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This commit is contained in:
lethanhsonvsp
8
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1037
Assets/Scenes/SampleScene.unity
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1037
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Normal file
File diff suppressed because it is too large
Load Diff
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8
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56
Assets/Scripting/ForkSensor.cs
Normal file
56
Assets/Scripting/ForkSensor.cs
Normal file
@@ -0,0 +1,56 @@
|
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using UnityEngine;
|
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|
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public class ForkSensor : MonoBehaviour
|
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{
|
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public Transform forkLift; // Vị trí animation nâng/hạ
|
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public Animator animator; // Bộ điều khiển animation
|
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public FixedJoint joint; // Joint dùng để gắn pallet
|
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public Rigidbody currentPallet; // Pallet đang tương tác
|
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|
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void Update()
|
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{
|
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if (Input.GetKeyDown(KeyCode.U)) // Up: nâng
|
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{
|
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animator.SetTrigger("Up");
|
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AttachPallet();
|
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}
|
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|
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if (Input.GetKeyDown(KeyCode.D)) // Down: hạ
|
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{
|
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animator.SetTrigger("Down");
|
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DetachPallet();
|
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}
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}
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void AttachPallet()
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{
|
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if (currentPallet == null) return;
|
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|
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// Tạo Joint nếu chưa có
|
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if (joint == null)
|
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{
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joint = gameObject.AddComponent<FixedJoint>();
|
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joint.connectedBody = currentPallet;
|
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}
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}
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|
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void DetachPallet()
|
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{
|
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if (joint != null)
|
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{
|
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Destroy(joint); // Tháo pallet
|
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joint = null;
|
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}
|
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|
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currentPallet = null;
|
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}
|
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|
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// Tùy chọn: phát hiện pallet khi vào vùng sensor
|
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private void OnTriggerEnter(Collider other)
|
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{
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if (other.CompareTag("Pallet"))
|
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{
|
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currentPallet = other.attachedRigidbody;
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}
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}
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}
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2
Assets/Scripting/ForkSensor.cs.meta
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2
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Normal file
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fileFormatVersion: 2
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guid: c8f579fdb7328274dbd9317be46dba22
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8
Assets/Scripting/Khac.meta
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Assets/Scripting/Khac.meta
Normal file
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140
Assets/Scripting/Khac/AnimationControllerAPM.cs
Normal file
140
Assets/Scripting/Khac/AnimationControllerAPM.cs
Normal file
@@ -0,0 +1,140 @@
|
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using UnityEngine;
|
||||
using UnityEngine.InputSystem;
|
||||
using System;
|
||||
|
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public class AnimationControllerAPM : MonoBehaviour
|
||||
{
|
||||
private Animator animator;
|
||||
private AnimationClip animationUClip;
|
||||
private AnimationClip animationDClip;
|
||||
|
||||
// Tham chiếu đến pallet và fork
|
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public Transform pallet; // Gán GameObject của pallet trong Inspector
|
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public Transform fork; // Gán GameObject của fork trong Inspector
|
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|
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public float AnimationUDuration => animationUClip != null ? animationUClip.length : 0f;
