merge

2025-05-25 15:30:08 +09:00
parent 23c51f94b0 51936e7cd6
commit 0f40cfdbe7
39 changed files with 1629 additions and 123 deletions
--- a/Assets/Models/StackerCrane_01.fbx
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--- a/Assets/Resources/TestAGV.prefab.meta
+++ b/Assets/Resources/TestAGV.prefab.meta
@@ -0,0 +1,7 @@
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--- a/Assets/Scripts/ExternalExamples/AutoFactory/VirtualFactoryManager.cs
+++ b/Assets/Scripts/ExternalExamples/AutoFactory/VirtualFactoryManager.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using UnityEditor;
--- a/Assets/Scripts/Studio/Connect/ConfigConnected.cs
+++ b/Assets/Scripts/Studio/Connect/ConfigConnected.cs
@@ -0,0 +1,29 @@
+using Studio.Manage;
+using Studio.Util;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Studio.Conifg
+{
+    public class ConfigConnected
+    {
+        public static APISetting APISettings 
+        {
+            get
+            {
+                var canvas_Popup = EventConnector.instance.GetCanvas<Canvas_Popup>();
+                var result = canvas_Popup.panel_apisetting.GetAPISetting();
+                return result;
+            } 
+        }
+        public static MQTTSetting MQTTSettings 
+        {
+            get
+            {
+                var canvas_Popup = EventConnector.instance.GetCanvas<Canvas_Popup>();
+                var result = canvas_Popup.panel_mqttsetting.GetMQTTSetting();
+                return result;
+            }
+        }
+    }
+}
--- a/Assets/Scripts/Studio/Connect/ConfigConnected.cs.meta
+++ b/Assets/Scripts/Studio/Connect/ConfigConnected.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: e8082f730ac49974286f2c71561152dd
--- a/Assets/Scripts/Studio/Connect/Constants.cs
+++ b/Assets/Scripts/Studio/Connect/Constants.cs
@@ -1,12 +0,0 @@
-using UnityEngine;
-
-namespace Studio.Conifg
-{
-    public class Constants
-    {
-        public static string APIDomain;
-        public static int APIPort;
-        public static string MQTTDomain;
-        public static int MQTTPort;
-    }
-}
--- a/Assets/Scripts/Studio/Connect/Constants.cs.meta
+++ b/Assets/Scripts/Studio/Connect/Constants.cs.meta
@@ -1,2 +0,0 @@
-fileFormatVersion: 2
-guid: dcc5387e9d1cf9943b3e1d36a9b2bf17
--- a/Assets/Scripts/Studio/Connect/RestAPI.cs
+++ b/Assets/Scripts/Studio/Connect/RestAPI.cs
@@ -39,7 +39,7 @@ namespace Studio.Conifg
                    bodyString = JsonUtility.ToJson(body);
                }
            }
-            url = $"http://{Constants.APIDomain}:{Constants.APIPort}{url}";
+           // url = $"http://{ConfigConnected.APIDomain}:{ConfigConnected.APIPort}{url}";

            var request = SelectHTTPRequest(method, url);
            //
--- a/Assets/Scripts/Studio/Connect/StudioRepoistory.cs
+++ b/Assets/Scripts/Studio/Connect/StudioRepoistory.cs
@@ -32,26 +32,30 @@ namespace Studio
            //MQTTCreateConnect();
            Application.quitting += OnDestroy;
        }
+        private Dictionary<string, MQTTClient> clients =new();

-        public void MQTTCreateConnect()
+        public void MQTTCreateConnect(string MQTTDomain,string MQTTPort)
        {
-            Debug.Log($"MQTT Domain{Constants.MQTTDomain} , MQTTPORT{Constants.MQTTPort}");
+            var conntedInfo = $"MQTT Domain : {MQTTDomain} , MQTTPORT :{MQTTPort}";
+            Debug.Log(conntedInfo);
+            var port = int.Parse(MQTTPort);
            var options = new ConnectionOptionsBuilder()
-            .WithTCP(Constants.MQTTDomain, Constants.MQTTPort)
+            .WithTCP(MQTTDomain, port)
            .Build();

-            if (client != null)
+            if(clients.ContainsKey(conntedInfo))
            {
-                client.OnConnected -= OnConnectedMQTT;
-                client.OnStateChanged -= OnStateChangedMQTT;
-                client.OnDisconnect -= OnDisconnectedMQTT;
-                client.OnError -= OnErrorMQTT;
+                clients[conntedInfo].OnConnected -= OnConnectedMQTT;
+                clients[conntedInfo].OnStateChanged -= OnStateChangedMQTT;
+                clients[conntedInfo].OnDisconnect -= OnDisconnectedMQTT;
+                clients[conntedInfo].OnError -= OnErrorMQTT;
            }
-            client = new MQTTClient(options);
-            client.OnConnected += OnConnectedMQTT;
-            client.OnStateChanged += OnStateChangedMQTT;
-            client.OnDisconnect += OnDisconnectedMQTT;
-            client.OnError += OnErrorMQTT;
+
+            clients[conntedInfo] = new MQTTClient(options);
+            clients[conntedInfo].OnConnected += OnConnectedMQTT;
+            clients[conntedInfo].OnStateChanged += OnStateChangedMQTT;
+            clients[conntedInfo].OnDisconnect += OnDisconnectedMQTT;
+            clients[conntedInfo].OnError += OnErrorMQTT;
        }
        private ConnectPacketBuilder ConnectPacketBuilderCallback(MQTTClient client, ConnectPacketBuilder builder)
        {
@@ -78,9 +82,9 @@ namespace Studio
            }
        }

