Merge branch 'lh/20250228' into lh/20250228_merge

Assets/AGVsLog.csv

@@ -1 +1,157 @@
 Time,AGV_ID,Task,Target,Success
+
+2025-02-26 오후 5:22:16,,SpinToTarget,(-0.83, -0.10, -7.00),True
+
+2025-02-26 오후 5:22:19,,MoveToTarget,(-0.83, -0.10, -7.00),True
+
+2025-02-26 오후 5:22:24,,SpinToTarget,(0.88, -0.10, -6.20),True
+
+2025-02-26 오후 5:22:27,,MoveToTarget,(0.88, -0.10, -6.20),True
+
+2025-02-26 오후 5:22:30,,SpinToTarget,(0.84, -0.10, -4.05),True
+
+2025-02-26 오후 5:23:43,,SpinToTarget,(-0.05, -0.10, -5.01),True
+
+2025-02-26 오후 5:23:44,,MoveToTarget,(-0.05, -0.10, -5.01),True
+
+2025-02-26 오후 5:23:49,,SpinToTarget,(0.67, -0.10, -4.99),True
+
+2025-02-26 오후 5:23:50,,MoveToTarget,(0.67, -0.10, -4.99),True
+
+2025-02-26 오후 5:23:54,,SpinToTarget,(0.71, -0.10, -4.07),True
+
+2025-02-26 오후 5:23:56,,MoveToTarget,(0.71, -0.10, -4.07),True
+
+2025-02-26 오후 5:24:02,,SpinToTarget,(-0.13, -0.10, -4.23),True
+
+2025-02-26 오후 5:24:03,,MoveToTarget,(-0.13, -0.10, -4.23),True
+
+2025-02-26 오후 5:24:07,,SpinToTarget,(-0.05, -0.10, -5.01),True
+
+2025-02-26 오후 5:24:09,,MoveToTarget,(-0.05, -0.10, -5.01),True
+
+2025-02-26 오후 5:24:13,,SpinToTarget,(0.67, -0.10, -4.99),True
+
+2025-02-26 오후 5:24:15,,MoveToTarget,(0.67, -0.10, -4.99),True
+
+2025-02-26 오후 5:24:19,,SpinToTarget,(0.71, -0.10, -4.07),True
+
+2025-02-26 오후 5:24:21,,MoveToTarget,(0.71, -0.10, -4.07),True
+
+2025-02-26 오후 5:42:34,,SpinToTarget,(-0.86, -0.10, -9.16),True
+
+2025-02-26 오후 5:42:37,,MoveToTarget,(-0.86, -0.10, -9.16),True
+
+2025-02-26 오후 5:56:05,,SpinToTarget,(-0.18, -0.10, -6.55),True
+
+2025-02-26 오후 5:56:08,,MoveToTarget,(-0.18, -0.10, -6.55),True
+
+2025-02-26 오후 5:56:12,,SpinToTarget,(0.98, -0.10, -6.43),True
+
+2025-02-26 오후 5:56:14,,MoveToTarget,(0.98, -0.10, -6.43),True
+
+2025-02-26 오후 5:56:18,,SpinToTarget,(1.12, -0.10, -4.54),True
+
+2025-02-26 오후 5:59:00,,SpinToTarget,(-0.14, -0.10, -6.87),True
+
+2025-02-26 오후 5:59:03,,MoveToTarget,(-0.14, -0.10, -6.87),True
+
+2025-02-26 오후 5:59:07,,SpinToTarget,(1.19, -0.10, -6.86),True
+
+2025-02-26 오후 5:59:09,,MoveToTarget,(1.19, -0.10, -6.86),True
+
+2025-02-26 오후 5:59:13,,SpinToTarget,(1.32, -0.10, -5.59),True
+
+2025-02-26 오후 6:00:40,,SpinToTarget,(-0.36, -0.10, -6.53),True
+
+2025-02-26 오후 6:01:02,,MoveToTarget,(-0.36, -0.10, -6.53),True
+
+2025-02-26 오후 6:01:07,,SpinToTarget,(1.01, -0.10, -6.68),True
+
+2025-02-26 오후 6:01:09,,MoveToTarget,(1.01, -0.10, -6.68),True
+
+2025-02-26 오후 6:01:13,,SpinToTarget,(1.14, -0.10, -5.19),True
+
+2025-02-26 오후 6:01:16,,MoveToTarget,(1.14, -0.10, -5.19),True
+
+2025-02-26 오후 6:02:30,,SpinToTarget,(-0.64, -0.10, -7.03),True
+
