de0e39e030
Major improvements to AGV navigation system: • Consolidated RFID management into MapNode, removing duplicate RfidMapping class • Enhanced MapNode with RFID metadata fields (RfidStatus, RfidDescription) • Added automatic bidirectional connection generation in pathfinding algorithms • Updated all components to use unified MapNode-based RFID system • Added command line argument support for AGVMapEditor auto-loading files • Fixed pathfinding failures by ensuring proper node connectivity Technical changes: - Removed RfidMapping class and dependencies across all projects - Updated AStarPathfinder with EnsureBidirectionalConnections() method - Modified MapLoader to use AssignAutoRfidIds() for RFID automation - Enhanced UnifiedAGVCanvas, SimulatorForm, and MainForm for MapNode integration - Improved data consistency and reduced memory footprint 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com>
605 lines
19 KiB
C#
605 lines
19 KiB
C#
using System;
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using System.Drawing;
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using System.Linq;
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using System.Windows.Forms;
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using AGVNavigationCore.Models;
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namespace AGVNavigationCore.Controls
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{
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public partial class UnifiedAGVCanvas
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{
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#region Mouse Events
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private void UnifiedAGVCanvas_MouseClick(object sender, MouseEventArgs e)
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{
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Focus(); // 포커스 설정
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if (_canvasMode == CanvasMode.ViewOnly) return;
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var worldPoint = ScreenToWorld(e.Location);
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var hitNode = GetNodeAt(worldPoint);
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switch (_editMode)
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{
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case EditMode.Select:
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HandleSelectClick(hitNode);
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break;
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case EditMode.AddNode:
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HandleAddNodeClick(worldPoint);
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break;
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case EditMode.Connect:
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HandleConnectClick(hitNode);
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break;
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case EditMode.Delete:
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HandleDeleteClick(hitNode);
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break;
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}
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}
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private void UnifiedAGVCanvas_MouseDoubleClick(object sender, MouseEventArgs e)
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{
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if (_canvasMode == CanvasMode.ViewOnly) return;
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var worldPoint = ScreenToWorld(e.Location);
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var hitNode = GetNodeAt(worldPoint);
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if (hitNode != null)
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{
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// 노드 속성 편집 (이벤트 발생)
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NodeSelected?.Invoke(this, hitNode);
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}
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}
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private void UnifiedAGVCanvas_MouseDown(object sender, MouseEventArgs e)
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{
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var worldPoint = ScreenToWorld(e.Location);
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if (e.Button == MouseButtons.Left)
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{
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if (_canvasMode == CanvasMode.Edit && _editMode == EditMode.Move)
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{
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var hitNode = GetNodeAt(worldPoint);
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if (hitNode != null)
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{
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_isDragging = true;
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_selectedNode = hitNode;
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_dragOffset = new Point(
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worldPoint.X - hitNode.Position.X,
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worldPoint.Y - hitNode.Position.Y
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);
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Cursor = Cursors.SizeAll;
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Invalidate();
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return;
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}
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}
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// 팬 시작 (우클릭 또는 중간버튼)
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_isPanning = true;
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_lastMousePosition = e.Location;
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Cursor = Cursors.SizeAll;
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}
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else if (e.Button == MouseButtons.Right)
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{
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// 컨텍스트 메뉴 (편집 모드에서만)
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if (_canvasMode == CanvasMode.Edit)
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{
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var hitNode = GetNodeAt(worldPoint);
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ShowContextMenu(e.Location, hitNode);
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}
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}
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}
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private void UnifiedAGVCanvas_MouseMove(object sender, MouseEventArgs e)
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{
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var worldPoint = ScreenToWorld(e.Location);
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// 호버 노드 업데이트
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var newHoveredNode = GetNodeAt(worldPoint);
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if (newHoveredNode != _hoveredNode)
