XRLib/Assets/Scripts/Simulator/Components/AGV/AGVManager.cs

using Cysharp.Threading.Tasks;
using System;
using System.Collections.Generic;
using TMPro;
using UnityEngine;
using UnityEngine.SocialPlatforms;
using UVC.Core;
using UVC.Data;
using UVC.Data.Core;
using UVC.Data.Mqtt;
using Simulator.Config;
using UVC.Pool;

namespace Simulator.Data.Transport
{
    public enum AGVDataType
    {
        Moving,
        Loading,
        UnLoading
    }
    public class AGVManager : SingletonScene<AGVManager>
    {
        private readonly Dictionary<string, string> prefabPaths = new Dictionary<string, string>()
        {
            {"agv","prefabs/agv"},
            {"afl","prefabs/afl"},
            {"forkLift","prefabs/forkLift"}
        };

        private GameObjectPool<AGV>? agvPool;
        public GameObjectPool<AGV> AGVPool
        {
            get
            {
                if (agvPool == null)
                {
                    //Debug.LogError("Pool is not initialized. Please call InitializePoolAsync first.");
                }
                return agvPool!;
            }
        }
        private GameObjectPool<AGV>? aflPool;
        public GameObjectPool<AGV> AFLPool
        {
            get
            {
                if (aflPool == null)
                {
                    //Debug.LogError("Pool is not initialized. Please call InitializePoolAsync first.");
                }
                return aflPool!;
            }
        }
        private GameObjectPool<AGV>? forkLiftPool;
        public GameObjectPool<AGV> ForkLiftPool
        {
            get
            {
                if (forkLiftPool == null)
                {
                    //Debug.LogError("Pool is not initialized. Please call InitializePoolAsync first.");
                }
                return forkLiftPool!;
            }
        }
        private DataMapper agvMoveMapper;
        private DataMapper agvLoadMapper;
        private DataMapper agvUnLoadMapper;
        private Dictionary<string, AGV> agvMap = new Dictionary<string, AGV>();

        protected override void Init()
        {
            InitializeAGVPoolAsync().ContinueWith(() =>
            {
                var agvMoveDataMask = new DataMask();
                agvMoveDataMask.ObjectName = "agv"; // AGV 객체의 이름을 설정합니다.
                agvMoveDataMask.ObjectIdKey = "component_id"; // AGV의 고유 식별자로 사용할 키를 설정합니다.
                agvMoveDataMask["component_id"] = "";
                agvMoveDataMask["component_type"] = "";
                agvMoveDataMask["event_name"] = "";
                agvMoveDataMask["timestamp"] = new DateTime();
                agvMoveDataMask["data"] = new DataMask()
                {
                    ["from_node"] = "",
                    ["to_node"] = "",
                    ["timing"] = new DataMask()
                    {
                        ["duration"] = new DataMask()
                        {
                            ["real_seconds"] = 0.0f
                        }
                    }
                };

                agvMoveMapper = new DataMapper(agvMoveDataMask);

                var agvLoadDataMask = new DataMask();
                agvLoadDataMask.ObjectName = "agv"; // AGV 객체의 이름을 설정합니다.
                agvLoadDataMask.ObjectIdKey = "component_id"; // AGV의 고유 식별자로 사용할 키를 설정합니다.
                agvLoadDataMask["component_id"] = "";
                agvLoadDataMask["component_type"] = "";
                agvLoadDataMask["event_name"] = "";
                agvLoadDataMask["timestamp"] = new DateTime();
                agvLoadDataMask["data"] = new DataMask()
                {
                    ["from_node"] = "",
                    ["to_node"] = "",
                    ["entity_ids"] = new List<string>(),
                };

                agvLoadMapper = new DataMapper(agvLoadDataMask);

                var agvUnLoadDataMask = new DataMask();
                agvUnLoadDataMask.ObjectName = "agv"; // AGV 객체의 이름을 설정합니다.
                agvUnLoadDataMask.ObjectIdKey = "component_id"; // AGV의 고유 식별자로 사용할 키를 설정합니다.
                agvUnLoadDataMask["component_id"] = "";
                agvUnLoadDataMask["component_type"] = "";
                agvUnLoadDataMask["event_name"] = "";
                agvUnLoadDataMask["timestamp"] = new DateTime();
                agvUnLoadDataMask["data"] = new DataMask()
                {
                    ["component"] = "",
                    ["entity_ids"] = new List<string>(),
                };

                agvUnLoadMapper = new DataMapper(agvUnLoadDataMask);
            });
            InitializeAFLPoolAsync().ContinueWith(() => { });
            InitializeForkLiftPoolAsync().ContinueWith(() => { });
        }

