중간 저장

Assets/AGVLift.cs

@@ -0,0 +1,8 @@
+using UnityEngine;
+
+namespace XED
+{
+    public class AGVLift : MonoBehaviour
+    {
+    }
+}

Assets/AGVLift.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 5fb7059a769257346badd43882bceb27

Assets/AGVMap.cs

@@ -1,3 +1,4 @@
+using Newtonsoft.Json;
 using System;
 using System.Collections.Generic;
 using UnityEditor;
@@ -10,29 +11,6 @@ namespace XED.VirtualFactory
     {
         public List<AGVNode> nodes = new();
 
-        public bool TryGetPath(AGVNode currentLocation, AGVNodeType targetType)
-        {
-            if (currentLocation == null)
-                return false;
-        List<AGVNode> path = new();
-            return TryGetPathRecursive(currentLocation, targetType, path);
-        }
-
-        private bool TryGetPathRecursive(AGVNode currentLocation, AGVNodeType targetType, List<AGVNode> path)
-        {
-            if (currentLocation.nodeType == targetType)
-                return true;
-            path.Add(currentLocation);
-            foreach (var n in currentLocation.linkedNodes)
-            {
-                if (n == null || path.Contains(n))
-                    continue;
-                if (TryGetPathRecursive(n, targetType, path))
-                    return true;
-            }
-            return false;
-        }
-
 #if UNITY_EDITOR
         public void OnDrawGizmos()
         {
@@ -42,7 +20,7 @@ namespace XED.VirtualFactory
             {
                 if (n == null)
                     continue;
-
+                    Handles.Label(n.transform.position + Vector3.up * 0.5f, n.name);
                 foreach (var l in n.linkedNodes)
                 {
                     Vector3 start = n.transform.position;
@@ -63,20 +41,78 @@ namespace XED.VirtualFactory
                 }
             }
         }
-#endif
 
-        internal bool GetEmptyNode(AGVNodeType t, out AGVNode result)
+#endif
+        public List<AGVPortNode> GetPortNodes()
         {
+            var result = new List<AGVPortNode>();
             foreach(var n in nodes)
             {
-                if (n.nodeType == t && n.cargo == null)
+                if (n is AGVPortNode pn)
+                {
+                    result.Add(pn);
+                }
+            }
+
+            return result;
+        }
+
+        public bool TryGetEmptyInputPortNode(out AGVPortNode portNode)
+        {
+            foreach (var n in nodes)
+            {
+                if (n is not AGVPortNode pn)
+                    continue;
+                
+                if (pn.portType != AGVPortNode.PortType.Input)
+                    continue;
+
+                if (pn.loader is not InputPort)
+                    continue;
+
+                Debug.Log($"TryGetEmptyInputPortNode: {pn.name}");
+                if (pn.loader.isEmpty)
+                {
+                    portNode = pn;
+                    return true;
+                }
+            }
+            portNode = null;
+            return false;
+        }
+        internal List<AGVNode> FindPath(AGVNode startNode, AGVNode targetNode)
+        {
+            var visited = new HashSet<AGVNode>();
+            var path = new List<AGVNode>();
+            if (DFS(startNode, targetNode, visited, path))
+            {
+                return path;
+            }
+            return null; // °æ·Î¸¦ ãÀ» ¼ö ¾øÀ½
+        }
+
+        private bool DFS(AGVNode current, AGVNode target, HashSet<AGVNode> visited, List<AGVNode> path)
+        {
+            visited.Add(current);
+            path.Add(current);
+
+            if (current == target)
+            {
+                return true;
+            }
+
+            foreach (var neighbor in current.linkedNodes)
+            {
+                if (neighbor == null || visited.Contains(neighbor))
+                    continue;
+
+                if (DFS(neighbor, target, visited, path))
                 {
-                    result = n;
                     return true;
                 }
             }
 
-            result = null;
+            path.RemoveAt(path.Count - 1);
             return false;
         }
     }

Assets/AGVMapEditor.cs

@@ -1,3 +1,4 @@
+using Newtonsoft.Json;
 using System;
 using UnityEditor;
 using UnityEngine;
@@ -27,16 +28,23 @@ namespace XED.EditorUtil
             for (int i = 0; i < map.nodes.Count; i++)
             {
                 var node = map.nodes[i];
-                node.entity.id = i.ToString();
-                node.entity.linkedNodeIDs.Clear();
-                
-                foreach (var linkedNode in node.linkedNodes)
-                {
-                    node.entity.linkedNodeIDs.Add(linkedNode.entity.id);
-                }
+                node.entity = new AGVNodeEntity();
+                var entity = node.entity as AGVNodeEntity;
+                entity.id = i.ToString();
 
                 map.nodes[i].gameObject.name = node.entity.id;
             }
+
+            for (int i = 0; i < map.nodes.Count; i++)
+            {
+                var node = map.nodes[i];
+                var entity = node.entity as AGVNodeEntity;
+                entity.linkedNodeIDs.Clear();
+                foreach (var linkedNode in node.linkedNodes)
+                {
+                    entity.linkedNodeIDs.Add(linkedNode.entity.id);
+                }
+            }
         }
 
         void LoadNodes()

Assets/AGVsLog.csv

@@ -99,3 +99,751 @@ Time,AGV_ID,Task,Target,Success
 2025-03-20 오후 3:08:23,,MoveToTarget,(-6.00, -0.35, -3.00),True
 
 2025-03-20 오후 3:08:23,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:17:52,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:17:52,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:17:59,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:17:59,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:18:03,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:18:03,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:18:10,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:18:10,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:18:17,,UnLoadCargo,1 (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:18:17,,UnLoadCargo,1 (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:18:26,,SpinToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:18:26,,SpinToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:18:33,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:18:33,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:18:42,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:18:42,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:18:49,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:18:49,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:18:53,,SpinToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:18:53,,SpinToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:18:56,,MoveToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:18:56,,MoveToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:18:56,,SpinToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:18:56,,SpinToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:19:00,,MoveToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:19:00,,MoveToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:19:05,,SpinToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:19:05,,SpinToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:19:11,,MoveToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:19:11,,MoveToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:19:16,,SpinToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:19:16,,SpinToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:19:20,,MoveToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:19:20,,MoveToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:19:25,,SpinToTarget,(3.91, -0.35, -5.00),True
+
+2025-03-20 오후 3:19:25,,SpinToTarget,(3.91, -0.35, -5.00),True
+
+2025-03-20 오후 3:19:27,,MoveToTarget,(3.91, -0.35, -5.00),True
+
+2025-03-20 오후 3:19:27,,MoveToTarget,(3.91, -0.35, -5.00),True
+
+2025-03-20 오후 3:21:45,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:21:45,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:21:52,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:21:52,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:21:56,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:21:56,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:22:03,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:22:03,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:22:10,,UnLoadCargo,1 (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:22:10,,UnLoadCargo,1 (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:22:15,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:22:15,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:22:15,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:22:15,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:22:24,,SpinToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:22:24,,SpinToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:22:26,,MoveToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:22:26,,MoveToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:22:26,,SpinToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:22:26,,SpinToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:22:31,,MoveToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:22:31,,MoveToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:22:35,,SpinToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:22:35,,SpinToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:22:41,,MoveToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:22:41,,MoveToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:22:45,,SpinToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:22:45,,SpinToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:22:50,,MoveToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:22:50,,MoveToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:23:24,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:23:24,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:23:31,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:23:31,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:23:35,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:23:35,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:23:42,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:23:42,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:23:49,,UnLoadCargo,1 (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:23:49,,UnLoadCargo,1 (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:23:54,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:23:54,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:23:54,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:23:54,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:26:38,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:26:38,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:26:45,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:26:45,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:27:50,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:27:50,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:27:57,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:27:57,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:28:02,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:28:02,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:28:09,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:28:09,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:28:16,,UnLoadCargo,1 (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:28:16,,UnLoadCargo,1 (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:28:25,,SpinToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:28:25,,SpinToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:28:31,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:28:31,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:28:36,,SpinToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:28:36,,SpinToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:30:55,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:30:55,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:31:02,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:31:02,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:31:06,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:31:06,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:31:13,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:31:13,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:31:20,,UnLoadCargo,1 (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:31:20,,UnLoadCargo,1 (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:31:29,,SpinToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:31:29,,SpinToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:36:48,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:36:48,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:36:55,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:36:55,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:37:04,,SpinToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:37:04,,SpinToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:37:07,,MoveToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:37:07,,MoveToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:37:07,,SpinToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:37:07,,SpinToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:37:11,,MoveToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:37:11,,MoveToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:37:16,,SpinToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:37:16,,SpinToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:37:23,,MoveToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:37:23,,MoveToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:37:27,,SpinToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:37:27,,SpinToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:37:31,,MoveToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:37:31,,MoveToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:37:31,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:37:31,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:37:34,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:37:34,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:37:41,,UnLoadCargo,1 (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:37:41,,UnLoadCargo,1 (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:37:46,,SpinToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:37:46,,SpinToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:37:52,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:37:52,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:37:57,,SpinToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:37:57,,SpinToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:38:00,,MoveToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:38:00,,MoveToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:38:00,,SpinToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:38:00,,SpinToTarget,(6.00, -0.35, -10.00),True
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+2025-03-20 오후 3:38:04,,MoveToTarget,(6.00, -0.35, -10.00),True
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+2025-03-20 오후 3:38:04,,MoveToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:38:09,,SpinToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:38:09,,SpinToTarget,(-6.00, -0.35, -10.00),True
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+2025-03-20 오후 3:38:15,,MoveToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:38:15,,MoveToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:38:20,,SpinToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:38:20,,SpinToTarget,(-6.00, -0.35, -5.00),True
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+2025-03-20 오후 3:38:24,,MoveToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:38:24,,MoveToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 3:38:29,,SpinToTarget,(-3.88, -0.35, -5.00),True
+
+2025-03-20 오후 3:38:29,,SpinToTarget,(-3.88, -0.35, -5.00),True
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+2025-03-20 오후 3:38:32,,MoveToTarget,(-3.88, -0.35, -5.00),True
+
+2025-03-20 오후 3:38:32,,MoveToTarget,(-3.88, -0.35, -5.00),True
+
+2025-03-20 오후 3:39:02,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:39:02,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:39:09,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:39:09,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:39:18,,SpinToTarget,(6.00, -0.35, -5.00),True
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+2025-03-20 오후 3:39:18,,SpinToTarget,(6.00, -0.35, -5.00),True
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+2025-03-20 오후 3:39:20,,MoveToTarget,(6.00, -0.35, -5.00),True
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+2025-03-20 오후 3:39:20,,SpinToTarget,(6.00, -0.35, -10.00),True
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+2025-03-20 오후 3:39:25,,MoveToTarget,(6.00, -0.35, -10.00),True
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+2025-03-20 오후 3:39:29,,SpinToTarget,(-6.00, -0.35, -10.00),True
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+2025-03-20 오후 3:39:36,,MoveToTarget,(-6.00, -0.35, -10.00),True
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+2025-03-20 오후 3:39:36,,MoveToTarget,(-6.00, -0.35, -10.00),True
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+2025-03-20 오후 3:39:40,,SpinToTarget,(-6.00, -0.35, -5.00),True
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+2025-03-20 오후 3:39:40,,SpinToTarget,(-6.00, -0.35, -5.00),True
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+2025-03-20 오후 3:39:45,,MoveToTarget,(-6.00, -0.35, -5.00),True
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+2025-03-20 오후 3:39:45,,MoveToTarget,(-6.00, -0.35, -5.00),True
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+2025-03-20 오후 3:39:47,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:39:54,,UnLoadCargo,1 (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:39:54,,UnLoadCargo,1 (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:55:08,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:55:08,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:55:16,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:55:16,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:55:25,,SpinToTarget,(6.00, -0.35, -5.00),True
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+2025-03-20 오후 3:55:25,,SpinToTarget,(6.00, -0.35, -5.00),True
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+2025-03-20 오후 3:55:28,,MoveToTarget,(6.00, -0.35, -5.00),True
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+2025-03-20 오후 3:55:28,,MoveToTarget,(6.00, -0.35, -5.00),True
+
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+2025-03-20 오후 3:55:28,,SpinToTarget,(6.00, -0.35, -10.00),True
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+2025-03-20 오후 3:55:32,,MoveToTarget,(6.00, -0.35, -10.00),True
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+2025-03-20 오후 3:55:32,,MoveToTarget,(6.00, -0.35, -10.00),True
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+2025-03-20 오후 3:55:37,,SpinToTarget,(-6.00, -0.35, -10.00),True
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+2025-03-20 오후 3:55:55,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:56:02,,UnLoadCargo,1 (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:56:02,,UnLoadCargo,1 (UnityEngine.GameObject),True
+
+2025-03-20 오후 3:56:06,,SpinToTarget,(6.00, -0.35, -3.00),True
+
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+2025-03-20 오후 3:56:13,,MoveToTarget,(6.00, -0.35, -3.00),True
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+2025-03-20 오후 3:56:13,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 3:56:18,,SpinToTarget,(6.00, -0.35, -5.00),True
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+2025-03-20 오후 3:56:20,,MoveToTarget,(6.00, -0.35, -5.00),True
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+2025-03-20 오후 3:56:25,,MoveToTarget,(6.00, -0.35, -10.00),True
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+
+2025-03-20 오후 3:56:29,,SpinToTarget,(-6.00, -0.35, -10.00),True
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+2025-03-20 오후 3:56:36,,MoveToTarget,(-6.00, -0.35, -10.00),True
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+2025-03-20 오후 3:56:36,,MoveToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 3:56:40,,SpinToTarget,(-6.00, -0.35, -5.00),True
+
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+2025-03-20 오후 3:56:45,,MoveToTarget,(-6.00, -0.35, -5.00),True
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+2025-03-20 오후 3:56:45,,MoveToTarget,(-6.00, -0.35, -5.00),True
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+2025-03-20 오후 3:56:49,,SpinToTarget,(-3.88, -0.35, -5.00),True
+
+2025-03-20 오후 3:56:49,,SpinToTarget,(-3.88, -0.35, -5.00),True
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+2025-03-20 오후 3:56:52,,MoveToTarget,(-3.88, -0.35, -5.00),True
+
+2025-03-20 오후 3:56:52,,MoveToTarget,(-3.88, -0.35, -5.00),True
+
+2025-03-20 오후 4:54:01,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 4:54:01,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 4:54:08,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 4:54:08,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 4:54:17,,SpinToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:54:17,,SpinToTarget,(6.00, -0.35, -5.00),True
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+2025-03-20 오후 4:54:20,,MoveToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:54:20,,MoveToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:54:20,,SpinToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:54:20,,SpinToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:54:24,,MoveToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:54:24,,MoveToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:54:29,,SpinToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:54:29,,SpinToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:54:36,,MoveToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:54:36,,MoveToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:54:40,,SpinToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:54:40,,SpinToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:54:44,,MoveToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:54:44,,MoveToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:54:44,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 4:54:44,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 4:54:47,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 4:54:47,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 4:54:54,,UnLoadCargo,1 (UnityEngine.GameObject),True
+
+2025-03-20 오후 4:54:54,,UnLoadCargo,1 (UnityEngine.GameObject),True
+
+2025-03-20 오후 4:54:59,,SpinToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 4:54:59,,SpinToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 4:55:06,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 4:55:06,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 4:55:10,,SpinToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:55:10,,SpinToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:55:13,,MoveToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:55:13,,MoveToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:55:13,,SpinToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:55:13,,SpinToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:55:17,,MoveToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:55:17,,MoveToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:55:22,,SpinToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:55:22,,SpinToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:55:28,,MoveToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:55:28,,MoveToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:55:33,,SpinToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:55:33,,SpinToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:55:37,,MoveToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:55:37,,MoveToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:55:42,,SpinToTarget,(-3.88, -0.35, -5.00),True
+
+2025-03-20 오후 4:55:42,,SpinToTarget,(-3.88, -0.35, -5.00),True
+
+2025-03-20 오후 4:55:45,,MoveToTarget,(-3.88, -0.35, -5.00),True
+
+2025-03-20 오후 4:55:45,,MoveToTarget,(-3.88, -0.35, -5.00),True
+
+2025-03-20 오후 4:56:40,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 4:56:40,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 4:56:47,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 4:56:47,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 4:56:56,,SpinToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:56:56,,SpinToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:56:58,,MoveToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:56:58,,MoveToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:56:58,,SpinToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:56:58,,SpinToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:57:03,,MoveToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:57:03,,MoveToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:57:07,,SpinToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:57:07,,SpinToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:57:14,,MoveToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:57:14,,MoveToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:57:18,,SpinToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:57:18,,SpinToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:57:23,,MoveToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:57:23,,MoveToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:57:23,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 4:57:23,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 4:57:26,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 4:57:26,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 4:57:33,,UnLoadCargo,1 (UnityEngine.GameObject),True
+
+2025-03-20 오후 4:57:33,,UnLoadCargo,1 (UnityEngine.GameObject),True
+
+2025-03-20 오후 4:57:37,,SpinToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 4:57:37,,SpinToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 4:57:44,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 4:57:44,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 4:57:48,,SpinToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:57:48,,SpinToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:57:51,,MoveToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:57:51,,MoveToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:57:51,,SpinToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:57:51,,SpinToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:57:55,,MoveToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:57:55,,MoveToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:58:00,,SpinToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:58:00,,SpinToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:58:07,,MoveToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:58:07,,MoveToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 4:58:11,,SpinToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:58:11,,SpinToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:58:16,,MoveToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:58:16,,MoveToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 4:58:20,,SpinToTarget,(-3.88, -0.35, -5.00),True
+
+2025-03-20 오후 4:58:20,,SpinToTarget,(-3.88, -0.35, -5.00),True
+
+2025-03-20 오후 4:58:23,,MoveToTarget,(-3.88, -0.35, -5.00),True
+
+2025-03-20 오후 4:58:23,,MoveToTarget,(-3.88, -0.35, -5.00),True
+
+2025-03-20 오후 5:00:07,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 5:00:07,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 5:00:14,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 5:00:14,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 5:00:33,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 5:00:33,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 5:00:40,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 5:00:40,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 5:00:52,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 5:00:52,,MoveToTarget,(6.00, -0.35, -3.00),True
+
+2025-03-20 오후 5:00:59,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 5:00:59,,LoadCargo,LoadSocket (UnityEngine.GameObject),True
+
+2025-03-20 오후 5:01:08,,SpinToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 5:01:08,,SpinToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 5:01:11,,MoveToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 5:01:11,,MoveToTarget,(6.00, -0.35, -5.00),True
+
+2025-03-20 오후 5:01:11,,SpinToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 5:01:11,,SpinToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 5:01:15,,MoveToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 5:01:15,,MoveToTarget,(6.00, -0.35, -10.00),True
+
+2025-03-20 오후 5:01:20,,SpinToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 5:01:20,,SpinToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 5:01:26,,MoveToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 5:01:26,,MoveToTarget,(-6.00, -0.35, -10.00),True
+
+2025-03-20 오후 5:01:31,,SpinToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 5:01:31,,SpinToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 5:01:35,,MoveToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 5:01:35,,MoveToTarget,(-6.00, -0.35, -5.00),True
+
+2025-03-20 오후 5:01:35,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 5:01:35,,SpinToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 5:01:38,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 5:01:38,,MoveToTarget,(-6.00, -0.35, -3.00),True
+
+2025-03-20 오후 5:01:45,,UnLoadCargo,1 (UnityEngine.GameObject),True
+
+2025-03-20 오후 5:01:45,,UnLoadCargo,1 (UnityEngine.GameObject),True

