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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 diff --git a/Assets/Scripts/Model/ProgramModel.cs b/Assets/Scripts/Model/ProgramModel.cs index b2f7a97..1b64451 100644 --- a/Assets/Scripts/Model/ProgramModel.cs +++ b/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; // ͸ оǷ ÷׸ + //hasNewData = false; // ͸ оǷ ÷׸ 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 { { 2, 0x00 }, { 4, 0x50 } }); + await Task.Delay(100, token); } } catch (TaskCanceledException) diff --git a/Assets/Scripts/Presenter/ProgramPresenter.cs b/Assets/Scripts/Presenter/ProgramPresenter.cs index e528b3c..d437960 100644 --- a/Assets/Scripts/Presenter/ProgramPresenter.cs +++ b/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) diff --git a/Assets/Scripts/View/TCPView.cs b/Assets/Scripts/View/TCPView.cs index e600ab4..1e5c6ed 100644 --- a/Assets/Scripts/View/TCPView.cs +++ b/Assets/Scripts/View/TCPView.cs @@ -5,6 +5,9 @@ using System; public class TCPView : MonoBehaviour { public event Action OnTCPupdateRequested; + // ͸ (ij) + private float lastX, lastY, lastZ, lastRx, lastRy, lastRz; + private bool isFirstUpdate = true; // --- TCP ǥ --- [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"); + + // ij Ʈ + 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; } } diff --git a/ProjectSettings/TimeManager.asset b/ProjectSettings/TimeManager.asset index 558a017..2b310ad 100644 --- a/ProjectSettings/TimeManager.asset +++ b/ProjectSettings/TimeManager.asset @@ -3,7 +3,11 @@ --- !u!5 &1 TimeManager: m_ObjectHideFlags: 0 - 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