<feat> 로봇 TCP 동기화

2025-10-30 09:31:05 +09:00
parent 437f273595
commit 6d62309b68
17 changed files with 1173 additions and 31 deletions
--- a/Assets/HybridIK/Scripts/Main/HybridInverseKinematicsNode.cs
+++ b/Assets/HybridIK/Scripts/Main/HybridInverseKinematicsNode.cs
@@ -122,6 +122,40 @@ public class HybridInverseKinematicsNode : MonoBehaviour
        return currentRotations;
    }

+    public List<float> GetCurrentJointAxisRotations(char axis = 'z')
+    {
+        List<float> jointAngles = new List<float>();
+        if (nodes == null || nodes.Count == 0) return jointAngles;
+
+        foreach (HybridIKJoint node in nodes)
+        {
+            if (node.jointTransform != null)
+            {
+                // 관절의 부모 기준 로컬 회전값을 Euler 각도(0-360)로 가져옴
+                Vector3 localEulerAngles = node.jointTransform.localEulerAngles;
+
+                // 매개변수로 받은 축에 해당하는 값을 리스트에 추가
+                switch (axis)
+                {
+                    case 'x':
+                    case 'X':
+                        jointAngles.Add(localEulerAngles.x);
+                        break;
+                    case 'y':
+                    case 'Y':
+                        jointAngles.Add(localEulerAngles.y);
+                        break;
+                    case 'z':
+                    case 'Z':
+                    default:
+                        jointAngles.Add(localEulerAngles.z);
+                        break;
+                }
+            }
+        }
+        return jointAngles;
+    }
+
    public void SetJointTargetPositions(List<Vector3> newPositions)
    {
        if (nodes == null || nodes.Count != newPositions.Count)
@@ -152,6 +186,46 @@ public class HybridInverseKinematicsNode : MonoBehaviour
        }
    }

+    public void SetCurrentJointAxisRotations(List<float> jointAngles, char axis = 'z')
+    {
+        // 노드 리스트가 없거나, 받은 각도 리스트의 개수가 일치하지 않으면 오류를 출력하고 중단
+        if (nodes == null || nodes.Count == 0 || jointAngles == null || nodes.Count != jointAngles.Count)
+        {
+            Debug.LogError($"관절 개수가 맞지 않습니다. (모델: {nodes?.Count ?? 0}개, 받은 데이터: {jointAngles?.Count ?? 0}개)");
+            return;
+        }
+
+        for (int i = 0; i < nodes.Count; i++)
+        {
+            if (nodes[i].jointTransform != null)
+            {
+                // 현재 로컬 오일러 각도를 Vector3 변수로 가져옴
+                Vector3 currentLocalEuler = nodes[i].jointTransform.localEulerAngles;
+
+                // 매개변수로 받은 축에 해당하는 값을 Vector3 변수에서 수정
+                switch (axis)
+                {
+                    case 'x':
+                    case 'X':
+                        currentLocalEuler.x = jointAngles[i];
+                        break;
+                    case 'y':
+                    case 'Y':
+                        currentLocalEuler.y = jointAngles[i];
+                        break;
+                    case 'z':
+                    case 'Z':
+                    default:
+                        currentLocalEuler.z = jointAngles[i];
+                        break;
+                }
+
+                // 수정된 Vector3 전체를 다시 할당
+                nodes[i].jointTransform.localEulerAngles = currentLocalEuler;
+            }
+        }
+    }
+
    #region DebugDraw
    void OnDrawGizmos()
    {
--- a/Assets/HybridIK/Scripts/Main/RobotController.cs
+++ b/Assets/HybridIK/Scripts/Main/RobotController.cs
@@ -1,9 +1,14 @@
 using UnityEngine;
 using System.Collections;
 using System;
+using NUnit.Framework;
+using System.Collections.Generic;

 public class RobotController : MonoBehaviour
 {
+    [Header("IK")]
+    [SerializeField] private HybridInverseKinematicsNode kinematicsNode;
+
    [Header("Motor State")]
    [SerializeField] private GameObject motorStatusIndicator1;
    [SerializeField] private GameObject motorStatusIndicator2;
@@ -11,6 +16,8 @@ public class RobotController : MonoBehaviour
    [SerializeField] private Material indicatorMaterial1; // 기본색(회색)
    [SerializeField] private Material indicatorMaterial2; // 초록
    
+    public event Action OnPoseUpdateRequest;
+
    private bool isMotorOn;

    void Start()
@@ -25,6 +32,11 @@ public class RobotController : MonoBehaviour
        }
    }

