HDRobotics/Assets/Scripts/AppManager.cs

using System;
using System.Collections;
using System.Collections.Generic;
using System.IO;
using System.Threading;
using UnityEngine;

/// <summary>
/// <20><><EFBFBD>ø<EFBFBD><C3B8><EFBFBD><EFBFBD>̼<EFBFBD><CCBC><EFBFBD> <20><>Ʈ<EFBFBD><C6AE> <20><><EFBFBD><EFBFBD>Ʈ<EFBFBD><C6AE><EFBFBD><EFBFBD> <20><>ü <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> Ŭ<><C5AC><EFBFBD><EFBFBD>
/// <20>̱<EFBFBD><CCB1><EFBFBD>(Singleton) <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ϸ<EFBFBD>, Model, View, Presenter <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>)<29><> <20><><EFBFBD><EFBFBD>
/// <20><> <20><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20>ε<EFBFBD>, <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20>ʱ<EFBFBD>ȭ, <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
/// </summary>
public class AppManager : MonoBehaviour
{
    public static AppManager Instance { get; private set; }

    // --- <20>ν<EFBFBD><CEBD><EFBFBD><EFBFBD><EFBFBD> <20>Ҵ<EFBFBD> <20><> (Static Views) ---
    [Header("UI Views")]
    [SerializeField] private ProgramView view;           // <20><><EFBFBD>α׷<CEB1> <20><><EFBFBD><EFBFBD> UI
    [SerializeField] private TCPView tcpView;            // <20><>ǥ ǥ<><C7A5> UI
    [SerializeField] private RobotInfoView robotInfoView;// <20>κ<EFBFBD> <20><><EFBFBD><EFBFBD> UI
    [SerializeField] private ProgramInfoView programInfoView; // <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> UI
    [SerializeField] private EnvView envView;            // <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> UI
    [SerializeField] private PopupView popupView;        // <20>˾<EFBFBD> UI

    [Header("Scene Views & Controllers")]
    [SerializeField] private GripperCollide gripperCollide;
    [SerializeField] private RobotController robotController; // 3D <20>κ<EFBFBD> <20><><EFBFBD><EFBFBD>
    [SerializeField] private PointManagerView pointManagerView; // <20><><EFBFBD><EFBFBD>Ʈ <20><>Ŀ <20><><EFBFBD><EFBFBD>
    [SerializeField] private PathLineView pathLineView;       // <20>̵<EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
    [SerializeField] private AudioSource robotAudio;          // <20>κ<EFBFBD> ȿ<><C8BF><EFBFBD><EFBFBD> <20>ҽ<EFBFBD>

    // --- <20><>Ÿ<EFBFBD><C5B8> <20><><EFBFBD><EFBFBD> <20><> (Interaction Views) ---
    private InteractionView leftInteractionView;
    private InteractionView rightInteractionView;

    // --- <20><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD> ---
    [SerializeField] private float motorStatePollInterval = 1.0f; // <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> Ȯ<><C8AE> <20>ֱ<EFBFBD>
    public CancellationTokenSource cancellationTokenSource;       // <20>񵿱<EFBFBD> <20>۾<EFBFBD> <20><><EFBFBD>ҿ<EFBFBD> <20><>ū
    private bool isModelAndStaticViewsReady = false;              // <20>ʱ<EFBFBD>ȭ <20>Ϸ<EFBFBD> <20><><EFBFBD><EFBFBD>

    // --- MVP <20>ٽ<EFBFBD> <20><><EFBFBD><EFBFBD> ---
    private ProgramModel model;         // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
    private ProgramPresenter presenter; // <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>

    // --- <20><>Ʈ<EFBFBD><C6AE>ũ <20><><EFBFBD><EFBFBD> ---
    private string hostip;
    private int tcpPort;
    private int udpPort;
    private string configFileName = "config.cfg"; // <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20≯<EFBFBD>


    void Awake()
    {
        // <20>̱<EFBFBD><CCB1><EFBFBD> <20>ʱ<EFBFBD>ȭ
        if (Instance != null && Instance != this)
        {
            Destroy(gameObject);
        }
        else
        {
            Instance = this;
        }

