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- component: {fileID: 7782236473570627370}
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m_Layer: 5
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m_Name: Point_Prefab
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m_TagString: Untagged
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m_Icon: {fileID: 0}
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m_NavMeshLayer: 0
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m_StaticEditorFlags: 0
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m_IsActive: 1
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--- !u!224 &23272902704394604
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RectTransform:
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m_ObjectHideFlags: 0
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m_CorrespondingSourceObject: {fileID: 0}
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_GameObject: {fileID: 280273810869499429}
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m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
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m_LocalPosition: {x: 0, y: 0, z: 0}
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m_LocalScale: {x: 1, y: 1, z: 1}
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m_ConstrainProportionsScale: 0
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m_Children: []
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m_Father: {fileID: 0}
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m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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m_AnchorMin: {x: 0.5, y: 0.5}
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m_AnchorMax: {x: 0.5, y: 0.5}
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m_AnchoredPosition: {x: 0, y: 0}
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m_SizeDelta: {x: 0.2, y: 0.3}
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m_Pivot: {x: 0.5, y: 0.5}
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--- !u!222 &8410384716740639099
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CanvasRenderer:
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m_ObjectHideFlags: 0
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m_CorrespondingSourceObject: {fileID: 0}
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_GameObject: {fileID: 280273810869499429}
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m_CullTransparentMesh: 1
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--- !u!114 &7782236473570627370
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MonoBehaviour:
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m_ObjectHideFlags: 0
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m_CorrespondingSourceObject: {fileID: 0}
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_GameObject: {fileID: 280273810869499429}
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m_Enabled: 1
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m_EditorHideFlags: 0
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m_Script: {fileID: 11500000, guid: fe87c0e1cc204ed48ad3b37840f39efc, type: 3}
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m_Name:
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m_EditorClassIdentifier:
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m_Material: {fileID: 0}
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m_Color: {r: 1, g: 1, b: 1, a: 1}
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m_RaycastTarget: 1
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m_RaycastPadding: {x: 0, y: 0, z: 0, w: 0}
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m_Maskable: 1
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m_OnCullStateChanged:
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m_PersistentCalls:
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m_Calls: []
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m_Sprite: {fileID: 21300000, guid: a4e764ee05645514cab2cf0636654f5f, type: 3}
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m_Type: 0
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m_PreserveAspect: 0
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m_FillCenter: 1
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m_FillMethod: 4
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m_FillAmount: 1
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m_FillClockwise: 1
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m_FillOrigin: 0
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m_UseSpriteMesh: 0
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m_PixelsPerUnitMultiplier: 1
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25
Assets/Scripts/BillBoard.cs
Normal file
25
Assets/Scripts/BillBoard.cs
Normal file
@@ -0,0 +1,25 @@
|
||||
using UnityEngine;
|
||||
|
||||
/// <summary>
|
||||
/// 이 스크립트가 붙어있는 GameObject(Quad)가
|
||||
/// 항상 메인 카메라를 바라보도록 만드는 클래스
|
||||
/// </summary>
|
||||
public class Billboard : MonoBehaviour
|
||||
{
|
||||
private Camera mainCamera;
|
||||
|
||||
void Start()
|
||||
{
|
||||
mainCamera = Camera.main;
|
||||
}
|
||||
|
||||
void LateUpdate()
|
||||
{
|
||||
if (mainCamera == null)
|
||||
return;
|
||||
|
||||
transform.rotation = mainCamera.transform.rotation;
|
||||
|
||||
// transform.Rotate(0, 180, 0);
|
||||
}
|
||||
}
|
||||
2
Assets/Scripts/BillBoard.cs.meta
Normal file
2
Assets/Scripts/BillBoard.cs.meta
Normal file
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: a171ec05977edf345860bff884fab151
