향")]
+            [Description("이동할 마그넷 방향입니다.")]
+            public MagnetPosition? Direction { get; set; }
+
+            public override string ToString()
+            {
+                string dirStr = Direction.HasValue ? Direction.Value.ToString() : "None";
+
+                string fromStr = FromNode != null ? FromNode.ID2 : "Unknown";
+                string toStr = ToNode != null ? ToNode.ID2 : "Unknown";
+
+                return $"{fromStr} -> {toStr} : {dirStr}";
+            }
+        }
+
+
+
+
+        private void RefreshMagnetDirectionList()
+        {
+            // 현재 선택된 항목 기억
+            int selectedIndex = lstMagnetDirection.SelectedIndex;
+
+            // 데이터 소스 초기화 (UI 갱신 강제)
+            lstMagnetDirection.DataSource = null;
+            lstMagnetDirection.Items.Clear();
+
+            if (this._mapCanvas.Nodes == null) return;
+
+            var directions = new List<MagnetDirectionInfo>();
+
+            // 모든 노드 검색
+            foreach (var nodeItem in this._mapCanvas.Nodes)
+            {
+                if (nodeItem is MapNode node)
+                {
+                    if (node.MagnetDirections != null && node.MagnetDirections.Count > 0)
+                    {
+                        foreach (var kvp in node.MagnetDirections)
+                        {
+                            var neighborId = kvp.Key;
+                            var dir = kvp.Value;
+                            var neighbor = this._mapCanvas.Nodes.FirstOrDefault(t => t.Id == neighborId);
+
+                            directions.Add(new MagnetDirectionInfo
+                            {
+                                FromNode = node,
+                                ToNode = neighbor,
+                                Direction = dir
+                            });
+                        }
+                    }
+                }
+            }
+
+            // 보기 좋게 정렬 (FromNode ID 순)
+            directions.Sort((a, b) => string.Compare(a.FromNode.Id, b.FromNode.Id));
+
+            if (directions.Count > 0)
+            {
+                lstMagnetDirection.DataSource = directions;
+            }
+
+            // 이벤트 연결
+            lstMagnetDirection.SelectedIndexChanged -= LstMagnetDirection_SelectedIndexChanged;
+            lstMagnetDirection.SelectedIndexChanged += LstMagnetDirection_SelectedIndexChanged;
+
+            lstMagnetDirection.DoubleClick -= LstMagnetDirection_DoubleClick;
+            lstMagnetDirection.DoubleClick += LstMagnetDirection_DoubleClick;
+
+            // 선택 항목 복원 (가능한 경우) -> 선택된 객체가 다르게 생성되므로 인덱스로 복원 시도
+            if (selectedIndex >= 0 && selectedIndex < lstMagnetDirection.Items.Count)
+            {
+                lstMagnetDirection.SelectedIndex = selectedIndex;
+            }
+        }
+
+        private void LstMagnetDirection_SelectedIndexChanged(object sender, EventArgs e)
+        {
+            if (lstMagnetDirection.SelectedItem is MagnetDirectionInfo info)
+            {
+                // 버튼 상태 업데이트
+                UpdateDirectionButtons(info);
+            }
+        }
+
+        private void LstMagnetDirection_DoubleClick(object sender, EventArgs e)
+        {
+            if (lstMagnetDirection.SelectedItem is MagnetDirectionInfo info)
+            {
+                var node = info.FromNode;
+                if (node != null)
+                {
+                    // 방향 순환
+                    if (info.Direction == MagnetPosition.S) info.Direction = MagnetPosition.L;
+                    else if (info.Direction == MagnetPosition.L) info.Direction = MagnetPosition.R;
+                    else if (info.Direction == MagnetPosition.R) info.Direction = MagnetPosition.S;
+
+                    ApplyDirectionChange(info);
+                }
+            }
+        }
+
+        private void ApplyDirectionChange(MagnetDirectionInfo info)
+        {
+            var node = info.FromNode;
+            if (node == null) return;
+
+            // 딕셔너리 업데이트
+            if (node.MagnetDirections == null)
+                node.MagnetDirections = new Dictionary<string, MagnetPosition>();
+
+            if (info.ToNode != null)
+            {
+                if (info.Direction == null)
+                {
+                    if (node.MagnetDirections.ContainsKey(info.ToNode.Id))
+                        node.MagnetDirections.Remove(info.ToNode.Id);
+                }
+                else
+                {
+                    node.MagnetDirections[info.ToNode.Id] = info.Direction.Value;
+                }
+
+                _hasChanges = true;
+                UpdateTitle();
+
+                // 리스트 갱신
+                RefreshMagnetDirectionList();
+
+                // 캔버스 등 갱신
+                _mapCanvas.Invalidate();
+
+                // 속성창 갱신 (선택된 객체가 바뀌었을 수 있으므로 다시 설정은 RefreshMagnetDirectionList의 선택 복원에서 처리됨)
+                _propertyGrid.Refresh();
+            }
+        }
+
+        private void btMakeDirdata_Click(object sender, EventArgs e)
+        {
+
+        }
+
+        private void toolStripButton3_Click(object sender, EventArgs e)
+        {
+            if (this._mapCanvas.Nodes == null || this._mapCanvas.Nodes.Count == 0)
+                return;
+
+            // 기존 목록을 모두 지울지 물어보고
+            var result = MessageBox.Show(
+                "마그넷방향을 자동 생성할까요? 없는 부분만 추가됩니다.",
+                "마그넷 방향 자동 생성",
+                MessageBoxButtons.YesNo,
+                MessageBoxIcon.Question);
+
+            if (result != DialogResult.Yes)
+                return;
+
+            bool clearAll = false;// (result == DialogResult.Yes);
+
+            int updateCount = 0;
+
+            foreach (var node in this._mapCanvas.Nodes)
+            {
+                // 연결 노드가 3개 이상인 노드들을 찾아서
+                if (node.Type == NodeType.Normal && node is MapNode mapNode)
+                {
+                    if (clearAll)
+                    {
+                        if (mapNode.MagnetDirections != null)
+                            mapNode.MagnetDirections.Clear();
+                        else mapNode.MagnetDirections = new Dictionary<string, MagnetPosition>();
+                    }
+
+                    if (mapNode.ConnectedNodes.Count >= 3)
+                    {
+                        // 마그넷 방향 딕셔너리가 없으면 생성
+                        if (mapNode.MagnetDirections == null)
+                            mapNode.MagnetDirections = new Dictionary<string, MagnetPosition>();
+
+                        foreach (var connectedId in mapNode.ConnectedNodes)
+                        {
+                            // 이미 설정된 경우 건너뜀 (모두 초기화 안 한 경우)
+                            if (!clearAll && mapNode.MagnetDirections.ContainsKey(connectedId))
+                                continue;
+
+                            // 모두 자동 생성을 해준다 (기본은 직진으로)
+                            mapNode.MagnetDirections[connectedId] = MagnetPosition.S;
+                            updateCount++;
+                        }
+                    }
+                }
+            }
+
+            if (updateCount > 0)
+            {
+                _hasChanges = true;
+                UpdateTitle();
+
+                // 현재 선택된 노드의 속성창 및 리스트 갱신
+                UpdateNodeProperties();
+
+                MessageBox.Show($"총 {updateCount}개의 연결에 대해 마그넷 방향(직진)이 설정되었습니다.", "완료", MessageBoxButtons.OK, MessageBoxIcon.Information);
+            }
+            else
+            {
+                MessageBox.Show("변경된 사항이 없습니다.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
+            }
+        }
+
+        private void btDirDelete_Click(object sender, EventArgs e)
+        {
+            if (lstMagnetDirection.SelectedItem is MagnetDirectionInfo info)
+            {
+                // 선택된 방향정보를 삭제한다.
+                var result = MessageBox.Show(
+                    $"선택한 마그넷 방향 정보를 삭제하시겠습니까?\n{info.FromNodeId} -> {info.ToNodeId} : {info.Direction}",
+                    "삭제 확인",
+                    MessageBoxButtons.YesNo,
+                    MessageBoxIcon.Question);
+
+                if (result == DialogResult.Yes)
+                {
+                    if (info.FromNode != null && info.FromNode.MagnetDirections != null)
+                    {
+                        if (info.ToNode != null && info.FromNode.MagnetDirections.ContainsKey(info.ToNode.Id))
+                        {
+                            info.FromNode.MagnetDirections.Remove(info.ToNode.Id);
+
+                            _hasChanges = true;
+                            UpdateTitle();
+
+                            // 리스트 및 UI 갱신
+                            RefreshMagnetDirectionList();
+
+                            // 캔버스 갱신
+                            _mapCanvas.Invalidate();
+                        }
+                    }
+                }
+            }
+            else
+            {
+                MessageBox.Show("삭제할 항목을 선택해주세요.", "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
+            }
+        }
+
+        private void button1_Click(object sender, EventArgs e)
+        {
+            //set left
+            if (lstMagnetDirection.SelectedItem is MagnetDirectionInfo info)
+            {
+                info.Direction = MagnetPosition.L;
+                ApplyDirectionChange(info);
+
+                UpdateDirectionButtons(info);
+            }
+        }
+
+        private void button2_Click(object sender, EventArgs e)
+        {
+            //set straight
+            if (lstMagnetDirection.SelectedItem is MagnetDirectionInfo info)
+            {
+                info.Direction = MagnetPosition.S;
+                ApplyDirectionChange(info);
+
+                UpdateDirectionButtons(info);
+            }
+        }
+
+        private void button3_Click(object sender, EventArgs e)
+        {
+            //set right
+            if (lstMagnetDirection.SelectedItem is MagnetDirectionInfo info)
+            {
+                info.Direction = MagnetPosition.R;
+                ApplyDirectionChange(info);
+
+                UpdateDirectionButtons(info);
+            }
+        }
+
+        private void UpdateDirectionButtons(MagnetDirectionInfo info)
+        {
+            button1.BackColor = SystemColors.Control;
+            button2.BackColor = SystemColors.Control;
+            button3.BackColor = SystemColors.Control;
+
+            if (info.Direction == MagnetPosition.L) button1.BackColor = Color.Lime;
+            else if (info.Direction == MagnetPosition.S) button2.BackColor = Color.Lime;
+            else if (info.Direction == MagnetPosition.R) button3.BackColor = Color.Lime;
+        }
+
+        private void toolStripButton2_Click(object sender, EventArgs e)
+        {
+            var result = MessageBox.Show(
+                "기존 설정된 마그넷 방향 정보를 모두 초기화하시겠습니까?",
+                "마그넷 방향 일괄 삭제",
+                MessageBoxButtons.YesNoCancel,
+                MessageBoxIcon.Question);
+
+            if (result == DialogResult.Cancel)
+                return;
+
+            bool clearAll = (result == DialogResult.Yes);
+
+            int updateCount = 0;
+
+            foreach (var node in this._mapCanvas.Nodes)
+            {
+                // 연결 노드가 3개 이상인 노드들을 찾아서
+                if (node.Type == NodeType.Normal && node is MapNode mapNode)
+                {
+                    if (clearAll)
+                    {
+                        if (mapNode.MagnetDirections != null)
+                            mapNode.MagnetDirections.Clear();
+                        else mapNode.MagnetDirections = new Dictionary<string, MagnetPosition>();
+                    }
+                }
+            }
+
+                // 현재 선택된 노드의 속성창 및 리스트 갱신
+                UpdateNodeProperties();
+        }
     }
 }