Assets/Editor/WI/TwinObjectPreprocessingHelper.cs

@@ -17,11 +17,11 @@ namespace XED
 #if UNITY_EDITOR
         static List<TwinContainer> twinContainerList = new();
 
-        [MenuItem("Tools/TwinObjectsSetting")]
-        public static void TwinObjectsSetting()
-        {
-            AutomateTwinObjectSetup();
-        }
+        //[MenuItem("Tools/TwinObjectsSetting")]
+        //public static void TwinObjectsSetting()
+        //{
+        //    AutomateTwinObjectSetup();
+        //}
 
         //존재하지 않은 폴더의 경우 해당 폴더를 생성해주는 메서드
         static void CreateFolder(string folderPath)

Assets/Prefabs/AGV/AGV.prefab

@@ -48,22 +48,23 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 84fe5a7ef78a7af498da388fc7c38ac3, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  agvTask: 0
-  agvState: 0
-  senseObstacleState: 0
-  specData: {fileID: 11400000, guid: 3124e65e4d238e24aa9f78f93282ff84, type: 2}
-  agvBattery:
+  physics:
+    areabox: {fileID: 0}
+  metaData:
+    address: 
+    modeling: {fileID: 0}
+    portrait: {fileID: 0}
+  assetLabel: 0
+  IsDisplayable: 0
+  IsInteractible: 0
+  state: 0
+  spec: {fileID: 0}
+  battery:
     currentBatteryState: 0
     bc: 100
-  id: 
-  moveSpeed: 10
-  lift: {fileID: 6204755932358581132}
-  pickupSocket: {fileID: 7175446550791974323}
-  chargeZone: {fileID: 0}
-  charging: 0
-  obstacleLayer:
-    serializedVersion: 2
-    m_Bits: 0
+  currentNode: {fileID: 0}
+  currentMovePath: []
+  lift: {fileID: 6814672540003804564}
 --- !u!54 &3077797501209030249
 Rigidbody:
   m_ObjectHideFlags: 0
@@ -270,7 +271,10 @@ PrefabInstance:
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       insertIndex: -1
       addedObject: {fileID: 8278436267998297966}
-    m_AddedComponents: []
+    m_AddedComponents:
+    - targetCorrespondingSourceObject: {fileID: 6070737613420926900, guid: 586ca79ec44844746b347929276fc0e6, type: 3}
+      insertIndex: -1
+      addedObject: {fileID: 5083700428396174471}
   m_SourcePrefab: {fileID: 100100000, guid: 586ca79ec44844746b347929276fc0e6, type: 3}
 --- !u!4 &3909547189796084948 stripped
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@@ -282,6 +286,23 @@ GameObject:
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   m_PrefabInstance: {fileID: 154300052577553464}
   m_PrefabAsset: {fileID: 0}
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+MonoBehaviour:
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+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
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+  m_Script: {fileID: 11500000, guid: 5fb7059a769257346badd43882bceb27, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
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+Transform:
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+  m_PrefabInstance: {fileID: 154300052577553464}
+  m_PrefabAsset: {fileID: 0}
 --- !u!4 &7020894527220248915 stripped
 Transform:
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Assets/Prefabs/AGV/Node.prefab

@@ -12,8 +12,6 @@ GameObject:
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   - component: {fileID: 2978737778036895904}
   - component: {fileID: 1452792198060998428}
-  - component: {fileID: 9141033690985600288}
-  - component: {fileID: 1525400758423176862}
   m_Layer: 0
   m_Name: Node
   m_TagString: Node
@@ -114,41 +112,6 @@ CapsuleCollider:
   m_Height: 2
   m_Direction: 1
   m_Center: {x: 0.000000059604645, y: 0, z: -0.00000008940697}
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-  m_CorrespondingSourceObject: {fileID: 0}
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-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 2579942234611465176}
-  m_Enabled: 1
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-  m_Script: {fileID: 11500000, guid: 0d1092f586cc6e34e991814d701c66ce, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  nodeClass:
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-    x: 0
-    y: 0
-    z: 0
-    linkedNodID: []
-  loadSocket: {fileID: 6320514756136129531}
-  unLoadSocket: {fileID: 7996001147720691937}
-  cargoPrefab: {fileID: 7765465869871364134, guid: 8daddfb03f8c9f0469b89edf75aa1fad, type: 3}
-  Cargo: {fileID: 0}
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-  m_Script: {fileID: 11500000, guid: ac7bbf2eaa67a7b4ab83ad40f118a81a, type: 3}
-  m_Name: 
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 GameObject:
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Assets/Scenes/Test/VirtualFactory.unity

