<feat> 모터 상태 api통신

Assets/Scripts/AppManager.cs

@@ -1,3 +1,4 @@
+using System.Collections;
 using System.Collections.Generic;
 using System.IO;
 using UnityEngine;
@@ -7,6 +8,8 @@ public class AppManager : MonoBehaviour
 {
     [SerializeField] private ProgramView view;
     [SerializeField] private RobotController robotController;
+    [SerializeField] private float motorStatePollInterval = 1.0f;
+    ProgramPresenter presenter;
     private string hostip;
     private int tcpPort;
     private int udpPort;
@@ -19,10 +22,14 @@ public class AppManager : MonoBehaviour
         ProgramModel model = new ProgramModel(hostip, tcpPort);
         await model.InitializeAsync();
 
-        ProgramPresenter presenter = new ProgramPresenter(model, view);
+        presenter = new ProgramPresenter(model, view);
         presenter.RegisterControlledRobot(robotController);
 
+        await presenter.UpdateMotorStateAsync();
+
         view.DisplayProgram(null);
+
+        StartCoroutine(PollMotorStateCoroutine());
     }
 
     private void LoadConfig()
@@ -116,4 +123,14 @@ public class AppManager : MonoBehaviour
             udpPort = defaultPort;
         }
     }
+
+    private IEnumerator PollMotorStateCoroutine()
+    {
+        while (true)
+        {
+            yield return new WaitForSeconds(motorStatePollInterval);
+
+            _ = presenter.UpdateMotorStateAsync();
+        }
+    }
 }

Assets/Scripts/Model/ProgramModel.cs

@@ -120,6 +120,26 @@ public class ProgramModel : IProgramModel
         return modelName;
     }
 
+    public async Task<bool> GetRobotMotorStateAsync()
+    {
+        string requestUri = $"{baseUrl}/project/rgen";
+
+        HttpResponseMessage result = await httpClient.GetAsync(requestUri);
+        string jsonResponse = await result.Content.ReadAsStringAsync();
+
+        JObject data = JObject.Parse(jsonResponse);
+
+        int motorState = (int)data.SelectToken("enable_state");
+        if (motorState == 2 || motorState == 256)
+            return true;
+        else if (motorState == 1)
+            return false;
+        else
+        {
+            throw new Exception("로봇 상태 API 응답에서 모터 상태를 찾을 수 없습니다.");
+        }
+    }
+
     public async Task<bool> LoadProgram(string programId)
     {
         string requestUri = $"{baseUrl}/file_manager/files?pathname=project/jobs/{programId}&common";
@@ -145,7 +165,7 @@ public class ProgramModel : IProgramModel
 
         try
         {
-            HttpResponseMessage result = await httpClient.GetAsync(new Uri($"{baseUrl}/project/jobs_info"));
+            HttpResponseMessage result = await httpClient.GetAsync($"{baseUrl}/project/jobs_info");
             jsonResponse = await result.Content.ReadAsStringAsync();
 
             wrappedJson = $"{{\"jobs\":{jsonResponse}}}";

Assets/Scripts/Presenter/ProgramPresenter.cs

@@ -1,5 +1,7 @@
+using System;
 using System.Threading.Tasks;
 using UnityEngine;
+using UnityEngine.XR.ARSubsystems;
 
 public class ProgramPresenter
 {
@@ -7,6 +9,7 @@ public class ProgramPresenter
     private IProgramView view;
     private RobotController controlledRobot;
     private string _programId;
+    private bool lastKnownMotorState = false;
 
     public ProgramPresenter(ProgramModel model, IProgramView view)
     {
@@ -26,12 +29,29 @@ public class ProgramPresenter
         this.controlledRobot = robot;
     }
 
+    public async Task UpdateMotorStateAsync()
+    {
+        try
+        {
+            bool currentState = await model.GetRobotMotorStateAsync();
+
+            if (currentState != lastKnownMotorState)
+            {
+                controlledRobot.SetMotorState(currentState);
+                lastKnownMotorState = currentState;
+            }
+        }
+        catch (Exception e)
+        {
+            Debug.LogWarning($"모터 상태 업데이트 실패: {e.Message}");
+        }
+    }
+
     public void OnApplicationStart()
     {
         if (controlledRobot != null)
         {
-            Debug.Log("로봇 모터를 ON 상태로 설정합니다.");
-            controlledRobot.SetMotorState(true);
+            Debug.Log("제어할 로봇이 등록되었습니다.");
         }
         else
         {
@@ -43,7 +63,7 @@ public class ProgramPresenter
     {
         if (await model.CreateNewProgram(programId))
         {
-            view.DisplayProgram(model.CurrentProgram);
+            view.DisplayProgram(programId);
             view.HideProgramSelectPanel();
             OnApplicationStart();
         }
@@ -68,7 +88,7 @@ public class ProgramPresenter
     {
         if(_programId != null && await model.LoadProgram(_programId))
         {
-            view.DisplayProgram(model.CurrentProgram);
+            view.DisplayProgram(_programId);
             view.HideProgramSelectPanel();
             view.HideProgramList();
 

Assets/Scripts/View/ProgramView.cs

@@ -7,7 +7,7 @@ using TMPro;
 public interface IProgramView
 {
     void ShowMessage(string message);
-    void DisplayProgram(RobotProgram program);
+    void DisplayProgram(string programId);
     void ShowProgramList(List<string> programIds);
     void HideProgramList();
     void HideProgramSelectPanel();
@@ -107,16 +107,16 @@ public class ProgramView : MonoBehaviour, IProgramView
         Debug.LogWarning(message);
     }
 
-    public void DisplayProgram(RobotProgram program)
+    public void DisplayProgram(string programId)
     {
-        if (program == null)
+        if (programId == null)
         {
             //currentProgramIdText.text = "No Program Loaded";
             //endpointListText.text = "";
             Debug.Log("No Program Loaded");
             return;
         }
-        Debug.Log($"연결된 프로그램: {program.ProgramId}.job");
+        Debug.Log($"연결된 프로그램: {programId}.job");
 
         //currentProgramIdText.text = "Current: " + program.programId;