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{
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_hoveredNode = newHoveredNode;
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Invalidate();
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}
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if (_isPanning)
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{
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// 팬 처리
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var deltaX = e.X - _lastMousePosition.X;
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var deltaY = e.Y - _lastMousePosition.Y;
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_panOffset.X += deltaX;
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_panOffset.Y += deltaY;
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_lastMousePosition = e.Location;
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Invalidate();
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}
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else if (_isDragging && _canvasMode == CanvasMode.Edit)
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{
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// 노드 드래그
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if (_selectedNode != null)
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{
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var newPosition = new Point(
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worldPoint.X - _dragOffset.X,
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worldPoint.Y - _dragOffset.Y
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);
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// 그리드 스냅
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if (ModifierKeys.HasFlag(Keys.Control))
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{
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newPosition.X = (newPosition.X / GRID_SIZE) * GRID_SIZE;
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newPosition.Y = (newPosition.Y / GRID_SIZE) * GRID_SIZE;
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}
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_selectedNode.Position = newPosition;
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NodeMoved?.Invoke(this, _selectedNode);
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MapChanged?.Invoke(this, EventArgs.Empty);
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Invalidate();
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}
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}
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else if (_isConnectionMode && _canvasMode == CanvasMode.Edit)
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{
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// 임시 연결선 업데이트
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_connectionEndPoint = worldPoint;
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Invalidate();
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}
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// 툴팁 표시 (호버된 노드/AGV 정보)
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UpdateTooltip(worldPoint);
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}
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private void UnifiedAGVCanvas_MouseUp(object sender, MouseEventArgs e)
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{
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if (e.Button == MouseButtons.Left)
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{
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if (_isDragging && _canvasMode == CanvasMode.Edit)
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{
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_isDragging = false;
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Cursor = GetCursorForMode(_editMode);
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}
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if (_isPanning)
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{
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_isPanning = false;
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Cursor = Cursors.Default;
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}
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}
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}
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private void UnifiedAGVCanvas_MouseWheel(object sender, MouseEventArgs e)
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{
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// 줌 처리
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var mouseWorldPoint = ScreenToWorld(e.Location);
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var oldZoom = _zoomFactor;
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if (e.Delta > 0)
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_zoomFactor = Math.Min(_zoomFactor * 1.2f, 5.0f);
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else
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_zoomFactor = Math.Max(_zoomFactor / 1.2f, 0.1f);
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// 마우스 위치를 중심으로 줌
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var zoomRatio = _zoomFactor / oldZoom;
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_panOffset.X = (int)(e.X - (e.X - _panOffset.X) * zoomRatio);
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_panOffset.Y = (int)(e.Y - (e.Y - _panOffset.Y) * zoomRatio);
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Invalidate();
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}
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#endregion
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#region Mouse Helper Methods
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private Point ScreenToWorld(Point screenPoint)
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{
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return new Point(
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(int)((screenPoint.X - _panOffset.X) / _zoomFactor),
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(int)((screenPoint.Y - _panOffset.Y) / _zoomFactor)
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);
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}
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private Point WorldToScreen(Point worldPoint)
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{
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return new Point(
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(int)(worldPoint.X * _zoomFactor + _panOffset.X),
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(int)(worldPoint.Y * _zoomFactor + _panOffset.Y)
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);
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}
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private MapNode GetNodeAt(Point worldPoint)
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{
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if (_nodes == null) return null;
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// 역순으로 검사하여 위에 그려진 노드부터 확인
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for (int i = _nodes.Count - 1; i >= 0; i--)
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{