        // --- <20><>Ʈ<EFBFBD><C6AE>ũ <20><><EFBFBD><EFBFBD>ȭ <20><><EFBFBD><EFBFBD> (RTT <20><><EFBFBD><EFBFBD>) ---

        // Nagle <20>˰<EFBFBD><CBB0><EFBFBD><EFBFBD><EFBFBD> <20><>Ȱ<EFBFBD><C8B0>ȭ: 
        // <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>Ͷ<EFBFBD><CDB6><EFBFBD> <20><><EFBFBD>ۿ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ʰ<EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>Ͽ<EFBFBD> <20><><EFBFBD><EFBFBD> <20>ð<EFBFBD>(Latency)<29><> <20><><EFBFBD><EFBFBD> 
        System.Net.ServicePointManager.UseNagleAlgorithm = false;

        // 100-Continue <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>:
        // POST <20><>û <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ٸ<EFBFBD><D9B8><EFBFBD> <20><><EFBFBD>ʿ<EFBFBD><CABF><EFBFBD> <20>պ<EFBFBD> <20>ð<EFBFBD><C3B0><EFBFBD> <20><><EFBFBD><EFBFBD>
        System.Net.ServicePointManager.Expect100Continue = false;

        // <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD>:
        // <20>⺻<EFBFBD><E2BABB><EFBFBD><EFBFBD> <20>÷<EFBFBD> HTTP <20><>û<EFBFBD><C3BB> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> ó<><C3B3><EFBFBD>ǵ<EFBFBD><C7B5><EFBFBD> <20><>
        System.Net.ServicePointManager.DefaultConnectionLimit = 10;
    }

    async void Start()
    {
        // 1. <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20>ε<EFBFBD> (IP/Port)
        LoadConfig();

        // 2. <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><> <20>ʱ<EFBFBD>ȭ (<28><>Ʈ<EFBFBD><C6AE>ũ <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>)
        model = new ProgramModel(hostip, tcpPort, udpPort, robotController);
        await model.InitializeAsync();

        // 3. <20>ʼ<EFBFBD> View <20>Ҵ<EFBFBD> Ȯ<><C8AE>
        if (view == null || tcpView == null || robotInfoView == null || programInfoView == null || envView == null || robotController == null ||
            pointManagerView == null || popupView == null || pathLineView == null)
        {
            Debug.LogError("AppManager<65><72> <20>ν<EFBFBD><CEBD><EFBFBD><EFBFBD>Ϳ<EFBFBD> [Static Views]<5D><> <20><><EFBFBD><EFBFBD> <20>Ҵ<EFBFBD><D2B4><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>", this);
            return;
        }

        isModelAndStaticViewsReady = true;

        // 4. Presenter <20><><EFBFBD><EFBFBD> <20>õ<EFBFBD> (InteractionView<65><77> <20><><EFBFBD>ϵ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
        TryCreatePresenter();
    }

    /// <summary>
    /// InteractionView(<28><>Ʈ<EFBFBD>ѷ<EFBFBD>)<29><> <20>ʱ<EFBFBD>ȭ<EFBFBD><C8AD> <20><> ȣ<><C8A3><EFBFBD>Ͽ<EFBFBD> <20>ڽ<EFBFBD><DABD><EFBFBD> AppManager<65><72> <20><><EFBFBD><EFBFBD>
    /// </summary>
    public void RegisterView(InteractionView Iview)
    {
        if (Iview.handSide == HandSide.Left)
        {
            this.leftInteractionView = Iview;
        }
        else if (Iview.handSide == HandSide.Right)
        {
            this.rightInteractionView = Iview;
        }

        // <20><><EFBFBD><EFBFBD> <20><>Ʈ<EFBFBD>ѷ<EFBFBD><D1B7><EFBFBD> <20>غ<EFBFBD><D8BA>Ǹ<EFBFBD> Presenter <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ٽ<EFBFBD> <20>õ<EFBFBD>
        TryCreatePresenter();
    }