+2025-02-26 오후 6:02:40,,MoveToTarget,(-0.64, -0.10, -7.03),True
+
+2025-02-26 오후 6:02:45,,SpinToTarget,(0.95, -0.10, -7.01),True
+
+2025-02-26 오후 6:02:47,,MoveToTarget,(0.95, -0.10, -7.01),True
+
+2025-02-26 오후 6:02:52,,SpinToTarget,(1.02, -0.10, -5.26),True
+
+2025-02-26 오후 6:02:54,,MoveToTarget,(1.02, -0.10, -5.26),True
+
+2025-02-26 오후 6:02:58,,SpinToTarget,(-0.63, -0.10, -4.85),True
+
+2025-02-26 오후 6:03:01,,MoveToTarget,(-0.63, -0.10, -4.85),True
+
+2025-02-26 오후 6:03:06,,SpinToTarget,(-0.64, -0.10, -7.03),True
+
+2025-02-26 오후 6:03:09,,MoveToTarget,(-0.64, -0.10, -7.03),True
+
+2025-02-26 오후 6:03:13,,SpinToTarget,(0.95, -0.10, -7.01),True
+
+2025-02-26 오후 6:03:15,,MoveToTarget,(0.95, -0.10, -7.01),True
+
+2025-02-26 오후 6:03:20,,SpinToTarget,(1.02, -0.10, -5.26),True
+
+2025-02-26 오후 6:03:22,,MoveToTarget,(1.02, -0.10, -5.26),True
+
+2025-02-26 오후 6:11:26,,SpinToTarget,(-0.35, -0.10, -6.31),True
+
+2025-02-26 오후 6:11:27,,SpinToTarget,(-0.35, -0.10, -6.31),True
+
+2025-02-26 오후 6:11:29,,MoveToTarget,(-0.35, -0.10, -6.31),True
+
+2025-02-26 오후 6:11:30,,MoveToTarget,(-0.35, -0.10, -6.31),True
+
+2025-02-26 오후 6:11:33,,SpinToTarget,(0.82, -0.10, -6.43),True
+
+2025-02-26 오후 6:11:34,,SpinToTarget,(0.82, -0.10, -6.43),True
+
+2025-02-26 오후 6:11:35,,MoveToTarget,(0.82, -0.10, -6.43),True
+
+2025-02-26 오후 6:11:36,,MoveToTarget,(0.82, -0.10, -6.43),True
+
+2025-02-26 오후 6:11:39,,SpinToTarget,(1.38, -0.10, -4.29),True
+
+2025-02-26 오후 6:11:40,,SpinToTarget,(1.38, -0.10, -4.29),True
+
+2025-02-26 오후 6:11:42,,MoveToTarget,(1.38, -0.10, -4.29),True
+
+2025-02-26 오후 6:11:43,,MoveToTarget,(1.38, -0.10, -4.29),True
+
+2025-02-26 오후 6:11:47,,SpinToTarget,(-0.80, -0.10, -4.12),True
+
+2025-02-26 오후 6:11:48,,SpinToTarget,(-0.80, -0.10, -4.12),True
+
+2025-02-26 오후 6:11:50,,MoveToTarget,(-0.80, -0.10, -4.12),True
+
+2025-02-26 오후 6:11:51,,MoveToTarget,(-0.80, -0.10, -4.12),True
+
+2025-02-26 오후 6:11:55,,SpinToTarget,(-0.35, -0.10, -6.31),True
+
+2025-02-26 오후 6:11:56,,SpinToTarget,(-0.35, -0.10, -6.31),True
+
+2025-02-26 오후 6:11:58,,MoveToTarget,(-0.35, -0.10, -6.31),True
+
+2025-02-26 오후 6:11:59,,MoveToTarget,(-0.35, -0.10, -6.31),True
+
+2025-02-26 오후 6:12:01,,SpinToTarget,(0.82, -0.10, -6.43),True
+
+2025-02-26 오후 6:12:02,,SpinToTarget,(0.82, -0.10, -6.43),True
+
+2025-02-26 오후 6:12:04,,MoveToTarget,(0.82, -0.10, -6.43),True
+
+2025-02-26 오후 6:12:04,,MoveToTarget,(0.82, -0.10, -6.43),True
+
+2025-02-26 오후 6:12:08,,SpinToTarget,(1.38, -0.10, -4.29),True
+
+2025-02-26 오후 6:12:08,,SpinToTarget,(1.38, -0.10, -4.29),True
+
+2025-02-26 오후 6:12:11,,MoveToTarget,(1.38, -0.10, -4.29),True