        public void SpawnAGV(List<AGVData> datas, string type)
        {
            foreach (var data in datas)
            {
                switch (type)
                {
                    case "AGV":
                        var agv = agvPool.GetItem($"{data.name}");
                        agv.data = data;
                        agv.UpdatePosition(AGVNodeManager.Instance.GetNodePosition(data.initial_node));
                        agvMap.Add(data.name, agv);
                        break;
                    case "afl":
                        var afl = aflPool.GetItem($"{data.name}");
                        afl.data = data;
                        afl.UpdatePosition(AGVNodeManager.Instance.GetNodePosition(data.initial_node));
                        agvMap.Add(data.name, afl);
                        break;
                    case "forklift":
                        var forkLift = forkLiftPool.GetItem($"{data.name}");
                        forkLift.data = data;
                        forkLift.UpdatePosition(AGVNodeManager.Instance.GetNodePosition(data.initial_node));
                        agvMap.Add(data.name, forkLift);
                        break;
                }
            }
        }

        public void InitAGV(List<AGVData> datas)
        {
            foreach (var data in datas)
            {
                DataRepository.Instance.MqttReceiver.AddTopic($"simulation/{SimulationConfig.SimulationCode}/components/+/{data.name}/+/moving");
                var mqttConfigAGVMoving = new MqttSubscriptionConfig($"simulation/{SimulationConfig.SimulationCode}/components/+/{data.name}/+/moving");
                mqttConfigAGVMoving.SetDataMapper(agvMoveMapper);
                mqttConfigAGVMoving.SetHandler((value) => OnUpdateData(value, AGVDataType.Moving));
                DataRepository.Instance.MqttReceiver.Add(mqttConfigAGVMoving);
                DataRepository.Instance.MqttReceiver.AddTopic($"simulation/{SimulationConfig.SimulationCode}/components/+/{data.name}/+/loading_end");
                var mqttConfigAGVLoading = new MqttSubscriptionConfig($"simulation/{SimulationConfig.SimulationCode}/components/+/{data.name}/+/loading_end");
                mqttConfigAGVLoading.SetDataMapper(agvLoadMapper);
                mqttConfigAGVLoading.SetHandler((value) => OnUpdateData(value, AGVDataType.Loading));
                DataRepository.Instance.MqttReceiver.Add(mqttConfigAGVLoading);
                DataRepository.Instance.MqttReceiver.AddTopic($"simulation/{SimulationConfig.SimulationCode}/components/+/{data.name}/+/unloading_end");
                var mqttConfigAGVUnLoading = new MqttSubscriptionConfig($"simulation/{SimulationConfig.SimulationCode}/components/+/{data.name}/+/unloading_end");
                mqttConfigAGVUnLoading.SetDataMapper(agvUnLoadMapper);
                mqttConfigAGVUnLoading.SetHandler((value) => OnUpdateData(value, AGVDataType.UnLoading));
                DataRepository.Instance.MqttReceiver.Add(mqttConfigAGVUnLoading);
            }
        }

        public void OnUpdateData(IDataObject data, AGVDataType type)
        {
            if (data == null) return;

            DataObject? obj = data as DataObject;
            if (obj == null) return;
            var componentName = obj.GetString("component_id");
            AGV agv = agvMap[componentName];
            /*
            Debug.Log(obj.GetString("component_id"));
            Debug.Log(obj.GetString("component_type"));
            switch (componenttype)
            {
                case "agv":
                    agv = agvPool.GetItem(obj.GetString("component_id")!);
                    break;
                case "afl":
                    agv = aflPool.GetItem(obj.GetString("component_id")!);
                    break;
                case "forklift":
                    agv = forkLiftPool.GetItem(obj.GetString("component_id")!);
                    break;
            }
            */
            switch (type)
            {
                case AGVDataType.Moving:
                    agv.SetTargetPosition(obj);
                    break;
                case AGVDataType.Loading:
                    agv.LoadEntity(obj);
                    break;
                case AGVDataType.UnLoading:
                    break;
            }
        }

        private async UniTask InitializeAGVPoolAsync()
        {
            if (agvPool != null) return;

            var prefab = await Resources.LoadAsync<GameObject>(prefabPaths["agv"]) as GameObject;
            if (prefab == null)
            {
                Debug.LogError($"Prefab not found at path: {prefabPaths["agv"]}");
                return;
            }
            agvPool = new GameObjectPool<AGV>(prefab, transform);
        }
        private async UniTask InitializeAFLPoolAsync()
        {
            if (aflPool != null) return;

            var prefab = await Resources.LoadAsync<GameObject>(prefabPaths["afl"]) as GameObject;
            if (prefab == null)
            {
                Debug.LogError($"Prefab not found at path: {prefabPaths["afl"]}");
                return;
            }
            aflPool = new GameObjectPool<AGV>(prefab, transform);
        }
        private async UniTask InitializeForkLiftPoolAsync()
        {
            if (forkLiftPool != null) return;

            var prefab = await Resources.LoadAsync<GameObject>(prefabPaths["forkLift"]) as GameObject;
            if (prefab == null)
            {
                Debug.LogError($"Prefab not found at path: {prefabPaths["forkLift"]}");
                return;
            }
            forkLiftPool = new GameObjectPool<AGV>(prefab, transform);
        }
    }
}