-        public void MQTTConnect()
+        public void MQTTConnect(string key)
        {
-            client.BeginConnect(ConnectPacketBuilderCallback);
+            clients[key].BeginConnect(ConnectPacketBuilderCallback);
        }

        private void OnErrorMQTT(MQTTClient client, string error)
@@ -96,6 +100,7 @@ namespace Studio
            }
        }

+
        private void OnStateChangedMQTT(MQTTClient client, ClientStates oldState, ClientStates newState)
        {
            Debug.Log($"{oldState} => {newState}");
@@ -104,6 +109,12 @@ namespace Studio

        private void OnConnectedMQTT(MQTTClient client)
        {
+            var conntedInfo = $"MQTT Domain : {client.Options.Host} , MQTTPORT :{client.Options.Port}";
+            var topics = StudioService.instance.TopciTable[conntedInfo];
+            foreach(var topic in topics)
+            {
+                Subscribe(client, topic.topic);
+            }
            Debug.Log($"MQTT OnConnected");
        }

@@ -111,7 +122,7 @@ namespace Studio
        /// 구독 
        /// </summary>
        /// <param name="topic"></param>
-        public void Subscribe(string topic)
+        private void Subscribe(MQTTClient client,string topic)
        {
            client.CreateBulkSubscriptionBuilder()
            .WithTopic(new SubscribeTopicBuilder(topic).WithMessageCallback(OnTopic))
@@ -122,7 +133,7 @@ namespace Studio
        /// 구독 취소
        /// </summary>
        /// <param name="topic"></param>
-        public void UnSubscibe(string topic)
+        public void UnSubscibe(MQTTClient client, string topic)
        {
            client.CreateUnsubscribePacketBuilder(topic)
                .WithAcknowledgementCallback((client, topicFilter, reasonCode) => Debug.Log($"Unsubscribe request to topic filter '{topicFilter}' returned with code: {reasonCode}"))
@@ -139,13 +150,12 @@ namespace Studio
            {
                string key = prop.Name.ToString();
                string value = prop.Value.ToString();
-              //  Debug.Log($"kEY : {key}, Value:{value}");
            }

            var T = json["data"];
            var split = T.ToString().Split('[');
            var t = $"[{split[1]}";
-            //Debug.Log(T.ToString());
+
            JArray jarray = JArray.Parse(t);
            var list = new Dictionary<string, Dictionary<string, string>>();
            foreach (JObject obj in jarray.Children())
@@ -181,10 +191,14 @@ namespace Studio

        private void OnDestroy()
        {
-            client?.CreateDisconnectPacketBuilder()
-                .WithReasonCode(DisconnectReasonCodes.NormalDisconnection)
-                .WithReasonString($"{Constants.MQTTDomain} Disconnecting")
-                .BeginDisconnect();
+            foreach(var client in clients)
+            {
+                client.Value?.CreateDisconnectPacketBuilder()
+                    .WithReasonCode(DisconnectReasonCodes.NormalDisconnection)
+                    .WithReasonString($"{client.Value.Options.Host} Disconnecting")
+                    .BeginDisconnect();
+            }
+
        }
    }
 }
--- a/Assets/Scripts/Studio/Connect/StudioService.cs
+++ b/Assets/Scripts/Studio/Connect/StudioService.cs
@@ -1,44 +1,71 @@
-using Newtonsoft.Json.Linq;
+using Newtonsoft.Json;
+using Newtonsoft.Json.Linq;
+using NUnit.Framework;
+using Studio.Conifg;
+using Studio.Core;
 using Studio.Setting.Connect;
+using Studio.Util;
 using System;
 using System.Collections.Generic;
+using System.Linq;
+using System.Threading;
 using System.Threading.Tasks;
 using UnityEngine;
-using Studio;
-using Studio.Core;
-using Studio.Conifg;

 namespace Studio
 {
+    public class StudioServiceIdEventArgs : EventArgs
+    {
+        public readonly string Type;
+        public Dictionary<string, string> Entity;
+
+        public StudioServiceIdEventArgs(string type, Dictionary<string, string> entity)
+        {
+            Type = type;
+            Entity = entity;
+        }
+    }
+
    public class StudioServiceTypeEventArgs : EventArgs
    {
        public readonly string Type;
-        Dictionary<string, string> Entitis;
+        public Dictionary<string, Dictionary<string, string>> Entitis;

-        public StudioServiceTypeEventArgs(string type, Dictionary<string, string> entity)
+        public StudioServiceTypeEventArgs(string type, Dictionary<string, Dictionary<string, string>> entitis)
        {
            Type = type;
-            Entitis = entity;
+            Entitis = entitis;
        }
    }

    public class StudioService : UnitySingleton<StudioService>
    {
-        private Dictionary<string, Dictionary<string, EventHandler<StudioServiceTypeEventArgs>>> listenerIdMap;
+        private Dictionary<string, Dictionary<string, EventHandler<StudioServiceIdEventArgs>>> listenerIdMap;
+        private Dictionary<string, EventHandler<StudioServiceTypeEventArgs>> listenerTypeMap;
+
        private StudioRepoistory repository;
        private Dictionary<string, float> updateTime = new();
+        public bool isConnected
+        {
+            get
+            {
+                return repository.isConnected;
+            }
+        }
+
+        #region 패킷계산
        private int totalRequestPacket;
        private int totalResponsePacket;
        private long maxElapsedTime;
        private long totalElapsedTime;
        private int maxReponesSize;
        private int maxReuqestSize;
-
        private string maxReuqestApi;
        private string maxResponseApi;
        private string maxResponseTimeApi;
+        #endregion

