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

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+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;
+                }
+            }
+        }
+    }
+}