ENIG/Cs_HMI/AGVSimulator/Controls/SimulatorCanvas.cs

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

namespace AGVSimulator.Controls
{
    /// <summary>
    /// AGV 시뮬레이션 시각화 캔버스
    /// </summary>
    public partial class SimulatorCanvas : UserControl
    {
        #region Fields

        private List<MapNode> _mapNodes;
        private List<VirtualAGV> _agvList;
        private PathResult _currentPath;
        
        // 그래픽 설정
        private float _zoom = 1.0f;
        private Point _panOffset = Point.Empty;
        private bool _isPanning = false;
        private Point _lastMousePos = Point.Empty;
        
        // 색상 설정
        private readonly Brush _normalNodeBrush = Brushes.LightBlue;
        private readonly Brush _rotationNodeBrush = Brushes.Yellow;
        private readonly Brush _dockingNodeBrush = Brushes.Orange;
        private readonly Brush _chargingNodeBrush = Brushes.Green;
        private readonly Brush _agvBrush = Brushes.Red;
        private readonly Brush _pathBrush = Brushes.Purple;
        
        private readonly Pen _connectionPen = new Pen(Color.Gray, 2);
        private readonly Pen _pathPen = new Pen(Color.Purple, 3);
        private readonly Pen _agvPen = new Pen(Color.Red, 3);
        
        // 크기 설정
        private const int NODE_SIZE = 20;
        private const int AGV_SIZE = 30;
        private const int CONNECTION_ARROW_SIZE = 8;

        #endregion

        #region Properties

        /// <summary>
        /// 맵 노드 목록
        /// </summary>
        public List<MapNode> MapNodes
        {
            get => _mapNodes;
            set
            {
                _mapNodes = value;
                Invalidate();
            }
        }

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

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

        #endregion

        #region Constructor

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

        #endregion

        #region Initialization

        private void InitializeCanvas()
        {
            _mapNodes = new List<MapNode>();
            _agvList = new List<VirtualAGV>();
            
            SetStyle(ControlStyles.AllPaintingInWmPaint |
                     ControlStyles.UserPaint |
                     ControlStyles.DoubleBuffer |
                     ControlStyles.ResizeRedraw, true);
            
            BackColor = Color.White;
            
            // 마우스 이벤트 연결
            MouseDown += OnMouseDown;
            MouseMove += OnMouseMove;
            MouseUp += OnMouseUp;
            MouseWheel += OnMouseWheel;
        }

        #endregion

        #region Public Methods

        /// <summary>
        /// AGV 추가
        /// </summary>
        public void AddAGV(VirtualAGV agv)
        {
            if (_agvList == null)
                _agvList = new List<VirtualAGV>();
                
            _agvList.Add(agv);
            
            // AGV 이벤트 연결
            agv.PositionChanged += OnAGVPositionChanged;
            agv.StateChanged += OnAGVStateChanged;
            
            Invalidate();
        }

        /// <summary>
        /// AGV 제거
        /// </summary>
        public void RemoveAGV(string agvId)
        {
            var agv = _agvList?.FirstOrDefault(a => a.AgvId == agvId);
            if (agv != null)
            {
                // 이벤트 연결 해제
                agv.PositionChanged -= OnAGVPositionChanged;
                agv.StateChanged -= OnAGVStateChanged;
                
                _agvList.Remove(agv);
                Invalidate();
            }
        }

        /// <summary>
        /// 모든 AGV 제거
        /// </summary>
        public void ClearAGVs()
        {
            if (_agvList != null)
            {
                foreach (var agv in _agvList)
                {
                    agv.PositionChanged -= OnAGVPositionChanged;
                    agv.StateChanged -= OnAGVStateChanged;
                }
                _agvList.Clear();
                Invalidate();
            }
        }

        /// <summary>
        /// 확대/축소 초기화
        /// </summary>
        public void ResetZoom()
        {
            _zoom = 1.0f;
            _panOffset = Point.Empty;
            Invalidate();
        }

        /// <summary>
        /// 맵 전체 맞춤
        /// </summary>
        public void FitToMap()
        {
            if (_mapNodes == null || _mapNodes.Count == 0)
                return;

            var minX = _mapNodes.Min(n => n.Position.X);
            var maxX = _mapNodes.Max(n => n.Position.X);
            var minY = _mapNodes.Min(n => n.Position.Y);
            var maxY = _mapNodes.Max(n => n.Position.Y);
            
            var mapWidth = maxX - minX + 100; // 여백 추가
            var mapHeight = maxY - minY + 100;
            
            var zoomX = (float)Width / mapWidth;
            var zoomY = (float)Height / mapHeight;
            _zoom = Math.Min(zoomX, zoomY) * 0.9f; // 약간의 여백
            