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public float AnimationDDuration => animationDClip != null ? animationDClip.length : 0f;
|
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|
||||
public Action<string, string> OnAnimationStateChanged { get; set; } // ActionType, State (RUNNING/FINISHED)
|
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|
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private string currentActionType; // Theo dõi ActionType hiện tại (pick/drop)
|
||||
|
||||
private void Awake()
|
||||
{
|
||||
animator = GetComponent<Animator>();
|
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animator.SetBool("U", false);
|
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animator.SetBool("D", false);
|
||||
|
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InitializeAnimationClips();
|
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}
|
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|
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private void InitializeAnimationClips()
|
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{
|
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if (animator == null || animator.runtimeAnimatorController == null)
|
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{
|
||||
Debug.LogError("Animator hoặc AnimatorController không được gán!");
|
||||
return;
|
||||
}
|
||||
|
||||
var controller = animator.runtimeAnimatorController;
|
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var clips = controller.animationClips;
|
||||
|
||||
foreach (var clip in clips)
|
||||
{
|
||||
if (clip.name.Contains("Up")) // Thay bằng tên thực tế của clip U
|
||||
{
|
||||
animationUClip = clip;
|
||||
}
|
||||
else if (clip.name.Contains("Down")) // Thay bằng tên thực tế của clip D
|
||||
{
|
||||
animationDClip = clip;
|
||||
}
|
||||
}
|
||||
|
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if (animationUClip == null || animationDClip == null)
|
||||
{
|
||||
Debug.LogWarning("Không tìm thấy animation clip cho U hoặc D. Kiểm tra tên clip hoặc AnimatorController.");
|
||||
}
|
||||
}
|
||||
|
||||
// Kích hoạt animation "Down"
|
||||
public void OnKey1()
|
||||
{
|
||||
DetachPallet(); // Tách pallet khỏi fork
|
||||
animator.SetBool("U", false);
|
||||
animator.SetBool("D", true);
|
||||
currentActionType = "drop";
|
||||
}
|
||||
|
||||
// Kích hoạt animation "Up"
|
||||
public void OnKey2()
|
||||
{
|
||||
AttachPalletToFork(); // Gắn pallet vào fork
|
||||
animator.SetBool("U", true);
|
||||
animator.SetBool("D", false);
|
||||
currentActionType = "pick";
|
||||
}
|
||||
|
||||
// Phương thức gắn pallet vào fork
|
||||
public void AttachPalletToFork()
|
||||
{
|
||||
if (pallet != null && fork != null)
|
||||
{
|
||||
pallet.SetParent(fork);
|
||||
Debug.Log("Pallet đã được gắn vào fork.");
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.LogWarning("Pallet hoặc fork không được gán trong Inspector.");
|
||||
}
|
||||
}
|
||||
|
||||
// Phương thức tách pallet khỏi fork
|
||||
public void DetachPallet()
|
||||
{
|
||||
if (pallet != null)
|
||||
{
|
||||
pallet.SetParent(null);
|
||||
Debug.Log("Pallet đã được tách khỏi fork.");
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.LogWarning("Pallet không được gán trong Inspector.");
|
||||
}
|
||||
}
|
||||
|
||||
public float GetAnimationDuration(string actionType)
|
||||
{
|
||||
switch (actionType)
|
||||
{
|
||||
case "pick":
|
||||
return AnimationUDuration;
|
||||
case "drop":
|
||||
return AnimationDDuration;
|
||||
default:
|
||||
Debug.LogWarning($"ActionType {actionType} không được hỗ trợ.");
|
||||
return 0f;
|
||||
}
|
||||
}
|
||||
|
||||
// Gọi bởi Animation Event khi animation bắt đầu
|
||||
public void OnAnimationStart()
|
||||
{
|
||||
if (!string.IsNullOrEmpty(currentActionType))
|
||||
{
|
||||
Debug.Log($"Animation bắt đầu: {currentActionType}");
|
||||
OnAnimationStateChanged?.Invoke(currentActionType, "RUNNING");
|
||||
}
|
||||
}
|
||||
|
||||
// Gọi bởi Animation Event khi animation kết thúc
|
||||
public void OnAnimationEnd()
|
||||
{
|
||||
if (!string.IsNullOrEmpty(currentActionType))
|
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{
|
||||
Debug.Log($"Animation kết thúc: {currentActionType}");
|
||||
OnAnimationStateChanged?.Invoke(currentActionType, "FINISHED");
|
||||
currentActionType = null; // Reset sau khi hoàn tất
|
||||
}
|
||||
}
|
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}
|
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2
Assets/Scripting/Khac/AnimationControllerAPM.cs.meta
Normal file
2
Assets/Scripting/Khac/AnimationControllerAPM.cs.meta
Normal file
@@ -0,0 +1,2 @@
|
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fileFormatVersion: 2
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guid: 17549d08c68a63646b3568dd46f952a2
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54
Assets/Scripting/Khac/CheckAnimation.cs
Normal file
54
Assets/Scripting/Khac/CheckAnimation.cs
Normal file
@@ -0,0 +1,54 @@
|
||||
using UnityEngine;
|
||||
|
||||
public class CheckAnimation : MonoBehaviour
|
||||
{
|
||||
// Hàm kiểm tra xem GameObject có animation hay không
|
||||
public bool HasAnimation(GameObject targetObject)
|
||||
{
|
||||
// Kiểm tra Animator Component (Mecanim)
|
||||
Animator animator = targetObject.GetComponent<Animator>();
|
||||
if (animator != null)
|
||||
{
|
||||
// Kiểm tra xem Animator có AnimatorController được gắn không
|
||||
if (animator.runtimeAnimatorController != null)
|
||||
{
|
||||
Debug.Log($"{targetObject.name} có Animator với AnimatorController.");
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.Log($"{targetObject.name} có Animator nhưng không có AnimatorController.");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
// Kiểm tra Animation Component (Legacy)
|
||||
Animation animation = targetObject.GetComponent<Animation>();
|
||||
if (animation != null)
|
||||
{
|
||||
// Kiểm tra xem Animation có AnimationClip được gắn không
|
||||
if (animation.clip != null || animation.GetClipCount() > 0)
|
||||
{
|
||||
Debug.Log($"{targetObject.name} có Animation với AnimationClip.");
