HDRobotics/Assets/Scripts/View/InteractionView.cs

using System;
using System.Collections;
using System.Threading;
using System.Threading.Tasks;
using UnityEngine;
using UnityEngine.XR.Interaction.Toolkit;
using UnityEngine.XR.Interaction.Toolkit.Interactables;
using UnityEngine.XR.Interaction.Toolkit.Interactors;

public interface IInteractionView
{

}

public class InteractionView : MonoBehaviour, IInteractionView
{
    public event Action<Vector3, Quaternion> OnRobotGrabbed;
    public event Action<RobotData> OnRobotReleased;
    public event Action<int, Vector3> OnPointClicked;
    public event Action<int> OnPointDragStart;
    public event Action<int, Vector3, Quaternion> OnPointDragUpdate;
    public event Action<int> OnPointDragEnd;

    [SerializeField]private NearFarInteractor nearFarInteractor;
    private XRBaseInteractor baseInteractor;
    private IXRRayProvider rayProvider;

    [SerializeField]
    [Tooltip("드래그 시 위치를 표시할 반투명 로봇 모델")]
    private GameObject ghostRobot;
    [SerializeField]
    [Tooltip("드래그용 마우스 이미지")]
    private GameObject dragArrow;
    [SerializeField] private float clickTimeThreshold = 0.5f;
    [SerializeField] private float dragMovementThreshold = 0.05f;
    private Coroutine clickOrDragCoroutine = null;
    private Vector3 startGrabPosition;

    private bool isInitialized = false;
    private bool isGrabbingPoint = false;
    private int currentGrabbedPointIndex = -1;

    Vector3 currentTargetPosition = Vector3.zero;
    Quaternion currentTargetRotation = Quaternion.identity;

    public bool isGrabbingRobot = false;

    void Start()
    {
        nearFarInteractor = GetComponent<NearFarInteractor>();

        if (nearFarInteractor == null)
        {
            Debug.LogError("InteractionView: 'nearFarInteractor'가 할당되지 않았습니다", this);
            return;
        }

        baseInteractor = nearFarInteractor as XRBaseInteractor;
        rayProvider = nearFarInteractor as IXRRayProvider;

        if (baseInteractor == null)
        {
            Debug.LogError("NearFarInteractor를 XRBaseInteractor로 변환할 수 없습니다.", this);
            return;
        }

        InitializeInteraction();
    }

    void Update()
    {
        if (!isInitialized || rayProvider == null)
        {
            if (nearFarInteractor == null)
            {
                nearFarInteractor = GetComponentInChildren<NearFarInteractor>(true);
                baseInteractor = nearFarInteractor as XRBaseInteractor;
                rayProvider = nearFarInteractor as IXRRayProvider;
            }
            if (nearFarInteractor != null && nearFarInteractor.gameObject.activeInHierarchy)
            {
                InitializeInteraction();
            }
        }
        else
        {
            currentTargetPosition = rayProvider.rayEndPoint;
            currentTargetRotation = baseInteractor.attachTransform.rotation;

            if (isGrabbingRobot)
            {
                OnRobotGrabbed?.Invoke(currentTargetPosition, currentTargetRotation);
                return;
            }

            if (isGrabbingPoint)
            {
                OnPointDragUpdate?.Invoke(currentGrabbedPointIndex, currentTargetPosition, currentTargetRotation);
            }
            else if (clickOrDragCoroutine != null)
            {
                float distance = Vector3.Distance(startGrabPosition, currentTargetPosition);

                if (distance > dragMovementThreshold)
                {
                    StartDragMode();
                }
            }

        }
    }

    private void InitializeInteraction()
    {
        // XRI 이벤트 구독
        baseInteractor.selectEntered.AddListener(HandleGrabStart);
        baseInteractor.selectExited.AddListener(HandleGrabEnd);

        isInitialized = true;
        AppManager.Instance.RegisterView(this);
    }

    private void OnDestroy()
    {
        if (baseInteractor != null)
        {
            baseInteractor.selectEntered.RemoveListener(HandleGrabStart);
            baseInteractor.selectExited.RemoveListener(HandleGrabEnd);
        }
    }

    // --- XRI 이벤트 핸들러 ---

    private void HandleGrabStart(SelectEnterEventArgs args)
    {
        GameObject grabbedGO = args.interactableObject.transform.gameObject;

