Path Direction Detection (AGVPathfinder.cs):
- Added GetNextNodeByDirection() method to determine next node based on Forward/Backward direction
- Implements vector-based angle calculation for intelligent node selection
- Forward: selects node in continuous direction
- Backward: selects node in opposite direction
- Validates if selected direction matches path requirements
Logic additions at line 150-167:
- Detects next node for Forward and Backward directions
- Checks if backward movement aligns with path's next node
- Returns path with appropriate motor direction (ReverseDirection when applicable)
Improved Path Visualization (UnifiedAGVCanvas.Events.cs):
- Refined equilateral triangle arrows (8 pixels, symmetric)
- 50% transparency for purple path lines with 2x thickness
- Bidirectional path detection (darker color for repeated segments)
- Better visual distinction for calculated paths
Technical Details:
- Added System.Drawing using statement for PointF operations
- Added DirectionalPathfinder initialization
- Vector normalization for angle-based decisions
- Dot product calculation for direction similarity scoring
Result: AGV can now intelligently select next node based on current movement direction and validate path feasibility
🤖 Generated with [Claude Code](https://claude.com/claude-code)
Co-Authored-By: Claude <noreply@anthropic.com>
1d65531b11