@@ -160,6 +160,7 @@ GameObject:
   m_Component:
   - component: {fileID: 109703751}
   - component: {fileID: 109703752}
+  - component: {fileID: 109703753}
   m_Layer: 0
   m_Name: AGVMap
   m_TagString: Untagged
@@ -205,16 +206,28 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   nodes:
-  - {fileID: 691233192}
-  - {fileID: 1992156869}
+  - {fileID: 691233197}
+  - {fileID: 1992156875}
   - {fileID: 1554807644}
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   - {fileID: 2097314996}
   - {fileID: 1082030770}
   - {fileID: 146771354}
   - {fileID: 1590019367}
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-  - {fileID: 1084391824}
+  - {fileID: 617492817}
+  - {fileID: 1084391830}
+--- !u!114 &109703753
+MonoBehaviour:
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+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 109703750}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: b693fd1017fb97f478a690e30a0f1c42, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
 --- !u!1 &116334308
 GameObject:
   m_ObjectHideFlags: 0
@@ -262,8 +275,15 @@ MonoBehaviour:
   stackerCranes: []
   agvManager: {fileID: 0}
   agvMap: {fileID: 0}
+  portMap: {fileID: 0}
   loads: []
   prf_Load: {fileID: 2713012076675240762, guid: 7cbbdba660dbd38479c561c09e38ec11, type: 3}
+  startNode: {fileID: 1172928290}
+  stackerHasEmptyCell: 0
+  maxAGVCount: 1
+  agvIsLack: 0
+  loadIsLack: 0
+  needs: 
 --- !u!1001 &125296021
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -372,6 +392,22 @@ PrefabInstance:
       propertyPath: m_AnchoredPosition.y
       value: 0
       objectReference: {fileID: 0}
+    - target: {fileID: 5433983453336379086, guid: e90993d6f27e3844eaa33168853e6c7d, type: 3}
+      propertyPath: m_LocalPosition.z
+      value: -1.68
+      objectReference: {fileID: 0}
+    - target: {fileID: 5836257196704929345, guid: e90993d6f27e3844eaa33168853e6c7d, type: 3}
+      propertyPath: autoInput
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 6539674356208821794, guid: e90993d6f27e3844eaa33168853e6c7d, type: 3}
+      propertyPath: m_LocalPosition.x
+      value: -0
+      objectReference: {fileID: 0}
+    - target: {fileID: 6539674356208821794, guid: e90993d6f27e3844eaa33168853e6c7d, type: 3}
+      propertyPath: m_LocalPosition.z
+      value: 1.72
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     - target: {fileID: 6604900196319183848, guid: e90993d6f27e3844eaa33168853e6c7d, type: 3}
       propertyPath: m_AnchorMax.y
       value: 0
@@ -395,7 +431,10 @@ PrefabInstance:
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     m_RemovedGameObjects: []
     m_AddedGameObjects: []
-    m_AddedComponents: []
+    m_AddedComponents:
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   m_SourcePrefab: {fileID: 100100000, guid: e90993d6f27e3844eaa33168853e6c7d, type: 3}
 --- !u!1 &146771353
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   - component: {fileID: 146771354}
-  - component: {fileID: 146771356}
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@@ -430,17 +468,20 @@ MonoBehaviour:
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   m_Name: 
   m_EditorClassIdentifier: 
-  entity:
-    linkedNodeIDs:
-    - 1
-    - 7
-    - 2
+  physics:
+    areabox: {fileID: 0}
+  metaData:
+    address: 
+    modeling: {fileID: 0}
+    portrait: {fileID: 0}
+  assetLabel: 0
+  IsDisplayable: 0
+  IsInteractible: 0
   linkedNodes:
-  - {fileID: 1992156869}
   - {fileID: 1590019367}
   - {fileID: 1554807644}
-  nodeType: 0
   reserved: 0
+  nextConveyor: {fileID: 0}
   nodeClass:
     id: 0
     x: 0
@@ -449,7 +490,6 @@ MonoBehaviour:
     linkedNodID: []
   loadSocket: {fileID: 1942261059}
   unLoadSocket: {fileID: 6157020}
-  cargo: {fileID: 0}
 --- !u!4 &146771355
 Transform:
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@@ -467,19 +507,6 @@ Transform:
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---- !u!114 &146771356
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@@ -642,8 +669,8 @@ Transform:
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   serializedVersion: 2
-  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0, y: 1, z: -10}
+  m_LocalRotation: {x: 0.3173999, y: 0.59771526, z: -0.27844498, w: 0.6815146}
+  m_LocalPosition: {x: -13.905856, y: 17.881578, z: -8.9192915}
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@@ -782,23 +809,27 @@ PrefabInstance:
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       propertyPath: nodeType
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   - component: {fileID: 617492815}
   - component: {fileID: 617492814}
-  - component: {fileID: 617492811}
-  - component: {fileID: 617492813}
+  - component: {fileID: 617492817}
+  - component: {fileID: 617492818}
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   m_TagString: Node
@@ -990,34 +1026,6 @@ GameObject:
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-  unLoadSocket: {fileID: 1324543929}
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   m_Mesh: {fileID: 10206, guid: 0000000000000000e000000000000000, type: 0}
---- !u!114 &691233192 stripped
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+  - {fileID: 691233197}
   reserved: 0
+  nextConveyor: {fileID: 0}
   nodeClass:
     id: 0
     x: 0
@@ -2754,7 +2842,6 @@ MonoBehaviour:
     linkedNodID: []
   loadSocket: {fileID: 1353975497}
   unLoadSocket: {fileID: 878306402}
-  cargo: {fileID: 0}
 --- !u!4 &2097314997
 Transform:
   m_ObjectHideFlags: 0
@@ -2772,19 +2859,6 @@ Transform:
   - {fileID: 1353975498}
   m_Father: {fileID: 109703751}
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
---- !u!114 &2097314998
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 2097314995}
-  m_Enabled: 0
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: ac7bbf2eaa67a7b4ab83ad40f118a81a, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  chargePerSecond: 1
 --- !u!136 &2097314999
 CapsuleCollider:
   m_ObjectHideFlags: 0

Assets/Scripts/Studio/Machine/AGV/AGVAction.cs

@@ -0,0 +1,36 @@
+using System.Collections.Generic;
+using XED.VirtualFactory;
+
+public class AGVAction
+{
+}
+
+public class AGVMoveAction : AGVAction
+{
+    public List<AGVNode> path;
+
+    public AGVMoveAction(List<AGVNode> path)
+    {
+        this.path = path;
+    }
+}
+
+public class AGVLoadAction : AGVAction
+{
+    public Loader targetLoader;
+
+    public AGVLoadAction(Loader targetLoader)
+    {
+        this.targetLoader = targetLoader;
+    }
+}
+
+public class AGVUnloadAction : AGVAction
+{
+    public Loader targetLoader;
+
+    public AGVUnloadAction(Loader targetLoader)
+    {
+        this.targetLoader = targetLoader;
+    }
+}

Assets/Scripts/Studio/Machine/AGV/AGVAction.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 18cd343e58c5d8f4b9e8f214b57ccf63

Assets/Scripts/Studio/Machine/AGV/AGVManager.cs

@@ -1,184 +1,46 @@
 using System;
-using System.Collections;
 using System.Collections.Generic;
-using System.IO;
-using System.Linq;
 using UnityEngine;
 using XRLib;
 
 namespace XED.VirtualFactory
 {
-    public class AGVManager : MonoBehaviour,ISingle
+    public class AGVManager : MonoBehaviour, ISingle
     {
-        public AGV agvPrefab;
-
-        public List<AGV> agvs = new List<AGV>();
-        Dictionary<AGV, List<AGVNode>> orderDict = new Dictionary<AGV, List<AGVNode>>();
-        public event Action<List<AGVNode>> onOrderStarted;
-
-        public string fileName = "Assets/AGVsLog.csv";
-
-        private void Start()
+        public AGV prf_AGV;
+        public AGVSpec prf_Spec;
+        public HashSet<AGV> agvs = new();
+        public bool autoIndexing;
+        public bool TryGetIdleAGV(out AGV result)
         {
-            agvs = FindObjectsByType<AGV>(FindObjectsSortMode.None).ToList();
-            foreach(var a in agvs)
+            //Debug.Log($"Try Get Idle AGV");
+            foreach (var agv in agvs)
             {
-                a.onTaskComplete += WriteLog;
-            }
-
-            CreateLogFile();
-        }
-
-        void CreateLogFile()
-        {
-            if (!File.Exists(fileName))
-            {
-                using (StreamWriter sw = File.CreateText(fileName))
+                if (!agv.isBusy)
                 {
-                    sw.WriteLine("Time,AGV_ID,Task,Target,Success");
+                    Debug.Log($"Find Idle AGV");
+                    result = agv;
+                    return true;
                 }
             }
+
+            result = null;
+            return false;
         }
 
-        public AGV SpawnAGV(Vector3 position,Quaternion rotation)
+        public AGV CreateEmptyAGV()
         {
-            var agv = Instantiate(agvPrefab,position, rotation);
-            agv.onTaskComplete += WriteLog;
+            var agv = Instantiate(prf_AGV);
             agvs.Add(agv);
+
+            if (autoIndexing)
+            {
+                agv.entity = new AGVEntity();
+                agv.entity.id = agvs.Count.ToString();
+                agv.name = $"AGV_{agv.entity.id}";
+            }
+            agv.spec = prf_Spec;
             return agv;
         }
-
-        AGV SpawnEmptyAGV()
-        {
-            var result = Instantiate(agvPrefab);
-            result.onTaskComplete += WriteLog;
-            agvs.Add(result);
-            return result;
-        }
-
-        public void OrderToAGV(AGV AGV, AGVTaskType order, GameObject Target,Component comp)
-        {
-            AGV.AddOrder(new AGVOrderClass(order, Target,comp));
-        }
-
-        public void OrderToAGV(int AGVindex,AGVTaskType order, GameObject Target)
-        {
-            agvs[AGVindex].AddOrder(new AGVOrderClass(order, Target));
-        }
-
-        public void OrderToAGV(AGV AGV, AGVTaskType order, GameObject Target)
-        {
-            AGV.AddOrder(new AGVOrderClass(order, Target));
-        }
-
-        public void OrderToAGV(AGV AGV, AGVTaskType order, Vector3 Target)
-        {
-            AGV.AddOrder(new AGVOrderClass(order, Target));
-        }
-
-        public void OrderToAGV(int AGVindex, AGVTaskType order, GameObject Target1, GameObject Target2)
-        {
-            agvs[AGVindex].AddOrder(new AGVOrderClass(order, Target1,Target2));
-        }
-
-        public void OrderToAGV(AGV AGV, AGVTaskType order)
-        {
-            AGV.AddOrder(new AGVOrderClass(order));
-        }
-
-        void WriteLog(AGV agv, AGVTaskType task, string target,bool success)
-        {
-            using (StreamWriter sw = File.AppendText(fileName))
-            {
-                string logLine = $"{DateTime.Now},{agv.id},{task},{target},{success}";
-                sw.WriteLine();
-                sw.WriteLine(logLine);
-                sw.Dispose();
-            }
-        }
-
-        public void ordertoAGV(List<AGVNode> OrderList)
-        {
-            Vector3 direction = (OrderList[1].transform.position - OrderList[0].transform.position);
-            direction = new Vector3(direction.x, 0, direction.z);
-            Quaternion lookRotation = Quaternion.LookRotation(direction);
-            var agv=SpawnAGV(OrderList[0].transform.position, lookRotation);
-            for (int i = 0; i < OrderList.Count; i++)
-            {
-                if (i != 0)
-                {
-                    OrderToAGV(agv, AGVTaskType.SpinToTarget, OrderList[i].gameObject);
-                    OrderToAGV(agv, AGVTaskType.MoveToTarget, OrderList[i].gameObject);
-                }
-                if (OrderList[i].nodeClass.type == AGVNodeType.charge)
-                {
-                    OrderToAGV(agv, AGVTaskType.Charging);
-                }
-                if (OrderList[i].nodeClass.type == AGVNodeType.Load)
-                {
-                    OrderToAGV(agv, AGVTaskType.LoadCargo, OrderList[i].loadSocket, OrderList[i]);
-                    //OrderToAGV(agv, AGVTaskType.LiftUpDown, OrderList[i].loadSocket.transform.position + new Vector3(0, 0.2f, 0));
-                }
-                if (OrderList[i].nodeClass.type == AGVNodeType.unLoad)
-                {
-                    OrderToAGV(agv, AGVTaskType.UnLoadCargo, OrderList[i].unLoadSocket, OrderList[i]);
-                    OrderToAGV(agv, AGVTaskType.LiftReset);
-                }
-            }
-            orderDict.Add(agv, OrderList);
-            onOrderStarted?.Invoke(OrderList);
-            agv.onOrderCompleted += OrderReplay;
-            agv.onOrderStoped += StopOrder;
-        }
-
-        public void ordertoAGV(List<AGVNode> OrderList,AGV agv)
-        {
-            for (int i = 0; i < OrderList.Count; i++)
-            {
-                OrderToAGV(agv, AGVTaskType.SpinToTarget, OrderList[i].gameObject);
-                OrderToAGV(agv, AGVTaskType.MoveToTarget, OrderList[i].gameObject);
-                if (OrderList[i].nodeClass.type == AGVNodeType.charge)
-                {
-                    OrderToAGV(agv, AGVTaskType.Charging);
-                }
-                if (OrderList[i].nodeClass.type == AGVNodeType.Load)
-                {
-                    OrderToAGV(agv, AGVTaskType.LoadCargo, OrderList[i].loadSocket, OrderList[i]);
-                    //OrderToAGV(agv, AGVTaskType.LiftUpDown, OrderList[i].loadSocket.transform.position+new Vector3(0,0.2f,0));
-                }
-                if (OrderList[i].nodeClass.type == AGVNodeType.unLoad)
-                {
-                    OrderToAGV(agv, AGVTaskType.UnLoadCargo, OrderList[i].unLoadSocket, OrderList[i]);
-                    OrderToAGV(agv, AGVTaskType.LiftReset);
-                }
-            }
-        }
-
-        public void OrderReplay(AGV agv)
-        {
-            ordertoAGV(orderDict[agv], agv);
-        }
-                                                                                                                
-        public void StopOrder(AGV agv)
-        {
-            agv.onOrderCompleted -= OrderReplay;
-            orderDict.Remove(agv);
-        }
-
-        internal AGV GetIdleAGV()
-        {
-
-            foreach (var a in agvs)
-            {
-                if (a.agvState == AGVState.Idle)
-                    return a;
-            }
-
-            var result = SpawnEmptyAGV();
-            var newEntity = new AGVEntity();
-            newEntity.id= agvs.Count.ToString();
-            result.Binding(newEntity);
-            return result;
-        }
     }
-}
+}