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.Log($"{targetObject.name} có Animation nhưng không có AnimationClip.");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
// Nếu không có Animator hoặc Animation
|
||||
Debug.Log($"{targetObject.name} không có Animator hoặc Animation.");
|
||||
return false;
|
||||
}
|
||||
|
||||
// Ví dụ sử dụng
|
||||
void Start()
|
||||
{
|
||||
// Kiểm tra chính GameObject mà script này được gắn vào
|
||||
bool hasAnim = HasAnimation(gameObject);
|
||||
Debug.Log($"Kết quả kiểm tra: {hasAnim}");
|
||||
}
|
||||
}
|
||||
2
Assets/Scripting/Khac/CheckAnimation.cs.meta
Normal file
2
Assets/Scripting/Khac/CheckAnimation.cs.meta
Normal file
@@ -0,0 +1,2 @@
|
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fileFormatVersion: 2
|
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guid: c236d6a427a698349af4be427f1bc259
|
||||
39
Assets/Scripting/Khac/DisplayPosition.cs
Normal file
39
Assets/Scripting/Khac/DisplayPosition.cs
Normal file
@@ -0,0 +1,39 @@
|
||||
using UnityEngine;
|
||||
using TMPro; // Sử dụng TextMeshPro
|
||||
|
||||
public class DisplayPosition : MonoBehaviour
|
||||
{
|
||||
// Gán TextMeshProUGUI trong Inspector
|
||||
public TextMeshProUGUI positionText;
|
||||
|
||||
void Update()
|
||||
{
|
||||
// Lấy vị trí của đối tượng
|
||||
Vector3 position = transform.position;
|
||||
float displayEulerY = NormalizeEulerAngle(-transform.eulerAngles.y); // Giữ nguyên hiển thị
|
||||
float theta = NormalizeAngle(2 * Mathf.PI - transform.eulerAngles.y * Mathf.Deg2Rad); // Công thức mới
|
||||
|
||||
// Hiển thị tọa độ x và z
|
||||
string positionInfo = $"X: {position.x:F2} \n" +
|
||||
$"Y: {position.z:F2} \n" +
|
||||
$"Theta: {displayEulerY:F2}" ;
|
||||
|
||||
// Cập nhật TextMeshProUGUI
|
||||
if (positionText != null)
|
||||
{
|
||||
positionText.text = positionInfo;
|
||||
}
|
||||
}
|
||||
public float NormalizeEulerAngle(float angleDeg)
|
||||
{
|
||||
while (angleDeg > 180f) angleDeg -= 360f;
|
||||
while (angleDeg < -180f) angleDeg += 360f;
|
||||
return angleDeg;
|
||||
}
|
||||
public float NormalizeAngle(float angleRad)
|
||||
{
|
||||
while (angleRad > Mathf.PI) angleRad -= 2 * Mathf.PI;
|
||||
while (angleRad < -Mathf.PI) angleRad += 2 * Mathf.PI;
|
||||
return angleRad;
|
||||
}
|
||||
}
|
||||
2
Assets/Scripting/Khac/DisplayPosition.cs.meta
Normal file
2
Assets/Scripting/Khac/DisplayPosition.cs.meta
Normal file
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 73fb5f1bf8e3fd341baf281a45510492
|
||||
34
Assets/Scripting/Khac/SceneSetup.cs
Normal file
34
Assets/Scripting/Khac/SceneSetup.cs
Normal file
@@ -0,0 +1,34 @@
|
||||
using UnityEngine;
|
||||
|
||||
public class SceneSetup : MonoBehaviour
|
||||
{
|
||||
[SerializeField] private Transform groundPlanePrefab; // Transform của Prefab Plane
|
||||
[SerializeField] private Transform amrPrefab; // Transform của Prefab AMR
|
||||
|
||||
void Start()
|
||||
{
|
||||
// Khởi tạo Plane
|
||||
if (groundPlanePrefab != null)
|
||||
{
|
||||
GameObject plane = Instantiate(groundPlanePrefab.gameObject, groundPlanePrefab.position, groundPlanePrefab.rotation);
|
||||
plane.name = "GroundPlane";
|
||||
Debug.Log($"Đã khởi tạo GroundPlane Prefab tại position: {groundPlanePrefab.position}, rotation: {groundPlanePrefab.rotation.eulerAngles}");
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.LogError("GroundPlane Prefab (Transform) chưa được gán trong Inspector!");
|
||||
}
|
||||
|
||||
// Khởi tạo AMR
|
||||
if (amrPrefab != null)
|
||||
{
|
||||
GameObject amr = Instantiate(amrPrefab.gameObject, amrPrefab.position, amrPrefab.rotation);
|
||||
amr.name = "AMR";
|
||||
Debug.Log($"Đã khởi tạo AMR Prefab tại position: {amrPrefab.position}, rotation: {amrPrefab.rotation.eulerAngles}");
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.LogError("AMR Prefab (Transform) chưa được gán trong Inspector!");
|
||||
}
|
||||
}
|
||||
}
|
||||
2
Assets/Scripting/Khac/SceneSetup.cs.meta
Normal file
2
Assets/Scripting/Khac/SceneSetup.cs.meta
Normal file
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: c93a95dd176e6a644b2443303a886c89
|
||||
8
Assets/Scripting/MQTT.meta
Normal file
8
Assets/Scripting/MQTT.meta
Normal file
@@ -0,0 +1,8 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 1d25d7d8f591d604b8e47472d06de54b
|
||||
folderAsset: yes
|
||||
DefaultImporter:
|
||||
externalObjects: {}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
82
Assets/Scripting/MQTT/MQTTBroker.cs
Normal file
82
Assets/Scripting/MQTT/MQTTBroker.cs
Normal file
@@ -0,0 +1,82 @@
|
||||
using System;
|
||||
using System.Threading.Tasks;
|
||||
using UnityEngine;
|
||||
using MQTTnet;
|
||||
using MQTTnet.Server;
|
||||
using MQTTnet.Protocol;
|
||||
|
||||
public class MQTTBroker : MonoBehaviour
|
||||
{
|
||||
public int port = 1883;
|
||||
public string username = "";
|
||||
public string password = "";
|
||||
public bool allowAnonymousConnections = true;
|
||||
|
||||
private MqttServer mqttServer;
|
||||
|
||||
private async void Start()
|
||||
{
|
||||
var optionsBuilder = new MqttServerOptionsBuilder()
|
||||
.WithDefaultEndpoint()
|
||||
.WithDefaultEndpointPort(port);
|
||||
|
||||
mqttServer = new MqttFactory().CreateMqttServer(optionsBuilder.Build());
|
||||
|
||||
mqttServer.ValidatingConnectionAsync += args =>
|
||||
{
|
||||
if (string.IsNullOrEmpty(args.Username))
|
||||
{
|
||||
if (allowAnonymousConnections)
|
||||
{
|
||||
args.ReasonCode = MqttConnectReasonCode.Success;
|
||||
//Debug.Log($"[MQTT] Anonymous client connected: {args.ClientId}");
|
||||
}
|
||||
else
|
||||
{
|
||||
args.ReasonCode = MqttConnectReasonCode.BadUserNameOrPassword;
|
||||
Debug.LogWarning($"[MQTT] Anonymous not allowed: {args.ClientId}");
|
||||
}
|
||||
}
|
||||
else if (args.Username == username && args.Password == password)
|
||||
{
|
||||
args.ReasonCode = MqttConnectReasonCode.Success;
|
||||
Debug.Log($"[MQTT] Authenticated client: {args.ClientId}");
|
||||
}
|
||||
else
|
||||
{
|
||||
args.ReasonCode = MqttConnectReasonCode.BadUserNameOrPassword;
|
||||
Debug.LogWarning($"[MQTT] Invalid credentials: {args.ClientId}");
|
||||
}
|
||||
|
||||
return Task.CompletedTask;
|