-        public Dictionary<string, StudioEntityWithState<object>> apiData = new();
+        public Dictionary<string, StudioEntityWithState<List<Dictionary<string, string>>>> apiData = new();
        public Dictionary<string, (Dictionary<string, Dictionary<string, string>>, TimeSpan)> mqttData = new();

        private Dictionary<string, DateTime> lastUpdateTime = new();
@@ -46,26 +73,27 @@ namespace Studio
        public event Action<string, StudioEntityWithState<object>> onAPIDataLoaded;
        public event Action<string, Dictionary<string, Dictionary<string, string>>, TimeSpan> onMQTTDataLoaded;

-        public void ConnectMQTT()
+        private Dictionary<string, List<Topic>> topicTable = new();
+        public Dictionary<string, List<Topic>> TopciTable { get { return topicTable; } }
+
+        public void ConnectMQTT(string domain, string port, List<Util.Topic> topics)
        {
            this.repository = new StudioRepoistory();
-
-            // ✅ 명시적으로 필요한 Dictionary들 초기화
-            listenerIdMap = new Dictionary<string, Dictionary<string, EventHandler<StudioServiceTypeEventArgs>>>();
-            lastUpdateTime = new Dictionary<string, DateTime>(); 
-            updateTime = new Dictionary<string, float>();      
-            apiData = new Dictionary<string, StudioEntityWithState<object>>();
-            mqttData = new Dictionary<string, (Dictionary<string, Dictionary<string, string>>, TimeSpan)>(); 
+            listenerIdMap = new Dictionary<string, Dictionary<string, EventHandler<StudioServiceIdEventArgs>>>();
+            listenerTypeMap = new Dictionary<string, EventHandler<StudioServiceTypeEventArgs>>();

            repository.OnTopicList += OnTopicList;
-            repository.MQTTConnect();
+
+            var conntedInfo = $"MQTT Domain : {domain} , MQTTPORT :{port}";
+            if (!topicTable.ContainsKey(conntedInfo))
+                topicTable.Add(conntedInfo, new());
+            topicTable[conntedInfo] = topics;
+
+            repository.MQTTCreateConnect(domain, port);
+        
+            repository.MQTTConnect(conntedInfo);
        }

-        public void SubscribeMQTT(string topic)
-        {
-            repository.Subscribe(topic);
-        }
-        //Que에 담아둔다?
        private void OnTopicList(string type, Dictionary<string, Dictionary<string, string>> entities)
        {
            DateTime now = DateTime.Now;
@@ -97,29 +125,24 @@ namespace Studio
            {
                mqttData[type] = (entities, elapsedTime);
            }
-
-            onMQTTDataLoaded?.Invoke(type, entities, elapsedTime); // 나중에 클래스 밖으로 이동 필요
        }

-        private async Task UpdateTopicData(string type, string id, Dictionary<string, string> entity)
+        private void UpdateTopicData(string type, string id, Dictionary<string, string> entity)
        {
            if (!updateTime.ContainsKey(type))
                updateTime.Add(type, 0.5f);
            var time = updateTime[type];
-
-            var task = Task.Run(async () =>
+            var task = Task.Factory.StartNew(async () =>
            {
-                var st = string.Empty;
-                st = $"{type}:";
                int delayTime = (int)(time * 1000);
                await Task.Delay(delayTime);

                DispatchMachineEvent(type, id, entity);
-            });
+            }, CancellationToken.None, TaskCreationOptions.None, TaskScheduler.FromCurrentSynchronizationContext());
+
        }

        private Dictionary<string, Dictionary<string, Dictionary<string, string>>> timelineEntity = new();
-
        public bool TryGetRecentTimelineEntity(string type, string id, out Dictionary<string, string> result)
        {
            result = null;
@@ -137,13 +160,16 @@ namespace Studio
            return result != null;
        }

-        public void AddTypeListener(string type, string id, EventHandler<StudioServiceTypeEventArgs> listener)
+        public void AddTypeIdListener(string type, string id = null, EventHandler<StudioServiceIdEventArgs> listener = null)
        {
            if (!listenerIdMap.ContainsKey(type))
            {
                listenerIdMap.Add(type, new());
-                //Debug.LogError($"Key Value is missing!!!! -Key:{type}-");
            }
+
+            if (id == null)
+                return;
+
            if (!listenerIdMap[type].ContainsKey(id))
            {
                listenerIdMap[type][id] = listener;
@@ -153,6 +179,23 @@ namespace Studio
                listenerIdMap[type][id] += listener;
            }
        }
+        public void AddTypeListener(string type, EventHandler<StudioServiceTypeEventArgs> listener =null)
+        {
+            listenerTypeMap[type] = listener;
+        }
+        public void RemoveTypeListener(string type)
+        {
+            if (!listenerTypeMap.ContainsKey(type))
+                return;
+            listenerTypeMap.Remove(type);
+        }
+        public void RemoveTypeIdListener(string type,string id)
+        {
+            if (!listenerIdMap[type].ContainsKey(id))
+                return;
+
+            listenerIdMap[type].Remove(id);
+        }

        public async Task LoadBaseData(string url)
        {
@@ -169,13 +212,14 @@ namespace Studio
            {
                if (!apiData.ContainsKey(url))
                    apiData.Add(url, new());
-
+                
                data.lastRequestTime = startTime;
                data.lastResponseTime = endTime;
                data.elapsedTime = sw.Elapsed;
-                apiData[url] = data;
                CheckAPIBoarder(data.Entity.ToString(), data.ReqSize, url, t);
-                UpdateEntity(url, data.Entity.ToString());
+                var entity = UpdateEntity(url, data.Entity.ToString());
+                StudioEntityWithState<List<Dictionary<string, string>>> convertData = new(data.State, entity, data.ReqSize, data.Message);
+                apiData[url] = convertData;
            }
            else if (data.State == APIState.Error)
            {
@@ -223,10 +267,9 @@ namespace Studio
            boardEntity.MaximumResponsePacketAPI = maxResponseApi;
            boardEntity.MaximumResponseTimeAPI = maxResponseTimeApi;
            return boardEntity;
-            //JsonUtility.ToJson()
        }