Assets/Scripts/Studio/Machine/AGV/AGVNode/AGVNode.cs

@@ -1,3 +1,4 @@
+using Newtonsoft.Json;
 using System;
 using System.Collections;
 using System.Collections.Generic;
@@ -5,12 +6,14 @@ using UnityEngine;
 
 namespace XED.VirtualFactory
 {
-    public class AGVNode : MonoBehaviour
+    public class AGVNode : TwinObject
     {
-        public AGVNodeEntity entity;
+        public event Action onEnterEvent;
+        public event Action onExitEvent;
+
         public List<AGVNode> linkedNodes = new();
-        public AGVNodeType nodeType;
         public bool reserved;
+        public Transform nextConveyor;
 
         #region legacy
         public AGVNodeClass nodeClass;
@@ -18,7 +21,6 @@ namespace XED.VirtualFactory
         List<Renderer> meshRendererList = new List<Renderer>();
         public GameObject loadSocket;
         public GameObject unLoadSocket;
-        public Load cargo;
         #endregion
 
         public void Initialize(AGVNodeClass data)
@@ -35,7 +37,6 @@ namespace XED.VirtualFactory
                     meshRendererList.Add(child.gameObject.GetComponent<Renderer>());
                 }
             }
-            nodeClass.onTypeChanged += ChangeType;
         }
 
         public void SetColor(Color color)
@@ -55,39 +56,5 @@ namespace XED.VirtualFactory
                 r.SetPropertyBlock(null);
             }
         }
-
-        void ChangeType(AGVNodeType type)
-        {
-            var chargezone=gameObject.GetComponent<ChargeZone>();
-            chargezone.enabled = false;
-            if (cargo)
-            {
-                Destroy(cargo);
-            }
-            if (cargo)
-            {
-                Destroy(cargo);
-            }
-            if (type == AGVNodeType.charge)
-            {
-                chargezone.enabled = true;
-            }
-        }
-
-        public void LoadCargo()
-        {
-            cargo = null;
-        }
-
-        public void UnLoadCargo(Load cargo)
-        {
-            this.cargo = cargo;
-        }
-
-        internal void Load(Load cargo)
-        {
-            this.cargo = cargo;
-            cargo.transform.position = loadSocket.transform.position;
-        }
     }
 }

Assets/Scripts/Studio/Machine/AGV/AGVNode/AGVNodeClass.cs

@@ -4,34 +4,10 @@ using System;
 
 namespace XED.VirtualFactory
 {
-    [Serializable]
-    public enum AGVNodeType
-    {
-        normal,
-        Load,
-        unLoad,
-        charge
-    }
+
     [Serializable]
     public class AGVNodeClass
     {
-        public event Action<AGVNodeType> onTypeChanged;
-        public AGVNodeType type
-        {
-            get
-            {
-                return _type;
-            }
-            set
-            {
-                if (value != _type)
-                {
-                    _type = value;
-                    onTypeChanged?.Invoke(_type);
-                }
-            }
-        }
-        AGVNodeType _type=AGVNodeType.normal;
         public string id="0";
         public string x="0";
         public string y="0";

Assets/Scripts/Studio/Machine/AGV/AGVNode/AGVNodeManager.cs

@@ -328,12 +328,12 @@ namespace XED.VirtualFactory
 
         public void NodeTypeChange(int index)
         {
-            if (currentlySelectedNode)
-            {
-                currentlySelectedNode.nodeClass.type = (AGVNodeType)index;
-                nodeTable[currentlySelectedNode.nodeClass.id].nodeClass.type = (AGVNodeType)index;
-                agvNodeMap.agvNodeData.Find(n => n.id == currentlySelectedNode.nodeClass.id).type = (AGVNodeType)index;
-            }
+            //if (currentlySelectedNode)
+            //{
+            //    currentlySelectedNode.nodeClass.type = (AGVNodeType)index;
+            //    nodeTable[currentlySelectedNode.nodeClass.id].nodeClass.type = (AGVNodeType)index;
+            //    agvNodeMap.agvNodeData.Find(n => n.id == currentlySelectedNode.nodeClass.id).type = (AGVNodeType)index;
+            //}
         }
 
         public void RemoveNode(AGVNode node)

Assets/Scripts/Studio/Machine/AGV/AGVNode/AGVNodePopup.cs

@@ -47,7 +47,7 @@ namespace XED.VirtualFactory
             gameObject.GetComponent<RectTransform>().position = Camera.main.WorldToScreenPoint(target.transform.position) + new Vector3(0, 5f, 0);
             gameObject.GetComponent<CanvasGroup>().interactable = true;
             gameObject.GetComponent<CanvasGroup>().alpha = 1f;
-            DropDown_AGVNodeType.value = (int)selectedNode.GetComponent<AGVNode>().nodeClass.type;
+            //DropDown_AGVNodeType.value = (int)selectedNode.GetComponent<AGVNode>().nodeClass.type;
             gameObject.SetActive(true);
         }
 

Assets/Scripts/Studio/Machine/AGV/AGVNode/AGVPortNode.cs

@@ -0,0 +1,18 @@
+using System;
+
+namespace XED.VirtualFactory
+{
+    public class AGVPortNode : AGVNode
+    {
+        public enum PortType
+        {
+            Input,
+            Output
+        }
+        public PortType portType;
+        public Loader loader;
+
+        public event Action onLoadEvent;
+        public event Action onUnloadEvent;
+    }
+}

Assets/Scripts/Studio/Machine/AGV/AGVNode/AGVPortNode.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: daa06027f79476c49a6c2fab86fc4ae1

Assets/Scripts/Studio/Machine/AGV/AGVNode/DestroyPort.cs

@@ -0,0 +1,7 @@
+namespace XED.VirtualFactory
+{
+    public class DestroyPort : OutputPort
+    {
+
+    }
+}

Assets/Scripts/Studio/Machine/AGV/AGVNode/DestroyPort.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 51a49aa3db137494c96cb9bf1a83989f

Assets/Scripts/Studio/Machine/AGV/AGVNode/GeneratePort.cs

@@ -0,0 +1,15 @@
+
+using UnityEngine;
+
+namespace XED.VirtualFactory
+{
+    public class GeneratePort : OutputPort
+    {
+
+        public override void AfterAwake()
+        {
+            base.AfterAwake();
+            Debug.Log("GeneratePort AfterAwake");
+        }
+    }
+}

Assets/Scripts/Studio/Machine/AGV/AGVNode/GeneratePort.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 54f4e708da2ac8240ad1cb360aebb204

Assets/Scripts/Studio/Machine/AGV/AGVNode/InputPort.cs

@@ -0,0 +1,9 @@
+using System;
+
+namespace XED.VirtualFactory
+{
+    //뭔가 놓고 나가는 경우
+    public class InputPort : Port
+    {
+    }
+}

Assets/Scripts/Studio/Machine/AGV/AGVNode/InputPort.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: b899aa78db0b9f446a26478a44d9d5e8

Assets/Scripts/Studio/Machine/AGV/AGVNode/Loader.cs

@@ -0,0 +1,34 @@
+
+using System;
+using UnityEngine;
+
+namespace XED.VirtualFactory
+{
+    public class Loader : TwinObject
+    {
+        public Product currentLoad;
+        protected virtual Transform loadPivot => transform;
+        public bool isEmpty => currentLoad == null;
+        public event Action onLoadEvent;
+        public event Action onUnloadEvent;
+        public virtual void Load(Product load)
+        {
+            Debug.Log($"{name} is load");
+            load.transform.SetParent(loadPivot);
+            load.transform.localPosition= Vector3.zero;
+            currentLoad = load;
+            load.LocationUpdate(this);
+            onLoadEvent?.Invoke();  
+        }
+        
+        public virtual void Unload(Loader getter)
+        {
+            Debug.Log($"{name} is unload");
+            if (getter != null)
+                getter.Load(currentLoad);
+
+            currentLoad = null;
+            onUnloadEvent?.Invoke();
+        }
+    }
+}

Assets/Scripts/Studio/Machine/AGV/AGVNode/Loader.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 3eaa66bb148b11b46acc7760a5495c63

Assets/Scripts/Studio/Machine/AGV/AGVNode/OutputPort.cs

@@ -0,0 +1,8 @@
+namespace XED.VirtualFactory
+{
+    //뭔가 들고 나가는 경우
+    public class OutputPort : Port
+    {
+
+    }
+}

Assets/Scripts/Studio/Machine/AGV/AGVNode/OutputPort.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 12fb04b0bfacc524ea2170a660857d7b

Assets/Scripts/Studio/Machine/AGV/AGVNode/Port.cs

@@ -0,0 +1,11 @@
+namespace XED.VirtualFactory
+{
+    public class Port : Loader
+    {
+        public override void AfterAwake()
+        {
+            base.AfterAwake();
+            FindSingle<PortMap>().Regist(this);
+        }
+    }
+}

Assets/Scripts/Studio/Machine/AGV/AGVNode/Port.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 012a83125126a164493cda401dd26e45

Assets/Scripts/Studio/Machine/AGV/AGVNode/PortMap.cs

@@ -0,0 +1,66 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+using XRLib;
+
+namespace XED.VirtualFactory
+{
+    public class PortMap : MonoBehaviour, ISingle
+    {
+        HashSet<Port> ports = new();
+
+        public bool TryGetEmptyGeneratePort(out GeneratePort result)
+        {
+            foreach (var p in ports)
+            {
+                if (p is GeneratePort pt && p.isEmpty)
+                {
+                    result = pt;
+                    return true;
+                }
+            }
+            result = null;
+            return false;
+        }
+
+        internal bool TryGetFullGeneratePort(out Port targetPort)
+        {
+            foreach (var p in ports)
+            {
+                if (p is GeneratePort pt && !pt.isEmpty)
+                {
+                    targetPort = pt;
+                    return true;
+                }
+            }
+            targetPort = null;
+            return false;
+        }
+
+
+        public void Regist(Port port)
+        {
+            if(!ports.Add(port))
+            {
+                Debug.LogError("Port already exists");
+                return;
+            }
+
+            ports.Add(port);
+        }
+
+        internal bool TryGetEmptyInputPort(out Port inputPort)
+        {
+            foreach(var p in ports)
+            {
+                if (p is InputPort pt && pt.isEmpty)
+                {
+                    inputPort = pt;
+                    return true;
+                }
+            }
+            inputPort = null;
+            return false;
+        }
+    }
+}

Assets/Scripts/Studio/Machine/AGV/AGVNode/PortMap.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: b693fd1017fb97f478a690e30a0f1c42

Assets/Scripts/Studio/Machine/AGV/AGVNode/StackerInputPort.cs

@@ -0,0 +1,6 @@
+namespace XED.VirtualFactory
+{
+    public class StackerInputPort : InputPort
+    {
+    }
+}

Assets/Scripts/Studio/Machine/AGV/AGVNode/StackerInputPort.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 00bad124f10f0e44fab7f4f507ecf764

Assets/Scripts/Studio/Machine/AGV/AGVNode/StackerOutputPort.cs

@@ -0,0 +1,6 @@
+namespace XED.VirtualFactory
+{
+    public class StackerOutputPort : OutputPort
+    {
+    }
+}

Assets/Scripts/Studio/Machine/AGV/AGVNode/StackerOutputPort.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 4fce4835cb2aae74da849f6efffd5997

Assets/Scripts/Studio/Machine/AGV/AGVOrderClass.cs

@@ -14,7 +14,7 @@ namespace XED.VirtualFactory
     }
     public class AGVOrderClass
     {
-        public AGVTaskType agvTaskType=AGVTaskType.Waiting;
+        //public AGVTaskType agvTaskType=AGVTaskType.Waiting;
         public TargetCase targetCase = TargetCase.None;
         public Vector3 target = new Vector3();
         public Vector3 target2 = new Vector3();
@@ -22,42 +22,5 @@ namespace XED.VirtualFactory
         public GameObject targetObject;
         public Quaternion targetQuaternion;
 
-        public AGVOrderClass(AGVTaskType task)
-        {
-            agvTaskType = task;
-            targetCase = TargetCase.None;
-        }
-
-        public AGVOrderClass(AGVTaskType task,GameObject targetObject)
-        {
-            agvTaskType = task;
-            target = targetObject.transform.position;
-            this.targetObject = targetObject;
-            targetCase = TargetCase.One;
-        }
-
-        public AGVOrderClass(AGVTaskType task, Vector3 targetVector)
-        {
-            agvTaskType = task;
-            target = targetVector;
-            targetCase = TargetCase.One;
-        }
-
-        public AGVOrderClass(AGVTaskType task, GameObject targetObject, GameObject target2Object)
-        {
-            agvTaskType = task;
-            target = targetObject.transform.position;
-            target2 = target2Object.transform.position;
-            targetCase = TargetCase.Two;
-        }
-
-        public AGVOrderClass(AGVTaskType task, GameObject targetObject, Component comp)
-        {
-            agvTaskType = task;
-            this.targetObject = targetObject;
-            targetcomp = comp;
-            targetCase = TargetCase.Two;
-        }
-
     }
 }