||||
};
|
||||
|
||||
mqttServer.ClientConnectedAsync += e =>
|
||||
{
|
||||
//Debug.Log($"[MQTT] Client connected: {e.ClientId}");
|
||||
return Task.CompletedTask;
|
||||
};
|
||||
|
||||
mqttServer.InterceptingPublishAsync += e =>
|
||||
{
|
||||
string payload = e.ApplicationMessage?.Payload == null
|
||||
? ""
|
||||
: System.Text.Encoding.UTF8.GetString(e.ApplicationMessage.Payload);
|
||||
|
||||
//Debug.Log($"[MQTT] Topic: {e.ApplicationMessage.Topic} - Payload: {payload}");
|
||||
return Task.CompletedTask;
|
||||
};
|
||||
|
||||
await mqttServer.StartAsync();
|
||||
//Debug.Log($"MQTT broker started on port {port}");
|
||||
}
|
||||
|
||||
private async void OnApplicationQuit()
|
||||
{
|
||||
if (mqttServer != null)
|
||||
{
|
||||
await mqttServer.StopAsync();
|
||||
Debug.Log("MQTT broker stopped.");
|
||||
}
|
||||
}
|
||||
}
|
||||
2
Assets/Scripting/MQTT/MQTTBroker.cs.meta
Normal file
2
Assets/Scripting/MQTT/MQTTBroker.cs.meta
Normal file
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 29bbd3dbef6acad4d853bdb166d95684
|
||||
134
Assets/Scripting/MQTT/MqttClientManager.cs
Normal file
134
Assets/Scripting/MQTT/MqttClientManager.cs
Normal file
@@ -0,0 +1,134 @@
|
||||
using System;
|
||||
using System.Collections.Concurrent;
|
||||
using System.Collections.Generic;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
using MQTTnet;
|
||||
using MQTTnet.Client;
|
||||
using MQTTnet.Extensions.ManagedClient;
|
||||
using MQTTnet.Packets;
|
||||
using UnityEngine;
|
||||
|
||||
public class MqttClientManager
|
||||
{
|
||||
private readonly string mqttBroker;
|
||||
private readonly int mqttPort;
|
||||
private readonly string mqttUsername;
|
||||
private readonly string mqttPassword;
|
||||
private readonly string mqttClientId;
|
||||
private readonly string orderTopic;
|
||||
private readonly string instantActionsTopic;
|
||||
private readonly ConcurrentQueue<string> jsonQueue;
|
||||
private readonly ConcurrentQueue<string> instantActionQueue;
|
||||
private IManagedMqttClient mqttClient;
|
||||
|
||||
public MqttClientManager(string broker, int port, string username, string password, string clientId,
|
||||
string orderTopic, string instantActionsTopic, ConcurrentQueue<string> jsonQueue,
|
||||
ConcurrentQueue<string> instantActionQueue)
|
||||
{
|
||||
mqttBroker = broker;
|
||||
mqttPort = port;
|
||||
mqttUsername = username;
|
||||
mqttPassword = password;
|
||||
mqttClientId = clientId;
|
||||
this.orderTopic = orderTopic;
|
||||
this.instantActionsTopic = instantActionsTopic;
|
||||
this.jsonQueue = jsonQueue;
|
||||
this.instantActionQueue = instantActionQueue;
|
||||
}
|
||||
|
||||
public async Task InitializeAsync()
|
||||
{
|
||||
try
|
||||
{
|
||||
var mqttFactory = new MqttFactory();
|
||||
mqttClient = mqttFactory.CreateManagedMqttClient();
|
||||
|
||||
var optionsBuilder = new MqttClientOptionsBuilder()
|
||||
.WithTcpServer(mqttBroker, mqttPort)
|
||||
.WithClientId(mqttClientId);
|
||||
if (!string.IsNullOrEmpty(mqttUsername) && !string.IsNullOrEmpty(mqttPassword))
|
||||
{
|
||||
optionsBuilder.WithCredentials(mqttUsername, mqttPassword);
|
||||
}
|
||||
|
||||
var managedOptions = new ManagedMqttClientOptionsBuilder()
|
||||
.WithClientOptions(optionsBuilder.Build())
|
||||
.WithAutoReconnectDelay(TimeSpan.FromSeconds(5))
|
||||
.Build();
|
||||
|
||||
mqttClient.ApplicationMessageReceivedAsync += async e =>
|
||||
{
|
||||
await Task.Run(() =>
|
||||
{
|
||||
string topic = e.ApplicationMessage.Topic;
|
||||
string payload = Encoding.UTF8.GetString(e.ApplicationMessage.Payload ?? Array.Empty<byte>());
|
||||
if (topic == orderTopic)
|
||||
{
|
||||
Debug.Log($"{payload}");
|
||||
jsonQueue.Enqueue(payload);
|
||||
}
|
||||
else if (topic == instantActionsTopic)
|
||||
{
|
||||
Debug.Log($"Nhận được JSON từ chủ đề {instantActionsTopic}: {payload}");
|
||||
instantActionQueue.Enqueue(payload);
|
||||
}
|
||||
});
|
||||
};
|
||||
|
||||
mqttClient.ConnectedAsync += async e =>
|
||||
{
|
||||
try
|
||||
{
|
||||
await mqttClient.SubscribeAsync(new List<MqttTopicFilter>
|
||||
{
|
||||
new MqttTopicFilterBuilder().WithTopic(orderTopic).Build(),
|
||||
new MqttTopicFilterBuilder().WithTopic(instantActionsTopic).Build()
|
||||
});
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Debug.LogError($"Lỗi khi kết nối hoặc đăng ký chủ đề: {ex.Message}");
|
||||
}
|
||||
};
|
||||
|
||||
mqttClient.DisconnectedAsync += async e =>
|
||||
{
|
||||
await Task.CompletedTask;
|
||||
};
|
||||
|
||||
await mqttClient.StartAsync(managedOptions);
|
||||
//Debug.Log("Đã khởi động MQTT client");
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Debug.LogError($"Không thể khởi tạo MQTT client: {ex.Message}");
|
||||
}
|
||||
}
|
||||
|
||||
public async Task StopAsync()
|
||||
{
|
||||
if (mqttClient != null)
|
||||
{
|
||||
await mqttClient.StopAsync();
|
||||
mqttClient.Dispose();
|
||||
Debug.Log("Đã dừng và hủy MQTT client");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
public async Task PublishAsync(string topic, string payload)
|
||||
{
|
||||
if (mqttClient == null || !mqttClient.IsConnected)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
var message = new MqttApplicationMessageBuilder()
|
||||
.WithTopic(topic)
|
||||
.WithPayload(Encoding.UTF8.GetBytes(payload))
|
||||
.Build();
|
||||
|
||||
await mqttClient.EnqueueAsync(message);
|
||||
}
|
||||
}
|
||||
2
Assets/Scripting/MQTT/MqttClientManager.cs.meta
Normal file
2
Assets/Scripting/MQTT/MqttClientManager.cs.meta
Normal file
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 94facf4719dd13944aa270b45bb689cf
|
||||
428
Assets/Scripting/PlayerInputActions.cs
Normal file
428
Assets/Scripting/PlayerInputActions.cs
Normal file
@@ -0,0 +1,428 @@
|
||||
//------------------------------------------------------------------------------
|
||||
// <auto-generated>
|
||||
// This code was auto-generated by com.unity.inputsystem:InputActionCodeGenerator
|
||||
// version 1.13.0
|
||||
// from Assets/Scripting/PlayerInputActions.inputactions
|
||||
//
|
||||
// Changes to this file may cause incorrect behavior and will be lost if
|
||||
// the code is regenerated.