+    private void Update()
+    {
+        OnPoseUpdateRequest?.Invoke();// TODO. 로봇을 잡고 움직일 때와 아닐 때 구분하기
+    }
+
    public void SetMotorState(bool isOn)
    {
        isMotorOn = isOn;
@@ -47,4 +59,22 @@ public class RobotController : MonoBehaviour
            }
        }
    }
+
+    public void SetRobotPosition(RobotData robotData) // 가상 로봇 위치 업데이트
+    {
+        // x, y, z, rx, ry, rz => endpoint값
+        // j1, ..., j6 => 6개 축의 회전값
+        kinematicsNode.targetTransform.localPosition = new Vector3(robotData.x, robotData.y, robotData.z);
+        kinematicsNode.targetTransform.localRotation = new Quaternion(robotData.rx, robotData.ry, robotData.rz, 0);
+
+        List<float> list_jAngle = new List<float>();
+        list_jAngle.Add(robotData.j6);
+        list_jAngle.Add(robotData.j5);
+        list_jAngle.Add(robotData.j4);
+        list_jAngle.Add(robotData.j3);
+        list_jAngle.Add(robotData.j2);
+        list_jAngle.Add(robotData.j1);
+
+        kinematicsNode.SetCurrentJointAxisRotations(list_jAngle, 'x');
+    }
 }
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--- a/Assets/Scenes/HDRobo_Main.unity
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+  m_GameObject: {fileID: 1568384454}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: c1b136fe9693203418aa8d9bacb7cfcf, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
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 GameObject:
  m_ObjectHideFlags: 0
@@ -57054,15 +57328,15 @@ PrefabInstance:
      objectReference: {fileID: 0}
    - target: {fileID: -8679921383154817045, guid: 9d5ec35fa0043fd488588e61261d23de, type: 3}
      propertyPath: m_LocalPosition.x
-      value: 1.451
+      value: -0.21000004
      objectReference: {fileID: 0}
    - target: {fileID: -8679921383154817045, guid: 9d5ec35fa0043fd488588e61261d23de, type: 3}
      propertyPath: m_LocalPosition.y
-      value: 0.483
+      value: 0.4829999
      objectReference: {fileID: 0}
    - target: {fileID: -8679921383154817045, guid: 9d5ec35fa0043fd488588e61261d23de, type: 3}
      propertyPath: m_LocalPosition.z
-      value: 0.562
+      value: 1.7019999
      objectReference: {fileID: 0}
    - target: {fileID: -8679921383154817045, guid: 9d5ec35fa0043fd488588e61261d23de, type: 3}
      propertyPath: m_LocalRotation.w
@@ -60885,15 +61159,15 @@ PrefabInstance:
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      propertyPath: m_LocalPosition.x
-      value: 1.521
+      value: -0.13999999
      objectReference: {fileID: 0}
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      propertyPath: m_LocalPosition.y
-      value: 0.00000011920929
+      value: 0
      objectReference: {fileID: 0}
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      propertyPath: m_LocalPosition.z
-      value: -2.71
+      value: -1.57
      objectReference: {fileID: 0}
    - target: {fileID: -8679921383154817045, guid: 6c52fe1416d967a409332c0065a41575, type: 3}
      propertyPath: m_LocalRotation.w
@@ -61191,7 +61465,7 @@ RectTransform:
  m_PrefabAsset: {fileID: 0}
  m_GameObject: {fileID: 2084353331}
  m_LocalRotation: {x: -0, y: -0.72839886, z: -0, w: 0.68515337}
-  m_LocalPosition: {x: 0, y: 0, z: -0.368}
+  m_LocalPosition: {x: 0, y: 0, z: 0.55}
  m_LocalScale: {x: 0.673158, y: 0.904753, z: 1}
  m_ConstrainProportionsScale: 0
  m_Children:
@@ -61200,7 +61474,7 @@ RectTransform:
  m_LocalEulerAnglesHint: {x: 0, y: -93.505, z: 0}
  m_AnchorMin: {x: 0, y: 0}
  m_AnchorMax: {x: 0, y: 0}
-  m_AnchoredPosition: {x: 2.676, y: 1.548}
+  m_AnchoredPosition: {x: 1.67, y: 1.548}
  m_SizeDelta: {x: 1, y: 1}
  m_Pivot: {x: 0.5, y: 0.5}
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@@ -62731,7 +63005,7 @@ Transform:
  m_GameObject: {fileID: 34692899277808924}
  serializedVersion: 2
  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 1.443, y: 0, z: -0.961}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
  m_LocalScale: {x: 1, y: 1, z: 1}
  m_ConstrainProportionsScale: 0
  m_Children:
@@ -62750,6 +63024,7 @@ MonoBehaviour:
  m_Script: {fileID: 11500000, guid: c12f4ab377ddfdc46820089b240eaf27, type: 3}
  m_Name: 
  m_EditorClassIdentifier: 
+  kinematicsNode: {fileID: 722849473}
  motorStatusIndicator1: {fileID: 1475297475771640280}
  motorStatusIndicator2: {fileID: 2476781507827223150}
  indicatorMaterial1: {fileID: 2100000, guid: 8429ea8a04d5dd844875dc07c5f6c06b, type: 2}
@@ -63190,6 +63465,108 @@ Transform:
  m_Children: []
  m_Father: {fileID: 6476108356885335244}
  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1001 &4070703782762572035
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    serializedVersion: 3
+    m_TransformParent: {fileID: 1568384458}
+    m_Modifications:
+    - target: {fileID: 23272902704394604, guid: 3e14dc8ccaa006641934bf740bd1e88d, type: 3}
+      propertyPath: m_Pivot.x
+      value: 0.5
+      objectReference: {fileID: 0}
+    - target: {fileID: 23272902704394604, guid: 3e14dc8ccaa006641934bf740bd1e88d, type: 3}
+      propertyPath: m_Pivot.y
+      value: 0.5
+      objectReference: {fileID: 0}
+    - target: {fileID: 23272902704394604, guid: 3e14dc8ccaa006641934bf740bd1e88d, type: 3}
+      propertyPath: m_AnchorMax.x
+      value: 0.5
+      objectReference: {fileID: 0}
+    - target: {fileID: 23272902704394604, guid: 3e14dc8ccaa006641934bf740bd1e88d, type: 3}
+      propertyPath: m_AnchorMax.y
+      value: 0.5
+      objectReference: {fileID: 0}
+    - target: {fileID: 23272902704394604, guid: 3e14dc8ccaa006641934bf740bd1e88d, type: 3}
+      propertyPath: m_AnchorMin.x
+      value: 0.5
+      objectReference: {fileID: 0}
+    - target: {fileID: 23272902704394604, guid: 3e14dc8ccaa006641934bf740bd1e88d, type: 3}
+      propertyPath: m_AnchorMin.y
+      value: 0.5
+      objectReference: {fileID: 0}
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+      value: 0.2
+      objectReference: {fileID: 0}
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+      propertyPath: m_SizeDelta.y
+      value: 0.3
+      objectReference: {fileID: 0}
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+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 23272902704394604, guid: 3e14dc8ccaa006641934bf740bd1e88d, type: 3}
+      propertyPath: m_LocalPosition.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 23272902704394604, guid: 3e14dc8ccaa006641934bf740bd1e88d, type: 3}
+      propertyPath: m_LocalPosition.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 23272902704394604, guid: 3e14dc8ccaa006641934bf740bd1e88d, type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 23272902704394604, guid: 3e14dc8ccaa006641934bf740bd1e88d, type: 3}
+      propertyPath: m_LocalRotation.x
+      value: 0
+      objectReference: {fileID: 0}
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+      propertyPath: m_LocalRotation.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 23272902704394604, guid: 3e14dc8ccaa006641934bf740bd1e88d, type: 3}
+      propertyPath: m_LocalRotation.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 23272902704394604, guid: 3e14dc8ccaa006641934bf740bd1e88d, type: 3}
+      propertyPath: m_AnchoredPosition.x
+      value: 0
+      objectReference: {fileID: 0}
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+      propertyPath: m_AnchoredPosition.y
+      value: 0
+      objectReference: {fileID: 0}
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+      propertyPath: m_LocalEulerAnglesHint.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 23272902704394604, guid: 3e14dc8ccaa006641934bf740bd1e88d, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 23272902704394604, guid: 3e14dc8ccaa006641934bf740bd1e88d, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 280273810869499429, guid: 3e14dc8ccaa006641934bf740bd1e88d, type: 3}
+      propertyPath: m_Name
+      value: Point_Prefab
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+    m_RemovedGameObjects: []
+    m_AddedGameObjects: []
+    m_AddedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: 3e14dc8ccaa006641934bf740bd1e88d, type: 3}
+--- !u!224 &4070703782762572036 stripped
+RectTransform:
+  m_CorrespondingSourceObject: {fileID: 23272902704394604, guid: 3e14dc8ccaa006641934bf740bd1e88d, type: 3}
+  m_PrefabInstance: {fileID: 4070703782762572035}
+  m_PrefabAsset: {fileID: 0}
 --- !u!23 &4421136600761446311
 MeshRenderer:
  m_ObjectHideFlags: 0
@@ -63960,6 +64337,7 @@ SceneRoots:
  - {fileID: 1814192178}
  - {fileID: 2084353335}
  - {fileID: 1313589742}
+  - {fileID: 1568384458}
  - {fileID: 1299890571}
  - {fileID: 580519499}
  - {fileID: 2077727516}
--- a/Assets/Scripts/AppManager.cs
+++ b/Assets/Scripts/AppManager.cs
@@ -1,6 +1,7 @@
 using System.Collections;
 using System.Collections.Generic;
 using System.IO;
+using System.Threading;
 using UnityEngine;