Assets/Scripts/Studio/Machine/AGV/ChargeZone.cs

@@ -20,7 +20,6 @@ namespace XED.VirtualFactory
                 return;
 
             inAGV = amr;
-            inAGV.charging = true;
         }
 
         private void OnTriggerStay(Collider other)
@@ -33,10 +32,7 @@ namespace XED.VirtualFactory
                 return;
             if (inAGV == null)
                 return;
-            if (inAGV.charging)
-            {
-                inAGV.agvBattery.batteryCapacity += chargePerSecond * Time.deltaTime;
-            }
+
         }
 
         private void OnTriggerExit(Collider other)
@@ -48,7 +44,6 @@ namespace XED.VirtualFactory
             if (!other.TryGetComponent(out AGV amr))
                 return;
 
-            inAGV.charging = false;
             inAGV = null;
         }
     }

Assets/Scripts/Studio/Machine/AGV/Tester/AGVSpecData.asset

@@ -12,15 +12,15 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 24cfa40753282b845b69548571a1a451, type: 3}
   m_Name: AGVSpecData
   m_EditorClassIdentifier: 
-  maxSpeed: 20
-  maxCurveSpeed: 10
+  maxSpeed: 2
+  maxCurveSpeed: 2
   slowSpeed: 5
   slowCurveSpeed: 3
   maxLiftUp: 10
   maxLiftDown: -10
   maxLiftPush: 10
-  liftSpeed: 0.1
-  spinSpeed: 20
+  liftSpeed: 1
+  spinSpeed: 0.01
   accelerate: 1
   decelerate: 1
   emergencyDecelerate: 5

Assets/Scripts/Studio/Machine/StackerCrane/Cell.cs

@@ -4,23 +4,14 @@ using UnityEngine;
 
 namespace XED.VirtualFactory
 {
-    public class Cell : MonoBehaviour
+    public class Cell : Loader
     {
         public bool isLoad;
-        public Load load;
 
-        public void Load(Load load)
+        public override void Load(Product load)
         {
-            this.load = load;
+            base.Load(load);
             isLoad = true;
         }
-
-        public Load Unload()
-        {
-            var result = load;
-            load = null;
-            isLoad = false;
-            return result;
-        }
     }
 }

Assets/Scripts/Studio/Machine/StackerCrane/Load.cs

@@ -1,8 +0,0 @@
-namespace XED.VirtualFactory
-{
-    public class Load : TwinObject
-    {
-        public LoadEntity entity;
-
-    }
-}

Assets/Scripts/Studio/Machine/StackerCrane/Load.prefab

@@ -30,7 +30,7 @@ Transform:
   serializedVersion: 2
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: -0}
-  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_LocalScale: {x: 1, y: 0.2, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 0}
@@ -121,4 +121,12 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: cbf5cadd5a55b594bbe325dfebe6e8f1, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  id: 
+  physics:
+    areabox: {fileID: 0}
+  metaData:
+    address: 
+    modeling: {fileID: 0}
+    portrait: {fileID: 0}
+  assetLabel: 0
+  IsDisplayable: 0
+  IsInteractible: 0

Assets/Scripts/Studio/Machine/StackerCrane/Product.cs

@@ -0,0 +1,15 @@
+
+using UnityEngine;
+
+namespace XED.VirtualFactory
+{
+    public class Product : TwinObject
+    {
+        public Loader currentLocation;
+        public void LocationUpdate(Loader loader)
+        {
+            currentLocation = loader;
+            Debug.Log($"{name} is in {loader.name}({this})");
+        }
+    }
+}

Assets/Scripts/Studio/Machine/StackerCrane/StackerCrane.cs

@@ -1,559 +1,305 @@
 using System;
-using System.Collections;
 using System.Collections.Generic;
 using System.Linq;
+using UnityEditor.Localization.Plugins.XLIFF.V12;
 using UnityEngine;
 using XRLib;
 
 namespace XED.VirtualFactory
 {
-    public class StackerCrane : MonoBehaviour, ISingle
+    public class StackerCrane : TwinObject
     {
+        public Transform Storage;
         public Transform VerticalPillar;
         public Transform Bucket;
-        public Transform Fork;
+        [Label(typeof(StackerCraneFork), "Fork")]
+        public StackerCraneFork fork;
+        [Label(typeof(StackerInputPort),"InComingPos")]
+        public StackerInputPort inputPort;
+        [Label(typeof(StackerOutputPort),"OutgoingPos")]
+        public StackerOutputPort outputPort;
 
-        private float forkRange = 1.5f;
+        public StackerCraneState currentState;
+        public event Action updateAction;
+        public Queue<StackerCraneTask> taskQueue = new();
+        public float forkSpeed = 1f;
+        Vector3 forkStart;
+        Vector3 forkEnd;
+        float forkProgress;
+        public StackerCraneAction currentAction;
+        public StackerCraneTask currentTask;
+        public Queue<StackerCraneAction> actionQueue = new();
+        public List<Loader> cells = new();
+        public bool autoInput;
+        public float pillarMoveSpeed = 1f;
+        public float bucketMoveSpeed = 1f;
+        public Loader moveTarget;
+        Vector3 pillarStart;
+        float bucketStart;
+        Vector3 pillarEnd;
+        float bucketEnd;
+        float pillarMoveProgress;
+        float bucketMoveProgress;
+        internal bool hasEmptyCell => cells.Any(cell => cell.isEmpty);
 
-        public Queue<StackerCraneTask> taskQueue = new Queue<StackerCraneTask>();
-        public StackerCraneTask currentTask = new StackerCraneTask(ETaskType.None);
-        public StackerCraneTask previousTask = new StackerCraneTask(ETaskType.None);
-
-        [Label(typeof(Cell), "InComingPos")]
-        public Cell incomeCell;
-        [Label(typeof(Cell), "OriginPos")]
-        public Cell originPos;
-        [Label(typeof(Cell), "OutgoingPos")]
-        public Cell outCell;
-
-        public Cell currentTargetCell;
-
-        public Transform Storage;
-        public Transform ForkLoadPlaceRoot;
-
-        private Vector3 VerticalPillarLerpStartPos;
-        private Vector3 BucketLerpStartPos;
-        private Vector3 ForkLerpStartPos;
-
-        private float verticalpillarT;
-        private float bucketT;
-        private float forkT;
-
-        private float verticalpollarTargetDistance;
-        private float bucketTargetDistance;
-
-        public event Action<StackerCrane> onAddTaskCompletedEvent;
-        public event Action<StackerCrane> onTaskReadyCompletedEvent;
-        public event Action<StackerCrane> onLoadCompletedEvent;
-        public event Action<StackerCrane> onTaskEndCompletedEvent;
-        public event Action<StackerCrane> onStateChangeEvent;
-
-        private List<Cell> cellList = new List<Cell>();
-
-        private float moveSpeed = 6f;
-
-        private float stackerCraneMove;
-        private bool IsBodyMoveCompleted => verticalpillarT >= 1f && bucketT >= 1f;
-        private bool IsForkMoveCompleted => forkT >= 1f;
-
-        public enum EStackeCraneState
+        public enum StackerCraneState
         {
             Idle,
             TaskReady,
-            Move, 
+            MoveReady,
+            Move,
             MoveEnd,
+            ActionReady,
+            LoadReady,
+            UnloadReady,
+            ForkIn,
+            ForkInEnd,
+            ForkOut,
+            ForkOutEnd,
             Load,
             LoadEnd,
-            UnLoad,
-            UnLoadEnd,
-            TaskEnd,
+            Unload,
+            UnloadEnd,
         }
 
-        public EStackeCraneState _stackeCraneState = EStackeCraneState.Idle;
-       
-        public EStackeCraneState stackeCraneState
+        private void Update()
         {
-            get { return _stackeCraneState; }
-            set 
-            {
-                _stackeCraneState = value;
-                onStateChangeEvent?.Invoke(this);
-                ChangeStateAction();
-            }
+            updateAction.Invoke();
         }
 
         public override void AfterAwake()
         {
-            FindSingle<StackerCraneManager>().InitStackerCrane(this);
-
-            InitStackerCell();
-            InitStackerCrane();
+            ChangeState(StackerCraneState.Idle);
+            cells = Storage.GetComponentsInChildren<Loader>().ToList();
+            inputPort.onLoadEvent += OnLoadInputPort;
         }
 
-        private void InitStackerCell()
+        private void OnLoadInputPort()
         {
-            for (int i = 0; i < Storage.childCount; i++)
+            Debug.Log($"On Load Stacker InputPort");
+            if (autoInput)
             {
-                Transform cells = Storage.GetChild(i);
-
-                for (int j = 0; j < cells.childCount; j++)
-                {
-                    Cell cell = cells.GetChild(j).GetComponent<Cell>();
-                    cellList.Add(cell);
-                }
+                AddTask(new InputTask());
             }
-
-            cellList = cellList
-                .OrderBy(cell => Vector3.Distance(cell.transform.position,outCell.transform.position))
-                .ToList();
         }
 
         public void AddTask(StackerCraneTask task)
         {
             taskQueue.Enqueue(task);
-            onAddTaskCompletedEvent?.Invoke(this);
-
-            if (stackeCraneState == EStackeCraneState.Idle)
-                ChangeStateAction();
         }
 
-        private void ChangeStateAction()
+        private void ChangeState(StackerCraneState newState)
         {
-            switch (stackeCraneState)
+            switch (newState)
             {
-                case EStackeCraneState.Idle:
-                    Idle();
+                case StackerCraneState.Idle:
+                    updateAction = Idle;
                     break;
-                case EStackeCraneState.TaskReady:
-                    TaskReady();
+                case StackerCraneState.TaskReady:
+                    updateAction = TaskReady;
                     break;
-                case EStackeCraneState.Move:
-                    StartCoroutine(Move());
+                case StackerCraneState.ActionReady:
+                    updateAction = ActionReady;
                     break;
-                case EStackeCraneState.MoveEnd:
-                    MoveEnd();
+                case StackerCraneState.MoveReady:
+                    updateAction = MoveReady;
                     break;
-                case EStackeCraneState.Load:
-                    StartCoroutine(Load());
+                case StackerCraneState.Move:
+                    updateAction = Move;
                     break;
-                case EStackeCraneState.LoadEnd:
-                    LoadEnd();
+                case StackerCraneState.MoveEnd:
+                    updateAction = MoveEnd;
                     break;
-                case EStackeCraneState.UnLoad:
-                    StartCoroutine(UnLoad());
+                case StackerCraneState.LoadReady:
+                    updateAction = LoadReady;
                     break;
-                case EStackeCraneState.UnLoadEnd:
-                    UnLoadEnd();
+                case StackerCraneState.ForkIn:
+                    updateAction = ForkIn;
                     break;
-                case EStackeCraneState.TaskEnd:
-                    TaskEnd();
+                case StackerCraneState.ForkInEnd:
+                    updateAction = ForkInEnd;
+                    break;
+                case StackerCraneState.ForkOut:
+                    updateAction = ForkOut;
+                    break;
+                case StackerCraneState.ForkOutEnd:
+                    updateAction = ForkOutEnd;
+                    break;
+                case StackerCraneState.Load:
+                    updateAction = Load;
+                    break;
+                case StackerCraneState.LoadEnd:
+                    updateAction = LoadEnd;
+                    break;
+                case StackerCraneState.UnloadReady:
+                    updateAction = UnloadReady;
+                    break;
+                case StackerCraneState.Unload:
+                    updateAction = Unload;
+                    break;
+                case StackerCraneState.UnloadEnd:
+                    updateAction = UnloadEnd;
                     break;
             }
         }
 
-        private void Idle()
+        private void UnloadEnd()
         {
-            if (taskQueue.Count > 0)
-            {
-                stackeCraneState = EStackeCraneState.TaskReady;
-            }
+            ChangeState(StackerCraneState.ForkOut);
         }
 
