HDRobotics/Assets/Scripts/Model/ProgramModel.cs

using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using Palmmedia.ReportGenerator.Core;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net.Http;
using System.Net.Sockets;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using UdpClientLib;
using UnityEngine;

public interface IProgramModel
{

}

public class ProgramModel : IProgramModel
{
    private string baseUrl;
    HttpClient httpClient = new HttpClient();

    private List<JobInfoDTO> allProgramsCache = new List<JobInfoDTO>();
    public RobotProgram CurrentProgram { get; private set; }

    public ProgramModel(string hostip, int tcpPort)
    {
        baseUrl = $"http://{hostip}:{tcpPort}";
    }

    public async Task InitializeAsync()
    {
        await LoadAllPrograms();
        return;
    }

    public async Task<bool> CheckProgramExists(string jobProgramName)
    {
        string requestUri = $"{baseUrl}/file_manager/file_exist?pathname=project/jobs/{jobProgramName}";
        HttpResponseMessage result = await httpClient.GetAsync(requestUri);
        string jsonResponse = await result.Content.ReadAsStringAsync();

        return jsonResponse.Equals("true");
    }

    public async Task<bool> CreateNewProgram(string userInputId)
    {
        if (string.IsNullOrEmpty(userInputId)) return false;

        string newProgramId = $"{userInputId}.job";

        if (await CheckProgramExists(newProgramId))
        {
            Debug.LogError("<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>̹<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>մϴ<D5B4>.");
            return false;
        }
        else
            Debug.Log($"{newProgramId} <20><><EFBFBD><EFBFBD>");


        string robotModelName;
        
        try
        {
            robotModelName = await GetRobotModelNameAsync();
        }
        catch (Exception e)
        {
            Debug.LogError($"<22>κ<EFBFBD> <20>𵨸<EFBFBD><F0B5A8B8><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD>߽<EFBFBD><DFBD>ϴ<EFBFBD>: {e.Message}");
            return false;
        }

        NewJobRequestDTO newJob = new NewJobRequestDTO
        {
            fname = newProgramId,
            model_name = robotModelName,
            n_add_ax = 0
        };

        string jsonString = JsonConvert.SerializeObject(newJob);
        HttpContent jsonPayload = new StringContent(jsonString, Encoding.UTF8, "application/json");
        
        string requestUri = $"{baseUrl}/project/jobs/create_job";
        try
        {
            HttpResponseMessage result = await httpClient.PostAsync(requestUri, jsonPayload);
            if (result.IsSuccessStatusCode)
            {
                await LoadProgram(userInputId);
                return true;
            }
            else
                return false;
        }
        catch (Exception e)
        {
            Debug.LogError($"<22><><EFBFBD>α׷<CEB1> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>: {userInputId}, {e.Message}");
            return false;
        }
    }

    private async Task<string> GetRobotModelNameAsync()
    {
        string requestUri = $"{baseUrl}/project/rgen";

        HttpResponseMessage result = await httpClient.GetAsync(requestUri);
        string jsonResponse = await result.Content.ReadAsStringAsync();

        JObject data = JObject.Parse(jsonResponse);

        string modelName = (string)data.SelectToken("robot_model");

        if (string.IsNullOrEmpty(modelName))
        {
            throw new Exception("<22>κ<EFBFBD> <20><><EFBFBD><EFBFBD> API <20><><EFBFBD>信<EFBFBD><E4BFA1> <20>𵨸<EFBFBD><F0B5A8B8><EFBFBD> ã<><C3A3> <20><> <20><><EFBFBD><EFBFBD><EFBFBD>ϴ<EFBFBD>.");
        }

        return modelName;
    }

    public async Task<bool> GetRobotMotorStateAsync()
    {
        string requestUri = $"{baseUrl}/project/rgen";

        HttpResponseMessage result = await httpClient.GetAsync(requestUri);
        string jsonResponse = await result.Content.ReadAsStringAsync();

        JObject data = JObject.Parse(jsonResponse);

        int motorState = (int)data.SelectToken("enable_state");
        if (motorState == 2 || motorState == 256)
            return true;
        else if (motorState == 1)
            return false;
        else
        {
            throw new Exception("<22>κ<EFBFBD> <20><><EFBFBD><EFBFBD> API <20><><EFBFBD>信<EFBFBD><E4BFA1> <20><><EFBFBD><EFBFBD> <20><><EFBFBD>¸<EFBFBD> ã<><C3A3> <20><> <20><><EFBFBD><EFBFBD><EFBFBD>ϴ<EFBFBD>.");
        }
    }

    public async Task<bool> LoadProgram(string programId)
    {
        string requestUri = $"{baseUrl}/file_manager/files?pathname=project/jobs/{programId}&common";

        HttpResponseMessage result = await httpClient.GetAsync(requestUri);
        string rawTextContent = await result.Content.ReadAsStringAsync();

        if (string.IsNullOrEmpty(rawTextContent))
        {
            return false;
        }

        CurrentProgram = new RobotProgram(programId, rawTextContent);

        return true;
    }

    private async Task LoadAllPrograms()
    {
        allProgramsCache.Clear();
        string jsonResponse = null;
        string wrappedJson = null;

        try
        {
            HttpResponseMessage result = await httpClient.GetAsync($"{baseUrl}/project/jobs_info");
            jsonResponse = await result.Content.ReadAsStringAsync();

            wrappedJson = $"{{\"jobs\":{jsonResponse}}}";
            JobListWrapper wrapper = JsonUtility.FromJson<JobListWrapper>(wrappedJson);

            if (wrapper != null && wrapper.jobs != null)
            {
                allProgramsCache = wrapper.jobs;
            }
            else
            {
                Debug.LogError("<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> job <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>Ľ<EFBFBD><C4BD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD>ϴ<EFBFBD>: " + jsonResponse);
            }
        }
        catch (ArgumentException e)
        {
            Debug.LogError($"JSON <20>Ľ<EFBFBD> <20><><EFBFBD><EFBFBD>: {e.Message}");
        }
        catch (Exception e)
        {
            Debug.LogError($"LoadAllPrograms <20><> <20><> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>: {e.Message}");
        }
    }

    public List<string> GetAllProgramIds()
    {
        List<string> ids = new List<string>();
        foreach (var jobInfo in allProgramsCache)
        {
            ids.Add(jobInfo.fname);
        }
        return ids;
    }
}