Cs_HMI/AGVLogic/AGVMapEditor/Forms/MainForm.resx

@@ -137,6 +137,54 @@
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         nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
+</value>
+  </data>
+  <metadata name="toolStrip4.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 56</value>
+  </metadata>
+  <data name="btDirDelete.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+    <value>
+        iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
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+        nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
+</value>
+  </data>
+  <data name="btMakeDirdata.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+    <value>
+        iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
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+        I7TxE8urEVy99fT/AL5gWDLrTB/hnF4XsW0khCu5ln8DmJliT2AXrcNBsU1gj/MH4nMeKwBrPktM28xM
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+        6Q3g8s06BeCoKF4MRURoH1+BY2oNCbeb0TIclIYxOhzf8frTOuo7FxCbbVIAzpni0iceEc8vhzEwGkJD
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+        nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
+</value>
+  </data>
+  <data name="toolStripButton2.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+    <value>
+        iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
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+        1wtfyg4Q+AfA3aZlButjSfxGcUJBk4g5tuP3haQKRKXcUQDOmbvNTpPOJeFFjordZmbWTNvMTHFUcpUC
+        nOccAdABIDXXE1nzAAAAAElFTkSuQmCC
 </value>
   </data>
   <metadata name="toolStrip3.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
@@ -146,14 +194,14 @@
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         iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
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   </data>
   <data name="btnMove.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
@@ -174,75 +222,75 @@
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   </data>
   <data name="btnEditImage.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
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   </data>
   <data name="btnConnect.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
@@ -263,16 +311,16 @@
   <data name="btnDeleteConnection.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
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-        rkJggg==
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+        W391fen3p7VlfI4uQPGdQPWyarRtPflglj1WO57zkYqF36Nv04/+lg8BALcaCRX7gQ0AAAAASUVORK5C
+        YII=
 </value>
   </data>
   <data name="btnToggleGrid.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
@@ -287,18 +335,18 @@
   <data name="btnFitMap.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
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+        v2rMwf1l6i8eQ9oOpee/Gqg4vL275IDdXZqxJfn3F2EzpMPWLB83AAAAAElFTkSuQmCC
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   </data>
   <metadata name="toolStrip2.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">

Cs_HMI/AGVLogic/AGVNavigationCore/Controls/UnifiedAGVCanvas.Events.cs

@@ -72,6 +72,9 @@ namespace AGVNavigationCore.Controls
                     DrawDragGhost(g);
                 }
 
+                // 마그넷 방향 텍스트 그리기 (노드 위에 표시)
+                DrawMagnetDirections(g);
+
                 // AGV 그리기
                 DrawAGVs(g);
 
@@ -105,6 +108,105 @@ namespace AGVNavigationCore.Controls
 
         }
 
+        private void DrawMagnetDirections(Graphics g)
+        {
+            if (_nodes == null) return;
+
+            using (var font = new Font("Arial", 8, FontStyle.Bold))
+            using (var brushS = new SolidBrush(Color.Magenta))
+            using (var brushL = new SolidBrush(Color.Green))
+            using (var brushR = new SolidBrush(Color.Blue))
+            using (var brushBg = new SolidBrush(Color.FromArgb(180, 255, 255, 255)))
+            {
+                foreach (var node in _nodes)
+                {
+                    if (node.MagnetDirections != null && node.MagnetDirections.Count > 0)
+                    {
+                        foreach (var kvp in node.MagnetDirections)
+                        {
+                            var targetId = kvp.Key;
+                            var dir = kvp.Value;
+                            var targetNode = _nodes.FirstOrDefault(n => n.Id == targetId);
+
+                            if (targetNode != null)
+                            {
+                                // 방향 텍스트 위치 계산 (출발 -> 도착 벡터의 일정 거리 지점)
+                                var start = node.Position;
+                                var end = targetNode.Position;
+                                var angle = Math.Atan2(end.Y - start.Y, end.X - start.X);
+                                
+                                // 박스(텍스트) 중심 위치: 약 40px 거리
+                                var boxDist = 40;
+                                var boxX = start.X + boxDist * Math.Cos(angle);
+                                var boxY = start.Y + boxDist * Math.Sin(angle);
+
+                                string text = dir.ToString();
+                                
+                                Color color = Color.Blue;
+                                if (dir == MagnetPosition.L) color = Color.LimeGreen; 
+                                else if (dir == MagnetPosition.R) color = Color.Red;
+                                
+                                // 화살표 및 텍스트 설정
+                                using (var arrowBrush = new SolidBrush(color))
+                                using (var arrowPen = new Pen(color, 2)) // 두께 약간 증가
+                                using (var textBrush = new SolidBrush(color))
+                                {
+                                    // 1. 화살표 그리기 (박스를 가로지르는 선)
+                                    // 시작점: 노드 근처 (25px)
+                                    // 끝점: 박스 너머 (55px)
+                                    var arrowStartDist = 25;
+                                    var arrowEndDist = 55;
+                                    
+                                    var pStart = new PointF((float)(start.X + arrowStartDist * Math.Cos(angle)), (float)(start.Y + arrowStartDist * Math.Sin(angle)));
+                                    var pEnd = new PointF((float)(start.X + arrowEndDist * Math.Cos(angle)), (float)(start.Y + arrowEndDist * Math.Sin(angle)));
+                                    
+                                    // 화살표 선 그리기
+                                    g.DrawLine(arrowPen, pStart, pEnd);
+
+                                    // 화살표 머리 그리기 (끝점에)
+                                    var arrowSize = 6;
+                                    var pHead1 = new PointF((float)(pEnd.X + arrowSize * Math.Cos(angle)), (float)(pEnd.Y + arrowSize * Math.Sin(angle))); // 뾰족한 끝
+                                    // 삼각형 머리 (채우기)
+                                    var pBackL = new PointF((float)(pEnd.X + arrowSize * Math.Cos(angle + 2.5)), (float)(pEnd.Y + arrowSize * Math.Sin(angle + 2.5)));
+                                    var pBackR = new PointF((float)(pEnd.X + arrowSize * Math.Cos(angle - 2.5)), (float)(pEnd.Y + arrowSize * Math.Sin(angle - 2.5)));
+                                    
+                                    // pHead1이 가장 먼 쪽이 되도록 조정 (pEnd가 삼각형의 뒷부분 중심이 되도록)
+                                    // pEnd에서 시작해서 앞으로 나가는 삼각형
+                                    // pTip = pEnd + size * angle
+                                    // pBackL = pEnd + size/2 * angle_back_L (약간 뒤로)
+                                    // 현재 코드는 pEnd를 중심으로, pHead1이 앞, pBackL/R이 뒤... 가 아니라
+                                    // pHead1, pBackK, pBackR로 삼각형을 그림.
+                                    // pHead1이 팁.
+                                    g.FillPolygon(arrowBrush, new PointF[] { pHead1, pBackL, pBackR });
+
+                                    // 2. 텍스트 그리기 (화살표 위에 박스, 그 위에 텍스트)
+                                    var textSize = g.MeasureString(text, font);
+                                    var textPoint = new PointF((float)(boxX - textSize.Width / 2), (float)(boxY - textSize.Height / 2));
+
+                                    //편집모드에서만 글자를 표시한다.
+                                    if(Mode == CanvasMode.Edit)
+                                    {
+                                        // 텍스트 배경 (반투명 - 선이 은은하게 보이도록 투명도 조절하거나, 가독성을 위해 불투명하게 처리)
+                                        // 사용자가 "박스를 가로지르는" 느낌을 원했으므로 선이 보여야 함. 하지만 텍스트 가독성도 필요.
+                                        // 배경을 아주 옅게 (Alpha 100정도) 처리하여 선이 보이게 함.
+                                        using (var translucentBg = new SolidBrush(Color.FromArgb(120, 255, 255, 255)))
+                                        {
+                                            g.FillRectangle(translucentBg, textPoint.X - 1, textPoint.Y - 1, textSize.Width + 2, textSize.Height + 2);
+                                        }
+                                        g.DrawString(text, font, textBrush, textPoint);
+                                    }
+
+
+                                    
+                                    
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+        }
+
         void DrawAlertMessage(Graphics g)
         {
             if (showalert == false) return;

Cs_HMI/AGVLogic/AGVNavigationCore/Models/MapNode.cs

@@ -40,6 +40,11 @@ namespace AGVNavigationCore.Models
         [Description("도킹/충전 노드의 진입 방향입니다.")]
         public DockingDirection DockDirection { get; set; } = DockingDirection.DontCare;
 
+
+        [Category("노드 설정")]
+        [Description("각 연결된 노드로 향할 때의 마그넷 방향 정보입니다.")]
+        public Dictionary<string, MagnetPosition> MagnetDirections { get; set; } = new Dictionary<string, MagnetPosition>();
+
         [Category("연결 정보")]
         [Description("연결된 노드 ID 목록입니다.")]
         [ReadOnly(true)]

Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Core/AGVPathResult.cs

@@ -64,7 +64,7 @@ namespace AGVNavigationCore.PathFinding.Core
         /// <summary>
         /// 오류 메시지 (실패시)
         /// </summary>
-        public string ErrorMessage { get; set; }
+        public string Message { get; set; }
 
         /// <summary>
         /// 도킹 검증 결과
@@ -116,7 +116,7 @@ namespace AGVNavigationCore.PathFinding.Core
             ExploredNodes = 0;
             EstimatedTimeSeconds = 0;
             RotationCount = 0;
-            ErrorMessage = string.Empty;
+            Message = string.Empty;
             PlanDescription = string.Empty;
             RequiredDirectionChange = false;
             DirectionChangeNode = string.Empty;
@@ -149,36 +149,19 @@ namespace AGVNavigationCore.PathFinding.Core
         }
 