|
||||
// </auto-generated>
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
using System;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine.InputSystem;
|
||||
using UnityEngine.InputSystem.Utilities;
|
||||
|
||||
/// <summary>
|
||||
/// Provides programmatic access to <see cref="InputActionAsset" />, <see cref="InputActionMap" />, <see cref="InputAction" /> and <see cref="InputControlScheme" /> instances defined in asset "Assets/Scripting/PlayerInputActions.inputactions".
|
||||
/// </summary>
|
||||
/// <remarks>
|
||||
/// This class is source generated and any manual edits will be discarded if the associated asset is reimported or modified.
|
||||
/// </remarks>
|
||||
/// <example>
|
||||
/// <code>
|
||||
/// using namespace UnityEngine;
|
||||
/// using UnityEngine.InputSystem;
|
||||
///
|
||||
/// // Example of using an InputActionMap named "Player" from a UnityEngine.MonoBehaviour implementing callback interface.
|
||||
/// public class Example : MonoBehaviour, MyActions.IPlayerActions
|
||||
/// {
|
||||
/// private MyActions_Actions m_Actions; // Source code representation of asset.
|
||||
/// private MyActions_Actions.PlayerActions m_Player; // Source code representation of action map.
|
||||
///
|
||||
/// void Awake()
|
||||
/// {
|
||||
/// m_Actions = new MyActions_Actions(); // Create asset object.
|
||||
/// m_Player = m_Actions.Player; // Extract action map object.
|
||||
/// m_Player.AddCallbacks(this); // Register callback interface IPlayerActions.
|
||||
/// }
|
||||
///
|
||||
/// void OnDestroy()
|
||||
/// {
|
||||
/// m_Actions.Dispose(); // Destroy asset object.
|
||||
/// }
|
||||
///
|
||||
/// void OnEnable()
|
||||
/// {
|
||||
/// m_Player.Enable(); // Enable all actions within map.
|
||||
/// }
|
||||
///
|
||||
/// void OnDisable()
|
||||
/// {
|
||||
/// m_Player.Disable(); // Disable all actions within map.
|
||||
/// }
|
||||
///
|
||||
/// #region Interface implementation of MyActions.IPlayerActions
|
||||
///
|
||||
/// // Invoked when "Move" action is either started, performed or canceled.
|
||||
/// public void OnMove(InputAction.CallbackContext context)
|
||||
/// {
|
||||
/// Debug.Log($"OnMove: {context.ReadValue<Vector2>()}");
|
||||
/// }
|
||||
///
|
||||
/// // Invoked when "Attack" action is either started, performed or canceled.
|
||||
/// public void OnAttack(InputAction.CallbackContext context)
|
||||
/// {
|
||||
/// Debug.Log($"OnAttack: {context.ReadValue<float>()}");
|
||||
/// }
|
||||
///
|
||||
/// #endregion
|
||||
/// }
|
||||
/// </code>
|
||||
/// </example>
|
||||
public partial class @PlayerInputActions: IInputActionCollection2, IDisposable
|
||||
{
|
||||
/// <summary>
|
||||
/// Provides access to the underlying asset instance.
|
||||
/// </summary>
|
||||
public InputActionAsset asset { get; }
|
||||
|
||||
/// <summary>
|
||||
/// Constructs a new instance.
