From 76bc665337e914ad126f6d0d3c03b2cf77c81730 Mon Sep 17 00:00:00 2001 From: SOOBEEN HAN Date: Fri, 24 Oct 2025 14:36:33 +0900 Subject: [PATCH] =?UTF-8?q?=20TCP=20=EC=A2=8C=ED=91=9C=20=ED=8C=A8?= =?UTF-8?q?=EB=84=90=20=ED=91=9C=EA=B8=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Assets/Resources/Images/TCP_bg.png | Bin 0 -> 43999 bytes Assets/Resources/Images/TCP_bg.png.meta | 143 ++ Assets/Resources/Images/button_bg1.png | Bin 0 -> 8916 bytes Assets/Resources/Images/button_bg1.png.meta | 143 ++ Assets/Resources/Images/point marker.png | Bin 6187 -> 3005 bytes Assets/Resources/Images/point marker.png.meta | 2 +- Assets/Scenes/HDRobo_Main.unity | 1688 ++++++++++++++++- Assets/Scripts/AppManager.cs | 6 +- Assets/Scripts/Model/ProgramModel.cs | 86 +- Assets/Scripts/Presenter/ProgramPresenter.cs | 16 +- Assets/Scripts/View/ProgramView.cs | 1 + Assets/Scripts/View/TCPView.cs | 33 + Assets/Scripts/View/TCPView.cs.meta | 2 + 13 files changed, 2093 insertions(+), 27 deletions(-) create mode 100644 Assets/Resources/Images/TCP_bg.png create mode 100644 Assets/Resources/Images/TCP_bg.png.meta create mode 100644 Assets/Resources/Images/button_bg1.png create mode 100644 Assets/Resources/Images/button_bg1.png.meta create mode 100644 Assets/Scripts/View/TCPView.cs create mode 100644 Assets/Scripts/View/TCPView.cs.meta diff --git a/Assets/Resources/Images/TCP_bg.png b/Assets/Resources/Images/TCP_bg.png new file mode 100644 index 0000000000000000000000000000000000000000..d975ec0d07b523228d110be6f9ed744f34be2bb2 GIT binary patch literal 43999 zcmV)HK)t_-P)_B*8rOrm6u~C>Xo+AosFK`=-#&cW&-%=)}P7kF<=A6_on`>e88_uh8x zruF!K3|N#_H-`Ym3VB{Jjv}T-Eys_xAjQ`mg%+vW(rf zjNNDT`{e@9l^!q4u6T1f?lbUNabNI!o6sFVmg#?YxX|WTMEQ#T-l0$Yz54dIzr9|2 z=a2sAkH#n6YxTtS@fU+JzQ=P}4)rYUt~fCsYkTjYUff3;7dXCifk&1>Iqnl*zZj=i zjF;EB)O*$ES4&?m>-?;-c*`Hp&t;hf&#Sq=d`8Z+F~*9=eywkrvv(f!{cU}@oJY(H z+J7)7?_Bh)&Cvsz%I7co-SA&%?W)dk-FX1lqsefzVas6B0`j+$9yYb0_iY*D&{%_U#`rw*z 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0 @@ -26565,8 +28229,6 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: c12f4ab377ddfdc46820089b240eaf27, type: 3} m_Name: m_EditorClassIdentifier: - robotId: robot1 - isLocallyControlled: 0 motorStatusIndicator1: {fileID: 1475297475771640280} motorStatusIndicator2: {fileID: 2476781507827223150} indicatorMaterial1: {fileID: 2100000, guid: 8429ea8a04d5dd844875dc07c5f6c06b, type: 2} diff --git a/Assets/Scripts/AppManager.cs b/Assets/Scripts/AppManager.cs index e3d9c0c..c711236 100644 --- a/Assets/Scripts/AppManager.cs +++ b/Assets/Scripts/AppManager.cs @@ -7,6 +7,7 @@ using UnityEngine; public class AppManager : MonoBehaviour { [SerializeField] private ProgramView view; + [SerializeField] private TCPView tcpView; [SerializeField] private RobotController robotController; [SerializeField] private float motorStatePollInterval = 1.0f; ProgramPresenter presenter; @@ -19,10 +20,11 @@ public class AppManager : MonoBehaviour { LoadConfig(); - ProgramModel model = new ProgramModel(hostip, tcpPort); + ProgramModel model = new ProgramModel(hostip, tcpPort, udpPort); await model.InitializeAsync(); + _ = model.GetTCPAsync(); - presenter = new ProgramPresenter(model, view); + presenter = new ProgramPresenter(model, view, tcpView); presenter.RegisterControlledRobot(robotController); await presenter.UpdateMotorStateAsync(); diff --git a/Assets/Scripts/Model/ProgramModel.cs b/Assets/Scripts/Model/ProgramModel.cs index cba6c70..dd6c8fa 100644 --- a/Assets/Scripts/Model/ProgramModel.cs +++ b/Assets/Scripts/Model/ProgramModel.cs @@ -11,6 +11,7 @@ using System.Threading; using System.Threading.Tasks; using UdpClientLib; using UnityEngine; +using static DirectorySyncer; public interface IProgramModel { @@ -19,26 +20,57 @@ public interface IProgramModel public class ProgramModel : IProgramModel { - private string baseUrl; + private string tcpBaseUrl; + private string udpBaseUrl; HttpClient httpClient = new HttpClient(); + private SingleUdpClient