|
||||
@@ -39,6 +39,7 @@ public class ProgramModel : IProgramModel
|
||||
public bool IsMoving;
|
||||
public bool isError;
|
||||
private Vector3 startMovementPosition;
|
||||
private int currentToolNum = 0;
|
||||
|
||||
public ProgramModel(string hostip, int tcpPort, int udpPort, RobotController robotController)
|
||||
{
|
||||
@@ -61,7 +62,17 @@ public class ProgramModel : IProgramModel
|
||||
hasNewData = false;
|
||||
IsMoving = false;
|
||||
isError = false;
|
||||
|
||||
|
||||
try
|
||||
{
|
||||
currentToolNum = await GetRobotToolNum();
|
||||
}
|
||||
catch (Exception e)
|
||||
{
|
||||
Debug.LogWarning($"현재 툴 번호를 가져오는 데 실패했습니다: {e.Message}. 기본값(0)을 사용합니다.");
|
||||
currentToolNum = 1;
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
@@ -302,33 +313,65 @@ public class ProgramModel : IProgramModel
|
||||
return false;
|
||||
}
|
||||
|
||||
// 전송 객체 생성
|
||||
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";
|
||||
string jsonPayload;
|
||||
string requestUri;
|
||||
HttpContent content;
|
||||
object payload;
|
||||
|
||||
try
|
||||
{
|
||||
if (index == -1)
|
||||
{
|
||||
// sno_ref = 마지막 스텝의 번호, 없으면 0
|
||||
int sno_ref = (CurrentProgram.Steps.Count > 0) ? CurrentProgram.Steps.Last().StepNumber : 0;
|
||||
|
||||
payload = new
|
||||
{
|
||||
adjust_branch = true,
|
||||
cmd_line = $"move P,spd=50%,accu=3,tool={currentToolNum}",
|
||||
fno_ref = -1,
|
||||
mechinfo = -1,
|
||||
move_cursor = 1,
|
||||
ofs = 0,
|
||||
save_file = true,
|
||||
set_cur_pose = -1,
|
||||
sno_ref = sno_ref
|
||||
};
|
||||
|
||||
requestUri = $"{tcpBaseUrl}/project/jobs/{CurrentProgram.ProgramId}/ins_cmd_line";
|
||||
}
|
||||
else
|
||||
{
|
||||
// sno = 수정할 스텝의 번호
|
||||
int sno = CurrentProgram.Steps[index].StepNumber;
|
||||
|
||||
payload = new
|
||||
{
|
||||
mechinfo = -1,
|
||||
save_file = true,
|
||||
sno = sno
|
||||
};
|
||||
|
||||
requestUri = $"{tcpBaseUrl}/project/jobs/{CurrentProgram.ProgramId}/pose_modify";
|
||||
}
|
||||
|
||||
jsonPayload = JsonConvert.SerializeObject(payload);
|
||||
content = new StringContent(jsonPayload, Encoding.UTF8, "application/json");
|
||||
|
||||
HttpResponseMessage result = await httpClient.PostAsync(requestUri, content);
|
||||
|
||||
if (result.IsSuccessStatusCode)
|
||||
{
|
||||
// 서버 저장이 성공하면, 메모리(CurrentProgram)에도 반영
|
||||
// 서버 저장이 성공하면, 로컬 캐시에도 반영
|
||||
if (index == -1)
|
||||
CurrentProgram.AddStep(pointData); // RobotProgram에 새 RobotMoveStep 추가
|
||||
CurrentProgram.AddStep(pointData, currentToolNum); // 로컬 캐시에 추가
|
||||
else
|
||||
CurrentProgram.UpdateStep(index, pointData); // RobotProgram의 해당 스텝 갱신
|
||||
CurrentProgram.UpdateStep(index, pointData); // 로컬 캐시 수정
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
Debug.LogError($"SavePointToProgramAsync 실패: {await result.Content.ReadAsStringAsync()}");
|
||||
return false;
|
||||
}
|
||||
catch (Exception e)
|
||||
@@ -341,9 +384,23 @@ public class ProgramModel : IProgramModel
|
||||
// 서버에 포인트 삭제 요청
|
||||
public async Task<bool> DeletePointFromProgramAsync(int index)
|
||||
{
|
||||
if (CurrentProgram == null) return false;
|
||||
if (CurrentProgram == null || index < 0 || index >= CurrentProgram.Steps.Count)
|
||||
{
|
||||
Debug.LogError($"DeletePointFromProgramAsync: 잘못된 인덱스 {index}");
|
||||
return false;
|
||||
}
|
||||
|
||||
var payload = new { programId = CurrentProgram.ProgramId, indexToDelete = index };
|
||||
// sno_ref = 삭제할 스텝의 번호 (0-based index가 아님)
|
||||
int sno_ref = CurrentProgram.Steps[index].StepNumber;
|
||||
|
||||
var payload = new
|
||||
{
|
||||
adjust_branch = true,
|
||||
fno_ref = 0,
|
||||
ofs = 0,
|
||||
save_file = true,
|
||||
sno_ref = sno_ref
|
||||
};
|
||||
string jsonPayload = JsonConvert.SerializeObject(payload);
|
||||
HttpContent content = new StringContent(jsonPayload, Encoding.UTF8, "application/json");
|
||||
|
||||
@@ -354,10 +411,12 @@ public class ProgramModel : IProgramModel
|
||||
HttpResponseMessage result = await httpClient.PostAsync(requestUri, content);
|
||||
if (result.IsSuccessStatusCode)
|
||||
{
|
||||
// 서버 삭제 성공 시, 메모리에서도 삭제
|
||||
// 서버 삭제 성공 시, 로컬 캐시에서도 삭제 및 재정렬
|
||||
CurrentProgram.DeleteStep(index);
|
||||
return true;
|
||||
}
|
||||
|
||||
Debug.LogError($"DeletePointFromProgramAsync 실패: {await result.Content.ReadAsStringAsync()}");
|
||||
return false;
|
||||
}
|
||||
catch (Exception e)
|
||||
|
||||
@@ -1,3 +1,4 @@
|
||||
using System.Text.RegularExpressions;
|
||||
using UnityEngine;
|
||||
|
||||
public class RobotMoveStep
|
||||
@@ -5,18 +6,73 @@ public class RobotMoveStep
|
||||
public string FullLine { get; private set; }
|
||||
public RobotPose Pose { get; private set; }
|
||||
|
||||
public int StepNumber { get; private set; }
|
||||
|
||||
/// <summary>
|
||||
/// 좌표를 제외한 이동 명령 (예: "move P,spd=50%,accu=3,tool=1")
|
||||
/// </summary>
|
||||
public string MoveCommand { get; private set; }
|
||||
|
||||
// Regex로 S<번호>와 move <명령> [좌표]를 분리
|
||||
// 그룹 1: (S([0-9]+)) -> "S1", "1"
|
||||
// 그룹 3: (move.*?) -> "move P,spd=50%,accu=3,tool=1"
|
||||
private static readonly Regex StepRegex = new Regex(@"^(S([0-9]+))\s+(move.*?)(\s+\[.*\])", RegexOptions.Compiled);
|
||||
|
||||
public RobotMoveStep(string line, string coordString)
|
||||
{
|
||||
this.FullLine = line;
|
||||
|
||||
string[] values = coordString.Split(',');
|
||||
if (values.Length == 6)
|
||||
if (values.Length >= 6)
|
||||
{
|
||||
this.Pose = new RobotPose(
|
||||
float.Parse(values[0]), float.Parse(values[1]), float.Parse(values[2]),
|
||||
float.Parse(values[3]), float.Parse(values[4]), float.Parse(values[5])
|
||||