-        private void TaskReady()
+        private void Unload()
         {
-            if (taskQueue.Count == 0)
-            {
-                stackeCraneState = EStackeCraneState.Idle;
-                return;
-            }
-          
-            if(taskQueue.Peek().taskType == ETaskType.Incoming)
-            {
-                if (GetInComeCellLoadCount() == 0)
-                {
-                    Debug.LogWarning("시작 지점에 Load가 없습니다");
-                    taskQueue.Dequeue();
-                    currentTargetCell = originPos;
-                    stackeCraneState = EStackeCraneState.Move;
-                    return;
-                }
-            }
-            else
-            {
-                if (GetLoadCellCount() == 0)
-                {
-                    Debug.LogWarning("stacker에 로드된 cell이 없습니다.");
-                    taskQueue.Dequeue();
-                    currentTargetCell = originPos;
-                    stackeCraneState = EStackeCraneState.Move;
-                    return;
-                }
-            }
-            //PredictWorkEndTime(taskQueue.Count);
-
-            previousTask = currentTask;
-            currentTask = taskQueue.Dequeue();
-
-            stackerCellIndex = -1;
-            InitStackerCrane();
-
-            switch (currentTask.taskType)
-            {
-                case ETaskType.Incoming:
-                    currentTargetCell = incomeCell;
-                    break;
-                case ETaskType.Outgoing:
-                    currentTargetCell = GetFullCell();
-                    break;
-            }
-
-            onTaskReadyCompletedEvent?.Invoke(this);
-            stackeCraneState = EStackeCraneState.Move;
-        }
-      
-        private IEnumerator Move()
-        {
-            while (!IsBodyMoveCompleted)    
-            {
-                stackerCraneMove = Time.deltaTime * moveSpeed;
-                MoveVerticalpollarToTarget();
-                MoveBucketToTarget();
-           
-                yield return null;
-            }
-            stackeCraneState = EStackeCraneState.MoveEnd;
-        }
-   
-        private void MoveEnd()
-        {
-            InitStackerCrane();
-
-            //TODO:: 위치 선정방식 변경
-            if (currentTargetCell == originPos)
-            {
-                elapsedDistance = 0f;
-                currentTask = new StackerCraneTask(ETaskType.None);
-                onTaskEndCompletedEvent?.Invoke(this);
-                stackeCraneState = EStackeCraneState.TaskReady;
-            }
-            else if (currentTargetCell == outCell)
-            {
-                stackeCraneState = EStackeCraneState.UnLoad;
-            }
-            else if(currentTargetCell == incomeCell)
-            {
-                stackeCraneState = EStackeCraneState.Load;
-            }
-            else if(currentTargetCell == GetEmptyCell())
-            {
-                if (currentTask.taskType == ETaskType.Incoming)
-                    stackeCraneState = EStackeCraneState.UnLoad;
-            }
-            else// if(currentTargetCell == GetFullCell())
-            {
-                stackeCraneState = EStackeCraneState.Load;
-            }
-        }
-
-        private IEnumerator Load()
-        {
-            while (!IsForkMoveCompleted)
-            {
-                stackerCraneMove = Time.deltaTime * moveSpeed;
-                MoveForkToTarget();
-
-                yield return null;
-            }
-
-            currentTargetCell.load.transform.parent = ForkLoadPlaceRoot;
-            currentTargetCell.load.transform.localPosition = Vector3.zero;
-            currentTargetCell.isLoad = false;
-            currentTargetCell.load = null;
-
-            onLoadCompletedEvent.Invoke(this);
-
-            if (currentTask.taskType == ETaskType.Outgoing)
-                stackerCellIndex = cellList.IndexOf(currentTargetCell);
-
-            InitStackerCrane();
-
-            while (!IsForkMoveCompleted)
-            {
-                stackerCraneMove = Time.deltaTime * moveSpeed;
-                MoveForkToOrigin();
-
-                yield return null;
-            }
-
-            InitStackerCrane();
-            stackeCraneState = EStackeCraneState.LoadEnd;
+            fork.Unload(moveTarget);
+            ChangeState(StackerCraneState.UnloadEnd);
         }
 
         private void LoadEnd()
         {
-            if (currentTask.taskType == ETaskType.Incoming)
-                currentTargetCell = GetEmptyCell();
+            forkProgress = 0f;
+            ChangeState(StackerCraneState.ForkOut);
+        }
+
+        private void Load()
+        {
+            moveTarget.Unload(fork);
+            ChangeState(StackerCraneState.LoadEnd);
+        }
+
+        private void ForkOutEnd()
+        {
+            forkProgress = 0f;
+            ChangeState(StackerCraneState.ActionReady);
+        }
+
+        private void ForkOut()
+        {
+            forkProgress += forkSpeed * Time.deltaTime / forkSpeed;
+            fork.transform.position = Vector3.Lerp(forkEnd, forkStart, forkProgress);
+            if (forkProgress >= 1)
+            {
+                ChangeState(StackerCraneState.ForkOutEnd);
+            }
+        }
+
+        private void ForkInEnd()
+        {
+            forkProgress = 0f;
+            if (fork.isEmpty)
+                ChangeState(StackerCraneState.Load);
             else
-                currentTargetCell = outCell;
-
-            InitStackerCrane();
-            stackeCraneState = EStackeCraneState.Move;
+                ChangeState(StackerCraneState.Unload);
         }
 
-        private IEnumerator UnLoad()
+        private void ForkIn()
         {
-            while (!IsForkMoveCompleted)
+            forkProgress += forkSpeed* Time.deltaTime /forkSpeed;
+            fork.transform.position = Vector3.Lerp(forkStart, forkEnd, forkProgress);
+            if (forkProgress >= 1)
             {
-                MoveForkToTarget();
-
-                yield return null;
-            }
-
-            Load load = ForkLoadPlaceRoot.GetChild(0).gameObject.GetComponent<Load>();
-            load.transform.parent = currentTargetCell.transform;
-            load.transform.localPosition = Vector3.zero;
-            currentTargetCell.isLoad = true;
-            currentTargetCell.load = load;
-
-            if (currentTask.taskType == ETaskType.Incoming)
-                stackerCellIndex = cellList.IndexOf(currentTargetCell);
-
-            InitStackerCrane();
-
-            while (!IsForkMoveCompleted)
-            {
-                MoveForkToOrigin();
-
-                yield return null;
-            }
-
-            InitStackerCrane();
-            stackeCraneState = EStackeCraneState.UnLoadEnd;
-        }
-
-        private void UnLoadEnd()
-        {
-            stackeCraneState = EStackeCraneState.TaskEnd;
-        }
-
-        private void TaskEnd()
-        {
-            if (taskQueue.Count == 0)
-            {
-                //goto home
-                InitStackerCrane();
-                currentTargetCell = originPos;
-                stackeCraneState = EStackeCraneState.Move;
-            }
-            else
-            {
-                elapsedDistance = 0f;
-                currentTask = new StackerCraneTask(ETaskType.None);
-                onTaskEndCompletedEvent?.Invoke(this);
-                stackeCraneState = EStackeCraneState.TaskReady;
+                ChangeState(StackerCraneState.ForkInEnd);
             }
         }
 
-        public int GetInComeCellLoadCount()
+        private void UnloadReady()
         {
-            return incomeCell.transform.childCount;
+            forkStart = fork.transform.position;
+            forkEnd = moveTarget.transform.position;
+            ChangeState(StackerCraneState.ForkIn);
         }
 
-        public int GetLoadCellCount()
+        private void LoadReady()
         {
-            return cellList.Count(cell => cell.isLoad);
+            forkStart = fork.transform.position;
+            forkEnd = moveTarget.transform.position;
+            ChangeState(StackerCraneState.ForkIn);
         }
 
-        Cell GetEmptyCell()
+        private void ActionReady()
         {
-            var emptyCells = cellList.Where(cell => !cell.isLoad);
-            return emptyCells.FirstOrDefault();
-        }
-
-        Cell GetFullCell()
-        {
-            var fullCells = cellList.Where(cell => cell.isLoad);
-            return fullCells.FirstOrDefault();
-        }
-
-        private void InitStackerCrane()
-        {
-            verticalpillarT = 0f;
-            bucketT = 0f;
-            forkT = 0f;
-
-            VerticalPillarLerpStartPos = VerticalPillar.position;
-            BucketLerpStartPos = Bucket.position;
-            ForkLerpStartPos = Fork.position;
-        }
-
-        private void MoveVerticalpollarToTarget()
-        {
-            verticalpollarTargetDistance = Mathf.Abs(VerticalPillarLerpStartPos.x - currentTargetCell.transform.position.x);
-            verticalpillarT += stackerCraneMove / verticalpollarTargetDistance;
-            Vector3 verticalPillarPos = VerticalPillar.position;
-            verticalPillarPos.x = Mathf.Lerp(VerticalPillarLerpStartPos.x, currentTargetCell.transform.position.x, verticalpillarT);
-            VerticalPillar.position = verticalPillarPos;
-            if(verticalpollarTargetDistance >= bucketTargetDistance)
-                elapsedDistance += stackerCraneMove;
-        }
-
-        private void MoveBucketToTarget()
-        {
-            bucketTargetDistance = Mathf.Abs(BucketLerpStartPos.y - currentTargetCell.transform.position.y);
-            bucketT += stackerCraneMove / bucketTargetDistance;
-            Vector3 bucketPos = Bucket.position;
-            bucketPos.y = Mathf.Lerp(BucketLerpStartPos.y, currentTargetCell.transform.position.y, bucketT);
-            Bucket.position = bucketPos;
-            if (bucketTargetDistance >= verticalpollarTargetDistance)
-                elapsedDistance += stackerCraneMove;
-        }
-
-        private void MoveForkToTarget()
-        {
-            forkT += stackerCraneMove / forkRange;
-            Vector3 forkPos = Fork.position;
-            forkPos.z = Mathf.Lerp(ForkLerpStartPos.z, currentTargetCell.transform.position.z >= 0 ? forkRange : -forkRange, forkT);
-            Fork.position = forkPos;
-            elapsedDistance += stackerCraneMove;
-        }
-
-        private void MoveForkToOrigin()
-        {
-            forkT += stackerCraneMove / forkRange;
-            Vector3 forkPos = Fork.position;
-            forkPos.z = Mathf.Lerp(ForkLerpStartPos.z, 0f, forkT);
-            Fork.position = forkPos;
-            elapsedDistance += stackerCraneMove;
-        }
-  
-        private float totalDistance = 0f;
-        private float elapsedDistance = 0f;
-        int stackerCellIndex = -1;
-        List<Cell> modifiedCellList = new List<Cell>();
-        Cell targetStackerCell = null;
-
-        public void PredictWorkEndTime(StackerCraneTask targetTask)
-        {
-            if (!IsTaskValid(targetTask))
+            if (actionQueue.Count == 0)
             {
-                Debug.LogWarning("잘못된 task가 포함되어 있습니다.");
+                ChangeState(StackerCraneState.Idle);
                 return;
             }
+            currentAction = actionQueue.Dequeue();
+            switch (currentAction)
+            {
+                case StackerCraneMoveToInputAction moveToInputAction:
+                    moveTarget = inputPort;
+                    ChangeState(StackerCraneState.MoveReady);
+                    break;
+                case StackerCraneMoveToOutputAction moveToOutputAction:
+                    moveTarget = outputPort;
+                    ChangeState(StackerCraneState.MoveReady);
+                    break;
+                case StackerCraneMoveToEmptyCellAction moveToEmptyCellAction:
+                    moveTarget = cells.FirstOrDefault(cell => cell.isEmpty);
+                    ChangeState(StackerCraneState.MoveReady);
+                    break;
+                case StackerCraneMoveToFullCellAction moveToFullCellAction:
+                    moveTarget = cells.FirstOrDefault(cell => !cell.isEmpty);
+                    ChangeState(StackerCraneState.MoveReady);
+                    break;
+                case StackerCraneLoadAction loadAction:
+                    ChangeState(StackerCraneState.LoadReady);
+                    break;
+                case StackerCraneUnloadAction unloadAction:
+                    ChangeState(StackerCraneState.UnloadReady);
+                    break;
+            }
+        }
 
-            StackerCraneTask tempPreviousTask = previousTask;
-            StackerCraneTask tempCurrentTask = currentTask;
+        private void MoveEnd()
+        {
+            pillarMoveProgress = 0f;
+            bucketMoveProgress = 0f;
+            ChangeState(StackerCraneState.ActionReady);
+        }
+
+        private void Move()
+        {
+            pillarMoveProgress += pillarMoveSpeed *Time.deltaTime / pillarMoveSpeed;
+            bucketMoveProgress += bucketMoveSpeed * Time.deltaTime / bucketMoveSpeed;
+            VerticalPillar.position = Vector3.Lerp(pillarStart, pillarEnd, pillarMoveProgress);
+            var bPos = Bucket.position;
+            bPos.y= Mathf.Lerp(bucketStart, bucketEnd, bucketMoveProgress);
+            Bucket.position = bPos;
+            if (pillarMoveProgress >= 1 && bucketMoveProgress >= 1)
+            {
+                ChangeState(StackerCraneState.MoveEnd);
+            }
+        }
+
+        private void MoveReady()
+        {
+            pillarStart = VerticalPillar.position;
+            bucketStart = Bucket.position.y;
+            pillarEnd = VerticalPillar.position;
+            pillarEnd.x = moveTarget.transform.position.x;
+
+            bucketEnd = moveTarget.transform.position.y;
+            ChangeState(StackerCraneState.Move);
+        }
+
+        private void TaskReady()
+        {
+            currentTask = taskQueue.Dequeue();
          
-            totalDistance = 0;
-
-            ProcessTask(tempPreviousTask, tempCurrentTask);
-            tempPreviousTask = tempCurrentTask;        
-
-            foreach (StackerCraneTask task in taskQueue)
+            for (int i = 0; i < currentTask.actions.Count; i++)
             {
-                tempCurrentTask = task;
-                ProcessTask(tempPreviousTask, tempCurrentTask);
-                tempPreviousTask = tempCurrentTask;
-
-                if (targetTask == tempCurrentTask)
-                {
-                    print("소요예정시간 " + (totalDistance - elapsedDistance) / moveSpeed);
-                    break;
-                }
+                actionQueue.Enqueue(currentTask.actions[i]);
             }
 
