<fix> 로봇 모델 변경 및 TCP 실시간 좌표 안 받아와지던 버그 해결

Assets/Resources/Models/hh7_rev1.fbx.meta

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Assets/Scripts/BoxController.cs

@@ -48,7 +48,7 @@ public class BoxController : MonoBehaviour
             // 로봇 팔을 부모로 설정하여 따라다니게 함
             attachParent = other.transform;
             transform.SetParent(attachParent);
-            transform.localPosition = new Vector3(0, 0, -0.00199f);
+            transform.localPosition = new Vector3(0.000360000005f, 0f, 0.00267999992f);
             transform.localRotation = Quaternion.identity;
 
             // 부착된 동안 물리적 충돌이나 중력을 무시하도록 Rigidbody를 Kinematic으로 설정

Assets/Scripts/Model/ProgramModel.cs

@@ -53,7 +53,7 @@ public class ProgramModel
     public async Task InitializeAsync()
     {
         await LoadAllPrograms();
-        hasNewData = false;
+        hasNewData = true;
         IsMoving = false;
         isError = false;
 
@@ -72,17 +72,14 @@ public class ProgramModel
 
     public bool IsNewDataAvailable()
     {
-        lock (lockObject)
-        {
-            return hasNewData;
-        }
+        return robotData != null;
     }
 
     public RobotData GetLatestRobotData()
     {
         lock (lockObject)
         {
-            hasNewData = false; // 데이터를 읽었으므로 플래그를 내림
+            //hasNewData = false; // 데이터를 읽었으므로 플래그를 내림
             return robotData;
         }
     }
@@ -236,7 +233,7 @@ public class ProgramModel
                     robotData = tempRobotData;
                     hasNewData = true;
                 }
-                await Task.Delay(50, token);
+                await Task.Delay(10, token);
             }
             catch (Exception e)
             {
@@ -472,7 +469,7 @@ public class ProgramModel
             startMovementPosition.z = Convert.ToSingle(Math.Round(position.y * 1000, 2));
 
             string jsonResponse = await tcpClient.SendPostRequestAsync("/project/robot/move_to_pose_manual", 
-                $"{{\"pose_tg\":{{\"crd\":\"robot\",\"_type\":\"Pose\",\"mechinfo\":1,\"x\":{startMovementPosition.x},\"y\":{startMovementPosition.y},\"z\":{startMovementPosition.z}, \"rx\":{robotData.rx}, \"ry\":{robotData.ry}, \"rz\":{robotData.rz}}}}}");
+                $"{{\"pose_tg\":{{\"crd\":\"robot\",\"_type\":\"Pose\",\"mechinfo\":1,\"x\":{startMovementPosition.x},\"y\":{startMovementPosition.y},\"z\":{startMovementPosition.z}, \"rx\":-180, \"ry\":0, \"rz\":180}}}}");
 
             if (jsonResponse.Contains("200"))
             {
@@ -543,7 +540,8 @@ public class ProgramModel
                 }
                 else
                 {
-                    await Task.Delay(10, token);
+                    await udpClient.SendFilledBytesAsync(new Dictionary<int, byte> { { 2, 0x00 }, { 4, 0x50 } });
+                    await Task.Delay(100, token);
                 }
             }
             catch (TaskCanceledException)

Assets/Scripts/Presenter/ProgramPresenter.cs

@@ -684,7 +684,7 @@ public class ProgramPresenter
     private float CalcMaxFollowDistance(Bounds bounds)
     {
         float r = bounds.extents.magnitude;
-        return Mathf.Clamp(r * 0.8f, 0.15f, 0.30f);
+        return Mathf.Clamp(r * 1.5f, 0.2f, 1f);
     }
 
     //private void StartDragMoveLoop(Vector3 dragPosition)

Assets/Scripts/View/TCPView.cs

@@ -5,6 +5,9 @@ using System;
 public class TCPView : MonoBehaviour
 {
     public event Action OnTCPupdateRequested;
+    // 이전 데이터를 기억할 변수 (캐싱)
+    private float lastX, lastY, lastZ, lastRx, lastRy, lastRz;
+    private bool isFirstUpdate = true;
 
     // --- TCP 좌표들 ---
     [SerializeField] private TextMeshProUGUI x;
@@ -24,12 +27,26 @@ public class TCPView : MonoBehaviour
     public void SetCoordinates(RobotData data)
     {
         if (data == null) return;
-
+        if (!isFirstUpdate &&
+            Mathf.Approximately((float)data.x, lastX) &&
+            Mathf.Approximately((float)data.y, lastY) &&
+            Mathf.Approximately((float)data.z, lastZ) &&
+            Mathf.Approximately((float)data.rx, lastRx) &&
+            Mathf.Approximately((float)data.ry, lastRy) &&
+            Mathf.Approximately((float)data.rz, lastRz))
+        {
+            return;
+        }
         x.text = data.x.ToString("F2");
         Y.text = data.y.ToString("F2");
         Z.text = data.z.ToString("F2");
         Rx.text = data.rx.ToString("F2");
         Ry.text = data.ry.ToString("F2");
         Rz.text = data.rz.ToString("F2");
+
+        // 캐시 업데이트
+        lastX = (float)data.x; lastY = (float)data.y; lastZ = (float)data.z;
+        lastRx = (float)data.rx; lastRy = (float)data.ry; lastRz = (float)data.rz;
+        isFirstUpdate = false;
     }
 }

ProjectSettings/TimeManager.asset

@@ -3,7 +3,11 @@
 --- !u!5 &1
 TimeManager:
   m_ObjectHideFlags: 0
-  Fixed Timestep: 0.02
+  Fixed Timestep:
+    m_Count: 1567998
+    m_Rate:
+      m_Denominator: 1
+      m_Numerator: 141120000
   Maximum Allowed Timestep: 0.33333334
   m_TimeScale: 1
   Maximum Particle Timestep: 0.03