);
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.LogError($"좌표 파싱 실패: {coordString}");
|
||||
this.Pose = new RobotPose(0, 0, 0, 0, 0, 0);
|
||||
}
|
||||
|
||||
Match match = StepRegex.Match(line);
|
||||
if (match.Success)
|
||||
{
|
||||
this.StepNumber = int.Parse(match.Groups[2].Value);
|
||||
this.MoveCommand = match.Groups[3].Value.Trim();
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.LogError($"스텝 라인 파싱 실패: {line}");
|
||||
this.StepNumber = -1;
|
||||
this.MoveCommand = "move P,spd=50%,accu=3,tool=0"; // 기본값
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// DeleteStep 시, S<번호>를 업데이트하기 위한 헬퍼 함수
|
||||
/// </summary>
|
||||
public void UpdateStepNumber(int newStepNumber, string newMoveCommand = null)
|
||||
{
|
||||
this.StepNumber = newStepNumber;
|
||||
if (newMoveCommand != null)
|
||||
{
|
||||
this.MoveCommand = newMoveCommand;
|
||||
}
|
||||
|
||||
// FullLine을 새 번호와 Pose로 다시 조립
|
||||
this.FullLine = $"S{this.StepNumber} {this.MoveCommand} {this.Pose.ToString()}";
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// UpdateStep 시, Pose를 업데이트하기 위한 헬퍼 함수
|
||||
/// </summary>
|
||||
public void UpdatePose(RobotPose newPose)
|
||||
{
|
||||
this.Pose = newPose;
|
||||
// FullLine을 새 Pose로 다시 조립
|
||||
this.FullLine = $"S{this.StepNumber} {this.MoveCommand} {this.Pose.ToString()}";
|
||||
}
|
||||
}
|
||||
|
||||
@@ -28,4 +84,37 @@ public class RobotPose
|
||||
this.x = x; this.y = y; this.z = z;
|
||||
this.rx = rx; this.ry = ry; this.rz = rz;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// RobotData(Model)를 RobotPose(Program)로 변환
|
||||
/// </summary>
|
||||
public RobotPose(RobotData data)
|
||||
{
|
||||
this.x = data.x; this.y = data.y; this.z = data.z;
|
||||
this.rx = data.rx; this.ry = data.ry; this.rz = data.rz;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// RobotPose(Program)를 RobotData(Model)로 변환
|
||||
/// </summary>
|
||||
public RobotData ToRobotData()
|
||||
{
|
||||
return new RobotData
|
||||
{
|
||||
x = this.x,
|
||||
y = this.y,
|
||||
z = this.z,
|
||||
rx = this.rx,
|
||||
ry = this.ry,
|
||||
rz = this.rz
|
||||
};
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// API에서 요구하는 좌표 문자열 형식으로 변환
|
||||
/// </summary>
|
||||
public override string ToString()
|
||||
{
|
||||
return $"[{x},{y},{z},{rx},{ry},{rz},\"robot\"]";
|
||||
}
|
||||
}
|
||||
@@ -1,10 +1,11 @@
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System;
|
||||
using UnityEngine;
|
||||
|
||||
public class RobotProgram
|
||||
{
|
||||
public string ProgramId { get; private set; }
|
||||
public string Version { get; private set; }
|
||||
public string MechType { get; private set; }
|
||||
public List<RobotMoveStep> Steps { get; private set; }
|
||||
|
||||
public RobotProgram(string programId, string rawTextContent)
|
||||
@@ -15,24 +16,27 @@ public class RobotProgram
|
||||
ParseJobContent(rawTextContent);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// GET 응답(rawText)을 파싱하여 Steps 리스트를 채움
|
||||
/// </summary>
|
||||
private void ParseJobContent(string rawText)
|
||||
{
|
||||
// 헤더 파싱 (예: "Robot Job File; { version: 2.0, ... }")
|
||||
// 정규식이나 Substring을 사용해 version, mech_type 등 추출
|
||||
string[] lines = rawText.Split(new[] { '\r', '\n' }, StringSplitOptions.RemoveEmptyEntries);
|
||||
|
||||
// 스텝(S1, S2...) 파싱
|
||||
string[] lines = rawText.Split('\n');
|
||||
foreach (string line in lines)
|
||||
{
|
||||
if (line.StartsWith("S")) // (S1, S2... 같은 라인)
|
||||
// S<번호>로 시작하고, [좌표]를 포함하는 라인만 파싱
|
||||
if (line.StartsWith("S") && line.Contains("["))
|
||||
{
|
||||
string coordString = ExtractCoordinates(line);
|
||||
|
||||
// 좌표 문자열을 실제 Pose 데이터로 변환
|
||||
RobotMoveStep step = new RobotMoveStep(line, coordString);
|
||||
Steps.Add(step);
|
||||
if (!string.IsNullOrEmpty(coordString))
|
||||
{
|
||||
Steps.Add(new RobotMoveStep(line, coordString));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Debug.Log($"프로그램 '{ProgramId}' 로드 완료. {Steps.Count}개의 스텝 파싱됨.");
|
||||
}
|
||||
|
||||
private string ExtractCoordinates(string line)
|
||||
@@ -41,34 +45,79 @@ public class RobotProgram
|
||||
int end = line.IndexOf(']');
|
||||
if (start != -1 && end != -1)
|
||||
{
|
||||
return line.Substring(start + 1, end - start - 1);
|
||||
return line.Substring(start + 1, end - start -1);
|
||||
}
|
||||
return string.Empty;
|
||||
}
|
||||
|
||||
public void AddStep(RobotData data)
|
||||
/// <summary>
|
||||
/// 새 포인트 로컬 캐시에 추가
|
||||
/// </summary>
|
||||
public void AddStep(RobotData data, int toolNum)
|
||||
{
|
||||
int newStepNum = (Steps.Count > 0) ? Steps.Last().StepNumber + 1 : 1;
|
||||
string cmd = $"move P,spd=50%,accu=3,tool={toolNum}";
|
||||
RobotPose newPose = new RobotPose(data);
|
||||
|
||||
string line = $"S{newStepNum} {cmd} {newPose.ToString()}";
|
||||
|
||||
Steps.Add(new RobotMoveStep(line, ExtractCoordinates(line)));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 기존 포인트의 Pose 로컬 캐시에서 수정
|
||||
/// </summary>
|
||||
public void UpdateStep(int index, RobotData data)
|
||||
{
|
||||
if (index < 0 || index >= Steps.Count)
|
||||
{
|
||||
Debug.LogError($"UpdateStep: 잘못된 인덱스 {index}");
|
||||
return;
|
||||
}
|
||||
|
||||
Steps[index].UpdatePose(new RobotPose(data));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 포인트를 로컬 캐시에서 삭제하고 S<번호> 재정렬
|
||||
/// </summary>
|
||||
public void DeleteStep(int index)
|
||||
{
|
||||
if (index < 0 || index >= Steps.Count)
|
||||
{
|
||||
Debug.LogError($"DeleteStep: 잘못된 인덱스 {index}");
|
||||
return;
|
||||
}
|
||||
|
||||
Steps.RemoveAt(index);
|
||||
|
||||
// 스텝 번호 재정렬 (S1, S2, S3...)