-            for (int i = 0; i < modifiedCellList.Count; i++)
-            {
-                modifiedCellList[i].isLoad = !modifiedCellList[i].isLoad;
-            }
-            modifiedCellList.Clear();
+            ChangeState(StackerCraneState.ActionReady);
         }
 
-        private bool IsTaskValid(StackerCraneTask targetTask)
+        private void Idle()
         {
-            int outgoingTaskCount = 0;
-            bool isLoadOrUnloadComplete = stackerCellIndex != -1;
-            int loadCountAdjustment = currentTask.taskType == ETaskType.Incoming ? 1 : -1;
-
-            foreach (StackerCraneTask task in taskQueue)
+            if(taskQueue.Count > 0)
             {
-                outgoingTaskCount += task.taskType == ETaskType.Outgoing ? 1 : -1;
-
-                int totalLoadCount = GetLoadCellCount() + (isLoadOrUnloadComplete ? 0 : loadCountAdjustment);
-
-                if (totalLoadCount < outgoingTaskCount)
-                {
-                    print("소요예정시간 " + float.MaxValue);
-                    return false;
-                }
-
-                if (task == targetTask)
-                    break;
+                ChangeState(StackerCraneState.TaskReady);
             }
-            return true;
-        }
-
-        private void ProcessTask(StackerCraneTask previousTask, StackerCraneTask currentTask)
-        {
-            List<(Cell, Cell)> pathList = new List<(Cell, Cell)>();
-            Cell previousEndPos = originPos;
-
-            switch (previousTask.taskType)
-            {
-                case ETaskType.Incoming:
-                    previousEndPos = stackerCellIndex != -1 ? cellList[stackerCellIndex] : targetStackerCell;
-                    stackerCellIndex = -1;
-                    break;
-                case ETaskType.Outgoing:
-                    previousEndPos = outCell;
-                    break;
-            }
-
-            switch (currentTask.taskType)
-            {
-                case ETaskType.Incoming:
-                    targetStackerCell = GetEmptyCell();
-                    pathList = new List<(Cell, Cell)>
-                    {
-                        (previousEndPos, incomeCell),
-                        (incomeCell, targetStackerCell)
-                    };
-                    targetStackerCell.isLoad = true;
-                    break;
-                case ETaskType.Outgoing:
-                    targetStackerCell = GetFullCell();
-                    pathList = new List<(Cell, Cell)>
-                    {
-                        (previousEndPos, targetStackerCell),
-                        (targetStackerCell, outCell)
-                    };
-                    targetStackerCell.isLoad = false;
-                    break;
-            }
-            modifiedCellList.Add(targetStackerCell);
-            totalDistance += CalculatePathDistance(pathList) + forkRange * 4;
-        }
-
-        private float CalculatePathDistance(List<(Cell, Cell)> pathList)
-        {
-            float distance = 0f;
-            foreach (var path in pathList)
-            {
-                distance += CalculateDistance(path);
-            }
-            return distance;
-        }
-
-        private float CalculateDistance((Cell, Cell) value)
-        {
-            float xDistance = Mathf.Abs(value.Item1.transform.position.x - value.Item2.transform.position.x);
-            float yDistance = Mathf.Abs(value.Item1.transform.position.y - value.Item2.transform.position.y);
-            return Mathf.Max(xDistance, yDistance);
-        }
-
-        internal object Select(Func<object, object> value)
-        {
-            throw new NotImplementedException();
         }
     }
-}
+}

Assets/Scripts/Studio/Machine/StackerCrane/StackerCraneAction.cs

@@ -0,0 +1,33 @@
+namespace XED.VirtualFactory
+{
+    public class  StackerCraneAction
+    {
+    }
+
+    public class StackerCraneMoveToInputAction : StackerCraneAction
+    {
+    }
+
+    public class StackerCraneMoveToOutputAction : StackerCraneAction
+    {
+    }
+
+    public class StackerCraneMoveToEmptyCellAction : StackerCraneAction
+    {
+    }
+
+    public class StackerCraneMoveToFullCellAction : StackerCraneAction
+    {
+    }
+
+    public class StackerCraneLoadAction: StackerCraneAction
+    {
+    }
+    public class StackerCraneUnloadAction : StackerCraneAction
+    {
+    }
+    public class StackerCraneMoveToHomeAction : StackerCraneAction
+    {
+    }
+
+}

Assets/Scripts/Studio/Machine/StackerCrane/StackerCraneAction.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 470b868bb22514947aa4b2f92746b46e

Assets/Scripts/Studio/Machine/StackerCrane/StackerCraneFork.cs

@@ -0,0 +1,7 @@
+namespace XED.VirtualFactory
+{
+    public class StackerCraneFork: Loader
+    {
+
+    }
+}

Assets/Scripts/Studio/Machine/StackerCrane/StackerCraneFork.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 1a308d559e458b94aadec13b64a11ef2

Assets/Scripts/Studio/Machine/StackerCrane/StackerCraneLog.cs

@@ -1,7 +1,6 @@
 using System.Diagnostics;
 using System.IO;
 using XRLib;
-using static XED.VirtualFactory.StackerCrane;
 
 namespace XED.VirtualFactory
 {
@@ -50,14 +49,15 @@ namespace XED.VirtualFactory
 
         private string DefaultLogForm(StackerCrane sc, string message)
         {
-            logCount++;
-            long currentTick = stopwatch.ElapsedTicks;
-            ETaskType currentTask = sc.currentTask.taskType;
-            EStackeCraneState currentState = sc.stackeCraneState;
-            int stackerLoadCellCount = sc.GetLoadCellCount();
+            //logCount++;
+            //long currentTick = stopwatch.ElapsedTicks;
+            //ETaskType currentTask = sc.currentTask.taskType;
+            //StackerCraneState currentState = sc.stackeCraneState;
+            //int stackerLoadCellCount = sc.GetLoadCellCount();
 
-            string log = $"{logCount.ToString("D8")}:message={message}/task={currentTask}/state={currentState}/LoadCellCount={stackerLoadCellCount}[{currentTick.ToString("D16")}]";
-            return log;
+            //string log = $"{logCount.ToString("D8")}:message={message}/task={currentTask}/state={currentState}/LoadCellCount={stackerLoadCellCount}[{currentTick.ToString("D16")}]";
+            //return log;
+            return "";
         }
 
         void OnDisable()

Assets/Scripts/Studio/Machine/StackerCrane/StackerCraneManager.cs

@@ -19,13 +19,14 @@ namespace XED.VirtualFactory
         {
             bool added = stackerCranes.Add(stackerCrane);
 
-            if (added)
-            {
-                stackerCrane.onTaskReadyCompletedEvent += stackerCraneLog.TaskReadyLog;
-                stackerCrane.onTaskEndCompletedEvent += stackerCraneLog.TaskEndLogLog;
-                stackerCrane.onStateChangeEvent += stackerCraneLog.StateChangeLog;
-                stackerCrane.onAddTaskCompletedEvent += stackerCraneLog.TaskAddLog;
-            }
+            //if (added)
+            //{
+            //    stackerCrane.onTaskReadyCompletedEvent += stackerCraneLog.TaskReadyLog;
+            //    stackerCrane.onTaskEndCompletedEvent += stackerCraneLog.TaskEndLogLog;
+            //    stackerCrane.onStateChangeEvent += stackerCraneLog.StateChangeLog;
+            //    stackerCrane.onAddTaskCompletedEvent += stackerCraneLog.TaskAddLog;
+            //}
         }         
+
     }
 }

Assets/Scripts/Studio/Machine/StackerCrane/StackerCraneTask.cs

@@ -6,18 +6,30 @@ namespace XED.VirtualFactory
 {
     public class StackerCraneTask
     {
-        public ETaskType taskType;
+        public List<StackerCraneAction> actions = new();
+    }
 
-        public StackerCraneTask(ETaskType taskType)
+    public class InputTask : StackerCraneTask
+    {
+        public InputTask()
         {
-            this.taskType = taskType;
+            actions.Add(new StackerCraneMoveToInputAction());
+            actions.Add(new StackerCraneLoadAction());
+            actions.Add(new StackerCraneMoveToEmptyCellAction());
+            actions.Add(new StackerCraneUnloadAction());
+            actions.Add(new StackerCraneMoveToHomeAction());
         }
     }
 
-    public enum ETaskType
+    public class OutputTask : StackerCraneTask
     {
-        None,
-        Incoming,
-        Outgoing,
+        public OutputTask()
+        {
+            actions.Add(new StackerCraneMoveToFullCellAction());
+            actions.Add(new StackerCraneLoadAction());
+            actions.Add(new StackerCraneMoveToOutputAction());
+            actions.Add(new StackerCraneUnloadAction());
+            actions.Add(new StackerCraneMoveToHomeAction());
+        }
     }
 }

Assets/Scripts/Studio/Machine/StackerCrane/StackerCraneTestKit.prefab

@@ -12,6 +12,7 @@ GameObject:
   - component: {fileID: 4856276352014148663}
   - component: {fileID: 2153441290638738476}
   - component: {fileID: 5777722818375630786}
+  - component: {fileID: 6917507228578421749}
   m_Layer: 0
   m_Name: OutgoingPos
   m_TagString: Untagged
@@ -46,8 +47,17 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 7c66d88dac8b35f4d9aeeb44d2d3d955, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
+  physics:
+    areabox: {fileID: 0}
+  metaData:
+    address: 
+    modeling: {fileID: 0}
+    portrait: {fileID: 0}
+  assetLabel: 0
+  IsDisplayable: 0
+  IsInteractible: 0
+  currentLoad: {fileID: 0}
   isLoad: 0
-  load: {fileID: 0}
 --- !u!33 &2153441290638738476
 MeshFilter:
   m_ObjectHideFlags: 0
@@ -101,6 +111,28 @@ MeshRenderer:
   m_SortingLayer: 0
   m_SortingOrder: 0
   m_AdditionalVertexStreams: {fileID: 0}
+--- !u!114 &6917507228578421749
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 166620110472332507}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 4fce4835cb2aae74da849f6efffd5997, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  physics:
+    areabox: {fileID: 0}
+  metaData:
+    address: 
+    modeling: {fileID: 0}
+    portrait: {fileID: 0}
+  assetLabel: 0
+  IsDisplayable: 0
+  IsInteractible: 0
+  currentLoad: {fileID: 0}
 --- !u!1 &305061147023869161
 GameObject:
   m_ObjectHideFlags: 0
@@ -616,16 +648,27 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 4520bd875396ea544824f64eae4953d2, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  VerticalPillar: {fileID: 0}
-  Bucket: {fileID: 0}
-  Fork: {fileID: 0}
-  incomeCell: {fileID: 0}
-  originPos: {fileID: 0}
-  outCell: {fileID: 0}
-  currentTargetCell: {fileID: 0}
+  physics:
+    areabox: {fileID: 0}
+  metaData:
+    address: 
+    modeling: {fileID: 0}
+    portrait: {fileID: 0}
+  assetLabel: 0
+  IsDisplayable: 0
+  IsInteractible: 0
   Storage: {fileID: 0}
-  ForkLoadPlaceRoot: {fileID: 0}
-  _stackeCraneState: 0
+  VerticlaPillar: {fileID: 0}
+  Bucket: {fileID: 0}
+  fork: {fileID: 0}
+  inputPort: {fileID: 0}
+  outputPort: {fileID: 0}
+  currentState: 0
+  cells: []
+  autoInput: 0
+  pillarMoveSpeed: 1
+  bucketMoveSpeed: 1
+  moveTarget: {fileID: 0}
 --- !u!1 &2609216119150044126
 GameObject:
   m_ObjectHideFlags: 0
@@ -974,8 +1017,17 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 7c66d88dac8b35f4d9aeeb44d2d3d955, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
+  physics:
+    areabox: {fileID: 0}
+  metaData:
+    address: 
+    modeling: {fileID: 0}
+    portrait: {fileID: 0}
+  assetLabel: 0
+  IsDisplayable: 0
+  IsInteractible: 0
+  currentLoad: {fileID: 0}
   isLoad: 0
-  load: {fileID: 0}
 --- !u!1 &3689563023103516014
 GameObject:
   m_ObjectHideFlags: 0
@@ -1281,7 +1333,7 @@ GameObject:
   m_Component:
   - component: {fileID: 2678014717373080131}
   - component: {fileID: 4426401912820879313}
-  - component: {fileID: 1932890394157396209}
+  - component: {fileID: 5062054334540688330}
   m_Layer: 0
   m_Name: InComingPos
   m_TagString: Untagged
@@ -1312,7 +1364,7 @@ MeshFilter:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 5067924305745637229}
   m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0}
---- !u!114 &1932890394157396209
+--- !u!114 &5062054334540688330
 MonoBehaviour:
   m_ObjectHideFlags: 0
   m_CorrespondingSourceObject: {fileID: 0}
@@ -1321,11 +1373,19 @@ MonoBehaviour:
   m_GameObject: {fileID: 5067924305745637229}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 7c66d88dac8b35f4d9aeeb44d2d3d955, type: 3}
+  m_Script: {fileID: 11500000, guid: 00bad124f10f0e44fab7f4f507ecf764, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  isLoad: 0
-  load: {fileID: 0}
+  physics:
+    areabox: {fileID: 0}
+  metaData:
+    address: 
+    modeling: {fileID: 0}
+    portrait: {fileID: 0}
+  assetLabel: 0
+  IsDisplayable: 0
+  IsInteractible: 0
+  currentLoad: {fileID: 0}
 --- !u!1 &5130920285189644132
 GameObject:
   m_ObjectHideFlags: 0