            _panOffset = new Point(
                (int)((Width - mapWidth * _zoom) / 2 - minX * _zoom),
                (int)((Height - mapHeight * _zoom) / 2 - minY * _zoom)
            );
            
            Invalidate();
        }

        #endregion

        #region Event Handlers

        private void OnAGVPositionChanged(object sender, Point newPosition)
        {
            Invalidate(); // AGV 위치 변경시 화면 갱신
        }

        private void OnAGVStateChanged(object sender, AGVState newState)
        {
            Invalidate(); // AGV 상태 변경시 화면 갱신
        }

        private void OnMouseDown(object sender, MouseEventArgs e)
        {
            if (e.Button == MouseButtons.Right)
            {
                _isPanning = true;
                _lastMousePos = e.Location;
                Cursor = Cursors.Hand;
            }
        }

        private void OnMouseMove(object sender, MouseEventArgs e)
        {
            if (_isPanning)
            {
                var deltaX = e.X - _lastMousePos.X;
                var deltaY = e.Y - _lastMousePos.Y;
                
                _panOffset = new Point(
                    _panOffset.X + deltaX,
                    _panOffset.Y + deltaY
                );
                
                _lastMousePos = e.Location;
                Invalidate();
            }
        }

        private void OnMouseUp(object sender, MouseEventArgs e)
        {
            if (e.Button == MouseButtons.Right)
            {
                _isPanning = false;
                Cursor = Cursors.Default;
            }
        }

        private void OnMouseWheel(object sender, MouseEventArgs e)
        {
            var zoomFactor = e.Delta > 0 ? 1.1f : 0.9f;
            var newZoom = _zoom * zoomFactor;
            
            if (newZoom >= 0.1f && newZoom <= 10.0f)
            {
                // 마우스 위치 기준으로 줌
                var mouseX = e.X - _panOffset.X;
                var mouseY = e.Y - _panOffset.Y;
                
                _panOffset = new Point(
                    (int)(_panOffset.X - mouseX * (zoomFactor - 1)),
                    (int)(_panOffset.Y - mouseY * (zoomFactor - 1))
                );
                
                _zoom = newZoom;
                Invalidate();
            }
        }

        #endregion

        #region Painting

        protected override void OnPaint(PaintEventArgs e)
        {
            base.OnPaint(e);
            
            var g = e.Graphics;
            g.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.AntiAlias;
            
            // 변환 행렬 설정
            g.TranslateTransform(_panOffset.X, _panOffset.Y);
            g.ScaleTransform(_zoom, _zoom);
            
            // 배경 그리드 그리기
            DrawGrid(g);
            
            // 맵 노드 연결선 그리기
            DrawNodeConnections(g);
            
            // 경로 그리기
            if (_currentPath != null && _currentPath.Success)
            {
                DrawPath(g);
            }
            
            // 맵 노드 그리기
            DrawMapNodes(g);
            
            // AGV 그리기
            DrawAGVs(g);
            
            // 정보 표시 (변환 해제)
            g.ResetTransform();
            DrawInfo(g);
        }

        private void DrawGrid(Graphics g)
        {
            var gridSize = 50;
            var pen = new Pen(Color.LightGray, 1);
            
            var startX = -(int)(_panOffset.X / _zoom / gridSize) * gridSize;
            var startY = -(int)(_panOffset.Y / _zoom / gridSize) * gridSize;
            var endX = startX + (int)(Width / _zoom) + gridSize;
            var endY = startY + (int)(Height / _zoom) + gridSize;
            
            for (int x = startX; x <= endX; x += gridSize)
            {
                g.DrawLine(pen, x, startY, x, endY);
            }
            
            for (int y = startY; y <= endY; y += gridSize)
            {
                g.DrawLine(pen, startX, y, endX, y);
            }
            
            pen.Dispose();
        }

        private void DrawNodeConnections(Graphics g)
        {
            if (_mapNodes == null) return;
            
            foreach (var node in _mapNodes)
            {
                if (node.ConnectedNodes != null)
                {
                    foreach (var connectedNodeId in node.ConnectedNodes)
                    {
                        var connectedNode = _mapNodes.FirstOrDefault(n => n.NodeId == connectedNodeId);
                        if (connectedNode != null)
                        {
                            DrawConnection(g, node.Position, connectedNode.Position);
                        }
                    }
                }
            }
        }

        private void DrawConnection(Graphics g, Point from, Point to)
        {
            g.DrawLine(_connectionPen, from, to);
            
