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m_LocalPosition: {x: -0.21000004, y: 0.4829999, z: 1.7019999} + m_LocalPosition: {x: 1.197, y: 0.483, z: 0.112} m_LocalScale: {x: 47.084652, y: 47.084652, z: 47.084652} m_ConstrainProportionsScale: 0 m_Children: - {fileID: 1500826934} + - {fileID: 267392556} m_Father: {fileID: 324567848} m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} --- !u!33 &569414232852021066 diff --git a/Assets/Scripts/Model/ProgramModel.cs b/Assets/Scripts/Model/ProgramModel.cs index 4d12a4e..ce53bb8 100644 --- a/Assets/Scripts/Model/ProgramModel.cs +++ b/Assets/Scripts/Model/ProgramModel.cs @@ -41,6 +41,8 @@ public class ProgramModel : IProgramModel private Vector3 startMovementPosition; private int currentToolNum = 0; + private readonly SemaphoreSlim clientLock = new SemaphoreSlim(1, 1); + public ProgramModel(string hostip, int tcpPort, int udpPort, RobotController robotController) { tcpBaseUrl = $"http://{hostip}:{tcpPort}"; @@ -148,8 +150,17 @@ public class ProgramModel : IProgramModel HttpResponseMessage result = await httpClient.PostAsync(requestUri, jsonPayload); if (result.IsSuccessStatusCode) { - await LoadProgram(userInputId); - return true; + await LoadProgram(newProgramId); + object payload = CmdLinePayload("end", 0); + jsonString = JsonConvert.SerializeObject(payload); + jsonPayload = new StringContent(jsonString, Encoding.UTF8, "application/json"); + + HttpResponseMessage jsonResponse = await httpClient.PostAsync( + $"{tcpBaseUrl}/project/jobs/{CurrentProgram.ProgramId}/ins_cmd_line", jsonPayload); + if (jsonResponse.IsSuccessStatusCode) + return true; + else + return false; } else return false; @@ -218,6 +229,7 @@ public class ProgramModel : IProgramModel { while (!token.IsCancellationRequested) { + //await clientLock.WaitAsync(token); try { string requestUri = $"{tcpBaseUrl}/project/robot/po_cur"; @@ -232,13 +244,17 @@ public class ProgramModel : IProgramModel robotData = tempRobotData; hasNewData = true; } - await Task.Delay(50); + await Task.Delay(50, token); } catch (Exception e) { Debug.Log(e); await Task.Delay(1000); // ¿¡·¯ ½Ã ´õ ±ä ´ë±â } + finally + { + //clientLock.Release(); + } } } @@ -305,6 +321,37 @@ public class ProgramModel : IProgramModel /// /// ·Îº¿ À§Ä¡ ±â·Ï ½Ã½ºÅÛ /// + + // ÇÁ·Î±×·¥¿¡ ¸í·É¹® Ãß°¡ + public object CmdLinePayload(string cmd_line, int sno_ref) + { + object payload; + if (cmd_line == "end") + { + payload = new + { + cmd_line = cmd_line, + sno_ref = sno_ref + }; + } + else + { + payload = new + { + adjust_branch = true, + cmd_line = cmd_line, + fno_ref = -1, + mechinfo = -1, + move_cursor = 1, + ofs = 0, + save_file = true, + set_cur_pose = 1, + sno_ref = sno_ref + }; + } + return payload; + } + public async Task SavePointToProgramAsync(RobotData pointData, int index = -1) { if (CurrentProgram == null) @@ -325,18 +372,7 @@ public class ProgramModel : IProgramModel // sno_ref = ¸¶Áö¸· ½ºÅÜÀÇ ¹øÈ£, ¾øÀ¸¸é 0 int sno_ref = (CurrentProgram.Steps.Count > 0) ? CurrentProgram.Steps.Last().StepNumber : 0; - payload = new - { - adjust_branch = true, - cmd_line = $"move P,spd=50%,accu=3,tool={currentToolNum}", - fno_ref = -1, - mechinfo = -1, - move_cursor = 1, - ofs = 0, - save_file = true, - set_cur_pose = -1, - sno_ref = sno_ref - }; + payload = CmdLinePayload($"move P,spd=50%,accu=3,tool={currentToolNum}", sno_ref); requestUri = $"{tcpBaseUrl}/project/jobs/{CurrentProgram.ProgramId}/ins_cmd_line"; } @@ -429,6 +465,7 @@ public class ProgramModel : IProgramModel // Ÿ°Ù Æ÷Áö¼ÇÀ¸·Î À̵¿ public async Task MoveToPoseTcpAsync(Vector3 position) { + await