Assets/Scripts/XED/Machine/AGV/AGV.cs

@@ -42,7 +42,8 @@ namespace XED.Machine
         public Battery agvBattery = new Battery();
 
         HashSet<GameObject> sensoredObject = new HashSet<GameObject>();
-        LinkedList<AGVOrderClass> orderDeque = new LinkedList<AGVOrderClass>();
+        public LinkedList<AGVOrderClass> orderDeque = new LinkedList<AGVOrderClass>();
+        public List<AGVOrderClass> currentorder;
 
         public event Action<AGV, AGVTaskType, string, bool> onTaskComplete;
         public event Action<AGV> onOrderCompleted;
@@ -171,9 +172,11 @@ namespace XED.Machine
 
         void StartNextOrder()
         {
+            currentorder.Clear();
             if (orderDeque.Count > 0)
             {
                 var popOrder = orderDeque.First.Value;
+                currentorder.AddRange(orderDeque);
                 StartOrder(popOrder);
                 orderDeque.Remove(popOrder);
             }

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

@@ -10,6 +10,7 @@ using UnityEngine.EventSystems;
 using XRLib;
 using XED.Interfaces;
 using XED.Manage;
+using NUnit.Framework.Interfaces;
 
 namespace XED.Machine
 {
@@ -378,6 +379,19 @@ namespace XED.Machine
                 return;
             }
             onNodeSequenceOrdered?.Invoke(selectedNodeSequence);
+            for (int i = 0; i < selectedNodeSequence.Count; i++)
+            {
+                if (i < selectedNodeSequence.Count - 1)
+                {
+                    selectedNodeSequence[i].nodeClass.linkedNodID.Add(selectedNodeSequence[i+1].nodeClass.id);
+                    selectedNodeSequence[i + 1].nodeClass.linkedNodID.Add(selectedNodeSequence[i].nodeClass.id);
+                }
+                else
+                {
+                    selectedNodeSequence[i].nodeClass.linkedNodID.Add(selectedNodeSequence[0].nodeClass.id);
+                    selectedNodeSequence[0].nodeClass.linkedNodID.Add(selectedNodeSequence[i].nodeClass.id);
+                }
+            }
         }
 
         public void OrderNodeAdd(AGVNode node)

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

@@ -12,6 +12,8 @@ namespace XED.Machine
         Two,
         List
     }
+
+    [Serializable]
     public class AGVOrderClass
     {
         public AGVTaskType agvTaskType=AGVTaskType.Waiting;

Assets/Scripts/XED/Machine/AGV/AGV_Manager.cs

@@ -15,7 +15,6 @@ namespace XED.Machine
 
         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";
 
@@ -120,7 +119,6 @@ namespace XED.Machine
                 }
             }
             orderDict.Add(agv, OrderList);
-            onOrderStarted?.Invoke(OrderList);
             agv.onOrderCompleted += OrderReplay;
             agv.onOrderStoped += StopOrder;
         }

Assets/Scripts/XED/Managers/EventConnector.cs

@@ -71,8 +71,7 @@ namespace XED.Manage
                 agvNodeManager.onNodeDeselected += canvas_Popup.agvnodepopup.Popdown;
                 agvNodeManager.onNodeSequenceOrdered += agvManager.ordertoAGV;
                 agvNodeManager.onNodeSequenceUpdated += canvas_Popup.agvnodemodepopup.UpdateTextSelectedAGVNode;
-
-                agvManager.onOrderStarted += agvNodeLinkManager.AddLines;
+                agvNodeManager.onNodeSequenceOrdered += agvNodeLinkManager.AddLines;
             }
 
             void UIConnection()