 
-
         /// <summary>
         /// 실패 결과 생성
         /// </summary>
         /// <param name="errorMessage">오류 메시지</param>
         /// <param name="calculationTimeMs">계산 시간</param>
-        /// <returns>실패 결과</returns>
-        public static AGVPathResult CreateFailure(string errorMessage, long calculationTimeMs)
-        {
-            return new AGVPathResult
-            {
-                Success = false,
-                ErrorMessage = errorMessage,
-                CalculationTimeMs = calculationTimeMs
-            };
-        }
-
-        /// <summary>
-        /// 실패 결과 생성 (확장)
-        /// </summary>
-        /// <param name="errorMessage">오류 메시지</param>
-        /// <param name="calculationTimeMs">계산 시간</param>
         /// <param name="exploredNodes">탐색된 노드 수</param>
         /// <returns>실패 결과</returns>
-        public static AGVPathResult CreateFailure(string errorMessage, long calculationTimeMs, int exploredNodes)
+        public static AGVPathResult CreateFailure(string errorMessage, long calculationTimeMs = 0, int exploredNodes = 0)
         {
             return new AGVPathResult
             {
                 Success = false,
-                ErrorMessage = errorMessage,
+                Message = errorMessage,
                 CalculationTimeMs = calculationTimeMs,
                 ExploredNodes = exploredNodes
             };
@@ -276,22 +259,6 @@ namespace AGVNavigationCore.PathFinding.Core
             }
         }
 
-        /// <summary>
-        /// 상세 경로 정보 반환
-        /// </summary>
-        /// <returns>상세 정보 문자열</returns>
-        public string GetDetailedInfo()
-        {
-            if (!Success)
-            {
-                return $"경로 계산 실패: {ErrorMessage} (계산시간: {CalculationTimeMs}ms)";
-            }
-
-            return $"경로: {Path.Count}개 노드, 거리: {TotalDistance:F1}px, " +
-                   $"회전: {RotationCount}회, 예상시간: {EstimatedTimeSeconds:F1}초, " +
-                   $"계산시간: {CalculationTimeMs}ms";
-        }
-
         /// <summary>
         /// 경로의 노드 정보를 포함
         /// </summary>
@@ -300,13 +267,14 @@ namespace AGVNavigationCore.PathFinding.Core
         {
             if (!Success)
             {
-                return $"경로 계산 실패: {ErrorMessage} (계산시간: {CalculationTimeMs}ms)";
+                return $"경로 계산 실패: {Message} (계산시간: {CalculationTimeMs}ms)";
             }
 
-            var data = DetailedPath.Select(t => {
-                return $"{t.RfidId}[{t.NodeId}] {t.MotorDirection.ToString().Substring(0,1)}-{t.MagnetDirection.ToString().Substring(0,1)}";
+            var data = DetailedPath.Select(t =>
+            {
+                return $"{t.RfidId}[{t.NodeId}] {t.MotorDirection.ToString().Substring(0, 1)}-{t.MagnetDirection.ToString().Substring(0, 1)}";
             });
-            return string.Join(" → ",data);
+            return string.Join(" → ", data);
         }
 
 
@@ -334,7 +302,7 @@ namespace AGVNavigationCore.PathFinding.Core
             }
             else
             {
-                return $"Failed: {ErrorMessage}";
+                return $"Failed: {Message}";
             }
         }
     }

Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Core/AStarPathfinder.cs

@@ -351,12 +351,12 @@ namespace AGVNavigationCore.PathFinding.Core
 
             if (!previousResult.Success)
                 return AGVPathResult.CreateFailure(
-                    $"이전 경로 결과 실패: {previousResult.ErrorMessage}",
+                    $"이전 경로 결과 실패: {previousResult.Message}",
                     previousResult.CalculationTimeMs);
 
             if (!currentResult.Success)
                 return AGVPathResult.CreateFailure(
-                    $"현재 경로 결과 실패: {currentResult.ErrorMessage}",
+                    $"현재 경로 결과 실패: {currentResult.Message}",
                     currentResult.CalculationTimeMs);
 
             // 경로가 비어있는 경우 처리

Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/AGVPathfinder.cs

@@ -138,8 +138,9 @@ namespace AGVNavigationCore.PathFinding.Planning
             pathResult.PrevDirection = prevDirection;
 
             if (!pathResult.Success)
-                return AGVPathResult.CreateFailure(pathResult.ErrorMessage ?? "경로 없음", 0, 0);
+                return AGVPathResult.CreateFailure(pathResult.Message ?? "경로 없음", 0, 0);
 
+            // 3. 상세 데이터 생성 (갈림길 마그넷 방향 계산 포함)
             // 3. 상세 데이터 생성 (갈림길 마그넷 방향 계산 포함)
             if (pathResult.Path != null && pathResult.Path.Count > 0)
             {
@@ -149,54 +150,41 @@ namespace AGVNavigationCore.PathFinding.Planning
                     var node = pathResult.Path[i];
                     var nextNode = (i + 1 < pathResult.Path.Count) ? pathResult.Path[i + 1] : null;
 
+                    // 마그넷 방향 계산 (갈림길인 경우)
                     // 마그넷 방향 계산 (갈림길인 경우)
                     MagnetDirection magnetDirection = MagnetDirection.Straight;
 
-                    if ((node.ConnectedNodes?.Count ?? 0) >= 2 && nextNode != null)
+                    //갈림길에 있다면 미리 방향을 저장해준다.
+                    if ((node.ConnectedNodes?.Count ?? 0) > 2 && nextNode != null)
                     {
-                        // 갈림길인 경우: 진입 방향과 진출 방향의 각도 계산
-                        //var prevNode = pathResult.Path[i - 1];
-                        //var nextNode = pathResult.Path[i + 1];
-                        
-                        // 진입 각도 계산 (이전 노드 → 현재 노드)
-                        //double entryAngle = Math.Atan2(
-                        //    node.Position.Y - prevNode.Position.Y,
-                        //    node.Position.X - prevNode.Position.X
-                        //) * 180.0 / Math.PI;
-                        
-                        // 진출 각도 계산 (현재 노드 → 다음 노드)
-                        double exitAngle = Math.Atan2(
-                            nextNode.Position.Y - node.Position.Y,
-                            nextNode.Position.X - node.Position.X
-                        ) * 180.0 / Math.PI;
-
-                        // 각도 차이 계산 (-180~180 범위로 정규화)
-                        double angleDiff = exitAngle;// - entryAngle;
-                        while (angleDiff > 180) angleDiff -= 360;
-                        while (angleDiff < -180) angleDiff += 360;
-                        
-                        // 10도 이상 차이나면 좌/우회전 처리
-                        if (Math.Abs(angleDiff) >= 10)
+                        //다음 노드ID를 확인해서 마그넷 방향 데이터를 찾는다.
+                        if (node.MagnetDirections.ContainsKey(nextNode.Id) == false)
                         {
-                            if (angleDiff > 0)
-                            {
-                                magnetDirection = MagnetDirection.Right;
+                            return AGVPathResult.CreateFailure($"{node.ID2}->{nextNode.ID2} 의 (목표)갈림길 방향이 입력되지 않았습니다", 0, 0);
                         }
                         else
                         {
-                                magnetDirection = MagnetDirection.Left;
-                            }
-                        }
+                            var magdir = node.MagnetDirections[nextNode.Id].ToString();
+                            if (magdir == "L") magnetDirection = MagnetDirection.Left;
+                            else if (magdir == "R") magnetDirection = MagnetDirection.Right;
+
                         }
                         
-                    var nodeInfo = new NodeMotorInfo(i + 1, node.Id, node.RfidId, prevDirection, nextNode.Id, magnetDirection);
+                        
+                    }
+
+                    var nodeInfo = new NodeMotorInfo(i + 1, node.Id, node.RfidId, prevDirection, nextNode, magnetDirection);
 
                     // 속도 설정
                     var mapNode = _mapNodes.FirstOrDefault(n => n.Id == node.Id);
-                    if (mapNode != null) nodeInfo.Speed = mapNode.SpeedLimit;
-
+                    if (mapNode != null)
+                    {
+                        nodeInfo.Speed = mapNode.SpeedLimit;
                         detailedPath.Add(nodeInfo);
                     }
+
+
+                }
                 pathResult.DetailedPath = detailedPath;
             }
 

Cs_HMI/AGVLogic/AGVNavigationCore/PathFinding/Planning/NodeMotorInfo.cs

@@ -60,7 +60,7 @@ namespace AGVNavigationCore.PathFinding.Planning
         /// <summary>
         /// 다음 노드 ID (경로예측용)
         /// </summary>
-        public string NextNodeId { get; set; }
+        public MapNode NextNode { get; set; }
 
         /// <summary>
         /// 회전 가능 노드 여부
@@ -87,14 +87,14 @@ namespace AGVNavigationCore.PathFinding.Planning
         /// </summary>
         public string SpecialActionDescription { get; set; }
 
-        public NodeMotorInfo(int seqno,string nodeId,ushort rfid, AgvDirection motorDirection, string nextNodeId = null, MagnetDirection magnetDirection = MagnetDirection.Straight)
+        public NodeMotorInfo(int seqno,string nodeId,ushort rfid, AgvDirection motorDirection, MapNode nextNodeId = null, MagnetDirection magnetDirection = MagnetDirection.Straight)
         {
             seq = seqno;
             NodeId = nodeId;
             RfidId = rfid;
             MotorDirection = motorDirection;
             MagnetDirection = magnetDirection;
-            NextNodeId = nextNodeId;
+            NextNode = nextNodeId;
             CanRotate = false;
             IsDirectionChangePoint = false;
             RequiresSpecialAction = false;
@@ -108,7 +108,7 @@ namespace AGVNavigationCore.PathFinding.Planning
         /// </summary>
         public override string ToString()
         {
-            var result = $"R{RfidId}[N{NodeId}]:{MotorDirection}";
+            var result = $"R{RfidId}[*{NodeId}]:{MotorDirection}";
 
             // 마그넷 방향이 직진이 아닌 경우 표시
             if (MagnetDirection != MagnetDirection.Straight)

Cs_HMI/AGVLogic/AGVNavigationCore/Utils/DockingValidator.cs

@@ -191,7 +191,7 @@ namespace AGVNavigationCore.Utils
             }
 
             // 검증 수행
-            if (LastNodeInfo.MotorDirection == requiredDirection && pathResult.DetailedPath[pathResult.DetailedPath.Count - 2].MotorDirection == requiredDirection)
+            if (LastNodeInfo.MotorDirection == requiredDirection && pathResult.DetailedPath[pathResult.DetailedPath.Count - 1].MotorDirection == requiredDirection)
             {
                 System.Diagnostics.Debug.WriteLine($"[DockingValidator] ✅ 도킹 검증 성공");
                 return DockingValidationResult.CreateValid(

