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c9160f2cab
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928a2d1625
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| 928a2d1625 | |||
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836c7eaca6 |
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m_Father: {fileID: 1507987680}
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m_PrefabAsset: {fileID: 0}
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m_Name: RandomChild (8)
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m_TagString: Untagged
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m_Icon: {fileID: 0}
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m_NavMeshLayer: 0
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m_StaticEditorFlags: 0
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m_IsActive: 1
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m_ObjectHideFlags: 0
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m_CorrespondingSourceObject: {fileID: 0}
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_GameObject: {fileID: 2099058567}
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serializedVersion: 2
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m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
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m_LocalPosition: {x: 9.41, y: 0, z: -5.58}
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m_LocalScale: {x: 1, y: 1, z: 1}
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m_ConstrainProportionsScale: 0
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m_Children: []
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m_Father: {fileID: 1507987680}
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m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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--- !u!1660057539 &9223372036854775807
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SceneRoots:
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m_ObjectHideFlags: 0
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m_Roots:
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7
Assets/Scenes/ASRSAMRAnimScene.unity.meta
Normal file
7
Assets/Scenes/ASRSAMRAnimScene.unity.meta
Normal file
@@ -0,0 +1,7 @@
|
||||
fileFormatVersion: 2
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||||
guid: 650026ef568ff0a469130f60702b4781
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||||
DefaultImporter:
|
||||
externalObjects: {}
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||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
@@ -45,6 +45,8 @@ public class AMR : MonoBehaviour
|
||||
// Start is called before the first frame update
|
||||
void Awake()
|
||||
{
|
||||
return;
|
||||
|
||||
Lift = gameObject.transform.Find(nameof(Lift)).gameObject;
|
||||
amrLight = GetComponentInChildren<AMR_Light>(true);
|
||||
onWorkStateChanged += amrLight.ChangeMat;
|
||||
|
||||
@@ -1,11 +1,16 @@
|
||||