clientLock.WaitAsync(); try { startMovementPosition.x = Convert.ToSingle(Math.Round(-1 * position.x * 1000, 2)); @@ -454,6 +491,10 @@ public class ProgramModel : IProgramModel Debug.Log(e); return false; } + finally + { + clientLock.Release(); + } } // TCP POST À̵¿ ¸í·É üũ diff --git a/Assets/Scripts/Presenter/ProgramPresenter.cs b/Assets/Scripts/Presenter/ProgramPresenter.cs index 337abba..e937b23 100644 --- a/Assets/Scripts/Presenter/ProgramPresenter.cs +++ b/Assets/Scripts/Presenter/ProgramPresenter.cs @@ -300,22 +300,28 @@ public class ProgramPresenter Vector3 startPos = interactionView.GetCurrentRayPosition(); interactionView.ShowDragArrow(startPos); interactionView.ShowGhostRobot(); + pointManagerView.kinematicsNode.enabled = true; // ¹ÝÅõ¸í ·Îº¿ÀÇ À§Ä¡¸¦ ¸¶¿ì½º À§Ä¡¿Í °°µµ·Ï ¼³Á¤ - pointManagerView.kinematicsNode.targetTransform.localPosition = startPos; + pointManagerView.kinematicsNode.targetTransform.position = startPos; + originalDragPose = model.CurrentProgram.GetStepPose(index); } } private void HandlePointDragUpdate(int index, Vector3 newWorldPos, Quaternion newWorldRot) { if (!IsDragging) return; - this.latestTargetPose = ConvertPoseToRobotData(newWorldPos, newWorldRot); + pointManagerView.kinematicsNode.targetTransform.position = newWorldPos; + pointManagerView.kinematicsNode.targetTransform.rotation = newWorldRot; + Vector3 ghostRobotPos = pointManagerView.kinematicsNode.nodes[5].jointTransform.position; + Quaternion ghostRobotRot = pointManagerView.kinematicsNode.nodes[5].jointTransform.rotation; + + this.latestTargetPose = ConvertPoseToRobotData(ghostRobotPos, ghostRobotRot); interactionView.ShowDragArrow(newWorldPos); // ¸¶¿ì½º À̹ÌÁö º¯°æ // °í½ºÆ® ·Îº¿, Æ÷ÀÎÆ®, °æ·Î ½Ç½Ã°£ À̵¿ - pointManagerView.kinematicsNode.targetTransform.localPosition = newWorldPos; - pointManagerView.UpdatePointPosition(index, this.latestTargetPose); + pointManagerView.UpdatePointPosition(index, ghostRobotPos); RedrawTemporaryPath(index, latestTargetPose); } @@ -325,6 +331,7 @@ public class ProgramPresenter interactionView.HideDragArrow(); interactionView.HideGhostRobot(); + pointManagerView.kinematicsNode.enabled = false; pendingPointData = this.latestTargetPose; @@ -333,7 +340,7 @@ public class ProgramPresenter currentPopupState = PopupState.ConfirmModifyPoint; // »óÅ ¼³Á¤ - popupView.ShowModifyPopup(popPos); + _ = WaitForRobotToStopAndShowPopup(currentPopupState); } // --- Æ˾÷ ÀÀ´ä ÅëÇÕ Çڵ鷯 --- @@ -362,7 +369,8 @@ public class ProgramPresenter } else if (response == PopupResponse.Cancel) { - pointManagerView.UpdatePointPosition(activePointIndex, originalDragPose); // ¿øÀ§Ä¡ + Vector3 originalPos = ConvertRobotDataToVector3(originalDragPose); + pointManagerView.UpdatePointPosition(activePointIndex, originalPos); // ¿øÀ§Ä¡ RedrawTemporaryPath(activePointIndex, originalDragPose); // °æ·Î ¿øÀ§Ä¡ } break; @@ -400,6 +408,7 @@ public class ProgramPresenter private async Task WaitForRobotToStopAndShowPopup(PopupState nextState) { + await Task.Delay(200); while (await model.GetMovingState() == "1") { Debug.Log("·Îº¿ÀÌ ¸ØÃ߱⸦ ±â´Ù¸®´Â Áß..."); @@ -416,6 +425,11 @@ public class ProgramPresenter popupWorldPos = ConvertRobotDataToVector3(pendingPointData); popupView.ShowConfirmPopupFromPoint(popupWorldPos); // (»õ Æ÷ÀÎÆ® À§Ä¡) } + else if(nextState == PopupState.ConfirmModifyPoint) + { + popupWorldPos = ConvertRobotDataToVector3(pendingPointData); + popupView.ShowModifyPopup(popupWorldPos); + } } private async Task WaitForRobotToStop() diff --git a/Assets/Scripts/View/InteractionView.cs b/Assets/Scripts/View/InteractionView.cs index