-        public void UpdateEntity(string type, string data)
+        public List<Dictionary<string, string>> UpdateEntity(string type, string data)
        {
            //Dcitionary 형으로 바꿈
            JObject json = JObject.Parse(data);
@@ -238,38 +281,56 @@ namespace Studio
            }

            var datas = json["rows"].ToString();
+            var list = new List<Dictionary<string, string>>();
            JArray jarray = JArray.Parse(datas);
            foreach (JObject obj in jarray.Children())
            {
                Dictionary<string, string> keyvalue = new();
-                int index = 0;
                string id = string.Empty;
                foreach (JProperty prop in obj.Children())
                {
                    string key = prop.Name.ToString();
                    string value = prop.Value.ToString();
-                    if (index == 0)
-                    {
-                        id = value;
-                        index = 1;
-                    }
                    keyvalue.Add(key, value);
                }
-                DispatchMachineEvent(type, id, keyvalue);
+                list.Add(keyvalue);
            }
+
+            return list;
        }

        private void DispatchMachineEvent(string type, string id, Dictionary<string, string> entity)
        {
            if (!listenerIdMap.ContainsKey(type))
            {
-                Debug.LogError($"Key Value is missing!!!! -Key:{type}-");
+                Debug.Log($"Key Value is missing!!!! -Key:{type}-");
            }
            if (listenerIdMap[type].ContainsKey(id))
            {
-                listenerIdMap[type][id].Invoke(this, new StudioServiceTypeEventArgs(type, entity));
+                listenerIdMap[type][id].Invoke(this, new StudioServiceIdEventArgs(type, entity));
+            }
+            else
+            {
+                if (!listenerTypeMap.ContainsKey(type))
+                    return;
+                var data = new Dictionary<string, Dictionary<string, string>>();
+                data.Add(id, entity);
+
+                if (entity == null)
+                    return;
+                DispatchTypeMachineEvent(type, data);
+            }
+        }
+
+        private void DispatchTypeMachineEvent(string type, Dictionary<string, Dictionary<string, string>> entities)
+        {
+            
+            
+            if (listenerTypeMap.ContainsKey(type))
+            {
+                listenerTypeMap[type].Invoke(this, new(type, entities));
            }
        }

    }
-}
+}
--- a/Assets/Scripts/Studio/Interfaces/IInfo.cs
+++ b/Assets/Scripts/Studio/Interfaces/IInfo.cs
@@ -0,0 +1,18 @@
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Studio.VirtualFactory.Info
+{
+    public interface IInfo
+    {
+        public abstract Dictionary<string, string> Info
+        {
+            get;
+        }
+        public abstract Dictionary<string, string> Label
+        {
+            get;
+        }
+
+    }
+}
--- a/Assets/Scripts/Studio/Interfaces/IInfo.cs.meta
+++ b/Assets/Scripts/Studio/Interfaces/IInfo.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 0ae6ca4b2f15db14998f98d2baeb01c5
--- a/Assets/Scripts/Studio/Machine/AGV/AGV.cs
+++ b/Assets/Scripts/Studio/Machine/AGV/AGV.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using UnityEngine;

@@ -340,5 +340,7 @@ namespace Studio.Test
        {
            updateAction.Invoke();
        }
+
+        
    }
 }
--- a/Assets/Scripts/Studio/Machine/AGV/AGVManager.cs
+++ b/Assets/Scripts/Studio/Machine/AGV/AGVManager.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using UnityEngine;
 using Studio.Test;
@@ -15,7 +15,7 @@ namespace Studio.Manage

        public override void Init()
        {
-                
+
        }

        public bool TryGetIdleAGV(out AGV result)
--- a/Assets/Scripts/Studio/Machine/DataReader.cs
+++ b/Assets/Scripts/Studio/Machine/DataReader.cs
@@ -1,3 +1,4 @@
+
 using System.Collections;
 using UnityEngine;
 using System;
@@ -26,7 +27,7 @@ public class DataReader : MonoBehaviour
    void Start()
    {
        //ReplayTimer.gameObject.SetActive(true);
-        // Resources 폴더에서 파일을 불러옵니다.
+        // Resources 폴더에서 파일을 불러옵니다.
        csvFile = Resources.Load<TextAsset>($"LogData/DataLog");

        if (csvFile != null)
@@ -38,7 +39,7 @@ public class DataReader : MonoBehaviour
        }
        else
        {
-            Debug.LogError("CSV 파일을 찾을 수 없습니다.");
+            Debug.LogError("CSV 파일을 찾을 수 없습니다.");
        }
    }