            // 방향 화살표 그리기
            var angle = Math.Atan2(to.Y - from.Y, to.X - from.X);
            var arrowX = to.X - CONNECTION_ARROW_SIZE * Math.Cos(angle);
            var arrowY = to.Y - CONNECTION_ARROW_SIZE * Math.Sin(angle);
            
            var arrowPoint1 = new PointF(
                (float)(arrowX - CONNECTION_ARROW_SIZE * Math.Cos(angle - Math.PI / 6)),
                (float)(arrowY - CONNECTION_ARROW_SIZE * Math.Sin(angle - Math.PI / 6))
            );
            
            var arrowPoint2 = new PointF(
                (float)(arrowX - CONNECTION_ARROW_SIZE * Math.Cos(angle + Math.PI / 6)),
                (float)(arrowY - CONNECTION_ARROW_SIZE * Math.Sin(angle + Math.PI / 6))
            );
            
            g.DrawLine(_connectionPen, to, arrowPoint1);
            g.DrawLine(_connectionPen, to, arrowPoint2);
        }

        private void DrawPath(Graphics g)
        {
            if (_currentPath?.Path == null || _currentPath.Path.Count < 2)
                return;
                
            for (int i = 0; i < _currentPath.Path.Count - 1; i++)
            {
                var currentNodeId = _currentPath.Path[i];
                var nextNodeId = _currentPath.Path[i + 1];
                
                var currentNode = _mapNodes?.FirstOrDefault(n => n.NodeId == currentNodeId);
                var nextNode = _mapNodes?.FirstOrDefault(n => n.NodeId == nextNodeId);
                
                if (currentNode != null && nextNode != null)
                {
                    g.DrawLine(_pathPen, currentNode.Position, nextNode.Position);
                }
            }
        }

        private void DrawMapNodes(Graphics g)
        {
            if (_mapNodes == null) return;
            
            foreach (var node in _mapNodes)
            {
                DrawMapNode(g, node);
            }
        }

        private void DrawMapNode(Graphics g, MapNode node)
        {
            var brush = GetNodeBrush(node.Type);
            var rect = new Rectangle(
                node.Position.X - NODE_SIZE / 2,
                node.Position.Y - NODE_SIZE / 2,
                NODE_SIZE,
                NODE_SIZE
            );
            
            // 노드 그리기
            if (node.Type == NodeType.Rotation)
            {
                g.FillEllipse(brush, rect); // 회전 노드는 원형
            }
            else
            {
                g.FillRectangle(brush, rect); // 일반 노드는 사각형
            }
            
            g.DrawRectangle(Pens.Black, rect);
            
            // 노드 ID 표시
            var font = new Font("Arial", 8);
            var textSize = g.MeasureString(node.NodeId, font);
            var textPos = new PointF(
                node.Position.X - textSize.Width / 2,
                node.Position.Y + NODE_SIZE / 2 + 2
            );
            
            g.DrawString(node.NodeId, font, Brushes.Black, textPos);
            font.Dispose();
        }

        private Brush GetNodeBrush(NodeType nodeType)
        {
            switch (nodeType)
            {
                case NodeType.Rotation: return _rotationNodeBrush;
                case NodeType.Docking: return _dockingNodeBrush;
                case NodeType.Charging: return _chargingNodeBrush;
                default: return _normalNodeBrush;
            }
        }

        private void DrawAGVs(Graphics g)
        {
            if (_agvList == null) return;
            
            foreach (var agv in _agvList)
            {
                DrawAGV(g, agv);
            }
        }

        private void DrawAGV(Graphics g, VirtualAGV agv)
        {
            var position = agv.CurrentPosition;
            var rect = new Rectangle(
                position.X - AGV_SIZE / 2,
                position.Y - AGV_SIZE / 2,
                AGV_SIZE,
                AGV_SIZE
            );
            
            // AGV 상태에 따른 색상 변경
            var brush = GetAGVBrush(agv.CurrentState);
            
            // AGV 본체 그리기
            g.FillEllipse(brush, rect);
            g.DrawEllipse(_agvPen, rect);
            
            // 방향 표시
            DrawAGVDirection(g, position, agv.CurrentDirection);
            