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var node = _nodes[i];
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if (IsPointInNode(worldPoint, node))
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return node;
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}
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return null;
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}
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private bool IsPointInNode(Point point, MapNode node)
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{
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switch (node.Type)
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{
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case NodeType.Label:
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return IsPointInLabelNode(point, node);
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case NodeType.Image:
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return IsPointInImageNode(point, node);
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default:
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return IsPointInCircularNode(point, node);
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}
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}
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private bool IsPointInCircularNode(Point point, MapNode node)
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{
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switch (node.Type)
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{
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case NodeType.Docking:
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return IsPointInPentagon(point, node);
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case NodeType.Charging:
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return IsPointInTriangle(point, node);
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default:
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return IsPointInCircle(point, node);
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}
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}
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private bool IsPointInCircle(Point point, MapNode node)
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{
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var hitRadius = Math.Max(NODE_RADIUS, 10 / _zoomFactor);
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var distance = Math.Sqrt(
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Math.Pow(node.Position.X - point.X, 2) +
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Math.Pow(node.Position.Y - point.Y, 2)
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);
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return distance <= hitRadius;
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}
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private bool IsPointInPentagon(Point point, MapNode node)
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{
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var radius = NODE_RADIUS;
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var center = node.Position;
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// 5각형 꼭짓점 계산
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var points = new Point[5];
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for (int i = 0; i < 5; i++)
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{
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var angle = (Math.PI * 2 * i / 5) - Math.PI / 2;
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points[i] = new Point(
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(int)(center.X + radius * Math.Cos(angle)),
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(int)(center.Y + radius * Math.Sin(angle))
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);
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}
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return IsPointInPolygon(point, points);
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}
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private bool IsPointInTriangle(Point point, MapNode node)
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{
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var radius = NODE_RADIUS;
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var center = node.Position;
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// 삼각형 꼭짓점 계산
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var points = new Point[3];
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for (int i = 0; i < 3; i++)
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{
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var angle = (Math.PI * 2 * i / 3) - Math.PI / 2;
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points[i] = new Point(
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(int)(center.X + radius * Math.Cos(angle)),
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(int)(center.Y + radius * Math.Sin(angle))
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);
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}
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return IsPointInPolygon(point, points);
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}
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private bool IsPointInPolygon(Point point, Point[] polygon)
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{
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// Ray casting 알고리즘 사용
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bool inside = false;
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int j = polygon.Length - 1;
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for (int i = 0; i < polygon.Length; i++)
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{
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var xi = polygon[i].X;
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var yi = polygon[i].Y;
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var xj = polygon[j].X;
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var yj = polygon[j].Y;
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if (((yi > point.Y) != (yj > point.Y)) &&
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(point.X < (xj - xi) * (point.Y - yi) / (yj - yi) + xi))
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{
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inside = !inside;
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}
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j = i;
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}
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return inside;
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}
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private bool IsPointInLabelNode(Point point, MapNode node)
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{
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var text = string.IsNullOrEmpty(node.LabelText) ? node.NodeId : node.LabelText;
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// 임시 Graphics로 텍스트 크기 측정
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using (var tempBitmap = new Bitmap(1, 1))
