ENIG/Cs_HMI/AGVNavigationCore/Controls/UnifiedAGVCanvas.cs

using System;
using System.Collections.Generic;
using System.Drawing;
using System.Drawing.Drawing2D;
using System.Linq;
using System.Windows.Forms;
using AGVNavigationCore.Models;
using AGVNavigationCore.PathFinding;

namespace AGVNavigationCore.Controls
{
    /// <summary>
    /// 통합 AGV 캔버스 컨트롤
    /// 맵 편집, AGV 시뮬레이션, 실시간 모니터링을 모두 지원
    /// </summary>
    public partial class UnifiedAGVCanvas : UserControl
    {
        #region Constants

        private const int NODE_SIZE = 24;
        private const int NODE_RADIUS = NODE_SIZE / 2;
        private const int GRID_SIZE = 20;
        private const float CONNECTION_WIDTH = 2.0f;
        private const int SNAP_DISTANCE = 10;
        private const int AGV_SIZE = 30;
        private const int CONNECTION_ARROW_SIZE = 8;

        #endregion

        #region Enums

        /// <summary>
        /// 캔버스 모드
        /// </summary>
        public enum CanvasMode
        {
            ViewOnly,   // 읽기 전용 (시뮬레이터, 모니터링)
            Edit        // 편집 가능 (맵 에디터)
        }

        /// <summary>
        /// 편집 모드 (CanvasMode.Edit일 때만 적용)
        /// </summary>
        public enum EditMode
        {
            Select,     // 선택 모드
            Move,       // 이동 모드
            AddNode,    // 노드 추가 모드
            Connect,    // 연결 모드
            Delete,     // 삭제 모드
            AddLabel,   // 라벨 추가 모드
            AddImage    // 이미지 추가 모드
        }

        #endregion

        #region Fields

        // 캔버스 모드
        private CanvasMode _canvasMode = CanvasMode.ViewOnly;
        private EditMode _editMode = EditMode.Select;

        // 맵 데이터
        private List<MapNode> _nodes;
        private MapNode _selectedNode;
        private MapNode _hoveredNode;

        // AGV 관련
        private List<IAGV> _agvList;
        private Dictionary<string, Point> _agvPositions;
        private Dictionary<string, AgvDirection> _agvDirections;
        private Dictionary<string, AGVState> _agvStates;

        // 경로 관련
        private PathResult _currentPath;
        private List<PathResult> _allPaths;

        // UI 요소들
        private Image _companyLogo;
        private string _companyLogoPath = string.Empty;
        private string _measurementInfo = "스케일: 1:100\n면적: 1000㎡\n최종 수정: " + DateTime.Now.ToString("yyyy-MM-dd");

        // 편집 관련 (EditMode에서만 사용)
        private bool _isDragging;
        private Point _dragOffset;
        private Point _lastMousePosition;
        private bool _isConnectionMode;
        private MapNode _connectionStartNode;
        private Point _connectionEndPoint;

        // 그리드 및 줌 관련
        private bool _showGrid = true;
        private float _zoomFactor = 1.0f;
        private Point _panOffset = Point.Empty;
        private bool _isPanning;

        // 자동 증가 카운터
        private int _nodeCounter = 1;


        // 브러쉬 및 펜
        private Brush _normalNodeBrush;
        private Brush _rotationNodeBrush;
        private Brush _dockingNodeBrush;
        private Brush _chargingNodeBrush;
        private Brush _selectedNodeBrush;
        private Brush _hoveredNodeBrush;
        private Brush _gridBrush;
        private Brush _agvBrush;
        private Brush _pathBrush;
        
        private Pen _connectionPen;
        private Pen _gridPen;
        private Pen _tempConnectionPen;
        private Pen _selectedNodePen;
        private Pen _pathPen;
        private Pen _agvPen;

        // 컨텍스트 메뉴
        private ContextMenuStrip _contextMenu;

        #endregion

        #region Events

        // 맵 편집 이벤트
        public event EventHandler<MapNode> NodeAdded;
        public event EventHandler<MapNode> NodeSelected;
        public event EventHandler<MapNode> NodeDeleted;
        public event EventHandler<MapNode> NodeMoved;
        public event EventHandler MapChanged;

        // AGV 이벤트
        public event EventHandler<IAGV> AGVSelected;
        public event EventHandler<IAGV> AGVStateChanged;

        #endregion

        #region Properties

        /// <summary>
        /// 캔버스 모드
        /// </summary>
        public CanvasMode Mode
        {
            get => _canvasMode;
            set
            {
                _canvasMode = value;
                UpdateModeUI();
                Invalidate();
            }
        }