Cs_HMI/AGVLogic/AGVSimulator/Forms/SimulatorForm.cs

@@ -108,7 +108,7 @@ namespace AGVSimulator.Forms
         }
 
         private UnifiedAGVCanvas _simulatorCanvas;
-        private AGVPathfinder _advancedPathfinder;
+        // private AGVPathfinder _advancedPathfinder;
         private List<VirtualAGV> _agvList;
         private SimulationState _simulationState;
         private System.Windows.Forms.Timer _simulationTimer;
@@ -186,6 +186,7 @@ namespace AGVSimulator.Forms
         {
             _simulatorCanvas = new UnifiedAGVCanvas();
             _simulatorCanvas.Dock = DockStyle.Fill;
+            _simulatorCanvas.Mode = UnifiedAGVCanvas.CanvasMode.Emulator;
 
             // 목적지 선택 이벤트 구독
             _simulatorCanvas.NodesSelected += OnTargetNodeSelected;
@@ -1273,7 +1274,21 @@ namespace AGVSimulator.Forms
             {
                 var info = advancedResult.DetailedPath[i];
                 var rfidId = GetRfidByNodeId(info.NodeId);
-                var nextRfidId = info.NextNodeId != null ? GetRfidByNodeId(info.NextNodeId).ToString("0000") : "-END-";
+
+                var nextRfidId = "";
+                if (info.NextNode != null && info.NextNode.HasRfid())
+                {
+                    nextRfidId = info.NextNode.RfidId.ToString("0000");
+                }
+                else if (info.NextNode != null)
+                {
+                    nextRfidId = info.NextNode.Id;
+                }
+                else
+                {
+                    nextRfidId = "-END-";
+                }
+
 
                 var flags = new List<string>();
                 if (info.CanRotate) flags.Add("회전가능");
@@ -1564,7 +1579,7 @@ namespace AGVSimulator.Forms
         /// UI 상태로부터 테스트 결과 생성 (테스트용)
         /// </summary>
         private PathTestLogItem CreateTestResultFromUI(MapNode prevNode, MapNode targetNode,
-            string directionName, (bool result, string message) calcResult)
+            string directionName, AGVPathResult calcResult)
         {
             var currentNode = _simulatorCanvas.Nodes.FirstOrDefault(n => n.Id ==
                 (_agvListCombo.SelectedItem as VirtualAGV)?.CurrentNodeId);
@@ -1578,10 +1593,10 @@ namespace AGVSimulator.Forms
                 DockingPosition = (targetNode.StationType == StationType.Charger1 || targetNode.StationType == StationType.Charger2) ? "충전기" : "장비"
             };
 
-            if (calcResult.result)
+            if (calcResult.Success)
             {
                 // 경로 계산 성공 - 현재 화면에 표시된 경로 정보 사용
-                var currentPath = _simulatorCanvas.CurrentPath;
+                var currentPath = calcResult;// _simulatorCanvas.CurrentPath;
                 if (currentPath != null && currentPath.Success)
                 {
                     // 도킹 검증
@@ -1611,7 +1626,7 @@ namespace AGVSimulator.Forms
             {
                 // 경로 계산 실패
                 logItem.Success = false;
-                logItem.Message = calcResult.message;
+                logItem.Message = calcResult.Message;
                 logItem.DetailedPath = "-";
             }
 
@@ -1748,19 +1763,25 @@ namespace AGVSimulator.Forms
                             SetTargetNodeComboBox(dockingTarget.Id);
 
                             // 경로 계산 버튼 클릭 (실제 사용자 동작)
-                            //var calcResult = CalcPath();
+                            var startNode = (_startNodeCombo.SelectedItem as ComboBoxItem<MapNode>)?.Value;
+                            var targetNode = (_targetNodeCombo.SelectedItem as ComboBoxItem<MapNode>)?.Value;
+                            var selectedAGV = _agvListCombo.SelectedItem as VirtualAGV;
+                            var calcResult = CalcPath(startNode, targetNode, this._simulatorCanvas.Nodes,selectedAGV.PrevNode, selectedAGV.PrevDirection);
+
+
+
 
                             //// 테스트 결과 생성
-                            //testResult = CreateTestResultFromUI(nodeA, dockingTarget, directionName, calcResult);
+                            testResult = CreateTestResultFromUI(nodeA, dockingTarget, directionName, calcResult);
 
                             //// 로그 추가
-                            //logForm.AddLogItem(testResult);
+                            logForm.AddLogItem(testResult);
 
                             //// 실패한 경우에만 경로를 화면에 표시 (시각적 확인)
-                            //if (!testResult.Success && _simulatorCanvas.CurrentPath != null)
-                            //{
-                            //    _simulatorCanvas.Invalidate();
-                            //}
+                            if (!testResult.Success && _simulatorCanvas.CurrentPath != null)
+                            {
+                                _simulatorCanvas.Invalidate();
+                            }
 
                             Application.DoEvents();
                         });
@@ -2504,72 +2525,102 @@ namespace AGVSimulator.Forms
 
         private void btPath2_Click(object sender, EventArgs e)
         {
+            // 1. 기본 정보 획득
+            if (_startNodeCombo.SelectedItem == null || _startNodeCombo.Text == "선택하세요") SetStartNodeFromAGVPosition();
+            if (_startNodeCombo.SelectedItem == null || _targetNodeCombo.SelectedItem == null)
+            {
+                MessageBox.Show("시작/목표 노드를 확인하세요");
+                return;
+            }
+
+            //var selectedAGV = _agvListCombo.SelectedItem as VirtualAGV;
+            //if (selectedAGV == null) return AGVPathResult.CreateFailure("Virtual AGV 없음");
+            var selectedAGV = _agvListCombo.SelectedItem as VirtualAGV;
+
             // 경로계산2 (Gateway Logic)
-            var rlt = CalcPathGateway();
-            if (rlt.result == false) MessageBox.Show(rlt.message, "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
+            var startNode = (_startNodeCombo.SelectedItem as ComboBoxItem<MapNode>)?.Value;
+            var targetNode = (_targetNodeCombo.SelectedItem as ComboBoxItem<MapNode>)?.Value;
+            var rlt = CalcPath(startNode, targetNode, this._simulatorCanvas.Nodes, selectedAGV.PrevNode, selectedAGV.PrevDirection);
+            if (rlt.Success == false) MessageBox.Show(rlt.Message, "알림", MessageBoxButtons.OK, MessageBoxIcon.Information);
+            else
+            {
+                // 8. 적용  
+                
+                ApplyResultToSimulator(rlt, selectedAGV);
+                UpdateAdvancedPathDebugInfo(rlt);
+            }
+
         }
 
         /// <summary>
         /// 길목(Gateway) 기반 경로 계산
+        /// 버퍼-버퍼 상태에서는 별도의 추가 로직을 적용합니다
         /// </summary>
-        private (bool result, string message) CalcPathGateway()
+        public AGVPathResult CalcPath(MapNode startNode, MapNode targetNode, List<MapNode> nodes,
+            MapNode prevNode, AgvDirection prevDir)
         {
-            // 1. 기본 정보 획득
-            if (_startNodeCombo.SelectedItem == null || _startNodeCombo.Text == "선택하세요") SetStartNodeFromAGVPosition();
-            if (_startNodeCombo.SelectedItem == null || _targetNodeCombo.SelectedItem == null) return (false, "시작/목표 노드 선택 필요");
+            AGVPathResult Retval;
 
-            var startNode = (_startNodeCombo.SelectedItem as ComboBoxItem<MapNode>)?.Value;
-            var targetNode = (_targetNodeCombo.SelectedItem as ComboBoxItem<MapNode>)?.Value;
-            if (startNode == null || targetNode == null) return (false, "노드 정보 오류");
+            if (startNode == null || targetNode == null) return AGVPathResult.CreateFailure("시작/종료노드가 지정되지 않음");
 
-            if (_advancedPathfinder == null) _advancedPathfinder = new AGVPathfinder(_simulatorCanvas.Nodes);
          
+            try
+            {
+                var pathFinder = new AGVPathfinder(nodes);
                 var selectedAGV = _agvListCombo.SelectedItem as VirtualAGV;
-            if (selectedAGV == null) return (false, "Virtual AGV 없음");
+                if (selectedAGV == null) return AGVPathResult.CreateFailure("Virtual AGV 없음");
 
-            var currentAgvDir = selectedAGV.CurrentDirection;
-            var prevNode = selectedAGV.PrevNode;
-            var prevDir = selectedAGV.PrevDirection;
+                //종료노드라면 이전위치로 이동시켜야한다.
+                AGVPathResult LimitPath = null;
+                if (startNode.ConnectedMapNodes.Count == 1)
+                {
+                    LimitPath = pathFinder.FindPathAStar(startNode, targetNode);
+                    for(int i = 0; i < LimitPath.Path.Count;i++)
+                    {
+                        var nodeinfo = LimitPath.Path[i];
+                        var dir = (prevDir == AgvDirection.Forward ? AgvDirection.Backward : AgvDirection.Forward);
+                        LimitPath.DetailedPath.Add(new NodeMotorInfo(i + 1, nodeinfo.Id, nodeinfo.RfidId, dir));
+                    }
+                }
+
+
+                //var prevNode = selectedAGV.PrevNode;
+                //var prevDir = selectedAGV.PrevDirection;
 
                 // 2. Buffer-to-Buffer 예외 처리
-
                 var node05 = FindNode(5);    //05~31사이의 노드는 모두 버퍼이다.
                 var node31 = FindNode(31);
-            if (node05 == null || node31 == null) return (false, "버퍼구간 노드가 없습니다(05~31)");
+                if (node05 == null || node31 == null) return AGVPathResult.CreateFailure("버퍼구간 노드가 없습니다(05~31)");
 
-            var rlt = _advancedPathfinder.FindPathAStar(node05, node31);
-            if (rlt.Success == false) return (false, "버퍼구간 노드경로 확인 실패(05~31)");
+                var rlt = pathFinder.FindPathAStar(node05, node31);
+                if (rlt.Success == false) return AGVPathResult.CreateFailure("버퍼구간 노드경로 확인 실패(05~31)");
+
+                //하이라이트노드 해제
+                _simulatorCanvas.HighlightNodeId = null;
 