--- a/Assets/Scripts/Studio/TwinObject/DynamicObject.meta
+++ b/Assets/Scripts/Studio/TwinObject/DynamicObject.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 5a2cf3d76009c0d41babf08313abbd91
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
--- a/Assets/Scripts/Studio/TwinObject/DynamicObject/AGV.cs
+++ b/Assets/Scripts/Studio/TwinObject/DynamicObject/AGV.cs
@@ -0,0 +1,138 @@
+using Studio.VirtualFactory;
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using UnityEngine;
+using Studio.VirtualFactory.Info;
+
+namespace Studio.Dynamic.TwinObject
+{
+    public class AGV : MonoBehaviour, IInfo
+    {
+        float dp;
+        Vector3 nextPos;
+        float startX;
+        float endX;
+        float startY;
+        float endY;
+        float rotSpeed;
+        float moveSpeed;
+        float xp;
+        float yp;
+
+        Vector3 endPos;
+        Quaternion startRot;
+        Quaternion endRot;
+
+        private Dictionary<string, string> CurrentEntity;
+
+        private bool isPlay = false;
+
+        public Dictionary<string, string> Info {
+            get
+            {
+                //ToDo 보고싶은 정보 나열한.. 리스트 목록 가져온다.. 
+                return CurrentEntity;
+            }
+        }
+
+        public Dictionary<string, string> Label {
+            get
+            {
+                //ToDo 보고싶은 정보 나열한.. 리스트 목록 가져온다.. 
+                return CurrentEntity;
+            }
+        }
+
+        public void Init(string type,Vector3 pos)
+        {
+            transform.position = pos;
+            startX = transform.position.x;
+            startY = transform.position.z;
+            endX = transform.position.x;
+            endY = transform.position.z;
+            startRot = Quaternion.identity;
+            endRot = Quaternion.identity;
+            isPlay = true;
+            StudioService.instance.AddTypeIdListener(type, transform.name, OnUpdateData);
+        }
+
+        internal void OnUpdateData(object sender, StudioServiceIdEventArgs e)
+        {
+            CurrentEntity = e.Entity;
+            var s = "{";
+            foreach(var t in e.Entity)
+            {
+                s += $"{t.Key}: {t.Value},";
+            }
+            s += "}";
+            Debug.Log(s);
+            SetPos();
+        }
+
+
+        private void SetPos()
+        {
+            dp = 0f;
+            xp = 0f;
+            yp = 0f;
+
+            var xpos = CurrentEntity.FirstOrDefault(x => x.Key.Equals("x", StringComparison.OrdinalIgnoreCase));
+            var ypos = CurrentEntity.FirstOrDefault(x => x.Key.Equals("y", StringComparison.OrdinalIgnoreCase));
+
+
+            var x = float.Parse(xpos.Value) * 0.001f;
+            var z = float.Parse(ypos.Value) * 0.001f;
+            endPos = new Vector3(x, transform.position.y, z);
+            startX = transform.position.x;
+            startY = transform.position.z;
+            endX = endPos.x;
+            endY = endPos.z;
+
+            //노드방향으로 회전값알기
+
+            var degree =CurrentEntity.FirstOrDefault(x => x.Key.Equals("DEGREE", StringComparison.OrdinalIgnoreCase));
+
+            var deg = float.Parse(degree.Value);
+            deg = 360f - deg;
+            startRot = transform.rotation;
+            endRot = Quaternion.AngleAxis(deg, Vector3.up);
+        }
+
+        void PerforcedRotation()
+        {
+            if (dp >= 1f)
+                return;
+            dp += Time.deltaTime * rotSpeed;
+            transform.rotation = Quaternion.Lerp(startRot, endRot, dp);
+        }
+        private void Update()
+        {
+            if (isPlay == false)
+                return;
+            PerforcedMovement();
+            PerforcedRotation();
+        }
+        void PerforcedMovement()
+        {
+            
+            xp += Time.deltaTime * moveSpeed;
+            yp += Time.deltaTime * moveSpeed;
+
+            var nx = Mathf.Lerp(startX, endX, xp);
+            var ny = Mathf.Lerp(startY, endY, yp);
+            nextPos = new Vector3(nx, 0, ny);
+            transform.position = nextPos;
+        }
+
+        public void SetMoveSpeed(float speed)
+        {
+            moveSpeed = speed;
+        }
+
+        public void SetRotateSpeed(float aGVRotateSpeed)
+        {
+            rotSpeed = aGVRotateSpeed;
+        }
+    }
+}
--- a/Assets/Scripts/Studio/TwinObject/DynamicObject/AGV.cs.meta
+++ b/Assets/Scripts/Studio/TwinObject/DynamicObject/AGV.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 84ad40885a5aaa04e85eb7de0489cc8d
--- a/Assets/Scripts/Studio/TwinObject/DynamicObject/AGVManager.cs
+++ b/Assets/Scripts/Studio/TwinObject/DynamicObject/AGVManager.cs
@@ -0,0 +1,83 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using UnityEngine;
+using Studio.Dynamic.TwinObject;
+using Studio.Core;
+
+namespace Studio.Dynamic.M
+{
+    public class AGVManager : UnitySingleton<AGVManager>
+    {
+        private AGV prf_AGV;
+        public HashSet<AGV> agvs = new();
+        public float AGVMoveSpeed;
+        public float AGVRotateSpeed;
+        public Queue<Dictionary<string, Dictionary<string, string>>> createAgvs = new();
+       
+        public void Init()
+        {
+            prf_AGV = Resources.Load<AGV>("TestAGV");
+            StudioService.instance.AddTypeListener("AGV", OnDataUpdate);
+            StudioService.instance.AddTypeIdListener("AGV");
+        }
+        /// <summary>
+        /// MQTT
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        private void OnDataUpdate(object sender, StudioServiceTypeEventArgs e)
+        {
+            var entities = e.Entitis;
+            foreach(var entity in entities)
+            {
+                var key = entity.Key;
+                var value = entity.Value;
+                if (agvs.FirstOrDefault(x => x.name.Equals(key)))
+                {
+                    Debug.Log($"중복된 ID {key}");
+                    continue;
+                }
+                var item = CreateAGV(e.Type, key,value);
+                agvs.Add(item);
+            }
+        }
+
+        private AGV CreateAGV(string type, string id ,Dictionary<string,string> entity)
+        {
+            var agv = Instantiate<AGV>(prf_AGV,transform);
+            agv.transform.position = Vector3.zero;
+            agv.name = id;
+            agv.SetMoveSpeed(AGVMoveSpeed);
+            agv.SetRotateSpeed(AGVRotateSpeed);
+            var xPos = entity.FirstOrDefault(x => x.Key.Equals("X", StringComparison.OrdinalIgnoreCase));
+            var yPos = entity.FirstOrDefault(x => x.Key.Equals("Y", StringComparison.OrdinalIgnoreCase));
+            float.TryParse(xPos.Value, out var x);
+            float.TryParse(yPos.Value, out var y);
+
+            var pos = new Vector3(x * 0.001f, 0, y * 0.001f);
+            agv.Init(type,pos);
+            return agv;
+        }
+
+        /// <summary>
+        /// API 연결했을때
+        /// </summary>
+        private void SetBaseUpdate()
+        {
+            var baseDatas = StudioService.instance.apiData;
+            var agvKey = baseDatas.Keys.FirstOrDefault(x => x.Contains("AGV", StringComparison.OrdinalIgnoreCase));
+            var agvDatas = baseDatas[agvKey].Entity;
+
+            foreach(var data in agvDatas)
+            {
+                var id = data.FirstOrDefault(x => x.Key.Equals("ID", StringComparison.OrdinalIgnoreCase));