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using (var tempGraphics = Graphics.FromImage(tempBitmap))
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{
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var font = new Font(node.FontFamily, node.FontSize, node.FontStyle);
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var textSize = tempGraphics.MeasureString(text, font);
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var textRect = new Rectangle(
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(int)(node.Position.X - textSize.Width / 2),
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(int)(node.Position.Y - textSize.Height / 2),
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(int)textSize.Width,
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(int)textSize.Height
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);
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font.Dispose();
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return textRect.Contains(point);
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}
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}
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private bool IsPointInImageNode(Point point, MapNode node)
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{
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var displaySize = node.GetDisplaySize();
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if (displaySize.IsEmpty)
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displaySize = new Size(50, 50); // 기본 크기
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var imageRect = new Rectangle(
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node.Position.X - displaySize.Width / 2,
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node.Position.Y - displaySize.Height / 2,
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displaySize.Width,
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displaySize.Height
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);
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return imageRect.Contains(point);
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}
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private IAGV GetAGVAt(Point worldPoint)
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{
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if (_agvList == null) return null;
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var hitRadius = Math.Max(AGV_SIZE / 2, 15 / _zoomFactor);
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return _agvList.FirstOrDefault(agv =>
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{
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if (!_agvPositions.ContainsKey(agv.AgvId)) return false;
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var agvPos = _agvPositions[agv.AgvId];
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var distance = Math.Sqrt(
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Math.Pow(agvPos.X - worldPoint.X, 2) +
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Math.Pow(agvPos.Y - worldPoint.Y, 2)
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);
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return distance <= hitRadius;
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});
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}
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private void HandleSelectClick(MapNode hitNode)
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{
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if (hitNode != _selectedNode)
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{
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_selectedNode = hitNode;
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NodeSelected?.Invoke(this, hitNode);
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Invalidate();
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}
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}
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private void HandleAddNodeClick(Point worldPoint)
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{
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// 그리드 스냅
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if (ModifierKeys.HasFlag(Keys.Control))
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{
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worldPoint.X = (worldPoint.X / GRID_SIZE) * GRID_SIZE;
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worldPoint.Y = (worldPoint.Y / GRID_SIZE) * GRID_SIZE;
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}
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var newNode = new MapNode
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{
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NodeId = $"N{_nodeCounter:D3}",
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Position = worldPoint,
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Type = NodeType.Normal
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};
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_nodeCounter++;
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_nodes.Add(newNode);
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NodeAdded?.Invoke(this, newNode);
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MapChanged?.Invoke(this, EventArgs.Empty);
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Invalidate();
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}
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private void HandleConnectClick(MapNode hitNode)
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{
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if (hitNode == null) return;
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if (!_isConnectionMode)
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{
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// 연결 시작
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_isConnectionMode = true;
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_connectionStartNode = hitNode;
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_selectedNode = hitNode;
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}
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else
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{
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// 연결 완료
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if (_connectionStartNode != null && _connectionStartNode != hitNode)
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{
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CreateConnection(_connectionStartNode, hitNode);
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}
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CancelConnection();
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}
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Invalidate();
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}
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private void HandleDeleteClick(MapNode hitNode)
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{
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if (hitNode == null) return;
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// 연결된 모든 연결선도 제거
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foreach (var node in _nodes)