@@ -9,12 +10,19 @@ public class AppManager : MonoBehaviour
    [SerializeField] private ProgramView view;
    [SerializeField] private TCPView tcpView;
    [SerializeField] private RobotController robotController;
+
+    [SerializeField] private InteractionView interactionView;
+    [SerializeField] private PointManagerView pointManagerView;
+    [SerializeField] private PathLineView pathLineView;
+    [SerializeField] private PopupView popupView;
+
    [SerializeField] private float motorStatePollInterval = 1.0f;
-    ProgramPresenter presenter;
+    private ProgramPresenter presenter;
    private string hostip;
    private int tcpPort;
    private int udpPort;
    private string configFileName = "config.cfg";
+    private CancellationToken cancellationToken;

    async void Start()
    {
@@ -22,15 +30,13 @@ public class AppManager : MonoBehaviour

        ProgramModel model = new ProgramModel(hostip, tcpPort, udpPort);
        await model.InitializeAsync();
-        _ = model.GetTCPAsync();
+        _ = model.GetTCPAsync(cancellationToken);

-        presenter = new ProgramPresenter(model, view, tcpView);
+        presenter = new ProgramPresenter(model, view, tcpView, interactionView, pointManagerView, popupView, pathLineView);
        presenter.RegisterControlledRobot(robotController);

        await presenter.UpdateMotorStateAsync();
-
        view.DisplayProgram(null);
-
        StartCoroutine(PollMotorStateCoroutine());
    }

--- a/Assets/Scripts/Model/ProgramModel.cs
+++ b/Assets/Scripts/Model/ProgramModel.cs
@@ -3,6 +3,7 @@ using Newtonsoft.Json.Linq;
 using Palmmedia.ReportGenerator.Core;
 using System;
 using System.Collections.Generic;
+using System.IO;
 using System.Linq;
 using System.Net.Http;
 using System.Net.Sockets;
@@ -22,6 +23,7 @@ public class ProgramModel : IProgramModel
    private string tcpBaseUrl;
    private string udpBaseUrl;
    HttpClient httpClient = new HttpClient();
+    private SingleTcpClient tcpClient;
    private SingleUdpClient udpClientForHttp;
    public UdpClientManager manager = new UdpClientManager();

