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station

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This commit is contained in:
UVCLimHun
2025-11-04 19:07:37 +09:00
parent 107da72dee
commit 581cac7941
1 changed files with 116 additions and 52 deletions
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168
Assets/Scripts/Simulator/Components/Conveyor/ConveyorManager.cs
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@@ -4,6 +4,7 @@ using Simulator.Data.Transport;
using System;
using System.Collections.Generic;
using System.Linq;
using Unity.Collections;
using UnityEngine;
using UnityEngine.Splines;
using UVC.Core;
@@ -25,21 +26,30 @@ public class ConveyorManager : SingletonScene<ConveyorManager>
[Header("Root & Visual")]
[SerializeField] private Transform rootParent; // 생성될 경로의 부모(없으면 빌더 자신)
[SerializeField] private float tangentScale = 0.25f; // 곡률(탄젠트 길이 비율)
[SerializeField]
ConveyorComponent splineprefab;
[SerializeField]
GameObject cube;
[SerializeField] private ConveyorComponent splineprefab;
[SerializeField] private GameObject junction;
[Header("Corner Modules")] // ▼ 추가: 코너 프리팹 & 각도 허용 오차
[SerializeField] private GameObject corner45Prefab;
[SerializeField] private GameObject corner90Prefab;
[SerializeField, Range(1f, 30f)] private float angleTolerance = 10f;
public Dictionary<string, ConveyorNode> Nodes = new Dictionary<string, ConveyorNode>();
public Dictionary<(string,string), ConveyorComponent> Paths = new Dictionary<(string, string), ConveyorComponent>();
public Dictionary<(string, string), ConveyorComponent> Paths = new Dictionary<(string, string), ConveyorComponent>();
// ▼ 추가: station 연결성 계산용 테이블
// stationName -> (경로 키, station에서 맞닿는 cap index(0=from,1=to), 반대편 노드명)
private readonly Dictionary<string, List<(ValueTuple<string, string> pathKey, int capIndex, string otherNode)>> _stationAdj
= new Dictionary<string, List<(ValueTuple<string, string>, int, string)>>();
public DataMapper conveyorStartDataMapper;
public DataMapper conveyorCompleteDataMapper;
protected override void Init()
{
var conveyorStartDataMask = new DataMask();
conveyorStartDataMask.ObjectName = "conveyor"; // AGV 객체의 이름을 설정합니다.
conveyorStartDataMask.ObjectIdKey = "component_id"; // AGV의 고유 식별자로 사용할 키를 설정합니다.
conveyorStartDataMask.ObjectName = "conveyor";
conveyorStartDataMask.ObjectIdKey = "component_id";
conveyorStartDataMask["component_id"] = "";
conveyorStartDataMask["event_name"] = "";
conveyorStartDataMask["timestamp"] = new DateTime();
@@ -48,13 +58,13 @@ public class ConveyorManager : SingletonScene<ConveyorManager>
["entity_id_original"] = "",
["start_node"] = "",
["end_node"] = "",
["travel_time"]=0.0f
["travel_time"] = 0.0f
};
conveyorStartDataMapper=new DataMapper(conveyorStartDataMask);
conveyorStartDataMapper = new DataMapper(conveyorStartDataMask);
var conveyorCompleteDataMask = new DataMask();
conveyorCompleteDataMask.ObjectName = "conveyor"; // AGV 객체의 이름을 설정합니다.
conveyorCompleteDataMask.ObjectIdKey = "component_id"; // AGV의 고유 식별자로 사용할 키를 설정합니다.