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{
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node.RemoveConnection(hitNode.NodeId);
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}
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_nodes.Remove(hitNode);
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if (_selectedNode == hitNode)
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_selectedNode = null;
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NodeDeleted?.Invoke(this, hitNode);
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MapChanged?.Invoke(this, EventArgs.Empty);
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Invalidate();
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}
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private void CreateConnection(MapNode fromNode, MapNode toNode)
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{
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// 중복 연결 체크
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if (fromNode.ConnectedNodes.Contains(toNode.NodeId))
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return;
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fromNode.AddConnection(toNode.NodeId);
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MapChanged?.Invoke(this, EventArgs.Empty);
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}
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private float CalculateDistance(Point from, Point to)
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{
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var dx = to.X - from.X;
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var dy = to.Y - from.Y;
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return (float)Math.Sqrt(dx * dx + dy * dy);
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}
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private void ShowContextMenu(Point location, MapNode hitNode)
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{
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_contextMenu.Items.Clear();
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if (hitNode != null)
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{
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_contextMenu.Items.Add("노드 속성...", null, (s, e) => NodeSelected?.Invoke(this, hitNode));
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_contextMenu.Items.Add("노드 삭제", null, (s, e) => HandleDeleteClick(hitNode));
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_contextMenu.Items.Add("-");
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}
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_contextMenu.Items.Add("노드 추가", null, (s, e) =>
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{
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var worldPoint = ScreenToWorld(location);
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HandleAddNodeClick(worldPoint);
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});
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_contextMenu.Items.Add("전체 맞춤", null, (s, e) => FitToNodes());
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_contextMenu.Items.Add("줌 리셋", null, (s, e) => ResetZoom());
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_contextMenu.Show(this, location);
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}
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private void UpdateTooltip(Point worldPoint)
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{
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string tooltipText = "";
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// 노드 툴팁
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var hitNode = GetNodeAt(worldPoint);
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if (hitNode != null)
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{
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tooltipText = $"노드: {hitNode.NodeId}\n타입: {hitNode.Type}\n위치: ({hitNode.Position.X}, {hitNode.Position.Y})";
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}
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else
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{
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// AGV 툴팁
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var hitAGV = GetAGVAt(worldPoint);
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if (hitAGV != null)
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{
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var state = _agvStates.ContainsKey(hitAGV.AgvId) ? _agvStates[hitAGV.AgvId] : AGVState.Idle;
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tooltipText = $"AGV: {hitAGV.AgvId}\n상태: {state}\n배터리: {hitAGV.BatteryLevel:F1}%\n위치: ({hitAGV.CurrentPosition.X}, {hitAGV.CurrentPosition.Y})";
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}
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}
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// 툴팁 업데이트 (기존 ToolTip 컨트롤 사용)
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if (!string.IsNullOrEmpty(tooltipText))
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{
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// ToolTip 설정 (필요시 추가 구현)
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}
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}
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#endregion
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#region View Control Methods
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/// <summary>
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/// 모든 노드가 보이도록 뷰 조정
|
|
/// </summary>
|
|
public void FitToNodes()
|
|
{
|
|
if (_nodes == null || _nodes.Count == 0) return;
|
|
|
|
var minX = _nodes.Min(n => n.Position.X);
|
|
var maxX = _nodes.Max(n => n.Position.X);
|
|
var minY = _nodes.Min(n => n.Position.Y);
|
|
var maxY = _nodes.Max(n => n.Position.Y);
|
|
|
|
var margin = 50;
|
|
var contentWidth = maxX - minX + margin * 2;
|
|
var contentHeight = maxY - minY + margin * 2;
|
|
|
|
var zoomX = (float)Width / contentWidth;
|
|
var zoomY = (float)Height / contentHeight;
|
|
_zoomFactor = Math.Min(zoomX, zoomY) * 0.9f;
|
|
|
|
var centerX = (minX + maxX) / 2;
|
|
var centerY = (minY + maxY) / 2;
|
|
|
|
_panOffset.X = (int)(Width / 2 - centerX * _zoomFactor);
|
|
_panOffset.Y = (int)(Height / 2 - centerY * _zoomFactor);
|
|
|
|
Invalidate();
|
|
}
|
|
|
|
/// <summary>
|
|
/// 줌 리셋
|
|
/// </summary>
|
|
public void ResetZoom()
|
|
{
|
|
_zoomFactor = 1.0f;
|
|
_panOffset = Point.Empty;
|
|
Invalidate();
|
|
}
|
|
|
|
/// <summary>
|
|
/// 특정 위치로 이동
|
|
/// </summary>
|
|
public void PanTo(Point worldPoint)
|
|
{
|
|
_panOffset.X = (int)(Width / 2 - worldPoint.X * _zoomFactor);
|
|
_panOffset.Y = (int)(Height / 2 - worldPoint.Y * _zoomFactor);
|
|
Invalidate();
|
|
}
|
|
|
|
/// <summary>
|
|
/// 특정 노드로 이동
|
|
/// </summary>
|
|
public void PanToNode(string nodeId)
|
|
{
|
|
var node = _nodes?.FirstOrDefault(n => n.NodeId == nodeId);
|
|
if (node != null)
|
|
{
|
|
PanTo(node.Position);
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// 특정 AGV로 이동
|
|
/// </summary>
|
|
public void PanToAGV(string agvId)
|
|
{
|
|
if (_agvPositions.ContainsKey(agvId))
|
|
{
|
|
PanTo(_agvPositions[agvId]);
|
|
}
|
|
}
|
|
|
|
#endregion
|
|
}
|
|
} |