@@ -32,8 +34,10 @@ public class ProgramModel : IProgramModel

    private readonly object lockObject = new object();
    private bool hasNewData;
-
-    public bool isUdpLoopRunning = false;
+    public bool IsUdpLoopRunning = false;
+    public bool IsMoving;
+    public CancellationTokenSource cancellationTokenSource;
+    private Vector3 startMovementPosition;

    public ProgramModel(string hostip, int tcpPort, int udpPort)
    {
@@ -46,7 +50,8 @@ public class ProgramModel : IProgramModel
    {
        await LoadAllPrograms();
        hasNewData = false;
-        isUdpLoopRunning = true;
+        IsUdpLoopRunning = true;
+        IsMoving = false;
        return;
    }

@@ -63,10 +68,14 @@ public class ProgramModel : IProgramModel
        lock (lockObject)
        {
            hasNewData = false; // 데이터를 읽었으므로 플래그를 내림
-            return robotData; // (데이터 복사본을 반환하는 것이 더 안전할 수 있음)
+            return robotData;
        }
    }

+    /// <summary>
+    /// 프로그램 생성/불러오기 시스템
+    /// </summary>
+
    public async Task<bool> CheckProgramExists(string jobProgramName)
    {
        string requestUri = $"{tcpBaseUrl}/file_manager/file_exist?pathname=project/jobs/{jobProgramName}";
@@ -171,9 +180,9 @@ public class ProgramModel : IProgramModel
        }
    }

-    public async Task GetTCPAsync()
+    public async Task GetTCPAsync(CancellationToken token)
    {
-        while (isUdpLoopRunning)
+        while (IsUdpLoopRunning)
        {
            try
            {
@@ -260,8 +269,148 @@ public class ProgramModel : IProgramModel
        return ids;
    }

+    /// <summary>
+    /// 로봇 위치 기록 시스템
+    /// </summary>
+    public async Task<bool> SavePointToProgramAsync(RobotData pointData, int index = -1)
+    {
+        if (CurrentProgram == null)
+        {
+            Debug.LogError("저장할 프로그램이 로드되지 않았습니다.");
+            return false;
+        }
+
+        // DTO(전송 객체) 생성
+        // (서버가 RobotData와 index, 프로그램 ID를 어떻게 받는지에 따라 수정 필요)
+        var payload = new
+        {
+            programId = CurrentProgram.ProgramId,
+            indexToUpdate = index, // -1이면 새 포인트, 0 이상이면 해당 인덱스 수정
+            pose = pointData
+        };
+        string jsonPayload = JsonConvert.SerializeObject(payload);
+        HttpContent content = new StringContent(jsonPayload, Encoding.UTF8, "application/json");
+
+        string requestUri = (index == -1)
+            ? $"{tcpBaseUrl}/project/jobs/{CurrentProgram.ProgramId}/ins_cmd_line"
+            : $"{tcpBaseUrl}/project/jobs/{CurrentProgram.ProgramId}/pose_modify";
+
+        try
+        {
+            HttpResponseMessage result = await httpClient.PostAsync(requestUri, content);
+            if (result.IsSuccessStatusCode)
+            {
+                // 서버 저장이 성공하면, 메모리(CurrentProgram)에도 반영
+                if (index == -1)
+                    CurrentProgram.AddStep(pointData); // RobotProgram에 새 RobotMoveStep 추가
+                else
+                    CurrentProgram.UpdateStep(index, pointData); // RobotProgram의 해당 스텝 갱신
+
+                return true;
+            }
+            return false;
+        }
+        catch (Exception e)
+        {
+            Debug.LogError($"포인트 저장 실패: {e.Message}");
+            return false;
+        }
+    }
+
+    // 서버에 포인트 삭제 요청
+    public async Task<bool> DeletePointFromProgramAsync(int index)
+    {
+        if (CurrentProgram == null) return false;
+
+        var payload = new { programId = CurrentProgram.ProgramId, indexToDelete = index };
+        string jsonPayload = JsonConvert.SerializeObject(payload);
+        HttpContent content = new StringContent(jsonPayload, Encoding.UTF8, "application/json");
+
+        string requestUri = $"{tcpBaseUrl}/project/jobs/{CurrentProgram.ProgramId}/del_cmd_line";
+
+        try
+        {
+            HttpResponseMessage result = await httpClient.PostAsync(requestUri, content);
+            if (result.IsSuccessStatusCode)
+            {
+                // 서버 삭제 성공 시, 메모리(CurrentProgram)에서도 삭제
+                CurrentProgram.DeleteStep(index);
+                return true;
+            }
+            return false;
+        }
+        catch (Exception e)
+        {
+            Debug.LogError($"포인트 삭제 실패: {e.Message}");
+            return false;
+        }
+    }
+
+    // 실시간 로봇 TCP 이동
+    public async Task StreamPoseToRobotUdpAsync(RobotData pose)
+    {
+        try
+        {
+            byte[] udpPacket = ConvertPoseToPacket(pose);
+
+            await udpClientForHttp.SendBytesAsync(udpPacket);
+        }
+        catch (Exception e)
+        {
+            Debug.LogWarning($"UDP 스트리밍 실패: {e.Message}");
+        }
+    }
+
+    private byte[] ConvertPoseToPacket(RobotData pose)
+    {
+        using (MemoryStream stream = new MemoryStream())
+        {
+            using (BinaryWriter writer = new BinaryWriter(stream))
+            {
+                writer.Write(pose.x);
+                writer.Write(pose.y);
+                writer.Write(pose.z);
+                writer.Write(pose.rx);
+                writer.Write(pose.ry);
+                writer.Write(pose.rz);
+            }
+            return stream.ToArray();
+        }
+    }
+
+    //사용자 tcp 드래깅 후 제어기로 이동 명령 하달
+    public async Task<bool> StartMovement(Vector3 position)
+    {
+        startMovementPosition.x = Convert.ToSingle(Math.Round(-1 * position.x * 1000, 2));
+        startMovementPosition.y = Convert.ToSingle(Math.Round(-1 * position.z * 1000, 2));
+        startMovementPosition.z = Convert.ToSingle(Math.Round(position.y * 1000, 2));
+        var 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}}}}}");
+        return jsonResponse.Contains("200");
+    }
+
+    //타겟 포지션 도달까지 이동 명령
+    private async Task MovementLoopAsync()
+    {
+        while (!cancellationTokenSource.Token.IsCancellationRequested)
+        {
+            if (IsMoving)
+            {
+                await udpClientForHttp.SendFilledBytesAsync(new Dictionary<int, byte> { { 2, 0x20 } });
+                await Task.Delay(100);
+                bool isApproximatelyX = Mathf.Approximately(startMovementPosition.x, Convert.ToSingle(Math.Round(robotData.x, 2)));
+                bool isApproximatelyY = Mathf.Approximately(startMovementPosition.y, Convert.ToSingle(Math.Round(robotData.y, 2)));
+                bool isApproximatelyZ = Mathf.Approximately(startMovementPosition.z, Convert.ToSingle(Math.Round(robotData.z, 2)));
+                if (isApproximatelyX && isApproximatelyY && isApproximatelyZ)
+                {
+                    IsMoving = false;
+                }
+            }
+
+        }
+    }
+
    void OnDestroy()
    {
-        isUdpLoopRunning = false;
+        IsUdpLoopRunning = false;
    }
 }
--- a/Assets/Scripts/Model/RobotProgram.cs
+++ b/Assets/Scripts/Model/RobotProgram.cs
@@ -17,10 +17,10 @@ public class RobotProgram