|
||||
for (int i = 0; i < Steps.Count; i++)
|
||||
{
|
||||
// MoveCommand는 그대로 유지
|
||||
Steps[i].UpdateStepNumber(i + 1);
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 특정 인덱스의 Pose를 RobotData로 반환
|
||||
/// </summary>
|
||||
public RobotData GetStepPose(int index)
|
||||
{
|
||||
RobotData data = null;
|
||||
return data;
|
||||
if (index < 0 || index >= Steps.Count)
|
||||
{
|
||||
Debug.LogError($"GetStepPose: 잘못된 인덱스 {index}");
|
||||
return new RobotData(); // 빈 데이터 반환
|
||||
}
|
||||
|
||||
return Steps[index].Pose.ToRobotData();
|
||||
}
|
||||
|
||||
public void GetAllStepPoses()
|
||||
/// <summary>
|
||||
/// 모든 Pose를 List<RobotData>로 반환
|
||||
/// </summary>
|
||||
public List<RobotData> GetAllStepPoses()
|
||||
{
|
||||
|
||||
return Steps.Select(step => step.Pose.ToRobotData()).ToList();
|
||||
}
|
||||
}
|
||||
@@ -40,6 +40,7 @@ public class ProgramPresenter
|
||||
private CancellationTokenSource dragLoopCts;
|
||||
private RobotData latestTargetPose; // 뷰가 갱신할 최신 목표 지점
|
||||
private bool IsDragging = false;
|
||||
private RobotData originalDragPose; // 취소 시 돌아갈 원본 위치
|
||||
|
||||
public ProgramPresenter(ProgramModel model, ProgramView view, TCPView tcpView,
|
||||
InteractionView interactionView, PointManagerView pmView, PopupView popView, PathLineView pathLineView)
|
||||
@@ -77,29 +78,6 @@ public class ProgramPresenter
|
||||
popPos = controlledRobot.GetEndPoint();
|
||||
}
|
||||
|
||||
//void Update()
|
||||
//{
|
||||
// if (isDragging && currentInteractor != null)
|
||||
// {
|
||||
// communicationScript.isMoving = false;
|
||||
// // 1) Ray Interactor: 현재 3D Raycast 히트 포인트가 있으면 그대로 사용
|
||||
// if (currentInteractor is XRRayInteractor ray &&
|
||||
// ray.TryGetCurrent3DRaycastHit(out RaycastHit hit))
|
||||
// {
|
||||
// dragPosition = hit.point;
|
||||
// }
|
||||
// else
|
||||
// {
|
||||
// // 2) Direct Interactor 또는 Ray 히트가 없을 때: 컨트롤러(또는 attachTransform) 위치 사용
|
||||
// var t = currentInteractor.transform;
|
||||
// var attach = currentInteractor.GetAttachTransform(null);
|
||||
// dragPosition = attach != null ? attach.position : t.position;
|
||||
// }
|
||||
|
||||
// uiController?.UpdateCoordinates(dragPosition); // 기존 UI 갱신 유지 :contentReference[oaicite:2]{index=2}
|
||||
// }
|
||||
//}
|
||||
|
||||
public async Task UpdateMotorStateAsync()
|
||||
{
|
||||
try
|
||||
@@ -164,6 +142,7 @@ public class ProgramPresenter
|
||||
view.HideProgramList();
|
||||
|
||||
OnApplicationStart();
|
||||
RedrawSceneFromModel(); // 뷰 갱신
|
||||
|
||||
_programId = null;
|
||||
}
|
||||
@@ -221,13 +200,16 @@ public class ProgramPresenter
|
||||
return targetPose;
|
||||
}
|
||||
|
||||
private Vector3 ConvertRobotDataToVector3(RobotData pose)
|
||||
{
|
||||
float x = Convert.ToSingle(pose.x / -1000.0);
|
||||
float y = Convert.ToSingle(pose.z / 1000.0);
|
||||
float z = Convert.ToSingle(pose.y / -1000.0);
|
||||
return new Vector3(x, y, z);
|
||||
}
|
||||
|
||||
private async void HandleRobotGrabbed(Vector3 newWorldPos, Quaternion newWorldRot)
|
||||
{
|
||||
//if (!IsDragging) return;
|
||||
//this.latestTargetPose = ConvertPoseToRobotData(newWorldPos, newWorldRot);
|
||||
|
||||
//await model.MoveToPoseTcpAsync(newWorldPos);
|
||||
|
||||
try
|
||||
{
|
||||
if (!IsDragging)
|
||||
@@ -250,8 +232,6 @@ public class ProgramPresenter
|
||||
private void HandleRobotReleased(RobotData pose)
|
||||
{
|
||||
IsDragging = false;
|
||||
StopDragMoveLoop();
|
||||
controlledRobot.DisableIK();
|
||||
pendingPointData = pose; // 임시 저장
|
||||
currentPopupState = PopupState.ConfirmAddPoint; // 상태 설정
|
||||
popupView.ShowConfirmPopup(popPos); // 팝업 요청
|
||||
@@ -273,48 +253,44 @@ public class ProgramPresenter
|
||||
}
|
||||
|
||||
// --- 포인트 드래그 ---
|
||||
private RobotData originalDragPose; // 취소 시 돌아갈 원본 위치
|
||||
|
||||
private void HandlePointDragStart(int index)
|
||||
{
|
||||
IsDragging = true;
|
||||
|
||||
activePointIndex = index;
|
||||
|
||||
if (index > -1) // (포인트를 잡았을 때)
|
||||
if (index > -1) // 포인트를 잡았을 때
|
||||
{
|
||||
originalDragPose = model.CurrentProgram.GetStepPose(index);
|
||||
interactionView.ShowGhostRobot(originalDragPose);
|
||||
Vector3 startPos = interactionView.GetCurrentRayPosition();
|
||||
interactionView.ShowDragArrow(startPos);
|
||||
interactionView.ShowGhostRobot();
|
||||
|
||||
// 반투명 로봇의 위치를 마우스 위치와 같도록 설정
|
||||
pointManagerView.kinematicsNode.targetTransform.localPosition = startPos;
|
||||
}
|
||||
}
|
||||
|
||||
private async void HandlePointDragUpdate(int index, Vector3 newWorldPos, Quaternion newWorldRot)
|
||||
private void HandlePointDragUpdate(int index, Vector3 newWorldPos, Quaternion newWorldRot)
|
||||
{
|
||||
if (!IsDragging) return;
|
||||
RobotData newPose = ConvertPoseToRobotData(newWorldPos, newWorldRot);
|
||||
await model.MoveToPoseTcpAsync(newWorldPos);
|
||||
this.latestTargetPose = ConvertPoseToRobotData(newWorldPos, newWorldRot);
|
||||
|
||||
interactionView.ShowDragArrow(newWorldPos); // 마우스 이미지 변경
|
||||
|
||||
// 고스트 로봇, 포인트, 경로 실시간 이동
|
||||
interactionView.ShowGhostRobot(newPose);
|
||||
pointManagerView.UpdatePointPosition(index, newPose);
|
||||
//pathLineView.DrawPath(GetFullPathOfProgramWithTempChange(index, newPose)); // 임시 경로 그리기
|
||||
|
||||
//await model.StreamPoseUdpAsync(newPose);
|
||||
pointManagerView.kinematicsNode.targetTransform.localPosition = newWorldPos;
|
||||
pointManagerView.UpdatePointPosition(index, this.latestTargetPose);
|
||||
RedrawTemporaryPath(index, latestTargetPose);
|
||||
}
|
||||
|
||||
private void HandlePointDragEnd(int index)
|
||||
{
|
||||
IsDragging = false;
|
||||
StopDragMoveLoop(); // 루프 중지
|
||||
controlledRobot.DisableIK();
|
||||
|
||||
interactionView.HideDragArrow();
|
||||
interactionView.HideGhostRobot();
|
||||
|
||||
// 가상 로봇 위치 이동 로직
|
||||
// robotController.SetRobotPosition(newPose);
|
||||
|
||||
//pendingPointData = ConvertPoseToRobotData(GetLastDragPosition()); // 임시 저장
|
||||
pendingPointData = this.latestTargetPose;
|
||||
currentPopupState = PopupState.ConfirmModifyPoint; // 상태 설정
|
||||
popupView.ShowConfirmPopup(popPos);
|
||||
}
|
||||
@@ -356,7 +332,13 @@ public class ProgramPresenter
|
||||
if (response == PopupResponse.Move)
|
||||
{
|
||||
RobotData targetPose = model.CurrentProgram.GetStepPose(activePointIndex);
|
||||
//await model.MoveToPoseTcpAsync(targetPose);
|
||||
Vector3 pos = ConvertRobotDataToVector3(targetPose);
|
||||
|
||||
// 알림 UI 표시
|
||||
pointManagerView.movingAlert.SetActive(true);
|
||||
|
||||
await model.MoveToPoseTcpAsync(pos);
|
||||
Debug.Log($"이동 중? : { await model.GetMovingState()}"); // TODO. 어떤 값을 받아오는지.