+                CreateAGV("AGV", id.Value, data);
+            }
+            
+        }
+
+
+
+    }
+}
--- a/Assets/Scripts/Studio/TwinObject/DynamicObject/AGVManager.cs.meta
+++ b/Assets/Scripts/Studio/TwinObject/DynamicObject/AGVManager.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 1af5890e725b4a74397a6abcbc5c8b43
--- a/Assets/Scripts/Studio/TwinObject/StaticObject.meta
+++ b/Assets/Scripts/Studio/TwinObject/StaticObject.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 2597203444f235d43a8c02da446c3ff8
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
--- a/Assets/Scripts/Studio/TwinObject/StaticObject/StackerCrane.cs
+++ b/Assets/Scripts/Studio/TwinObject/StaticObject/StackerCrane.cs
@@ -0,0 +1,160 @@
+using Studio.VirtualFactory.Info;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Linq;
+using Unity.Mathematics;
+using UnityEngine;
+
+namespace Studio.Staic.STKC
+{
+    public class StackerCrane : MonoBehaviour, IInfo
+    {
+        private Dictionary<string, string> CurrentEntity;
+        public Dictionary<string, string> Info
+        {
+            get
+            {
+                return CurrentEntity;
+            }
+
+        }
+
+        public Dictionary<string, string> Label
+        {
+            get
+            {
+                return CurrentEntity;
+            }
+        }
+
+        public string BANK;
+        public string BAY;
+        public string LEVEL;
+
+        private float liftSpeed;
+        private float bodySpeed;
+        private float bodyProcess;
+        private float liftProcess;
+
+        private float liftStartY;
+        private float liftEndY;
+        public Transform lift;
+        public Vector3 bodyStart;
+        public Vector3 bodyEnd;
+
+        private Action onMotionStart;
+
+        private int[] values = new int[3];
+        private string curType;
+        public void Init(string type)
+        {
+            curType = type;
+            bodySpeed = 0.3f;
+            liftSpeed = 0.3f;
+            StudioService.instance.AddTypeIdListener(type, transform.name, OnUpdateData);
+            onMotionStart = StartAnim;
+        }
+
+        public void AddInit(string type)
+        {
+            StudioService.instance.AddTypeIdListener(type, transform.name, OnAddOtherUpdateData);
+        }
+
+        private void OnAddOtherUpdateData(object sender, StudioServiceIdEventArgs e)
+        {
+        }
+
+        private void StartAnim()
+        {
+            StopAllCoroutines();
+            StartCoroutine(MotionStart());
+        }
+
+        IEnumerator MotionStart()
+        {
+            while (liftProcess < 1f)
+            {
+                Sliding();
+                Lifiting();
+                yield return null;
+            }
+        }
+        void Sliding()
+        {
+            bodyProcess += Time.deltaTime * bodySpeed;
+
+            if (bodyProcess >= 1f)
+                bodyProcess = 1f;
+
+            var pos = math.lerp(bodyStart, bodyEnd, bodyProcess);
+
+            transform.localPosition = pos;
+        }
+
+        void Lifiting()
+        {
+            liftProcess += Time.deltaTime * liftSpeed;
+            if (liftProcess >= 1f)
+            {
+                liftProcess = 1f;
+
+            }
+
+            var liftY = math.lerp(liftStartY, liftEndY, liftProcess);
+            var liftPos = lift.position;
+            liftPos.y = liftY;
+            lift.position = liftPos;
+        }
+
+        private void OnUpdateData(object sender, StudioServiceIdEventArgs e)
+        {
+            CurrentEntity = e.Entity;
+
+
+            BANK = CurrentEntity.FirstOrDefault(x => x.Key.Equals(nameof(BANK), StringComparison.OrdinalIgnoreCase)).Value;
+            BAY = CurrentEntity.FirstOrDefault(x => x.Key.Equals(nameof(BAY), StringComparison.OrdinalIgnoreCase)).Value;
+            LEVEL = CurrentEntity.FirstOrDefault(x => x.Key.Equals(nameof(LEVEL), StringComparison.OrdinalIgnoreCase)).Value;
+
+            var x = int.Parse(BANK);
+            var y = int.Parse(LEVEL);
+            var z = int.Parse(BAY);
+
+            if (IsSameValue(x, y, z))
+                return;
+
+            bodyProcess = 0f;
+            liftProcess = 0f;
+            bodyStart = transform.localPosition;
+            bodyEnd = bodyStart;
+            bodyEnd.z = z;
+
+            liftStartY = lift.position.y;
+            liftEndY = y;
+
+            onMotionStart?.Invoke();
+        }
+
+        private bool IsSameValue(int bank, int bay, int level)
+        {
+
+            var sameBank = values[0].Equals(bank);
+            var sameLevel = values[1].Equals(level);
+            var sameBay = values[2].Equals(bay);
+
+            if (sameBank && sameLevel && sameLevel)
+                return true;
+
+            values[0] = bank;
+            values[1] = level;
+            values[2] = bay;
+            return false;
+        }
+
+        private void OnDestroy()
+        {
+            StudioService.instance.RemoveTypeIdListener(curType, transform.name);
+            onMotionStart -= StartAnim;
+        }
+    }
+}
--- a/Assets/Scripts/Studio/TwinObject/StaticObject/StackerCrane.cs.meta
+++ b/Assets/Scripts/Studio/TwinObject/StaticObject/StackerCrane.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 0671ba3dd5120d84fa95f82f0b7004ca
--- a/Assets/Scripts/Studio/TwinObject/StaticObject/Stocker.cs
+++ b/Assets/Scripts/Studio/TwinObject/StaticObject/Stocker.cs
@@ -0,0 +1,54 @@
+using Studio.VirtualFactory.Info;
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Studio.Staic.STK
+{
+    public class Stocker : MonoBehaviour, IInfo
+    {
+        private Dictionary<string, string> CurrentEntity;
+        public Dictionary<string, string> Info
+        {
+            get
+            {
+                return CurrentEntity;
+            }
+
+        }
+        public Dictionary<string, string> Label
+        {
+            get
+            {
+                return CurrentEntity;
+            }
+        }
+
+        public void Init(string type)
+        {
+            StudioService.instance.AddTypeIdListener(type, transform.name, OnUpdateData);
+        }
+
+        public void AddInit(string type)
+        {
+            StudioService.instance.AddTypeIdListener(type, transform.name, OnAddOtherUpdateData);
+        }
+
+        private void OnAddOtherUpdateData(object sender, StudioServiceIdEventArgs e)
+        {
+            foreach(var keyvalue in e.Entity)
+            {
+                if (!CurrentEntity.ContainsKey(keyvalue.Key))
+                    CurrentEntity.Add(keyvalue.Key, "");
+
+                CurrentEntity[keyvalue.Key] = keyvalue.Value;
+            }
+        }
+
+        private void OnUpdateData(object sender, StudioServiceIdEventArgs e)
+        {
+            CurrentEntity = e.Entity;
+        }
+
+    }
+}
--- a/Assets/Scripts/Studio/TwinObject/StaticObject/Stocker.cs.meta
+++ b/Assets/Scripts/Studio/TwinObject/StaticObject/Stocker.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: e66bb97ac5ecbe748b9a207098542b4e
--- a/Assets/Scripts/Studio/UI/Elements/UI_APIConnection.cs
+++ b/Assets/Scripts/Studio/UI/Elements/UI_APIConnection.cs
@@ -1,4 +1,4 @@
-using UnityEngine;
+using UnityEngine;
 using XRLib.UI;
 using TMPro;
 using UnityEngine.UI;
@@ -49,9 +49,9 @@ namespace Studio
        {
            onTestAPI?.Invoke();