conveyorCompleteDataMask.ObjectName = "conveyor";
conveyorCompleteDataMask.ObjectIdKey = "component_id";
conveyorCompleteDataMask["component_id"] = "";
conveyorCompleteDataMask["event_name"] = "";
conveyorCompleteDataMask["timestamp"] = new DateTime();
@@ -69,27 +79,29 @@ public class ConveyorManager : SingletonScene<ConveyorManager>
public void Build(List<ConveyorDataClass> datas)
{
if (datas==null||datas.Count <= 0)
{
return;
}
if (datas == null || datas.Count <= 0) return;
var data = datas[0];
if (rootParent == null) rootParent = transform;
Nodes.Clear();
Paths.Clear();
_stationAdj.Clear(); // ▲ 추가: 초기화
if (data.nodes != null)
{
foreach (var n in data.nodes)
{
Nodes[n.name] = n;
}
}
foreach (var path in data.paths)
{
CreatePathGOWithSpline(path, Nodes[path.from_node], Nodes[path.to_node]);
}
SpawnJunction();
// ▲ 추가: station의 연결성(직선/코너) 기반 cap 분리 & 코너 배치
ProcessStations();
SubscribeConveyor(data);
}
@@ -100,27 +112,18 @@ public class ConveyorManager : SingletonScene<ConveyorManager>
mqttConfigConveyorStart.SetDataMapper(conveyorStartDataMapper);
mqttConfigConveyorStart.SetHandler(OnSetData);
DataRepository.Instance.MqttReceiver.Add(mqttConfigConveyorStart);
/*
DataRepository.Instance.MqttReceiver.AddTopic($"simulation/{SimulationConfig.SimulationCode}/components/+/{data.name}/+/node_completed");
var mqttConfigConveyorComplete = new MqttSubscriptionConfig($"simulation/{SimulationConfig.SimulationCode}/components/+/{data.name}/+/node_completed");
mqttConfigConveyorComplete.SetDataMapper(conveyorCompleteDataMapper);
mqttConfigConveyorComplete.SetHandler(OnUnSetData);
DataRepository.Instance.MqttReceiver.Add(mqttConfigConveyorComplete);
*/
}
private void CreatePathGOWithSpline(ConveyorPath path, ConveyorNode fromNode, ConveyorNode toNode)
{
TryGetNodePos(fromNode.name, out Vector3 fromPos);
TryGetNodePos(toNode.name, out Vector3 toPos);
string goName = path.name;
var go = Instantiate(splineprefab);
Paths.Add((fromNode.name,toNode.name), go);
Paths.Add((fromNode.name, toNode.name), go);
go.transform.SetParent(rootParent, worldPositionStays: false);
var container = go.GetComponent<SplineContainer>();
var spline = new Spline();
Vector3 dir = (toPos - fromPos);
@@ -146,26 +149,100 @@ public class ConveyorManager : SingletonScene<ConveyorManager>
container.Spline = spline;
var mesher = go.GetComponent<SplineMesher>();
if(string.Equals(fromNode.node_type, "junction"))
{
// ▼ 변경: junction만 즉시 cap 분리, station은 후처리에서 판단
if (string.Equals(fromNode.node_type, "junction"))
mesher.DetachCap(0);
}
if (string.Equals(toNode.node_type, "junction"))
{
mesher.DetachCap(1);
mesher.UpdateCaps();
mesher.Rebuild();
// ▼ 추가: station 인접 정보 기록(후처리에서 cap/코너 결정)
if (string.Equals(fromNode.node_type, "station"))
AddStationAdj(fromNode.name, (fromNode.name, toNode.name), capIndex: 0, otherNode: toNode.name);
if (string.Equals(toNode.node_type, "station"))
AddStationAdj(toNode.name, (fromNode.name, toNode.name), capIndex: 1, otherNode: fromNode.name);
}
// ▼ 추가: station 인접 정보 수집
private void AddStationAdj(string stationName, (string, string) pathKey, int capIndex, string otherNode)
{
if (!_stationAdj.TryGetValue(stationName, out var list))
{
list = new List<(ValueTuple<string, string>, int, string)>();