|
||||
/// </summary>
|
||||
public @PlayerInputActions()
|
||||
{
|
||||
asset = InputActionAsset.FromJson(@"{
|
||||
""name"": ""PlayerInputActions"",
|
||||
""maps"": [
|
||||
{
|
||||
""name"": ""Player"",
|
||||
""id"": ""82815556-132e-49d6-8fca-b06edd932024"",
|
||||
""actions"": [
|
||||
{
|
||||
""name"": ""R"",
|
||||
""type"": ""Button"",
|
||||
""id"": ""01ce2e4e-fc8e-4cc8-9b94-366a22e89c9f"",
|
||||
""expectedControlType"": """",
|
||||
""processors"": """",
|
||||
""interactions"": """",
|
||||
""initialStateCheck"": false
|
||||
},
|
||||
{
|
||||
""name"": ""P"",
|
||||
""type"": ""Button"",
|
||||
""id"": ""9a5aadb3-d54f-4808-a656-07f79f54a44c"",
|
||||
""expectedControlType"": """",
|
||||
""processors"": """",
|
||||
""interactions"": """",
|
||||
""initialStateCheck"": false
|
||||
},
|
||||
{
|
||||
""name"": ""U"",
|
||||
""type"": ""Button"",
|
||||
""id"": ""b7641136-088e-4c90-8036-88a6c96027cf"",
|
||||
""expectedControlType"": """",
|
||||
""processors"": """",
|
||||
""interactions"": """",
|
||||
""initialStateCheck"": false
|
||||
},
|
||||
{
|
||||
""name"": ""D"",
|
||||
""type"": ""Button"",
|
||||
""id"": ""2078562a-bcac-4034-8435-4d09d5662b90"",
|
||||
""expectedControlType"": """",
|
||||
""processors"": """",
|
||||
""interactions"": """",
|
||||
""initialStateCheck"": false
|
||||
}
|
||||
],
|
||||
""bindings"": [
|
||||
{
|
||||
""name"": """",
|
||||
""id"": ""cac63c8b-ac74-4c56-9ae5-304c4bd98115"",
|
||||
""path"": ""<Keyboard>/r"",
|
||||
""interactions"": """",
|
||||
""processors"": """",
|
||||
""groups"": """",
|
||||
""action"": ""R"",
|
||||
""isComposite"": false,
|
||||
""isPartOfComposite"": false
|
||||
},
|
||||
{
|
||||
""name"": """",
|
||||
""id"": ""8d628790-58fe-40a0-9794-cc1385ab0e46"",
|
||||
""path"": ""<Keyboard>/p"",
|
||||
""interactions"": """",
|
||||
""processors"": """",
|
||||
""groups"": """",
|
||||
""action"": ""P"",
|
||||
""isComposite"": false,
|
||||
""isPartOfComposite"": false
|
||||
},
|
||||
{
|
||||
""name"": """",
|
||||
""id"": ""6722f789-b46d-494b-b1f5-ac158cdf784c"",
|
||||
""path"": ""<Keyboard>/u"",
|
||||
""interactions"": """",
|
||||
""processors"": """",
|
||||
""groups"": """",
|
||||
""action"": ""U"",
|
||||
""isComposite"": false,
|
||||
""isPartOfComposite"": false
|
||||
},
|
||||
{
|
||||
""name"": """",
|
||||
""id"": ""c7afe6a4-4565-46d0-bfe5-e27c8a5b5ac0"",
|
||||
""path"": ""<Keyboard>/d"",
|
||||
""interactions"": """",
|
||||
""processors"": """",
|
||||
""groups"": """",
|
||||
""action"": ""D"",
|
||||
""isComposite"": false,
|
||||
""isPartOfComposite"": false
|
||||
}
|
||||
]
|
||||
}
|
||||
],
|
||||
""controlSchemes"": []
|
||||
}");
|
||||
// Player
|
||||
m_Player = asset.FindActionMap("Player", throwIfNotFound: true);
|
||||
m_Player_R = m_Player.FindAction("R", throwIfNotFound: true);
|
||||
m_Player_P = m_Player.FindAction("P", throwIfNotFound: true);
|
||||
m_Player_U = m_Player.FindAction("U", throwIfNotFound: true);
|
||||
m_Player_D = m_Player.FindAction("D", throwIfNotFound: true);
|
||||
}
|
||||
|
||||
~@PlayerInputActions()
|
||||
{
|
||||
UnityEngine.Debug.Assert(!m_Player.enabled, "This will cause a leak and performance issues, PlayerInputActions.Player.Disable() has not been called.");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Destroys this asset and all associated <see cref="InputAction"/> instances.
|
||||
/// </summary>
|
||||
public void Dispose()
|
||||
{
|
||||
UnityEngine.Object.Destroy(asset);
|
||||
}
|
||||
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionAsset.bindingMask" />
|
||||
public InputBinding? bindingMask
|
||||
{
|
||||
get => asset.bindingMask;
|
||||
set => asset.bindingMask = value;
|
||||
}
|
||||
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionAsset.devices" />
|
||||
public ReadOnlyArray<InputDevice>? devices
|
||||
{
|
||||
get => asset.devices;
|
||||
set => asset.devices = value;
|
||||
}
|
||||
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionAsset.controlSchemes" />
|
||||
public ReadOnlyArray<InputControlScheme> controlSchemes => asset.controlSchemes;
|
||||
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionAsset.Contains(InputAction)" />
|
||||
public bool Contains(InputAction action)
|
||||
{
|
||||
return asset.Contains(action);
|
||||
}
|
||||
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionAsset.GetEnumerator()" />
|
||||
public IEnumerator<InputAction> GetEnumerator()
|
||||
{
|
||||
return asset.GetEnumerator();
|
||||
}
|
||||
|
||||
/// <inheritdoc cref="IEnumerable.GetEnumerator()" />
|
||||
IEnumerator IEnumerable.GetEnumerator()
|
||||
{
|
||||
return GetEnumerator();
|
||||
}
|
||||
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionAsset.Enable()" />
|
||||
public void Enable()
|
||||
{
|
||||
asset.Enable();
|
||||
}
|
||||
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionAsset.Disable()" />
|
||||
public void Disable()
|
||||
{
|
||||
asset.Disable();
|
||||
}
|
||||
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionAsset.bindings" />
|
||||
public IEnumerable<InputBinding> bindings => asset.bindings;
|
||||
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionAsset.FindAction(string, bool)" />
|
||||
public InputAction FindAction(string actionNameOrId, bool throwIfNotFound = false)
|
||||
{
|
||||
return asset.FindAction(actionNameOrId, throwIfNotFound);
|
||||
}
|
||||
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionAsset.FindBinding(InputBinding, out InputAction)" />
|
||||
public int FindBinding(InputBinding bindingMask, out InputAction action)
|
||||
{
|
||||
return asset.FindBinding(bindingMask, out action);
|
||||
}
|
||||
|
||||
// Player
|
||||
private readonly InputActionMap m_Player;
|
||||
private List<IPlayerActions> m_PlayerActionsCallbackInterfaces = new List<IPlayerActions>();
|
||||
private readonly InputAction m_Player_R;
|
||||
private readonly InputAction m_Player_P;
|
||||
private readonly InputAction m_Player_U;
|
||||
private readonly InputAction m_Player_D;
|
||||
/// <summary>
|
||||
/// Provides access to input actions defined in input action map "Player".
|
||||
/// </summary>
|
||||
public struct PlayerActions
|
||||
{
|
||||
private @PlayerInputActions m_Wrapper;
|
||||
|
||||
/// <summary>
|
||||
/// Construct a new instance of the input action map wrapper class.