-            // API ¿¬°á
-            Constants.APIDomain = InputField_Domain.text;
-            Constants.APIPort = int.Parse(InputField_Port.text);
+            // API 연결
+            //ConfigConnected.APIDomain = InputField_Domain.text;
+           // ConfigConnected.APIPort = int.Parse(InputField_Port.text);
            //StudioService.instance.ConnectMQTT();

            await AuthService.Instance.Login("xr", "@dbqlTl1");
--- a/Assets/Scripts/Studio/UI/Elements/UI_ButtonDropdown.cs
+++ b/Assets/Scripts/Studio/UI/Elements/UI_ButtonDropdown.cs
@@ -1,4 +1,4 @@
-using System.Collections; 
+using System.Collections; 
 using UnityEngine;
 using UnityEngine.Events;
 using UnityEngine.EventSystems;
--- a/Assets/TMPFolder/Modal/UIModalManager.cs
+++ b/Assets/TMPFolder/Modal/UIModalManager.cs
@@ -1,6 +1,6 @@
-using UnityEngine;
+using Studio.Core;
+using UnityEngine;
 using UnityEngine.SceneManagement;
-using Studio.Core;
 using XRLib;

 namespace Studio.UI.Modal
--- a/Assets/TMPFolder/Panel_APIDataInfo.cs
+++ b/Assets/TMPFolder/Panel_APIDataInfo.cs
@@ -1,4 +1,4 @@
-using Best.HTTP.SecureProtocol.Org.BouncyCastle.Asn1.Pkcs;
+using Best.HTTP.SecureProtocol.Org.BouncyCastle.Asn1.Pkcs;
 using Newtonsoft.Json;
 using Studio.Setting.Connect;
 using System.Collections.Generic;
@@ -29,7 +29,7 @@ namespace Studio.UI
            RawDataFoldButton.GetComponent<Button>().onClick.AddListener(OnClickRawDataFoldButton);
        }

-        public void ShowData(StudioEntityWithState<object> data)
+        public void ShowData<T>(StudioEntityWithState<T> data)
        {
            RawData.text = JsonConvert.SerializeObject(data.Entity, Formatting.Indented);