Assets/Scripts/Studio/Machine/StackerCrane/StackerCraneTestUI.cs

@@ -18,42 +18,42 @@ namespace XED.VirtualFactory
 
         void Start()
         {
-            stackerCrane = FindSingle<StackerCrane>();
+            //stackerCrane = FindSingle<StackerCrane>();
         }
 
         void Update()
         {
-            workqueue = stackerCrane.taskQueue;
-            time += Time.deltaTime;
-            text_currentWork.text = stackerCrane.currentTask.taskType.ToString();
-            text_time.text = time.ToString("N2");
-            text_work.text = "";
-            foreach (StackerCraneTask task in workqueue)
-            {
-                text_work.text += task.taskType + "\n";
-            }
+            //workqueue = stackerCrane.taskQueue;
+            //time += Time.deltaTime;
+            //text_currentWork.text = stackerCrane.currentTask.taskType.ToString();
+            //text_time.text = time.ToString("N2");
+            //text_work.text = "";
+            //foreach (StackerCraneTask task in workqueue)
+            //{
+            //    text_work.text += task.taskType + "\n";
+            //}
 
-            for (int i = 0; i <= 9; i++)
-            {
-                if (Input.GetKeyDown((KeyCode)Enum.Parse(typeof(KeyCode), "Alpha" + i)))
-                {
-                    if (i > workqueue.Count)
-                    {
-                        Debug.LogWarning("Á¸ÀçÇÏÁö ¾Ê´Â taskÀÔ´Ï´Ù.");
-                        return;
-                    }
+            //for (int i = 0; i <= 9; i++)
+            //{
+            //    if (Input.GetKeyDown((KeyCode)Enum.Parse(typeof(KeyCode), "Alpha" + i)))
+            //    {
+            //        if (i > workqueue.Count)
+            //        {
+            //            Debug.LogWarning("Á¸ÀçÇÏÁö ¾Ê´Â taskÀÔ´Ï´Ù.");
+            //            return;
+            //        }
                     
-                    int currentIndex = 0;
-                    foreach (StackerCraneTask work in workqueue)
-                    {
-                        currentIndex++;
-                        if (currentIndex == i)
-                        {
-                            stackerCrane.PredictWorkEndTime(work);
-                        }
-                    }
-                }
-            }
+            //        int currentIndex = 0;
+            //        foreach (StackerCraneTask work in workqueue)
+            //        {
+            //            currentIndex++;
+            //            if (currentIndex == i)
+            //            {
+            //                stackerCrane.PredictWorkEndTime(work);
+            //            }
+            //        }
+            //    }
+            //}
         }
     }
 }

Assets/Scripts/Studio/Machine/StackerCrane/WorkController.cs

@@ -1,74 +0,0 @@
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Linq;
-using UnityEngine;
-using XRLib;
-
-namespace XED.VirtualFactory
-{
-    public class WorkController : MonoBehaviour, ISingle
-    {
-        StackerCrane stackerCrane;
-
-        [SerializeField]
-        private Load loadPrefab;
-
-        public override void AfterAwake()
-        {
-            stackerCrane = FindSingle<StackerCrane>();
-            stackerCrane.onLoadCompletedEvent += ReArrangeCargo;
-        }
-
-        void Update()
-        {
-            if (Input.GetKeyDown(KeyCode.C))
-            {
-                SpawnCargo();
-            }
-            if (Input.GetKeyDown(KeyCode.I))
-            {
-                stackerCrane.AddTask(new StackerCraneTask(ETaskType.Incoming));
-            }
-            if (Input.GetKeyDown(KeyCode.O))
-            {
-                stackerCrane.AddTask(new StackerCraneTask(ETaskType.Outgoing));
-            }
-
-            if (stackerCrane.incomeCell.load == null)
-            {
-                if(readyCargos.Count == 0)
-                    return;
-
-                readyCargos.RemoveAt(0);
-
-                if (readyCargos.Count == 0)
-                    return;
-
-                var cargo = readyCargos.First();
-                stackerCrane.incomeCell.load = cargo;
-            }
-        }
-        List<Load> readyCargos = new();
-        int index = 0;
-        private void SpawnCargo()
-        {
-            Load cargo = Instantiate(loadPrefab);
-            cargo.name = index.ToString();
-            index++;
-            cargo.transform.parent = stackerCrane.incomeCell.transform;
-            cargo.transform.localPosition = new Vector3(0f, stackerCrane.incomeCell.transform.childCount - 0.5f, 0f);
-            if (stackerCrane.incomeCell.load == null)
-                stackerCrane.incomeCell.load = cargo;
-            readyCargos.Add(cargo);
-        }
-
-        public void ReArrangeCargo(StackerCrane sc)
-        {
-            for (int i = 0; i < stackerCrane.incomeCell.transform.childCount; i++)
-            {
-                stackerCrane.incomeCell.transform.GetChild(i).transform.localPosition = new Vector3(0f, i + 0.5f, 0f);
-            }
-        }
-    }
-}

Assets/Scripts/Studio/Machine/StackerCrane/WorkController.cs.meta

@@ -1,2 +0,0 @@
-fileFormatVersion: 2
-guid: 7f04208229125ce4f9ef15b712a31bd7

Assets/Scripts/Studio/Managers/EventConnector.cs

@@ -70,10 +70,10 @@ namespace XED.Manage
                 agvNodeManager.onNodeDeselected += nodeGizmoController.Detach;
                 agvNodeManager.onNodeSettingSelected += canvas_Popup.agvnodepopup.Popup;
                 agvNodeManager.onNodeDeselected += canvas_Popup.agvnodepopup.Popdown;
-                agvNodeManager.onNodeSequenceOrdered += agvManager.ordertoAGV;
+                //agvNodeManager.onNodeSequenceOrdered += agvManager.ordertoAGV;
                 agvNodeManager.onNodeSequenceUpdated += canvas_Popup.agvnodemodepopup.UpdateTextSelectedAGVNode;
 
-                agvManager.onOrderStarted += agvNodeLinkManager.AddLines;
+                //agvManager.onOrderStarted += agvNodeLinkManager.AddLines;
             }
 
             void UIConnection()

Assets/Scripts/Studio/TwinObject/TwinObject.cs

@@ -1,3 +1,4 @@
+using Newtonsoft.Json;
 using UnityEngine;
 using XED.Attributes;
 using XED.VirtualFactory;
@@ -52,5 +53,10 @@ namespace XED
         public virtual void MaterialChange(Material mat)
         {
         }
+
+        public virtual string ToJson()
+        {
+            return JsonConvert.SerializeObject(entity);
+        }
     }
 }

Assets/VirtualFactoryManager.cs

@@ -1,5 +1,7 @@
+using System;
 using System.Collections.Generic;
 using System.Linq;
+using UnityEngine;
 using XED.VirtualFactory;
 
 namespace XED
@@ -9,41 +11,164 @@ namespace XED
         public List<StackerCrane> stackerCranes = new();
         public AGVManager agvManager;
         public AGVMap agvMap;
-        public List<Load> loads = new();
-        public Load prf_Load;
+        public PortMap portMap;
+        public List<Product> loads = new();
+        public Product prf_Load;
+        public AGVNode startNode;
+
+        public bool stackerHasEmptyCell;
+        public int maxAGVCount = 4;
+        public enum FactoryNeeds
+        {
+            NeedAGV,
+            NeedLoad,
+            NeedStackerInputLoad,
+            NeedStackerInput,
+        }
+
+        public bool agvIsLack;
+        public bool loadIsLack;
+        public List<FactoryNeeds> needs = new();
+        public event Action scanningAction;
+        public event Action solutionAction;
         public override void AfterAwake()
         {
             agvMap = FindSingle<AGVMap>();
+            portMap = FindSingle<PortMap>();
             agvManager = FindSingle<AGVManager>();
             stackerCranes = FindObjectsByType<StackerCrane>(UnityEngine.FindObjectsSortMode.None).ToList();
-            FactoryStatusCheck();
+            
+            scanningAction += CheckAGVCount;
+            scanningAction += CheckStackerSpace;
+            scanningAction += CheckStackerInput;
         }
 
-        void FactoryStatusCheck()
+        private void CheckStackerInput()
         {
-            if (loads.Count == 0)
+            foreach (var stacker in stackerCranes)
             {
-                if(agvMap.GetEmptyNode(AGVNodeType.Load, out var node))
+                if (!stacker.hasEmptyCell)
+                    continue;
+
+                if (stacker.inputPort.isEmpty)
                 {
-                    var worker = agvManager.GetIdleAGV();
-                    node.Load(CreateEmptyLoad());
-                    worker.transform.position = node.transform.position;
-                    worker.AddOrder(new AGVOrderClass(AGVTaskType.MoveToTarget, node.gameObject));
-                    worker.AddOrder(new AGVOrderClass(AGVTaskType.LoadCargo, node.loadSocket, node));
-                    worker.AddOrder(new AGVOrderClass(AGVTaskType.SpinToTarget, node.linkedNodes[0].gameObject));
-                    worker.AddOrder(new AGVOrderClass(AGVTaskType.MoveToTarget, node.linkedNodes[0].gameObject));
-                    //worker.AddOrder(new AGVOrderClass(AGVTaskType.MoveToTarget, node.linkedNodes[0].gameObject));
+                        Debug.Log("Need Stacker Input Load");
+                        needs.Add(FactoryNeeds.NeedStackerInputLoad);
+                    return;
+                }
+
+                Debug.Log($"Need Stacker Input");
+                needs.Add(FactoryNeeds.NeedStackerInput);
+                return;
+            }
+
+        }
+
+        private void Update()
+        {
+            ScanningVirtualFactory();
+            Solutioning();
+        }
+
+        void ScanningVirtualFactory()
+        {
+            scanningAction?.Invoke();
+        }
+
+        void Solutioning()
+        {
+            foreach(var n in needs)
+            {
+                switch (n)
+                {
+                    case FactoryNeeds.NeedAGV:
+                        solutionAction += GenerateAGV;
+                        break;
+                    case FactoryNeeds.NeedLoad:
+                        solutionAction += GenerateLoad;
+                        break;
+                    case FactoryNeeds.NeedStackerInputLoad:
+                        solutionAction += DeliveryStackerInputLoad;
+                        break;
+                }
+            }
+            solutionAction?.Invoke();
+            solutionAction = null;
+            needs.Clear();
+        }
+
+        private void DeliveryStackerInputLoad()
+        {
+            if (!agvManager.TryGetIdleAGV(out var agvWorker))
+            {
+                return;
+            }
+
+            if(!portMap.TryGetFullGeneratePort(out var generatePort))
+            {
+                return;
+            }
+
+            if(!agvMap.TryGetEmptyInputPortNode(out var inputPortNode))
+            {
+                return;
+            }
+
+            var startNode = agvWorker.currentNode;
+            var generateNode = generatePort.GetComponent<AGVNode>();
+            var getLoadPath = agvMap.FindPath(startNode, generateNode);
+            var inputLoadPath = agvMap.FindPath(generateNode, inputPortNode);
+            agvWorker.AddAction(new AGVMoveAction(getLoadPath));
+            agvWorker.AddAction(new AGVLoadAction(generatePort));
+            agvWorker.AddAction(new AGVMoveAction(inputLoadPath));
+            agvWorker.AddAction(new AGVUnloadAction(inputPortNode.loader));
+        }
+
+        private void GenerateLoad()
+        {
+            if(portMap.TryGetEmptyGeneratePort(out var port))
+            {
+                Debug.Log($"GenerateLoad");
+                var newLoad = Instantiate(prf_Load);
+                port.Load(newLoad);
+                loads.Add(newLoad);
+            }
+        }
+
+        private void GenerateAGV()
+        {
+            Debug.Log($"GenerateAGV");
+            var newAGV = agvManager.CreateEmptyAGV();
+            newAGV.ForceSet(startNode);
+        }
+
+        void CheckStackerSpace()
+        {
+            if (stackerCranes.Sum(sc => sc.cells.Count()) == loads.Count)
+                return;
+
+            foreach (var stacker in stackerCranes)
+            {
+                if (stacker.hasEmptyCell)
+                {
+                    Debug.Log($"Need Stacker Load");
+                    needs.Add(FactoryNeeds.NeedLoad);
+                    return;
                 }
             }
         }
 
-        Load CreateEmptyLoad()
+        void CheckAGVCount()
         {
-            var load = Instantiate(prf_Load);
-            loads.Add(load);
-            load.entity = new LoadEntity();
-            load.entity.id = loads.Count.ToString();
-            return load;
+            Debug.Log($"CheckAGVCount");
+            if (maxAGVCount > agvManager.agvs.Count)
+            {
+                needs.Add(FactoryNeeds.NeedAGV);
+            }
+            else
+            {
+                scanningAction -= CheckAGVCount;
+            }
         }
     }
 }