|
||||
}
|
||||
else if (response == PopupResponse.Delete)
|
||||
{
|
||||
@@ -380,18 +362,32 @@ public class ProgramPresenter
|
||||
activePointIndex = -1;
|
||||
}
|
||||
|
||||
// Model의 현재 상태를 읽어 모든 View(포인트, 경로)를 새로 고침
|
||||
// Model의 현재 상태를 읽어 모든 View를 새로 고침
|
||||
private void RedrawSceneFromModel()
|
||||
{
|
||||
if (model.CurrentProgram == null) return;
|
||||
|
||||
//(RobotProgram.Steps (List<RobotMoveStep>)를 List<RobotData>로 변환하는 로직
|
||||
// RobotProgram.Steps (List<RobotMoveStep>)를 List<RobotData>로 변환
|
||||
List<RobotData> poses = model.CurrentProgram.GetAllStepPoses();
|
||||
|
||||
pointManagerView.RedrawPoints(poses); // 포인트 다시 그림
|
||||
pathLineView.DrawPath(poses); // 경로 다시 그림
|
||||
}
|
||||
|
||||
// 실시간 경로 그리기
|
||||
private void RedrawTemporaryPath(int modifiedIndex, RobotData tempPose)
|
||||
{
|
||||
if (model.CurrentProgram == null) return;
|
||||
|
||||
List<RobotData> poses = model.CurrentProgram.GetAllStepPoses();
|
||||
if (poses == null || modifiedIndex < 0 || modifiedIndex >= poses.Count)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
pathLineView.DrawPath(poses, modifiedIndex, tempPose);
|
||||
}
|
||||
|
||||
private void Destroy()
|
||||
{
|
||||
this.view.OnCreateProgramClicked -= async (id) => await HandleCreateProgram(id);
|
||||
|
||||
10
Assets/Scripts/RobotPoint.cs
Normal file
10
Assets/Scripts/RobotPoint.cs
Normal file
@@ -0,0 +1,10 @@
|
||||
using UnityEngine;
|
||||
using UnityEngine.XR.Interaction.Toolkit.Interactables;
|
||||
|
||||
[RequireComponent(typeof(Collider))]
|
||||
[RequireComponent(typeof(XRSimpleInteractable))]
|
||||
public class RobotPoint : MonoBehaviour
|
||||
{
|
||||
[Tooltip("Point Index")]
|
||||
public int pointIndex = -1;
|
||||
}
|
||||
2
Assets/Scripts/RobotPoint.cs.meta
Normal file
2
Assets/Scripts/RobotPoint.cs.meta
Normal file
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: c9b277895d391194691ecc18b3d442eb
|
||||
@@ -24,6 +24,13 @@ public class InteractionView : MonoBehaviour, IInteractionView
|
||||
private XRBaseInteractor baseInteractor;
|
||||
private IXRRayProvider rayProvider;
|
||||
|
||||
[SerializeField]
|
||||
[Tooltip("드래그 시 위치를 표시할 반투명 로봇 모델")]
|
||||
private GameObject ghostRobot;
|
||||
[SerializeField]
|
||||
[Tooltip("드래그용 마우스 이미지")]
|
||||
private GameObject dragArrow;
|
||||
|
||||
private bool isInitialized = false;
|
||||
private bool isGrabbingPoint = false;
|
||||
private int currentGrabbedPointIndex = -1;
|
||||
@@ -92,8 +99,6 @@ public class InteractionView : MonoBehaviour, IInteractionView
|
||||
// XRI 이벤트 구독
|
||||
baseInteractor.selectEntered.AddListener(HandleGrabStart);
|
||||
baseInteractor.selectExited.AddListener(HandleGrabEnd);
|
||||
//interactor.activated.AddListener(OnActivated);
|
||||
//interactor.deactivated.AddListener(OnDeactivated);
|
||||
|
||||
isInitialized = true;
|
||||
AppManager.Instance.RegisterView(this);
|
||||
@@ -112,57 +117,39 @@ public class InteractionView : MonoBehaviour, IInteractionView
|
||||
|
||||
// --- XRI 이벤트 핸들러 ---
|
||||
|
||||
// "잡기" 버튼을 눌렀을 때
|
||||
private void HandleGrabStart(SelectEnterEventArgs args)
|
||||
{
|
||||
GameObject grabbedGO = args.interactableObject.transform.gameObject;
|
||||
|
||||
// 잡은 것이 "포인트"인지 확인
|
||||
//RobotPoint point = grabbedGO.GetComponent<RobotPoint>();
|
||||
//if (point != null)
|
||||
//{
|
||||
// isGrabbingPoint = true;
|
||||
// isGrabbingRobot = false;
|
||||
// currentGrabbedPointIndex = point.pointIndex;
|
||||
RobotPoint point = grabbedGO.GetComponent<RobotPoint>();
|
||||
if (point != null)
|
||||
{
|
||||
isGrabbingPoint = true;
|
||||
isGrabbingRobot = false;
|
||||
currentGrabbedPointIndex = point.pointIndex;
|
||||
|
||||
// // (Presenter의 HandlePointDragStart 호출)
|
||||
// OnPointDragStart?.Invoke(currentGrabbedPointIndex);
|
||||
//}
|
||||
// 2. 잡은 것이 "로봇 핸들"인지 확인
|
||||
if (grabbedGO.CompareTag("RobotArm"))
|
||||
OnPointDragStart?.Invoke(currentGrabbedPointIndex);
|
||||
}
|
||||
else if (grabbedGO.CompareTag("RobotArm"))
|
||||
{
|
||||
isGrabbingPoint = false;
|
||||
isGrabbingRobot = true;
|
||||
|
||||
// (로봇 자체를 잡는 것은 -1 인덱스로 Presenter에게 알림)
|
||||
currentGrabbedPointIndex = -1;
|
||||
|
||||
// (로봇 잡기도 "PointDragStart" 이벤트로 통합하여 Presenter에 알림)
|
||||
OnPointDragStart?.Invoke(currentGrabbedPointIndex);
|
||||
}
|
||||
|
||||
//if (!enableSelectToDrag) return;
|
||||
//BeginDrag(args.interactorObject);
|
||||
}
|
||||
|
||||
// "잡기" 버튼을 뗐을 때
|
||||
private void HandleGrabEnd(SelectExitEventArgs args)
|
||||
{
|
||||
//if (!enableSelectToDrag) return;
|
||||
//EndDrag();
|
||||
//// "포인트"를 놓고 있는 중이었다면
|
||||
//if (isGrabbingPoint)
|
||||
//{
|
||||
// // Presenter에게 "드래그 끝" 이벤트 전송 (팝업 트리거용)
|
||||
// OnPointDragEnd?.Invoke(currentGrabbedPointIndex);
|
||||
//}
|
||||
//// "로봇"을 놓고 있는 중이었다면
|
||||
//else if (isGrabbingRobot)
|
||||
//{
|
||||
// // Presenter에게 "로봇 놓기" 이벤트 전송 (팝업 트리거용)
|
||||