udpClientForHttp; + public UdpClientManager manager = new UdpClientManager(); private List allProgramsCache = new List(); public RobotProgram CurrentProgram { get; private set; } - public ProgramModel(string hostip, int tcpPort) + private RobotData robotData; + + private readonly object lockObject = new object(); + private bool hasNewData; + + public bool isUdpLoopRunning = false; + + public ProgramModel(string hostip, int tcpPort, int udpPort) { - baseUrl = $"http://{hostip}:{tcpPort}"; + tcpBaseUrl = $"http://{hostip}:{tcpPort}"; + udpBaseUrl = $"http://{hostip}:{udpPort}"; + udpClientForHttp = manager.AddClient("Udp-client2", hostip, udpPort); } public async Task InitializeAsync() { await LoadAllPrograms(); + hasNewData = false; + isUdpLoopRunning = true; return; } + public bool IsNewDataAvailable() + { + lock (lockObject) + { + return hasNewData; + } + } + + public RobotData GetLatestRobotData() + { + lock (lockObject) + { + hasNewData = false; // 데이터를 읽었으므로 플래그를 내림 + return robotData; // (데이터 복사본을 반환하는 것이 더 안전할 수 있음) + } + } + public async Task CheckProgramExists(string jobProgramName) { - string requestUri = $"{baseUrl}/file_manager/file_exist?pathname=project/jobs/{jobProgramName}"; + string requestUri = $"{tcpBaseUrl}/file_manager/file_exist?pathname=project/jobs/{jobProgramName}"; HttpResponseMessage result = await httpClient.GetAsync(requestUri); string jsonResponse = await result.Content.ReadAsStringAsync(); @@ -82,7 +114,7 @@ public class ProgramModel : IProgramModel string jsonString = JsonConvert.SerializeObject(newJob); HttpContent jsonPayload = new StringContent(jsonString, Encoding.UTF8, "application/json"); - string requestUri = $"{baseUrl}/project/jobs/create_job"; + string requestUri = $"{tcpBaseUrl}/project/jobs/create_job"; try { HttpResponseMessage result = await httpClient.PostAsync(requestUri, jsonPayload); @@ -103,7 +135,7 @@ public class ProgramModel : IProgramModel private async Task GetRobotModelNameAsync() { - string requestUri = $"{baseUrl}/project/rgen"; + string requestUri = $"{tcpBaseUrl}/project/rgen"; HttpResponseMessage result = await httpClient.GetAsync(requestUri); string jsonResponse = await result.Content.ReadAsStringAsync(); @@ -122,7 +154,7 @@ public class ProgramModel : IProgramModel public async Task GetRobotMotorStateAsync() { - string requestUri = $"{baseUrl}/project/rgen"; + string requestUri = $"{tcpBaseUrl}/project/rgen"; HttpResponseMessage result = await httpClient.GetAsync(requestUri); string jsonResponse = await result.Content.ReadAsStringAsync(); @@ -140,9 +172,38 @@ public class ProgramModel : IProgramModel } } + public async Task GetTCPAsync() + { + while (isUdpLoopRunning) + { + try + { + //string requestUri = $"{udpBaseUrl}/project/robot/po_cur"; + string requestUri = $"{tcpBaseUrl}/project/robot/po_cur"; + + HttpResponseMessage result = await httpClient.GetAsync(requestUri); + string jsonResponse = await result.Content.ReadAsStringAsync(); + + var tempRobotData = JsonConvert.DeserializeObject(jsonResponse, new JsonSerializerSettings { CheckAdditionalContent = false }); + + lock (lockObject) + { + robotData = tempRobotData; + hasNewData = true; + } + await Task.Delay(50); + } + catch (System.Exception e) + { + Debug.Log(e); + await Task.Delay(1000); // 에러 시 더 긴 대기 + } + } + } + public async Task LoadProgram(string programId) { - string requestUri = $"{baseUrl}/file_manager/files?pathname=project/jobs/{programId}&common"; + string requestUri = $"{tcpBaseUrl}/file_manager/files?pathname=project/jobs/{programId}&common"; HttpResponseMessage result = await httpClient.GetAsync(requestUri); string rawTextContent = await result.Content.ReadAsStringAsync(); @@ -153,7 +214,7 @@ public class ProgramModel : IProgramModel } CurrentProgram = new RobotProgram(programId, rawTextContent); - + return true; } @@ -165,7 +226,7 @@ public class ProgramModel : IProgramModel try { - HttpResponseMessage result = await