<feat> TCP 좌표 패널 표기

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<JobInfoDTO> allProgramsCache = new List<JobInfoDTO>();
     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<bool> 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<string> 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<bool> 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<RobotData>(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<bool> 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;
+    }
 }