        /// <summary>
        /// 편집 모드 (CanvasMode.Edit일 때만 적용)
        /// </summary>
        public EditMode CurrentEditMode
        {
            get => _editMode;
            set
            {
                if (_canvasMode != CanvasMode.Edit) return;
                
                _editMode = value;
                if (_editMode != EditMode.Connect)
                {
                    CancelConnection();
                }
                Cursor = GetCursorForMode(_editMode);
                Invalidate();
            }
        }

        /// <summary>
        /// 그리드 표시 여부
        /// </summary>
        public bool ShowGrid
        {
            get => _showGrid;
            set
            {
                _showGrid = value;
                Invalidate();
            }
        }

        /// <summary>
        /// 줌 팩터
        /// </summary>
        public float ZoomFactor
        {
            get => _zoomFactor;
            set
            {
                _zoomFactor = Math.Max(0.1f, Math.Min(5.0f, value));
                Invalidate();
            }
        }

        /// <summary>
        /// 선택된 노드
        /// </summary>
        public MapNode SelectedNode => _selectedNode;

        /// <summary>
        /// 노드 목록
        /// </summary>
        public List<MapNode> Nodes
        {
            get => _nodes ?? new List<MapNode>();
            set
            {
                _nodes = value ?? new List<MapNode>();
                Invalidate();
            }
        }

        /// <summary>
        /// AGV 목록
        /// </summary>
        public List<IAGV> AGVList
        {
            get => _agvList ?? new List<IAGV>();
            set
            {
                _agvList = value ?? new List<IAGV>();
                UpdateAGVData();
                Invalidate();
            }
        }

        /// <summary>
        /// 현재 표시할 경로
        /// </summary>
        public PathResult CurrentPath
        {
            get => _currentPath;
            set
            {
                _currentPath = value;
                Invalidate();
            }
        }

        /// <summary>
        /// 모든 경로 목록 (다중 AGV 경로 표시용)
        /// </summary>
        public List<PathResult> AllPaths
        {
            get => _allPaths ?? new List<PathResult>();
            set
            {
                _allPaths = value ?? new List<PathResult>();
                Invalidate();
            }
        }

        /// <summary>
        /// 회사 로고 이미지
        /// </summary>
        public Image CompanyLogo
        {
            get => _companyLogo;
            set
            {
                _companyLogo = value;
                Invalidate();
            }
        }

        /// <summary>
        /// 측정 정보 텍스트
        /// </summary>
        public string MeasurementInfo
        {
            get => _measurementInfo;
            set
            {
                _measurementInfo = value;
                Invalidate();
            }
        }


        #endregion

        #region Constructor

        public UnifiedAGVCanvas()
        {
            InitializeComponent();
            InitializeCanvas();
        }

        #endregion

        #region Initialization

        private void InitializeCanvas()
        {
            SetStyle(ControlStyles.AllPaintingInWmPaint | 
                     ControlStyles.UserPaint | 
                     ControlStyles.DoubleBuffer |
                     ControlStyles.ResizeRedraw, true);

            _nodes = new List<MapNode>();
            _agvList = new List<IAGV>();
            _agvPositions = new Dictionary<string, Point>();
            _agvDirections = new Dictionary<string, AgvDirection>();
            _agvStates = new Dictionary<string, AGVState>();
            _allPaths = new List<PathResult>();

            InitializeBrushesAndPens();
            CreateContextMenu();
        }

        private void InitializeBrushesAndPens()
        {
            // 노드 브러쉬
            _normalNodeBrush = new SolidBrush(Color.LightBlue);
            _rotationNodeBrush = new SolidBrush(Color.Yellow);
            _dockingNodeBrush = new SolidBrush(Color.Orange);
            _chargingNodeBrush = new SolidBrush(Color.Green);
            _selectedNodeBrush = new SolidBrush(Color.Red);
            _hoveredNodeBrush = new SolidBrush(Color.LightCyan);
            
            // AGV 및 경로 브러쉬
            _agvBrush = new SolidBrush(Color.Red);
            _pathBrush = new SolidBrush(Color.Purple);

            // 그리드 브러쉬
            _gridBrush = new SolidBrush(Color.LightGray);

            // 펜
            _connectionPen = new Pen(Color.DarkBlue, CONNECTION_WIDTH);
            _connectionPen.EndCap = LineCap.ArrowAnchor;
            