    /// <summary>
    /// <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(Model, Static Views, Interaction Views)<29><> <20>غ<EFBFBD><D8BA>Ǿ<EFBFBD><C7BE><EFBFBD><EFBFBD><EFBFBD> Ȯ<><C8AE><EFBFBD>ϰ<EFBFBD>,
    /// <20>غ<EFBFBD><D8BA>Ǿ<EFBFBD><C7BE>ٸ<EFBFBD> Presenter<65><72> <20><><EFBFBD><EFBFBD><EFBFBD>Ͽ<EFBFBD> MVP <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ϼ<EFBFBD>
    /// </summary>
    private void TryCreatePresenter()
    {
        // <20>̹<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>Ǿ<EFBFBD><C7BE>ų<EFBFBD>, <20>ʼ<EFBFBD> <20><><EFBFBD>Ұ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ϸ<EFBFBD> <20>ߴ<EFBFBD>
        if (presenter != null) return;
        if (!isModelAndStaticViewsReady || leftInteractionView == null || rightInteractionView == null)
        {
            return;
        }

        cancellationTokenSource = new CancellationTokenSource();

        try
        {
            presenter = new ProgramPresenter(
                model,
                view,
                tcpView,
                robotInfoView,
                programInfoView,
                envView,
                gripperCollide,
                leftInteractionView, rightInteractionView,
                pointManagerView,
                popupView,
                pathLineView,
                robotAudio,
                cancellationTokenSource
            );
        }
        catch (Exception e)
        {
            Debug.LogError($"Presenter <20><><EFBFBD><EFBFBD><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD> <20><><EFBFBD><EFBFBD> <20>߻<EFBFBD>: {e.Message}\n{e.StackTrace}");
            return; // <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
        }

        // <20>ʱ<EFBFBD>ȭ <20>ļ<EFBFBD> <20>۾<EFBFBD>
        presenter.RegisterControlledRobot(robotController);
        _ = presenter.UpdateMotorStateAsync(); // <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20>ʱ<EFBFBD> Ȯ<><C8AE>

        // <20><><EFBFBD>׶<EFBFBD><D7B6><EFBFBD><EFBFBD><EFBFBD> <20>۾<EFBFBD> <20><><EFBFBD><EFBFBD> (<28><>ġ <20><><EFBFBD><EFBFBD>ȭ, <20><><EFBFBD><EFBFBD> üũ <20><>)
        _ = model.GetTCPAsync(cancellationTokenSource.Token);
        _ = model.StartMovementCheckLoopAsync(cancellationTokenSource.Token);
        _ = model.GetMovementState(cancellationTokenSource.Token);

        view.DisplayProgram(null);
        // <20>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> Ȯ<><C8AE> <20><>ƾ <20><><EFBFBD><EFBFBD>
        StartCoroutine(PollMotorStateCoroutine());
    }

    private void OnDestroy()
    {
        if (Instance == this)
        {
            cancellationTokenSource?.Cancel();
            cancellationTokenSource?.Dispose();
        }
    }

    /// <summary>
    /// StreamingAssets <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> config.cfg <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>о<EFBFBD> IP<49><50> Port <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ε<EFBFBD>
    /// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>⺻<EFBFBD><E2BABB>(127.0.0.1:8888)<29><> <20><><EFBFBD><EFBFBD>
    /// </summary>
    private void LoadConfig()
    {
        // <20>⺻<EFBFBD><E2BABB> <20><><EFBFBD><EFBFBD> (<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> ã<><C3A3> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>)
        string defaultIp = "127.0.0.1";
        int defaultPort = 8888;

        string path = Path.Combine(Application.streamingAssetsPath, configFileName);

        if (File.Exists(path))
        {
            try
            {
                var config = new Dictionary<string, string>();
                string[] lines = File.ReadAllLines(path);

                foreach (string line in lines)
                {
                    if (string.IsNullOrWhiteSpace(line) || line.Trim().StartsWith("#"))
                        continue;

                    string[] parts = line.Split('=');
                    if (parts.Length == 2)
                    {
                        config[parts[0].Trim()] = parts[1].Trim();
                    }
                }

