XRLib/Assets/Scripts/Simulator/Components/ASRS/StackerCrane.cs

using Simulator.Data;
using Simulator.Data.Transport;
using System;
using TMPro;
using UnityEngine;
using UVC.Data.Core;

public class StackerCrane : ComponentBase
{
    [SerializeField]
    GameObject horizonObject;
    [SerializeField]
    GameObject verticalObject;
    [SerializeField]
    GameObject forkObject;

    bool horizontalPosition = false;
    bool verticalPosition = false;
    bool forkPosition = false;
    bool operationflag = false;
    bool operationcounting = false;
    Vector3 horizontalTarget;
    Vector3 verticalTarget;
    Vector3 forkTarget;
    Vector3 horizontalStart;
    Vector3 verticalStart;
    Vector3 forkStart;
    Vector3 startposition;
    string entityId;
    float horizontalTime;
    float verticalTime;
    float forkTime;
    float ht;
    float vt;
    float ft;

    public void SetPosition(rack_layout layout)
    {
        horizonObject.transform.localPosition = new Vector3(layout.x_length * -0.55f, layout.z_length * 0, layout.y_length * -0.5f);
        startposition = new Vector3(layout.x_length * -0.55f, layout.z_length * 0, layout.y_length * -0.5f);
        forkStart = new Vector3(0, 0, 0.3f);
    }
    public void SetTargetPosition(DataObject agvData, RackComponent rack)
    {
        var datas = agvData.GetDataObject("data");
        var crane_movement = datas.GetDataObject("crane_movement");
        horizontalTime = (float)crane_movement.GetFloat("horizontal_time");
        horizontalTime = horizontalTime / 10f;
        verticalTime = (float)crane_movement.GetFloat("vertical_time");
        verticalTime = verticalTime / 10f;
        var from = crane_movement.GetDataObject("from_position");
        var fx = (int)from.GetInt("x");
        var fy = (int)from.GetInt("y");
        var fz = (int)from.GetInt("z");
        horizontalStart = new Vector3(horizonObject.transform.position.x, 0, startposition.z);
        verticalStart = new Vector3(-0.03920534f, -0.2531985f, verticalObject.transform.position.z);
        var to = crane_movement.GetDataObject("to_position");
        var tx = (int)to.GetInt("x");
        var ty = (int)to.GetInt("y");
        var tz = (int)to.GetInt("z");
        var rackp = rack.cellComponents[(tx, tz, ty)].transform.position;
        //Debug.Log($"{tx},{ty},{tz}");
        horizontalTarget = new Vector3(rackp.x, 0, startposition.z);
        verticalTarget = new Vector3(-0.03920534f, -0.2531985f, rackp.y);
        ht = 0f;
        vt = 0f;
        horizontalPosition = true;
        verticalPosition = true;
    }

    public void SetForkPosition(DataObject agvData, RackComponent rack)
    {
        var datas = agvData.GetDataObject("data");
        entityId = datas.GetString("entity_id");
        var operation = datas.GetString("operation");
        if (string.Equals(operation, "up"))
        {
            operationflag = true;
        }
        else
        {
            operationflag = false;
        }
        operationcounting = true;
        var timing = datas.GetDataObject("timing");
        forkTime = (float)timing.GetFloat("total");
        var position = datas.GetDataObject("position");
        var x = (int)position.GetInt("x");
        var y = (int)position.GetInt("y");
        var z = (int)position.GetInt("z");
        var rackp = rack.cellComponents[(x, z, y)].transform.position;
        ft = 0f;
        forkTarget = new Vector3(-rackp.z+startposition.x,0, 0.3f);
        Debug.Log($"t{forkTarget}");
        Debug.Log($"s{forkStart}");
        forkPosition = true;
    }

    void Update()
    {
        if (horizontalPosition)
        {
            if (horizontalTime >= 0f)
            {
                ht += Time.deltaTime / horizontalTime;

                // 위치 업데이트
                if (ht <= 1f)
                {
                    horizonObject.transform.localPosition = Vector3.Lerp(horizontalStart, horizontalTarget, ht);
                }
                else
                {
                    horizonObject.transform.localPosition = horizontalTarget;
                    horizontalPosition = false;
                }
            }
        }
        if (verticalPosition)
        {
            if (verticalTime >= 0f)
            {
                vt += Time.deltaTime / verticalTime;

                // 위치 업데이트
                if (vt <= 1f)
                {
                    verticalObject.transform.localPosition = Vector3.Lerp(verticalStart, verticalTarget, vt);
                }
                else
                {
                    verticalObject.transform.localPosition = verticalTarget;
                    verticalPosition = false;
                }
            }
        }
        if (forkPosition)
        {
            if (forkTime >= 0f)
            {
                ft += Time.deltaTime / forkTime;
                // 위치 업데이트
                if (ft <= 0.5f)
                {
                    forkObject.transform.localPosition = Vector3.Lerp(forkStart, forkTarget, ft);
                }
                else if (ft >= 0.5f && ft <= 1f)
                {
                    if (operationcounting)
                    {
                        if (operationflag)
                        {
                            var entity = EntityManager.Instance.GetEntity(entityId,this);
                            entity.transform.parent = forkObject.transform;
                            entity.transform.localPosition = new Vector3(0, 0, 0);
                        }
                        operationcounting = false;
                    }
                    forkObject.transform.localPosition = Vector3.Lerp(forkTarget, forkStart, ft);
                }
                else
                {
                    forkObject.transform.localPosition = forkStart;
                    forkPosition = false;
                }
            }
        }
    }
}