|
||||
/// </summary>
|
||||
public PlayerActions(@PlayerInputActions wrapper) { m_Wrapper = wrapper; }
|
||||
/// <summary>
|
||||
/// Provides access to the underlying input action "Player/R".
|
||||
/// </summary>
|
||||
public InputAction @R => m_Wrapper.m_Player_R;
|
||||
/// <summary>
|
||||
/// Provides access to the underlying input action "Player/P".
|
||||
/// </summary>
|
||||
public InputAction @P => m_Wrapper.m_Player_P;
|
||||
/// <summary>
|
||||
/// Provides access to the underlying input action "Player/U".
|
||||
/// </summary>
|
||||
public InputAction @U => m_Wrapper.m_Player_U;
|
||||
/// <summary>
|
||||
/// Provides access to the underlying input action "Player/D".
|
||||
/// </summary>
|
||||
public InputAction @D => m_Wrapper.m_Player_D;
|
||||
/// <summary>
|
||||
/// Provides access to the underlying input action map instance.
|
||||
/// </summary>
|
||||
public InputActionMap Get() { return m_Wrapper.m_Player; }
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionMap.Enable()" />
|
||||
public void Enable() { Get().Enable(); }
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionMap.Disable()" />
|
||||
public void Disable() { Get().Disable(); }
|
||||
/// <inheritdoc cref="UnityEngine.InputSystem.InputActionMap.enabled" />
|
||||
public bool enabled => Get().enabled;
|
||||
/// <summary>
|
||||
/// Implicitly converts an <see ref="PlayerActions" /> to an <see ref="InputActionMap" /> instance.
|
||||
/// </summary>
|
||||
public static implicit operator InputActionMap(PlayerActions set) { return set.Get(); }
|
||||
/// <summary>
|
||||
/// Adds <see cref="InputAction.started"/>, <see cref="InputAction.performed"/> and <see cref="InputAction.canceled"/> callbacks provided via <param cref="instance" /> on all input actions contained in this map.
|
||||
/// </summary>
|
||||
/// <param name="instance">Callback instance.</param>
|
||||
/// <remarks>
|
||||
/// If <paramref name="instance" /> is <c>null</c> or <paramref name="instance"/> have already been added this method does nothing.
|
||||
/// </remarks>
|
||||
/// <seealso cref="PlayerActions" />
|
||||
public void AddCallbacks(IPlayerActions instance)
|
||||
{
|
||||
if (instance == null || m_Wrapper.m_PlayerActionsCallbackInterfaces.Contains(instance)) return;
|
||||
m_Wrapper.m_PlayerActionsCallbackInterfaces.Add(instance);
|
||||
@R.started += instance.OnR;
|
||||
@R.performed += instance.OnR;
|
||||
@R.canceled += instance.OnR;
|
||||
@P.started += instance.OnP;
|
||||
@P.performed += instance.OnP;
|
||||
@P.canceled += instance.OnP;
|
||||
@U.started += instance.OnU;
|
||||
@U.performed += instance.OnU;
|
||||
@U.canceled += instance.OnU;
|
||||
@D.started += instance.OnD;
|
||||
@D.performed += instance.OnD;
|
||||
@D.canceled += instance.OnD;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Removes <see cref="InputAction.started"/>, <see cref="InputAction.performed"/> and <see cref="InputAction.canceled"/> callbacks provided via <param cref="instance" /> on all input actions contained in this map.
|
||||
/// </summary>
|
||||
/// <remarks>
|
||||
/// Calling this method when <paramref name="instance" /> have not previously been registered has no side-effects.
|
||||
/// </remarks>
|
||||
/// <seealso cref="PlayerActions" />
|
||||
private void UnregisterCallbacks(IPlayerActions instance)
|
||||
{
|
||||
@R.started -= instance.OnR;
|
||||
@R.performed -= instance.OnR;
|
||||
@R.canceled -= instance.OnR;
|
||||
@P.started -= instance.OnP;
|
||||
@P.performed -= instance.OnP;
|
||||
@P.canceled -= instance.OnP;
|
||||
@U.started -= instance.OnU;
|
||||
@U.performed -= instance.OnU;
|
||||
@U.canceled -= instance.OnU;
|
||||
@D.started -= instance.OnD;
|
||||
@D.performed -= instance.OnD;
|
||||
@D.canceled -= instance.OnD;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Unregisters <param cref="instance" /> and unregisters all input action callbacks via <see cref="PlayerActions.UnregisterCallbacks(IPlayerActions)" />.
|
||||
/// </summary>
|
||||
/// <seealso cref="PlayerActions.UnregisterCallbacks(IPlayerActions)" />
|
||||
public void RemoveCallbacks(IPlayerActions instance)
|
||||
{
|
||||
if (m_Wrapper.m_PlayerActionsCallbackInterfaces.Remove(instance))
|
||||
UnregisterCallbacks(instance);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Replaces all existing callback instances and previously registered input action callbacks associated with them with callbacks provided via <param cref="instance" />.
|
||||
/// </summary>
|
||||
/// <remarks>
|
||||
/// If <paramref name="instance" /> is <c>null</c>, calling this method will only unregister all existing callbacks but not register any new callbacks.
|
||||
/// </remarks>
|
||||
/// <seealso cref="PlayerActions.AddCallbacks(IPlayerActions)" />
|
||||
/// <seealso cref="PlayerActions.RemoveCallbacks(IPlayerActions)" />
|
||||
/// <seealso cref="PlayerActions.UnregisterCallbacks(IPlayerActions)" />
|
||||
public void SetCallbacks(IPlayerActions instance)
|
||||
{
|
||||
foreach (var item in m_Wrapper.m_PlayerActionsCallbackInterfaces)
|
||||
UnregisterCallbacks(item);
|
||||
m_Wrapper.m_PlayerActionsCallbackInterfaces.Clear();
|
||||
AddCallbacks(instance);
|
||||
}
|
||||
}
|
||||
/// <summary>
|
||||
/// Provides a new <see cref="PlayerActions" /> instance referencing this action map.