    private void ParseJobContent(string rawText)
    {
-        // 1. 헤더 파싱 (예: "Robot Job File; { version: 2.0, ... }")
+        // 헤더 파싱 (예: "Robot Job File; { version: 2.0, ... }")
        // 정규식이나 Substring을 사용해 version, mech_type 등 추출

-        // 2. 스텝(S1, S2...) 파싱
+        // 스텝(S1, S2...) 파싱
        string[] lines = rawText.Split('\n');
        foreach (string line in lines)
        {
@@ -45,4 +45,30 @@ public class RobotProgram
        }
        return string.Empty;
    }
+
+    public void AddStep(RobotData data)
+    {
+
+    }
+
+    public void UpdateStep(int index, RobotData data)
+    {
+
+    }
+
+    public void DeleteStep(int index)
+    {
+
+    }
+
+    public RobotData GetStepPose(int index)
+    {
+        RobotData data = null;
+        return data;
+    }
+
+    public void GetAllStepPoses()
+    {
+
+    }
 }
--- a/Assets/Scripts/Presenter/ProgramPresenter.cs
+++ b/Assets/Scripts/Presenter/ProgramPresenter.cs
@@ -1,8 +1,18 @@
 using System;
+using System.Collections.Generic;
 using System.Threading.Tasks;
 using UnityEngine;
 using UnityEngine.XR.ARSubsystems;

+public enum PopupState
+{
+    None,
+    ConfirmAddPoint,
+    ConfirmModifyPoint,
+    MoveOrDelete,
+    ConfirmDelete 
+}
+
 public class ProgramPresenter
 {
    private ProgramModel model;
@@ -12,7 +22,19 @@ public class ProgramPresenter
    private string _programId;
    private bool lastKnownMotorState = false;

-    public ProgramPresenter(ProgramModel model, IProgramView view, TCPView tcpView)
+    private IInteractionView interactionView;
+    private IPointManagerView pointManagerView;
+    private IPathLineView pathLineView;
+    private IPopupView popupView;
+
+    private PopupState currentPopupState = PopupState.None;
+    private RobotData pendingPointData; // 팝업창에 대한 응답을 기다리는 임시 데이터
+    private int activePointIndex = -1;  // 현재 수정/삭제 중인 포인트의 인덱스
+
+    private bool IsDragging = false;
+
+    public ProgramPresenter(ProgramModel model, IProgramView view, TCPView tcpView,
+        IInteractionView interactionView, IPointManagerView pmView, IPopupView popView, IPathLineView pathLineView)
    {
        this.model = model;
        this.view = view;
@@ -25,11 +47,20 @@ public class ProgramPresenter
        this.view.OnSaveClicked += HandleSaveProgram;
        this.view.OnAddPointClicked += HandleAddPoint;
        this.tcpView.OnTCPupdateRequested += HandleTCPViewUpdate;
+
+        //this.interactionView.OnRobotReleased += HandleRobotReleased;
+        //this.interactionView.OnPointClicked += HandlePointClicked;
+        //this.interactionView.OnPointDragStart += HandlePointDragStart;
+        //this.interactionView.OnPointDragUpdate += HandlePointDragUpdate;
+        //this.interactionView.OnPointDragEnd += HandlePointDragEnd;
+
+        //this.popupView.OnPopupResponse += HandlePopupResponse;
    }

    public void RegisterControlledRobot(RobotController robot)
    {
        this.controlledRobot = robot;
+        this.controlledRobot.OnPoseUpdateRequest += HandlePoseViewUpdate;
    }

    public async Task UpdateMotorStateAsync()
@@ -62,7 +93,6 @@ public class ProgramPresenter
        }
    }