// RobotData currentPose = GetCurrentRobotPoseFromController();
|
||||
// OnRobotReleased?.Invoke(currentPose);
|
||||
//}
|
||||
if (isGrabbingPoint)
|
||||
{
|
||||
OnPointDragEnd?.Invoke(currentGrabbedPointIndex);
|
||||
}
|
||||
else if (isGrabbingRobot)
|
||||
{
|
||||
OnRobotReleased?.Invoke(new RobotData());
|
||||
}
|
||||
|
||||
// 상태 초기화
|
||||
isGrabbingPoint = false;
|
||||
@@ -170,128 +157,77 @@ public class InteractionView : MonoBehaviour, IInteractionView
|
||||
currentGrabbedPointIndex = -1;
|
||||
}
|
||||
|
||||
// ---- Drag lifecycle ----
|
||||
//private void BeginDrag(IXRInteractor interactor)
|
||||
//{
|
||||
// currentInteractor = interactor;
|
||||
// isDragging = true;
|
||||
|
||||
// startPosition = transform.position;
|
||||
// //pathLine.enabled = true;
|
||||
|
||||
// uiController?.UpdateStatus("드래그 중...");
|
||||
// if (communicationScript != null) communicationScript.isMoving = false;
|
||||
|
||||
// // ← 드래그 루프 시작
|
||||
// StartDragMoveLoop();
|
||||
//}
|
||||
|
||||
//private void EndDrag()
|
||||
//{
|
||||
// if (!isDragging) return;
|
||||
// isDragging = false;
|
||||
// uiController?.UpdateStatus("완료!");
|
||||
// communicationScript.isMoving = false;
|
||||
// // ← 루프 중지
|
||||
// StopDragMoveLoop();
|
||||
|
||||
// currentInteractor = null;
|
||||
//}
|
||||
|
||||
//private void StopDragMoveLoop()
|
||||
//{
|
||||
// if (dragLoopCts != null)
|
||||
// {
|
||||
// dragLoopCts.Cancel();
|
||||
// dragLoopCts.Dispose();
|
||||
// dragLoopCts = null;
|
||||
// }
|
||||
//}
|
||||
|
||||
|
||||
//private void StartDragMoveLoop()
|
||||
//{
|
||||
// StopDragMoveLoop(); // 중복 방지
|
||||
// dragLoopCts = new CancellationTokenSource();
|
||||
// _ = DragMoveLoopAsync(dragLoopCts.Token);
|
||||
//}
|
||||
|
||||
//private async Task DragMoveLoopAsync(CancellationToken token)
|
||||
//{
|
||||
// // 드래그 동안 100ms 주기로 전송
|
||||
// while (!token.IsCancellationRequested && isDragging)
|
||||
// {
|
||||
// try
|
||||
// {
|
||||
// // 로봇이 아직 이동 중이 아니라면(대기 상태) 최신 dragPosition으로 지령 전송
|
||||
// if (communicationScript != null && !communicationScript.isMoving)
|
||||
// {
|
||||
// await MovingTask(); // 내부에서 StratMovement(dragPosition) 호출 및 isMoving 갱신 :contentReference[oaicite:4]{index=4}
|
||||
// }
|
||||
|
||||
// await Task.Delay(10, token); // 100ms 주기
|
||||
// }
|
||||
// catch (TaskCanceledException) { /* 정상 취소 */ }
|
||||
// }
|
||||
//}
|
||||
|
||||
//// ---- Per-frame ----
|
||||
//void Update()
|
||||
//{
|
||||
// if (isDragging && currentInteractor != null)
|
||||
// {
|
||||
// communicationScript.isMoving = false;
|
||||
// // 1) Ray Interactor: 현재 3D Raycast 히트 포인트가 있으면 그대로 사용
|
||||
// if (currentInteractor is XRRayInteractor ray &&
|
||||
// ray.TryGetCurrent3DRaycastHit(out RaycastHit hit))
|
||||
// {
|
||||
// dragPosition = hit.point;
|
||||
// }
|
||||
// else
|
||||
// {
|
||||
// // 2) Direct Interactor 또는 Ray 히트가 없을 때: 컨트롤러(또는 attachTransform) 위치 사용
|
||||
// var t = currentInteractor.transform;
|
||||
// var attach = currentInteractor.GetAttachTransform(null);
|
||||
// dragPosition = attach != null ? attach.position : t.position;
|
||||
// }
|
||||
|
||||
// uiController?.UpdateCoordinates(dragPosition); // 기존 UI 갱신 유지 :contentReference[oaicite:2]{index=2}
|
||||
// }
|
||||
//}
|
||||
|
||||
//private async Task MovingTask()
|
||||
//{
|
||||
// if (communicationScript == null) return;
|
||||
// bool ok = await communicationScript.StratMovement(dragPosition); // 기존 호출 그대로 사용 :contentReference[oaicite:3]{index=3}
|
||||
// if (ok) communicationScript.isMoving = true;
|
||||
//}
|
||||
|
||||
private RobotData GetCurrentRobotPoseFromController()
|
||||
// 로봇 좌표계(mm)를 Unity 월드 좌표계(m)로 변환
|
||||
private Vector3 ConvertRobotDataToVector3(RobotData pose)
|
||||
{
|
||||
// 이 View는 Presenter의 변환 로직(ConvertVrToRobotPose)을 알 수 없으므로,
|
||||
// 현재 컨트롤러 위치/회전을 기반으로 '가짜' RobotData를 만듦
|
||||
// Presenter가 이 데이터를 받아 어차피 다시 변환(또는 무시)해야 함
|
||||
return new RobotData(); // 임시 데이터
|
||||
float x = Convert.ToSingle(pose.x / -1000.0);
|
||||
float y = Convert.ToSingle(pose.z / 1000.0);
|
||||
float z = Convert.ToSingle(pose.y / -1000.0);
|
||||
return new Vector3(x, y, z);
|
||||
}
|
||||
|
||||
// --- Presenter가 호출할 함수들 ---
|
||||
public void ShowGhostRobot(RobotData pose)
|
||||
{
|
||||
/* 반투명 로봇2 활성화 및 위치 설정 */
|
||||
// 로봇 오일러 각(rx,ry,rz)을 Unity 쿼터니언으로 변환
|
||||
private Quaternion ConvertRobotDataToQuaternion(RobotData pose)
|
||||
{
|
||||
return Quaternion.Euler(pose.rx, pose.ry, pose.rz);
|
||||
}
|
||||
|
||||
public void HideGhostRobot()
|
||||
{
|
||||
/* 반투명 로봇2 비활성화 */
|
||||
// 고스트 로봇의 위치/회전 설정
|
||||
public void ShowGhostRobot()
|
||||
{
|
||||
if (ghostRobot == null)
|
||||
{
|
||||
Debug.LogWarning("Ghost Robot이 Inspector에 할당되지 않았습니다.");
|
||||
return;
|
||||
}
|
||||
|
||||
ghostRobot.SetActive(true);
|
||||
}
|
||||
|
||||
public void ShowDragArrow(Vector3 position)
|
||||
{
|
||||