e221017..ebc70fa 100644 --- a/Assets/Scripts/View/InteractionView.cs +++ b/Assets/Scripts/View/InteractionView.cs @@ -45,27 +45,27 @@ public class InteractionView : MonoBehaviour, IInteractionView public bool isGrabbingRobot = false; - void Start() - { - nearFarInteractor = GetComponent(); + //void Start() + //{ + // nearFarInteractor = GetComponentInChildren(); - if (nearFarInteractor == null) - { - Debug.LogError("InteractionView: 'nearFarInteractor'°¡ ÇÒ´çµÇÁö ¾Ê¾Ò½À´Ï´Ù", this); - return; - } + // if (nearFarInteractor == null) + // { + // Debug.LogError("InteractionView: 'nearFarInteractor'°¡ ÇÒ´çµÇÁö ¾Ê¾Ò½À´Ï´Ù", this); + // return; + // } - baseInteractor = nearFarInteractor as XRBaseInteractor; - rayProvider = nearFarInteractor as IXRRayProvider; + // baseInteractor = nearFarInteractor as XRBaseInteractor; + // rayProvider = nearFarInteractor as IXRRayProvider; - if (baseInteractor == null) - { - Debug.LogError("NearFarInteractor¸¦ XRBaseInteractor·Î º¯È¯ÇÒ ¼ö ¾ø½À´Ï´Ù.", this); - return; - } + // if (baseInteractor == null) + // { + // Debug.LogError("NearFarInteractor¸¦ XRBaseInteractor·Î º¯È¯ÇÒ ¼ö ¾ø½À´Ï´Ù.", this); + // return; + // } - InitializeInteraction(); - } + // InitializeInteraction(); + //} void Update() { @@ -77,7 +77,7 @@ public class InteractionView : MonoBehaviour, IInteractionView baseInteractor = nearFarInteractor as XRBaseInteractor; rayProvider = nearFarInteractor as IXRRayProvider; } - if (nearFarInteractor != null && nearFarInteractor.gameObject.activeInHierarchy) + if (nearFarInteractor != null) { InitializeInteraction(); } @@ -106,7 +106,6 @@ public class InteractionView : MonoBehaviour, IInteractionView StartDragMode(); } } - } } diff --git a/Assets/Scripts/View/PointManagerView.cs b/Assets/Scripts/View/PointManagerView.cs index 49bd7ed..7499fd0 100644 --- a/Assets/Scripts/View/PointManagerView.cs +++ b/Assets/Scripts/View/PointManagerView.cs @@ -47,10 +47,10 @@ public class PointManagerView : MonoBehaviour, IPointManagerView } } - public void UpdatePointPosition(int index, RobotData pose) + public void UpdatePointPosition(int index, Vector3 pose) { if (index < 0 || index >= activePoints.Count) return; - activePoints[index].transform.position = ConvertRobotDataToVector3(pose); + activePoints[index].transform.position = pose; } public void DeletePoint(int index) diff --git a/Assets/Scripts/View/PopupView.cs b/Assets/Scripts/View/PopupView.cs index 23a2afd..34a1ad0 100644 --- a/Assets/Scripts/View/PopupView.cs +++ b/Assets/Scripts/View/PopupView.cs @@ -54,6 +54,7 @@ public class PopupView : MonoBehaviour, IPopupView { confirmPopupPanel.transform.position = popPose.position; confirmPopupPanel.transform.LookAt(Camera.main.transform); + confirmPopupPanel.transform.Rotate(0, 180, 0); confirmPopupPanel.SetActive(true); } @@ -61,13 +62,15 @@ public class PopupView : MonoBehaviour, IPopupView { confirmPopupPanel.transform.position = popPose; confirmPopupPanel.transform.LookAt(Camera.main.transform); + confirmPopupPanel.transform.Rotate(0, 180, 0); confirmPopupPanel.SetActive(true); } - public void ShowModifyPopup(Transform popPose) + public void ShowModifyPopup(Vector3 popPose) { - modifyPopupPanel.transform.position = popPose.position; + modifyPopupPanel.transform.position = popPose; modifyPopupPanel.transform.LookAt(Camera.main.transform); + modifyPopupPanel.transform.Rotate(0, 180, 0); modifyPopupPanel.SetActive(true); } @@ -75,6 +78,7 @@ public class PopupView : MonoBehaviour, IPopupView { deletePopupPanel.transform.position = popPose; deletePopupPanel.transform.LookAt(Camera.main.transform); + deletePopupPanel.transform.Rotate(0, 