-
    private async Task HandleCreateProgram(string programId)
    {
        if (await model.CreateNewProgram(programId))
@@ -126,6 +156,143 @@ public class ProgramPresenter
            tcpView.SetCoordinates(data);
        }
    }
+
+    // --- 실시간 동기화 ---
+    private void HandlePoseViewUpdate()
+    {
+        RobotData data = model.GetLatestRobotData();
+        controlledRobot.SetRobotPosition(data); // 3D 가상 로봇 모델 위치 업데이트
+    }
+
+    // --- 새 포인트 추가 ---
+    private void HandleRobotReleased(RobotData pose)
+    {
+        pendingPointData = pose; // 1. 임시 저장
+        currentPopupState = PopupState.ConfirmAddPoint; // 2. 상태 설정
+        popupView.ShowConfirmPopup("위치 확정", "이 위치를 새 포인트로 저장하시겠습니까?"); // 3. 팝업 요청
+    }
+
+    // --- 포인트 클릭 ---
+    private void HandlePointClicked(int index)
+    {
+        activePointIndex = index; // 인덱스 저장
+        currentPopupState = PopupState.MoveOrDelete; // 상태 설정
+        popupView.ShowOptionPopup("포인트 작업", "무엇을 하시겠습니까?", "여기로 이동", "삭제"); // 팝업 요청
+    }
+
+    // --- 포인트 드래그 ---
+    private RobotData originalDragPose; // 취소 시 돌아갈 원본 위치
+
+    private void HandlePointDragStart(int index)
+    {
+        IsDragging = true;
+        activePointIndex = index;
+        originalDragPose = model.CurrentProgram.GetStepPose(index);
+
+        //interactionView.ShowDragArrow(GetPositionFromPose(originalDragPose));
+        interactionView.ShowGhostRobot(originalDragPose);
+    }
+
+    private async void HandlePointDragUpdate(int index, Vector3 newWorldPos)
+    {
+        if (!IsDragging) return;
+        //RobotData newPose = ConvertVectorToRobotData(newWorldPos);
+
+        // 고스트 로봇, 포인트, 경로 실시간 이동
+        //interactionView.ShowGhostRobot(newPose);
+        //pointManagerView.UpdatePointPosition(index, newPose);
+        //pathLineView.DrawPath(GetFullPathOfProgramWithTempChange(index, newPose)); // 임시 경로 그리기
+
+        //await model.StreamPoseToRobotUdpAsync(newPose);
+    }
+
+    private void HandlePointDragEnd(int index)
+    {
+        //IsDragging = false;
+        //interactionView.HideDragArrow();
+        //interactionView.HideGhostRobot();
+
+        //// (가상 로봇 위치 이동 로직 - 5단계)
+        //// robotController.SetRobotPosition(newPose);
+
+        //pendingPointData = ConvertVectorToRobotData(GetLastDragPosition()); // 임시 저장
+        //currentPopupState = PopupState.ConfirmModifyPoint; // 상태 설정
+        //popupView.ShowConfirmPopup("위치 수정", "이 위치로 포인트를 수정하시겠습니까?"); // 팝업 요청
+    }
+
+
+    // --- 팝업 응답 통합 핸들러 ---
+    private async void HandlePopupResponse(PopupResponse response)
+    {
+        popupView.HidePopup();
+
+        switch (currentPopupState)
+        {
+            case PopupState.ConfirmAddPoint:
+                if (response == PopupResponse.Confirm) // 확정
+                {
+                    await model.SavePointToProgramAsync(pendingPointData);
+                    RedrawSceneFromModel(); // 뷰 갱신
+                }
+                break;
+
+            // 드래그 확정/취소
+            case PopupState.ConfirmModifyPoint:
+                if (response == PopupResponse.Confirm) // 확정
+                {
+                    // 최종 위치를 서버에 저장
+                    // 드래그가 끝났으니 이 위치를 프로그램에 저장
+                    await model.SavePointToProgramAsync(pendingPointData, activePointIndex);
+                    RedrawSceneFromModel();
+                }
+                else // 취소
+                {
+                    pointManagerView.UpdatePointPosition(activePointIndex, originalDragPose); // 원위치
+                    RedrawSceneFromModel(); // 경로 원위치
+                }
+                break;
+
+            // 이동/삭제
+            case PopupState.MoveOrDelete:
+                if (response == PopupResponse.Option1) // 여기로 이동
+                {
+                    RobotData targetPose = model.CurrentProgram.GetStepPose(activePointIndex);
+                    //await model.StartMovement(targetPose);
+                }
+                else if (response == PopupResponse.Option2) // 삭제
+                {
+                    currentPopupState = PopupState.ConfirmDelete;
+                    popupView.ShowConfirmPopup("삭제 확인", "정말로 이 포인트를 삭제하시겠습니까?");
+                }
+                break;
+
+            // 최종 삭제
+            case PopupState.ConfirmDelete:
+                if (response == PopupResponse.Confirm)
+                {
+                    await model.DeletePointFromProgramAsync(activePointIndex);
+                    RedrawSceneFromModel();