                 //버퍼구간내에 시작과 종료가 모두 포함되어있다
                 if (rlt.Path.Contains(startNode) && rlt.Path.Contains(targetNode))
                 {
-                return CalcPathBufferToBuffer(startNode, targetNode, prevNode, prevDir, currentAgvDir, selectedAGV);
+                    Retval = CalcPathBufferToBuffer(pathFinder, startNode, targetNode, prevNode, prevDir, selectedAGV);
                 }
-
-
+                else
+                {
                     // 3. 목적지별 Gateway 및 진입 조건 확인
                     var gatewayNode = GetGatewayNode(targetNode);
                     if (gatewayNode == null)
                     {
                         //게이트웨이가 없는 경우라면 목적지가 도킹포인트가 아니므로, a*알골리즘으로 진행 방향만 맟춰서 이동한다
-                var simplePath = _advancedPathfinder.FindBasicPath(startNode, targetNode, prevNode, prevDir);
-                if (simplePath.Success)
+                        Retval = pathFinder.FindBasicPath(startNode, targetNode, prevNode, prevDir);
+                    }
+                    else
                     {
-                    _simulatorCanvas.HighlightNodeId = null; // 일반 경로는 강조 없음
-                    ApplyResultToSimulator(simplePath, selectedAGV);
-                    UpdateAdvancedPathDebugInfo(simplePath);
-                    return (true, "일반 이동 경로(Gateway 없음)");
-                }
-                return (false, $"일반 이동 경로 실패: {simplePath.ErrorMessage}");
-            }
-
                         // Gateway Node 찾음
                         _simulatorCanvas.HighlightNodeId = gatewayNode.Id; // Gateway 강조 설정
 
                         // 4. Start -> Gateway 경로 계산 (A*)
-            var pathToGateway = _advancedPathfinder.FindBasicPath(startNode, gatewayNode, prevNode, prevDir);
-
-            if (!pathToGateway.Success) return (false, $"Gateway({gatewayNode.ID2})까지 경로 실패: {pathToGateway.ErrorMessage}");
+                        var pathToGateway = pathFinder.FindBasicPath(startNode, gatewayNode, prevNode, prevDir);
+                        if (pathToGateway.Success == false)
+                            AGVPathResult.CreateFailure($"Gateway({gatewayNode.ID2})까지 경로 실패: {pathToGateway.Message}");
 
                         //마지막경로는 게이트웨이이므로 제거하낟.(260113)
                         if (pathToGateway.Path.Count > 1 && pathToGateway.Path.Last().Id == gatewayNode.Id)
@@ -2579,27 +2630,227 @@ namespace AGVSimulator.Forms
                         }
 
                         // 5. Gateway -> Target 경로 계산 (회차 패턴 및 최종 진입 포함)
-
-
                         MapNode GateprevNode = pathToGateway.Path.Last();
                         NodeMotorInfo GatePrevDetail = pathToGateway.DetailedPath.Last();
 
-
                         var arrivalOrientation = GatePrevDetail.MotorDirection;
+                        var gatewayPathResult = GetPathFromGateway(pathFinder, gatewayNode, targetNode, GateprevNode, arrivalOrientation);
+                        if (!gatewayPathResult.Success) return AGVPathResult.CreateFailure($"{gatewayPathResult.Message}");
+                        Retval = CombinePaths(pathToGateway, gatewayPathResult);
+                    }
 
-            //아래코드오류발생함
-            var gatewayPathResult = GetPathFromGateway(gatewayNode, targetNode, GateprevNode, arrivalOrientation);
+                }
 
-            if (!gatewayPathResult.Success) return (false, $"{gatewayPathResult.ErrorMessage}");
-            AGVPathResult finalPath = pathToGateway;
+                //경로오류 검사
+                if (Retval.Success == false) return Retval;
 
-            finalPath = CombinePaths(finalPath, gatewayPathResult);
+                //해당경로와 대상의 도킹포인트의 방향을 검사합니다
+                if (targetNode.DockDirection != DockingDirection.DontCare)
+                {
+                    var lastPath = Retval.DetailedPath.Last();
+                    if (targetNode.DockDirection == DockingDirection.Forward && lastPath.MotorDirection != AgvDirection.Forward)
+                    {
+                        return AGVPathResult.CreateFailure($"생성된 경로와 목적지의 도킹방향이 일치하지 않습니다(FWD) Target:{targetNode.DockDirection}, Path:{Retval.GetDetailedPathInfo()}");
+                    }
+                    if (targetNode.DockDirection == DockingDirection.Backward && lastPath.MotorDirection != AgvDirection.Backward)
+                    {
+                        return AGVPathResult.CreateFailure($"생성된 경로와 목적지의 도킹방향이 일치하지 않습니다(BWD) Target:{targetNode.DockDirection}, Path:{Retval.GetDetailedPathInfo()}");
+                    }
+                }
+
+                //6[F][R] → 13[B][L] → 6[F][L]  이런경우를 찾아서 경로를 최적화한다.
+                //위 예제에서는 6FR 13BL 이 제자리로 오는 경로이므로 6FL만 남기면된다.
+                //단순히 ID만 같은게 아니라, 실제로 갔다가 되돌아오는 패턴(역방향)인지 확인해야 함.
+                while (true)
+                {
+                    var updatecount = 0;
+                    for (int i = 0; i < Retval.DetailedPath.Count - 2; i++)
+                    {
+                        var n1 = Retval.DetailedPath[i];
+                        var n2 = Retval.DetailedPath[i + 1];
+                        var n3 = Retval.DetailedPath[i + 2];
+
+                        if (n1.NodeId == n3.NodeId)
+                        {
+                            bool isInverse = false;
+
+                            // 1. 모터 방향이 반대인가? (F <-> B)
+                            bool isMotorInverse = (n1.MotorDirection != n2.MotorDirection) &&
+                                                  (n1.MotorDirection == AgvDirection.Forward || n1.MotorDirection == AgvDirection.Backward) &&
+                                                  (n2.MotorDirection == AgvDirection.Forward || n2.MotorDirection == AgvDirection.Backward);
+
+                            if (isMotorInverse)
+                            {
+                                // 2. 마그넷 방향이 반대인가? (L <-> R, S <-> S)
+                                bool isMagnetInverse = false;
+                                if (n1.MagnetDirection == MagnetDirection.Straight && n2.MagnetDirection == MagnetDirection.Straight) isMagnetInverse = true;
+                                else if (n1.MagnetDirection == MagnetDirection.Left && n2.MagnetDirection == MagnetDirection.Right) isMagnetInverse = true;
+                                else if (n1.MagnetDirection == MagnetDirection.Right && n2.MagnetDirection == MagnetDirection.Left) isMagnetInverse = true;
+
+                                if (isMagnetInverse) isInverse = true;
+                            }
+
+                            if (isInverse)
+                            {
+                                // 제자리 회귀 경로 발견 -> 앞의 두 노드(n1, n2)를 제거하여 n3만 남김
+                                Retval.DetailedPath.RemoveAt(i);
+                                Retval.DetailedPath.RemoveAt(i);
+
+                                if (Retval.Path.Count > i + 1)
+                                {
+                                    Retval.Path.RemoveAt(i);
+                                    Retval.Path.RemoveAt(i);
+                                }
+                                i--; // 인덱스 재조정
+                                updatecount += 1;
+                            }
+                        }
+                    }
+                    if (updatecount == 0) break;
+                }
 
 
-            // 8. 적용
-            ApplyResultToSimulator(finalPath, selectedAGV);
-            UpdateAdvancedPathDebugInfo(finalPath);
-            return (true, "성공");
+                //detail 경로를 확인해서 왓던길에서 바로 방향이 전환되는 경우를 찾는다
+                for (int i = 0; i < Retval.DetailedPath.Count - 2; i++)
+                {
+
+                    var n1 = Retval.DetailedPath[i];
+                    var n2 = Retval.DetailedPath[i + 1];
+                    var n3 = Retval.DetailedPath[i + 2];
+
+                    if (n1.NodeId == n3.NodeId && n1.MotorDirection == n3.MotorDirection)
+                    {
+                        return AGVPathResult.CreateFailure($"불가능한 회전 경로가 포함되어있습니다. {n1.RfidId}->{n2.RfidId}->{n3.RfidId}\n{Retval.GetDetailedPathInfo()}");
+                    }
+
+                }
+
+                //6[F][R] → 13[B][L] → 6[F][L]  이런경우를 찾아서 경로를 최적화한다.
+                //위 예제에서는 6FR 13BL 이 제자리로 오는 경로이므로 6FL만 남기면된다.
+
+
+                //최종결과 반환
+                return Retval;
+            }
+            catch (Exception ex)
+            {
+                return AGVPathResult.CreateFailure($"[계산오류] {ex.Message}");
+            }
+
+        }
+
+        private AGVPathResult CalcPathBufferToBuffer(AGVPathfinder pathfinder, MapNode start, MapNode target, MapNode prev, AgvDirection prevDir, VirtualAGV agv)
+        {
+            // Monitor Side 판단 로직
+            // 현재 AGV의 물리적 방향(Monitor Side)이 "Right" 상태여야 버퍼 진입이 용이하다고 가정.
+            // Monitor Left 상태(부적절한 방향)라면 Gateway로 탈출해야 함.
+
+            // 이동 벡터 X 변화량
+            // prev가 없거나 start와 같으면 이동 방향을 알 수 없음 -> 이 경우 보수적으로 기존 로직(Backward면 탈출) 따름
+            int deltaX = 0;
+            if (prev == null) return AGVPathResult.CreateFailure("이전 노드 정보가 없습니다");
+            else deltaX = start.Position.X - prev.Position.X;
+
+            bool isMonitorLeft = false;
+
+            if (deltaX > 0) // 오른쪽(Forward)으로 이동해 옴 (예: 2 -> 4)
+            {
+                // 이동방향(Right) + 전진(F) => Monitor Right (Good)
+                // 이동방향(Right) + 후진(B) => Monitor Left (Bad)
+                isMonitorLeft = (prevDir == AgvDirection.Backward);
+            }
+            else if (deltaX < 0) // 왼쪽(Reverse)으로 이동해 옴 (예: 4 -> 2)
+            {
+                // 이동방향(Left) + 전진(F) => Monitor Left (Bad)
+                // 이동방향(Left) + 후진(B) => Monitor Right (Good)
+                isMonitorLeft = (prevDir == AgvDirection.Forward);
+            }
+            else // 제자리 또는 수직 이동
+            {
+                // 판단 불가 시 기존 로직(Backward면 Gateway) 유지
+                return AGVPathResult.CreateFailure("이전 노드와의 방향을 알 수 없습니다");
+            }
+
+            if (isMonitorLeft)
+            {
+                // Monitor Left 상태 (방향 불일치) -> Gateway로 탈출
+                var GateWayNode = FindNode(6);
+                var escPath = pathfinder.FindBasicPath(start, GateWayNode, prev, prevDir);
+                if (!escPath.Success) return AGVPathResult.CreateFailure("버퍼 탈출 경로 실패");
+
+                var lastNode = escPath.Path.Last(); // Should be GW6
+                var lastPrev = escPath.Path[escPath.Path.Count - 2];
+                var lastDir = escPath.DetailedPath.Last().MotorDirection;
+
+                // Gateway 도착 후, Target(Buffer)으로 이동
+                // 여기서부터는 "Monitor Right" 로직(즉, 적절한 방향 진입)을 적용합니다.
+                // 6번에서 Target이 왼쪽이면 Direct(Backward), 오른쪽이면 Overshoot(Forward->Backward)
+
+
+                bool isTargetLeftOfGW = target.Position.X < GateWayNode.Position.X;
+                AGVPathResult entryPath = null;
+
+                //게이트웨이까지 후진으로 이동했다면 모니터방향이 오른쪽이다 => 방향전환필요
+                var gateToTarget = GetPathFromGateway(pathfinder, GateWayNode, target, lastPrev, lastDir);
+
+                escPath.Path.RemoveAt(escPath.Path.Count - 1);
+                escPath.DetailedPath.RemoveAt(escPath.DetailedPath.Count - 1);
+
+
+                var final = CombinePaths(escPath, gateToTarget);
+                ApplyResultToSimulator(final, agv);
+                UpdateAdvancedPathDebugInfo(final);
+                return final;
+            }
+            else
+            {
+                // Monitor Right 상태 (방향 일치) -> 직접 진입 또는 Overshoot
+                bool isTargetLeft = target.Position.X < start.Position.X;
+
+                if (isTargetLeft)
+                {
+                    var directPath = pathfinder.FindBasicPath(start, target, prev, AgvDirection.Backward);
+                    ApplyResultToSimulator(directPath, agv);
+                    UpdateAdvancedPathDebugInfo(directPath);
+                    return directPath;
+                }
+                else
+                {
+                    //대상이 나보다 우측에 있으니 RFID값이 읽어지는 위치까지 이동후에 다시 반대방향으로 마크스탑 해야 함
+                    //그냥 대상 노드까지 이동을 한다.. RFID값이 실제 멈추는 위치 이전에 있으니 그곳까지 이동하고 역방향 마크스탑하면 동일한 위치이다. 위 식은 그 이전노드까지 확실하게 이동하는 코드이다
+                    //var overshootNode = target.ConnectedMapNodes.OrderByDescending(n => n.Position.X).FirstOrDefault();
+                    //if (overshootNode == null || overshootNode.Position.X <= target.Position.X)
+                    //    return (false, "Overshoot 공간 부족");
+
+                    var path1 = pathfinder.FindBasicPath(start, target, prev, AgvDirection.Forward);
+                    if (path1.Path.Count < 2) return AGVPathResult.CreateFailure("Overshoot 경로 생성 실패");
+
+                    //목표에서 방향바꿔 마크스탑을 해야한다
+                    path1.Path.Add(path1.Path.Last());
+
+                    //디테일은 방향바꿔서 추가 필요(속도는 저속처리해준다)
+                    var lastDefailt = path1.DetailedPath.Last();
+                    path1.DetailedPath.Add(new NodeMotorInfo(lastDefailt.seq + 1, lastDefailt.NodeId, lastDefailt.RfidId, AgvDirection.Backward)
+                    {
+                        Speed = SpeedLevel.L,
+                        IsPass = false,
+                    });
+
+                    //var p1Last = path1.Path.Last();
+                    //var p1Prev = path1.Path[path1.Path.Count > 1 ? path1.Path.Count - 2 : 0]; // Safety check
+                    //var p1Dir = path1.DetailedPath.Last().MotorDirection;
+
+                    //var path2 = _advancedPathfinder.FindPath(start, target, p1Last, p1Dir, AgvDirection.Backward);
+
+                    //if (path2.Success && path2.DetailedPath.Last().NodeId == target.Id)
+                    //    path2.DetailedPath = path2.DetailedPath.Take(path2.DetailedPath.Count - 1).ToList();
+
+                    //var final = CombinePaths(path1, path2);
+                    ApplyResultToSimulator(path1, agv);
+                    UpdateAdvancedPathDebugInfo(path1);
+                    return path1;// (true, path1, "버퍼 우측(Overshoot)");
+                }
+            }
         }
 