        RobotPoint point = grabbedGO.GetComponent<RobotPoint>();
        if (point != null)
        {
            isGrabbingPoint = true;
            isGrabbingRobot = false;
            currentGrabbedPointIndex = point.pointIndex;

            // 타이머 시작
            startGrabPosition = rayProvider.rayEndPoint;
            if (clickOrDragCoroutine != null) 
                StopCoroutine(clickOrDragCoroutine);
            clickOrDragCoroutine = StartCoroutine(ClickOrDragTimer());

            //OnPointDragStart?.Invoke(currentGrabbedPointIndex);
        }
        else if (grabbedGO.CompareTag("RobotArm"))
        {
            isGrabbingPoint = false;
            isGrabbingRobot = true;
            currentGrabbedPointIndex = -1;

            OnPointDragStart?.Invoke(currentGrabbedPointIndex);
        }
    }

    private void HandleGrabEnd(SelectExitEventArgs args)
    {
        if (isGrabbingRobot)
        {
            OnRobotReleased?.Invoke(new RobotData());
        }
        else
        {
            if (clickOrDragCoroutine != null)
            {
                StopCoroutine(clickOrDragCoroutine);
                clickOrDragCoroutine = null;

                OnPointClicked?.Invoke(currentGrabbedPointIndex, currentTargetPosition);
            }
            else if (isGrabbingPoint)
            {
                OnPointDragEnd?.Invoke(currentGrabbedPointIndex);
            }
        }

        // 상태 초기화
        clickOrDragCoroutine = null;
        isGrabbingPoint = false;
        isGrabbingRobot = false;
        currentGrabbedPointIndex = -1;
    }

    // 클릭/드래그 구분하는 타이머 코루틴
    private IEnumerator ClickOrDragTimer()
    {
        yield return new WaitForSeconds(clickTimeThreshold);

        if (clickOrDragCoroutine != null)
        {
            Debug.Log("시간 초과로 드래그 시작 (OnPointDragStart)");
            StartDragMode();
        }
    }

    // 타이머 중지하고 드래그 모드로 전환
    private void StartDragMode()
    {
        if (clickOrDragCoroutine != null)
        {
            StopCoroutine(clickOrDragCoroutine);
            clickOrDragCoroutine = null;
        }

        isGrabbingPoint = true;
        OnPointDragStart?.Invoke(currentGrabbedPointIndex);
    }

    // 로봇 좌표계(mm)를 Unity 월드 좌표계(m)로 변환
    private Vector3 ConvertRobotDataToVector3(RobotData pose)
    {
        float x = Convert.ToSingle(pose.x / -1000.0);
        float y = Convert.ToSingle(pose.z / 1000.0);
        float z = Convert.ToSingle(pose.y / -1000.0);
        return new Vector3(x, y, z);
    }

    // 로봇 오일러 각(rx,ry,rz)을 Unity 쿼터니언으로 변환
    private Quaternion ConvertRobotDataToQuaternion(RobotData pose)
    {
        return Quaternion.Euler(pose.rx, pose.ry, pose.rz);
    }

    // 고스트 로봇의 위치/회전 설정
    public void ShowGhostRobot()
    {
        if (ghostRobot == null)
        {
            Debug.LogWarning("Ghost Robot이 Inspector에 할당되지 않았습니다.");
            return;
        }

        ghostRobot.SetActive(true);
    }

    // 고스트 로봇 비활성화
    public void HideGhostRobot()
    {
        if (ghostRobot != null)
        {
            ghostRobot.SetActive(false);
        }
    }

    // 드래그 화살표 활성화 및 위치 설정
    public void ShowDragArrow(Vector3 position)
    {
        if (dragArrow == null)
        {
            Debug.LogWarning("Drag Arrow가 Inspector에 할당되지 않았습니다.");
            return;
        }

        dragArrow.SetActive(true);
        dragArrow.transform.position = position;
    }

    // 드래그 화살표 비활성화
    public void HideDragArrow()
    {
        if (dragArrow != null)
        {
            dragArrow.SetActive(false);
        }
    }

    // 광선 끝 위치 반환
    public Vector3 GetCurrentRayPosition()
    {
        if (rayProvider != null)
        {
            return rayProvider.rayEndPoint;
        }

        if (baseInteractor != null)
        {
            return baseInteractor.attachTransform.position;
        }

        return transform.position;
    }
}