                if (config.ContainsKey("IP_ADDRESS"))
                {
                    hostip = config["IP_ADDRESS"];
                }
                else
                {
                    hostip = defaultIp;
                    Debug.LogWarning($"config <20><><EFBFBD>Ͽ<EFBFBD> IP_ADDRESS Ű<><C5B0> <20><><EFBFBD><EFBFBD><EFBFBD>ϴ<EFBFBD>. <20>⺻<EFBFBD><E2BABB>({defaultIp}) <20><><EFBFBD><EFBFBD>.");
                }

                if (config.ContainsKey("TCP_PORT"))
                {
                    if (int.TryParse(config["TCP_PORT"], out int parsedPort))
                    {
                        tcpPort = parsedPort;
                    }
                    else
                    {
                        tcpPort = defaultPort;
                        Debug.LogWarning($"config <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> TCP_PORT <20><><EFBFBD><EFBFBD> <20>߸<EFBFBD><DFB8>Ǿ<EFBFBD><C7BE><EFBFBD><EFBFBD>ϴ<EFBFBD>. <20>⺻<EFBFBD><E2BABB>({defaultPort}) <20><><EFBFBD><EFBFBD>.");
                    }
                }
                else
                {
                    tcpPort = defaultPort;
                    Debug.LogWarning($"config <20><><EFBFBD>Ͽ<EFBFBD> TCP_PORT Ű<><C5B0> <20><><EFBFBD><EFBFBD><EFBFBD>ϴ<EFBFBD>. <20>⺻<EFBFBD><E2BABB>({defaultPort}) <20><><EFBFBD><EFBFBD>.");
                }

                if (config.ContainsKey("UDP_PORT"))
                {
                    if (int.TryParse(config["UDP_PORT"], out int parsedPort))
                    {
                        udpPort = parsedPort;
                    }
                    else
                    {
                        udpPort = defaultPort;
                        Debug.LogWarning($"config <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> UDP_PORT <20><><EFBFBD><EFBFBD> <20>߸<EFBFBD><DFB8>Ǿ<EFBFBD><C7BE><EFBFBD><EFBFBD>ϴ<EFBFBD>. <20>⺻<EFBFBD><E2BABB>({defaultPort}) <20><><EFBFBD><EFBFBD>.");
                    }
                }
                else
                {
                    udpPort = defaultPort;
                    Debug.LogWarning($"config <20><><EFBFBD>Ͽ<EFBFBD> UDP_PORT Ű<><C5B0> <20><><EFBFBD><EFBFBD><EFBFBD>ϴ<EFBFBD>. <20>⺻<EFBFBD><E2BABB>({defaultPort}) <20><><EFBFBD><EFBFBD>.");
                }

                Debug.Log($"Config <20>ε<EFBFBD> <20><><EFBFBD><EFBFBD>: {hostip}:{tcpPort}/{udpPort}");
            }
            catch (System.Exception e)
            {
                Debug.LogError($"Config <20><><EFBFBD><EFBFBD> <20>ε<EFBFBD> <20><> <20><><EFBFBD><EFBFBD> <20>߻<EFBFBD>: {e.Message}. <20>⺻<EFBFBD><E2BABB> <20><><EFBFBD><EFBFBD>.");
                hostip = defaultIp;
                tcpPort = defaultPort;
                udpPort = defaultPort;
            }
        }
        else
        {
            Debug.LogWarning($"{configFileName} <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> ã<><C3A3> <20><> <20><><EFBFBD><EFBFBD><EFBFBD>ϴ<EFBFBD>. <20>⺻<EFBFBD><E2BABB>({defaultIp}:{defaultPort}) <20><><EFBFBD><EFBFBD>.");
            hostip = defaultIp;
            tcpPort = defaultPort;
            udpPort = defaultPort;
        }
    }

    /// <summary>
    /// <20>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>κ<EFBFBD><CEBA><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>(ON/OFF)<29><> Ȯ<><C8AE><EFBFBD>Ͽ<EFBFBD> UI<55><49> <20><><EFBFBD><EFBFBD><EFBFBD>ϴ<EFBFBD> <20>ڷ<EFBFBD>ƾ
    /// </summary>
    private IEnumerator PollMotorStateCoroutine()
    {
        while (true)
        {
            yield return new WaitForSeconds(motorStatePollInterval);

            _ = presenter.UpdateMotorStateAsync();
        }
    }
}