httpClient.GetAsync($"{baseUrl}/project/jobs_info"); + HttpResponseMessage result = await httpClient.GetAsync($"{tcpBaseUrl}/project/jobs_info"); jsonResponse = await result.Content.ReadAsStringAsync(); wrappedJson = $"{{\"jobs\":{jsonResponse}}}"; @@ -199,4 +260,9 @@ public class ProgramModel : IProgramModel } return ids; } + + void OnDestroy() + { + isUdpLoopRunning = false; + } } \ No newline at end of file diff --git a/Assets/Scripts/Presenter/ProgramPresenter.cs b/Assets/Scripts/Presenter/ProgramPresenter.cs index 3c9a28c..adfd39b 100644 --- a/Assets/Scripts/Presenter/ProgramPresenter.cs +++ b/Assets/Scripts/Presenter/ProgramPresenter.cs @@ -7,14 +7,16 @@ public class ProgramPresenter { private ProgramModel model; private IProgramView view; + private TCPView tcpView; private RobotController controlledRobot; private string _programId; private bool lastKnownMotorState = false; - public ProgramPresenter(ProgramModel model, IProgramView view) + public ProgramPresenter(ProgramModel model, IProgramView view, TCPView tcpView) { this.model = model; this.view = view; + this.tcpView = tcpView; this.view.OnCreateProgramClicked += async (id) => await HandleCreateProgram(id); this.view.OnLoadProgramListRequested += HandleLoadProgramList; @@ -22,6 +24,7 @@ public class ProgramPresenter this.view.OnOpenProgramClicked += async () => await HandleOpenProgram(); this.view.OnSaveClicked += HandleSaveProgram; this.view.OnAddPointClicked += HandleAddPoint; + this.tcpView.OnTCPupdateRequested += HandleTCPViewUpdate; } public void RegisterControlledRobot(RobotController robot) @@ -59,6 +62,7 @@ public class ProgramPresenter } } + private async Task HandleCreateProgram(string programId) { if (await model.CreateNewProgram(programId)) @@ -113,6 +117,15 @@ public class ProgramPresenter //view.DisplayProgram(model.CurrentProgram); } + private void HandleTCPViewUpdate() + { + if (model.IsNewDataAvailable()) + { + RobotData data = model.GetLatestRobotData(); + + tcpView.SetCoordinates(data); + } + } private void Destroy() { this.view.OnCreateProgramClicked -= async (id) => await HandleCreateProgram(id); @@ -121,5 +134,6 @@ public class ProgramPresenter this.view.OnOpenProgramClicked -= async () => await HandleOpenProgram(); this.view.OnSaveClicked -= HandleSaveProgram; this.view.OnAddPointClicked -= HandleAddPoint; + this.tcpView.OnTCPupdateRequested -= HandleTCPViewUpdate; } } \ No newline at end of file diff --git a/Assets/Scripts/View/ProgramView.cs b/Assets/Scripts/View/ProgramView.cs index 33c4225..ee20207 100644 --- a/Assets/Scripts/View/ProgramView.cs +++ b/Assets/Scripts/View/ProgramView.cs @@ -52,6 +52,7 @@ public class ProgramView : MonoBehaviour, IProgramView public event Action OnSaveClicked; public event Action OnAddPointClicked; + void Start() { loadProgramButton.onClick.AddListener(() => OnLoadProgramListRequested?.Invoke()); diff --git a/Assets/Scripts/View/TCPView.cs b/Assets/Scripts/View/TCPView.cs new file mode 100644 index 0000000..92f213c --- /dev/null +++ b/Assets/Scripts/View/TCPView.cs @@ -0,0 +1,33 @@ +using TMPro; +using UnityEngine; +using System; + +public class TCPView : MonoBehaviour +{ + public event Action OnTCPupdateRequested; + + // --- TCP 좌표들 --- + [SerializeField] private TextMeshProUGUI x; + [SerializeField] private TextMeshProUGUI Y; + [SerializeField] private TextMeshProUGUI Z; + [SerializeField] private TextMeshProUGUI Rx; + [SerializeField] private TextMeshProUGUI Ry; + [SerializeField] private TextMeshProUGUI Rz; + + void Update() + { + OnTCPupdateRequested?.Invoke(); + } + + public void SetCoordinates(RobotData data) + { + if (data == null) 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"); + } +} diff --git a/Assets/Scripts/View/TCPView.cs.meta b/Assets/Scripts/View/TCPView.cs.meta new file mode 100644 index 0000000..9877933 --- /dev/null +++ b/Assets/Scripts/View/TCPView.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 6f5682d5897289846962ca66ba85af5a \ No newline at end of file