using Cysharp.Threading.Tasks;
|
||||
using Cysharp.Threading.Tasks.Triggers;
|
||||
using HyundaiWIA.UI;
|
||||
using Newtonsoft.Json;
|
||||
using System;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using UnityEngine;
|
||||
using UVC.Management;
|
||||
using static lzma;
|
||||
using static UnityEditor.PlayerSettings;
|
||||
using static UnityEngine.Rendering.GPUSort;
|
||||
|
||||
namespace HyundaiWIA.Management
|
||||
{
|
||||
@@ -26,6 +31,12 @@ namespace HyundaiWIA.Management
|
||||
[SerializeField]
|
||||
GameObject Cargo;
|
||||
|
||||
[SerializeField]
|
||||
GameObject randomPlaceMother1;
|
||||
|
||||
[SerializeField]
|
||||
GameObject randomPlaceMother2;
|
||||
|
||||
public GameObject pivot;
|
||||
public AMR_Class_AMR amr_class;
|
||||
public AMR_Class amr;
|
||||
@@ -43,7 +54,7 @@ namespace HyundaiWIA.Management
|
||||
private List<string> amr1tIdList = new List<string> { "R_137", "R_147" };
|
||||
public Action<string, GameObject> Spawned300kgAMREvent;
|
||||
public Action<string, GameObject> Spawned1tAMREvent;
|
||||
|
||||
|
||||
struct motionContainer
|
||||
{
|
||||
public AMR worker;
|
||||
@@ -91,147 +102,119 @@ namespace HyundaiWIA.Management
|
||||
var dataManager = HyundaiWIASceneMain.Instance.GetManager<DataManager>();
|
||||
|
||||
dataManager.onAMRDataReceived += ReceiveData_Destination;
|
||||
dataManager.onAMR1DataReceived += ReceiveData;
|
||||
dataManager.onAMR2DataReceived += ReceiveData;
|
||||
dataManager.onAMR3DataReceived += ReceiveData;
|
||||
dataManager.onAMR4DataReceived += ReceiveData;
|
||||
//dataManager.onAMR1DataReceived += ReceiveData;
|
||||
//dataManager.onAMR2DataReceived += ReceiveData;
|
||||
//dataManager.onAMR3DataReceived += ReceiveData;
|
||||
//dataManager.onAMR4DataReceived += ReceiveData;
|
||||
}
|
||||
|
||||
public void ReceiveData(string json)
|
||||
public void Start()
|
||||
{
|
||||
if (json.Contains("battery"))
|
||||
{
|
||||
var battery = JsonConvert.DeserializeObject<AMR_Battery_Class>(json);
|
||||
if (dict_AMR.ContainsKey(battery.AmrId))
|
||||
{
|
||||
dict_AMR[battery.AmrId].battery = battery.data[2];
|
||||
}
|
||||
return;
|
||||
}
|
||||
if (!json.Contains("wia1000") && !json.Contains("wia300"))
|
||||
{
|
||||
return;
|
||||
}
|
||||
amr = JsonConvert.DeserializeObject<AMR_Class>(json);
|
||||
var AMR1 = new AMR_Class();
|
||||
|
||||
AMR1.type = "wia300";
|
||||
AMR1.AmrId = "R_135";
|
||||
|
||||
var AMR2 = new AMR_Class();
|
||||
|
||||
AMR2.type = "wia300";
|
||||
AMR2.AmrId = "R_137";
|
||||
|
||||
|
||||
if (!string.Equals(amr.Cmd, "basic"))
|
||||
var obj = SpawnAMR(AMR1.type);
|
||||
if (AMR1.type.Equals("wia300"))
|
||||
{
|
||||
Debug.Log($"battery:{amr.Cmd}");
|
||||
return;
|
||||
var script = obj.AddComponent<AMR_300KG>();
|
||||
dict_AMR.Add(AMR1.AmrId, script);
|
||||
}
|
||||
|
||||
if (!dict_AMR.ContainsKey(amr.AmrId))
|
||||
var obj2 = SpawnAMR(AMR2.type);
|
||||
if (AMR2.type.Equals("wia300"))
|
||||
{
|
||||
var obj = SpawnAMR(amr.type);
|
||||
if (obj == null)
|
||||