+                }
+                break;
+        }
+
+        // 모든 작업 후 상태 초기화
+        currentPopupState = PopupState.None;
+        activePointIndex = -1;
+    }
+
+    // Model의 현재 상태를 읽어 모든 View(포인트, 경로)를 새로 고침
+    private void RedrawSceneFromModel()
+    {
+        //if (model.CurrentProgram == null) return;
+
+        //// (RobotProgram.Steps (List<RobotMoveStep>)를 List<RobotData>로 변환하는 로직)
+        //List<RobotData> poses = model.CurrentProgram.GetAllStepPoses();
+
+        //pointManagerView.RedrawPoints(poses); // 포인트 다시 그림
+        //pathLineView.DrawPath(poses);     // 경로 다시 그림
+    }
+
    private void Destroy()
    {
        this.view.OnCreateProgramClicked -= async (id) => await HandleCreateProgram(id);
--- a/Assets/Scripts/View/InteractionView.cs
+++ b/Assets/Scripts/View/InteractionView.cs
@@ -0,0 +1,62 @@
+using System;
+using UnityEngine;
+
+// Presenter가 InteractionView를 제어하기 위한 인터페이스
+public interface IInteractionView
+{
+    // VR 컨트롤러가 로봇을 잡았다 놨을 때 발생
+    event Action<RobotData> OnRobotReleased;
+    // VR 컨트롤러가 특정 포인트를 클릭했을 때 발생
+    event Action<int> OnPointClicked;
+    // VR 컨트롤러가 포인트를 잡고 드래그 시작/중/끝 했을 때 발생
+    event Action<int> OnPointDragStart;
+    event Action<int, Vector3> OnPointDragUpdate; // (포인트 인덱스, 새 월드 좌표)
+    event Action<int> OnPointDragEnd;
+
+    // Presenter가 호출할 함수들
+    void ShowGhostRobot(RobotData pose);
+    void HideGhostRobot();
+    void ShowDragArrow(Vector3 position);
+    void HideDragArrow();
+}
+
+// (이 스크립트는 VR 컨트롤러 로직이 있는 곳에 붙어야 합니다)
+public class InteractionView : MonoBehaviour, IInteractionView
+{
+    public event Action<RobotData> OnRobotReleased;
+    public event Action<int> OnPointClicked;
+    public event Action<int> OnPointDragStart;
+    public event Action<int, Vector3> OnPointDragUpdate;
+    public event Action<int> OnPointDragEnd;
+
+    void Update()
+    {
+        // 컨트롤러로 로봇을 잡고있는지 감지
+        // if (IsGrabbingRobot()) { ... }
+
+        // 컨트롤러 그랩 버튼을 뗐을 때
+        // if (OnGrabRelease())
+        // {
+        //     RobotData currentPose = GetCurrentRobotPose();
+        //     OnRobotReleased?.Invoke(currentPose); // 2. "위치 확정?" 팝업 요청
+        // }
+
+        // 컨트롤러로 포인트를 클릭했을 때
+        // if (OnPointClick(out int clickedPointIndex))
+        // {
+        //     OnPointClicked?.Invoke(clickedPointIndex); // 8. "이동/삭제?" 팝업 요청
+        // }
+
+        // 컨트롤러로 포인트를 꾹 누르기 시작(드래그 시작)
+        // if (OnPointHold(out int draggedPointIndex))
+        // {
+        //     OnPointDragStart?.Invoke(draggedPointIndex); // 5. 드래그 시작
+        // }
+    }
+
+    // --- Presenter가 호출할 함수들 ---
+    public void ShowGhostRobot(RobotData pose) { /* 반투명 로봇2 활성화 및 위치 설정 */ }
+    public void HideGhostRobot() { /* 반투명 로봇2 비활성화 */ }
+    public void ShowDragArrow(Vector3 position) { /* 드래그용 화살표 UI 활성화 및 위치 설정 */ }
+    public void HideDragArrow() { /* 드래그용 화살표 UI 비활성화 */ }
+}
--- a/Assets/Scripts/View/InteractionView.cs.meta
+++ b/Assets/Scripts/View/InteractionView.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: c1b136fe9693203418aa8d9bacb7cfcf
--- a/Assets/Scripts/View/PathLineView.cs
+++ b/Assets/Scripts/View/PathLineView.cs
@@ -0,0 +1,35 @@
+using System.Collections.Generic;
+using UnityEngine;
+
+// ÀÎÅÍÆäÀÌ½º
+public interface IPathLineView
+{
+    void DrawPath(List<RobotData> poses); // (RobotProgram.Steps¿¡¼ º¯È¯)
+}
+
+[RequireComponent(typeof(LineRenderer))]
+public class PathLineView : MonoBehaviour, IPathLineView
+{
+    private LineRenderer lineRenderer;
+
+    void Awake()
+    {
+        lineRenderer = GetComponent<LineRenderer>();
+        lineRenderer.positionCount = 0;
+    }
+
+    public void DrawPath(List<RobotData> poses)
+    {
+        if (poses == null || poses.Count < 2)
+        {
+            lineRenderer.positionCount = 0;
+            return;
+        }
+
+        lineRenderer.positionCount = poses.Count;
+        for (int i = 0; i < poses.Count; i++)
+        {
+            lineRenderer.SetPosition(i, new Vector3(poses[i].x, poses[i].y, poses[i].z));
+        }
+    }
+}
--- a/Assets/Scripts/View/PathLineView.cs.meta
+++ b/Assets/Scripts/View/PathLineView.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: c98a419633709d44ca6c0652dcf63a07
--- a/Assets/Scripts/View/PointManagerView.cs
+++ b/Assets/Scripts/View/PointManagerView.cs
@@ -0,0 +1,47 @@
+using System.Collections.Generic;
+using UnityEngine;
+
+// 인터페이스
+public interface IPointManagerView
+{
+    void CreatePoint(RobotData pose);
