<feat> 로봇 동기화 (제어기 <-> 3d)

Assets/Scripts/AppManager.cs

@@ -7,35 +7,80 @@ using UnityEngine;
 
 public class AppManager : MonoBehaviour
 {
+    public static AppManager Instance { get; private set; }
+
     [SerializeField] private ProgramView view;
     [SerializeField] private TCPView tcpView;
     [SerializeField] private RobotController robotController;
 
-    [SerializeField] private InteractionView interactionView;
+    private InteractionView interactionView;
     [SerializeField] private PointManagerView pointManagerView;
     [SerializeField] private PathLineView pathLineView;
     [SerializeField] private PopupView popupView;
 
     [SerializeField] private float motorStatePollInterval = 1.0f;
+    public CancellationTokenSource cancellationTokenSource;
+    private bool isModelAndStaticViewsReady = false;
+    private ProgramModel model;
     private ProgramPresenter presenter;
     private string hostip;
     private int tcpPort;
     private int udpPort;
     private string configFileName = "config.cfg";
-    private CancellationToken cancellationToken;
+
+
+    void Awake()
+    {
+        if (Instance != null && Instance != this)
+        {
+            Destroy(gameObject);
+        }
+        else
+        {
+            Instance = this;
+        }
+    }
 
     async void Start()
     {
         LoadConfig();
 
-        ProgramModel model = new ProgramModel(hostip, tcpPort, udpPort);
+        model = new ProgramModel(hostip, tcpPort, udpPort, robotController);
         await model.InitializeAsync();
-        _ = model.GetTCPAsync(cancellationToken);
 
-        presenter = new ProgramPresenter(model, view, tcpView, interactionView, pointManagerView, popupView, pathLineView);
+        isModelAndStaticViewsReady = true;
+        TryCreatePresenter();
+    }
+
+    public void RegisterView(InteractionView Iview)
+    {
+        if (this.interactionView != null) return;
+        this.interactionView = Iview;
+
+        TryCreatePresenter();
+    }
+
+    private void TryCreatePresenter()
+    {
+        if (presenter != null) return;
+
+        presenter = new ProgramPresenter(
+            model,
+            view,
+            tcpView,
+            interactionView,
+            pointManagerView,
+            popupView,
+            pathLineView
+        );
+
         presenter.RegisterControlledRobot(robotController);
+        _ = presenter.UpdateMotorStateAsync();
+
+        cancellationTokenSource = new CancellationTokenSource();
+        _ = model.GetTCPAsync(cancellationTokenSource.Token);
+        _ = model.StartMovementCheckLoopAsync(cancellationTokenSource.Token);
 
-        await presenter.UpdateMotorStateAsync();
         view.DisplayProgram(null);
         StartCoroutine(PollMotorStateCoroutine());
     }