{
|
||||
Debug.LogError("type error");
|
||||
return;
|
||||
}
|
||||
if (amr.type.Equals("wia300"))
|
||||
{
|
||||
var script = obj.AddComponent<AMR_300KG>();
|
||||
dict_AMR.Add(amr.AmrId, script);
|
||||
}
|
||||
else
|
||||
{
|
||||
var script = obj.AddComponent<AMR_1T>();
|
||||
dict_AMR.Add(amr.AmrId, script);
|
||||
}
|
||||
|
||||
if (amr.type.Equals("wia300"))
|
||||
{
|
||||
var popup=cloudPopupManager.CreateAMR300kgCloudPopup(amr.AmrId, obj);
|
||||
dict_AMR[amr.AmrId].amrName = popup.title;
|
||||
//Spawned300kgAMREvent?.Invoke(amr.AmrId, obj);
|
||||
}
|
||||
else
|
||||
{
|
||||
var popup = cloudPopupManager.CreateAMR1tCloudPopup(amr.AmrId, obj);
|
||||
dict_AMR[amr.AmrId].amrName = popup.title;
|
||||
//Spawned1tAMREvent?.Invoke(amr.AmrId, obj);
|
||||
}
|
||||
var script = obj2.AddComponent<AMR_300KG>();
|
||||
dict_AMR.Add(AMR2.AmrId, script);
|
||||
}
|
||||
|
||||
var targetAMR = dict_AMR[amr.AmrId];
|
||||
targetAMR.AMR_class = amr;
|
||||
targetAMR.workstate = amr.workstate;
|
||||
amrUIEventTable[amr.AmrId]?.Invoke(targetAMR);
|
||||
StartCoroutine(UpdatePoseRoutine("R_135"));
|
||||
StartCoroutine(UpdatePoseRoutine("R_137"));
|
||||
}
|
||||
|
||||
public AMR_Class CreatePoseFromCurrentTransform(
|
||||
GameObject amr,
|
||||
GameObject target,
|
||||
string amrId = null,
|
||||
string type = null)
|
||||
{
|
||||
|
||||
|
||||
if (amr.type.Equals("wia300") && amr.lift_ == 2)
|
||||
Vector3 aPos = amr.transform.position;
|
||||
Vector3 tPos = target.transform.position;
|
||||
|
||||
float dx = tPos.x - aPos.x;
|
||||
float dz = tPos.z - aPos.z;
|
||||
|
||||
float thetaRad = Mathf.Atan2(dz, dx);
|
||||
|
||||
// ȸÀü ¹Ý¿µ(¼±ÅÃ)
|
||||
float thetaDeg = thetaRad * Mathf.Rad2Deg;
|
||||
amr.transform.rotation = Quaternion.Euler(0f, thetaDeg, 0f);
|
||||
|
||||
return new AMR_Class
|
||||
{
|
||||
if (targetAMR.dockingStation != null && targetAMR.dockingStation.Pallet == null & targetAMR.Pallet != null)
|
||||
type = type ?? "",
|
||||
AmrId = amrId ?? amr.name,
|
||||
Pose = new Pose
|
||||
{
|
||||
targetAMR.dockingStation.Pallet = targetAMR.Pallet;
|
||||
targetAMR.Pallet.transform.SetParent(targetAMR.dockingStation.Socket.transform);
|
||||
if (targetAMR.dockingStation.State == DockingStation_InOut.In)
|
||||
{
|
||||
targetAMR.Pallet.GetComponent<Pallet>().MovetoSlowly(new Vector3(-0.35f, 0.05f, 0f), new Vector3(0f, 90f, 0f));
|
||||
}
|
||||
else
|
||||
{
|
||||
targetAMR.Pallet.GetComponent<Pallet>().MovetoSlowly(new Vector3(0.38f, 0.05f, 0f), new Vector3(0f, -90f, 0f));
|
||||
}
|
||||
targetAMR.Pallet = null;
|
||||
x = tPos.x,
|
||||
y = tPos.z,
|
||||
theta = thetaRad
|
||||
}
|
||||
}
|
||||
if (amr.lift_ == 1)
|
||||
};
|
||||
}
|
||||
|
||||
private IEnumerator UpdatePoseRoutine(string amrID)
|
||||
{
|
||||
var amr= dict_AMR[amrID];
|
||||
|
||||
|
||||
while (true)
|
||||
{
|
||||
if (!string.IsNullOrEmpty(targetAMR.startDestination) && !string.IsNullOrEmpty(targetAMR.endDestination))
|
||||
GameObject target = null;
|
||||
|