/* 드래그용 화살표 UI 활성화 및 위치 설정 */
|
||||
// 고스트 로봇 비활성화
|
||||
public void HideGhostRobot()
|
||||
{
|
||||
if (ghostRobot != null)
|
||||
{
|
||||
ghostRobot.SetActive(false);
|
||||
}
|
||||
}
|
||||
|
||||
public void HideDragArrow()
|
||||
{
|
||||
/* 드래그용 화살표 UI 비활성화 */
|
||||
// 드래그 화살표 활성화 및 위치 설정
|
||||
public void ShowDragArrow(Vector3 position)
|
||||
{
|
||||
if (dragArrow == null)
|
||||
{
|
||||
Debug.LogWarning("Drag Arrow가 Inspector에 할당되지 않았습니다.");
|
||||
return;
|
||||
}
|
||||
|
||||
dragArrow.SetActive(true);
|
||||
dragArrow.transform.position = position;
|
||||
}
|
||||
|
||||
// 드래그 화살표 비활성화
|
||||
public void HideDragArrow()
|
||||
{
|
||||
if (dragArrow != null)
|
||||
{
|
||||
dragArrow.SetActive(false);
|
||||
}
|
||||
}
|
||||
|
||||
// 광선 끝 위치 반환
|
||||
public Vector3 GetCurrentRayPosition()
|
||||
{
|
||||
if (rayProvider != null)
|
||||
{
|
||||
return rayProvider.rayEndPoint;
|
||||
}
|
||||
|
||||
if (baseInteractor != null)
|
||||
{
|
||||
return baseInteractor.attachTransform.position;
|
||||
}
|
||||
|
||||
return transform.position;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,10 +1,11 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using UnityEngine;
|
||||
|
||||
// 인터페이스
|
||||
public interface IPathLineView
|
||||
{
|
||||
void DrawPath(List<RobotData> poses); // (RobotProgram.Steps¿¡¼ º¯È¯)
|
||||
}
|
||||
|
||||
[RequireComponent(typeof(LineRenderer))]
|
||||
@@ -15,21 +16,54 @@ public class PathLineView : MonoBehaviour, IPathLineView
|
||||
void Awake()
|
||||
{
|
||||
lineRenderer = GetComponent<LineRenderer>();
|
||||
lineRenderer.positionCount = 0;
|
||||
// Line Renderer 기본 설정
|
||||
lineRenderer.startWidth = 0.01f;
|
||||
lineRenderer.endWidth = 0.01f;
|
||||
lineRenderer.material = new Material(Shader.Find("Legacy Shaders/Particles/Alpha Blended Premultiply"));
|
||||
lineRenderer.startColor = Color.cyan;
|
||||
lineRenderer.endColor = Color.cyan;
|
||||
}
|
||||
|
||||
private Vector3 ConvertRobotDataToVector3(RobotData pose)
|
||||
{
|
||||
float x = Convert.ToSingle(pose.x / -1000.0); // mm -> m
|
||||
float y = Convert.ToSingle(pose.z / 1000.0); // Robot Z(mm) -> Unity Y(m)
|
||||
float z = Convert.ToSingle(pose.y / -1000.0); // Robot Y(mm) -> Unity Z(m)
|
||||
return new Vector3(x, y, z);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 프로그램의 모든 포인트를 순서대로 잇는 선을 그림
|
||||
/// </summary>
|
||||
public void DrawPath(List<RobotData> poses)
|
||||
{
|
||||
if (poses == null || poses.Count < 2)
|
||||
{
|
||||
lineRenderer.positionCount = 0;
|
||||
lineRenderer.positionCount = 0; // 포인트가 2개 미만이면 선을 지움
|
||||
return;
|
||||
}
|
||||
|
||||
lineRenderer.positionCount = poses.Count;
|
||||
for (int i = 0; i < poses.Count; i++)
|
||||
Vector3[] positions = poses.Select(ConvertRobotDataToVector3).ToArray();
|
||||
|
||||
lineRenderer.positionCount = positions.Length;
|
||||
lineRenderer.SetPositions(positions);
|
||||
}
|
||||
|
||||
// 실시간 경로 그리기
|
||||
public void DrawPath(List<RobotData> poses, int modifiedIndex, RobotData tempPose)
|
||||
{
|
||||
if (poses == null || poses.Count < 2 ||
|
||||
modifiedIndex < 0 || modifiedIndex >= poses.Count)
|
||||
{
|
||||
lineRenderer.SetPosition(i, new Vector3(poses[i].x, poses[i].y, poses[i].z));
|
||||
DrawPath(poses);
|
||||
return;
|
||||
}
|
||||
|
||||
Vector3[] positions = poses.Select(ConvertRobotDataToVector3).ToArray();
|
||||
|
||||
positions[modifiedIndex] = ConvertRobotDataToVector3(tempPose);
|
||||
|
||||
lineRenderer.positionCount = positions.Length;
|
||||
lineRenderer.SetPositions(positions);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,32 +1,51 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using UnityEditor.Experimental.GraphView;
|
||||
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
|
||||
[SerializeField] private GameObject pointPrefab;
|
||||
private List<GameObject> activePoints = new List<GameObject>();
|
||||
|
||||
public void CreatePoint(RobotData pose)
|
||||
[SerializeField] public GameObject movingAlert;
|
||||
[SerializeField]
|
||||
[Tooltip("반투명 로봇 모델의 IK")]
|
||||
public HybridInverseKinematicsNode kinematicsNode;
|
||||
|
||||
private Vector3 ConvertRobotDataToVector3(RobotData pose)
|
||||
{
|
||||
Vector3 position = new Vector3(pose.x, pose.y, pose.z);
|
||||
float x = Convert.ToSingle(pose.x / -1000.0); // mm -> m
|
||||
float y = Convert.ToSingle(pose.z / 1000.0); // Robot Z(mm) -> Unity Y(m)
|
||||
float z = Convert.ToSingle(pose.y / -1000.0); // Robot Y(mm) -> Unity Z(m)
|
||||
return new Vector3(x, y, z);
|
||||
}
|
||||
|
||||
public void CreatePoint(RobotData pose, int index)
|
||||
{
|
||||
Vector3 position = ConvertRobotDataToVector3(pose);
|
||||
GameObject pointObj = Instantiate(pointPrefab, position, Quaternion.identity, this.transform);
|
||||
activePoints.Add(pointObj);
|
||||
// (참고: 이 pointObj에 'InteractionView'가 감지할 수 있는 콜라이더와 스크립트가 있어야 함)
|
||||
|
||||
