161 lines
5.1 KiB
C#
161 lines
5.1 KiB
C#
#nullable enable
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using Cysharp.Threading.Tasks;
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using SampleProject;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Threading.Tasks;
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using UnityEngine;
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using UVC.Core;
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using UVC.Data;
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namespace UVC.Factory
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{
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public class AGVManager : SingletonScene<AGVManager>
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{
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private readonly string prefabPath = "Prefabs/SampleProject/Factory/AGV";
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private GameObject? prefab;
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private List<AGV> agvList;
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/// <summary>
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/// AGVManager의 초기화 메서드입니다.
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/// Awake 메서드에서 호출되며, MonoBehaviour가 생성될 때 한 번만 실행됩니다.
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/// </summary>
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protected override void Init()
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{
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agvList = new List<AGV>();
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SceneMain.Instance.Initialized += OnSceneInitialized;
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}
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private void OnSceneInitialized()
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{
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//데이터를 어떤 형식으로 받을지 정의합니다.
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var dataMask = new DataMask();
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dataMask["VHL_NAME"] = "";
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dataMask["AGV_IDX"] = "";
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dataMask["B_INSTALL"] = "";
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dataMask["NODE_ID"] = "";
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dataMask["REAL_ID"] = "";
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dataMask["VHL_STATE"] = "";
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dataMask["BAY_LIST"] = "";
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dataMask["X"] = 0;
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dataMask["Y"] = 0;
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dataMask["DEGREE"] = 0.0;
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dataMask["MODE"] = "";
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dataMask["BATT"] = "";
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dataMask["SUB_GOAL"] = "";
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dataMask["FINAL_GOAL"] = "";
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dataMask["JOB_ID"] = "";
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dataMask["TIMESTAMP"] = DateTime.Now;
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var pipelineInfo = new MQTTPipeLineInfo("AGV")
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.setDataMapper(new DataMapper(dataMask))
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.setHandler(OnUpdateData);
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// MQTTPipeLine에 파이프라인 정보를 추가합니다.
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AppMain.Instance.MQTTPipeLine.Add(pipelineInfo);
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}
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public void OnUpdateData(IDataObject? data)
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{
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OnUpdateDataAsync(data).Forget();
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}
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/// <summary>
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/// 기존 데이터와 비교하여 변경된 부분만 전달 됩니다.
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/// </summary>
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/// <param name="data"></param>
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public async UniTask OnUpdateDataAsync(IDataObject? data)
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{
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if (data == null) return;
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DataArray? arr = data as DataArray;
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if (arr == null || arr.Count == 0) return;
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var AddedItems = arr.AddedItems;
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var RemovedItems = arr.RemovedItems;
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var ModifiedList = arr.ModifiedList;
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foreach (var item in AddedItems.ToList())
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{
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AGV? agv = await CreateAGV(item);
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if(agv != null)
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{
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agvList.Add(agv);
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}
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}
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foreach (var item in RemovedItems.ToList())
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{
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AGV agv = agvList.Find(x => x.Info != null && x.Info.Name == item.GetString("VHL_NAME"));
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if (agv != null)
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{
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Destroy(agv.gameObject);
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agvList.Remove(agv);
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}
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}
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foreach (var item in ModifiedList.ToList())
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{
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AGV agv = agvList.Find(x => x.Info != null && x.Info.Name == item.GetString("VHL_NAME"));
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if (agv != null)
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{
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agv.transform.position = new Vector3(
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item.GetFloat("X") * .001f,
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0,
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item.GetFloat("Y") * .001f
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);
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agv.transform.rotation = Quaternion.Euler(0, item.GetFloat("DEGREE"), 0);
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}
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}
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}
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private async UniTask<AGV?> CreateAGV(DataObject data)
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{
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if(prefab == null)
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{
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prefab = await Resources.LoadAsync<GameObject>(prefabPath) as GameObject;
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if (prefab == null)
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{
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Debug.LogError($"Prefab not found at path: {prefabPath}");
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return null;
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}
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}
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GameObject prefabInstance = Instantiate(prefab, transform);
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Debug.Log($"AGVManager: prefabInstance == null {prefabInstance == null}");
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if (prefabInstance == null)
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{
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Debug.LogError("Failed to instantiate AGV prefab.");
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return null;
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}
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var agv = prefabInstance.GetComponent<AGV>();
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agv.Info = new FactoryObjectInfo(
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data.GetString("VHL_NAME"),
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data.GetString("NODE_ID"),
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"",
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"",
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data.GetString("MODE")
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);
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agv.transform.position = new Vector3(
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data.GetFloat("X") * .001f,
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0,
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data.GetFloat("Y") * .001f
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);
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agv.transform.rotation = Quaternion.Euler(0, data.GetFloat("DEGREE"), 0);
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return agv;
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}
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protected override void OnDestroy()
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{
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base.OnDestroy();
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AppMain.Instance.MQTTPipeLine.Remove("AGV");
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}
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}
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}
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