 
@@ -2634,7 +2885,7 @@ namespace AGVSimulator.Forms
         /// <param name="PrevNode">게이트웨이 진입 전 노드</param>
         /// <param name="PrevDirection">게이트웨이 진입 전 모터방향</param>
         /// <returns></returns>
-        private AGVPathResult GetPathFromGateway(MapNode GTNode, MapNode targetNode, MapNode PrevNode, AgvDirection PrevDirection)
+        private AGVPathResult GetPathFromGateway(AGVPathfinder pathFinder, MapNode GTNode, MapNode targetNode, MapNode PrevNode, AgvDirection PrevDirection)
         {
             AGVPathResult resultPath = null;
 
@@ -2678,13 +2929,14 @@ namespace AGVSimulator.Forms
                     rlt1.Success = true;
 
                     //목적지까지 바로 계산한다
-                    var pathtarget = _advancedPathfinder.FindBasicPath(GTNode, targetNode, PrevNode, AgvDirection.Backward);
+                    var motdir = targetNode.DockDirection == DockingDirection.Backward ? AgvDirection.Backward : AgvDirection.Forward;
+                    var pathtarget = pathFinder.FindBasicPath(GTNode, targetNode, PrevNode, motdir);
 
                     if (targetNode.DockDirection == DockingDirection.Backward && isMonitorLeft)
                     {
                         //턴을 하는
                         turnPatterns = GetTurnaroundPattern(GTNode, targetNode);
-                        if (turnPatterns == null || turnPatterns.Any() == false) return new AGVPathResult { Success = false, ErrorMessage = $"회차 패턴 없음:  Dir {PrevDirection}" };
+                        if (turnPatterns == null || turnPatterns.Any() == false) return new AGVPathResult { Success = false, Message = $"회차 패턴 없음:  Dir {PrevDirection}" };
                         foreach (var item in turnPatterns)
                         {
                             var rfidvalue = ushort.Parse(item.Substring(0, 4));
@@ -2709,7 +2961,7 @@ namespace AGVSimulator.Forms
                         if (pathtarget.DetailedPath.First().NodeId != rlt1.DetailedPath.Last().NodeId ||
                             pathtarget.DetailedPath.First().MotorDirection != rlt1.DetailedPath.Last().MotorDirection)
                         {
-                            new AGVPathResult { Success = false, ErrorMessage = $"게이트웨이 턴 마지막 주소와, 이 후 주소의 시작 노드ID가 일치하지 않습니다" };
+                            new AGVPathResult { Success = false, Message = $"게이트웨이 턴 마지막 주소와, 이 후 주소의 시작 노드ID가 일치하지 않습니다" };
                         }
 
                         pathtarget.Path.RemoveAt(0);
@@ -2785,120 +3037,6 @@ namespace AGVSimulator.Forms
             }
         }
 
-        private (bool result, string message) CalcPathBufferToBuffer(MapNode start, MapNode target, MapNode prev, AgvDirection prevDir, AgvDirection currentDir, VirtualAGV agv)
-        {
-            // Monitor Side 판단 로직
-            // 현재 AGV의 물리적 방향(Monitor Side)이 "Right" 상태여야 버퍼 진입이 용이하다고 가정.
-            // Monitor Left 상태(부적절한 방향)라면 Gateway로 탈출해야 함.
-
-            // 이동 벡터 X 변화량
-            // prev가 없거나 start와 같으면 이동 방향을 알 수 없음 -> 이 경우 보수적으로 기존 로직(Backward면 탈출) 따름
-            int deltaX = 0;
-            if (prev == null) return (false, "이전 노드 정보가 없습니다");
-            else deltaX = start.Position.X - prev.Position.X;
-
-            bool isMonitorLeft = false;
-
-            if (deltaX > 0) // 오른쪽(Forward)으로 이동해 옴 (예: 2 -> 4)
-            {
-                // 이동방향(Right) + 전진(F) => Monitor Right (Good)
-                // 이동방향(Right) + 후진(B) => Monitor Left (Bad)
-                isMonitorLeft = (prevDir == AgvDirection.Backward);
-            }
-            else if (deltaX < 0) // 왼쪽(Reverse)으로 이동해 옴 (예: 4 -> 2)
-            {
-                // 이동방향(Left) + 전진(F) => Monitor Left (Bad)
-                // 이동방향(Left) + 후진(B) => Monitor Right (Good)
-                isMonitorLeft = (prevDir == AgvDirection.Forward);
-            }
-            else // 제자리 또는 수직 이동
-            {
-                // 판단 불가 시 기존 로직(Backward면 Gateway) 유지
-                return (false, "이전 노드와의 방향을 알 수 없습니다");
-            }
-
-            if (isMonitorLeft)
-            {
-                // Monitor Left 상태 (방향 불일치) -> Gateway로 탈출
-                var GateWayNode = FindNode(6);
-                var escPath = _advancedPathfinder.FindBasicPath(start, GateWayNode, prev, prevDir);
-                if (!escPath.Success) return (false, "버퍼 탈출 경로 실패");
-
-                var lastNode = escPath.Path.Last(); // Should be GW6
-                var lastPrev = escPath.Path[escPath.Path.Count - 2];
-                var lastDir = escPath.DetailedPath.Last().MotorDirection;
-
-                // Gateway 도착 후, Target(Buffer)으로 이동
-                // 여기서부터는 "Monitor Right" 로직(즉, 적절한 방향 진입)을 적용합니다.
-                // 6번에서 Target이 왼쪽이면 Direct(Backward), 오른쪽이면 Overshoot(Forward->Backward)
-
-
-                bool isTargetLeftOfGW = target.Position.X < GateWayNode.Position.X;
-                AGVPathResult entryPath = null;
-
-                //게이트웨이까지 후진으로 이동했다면 모니터방향이 오른쪽이다 => 방향전환필요
-                var gateToTarget = GetPathFromGateway(GateWayNode, target, lastPrev, lastDir);
-
-                escPath.Path.RemoveAt(escPath.Path.Count - 1);
-                escPath.DetailedPath.RemoveAt(escPath.DetailedPath.Count - 1);
-
-
-                var final = CombinePaths(escPath, gateToTarget);
-                ApplyResultToSimulator(final, agv);
-                UpdateAdvancedPathDebugInfo(final);
-                return (true, "버퍼 재진입(탈출후)");
-            }
-            else
-            {
-                // Monitor Right 상태 (방향 일치) -> 직접 진입 또는 Overshoot
-                bool isTargetLeft = target.Position.X < start.Position.X;
-
-                if (isTargetLeft)
-                {
-                    var directPath = _advancedPathfinder.FindBasicPath(start, target, prev, AgvDirection.Backward);
-                    ApplyResultToSimulator(directPath, agv);
-                    UpdateAdvancedPathDebugInfo(directPath);
-                    return (true, "버퍼 좌측이동(직접진입)");
-                }
-                else
-                {
-                    //대상이 나보다 우측에 있으니 RFID값이 읽어지는 위치까지 이동후에 다시 반대방향으로 마크스탑 해야 함
-                    //그냥 대상 노드까지 이동을 한다.. RFID값이 실제 멈추는 위치 이전에 있으니 그곳까지 이동하고 역방향 마크스탑하면 동일한 위치이다. 위 식은 그 이전노드까지 확실하게 이동하는 코드이다
-                    //var overshootNode = target.ConnectedMapNodes.OrderByDescending(n => n.Position.X).FirstOrDefault();
-                    //if (overshootNode == null || overshootNode.Position.X <= target.Position.X)
-                    //    return (false, "Overshoot 공간 부족");
-
-                    var path1 = _advancedPathfinder.FindBasicPath(start, target, prev, AgvDirection.Forward);
-                    if (path1.Path.Count < 2) return (false, "Overshoot 경로 생성 실패");
-
-                    //목표에서 방향바꿔 마크스탑을 해야한다
-                    path1.Path.Add(path1.Path.Last());
-
-                    //디테일은 방향바꿔서 추가 필요(속도는 저속처리해준다)
-                    var lastDefailt = path1.DetailedPath.Last();
-                    path1.DetailedPath.Add(new NodeMotorInfo(lastDefailt.seq + 1, lastDefailt.NodeId, lastDefailt.RfidId, AgvDirection.Backward)
-                    {
-                        Speed = SpeedLevel.L,
-                        IsPass = false,
-                    });
-
-                    //var p1Last = path1.Path.Last();
-                    //var p1Prev = path1.Path[path1.Path.Count > 1 ? path1.Path.Count - 2 : 0]; // Safety check
-                    //var p1Dir = path1.DetailedPath.Last().MotorDirection;
-
-                    //var path2 = _advancedPathfinder.FindPath(start, target, p1Last, p1Dir, AgvDirection.Backward);
-
-                    //if (path2.Success && path2.DetailedPath.Last().NodeId == target.Id)
-                    //    path2.DetailedPath = path2.DetailedPath.Take(path2.DetailedPath.Count - 1).ToList();
-
-                    //var final = CombinePaths(path1, path2);
-                    ApplyResultToSimulator(path1, agv);
-                    UpdateAdvancedPathDebugInfo(path1);
-                    return (true, "버퍼 우측(Overshoot)");
-                }
-            }
-        }
-
         /// <summary>
         /// p1+p2
         /// </summary>