+    void UpdatePointPosition(int index, RobotData pose);
+    void DeletePoint(int index);
+    void RedrawPoints(List<RobotData> poses); // (RobotProgram.Steps에서 변환)
+}
+
+public class PointManagerView : MonoBehaviour, IPointManagerView
+{
+    [SerializeField] private GameObject pointPrefab; // 인스펙터에서 포인트 프리팹 연결
+    private List<GameObject> activePoints = new List<GameObject>();
+
+    public void CreatePoint(RobotData pose)
+    {
+        Vector3 position = new Vector3(pose.x, pose.y, pose.z);
+        GameObject pointObj = Instantiate(pointPrefab, position, Quaternion.identity, this.transform);
+        activePoints.Add(pointObj);
+        // (참고: 이 pointObj에 'InteractionView'가 감지할 수 있는 콜라이더와 스크립트가 있어야 함)
+    }
+
+    public void UpdatePointPosition(int index, RobotData pose)
+    {
+        if (index < 0 || index >= activePoints.Count) return;
+        activePoints[index].transform.position = new Vector3(pose.x, pose.y, pose.z);
+    }
+
+    public void DeletePoint(int index)
+    {
+        if (index < 0 || index >= activePoints.Count) return;
+        Destroy(activePoints[index]);
+        activePoints.RemoveAt(index);
+    }
+
+    public void RedrawPoints(List<RobotData> poses)
+    {
+        // 기존 포인트 모두 삭제
+        foreach (var point in activePoints) Destroy(point);
+        activePoints.Clear();
+        // 모든 포인트 새로 생성
+        foreach (var pose in poses) CreatePoint(pose);
+    }
+}
--- a/Assets/Scripts/View/PointManagerView.cs.meta
+++ b/Assets/Scripts/View/PointManagerView.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 06c8786b6262dad4a86217e213be1b96
--- a/Assets/Scripts/View/PopupView.cs
+++ b/Assets/Scripts/View/PopupView.cs
@@ -0,0 +1,76 @@
+using System;
+using UnityEngine;
+using UnityEngine.UI;
+using TMPro;
+
+// 팝업 응답 타입
+public enum PopupResponse
+{
+    Confirm, // 확정
+    Cancel,  // 취소
+    Option1, // (예: 여기로 이동)
+    Option2  // (예: 삭제)
+}
+
+public interface IPopupView
+{
+    event Action<PopupResponse> OnPopupResponse;
+    void ShowConfirmPopup(string title, string message); // 2, 5단계용 (확정/취소)
+    void ShowOptionPopup(string title, string message, string opt1Text, string opt2Text); // 8단계용 (이동/삭제)
+    void HidePopup();
+}
+
+public class PopupView : MonoBehaviour, IPopupView
+{
+    public event Action<PopupResponse> OnPopupResponse;
+
+    [SerializeField] private GameObject popupPanel;
+    [SerializeField] private TextMeshProUGUI titleText;
+    [SerializeField] private TextMeshProUGUI messageText;
+
+    [SerializeField] private Button confirmButton; // '확정' 버튼
+    [SerializeField] private Button cancelButton;  // '취소' 버튼
+    [SerializeField] private Button option1Button; // '옵션1(이동)' 버튼
+    [SerializeField] private Button option2Button; // '옵션2(삭제)' 버튼
+
+    void Start()
+    {
+        // 각 버튼이 클릭되면 Presenter에게 응답 이벤트를 보냄
+        confirmButton.onClick.AddListener(() => OnPopupResponse?.Invoke(PopupResponse.Confirm));
+        cancelButton.onClick.AddListener(() => OnPopupResponse?.Invoke(PopupResponse.Cancel));
+        option1Button.onClick.AddListener(() => OnPopupResponse?.Invoke(PopupResponse.Option1));
+        option2Button.onClick.AddListener(() => OnPopupResponse?.Invoke(PopupResponse.Option2));
+
+        popupPanel.SetActive(false);
+    }
+
+    public void ShowConfirmPopup(string title, string message)
+    {
+        titleText.text = title;
+        messageText.text = message;
+        confirmButton.gameObject.SetActive(true);
+        cancelButton.gameObject.SetActive(true);
+        option1Button.gameObject.SetActive(false);
+        option2Button.gameObject.SetActive(false);
+        popupPanel.SetActive(true);
+    }
+
+    public void ShowOptionPopup(string title, string message, string opt1Text, string opt2Text)
+    {
+        titleText.text = title;
+        messageText.text = message;
+        option1Button.GetComponentInChildren<Text>().text = opt1Text;
+        option2Button.GetComponentInChildren<Text>().text = opt2Text;
+
+        confirmButton.gameObject.SetActive(false);
+        cancelButton.gameObject.SetActive(true); // 취소 버튼은 공용으로 사용
+        option1Button.gameObject.SetActive(true);
+        option2Button.gameObject.SetActive(true);
+        popupPanel.SetActive(true);
+    }
+
+    public void HidePopup()
+    {
+        popupPanel.SetActive(false);
+    }
+}
--- a/Assets/Scripts/View/PopupView.cs.meta
+++ b/Assets/Scripts/View/PopupView.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 9abda78e6c8fdb34a925ac2483efc48b