--- a/Assets/TMPFolder/Panel_DataRepository.cs
+++ b/Assets/TMPFolder/Panel_DataRepository.cs
@@ -1,4 +1,4 @@
-using Best.HTTP.SecureProtocol.Org.BouncyCastle.Asn1.Pkcs;
+using Best.HTTP.SecureProtocol.Org.BouncyCastle.Asn1.Pkcs;
 using Studio;
 using Studio.Setting.Connect;
 using Studio.UI;
@@ -114,11 +114,11 @@ namespace Studio
            StudioService.instance.onMQTTDataLoaded -= UpdateMQTTDataButton;
        }

-        void UpdateAPIDataButton(string name, StudioEntityWithState<object> value)
+        void UpdateAPIDataButton<T>(string name, StudioEntityWithState<T> value)
        {
            if (!apiButtons.ContainsKey(name))
            {
-                // 버튼 새로 생성
+                // 버튼 새로 생성
                var button = Instantiate(apiDataButtonPrefab, APIDataList.transform);
                apiButtons.Add(name, button);
                button.panel_Repository = this;
@@ -128,8 +128,8 @@ namespace Studio
            }
            else
            {
-                // 버튼 데이터 업데이트
-                apiButtons[name].SetButtonData(name, value);
+                // 버튼 데이터 업데이트
+                apiButtons[name].SetButtonData<T>(name, value);
            }
        }

@@ -178,7 +178,7 @@ namespace Studio
            Panel_MQTTDataInfo.gameObject.SetActive(false);
        }

-        public void ShowInformation_APIData(StudioEntityWithState<object> baseDataValue)
+        public void ShowInformation_APIData<T>(StudioEntityWithState<T> baseDataValue)
        {
            Panel_APIDataInfo.GetComponent<Panel_APIDataInfo>().ShowData(baseDataValue);

--- a/Assets/TMPFolder/Popup/UIAlertManager.cs
+++ b/Assets/TMPFolder/Popup/UIAlertManager.cs
@@ -1,6 +1,6 @@
-using UnityEngine;
+using Studio.Core;
+using UnityEngine;
 using UnityEngine.SceneManagement;
-using Studio.Core;
 using XRLib;

 namespace Studio.UI.Popup
--- a/Assets/TMPFolder/Popup/UIPopupManager.cs
+++ b/Assets/TMPFolder/Popup/UIPopupManager.cs
@@ -1,7 +1,7 @@
-using System;
+using Studio.Core;
+using System;
 using UnityEngine;
 using UnityEngine.SceneManagement;
-using Studio.Core;
 using XRLib;

 namespace Studio.UI.Popup
--- a/Assets/TMPFolder/RJHTest.cs
+++ b/Assets/TMPFolder/RJHTest.cs
@@ -1,6 +1,8 @@
 using Studio;
 using Studio.Auth;
 using Studio.Conifg;
+using Studio.Dynamic.M;
+using Studio.Staic.STKC;
 using System.Threading.Tasks;
 using UnityEngine;

@@ -10,15 +12,27 @@ namespace Studio
    {
        // Start is called once before the first execution of Update after the MonoBehaviour is created
        private int aa;
+        public StackerCrane testcrane;
        void Awake()
        {
-            Constants.MQTTDomain = "220.90.135.190";
-            Constants.APIDomain = "220.90.135.190";
-            Constants.APIPort = 23000;
-            Constants.MQTTPort = 8088;
-            StudioService.instance.ConnectMQTT();
+            //ConfigConnected.MQTTDomain = "220.90.135.190";
+            //ConfigConnected.APIDomain = "220.90.135.190";
+            //ConfigConnected.APIPort = 23000;
+            //ConfigConnected.MQTTPort = 8088;
        }

+        public void TestConeect()
+        {
+            var mqttsettings = ConfigConnected.MQTTSettings;
+
+            foreach(var mqtt in mqttsettings.mqttConnections)
+            {
+                StudioService.instance.ConnectMQTT(mqtt.domain,mqtt.port,mqtt.topics);
+            }
+            testcrane.Init("STOCKER_CRANE");
+            AGVManager.instance.Init();
+
+        }
        private async void Test()
        {
            await AuthService.Instance.Login("xr", "@dbqlTl1");
@@ -34,12 +48,12 @@ namespace Studio
            }
            if (Input.GetKeyDown(KeyCode.I))
            {
-                StudioService.instance.SubscribeMQTT("STOCKER_CRANE");
+               // StudioService.instance.SubscribeMQTT("STOCKER_CRANE");

            }
            if(Input.GetKeyDown(KeyCode.U))
            {
-                StudioService.instance.SubscribeMQTT("AGV");
+               // StudioService.instance.SubscribeMQTT("AGV");
            }
            if(Input.GetKeyDown(KeyCode.T))
            {
--- a/Assets/TMPFolder/UI_BaseDataButton.cs
+++ b/Assets/TMPFolder/UI_BaseDataButton.cs
@@ -1,4 +1,4 @@
-using TMPro;
+using TMPro;
 using UnityEngine;
 using UnityEngine.UI;
 using Studio.UI;
@@ -31,10 +31,10 @@ namespace Studio
            panel_Repository.ShowInformation_APIData(dataValue);
        }

-        public void SetButtonData(string name, StudioEntityWithState<object> data)
+        public void SetButtonData<T>(string name, StudioEntityWithState<T> data)
        {
            baseDataKey = name;
-            dataValue = data;
+            dataValue = data as StudioEntityWithState<object>;

            buttonName.text = name;
        }