Cs_HMI/Project/StateMachine/_Xbee.cs

@@ -371,7 +371,7 @@ namespace Project
             {
                 // 경로 실패시 디버깅 정보 초기화
                 //_pathDebugLabel.Text = $"경로: 실패 - {advancedResult.ErrorMessage}";                
-                Message = $"경로를 찾을 수 없습니다:\n{advancedResult.ErrorMessage}";
+                Message = $"경로를 찾을 수 없습니다:\n{advancedResult.Message}";
                 advancedResult = null;
             }
 

경로계산백업.md

@@ -0,0 +1,273 @@
+ML 0001	0001	0001(FS) 0016(FS) 0012(FS) 0010(BL) 0012(BL) 0016(BS) 0001(BS) [MARKSTOP]
+ML 0016	0001	0016(BS) 0001(BS) [MARKSTOP]
+ML 0012	0001	0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
+ML 0010	0001	0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
+ML 0009	0001	0009(BL) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
+ML 0015	0001	0015(BS) 0009(BL) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
+ML 0017	0001	0017(BS) 0009(BL) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
+ML 0007	0001	0007(FR) 0009(BR) 0010(BL) 0012(BL) 0016(BS) 0001(BS) [MARKSTOP]
+ML 0013	0001	[G1312ML] 0016(BS) 0001(BS) [MARKSTOP]
+ML 0019	0001	0019(FS) [G1312ML] 0016(BS) 0001(BS) [MARKSTOP]
+ML 0008	0001	0008(FS) 0019(FS) [G1312ML] 0016(BS) 0001(BS) [MARKSTOP]
+ML 0011	0001	0011(BS) [G0601ML] [MARKSTOP]
+ML 0006	0001	[G0601ML] [MARKSTOP]
+ML 0005	0001	0005(BR) [G0601ML] [MARKSTOP]
+ML 0003	0001	0003(BL) 0005(BR) [G0601ML] [MARKSTOP]
+ML 0004	0001	0004(BL) 0003(BL) 0005(BR) [G0601ML] [MARKSTOP]
+ML 0002	0001	0002(BS) 0004(BL) 0003(BL) 0005(BR) [G0601ML] [MARKSTOP]
+ML 0034	0001	0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) [G0601ML] [MARKSTOP]
+ML 0033	0001	0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) [G0601ML] [MARKSTOP]
+ML 0032	0001	0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) [G0601ML] [MARKSTOP]
+ML 0031	0001	0031(BS) 0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) [G0601ML] [MARKSTOP]
+
+
+ML 0001	0019	0001(FS) 0016(FS) [G1213ML] 0019(BS) [MARKSTOP]
+ML 0016	0019	0016(FS) [G1213ML] 0019(BS) [MARKSTOP]
+ML 0012	0019	[G1213ML] 0019(BS) [MARKSTOP]
+ML 0010	0019	0010(FR) 0009(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
+ML 0009	0019	0009(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
+ML 0015	0019	0015(BS) 0009(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
+ML 0017	0019	0017(BS) 0009(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
+ML 0007	0019	0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
+ML 0013	0019	0013(BL) 0019(BS) [MARKSTOP]
+ML 0019	0019	[동작없음] [MARKSTOP]
+ML 0008	0019	0008(FS) 0019(BS) [MARKSTOP]
+ML 0011	0019	0011(BS) 0006(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
+ML 0006	0019	0006(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
+ML 0005	0019	[G0519ML] [MARKSTOP]
+ML 0003	0019	0003(BL) [G0519ML] [MARKSTOP]
+ML 0004	0019	0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
+ML 0002	0019	0002(BS) 0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
+ML 0034	0019	0034(BS) 0002(BS) 0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
+ML 0033	0019	0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
+ML 0032	0019	0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
+ML 0031	0019	0031(BS) 0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
+
+
+
+ML 0001	0034	0001(FS) 0016(FS) 0012(FS) 0010(FR) 0009(BR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
+
+ML 0001	0008	0001(FS) 0016(FS) [G1213ML] 0019(BR) 0008(BS) [MARKSTOP]
+ML 0016	0008	0016(FS) [G1213ML] 0019(BR) 0008(BS) [MARKSTOP]
+ML 0012	0008	[G1213ML] 0019(BR) 0008(BS) [MARKSTOP]
+ML 0010	0008	0010(FR) 0009(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
+ML 0009	0008	0009(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
+ML 0015	0008	0015(BS) 0009(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
+ML 0017	0008	0017(BS) 0009(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
+ML 0007	0008	0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
+ML 0013	0008	0013(BS) 0019(FS) 0008(BS) [MARKSTOP]
+ML 0019	0008	0019(BS) 0008(BS) [MARKSTOP]
+ML 0008	0008	[마크센서가 감지안되는 경우] 0008(FS) 0019(BS) 0008(BS) [MARKSTOP]
+ML 0011	0008	0011(BS) 0006(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
+ML 0006	0008	0006(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
+ML 0005	0008	0005(BR) 0006(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
+ML 0003	0008	0003(BL) 0005(BR) 0006(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
+ML 0004	0008	0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
+ML 0002	0008	0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
+ML 0034	0008	0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
+ML 0033	0008	0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
+ML 0032	0008	0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
+ML 0031	0008	0031(BS) 0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(BS) 0013(BL) 0019(BR) 0008(BS) [MARKSTOP]
+
+ML 0001	0015	0001(FS) 0016(FS) 0012(FS) 0010(FR) 0009(FS) 0015(FS) [MARKSTOP]
+ML 0016	0015	0016(FS) 0012(FS) 0010(FR) 0009(FS) 0015(FS) [MARKSTOP]
+ML 0012	0015	0012(FS) 0010(FR) 0009(FS) 0015(FS) [MARKSTOP]
+ML 0010	0015	0010(FR) 0009(FS) 0015(FS) [MARKSTOP]
+ML 0009	0015	0009(FS) 0015(FS) [MARKSTOP]
+ML 0015	0015	[동작없음] [MARKSTOP]
+ML 0017	0015	0017(BS) 0009(FS) 0015(FS) [MARKSTOP]
+ML 0007	0015	0007(FL) 0009(FS) 0015(FS) [MARKSTOP]
+ML 0013	0015	[G1309ML] 0015(FS) [MARKSTOP]
+ML 0019	0015	0019(FS) [G1309ML] 0015(FS) [MARKSTOP]
+ML 0008	0015	0008(FS) 0019(FS) [G1309ML] 0015(FS) [MARKSTOP]
+ML 0011	0015	0011(BS) 0006(BR) 0007(FL) 0009(FS) 0015(FS) [MARKSTOP]
+ML 0006	0015	0006(BR) 0007(FL) 0009(FS) 0015(FS) [MARKSTOP]
+ML 0005	0015	0005(BR) 0006(BR) 0007(FL) 0009(FS) 0015(FS) [MARKSTOP]
+ML 0003	0015	0003(BL) 0005(BR) 0006(BR) 0007(FL) 0009(FS) 0015(FS) [MARKSTOP]
+ML 0004	0015	0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(FL) 0009(FS) 0015(FS) [MARKSTOP]
+ML 0002	0015	0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(FL) 0009(FS) 0015(FS) [MARKSTOP]
+ML 0034	0015	0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(FL) 0009(FS) 0015(FS) [MARKSTOP]
+ML 0033	0015	0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(FL) 0009(FS) 0015(FS) [MARKSTOP]
+ML 0032	0015	0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(FL) 0009(FS) 0015(FS) [MARKSTOP]
+ML 0031	0015	0031(BS) 0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0007(FL) 0009(FS) 0015(FS) [MARKSTOP]
+
+ML 0001	0011	0001(FS) 0016(FS) 0012(FS) 0010(FR) 0009(BR) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
+ML 0016	0011	0016(FS) 0012(FS) 0010(FR) 0009(BR) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
+ML 0012	0011	0012(FS) 0010(FR) 0009(BR) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
+ML 0010	0011	0010(FR) 0009(BR) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
+ML 0009	0011	0009(BR) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
+ML 0015	0011	0015(BS) 0009(BR) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
+ML 0017	0011	0017(BS) 0009(BR) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
+ML 0007	0011	0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
+ML 0013	0011	0013(BS) 0007(FR) 0006(BR) 0011(BS) [MARKSTOP]
+ML 0019	0011	0019(FS) 0013(BS) 0007(FR) 0006(BR) 0011(BS) [MARKSTOP]
+ML 0008	0011	0008(FS) 0019(FS) 0013(BS) 0007(FR) 0006(BR) 0011(BS) [MARKSTOP]
+ML 0011	0011	[동작없음] [MARKSTOP]
+ML 0006	0011	0006(BR) 0011(BS) [MARKSTOP]
+ML 0005	0011	0005(BR) 0006(BR) 0011(BS) [MARKSTOP]
+ML 0003	0011	0003(BL) 0005(BR) 0006(BR) 0011(BS) [MARKSTOP]
+ML 0004	0011	0004(BL) 0003(BL) 0005(BR) 0006(BR) 0011(BS) [MARKSTOP]
+ML 0002	0011	0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0011(BS) [MARKSTOP]
+ML 0034	0011	0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0011(BS) [MARKSTOP]
+ML 0033	0011	0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0011(BS) [MARKSTOP]
+ML 0032	0011	0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0011(BS) [MARKSTOP]
+ML 0031	0011	0031(BS) 0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) 0005(BR) 0006(BR) 0011(BS) [MARKSTOP]
+
+
+ML 0001	0019	0001(FS) 0016(FS) [G1213ML] 0019(BS) [MARKSTOP]
+ML 0016	0019	0016(FS) [G1213ML] 0019(BS) [MARKSTOP]
+ML 0012	0019	[G1213ML] 0019(BS) [MARKSTOP]
+ML 0010	0019	0010(FR) 0009(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
+ML 0009	0019	0009(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
+ML 0015	0019	0015(BS) 0009(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
+ML 0017	0019	0017(BS) 0009(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
+ML 0007	0019	0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
+ML 0013	0019	0013(BL) 0019(BS) [MARKSTOP]
+ML 0019	0019	[동작없음] [MARKSTOP]
+ML 0008	0019	0008(FS) 0019(BS) [MARKSTOP]
+ML 0011	0019	0011(BS) 0006(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
+ML 0006	0019	0006(BR) 0007(BS) 0013(BL) 0019(BS) [MARKSTOP]
+ML 0005	0019	[G0519ML] [MARKSTOP]
+ML 0003	0019	0003(BL) [G0519ML] [MARKSTOP]
+ML 0004	0019	0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
+ML 0002	0019	0002(BS) 0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
+ML 0034	0019	0034(BS) 0002(BS) 0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
+ML 0033	0019	0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
+ML 0032	0019	0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
+ML 0031	0019	0031(BS) 0032(BS) 0033(BS) 0034(BS) 0002(BS) 0004(BL) 0003(BL) [G0519ML] [MARKSTOP]
+
+