_stationAdj[stationName] = list;
}
list.Add((pathKey, capIndex, otherNode));
}
// ▼ 추가: station의 연결성이 직선인지 코너인지 판정하고 cap/코너를 적용
private void ProcessStations()
{
foreach (var kv in _stationAdj)
{
string station = kv.Key;
var adj = kv.Value;
// 연결 경로가 2개일 때만 직선/코너 판정(기타 케이스는 유지)
if (adj.Count != 2) continue;
if (!TryGetNodePos(station, out var stationPos)) continue;
var (pathA, capA, otherA) = adj[0];
var (pathB, capB, otherB) = adj[1];
if (!TryGetNodePos(otherA, out var otherAPos)) continue;
if (!TryGetNodePos(otherB, out var otherBPos)) continue;
Vector3 vA = (otherAPos - stationPos); vA.y = 0f;
Vector3 vB = (otherBPos - stationPos); vB.y = 0f;
if (vA.sqrMagnitude < 1e-6f || vB.sqrMagnitude < 1e-6f) continue;
float angle = Vector3.SignedAngle(vA.normalized, vB.normalized, Vector3.up); // 0~180
float straightThreshold = 180f - angleTolerance; // 예: tol=10 → 170°
Debug.Log(angle);
bool isStraight = Mathf.Abs(angle) >= straightThreshold; // 거의 반대 방향이면 직선
if (isStraight)
{
// 직선: cap 유지
continue;
}
// 코너: station에 맞닿는 두 cap 분리
if (Paths.TryGetValue(pathA, out var convA))
DetachAndRebuild(convA, capA);
if (Paths.TryGetValue(pathB, out var convB))
DetachAndRebuild(convB, capB);
var corner = Instantiate(corner90Prefab);
corner.transform.position = stationPos;
corner.transform.rotation = Quaternion.Euler(new Vector3(-90, -angle, 0));
}
}
// ▼ 추가: cap 분리 & 리빌드 헬퍼
private void DetachAndRebuild(ConveyorComponent comp, int capIndex)
{
var mesher = comp.GetComponent<SplineMesher>();
if (mesher == null) return;
mesher.DetachCap(capIndex);
mesher.UpdateCaps();
mesher.Rebuild();
}
private void SpawnJunction()
{
foreach(var node in Nodes)
foreach (var node in Nodes)
{
if (string.Equals(node.Value.node_type, "junction"))
{
var module = Instantiate(cube);
module.transform.position=ToVector3(node.Value.position);
var module = Instantiate(junction);
module.transform.position = ToVector3(node.Value.physical.position);
}
}
}
@@ -176,33 +253,19 @@ public class ConveyorManager : SingletonScene<ConveyorManager>
DataObject? obj = idata as DataObject;
if (obj == null) return;
//Debug.Log($"OnUpdateData:{obj}, {obj["data"]}");
var data = obj.GetDataObject("data");
var fromNodeName = data.GetString("start_node");
var toNodeName = data.GetString("end_node");
ConveyorComponent? conveyor = Paths[(fromNodeName,toNodeName)];
conveyor.SetModelData(obj);
}
private void OnUnSetData(IDataObject idata)
{
if (idata == null) return;
DataObject? obj = idata as DataObject;
if (obj == null) return;
//Debug.Log($"OnUpdateData:{obj}, {obj["data"]}");
var data = obj.GetDataObject("data");
var fromNodeName = data.GetString("start_node");
var toNodeName = data.GetString("end_node");
ConveyorComponent? conveyor = Paths[(fromNodeName, toNodeName)];
conveyor.UnSetModelData(obj);
conveyor.SetModelData(obj);
}
private bool TryGetNodePos(string nodeName, out Vector3 pos)
{
if (!string.IsNullOrWhiteSpace(nodeName) && Nodes.TryGetValue(nodeName, out ConveyorNode node))
{
pos = ToVector3(node.position);
pos = ToVector3(node.physical.position);
return true;
}
@@ -212,6 +275,7 @@ public class ConveyorManager : SingletonScene<ConveyorManager>
private Vector3 ToVector3(Position p)
{
Debug.Log(p);
return new Vector3(p.x, p.z, p.y);
}
}