            _gridPen = new Pen(Color.LightGray, 1);
            _tempConnectionPen = new Pen(Color.Orange, 2) { DashStyle = DashStyle.Dash };
            _selectedNodePen = new Pen(Color.Red, 3);
            _pathPen = new Pen(Color.Purple, 3);
            _agvPen = new Pen(Color.Red, 3);
        }

        private void CreateContextMenu()
        {
            _contextMenu = new ContextMenuStrip();
            // 컨텍스트 메뉴는 EditMode에서만 사용
        }

        private void UpdateModeUI()
        {
            // 모드에 따른 UI 업데이트
            if (_canvasMode == CanvasMode.ViewOnly)
            {
                Cursor = Cursors.Default;
                _contextMenu.Enabled = false;
            }
            else
            {
                _contextMenu.Enabled = true;
                Cursor = GetCursorForMode(_editMode);
            }
        }

        #endregion

        #region AGV Management

        /// <summary>
        /// AGV 위치 업데이트
        /// </summary>
        public void UpdateAGVPosition(string agvId, Point position)
        {
            if (_agvPositions.ContainsKey(agvId))
                _agvPositions[agvId] = position;
            else
                _agvPositions.Add(agvId, position);
            
            Invalidate();
        }

        /// <summary>
        /// AGV 방향 업데이트
        /// </summary>
        public void UpdateAGVDirection(string agvId, AgvDirection direction)
        {
            if (_agvDirections.ContainsKey(agvId))
                _agvDirections[agvId] = direction;
            else
                _agvDirections.Add(agvId, direction);
            
            Invalidate();
        }

        /// <summary>
        /// AGV 상태 업데이트
        /// </summary>
        public void UpdateAGVState(string agvId, AGVState state)
        {
            if (_agvStates.ContainsKey(agvId))
                _agvStates[agvId] = state;
            else
                _agvStates.Add(agvId, state);
            
            Invalidate();
        }

        /// <summary>
        /// AGV 위치 설정 (시뮬레이터용)
        /// </summary>
        /// <param name="agvId">AGV ID</param>
        /// <param name="position">새로운 위치</param>
        public void SetAGVPosition(string agvId, Point position)
        {
            UpdateAGVPosition(agvId, position);
        }

        /// <summary>
        /// AGV 데이터 동기화
        /// </summary>
        private void UpdateAGVData()
        {
            if (_agvList == null) return;

            foreach (var agv in _agvList)
            {
                UpdateAGVPosition(agv.AgvId, agv.CurrentPosition);
                UpdateAGVDirection(agv.AgvId, agv.CurrentDirection);
                UpdateAGVState(agv.AgvId, agv.CurrentState);
            }
        }

        #endregion

        #region Helper Methods

        private Cursor GetCursorForMode(EditMode mode)
        {
            if (_canvasMode != CanvasMode.Edit)
                return Cursors.Default;

            switch (mode)
            {
                case EditMode.AddNode:
                    return Cursors.Cross;
                case EditMode.Move:
                    return Cursors.SizeAll;
                case EditMode.Connect:
                    return Cursors.Hand;
                case EditMode.Delete:
                    return Cursors.No;
                default:
                    return Cursors.Default;
            }
        }

        private void CancelConnection()
        {
            _isConnectionMode = false;
            _connectionStartNode = null;
            _connectionEndPoint = Point.Empty;
            Invalidate();
        }

        #endregion

        #region Cleanup

        protected override void Dispose(bool disposing)
        {
            if (disposing)
            {

                // 브러쉬 정리
                _normalNodeBrush?.Dispose();
                _rotationNodeBrush?.Dispose();
                _dockingNodeBrush?.Dispose();
                _chargingNodeBrush?.Dispose();
                _selectedNodeBrush?.Dispose();
                _hoveredNodeBrush?.Dispose();
                _gridBrush?.Dispose();
                _agvBrush?.Dispose();
                _pathBrush?.Dispose();

                // 펜 정리
                _connectionPen?.Dispose();
                _gridPen?.Dispose();
                _tempConnectionPen?.Dispose();
                _selectedNodePen?.Dispose();
                _pathPen?.Dispose();
                _agvPen?.Dispose();

                // 컨텍스트 메뉴 정리
                _contextMenu?.Dispose();

                // 이미지 정리
                _companyLogo?.Dispose();
            }

            base.Dispose(disposing);
        }

        #endregion
    }

    #region Interfaces

    /// <summary>
    /// AGV 인터페이스 (가상/실제 AGV 통합)
    /// </summary>
    public interface IAGV
    {
        string AgvId { get; }
        Point CurrentPosition { get; }
        AgvDirection CurrentDirection { get; }
        AGVState CurrentState { get; }
        float BatteryLevel { get; }
    }

    /// <summary>
    /// AGV 상태 열거형
    /// </summary>
    public enum AGVState
    {
        Idle,           // 대기
        Moving,         // 이동 중
        Rotating,       // 회전 중
        Docking,        // 도킹 중
        Charging,       // 충전 중
        Error           // 오류
    }

    #endregion
}