180, 0); deletePopupPanel.SetActive(true); } @@ -82,6 +86,7 @@ public class PopupView : MonoBehaviour, IPopupView { optionPopupPanel.transform.position = popPose; optionPopupPanel.transform.LookAt(Camera.main.transform); + optionPopupPanel.transform.Rotate(0, 180, 0); optionPopupPanel.SetActive(true); } diff --git a/Assets/VRTemplateAssets/Prefabs/Setup/Complete XR Origin Set Up Hands Variant.prefab b/Assets/VRTemplateAssets/Prefabs/Setup/Complete XR Origin Set Up Hands Variant.prefab index c200677..7e758ac 100644 --- a/Assets/VRTemplateAssets/Prefabs/Setup/Complete XR Origin Set Up Hands Variant.prefab +++ b/Assets/VRTemplateAssets/Prefabs/Setup/Complete XR Origin Set Up Hands Variant.prefab @@ -682,7 +682,11 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: c1b136fe9693203418aa8d9bacb7cfcf, type: 3} m_Name: m_EditorClassIdentifier: - interactor: {fileID: 0} + nearFarInteractor: {fileID: 0} + ghostRobot: {fileID: 0} + dragArrow: {fileID: 0} + clickTimeThreshold: 0.5 + dragMovementThreshold: 0.05 isGrabbingRobot: 0 --- !u!1 &7917674758240283208 stripped GameObject: @@ -701,7 +705,11 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: c1b136fe9693203418aa8d9bacb7cfcf, type: 3} m_Name: m_EditorClassIdentifier: - interactor: {fileID: 0} + nearFarInteractor: {fileID: 0} + ghostRobot: {fileID: 0} + dragArrow: {fileID: 0} + clickTimeThreshold: 0.5 + dragMovementThreshold: 0.05 isGrabbingRobot: 0 --- !u!4 &7917674758240283209 stripped Transform: @@ -735,7 +743,11 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: c1b136fe9693203418aa8d9bacb7cfcf, type: 3} m_Name: m_EditorClassIdentifier: - interactor: {fileID: 0} + nearFarInteractor: {fileID: 0} + ghostRobot: {fileID: 0} + dragArrow: {fileID: 0} + clickTimeThreshold: 0.5 + dragMovementThreshold: 0.05 isGrabbingRobot: 0 --- !u!114 &8053059486601427065 stripped MonoBehaviour: @@ -770,5 +782,9 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: c1b136fe9693203418aa8d9bacb7cfcf, type: 3} m_Name: m_EditorClassIdentifier: - interactor: {fileID: 0} + nearFarInteractor: {fileID: 0} + ghostRobot: {fileID: 0} + dragArrow: {fileID: 0} + clickTimeThreshold: 0.5 + dragMovementThreshold: 0.05 isGrabbingRobot: 0 diff --git a/ProjectSettings/DynamicsManager.asset b/ProjectSettings/DynamicsManager.asset index 4d9873e..19324aa 100644 --- a/ProjectSettings/DynamicsManager.asset +++ b/ProjectSettings/DynamicsManager.asset @@ -3,7 +3,7 @@ --- !u!55 &1 PhysicsManager: m_ObjectHideFlags: 0 - serializedVersion: 17 + serializedVersion: 18 m_Gravity: {x: 0, y: -9.81, z: 0} m_DefaultMaterial: {fileID: 0} m_BounceThreshold: 2 @@ -17,7 +17,7 @@ PhysicsManager: m_EnableAdaptiveForce: 0 m_ClothInterCollisionDistance: 0 m_ClothInterCollisionStiffness: 0 - m_LayerCollisionMatrix: ffffffffffffffffdffffffffffffffffffffffffbffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff + m_LayerCollisionMatrix: bfffffffffffffffdffffffffffffffffffffffffbfffffffeffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff m_SimulationMode: 0 m_AutoSyncTransforms: 1 m_ReuseCollisionCallbacks: 1 @@ -28,7 +28,6 @@ PhysicsManager: m_BroadphaseType: 0 m_FrictionType: 0 m_EnableEnhancedDeterminism: 0 - m_EnableUnifiedHeightmaps: 1 m_ImprovedPatchFriction: 0 m_SolverType: 0 m_DefaultMaxAngularSpeed: 20 diff --git a/ProjectSettings/TagManager.asset b/ProjectSettings/TagManager.asset index 901b0a0..9b760c9 100644 --- a/ProjectSettings/TagManager.asset +++ b/ProjectSettings/TagManager.asset @@ -16,8 +16,8 @@ TagManager: - Teleport - Water - UI - - - - + - BoxPhysics + - Floor - - -