HDRobotics/Assets/Scripts/Model/RobotMoveStep.cs

using System.Text.RegularExpressions;
using UnityEngine;

public class RobotMoveStep
{
    public string FullLine { get; private set; }
    public RobotPose Pose { get; private set; }

    public int StepNumber { get; private set; }
    public int Speed { get; private set; }
    public int Accu {  get; private set; }
    public int Tool {  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);
    private static readonly Regex SpeedRegex = new Regex(@"spd=([0-9]+)", RegexOptions.Compiled | RegexOptions.IgnoreCase);
    private static readonly Regex AccuRegex = new Regex(@"accu=([0-9]+)", RegexOptions.Compiled | RegexOptions.IgnoreCase);
    private static readonly Regex ToolRegex = new Regex(@"tool=([0-9]+)", RegexOptions.Compiled | RegexOptions.IgnoreCase);

    public RobotMoveStep(string line, string coordString)
    {
        this.FullLine = line;

        string[] values = coordString.Split(',');
        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();

            Match speedMatch = SpeedRegex.Match(this.MoveCommand);
            Match accuMatch = AccuRegex.Match(this.MoveCommand);
            Match toolMatch = ToolRegex.Match(this.MoveCommand);

            if (speedMatch.Success)
                this.Speed = int.Parse(speedMatch.Groups[1].Value);
            else
                Debug.LogWarning($"'spd='를 찾을 수 없음: {this.MoveCommand}");
            if (accuMatch.Success)
                this.Accu = int.Parse(accuMatch.Groups[1].Value);
            else
                Debug.LogWarning($"'accu='를 찾을 수 없음: {this.MoveCommand}");
            if (toolMatch.Success)
                this.Tool = int.Parse(toolMatch.Groups[1].Value);
            else
                Debug.LogWarning($"'tool='을 찾을 수 없음: {this.MoveCommand}");
        }
        else
        {
            Debug.LogError($"스텝 라인 파싱 실패: {line}");
            this.StepNumber = -1;
            this.MoveCommand = "move P,spd=50%,accu=3,tool=0"; // 기본값
            this.Speed = 50; // 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()}";
    }
}

public class RobotPose
{
    public float x, y, z, rx, ry, rz;
    public RobotPose(float x, float y, float z, float rx, float ry, float rz)
    {
        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\"]";
    }
}