||||
if ( amrID.Contains("135"))
|
||||
{
|
||||
if (amr.type.Equals("wia300"))
|
||||
{
|
||||
if (targetAMR.dockingStation != null)
|
||||
{
|
||||
if (targetAMR.dockingStation.Pallet != null && targetAMR.Pallet == null)
|
||||
{
|
||||
targetAMR.Pallet = targetAMR.dockingStation.Pallet;
|
||||
targetAMR.Pallet.GetComponent<Pallet>().StopAllCoroutines();
|
||||
targetAMR.Pallet.transform.SetParent(targetAMR.dockingStation.Socket.transform);
|
||||
targetAMR.dockingStation.Pallet = null;
|
||||
}
|
||||
}
|
||||
else if (amr.type.Equals("wia300") && targetAMR.Pallet == null && !targetAMR.spawnCargo)
|
||||
{
|
||||
targetAMR.spawnCargo = true;
|
||||
var obj = Instantiate(Pallet);
|
||||
targetAMR.Pallet = obj;
|
||||
obj.transform.SetParent(targetAMR.Lift.transform);
|
||||
obj.transform.SetLocalPositionAndRotation(new Vector3(0.35f, 0f, 0.8f), Quaternion.Euler(180, 90, 90));
|
||||
if (string.Equals(targetAMR.endDestination, "7"))
|
||||
{
|
||||
obj.GetComponent<Pallet>().SpawnProducts();
|
||||
}
|
||||
}
|
||||
}
|
||||
else if (amr.type.Equals("wia1000") && targetAMR.LoadCargo == null && !targetAMR.spawnCargo)
|
||||
{
|
||||
targetAMR.spawnCargo = true;
|
||||
if (string.Equals(targetAMR.startDestination, "4") || string.Equals(targetAMR.endDestination, "4"))
|
||||
{
|
||||
var obj = Instantiate(Dummy);
|
||||
obj.AddComponent<Cargo>();
|
||||
targetAMR.LoadCargo = obj.GetComponent<Cargo>();
|
||||
obj.transform.SetParent(targetAMR.Lift.transform);
|
||||
obj.transform.SetLocalPositionAndRotation(new Vector3(0, 0f, 0.35f), Quaternion.Euler(90, 0, 0));
|
||||
}
|
||||
else
|
||||
{
|
||||
var obj = Instantiate(Cargo);
|
||||
obj.AddComponent<Cargo>();
|
||||
targetAMR.LoadCargo = obj.GetComponent<Cargo>();
|
||||
if (obj.TryGetComponent<Pallet>(out var p))
|
||||
{
|
||||
p.SpawnProducts();
|
||||
}
|
||||
obj.transform.parent = targetAMR.Lift.transform;
|
||||
obj.transform.SetLocalPositionAndRotation(new Vector3(0, 0f, 0.355f), Quaternion.Euler(90, 0, 0));
|
||||
}
|
||||
}
|
||||
target = randomPlaceMother1.transform.GetChild(UnityEngine.Random.Range(0, randomPlaceMother1.transform.childCount - 1)).gameObject;
|
||||
}
|
||||
|
||||
|
||||
else if (amrID.Contains("137"))
|
||||
{
|
||||
target = randomPlaceMother2.transform.GetChild(UnityEngine.Random.Range(0, randomPlaceMother2.transform.childCount - 1)).gameObject;
|
||||
}
|
||||
|
||||
|
||||
var amrData = CreatePoseFromCurrentTransform(
|
||||
amr.gameObject,
|
||||
target,
|
||||
amrID
|
||||
);
|
||||
|
||||
ReceiveData(null, amrData);
|
||||
|
||||
yield return new WaitForSeconds(1f);
|
||||
}
|
||||
|
||||
yield return null;
|
||||
}
|
||||
|
||||
public void ReceiveData(string json, AMR_Class amrCommand)
|
||||
{
|
||||
Debug.Log(amrCommand.AmrId);
|
||||
|
||||
|
||||
var tmpamr = dict_AMR[amrCommand.AmrId];
|
||||
tmpamr.AMR_class = amrCommand;
|
||||
var amr = tmpamr.AMR_class;
|
||||
Vector2 pivotPos = new Vector2(pivot.transform.position.x, pivot.transform.position.z);
|
||||
