HDRobotics/Assets/Scripts/Model/RobotProgram.cs

using System.Collections.Generic;
using System.Linq;
using System;
using UnityEngine;

public class RobotProgram
{
    public string ProgramId { get; private set; }
    public List<RobotMoveStep> Steps { get; private set; }

    public RobotProgram(string programId, string rawTextContent)
    {
        this.ProgramId = programId;
        this.Steps = new List<RobotMoveStep>();

        ParseJobContent(rawTextContent);
    }

    /// <summary>
    /// GET <20><><EFBFBD><EFBFBD>(rawText)<29><> <20>Ľ<EFBFBD><C4BD>Ͽ<EFBFBD> Steps <20><><EFBFBD><EFBFBD>Ʈ<EFBFBD><C6AE> ä<><C3A4>
    /// </summary>
    private void ParseJobContent(string rawText)
    {
        string[] lines = rawText.Split(new[] { '\r', '\n' }, StringSplitOptions.RemoveEmptyEntries);

        foreach (string line in lines)
        {
            // S<<3C><>ȣ><3E><> <20><><EFBFBD><EFBFBD><EFBFBD>ϰ<EFBFBD>, [<5B><>ǥ]<5D><> <20><><EFBFBD><EFBFBD><EFBFBD>ϴ<EFBFBD> <20><><EFBFBD>θ<EFBFBD> <20>Ľ<EFBFBD>
            if (line.StartsWith("S") && line.Contains("["))
            {
                string coordString = ExtractCoordinates(line);
                if (!string.IsNullOrEmpty(coordString))
                {
                    Steps.Add(new RobotMoveStep(line, coordString));
                }
            }
        }

        Debug.Log($"<22><><EFBFBD>α׷<CEB1> '{ProgramId}' <20>ε<EFBFBD> <20>Ϸ<EFBFBD>. {Steps.Count}<7D><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20>Ľ̵<C4BD>.");
    }

    private string ExtractCoordinates(string line)
    {
        int start = line.IndexOf('[');
        int end = line.IndexOf(']');
        if (start != -1 && end != -1)
        {
            return line.Substring(start + 1, end - start -1);
        }
        return string.Empty;
    }

    /// <summary>
    /// <20><> <20><><EFBFBD><EFBFBD>Ʈ <20><><EFBFBD><EFBFBD> ij<>ÿ<EFBFBD> <20>߰<EFBFBD>
    /// </summary>
    public void AddStep(RobotData data, int toolNum)
    {
        int newStepNum = (Steps.Count > 0) ? Steps.Last().StepNumber + 1 : 1;
        string cmd = $"move P,spd=50%,accu=3,tool={toolNum}";
        RobotPose newPose = new RobotPose(data);

        string line = $"S{newStepNum} {cmd} {newPose.ToString()}";

        Steps.Add(new RobotMoveStep(line, ExtractCoordinates(line)));
    }

    /// <summary>
    /// <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>Ʈ<EFBFBD><C6AE> Pose <20><><EFBFBD><EFBFBD> ij<>ÿ<EFBFBD><C3BF><EFBFBD> <20><><EFBFBD><EFBFBD>
    /// </summary>
    public void UpdateStep(int index, RobotData data)
    {
        if (index < 0 || index >= Steps.Count)
        {
            Debug.LogError($"UpdateStep: <20>߸<EFBFBD><DFB8><EFBFBD> <20>ε<EFBFBD><CEB5><EFBFBD> {index}");
            return;
        }

        Steps[index].UpdatePose(new RobotPose(data));
    }

    /// <summary>
    /// <20><><EFBFBD><EFBFBD>Ʈ<EFBFBD><C6AE> <20><><EFBFBD><EFBFBD> ij<>ÿ<EFBFBD><C3BF><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ϰ<EFBFBD> S<<3C><>ȣ> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    /// </summary>
    public void DeleteStep(int index)
    {
        if (index < 0 || index >= Steps.Count)
        {
            Debug.LogError($"DeleteStep: <20>߸<EFBFBD><DFB8><EFBFBD> <20>ε<EFBFBD><CEB5><EFBFBD> {index}");
            return;
        }

        Steps.RemoveAt(index);

        // <20><><EFBFBD><EFBFBD> <20><>ȣ <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (S1, S2, S3...)
        for (int i = 0; i < Steps.Count; i++)
        {
            // MoveCommand<6E><64> <20>״<EFBFBD><D7B4><EFBFBD> <20><><EFBFBD><EFBFBD>
            Steps[i].UpdateStepNumber(i + 1);
        }
    }

    /// <summary>
    /// Ư<><C6AF> <20>ε<EFBFBD><CEB5><EFBFBD><EFBFBD><EFBFBD> Pose<73><65> RobotData<74><61> <20><>ȯ
    /// </summary>
    public RobotData GetStepPose(int index)
    {
        if (index < 0 || index >= Steps.Count)
        {
            Debug.LogError($"GetStepPose: <20>߸<EFBFBD><DFB8><EFBFBD> <20>ε<EFBFBD><CEB5><EFBFBD> {index}");
            return new RobotData(); // <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ȯ
        }

        return Steps[index].Pose.ToRobotData();
    }

    /// <summary>
    /// <20><><EFBFBD><EFBFBD> Pose<73><65> List<RobotData><3E><> <20><>ȯ
    /// </summary>
    public List<RobotData> GetAllStepPoses()
    {
        return Steps.Select(step => step.Pose.ToRobotData()).ToList();
    }
}