XRLib/Assets/Scripts/Simulator/Components/Conveyor/ConveyorManager.cs

using sc.modeling.splines.runtime;
using Simulator.Data;
using Simulator.Data.Transport;
using System;
using System.Collections.Generic;
using System.Linq;
using UnityEngine;
using UnityEngine.Splines;
using UVC.Core;
using UVC.Data;
using UVC.Data.Core;
using UVC.Data.Mqtt;
public class ConveyorPathMeta : MonoBehaviour
{
    public string Name;
    public string From;
    public string To;
    public float Speed;
    public float Length;
    public int Capacity;
}

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;

    public Dictionary<string, ConveyorNode> Nodes = new Dictionary<string, ConveyorNode>();
    public Dictionary<(string,string), ConveyorComponent> Paths = new Dictionary<(string, string), ConveyorComponent>();
    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["component_id"] = "";
        conveyorStartDataMask["event_name"] = "";
        conveyorStartDataMask["timestamp"] = new DateTime();
        conveyorStartDataMask["data"] = new DataMask()
        {
            ["entity_id_original"] = "",
            ["start_node"] = "",
            ["end_node"] = "",
            ["travel_time"]=0.0f
        };
        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["component_id"] = "";
        conveyorCompleteDataMask["event_name"] = "";
        conveyorCompleteDataMask["timestamp"] = new DateTime();
        conveyorCompleteDataMask["data"] = new DataMask()
        {
            ["entity_id_original"] = "",
            ["start_node"] = "",
            ["end_node"] = "",
        };
        conveyorCompleteDataMapper = new DataMapper(conveyorCompleteDataMask);
    }

    public void Build(List<ConveyorDataClass> datas)
    {
        if (datas==null||datas.Count <= 0)
        {
            return;
        }
        var data = datas[0];
        if (rootParent == null) rootParent = transform;

        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();

        SubscribeConveyor(data);
    }

    public void SubscribeConveyor(ConveyorDataClass data)
    {
        DataRepository.Instance.MqttReceiver.AddTopic($"simulation/{SimulationConfig.SimulationCode}/components/+/{data.name}/+/node_started");
        var mqttConfigConveyorStart = new MqttSubscriptionConfig($"simulation/{SimulationConfig.SimulationCode}/components/+/{data.name}/+/node_started");
        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);
        go.transform.SetParent(rootParent, worldPositionStays: false);

        var container = go.GetComponent<SplineContainer>();

        var spline = new Spline();

        Vector3 dir = (toPos - fromPos);
        float dist = dir.magnitude;
        Vector3 dirNorm = dist > 1e-5f ? dir / dist : Vector3.forward;

        Vector3 tan = dirNorm * dist * Mathf.Clamp01(tangentScale);

        var k0 = new BezierKnot(fromPos)
        {
            TangentOut = tan,
            TangentIn = Vector3.zero
        };

        var k1 = new BezierKnot(toPos)
        {
            TangentIn = -tan,
            TangentOut = Vector3.zero
        };

        spline.Add(k0, TangentMode.Broken);
        spline.Add(k1, TangentMode.Broken);

        container.Spline = spline;
        var mesher = go.GetComponent<SplineMesher>();
        if(string.Equals(fromNode.node_type, "junction"))
        {
            mesher.DetachCap(0);
        }
        if (string.Equals(toNode.node_type, "junction"))
        {
            mesher.DetachCap(1);
        }
        mesher.UpdateCaps();
        mesher.Rebuild();
    }

    private void SpawnJunction()
    {
        foreach(var node in Nodes)
        {
            if (string.Equals(node.Value.node_type, "junction"))
            {
                var module = Instantiate(cube);
                module.transform.position=ToVector3(node.Value.position);
            }
        }
    }

    private void OnSetData(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.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);
    }

    private bool TryGetNodePos(string nodeName, out Vector3 pos)
    {
        if (!string.IsNullOrWhiteSpace(nodeName) && Nodes.TryGetValue(nodeName, out ConveyorNode node))
        {
            pos = ToVector3(node.position);
            return true;
        }

        pos = default;
        return false;
    }

    private Vector3 ToVector3(Position p)
    {
        return new Vector3(p.x, p.z, p.y);
    }
}