Vector2 newPos = new Vector2(-amr.Pose.x, -amr.Pose.y);
|
||||
newPos += pivotPos;
|
||||
@@ -239,35 +222,34 @@ namespace HyundaiWIA.Management
|
||||
amr.Pose.y = newPos.y;
|
||||
var radian = amr.Pose.theta * Mathf.Rad2Deg;
|
||||
radian = -radian;
|
||||
amr.Pose.theta = radian;
|
||||
Vector3 nextPos = new Vector3(amr.Pose.x, targetAMR.transform.position.y, amr.Pose.y);
|
||||
Quaternion nextRot = Quaternion.Euler(0f, amr.Pose.theta, 0);
|
||||
//amr.Pose.theta = radian;
|
||||
Vector3 nextPos = new Vector3(amr.Pose.x, tmpamr.transform.position.y, amr.Pose.y);
|
||||
//Quaternion nextRot = Quaternion.Euler(0f, amr.Pose.theta, 0);
|
||||
|
||||
if (!motionQueue.ContainsKey(targetAMR))
|
||||
if (!motionQueue.ContainsKey(tmpamr))
|
||||
{
|
||||
targetAMR.transform.position = nextPos;
|
||||
targetAMR.transform.rotation = nextRot;
|
||||
motionQueue.Add(targetAMR, new());
|
||||
tmpamr.transform.position = nextPos;
|
||||
//tmpamr.transform.rotation = nextRot;
|
||||
motionQueue.Add(tmpamr, new());
|
||||
}
|
||||
|
||||
if (amr.moveSpeed <= 0f)
|
||||
{
|
||||
amr.moveSpeed = 1.2f;
|
||||
}
|
||||
|
||||
amr.moveSpeed = 1.2f;
|
||||
|
||||
|
||||
var mc = new motionContainer()
|
||||
{
|
||||
worker = targetAMR,
|
||||
worker = tmpamr,
|
||||
pos = nextPos,
|
||||
rot = nextRot,
|
||||
startPos = targetAMR.transform.position,
|
||||
startRot = targetAMR.transform.rotation,
|
||||
rot = Quaternion.identity,
|
||||
startPos = tmpamr.transform.position,
|
||||
startRot = tmpamr.transform.rotation,
|
||||
speed = amr.moveSpeed,
|
||||
lift = amr.lift_,
|
||||
process = 0f
|
||||
};
|
||||
|
||||
motionQueue[targetAMR].Add(mc);
|
||||
motionQueue[tmpamr].Add(mc);
|
||||
}
|
||||
|
||||
void ReceiveData_Destination(string json)
|
||||
@@ -297,25 +279,62 @@ namespace HyundaiWIA.Management
|
||||
return null;
|
||||
}
|
||||
|
||||
float timeGap = 0f;
|
||||
|
||||
motionContainer motion1;
|
||||
motionContainer motion2;
|
||||
private void Update()
|
||||
{
|
||||
foreach (var m in motionQueue)
|
||||
if (motionQueue.Count < 2)
|
||||
return;
|
||||
|
||||
var amrs = motionQueue.Keys.ToList();
|
||||
|
||||
timeGap += Time.deltaTime;
|
||||
if(timeGap > 2f)
|
||||
{
|
||||
var worker = m.Key;
|
||||
if (m.Value.Count == 0)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
var curr = motionQueue[worker].Last();
|
||||
var motion = curr;
|
||||
motion.process += motion.speed * Time.deltaTime;
|
||||
var newPos = Vector3.Lerp(motion.startPos, motion.pos, motion.process);
|
||||
worker.transform.rotation = Quaternion.Lerp(motion.startRot, motion.rot, motion.process);
|
||||
worker.transform.position = newPos;
|
||||
worker.LiftUpdate(motion.lift);
|
||||
motionQueue[worker].Clear();
|
||||
motionQueue[worker].Add(motion);
|
||||
motion1 = motionQueue[amrs[0]].Last();
|
||||
motion2 = motionQueue[amrs[1]].Last();
|
||||
|
||||
timeGap = 0f;
|
||||
|
||||
//foreach (var m in motionQueue)
|
||||
//{
|
||||
// var worker = m.Key;
|
||||
// if (m.Value.Count == 0)
|
||||
// {
|
||||