+ML 0001	0034	0001(FS) 0016(FS) 0012(FS) 0010(FR) 0009(BR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
+ML 0016	0034	0016(FS) 0012(FS) 0010(FR) 0009(BR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
+ML 0012	0034	0012(FS) 0010(FR) 0009(BR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
+ML 0010	0034	0010(FR) 0009(BR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
+ML 0009	0034	0009(BR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
+ML 0015	0034	0015(BS) 0009(BR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
+ML 0017	0034	0017(BS) 0009(BR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
+ML 0007	0034	0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
+ML 0013	0034	0013(BS) 0007(FR) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
+ML 0019	0034	0019(FS) 0013(BS) 0007(FR) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
+ML 0008	0034	0008(FS) 0019(FS) 0013(BS) 0007(FR) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
+ML 0011	0034	0011(BS) 0006(FR) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
+ML 0006	0034	0006(FR) 0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
+ML 0005	0034	0005(BL) 0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
+ML 0003	0034	0003(BS) 0004(BS) 0002(BS) 0034 [MARKSTOP]
+ML 0004	0034	0004(BS) 0002(BS) 0034 [MARKSTOP]
+ML 0002	0034	0002(BS) 0034 [MARKSTOP]
+ML 0034	0034	[동작없음] [MARKSTOP]
+ML 0033	0034	0033(FS) 0034 [MARKSTOP]
+ML 0032	0034	0032(FS) 0033(FS) 0034 [MARKSTOP]
+ML 0031	0034	0031(FS) 0032(FS) 0033(FS) 0034 [MARKSTOP]
+
+
+
+MR 0001	0001	0001(BS) 0016(BS) 0012(BS) 0010(FS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
+MR 0016	0001	0016(FS) 0001(BS) [MARKSTOP]
+MR 0012	0001	0012(FS) 0016(FS) 0001(BS) [MARKSTOP]
+MR 0010	0001	0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
+MR 0009	0001	0009(FR) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
+MR 0015	0001	0015(BS) 0009(FR) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
+MR 0017	0001	0017(FS) 0009(FR) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
+MR 0007	0001	0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
+MR 0013	0001	[G1312MR] 0016(BS) 0001(BS) [MARKSTOP]
+MR 0019	0001	0019(BS) [G1312MR] 0016(BS) 0001(BS) [MARKSTOP]
+MR 0008	0001	0008(BS) 0019(BS) [G1312MR] 0016(BS) 0001(BS) [MARKSTOP]
+MR 0011	0001	0011(FS) 0006(FR) 0013(BL) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
+MR 0006	0001	0006(FR) 0013(BL) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
+MR 0005	0001	0005(FR) 0006(FR) 0013(BL) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
+MR 0003	0001	0003(FL) 0005(FR) 0006(FR) 0013(BL) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
+MR 0004	0001	0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BL) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
+MR 0002	0001	0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BL) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
+MR 0034	0001	0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BL) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
+MR 0033	0001	0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BL) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
+MR 0032	0001	0032(FS) 0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BL) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
+MR 0031	0001	0031(FS) 0032(FS) 0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BL) 0007(BS) 0010(BS) 0012(BS) 0016(BS) 0001(BS) [MARKSTOP]
+
+MR 0001	0019	[G1610MR] 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0016	0019	0016(BS) 0012(BS) 0010(BL) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0012	0019	0012(BS) 0010(BL) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0010	0019	0010(BL) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0009	0019	0009(FR) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0015	0019	0015(BS) 0009(FR) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0017	0019	0017(FS) 0009(FR) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0007	0019	0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0013	0019	0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0019	0019	[동작없음] [MARKSTOP]
+MR 0008	0019	0008(BS) 0019(BS) [MARKSTOP]
+MR 0011	0019	0011(FS) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0006	0019	0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0005	0019	0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0003	0019	0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0004	0019	0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0002	0019	0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0034	0019	0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0033	0019	0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0032	0019	0032(FS) 0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0031	0019	0031(FS) 0032(FS) 0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+
+MR 0001	0011	[G1610MR] 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
+MR 0016	0011	0016(BS) 0012(BS) 0010(BL) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
+MR 0012	0011	0012(BS) 0010(BL) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
+MR 0010	0011	0010(BL) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
+MR 0009	0011	0009(FR) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
+MR 0015	0011	0015(BS) 0009(FR) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
+MR 0017	0011	0017(FS) 0009(FR) 0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
+MR 0007	0011	0007(BS) 0006(BR) 0011(BS) [MARKSTOP]
+MR 0013	0011	0013(BS) 0007(FR) 0006(BR) 0011(BS) [MARKSTOP]
+MR 0019	0011	0019(BS) 0013(BS) 0007(FR) 0006(BR) 0011(BS) [MARKSTOP]
+MR 0008	0011	0008(BS) 0019(BS) 0013(BS) 0007(FR) 0006(BR) 0011(BS) [MARKSTOP]
+MR 0011	0011	[동작없음] [MARKSTOP]
+MR 0006	0011	0006(BR) 0011(BS) [MARKSTOP]
+MR 0005	0011	0005(FR) 0006(BR) 0011(BS) [MARKSTOP]
+MR 0003	0011	0003(FL) 0005(FR) 0006(BR) 0011(BS) [MARKSTOP]
+MR 0004	0011	0004(FL) 0003(FL) 0005(FR) 0006(BR) 0011(BS) [MARKSTOP]
+MR 0002	0011	0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(BR) 0011(BS) [MARKSTOP]
+MR 0034	0011	0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(BR) 0011(BS) [MARKSTOP]
+MR 0033	0011	0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(BR) 0011(BS) [MARKSTOP]
+MR 0032	0011	0032(FS) 0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(BR) 0011(BS) [MARKSTOP]
+MR 0031	0011	0031(FS) 0032(FS) 0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(BR) 0011(BS) [MARKSTOP]
+
+
+MR 0001	0019	[G1610MR] 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0016	0019	0016(BS) 0012(BS) 0010(BL) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0012	0019	0012(BS) 0010(BL) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0010	0019	0010(BL) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0009	0019	0009(FR) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0015	0019	0015(BS) 0009(FR) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0017	0019	0017(FS) 0009(FR) 0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0007	0019	0007(BS) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0013	0019	0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0019	0019	[동작없음] [MARKSTOP]
+MR 0008	0019	0008(BS) 0019(BS) [MARKSTOP]
+MR 0011	0019	0011(FS) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0006	0019	0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0005	0019	0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0003	0019	0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0004	0019	0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0002	0019	0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0034	0019	0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0033	0019	0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0032	0019	0032(FS) 0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+MR 0031	0019	0031(FS) 0032(FS) 0033(FS) 0034(FS) 0002(FS) 0004(FL) 0003(FL) 0005(FR) 0006(FR) 0013(BS) 0007(FR) 0006(BR) 0013(BS) 0019(BS) [MARKSTOP]
+
+MR 0001	0034	[G1610MR] 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
+MR 0016	0034	0016(BS) 0012(BS) 0010(BL) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
+MR 0012	0034	0012(BS) 0010(BL) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
+MR 0010	0034	0010(BL) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
+MR 0009	0034	0009(FR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
+MR 0015	0034	0015(BS) 0009(FR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
+MR 0017	0034	0017(FS) 0009(FR) 0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
+MR 0007	0034	0007(BS) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
+MR 0013	0034	0013(BS) 0007(FR) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
+MR 0019	0034	0019(BS) 0013(BS) 0007(FR) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
+MR 0008	0034	0008(BS) 0019(BS) 0013(BS) 0007(FR) 0006(BL) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
+MR 0011	0034	0011(FS) 0006(FR) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
+MR 0006	0034	0006(FR) 0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
+MR 0005	0034	0005(BL) 0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
+MR 0003	0034	0003(BS) 0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
+MR 0004	0034	0004(BS) 0002(FS) 0034(BS) [MARKSTOP]
+MR 0002	0034	0002(FS) 0034(BS) [MARKSTOP]
+MR 0034	0034	[동작없음] [MARKSTOP]
+MR 0033	0034	0033(BS) 0034(BS) [MARKSTOP]
+MR 0032	0034	0032(BS) 0033(BS) 0034(BS) [MARKSTOP]
+MR 0031	0034	0031(BS) 0032(BS) 0033(BS) 0034(BS) [MARKSTOP]