            // AGV ID 표시
            var font = new Font("Arial", 10, FontStyle.Bold);
            var textSize = g.MeasureString(agv.AgvId, font);
            var textPos = new PointF(
                position.X - textSize.Width / 2,
                position.Y + AGV_SIZE / 2 + 5
            );
            
            g.DrawString(agv.AgvId, font, Brushes.Black, textPos);
            font.Dispose();
        }

        private Brush GetAGVBrush(AGVState state)
        {
            switch (state)
            {
                case AGVState.Moving: return Brushes.Blue;
                case AGVState.Rotating: return Brushes.Yellow;
                case AGVState.Docking: return Brushes.Orange;
                case AGVState.Charging: return Brushes.Green;
                case AGVState.Error: return Brushes.Red;
                default: return Brushes.Gray; // Idle
            }
        }

        private void DrawAGVDirection(Graphics g, Point position, AgvDirection direction)
        {
            var arrowSize = 10;
            var pen = new Pen(Color.White, 2);
            
            switch (direction)
            {
                case AgvDirection.Forward:
                    // 위쪽 화살표
                    g.DrawLine(pen, position.X, position.Y - arrowSize, position.X, position.Y + arrowSize);
                    g.DrawLine(pen, position.X, position.Y - arrowSize, position.X - 5, position.Y - arrowSize + 5);
                    g.DrawLine(pen, position.X, position.Y - arrowSize, position.X + 5, position.Y - arrowSize + 5);
                    break;
                    
                case AgvDirection.Backward:
                    // 아래쪽 화살표
                    g.DrawLine(pen, position.X, position.Y - arrowSize, position.X, position.Y + arrowSize);
                    g.DrawLine(pen, position.X, position.Y + arrowSize, position.X - 5, position.Y + arrowSize - 5);
                    g.DrawLine(pen, position.X, position.Y + arrowSize, position.X + 5, position.Y + arrowSize - 5);
                    break;
                    
                case AgvDirection.Left:
                    // 왼쪽 화살표
                    g.DrawLine(pen, position.X - arrowSize, position.Y, position.X + arrowSize, position.Y);
                    g.DrawLine(pen, position.X - arrowSize, position.Y, position.X - arrowSize + 5, position.Y - 5);
                    g.DrawLine(pen, position.X - arrowSize, position.Y, position.X - arrowSize + 5, position.Y + 5);
                    break;
                    
                case AgvDirection.Right:
                    // 오른쪽 화살표
                    g.DrawLine(pen, position.X - arrowSize, position.Y, position.X + arrowSize, position.Y);
                    g.DrawLine(pen, position.X + arrowSize, position.Y, position.X + arrowSize - 5, position.Y - 5);
                    g.DrawLine(pen, position.X + arrowSize, position.Y, position.X + arrowSize - 5, position.Y + 5);
                    break;
            }
            
            pen.Dispose();
        }

        private void DrawInfo(Graphics g)
        {
            var font = new Font("Arial", 10);
            var brush = Brushes.Black;
            var y = 10;
            
            // 줌 레벨 표시
            g.DrawString($"줌: {_zoom:P0}", font, brush, new PointF(10, y));
            y += 20;
            
            // AGV 정보 표시
            if (_agvList != null)
            {
                g.DrawString($"AGV 수: {_agvList.Count}", font, brush, new PointF(10, y));
                y += 20;
                
                foreach (var agv in _agvList)
                {
                    var info = $"{agv.AgvId}: {agv.CurrentState} ({agv.CurrentPosition.X},{agv.CurrentPosition.Y})";
                    g.DrawString(info, font, brush, new PointF(10, y));
                    y += 15;
                }
            }
            
            // 경로 정보 표시
            if (_currentPath != null && _currentPath.Success)
            {
                y += 10;
                g.DrawString($"경로: {_currentPath.Path.Count}개 노드", font, brush, new PointF(10, y));
                y += 15;
                g.DrawString($"거리: {_currentPath.TotalDistance:F1}", font, brush, new PointF(10, y));
                y += 15;
                g.DrawString($"계산시간: {_currentPath.CalculationTimeMs}ms", font, brush, new PointF(10, y));
            }
            
            font.Dispose();
        }

        #endregion

        #region Cleanup

        private void CleanupResources()
        {
            // AGV 이벤트 연결 해제
            if (_agvList != null)
            {
                foreach (var agv in _agvList)
                {
                    agv.PositionChanged -= OnAGVPositionChanged;
                    agv.StateChanged -= OnAGVStateChanged;
                }
            }
            
            // 리소스 정리
            _connectionPen?.Dispose();
            _pathPen?.Dispose();
            _agvPen?.Dispose();
        }

        #endregion
    }
}