// continue;
|
||||
// }
|
||||
// var curr = motionQueue[worker].Last();
|
||||
// var motion = curr;
|
||||
// motion.process += motion.speed * Time.deltaTime;
|
||||
// var newPos = Vector3.Lerp(motion.startPos, motion.pos, motion.process);
|
||||
// //worker.transform.rotation = Quaternion.Lerp(motion.startRot, motion.rot, motion.process);
|
||||
// worker.transform.rotation = motion.rot;
|
||||
// worker.transform.position = newPos;
|
||||
// worker.LiftUpdate(motion.lift);
|
||||
// motionQueue[worker].Clear();
|
||||
// motionQueue[worker].Add(motion);
|
||||
//}
|
||||
}
|
||||
Vector3 dir1 = motion1.pos - motion1.startPos;
|
||||
Quaternion rot1 = Quaternion.LookRotation(dir1, Vector3.up);
|
||||
|
||||
Vector3 dir2 = motion2.pos - motion2.startPos;
|
||||
Quaternion rot2 = Quaternion.LookRotation(dir2, Vector3.up);
|
||||
|
||||
motion1.process += motion1.speed * Time.deltaTime;
|
||||
motion2.process += motion2.speed * Time.deltaTime;
|
||||
|
||||
var newPos1 = Vector3.Lerp(motion1.startPos, motion1.pos, motion1.process);
|
||||
var newPos2 = Vector3.Lerp(motion2.startPos, motion2.pos, motion2.process);
|
||||
|
||||
amrs[0].transform.rotation = rot1;
|
||||
amrs[1].transform.rotation = rot2;
|
||||
|
||||
amrs[0].transform.position = newPos1;
|
||||
amrs[1].transform.position = newPos2;
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -16,7 +16,7 @@ public class ClickObject : MonoBehaviour, IPointerClickHandler
|
||||
{
|
||||
CameraSocket = new GameObject(nameof(CameraSocket));
|
||||
CameraSocket.transform.parent = transform;
|
||||
FindObjectOfType<ObjectManager>().AddObject(this);
|
||||
//FindObjectOfType<ObjectManager>().AddObject(this);
|
||||
}
|
||||
|
||||
public void OnPointerClick(PointerEventData eventData)
|
||||
|
||||
@@ -5,6 +5,7 @@ using UnityEngine;
|
||||
using System.Linq;
|
||||
using UnityEditor;
|
||||
using Best.HTTP.SecureProtocol.Org.BouncyCastle.Asn1.Mozilla;
|
||||
using Unity.VisualScripting;
|
||||
|
||||
public class StackerAnimationInfo
|
||||
{
|
||||
@@ -75,11 +76,30 @@ public class StackerCrane : MonoBehaviour
|
||||
public bool prevDirection;
|
||||
|
||||
public Cell currentForkDokcingCell;
|
||||
|
||||
// x - -9800~0
|
||||
// y - 1000~5500
|
||||
private void Start()
|
||||
{
|
||||
stackerFork.GetComponent<Tag_CraneFork>().OnCellEntered += DockingCell;
|
||||
|
||||
//AddStackerLocation(-9800, 5800, 0);
|
||||
StartCoroutine(RandPositionGeneratro());
|
||||
}
|
||||
|
||||
IEnumerator RandPositionGeneratro()
|
||||
{
|
||||
while (true)
|
||||
{
|
||||
int pillarPosition = UnityEngine.Random.Range(-9800, 1); // -9800 ~ 0
|
||||
int bucketPosition = UnityEngine.Random.Range(1000, 5501); // 1000 ~ 5500
|
||||
int forkPosition = 0; // 고정
|
||||
|
||||
AddStackerLocation(pillarPosition, bucketPosition, forkPosition);
|
||||
|
||||
yield return new WaitForSeconds(2f); // 3초마다 실행
|
||||
}
|
||||
}
|
||||
|
||||
private void Update()
|
||||
{
|
||||
XAxisConnAnimate();
|
||||
|
||||
Reference in New Issue
Block a user