RobotPoint pointComponent = pointObj.GetComponent<RobotPoint>();
|
||||
if (pointComponent != null)
|
||||
{
|
||||
pointComponent.pointIndex = activePoints.Count - 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.LogError("point프리팹에 RobotPoint스크립트가 없음");
|
||||
}
|
||||
}
|
||||
|
||||
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);
|
||||
activePoints[index].transform.position = ConvertRobotDataToVector3(pose);
|
||||
}
|
||||
|
||||
public void DeletePoint(int index)
|
||||
@@ -38,10 +57,9 @@ public class PointManagerView : MonoBehaviour, IPointManagerView
|
||||
|
||||
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);
|
||||
if (poses == null) return;
|
||||
for (int i= 0; i < poses.Count; i++) CreatePoint(poses[i], i);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -2,75 +2,83 @@ using System;
|
||||
using UnityEngine;
|
||||
using UnityEngine.UI;
|
||||
using TMPro;
|
||||
using Unity.XR.CoreUtils;
|
||||
|
||||
// 팝업 응답 타입
|
||||
public enum PopupResponse
|
||||
{
|
||||
Confirm, // 확정
|
||||
Cancel, // 취소
|
||||
Option1, // (예: 여기로 이동)
|
||||
Option2 // (예: 삭제)
|
||||
InsConfirm, // 기록 확정
|
||||
ModConfirm, // 수정 확정
|
||||
Move, // 여기로 이동
|
||||
Delete, // 삭제
|
||||
DelConfirm, // 삭제 확정
|
||||
Cancel // 취소
|
||||
}
|
||||
|
||||
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 GameObject confirmPopupPanel;
|
||||
[SerializeField] private GameObject modifyPopupPanel;
|
||||
[SerializeField] private GameObject deletePopupPanel;
|
||||
[SerializeField] private GameObject optionPopupPanel;
|
||||
|
||||
[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
|
||||
[SerializeField] private Button ins_confirmButton; // '기록확정' 버튼
|
||||
[SerializeField] private Button mod_confirmButton; // '수정확정' 버튼
|
||||
[SerializeField] private Button moveButton; // '이동' 버튼
|
||||
[SerializeField] private Button deleteButton; // '삭제' 버튼
|
||||
[SerializeField] private Button del_confirmButton; // '삭제확정' 버튼
|
||||
[SerializeField] private Button[] cancelButton; // '취소' 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));
|
||||
ins_confirmButton.onClick.AddListener(() => OnPopupResponse?.Invoke(PopupResponse.InsConfirm));
|
||||
mod_confirmButton.onClick.AddListener(() => OnPopupResponse?.Invoke(PopupResponse.ModConfirm));
|
||||
moveButton.onClick.AddListener(() => OnPopupResponse?.Invoke(PopupResponse.Move));
|
||||
deleteButton.onClick.AddListener(() => OnPopupResponse?.Invoke(PopupResponse.Delete));
|
||||
del_confirmButton.onClick.AddListener(() => OnPopupResponse?.Invoke(PopupResponse.DelConfirm));
|
||||
for (int i = 0; i < cancelButton.Length; i++)
|
||||
cancelButton[i].onClick.AddListener(() => OnPopupResponse?.Invoke(PopupResponse.Cancel));
|
||||
|
||||
popupPanel.SetActive(false);
|
||||
confirmPopupPanel.SetActive(false);
|
||||
modifyPopupPanel.SetActive(false);
|
||||
deletePopupPanel.SetActive(false);
|
||||
optionPopupPanel.SetActive(false);
|
||||
}
|
||||
|
||||
public void ShowConfirmPopup(string title, string message)
|
||||
public void ShowConfirmPopup(Transform popPose)
|
||||
{
|
||||
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);
|
||||
confirmPopupPanel.transform.SetPositionAndRotation(popPose.position, Quaternion.identity);
|
||||
confirmPopupPanel.SetActive(true);
|
||||
}
|
||||
|
||||
public void ShowOptionPopup(string title, string message, string opt1Text, string opt2Text)
|
||||
public void ShowModifyPopup(Transform popPose)
|
||||
{
|
||||
titleText.text = title;
|
||||
messageText.text = message;
|
||||
option1Button.GetComponentInChildren<Text>().text = opt1Text;
|
||||
option2Button.GetComponentInChildren<Text>().text = opt2Text;
|
||||
modifyPopupPanel.transform.SetPositionAndRotation(popPose.position, Quaternion.identity);
|
||||
modifyPopupPanel.SetActive(true);
|
||||
}
|
||||
|
||||
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 ShowDeletePopup(Transform popPose)
|
||||
{
|
||||
deletePopupPanel.transform.SetPositionAndRotation(popPose.position, Quaternion.identity);
|
||||
deletePopupPanel.SetActive(true);
|
||||
}
|
||||
|
||||
public void ShowOptionPopup(Transform popPose)
|
||||
{
|
||||
optionPopupPanel.transform.SetPositionAndRotation(popPose.position, Quaternion.identity);
|
||||
optionPopupPanel.SetActive(true);
|
||||
}
|
||||
|
||||
public void HidePopup()
|
||||
{
|
||||
popupPanel.SetActive(false);
|
||||
confirmPopupPanel.SetActive(false);
|
||||
modifyPopupPanel.SetActive(false);
|
||||
deletePopupPanel.SetActive(false);
|
||||
optionPopupPanel.SetActive(false);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -109,7 +109,7 @@ public class ProgramView : MonoBehaviour, IProgramView
|
||||
Debug.Log("No Program Loaded");
|
||||
return;
|
||||
}
|
||||
Debug.Log($"연결된 프로그램: {programId}.job");
|
||||
Debug.Log($"연결된 프로그램: {programId}");
|
||||
}
|
||||
|
||||
public void ShowProgramList(List<string> programIds)
|
||||
|
||||
Reference in New Issue
Block a user