|
||||
/// </summary>
|
||||
public PlayerActions @Player => new PlayerActions(this);
|
||||
/// <summary>
|
||||
/// Interface to implement callback methods for all input action callbacks associated with input actions defined by "Player" which allows adding and removing callbacks.
|
||||
/// </summary>
|
||||
/// <seealso cref="PlayerActions.AddCallbacks(IPlayerActions)" />
|
||||
/// <seealso cref="PlayerActions.RemoveCallbacks(IPlayerActions)" />
|
||||
public interface IPlayerActions
|
||||
{
|
||||
/// <summary>
|
||||
/// Method invoked when associated input action "R" is either <see cref="UnityEngine.InputSystem.InputAction.started" />, <see cref="UnityEngine.InputSystem.InputAction.performed" /> or <see cref="UnityEngine.InputSystem.InputAction.canceled" />.
|
||||
/// </summary>
|
||||
/// <seealso cref="UnityEngine.InputSystem.InputAction.started" />
|
||||
/// <seealso cref="UnityEngine.InputSystem.InputAction.performed" />
|
||||
/// <seealso cref="UnityEngine.InputSystem.InputAction.canceled" />
|
||||
void OnR(InputAction.CallbackContext context);
|
||||
/// <summary>
|
||||
/// Method invoked when associated input action "P" is either <see cref="UnityEngine.InputSystem.InputAction.started" />, <see cref="UnityEngine.InputSystem.InputAction.performed" /> or <see cref="UnityEngine.InputSystem.InputAction.canceled" />.
|
||||
/// </summary>
|
||||
/// <seealso cref="UnityEngine.InputSystem.InputAction.started" />
|
||||
/// <seealso cref="UnityEngine.InputSystem.InputAction.performed" />
|
||||
/// <seealso cref="UnityEngine.InputSystem.InputAction.canceled" />
|
||||
void OnP(InputAction.CallbackContext context);
|
||||
/// <summary>
|
||||
/// Method invoked when associated input action "U" is either <see cref="UnityEngine.InputSystem.InputAction.started" />, <see cref="UnityEngine.InputSystem.InputAction.performed" /> or <see cref="UnityEngine.InputSystem.InputAction.canceled" />.
|
||||
/// </summary>
|
||||
/// <seealso cref="UnityEngine.InputSystem.InputAction.started" />
|
||||
/// <seealso cref="UnityEngine.InputSystem.InputAction.performed" />
|
||||
/// <seealso cref="UnityEngine.InputSystem.InputAction.canceled" />
|
||||
void OnU(InputAction.CallbackContext context);
|
||||
/// <summary>
|
||||
/// Method invoked when associated input action "D" is either <see cref="UnityEngine.InputSystem.InputAction.started" />, <see cref="UnityEngine.InputSystem.InputAction.performed" /> or <see cref="UnityEngine.InputSystem.InputAction.canceled" />.
|
||||
/// </summary>
|
||||
/// <seealso cref="UnityEngine.InputSystem.InputAction.started" />
|
||||
/// <seealso cref="UnityEngine.InputSystem.InputAction.performed" />
|
||||
/// <seealso cref="UnityEngine.InputSystem.InputAction.canceled" />
|
||||
void OnD(InputAction.CallbackContext context);
|
||||
}
|
||||
}
|
||||
2
Assets/Scripting/PlayerInputActions.cs.meta
Normal file
2
Assets/Scripting/PlayerInputActions.cs.meta
Normal file
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: e4cf5f71e577fe64090e08b4caf7377f
|
||||
94
Assets/Scripting/PlayerInputActions.inputactions
Normal file
94
Assets/Scripting/PlayerInputActions.inputactions
Normal file
@@ -0,0 +1,94 @@
|
||||
{
|
||||
"name": "PlayerInputActions",
|
||||
"maps": [
|
||||
{
|
||||
"name": "Player",
|
||||
"id": "82815556-132e-49d6-8fca-b06edd932024",
|
||||
"actions": [
|
||||
{
|
||||
"name": "R",
|
||||
"type": "Button",
|
||||
"id": "01ce2e4e-fc8e-4cc8-9b94-366a22e89c9f",
|
||||
"expectedControlType": "",
|
||||
"processors": "",
|
||||
"interactions": "",
|
||||
"initialStateCheck": false
|
||||
},
|
||||
{
|
||||
"name": "P",
|
||||
"type": "Button",
|
||||
"id": "9a5aadb3-d54f-4808-a656-07f79f54a44c",
|
||||
"expectedControlType": "",
|
||||
"processors": "",
|
||||
"interactions": "",
|
||||
"initialStateCheck": false
|
||||
},
|
||||
{
|
||||
"name": "U",
|
||||
"type": "Button",
|
||||
"id": "b7641136-088e-4c90-8036-88a6c96027cf",
|
||||
"expectedControlType": "",
|
||||
"processors": "",
|
||||
"interactions": "",
|
||||
"initialStateCheck": false
|
||||
},
|
||||
{
|
||||
"name": "D",
|
||||
"type": "Button",
|
||||
"id": "2078562a-bcac-4034-8435-4d09d5662b90",
|
||||
"expectedControlType": "",
|
||||
"processors": "",
|
||||
"interactions": "",
|
||||
"initialStateCheck": false
|
||||
}
|
||||
],
|
||||
"bindings": [
|
||||
{
|
||||
"name": "",
|
||||
"id": "cac63c8b-ac74-4c56-9ae5-304c4bd98115",
|
||||
"path": "<Keyboard>/r",
|
||||
"interactions": "",
|
||||
"processors": "",
|
||||
"groups": "",
|
||||
"action": "R",
|
||||
"isComposite": false,
|
||||
"isPartOfComposite": false
|
||||
},
|
||||
{
|
||||
"name": "",
|
||||
"id": "8d628790-58fe-40a0-9794-cc1385ab0e46",
|
||||
"path": "<Keyboard>/p",
|
||||
"interactions": "",
|
||||
"processors": "",
|
||||
"groups": "",
|
||||
"action": "P",
|
||||
"isComposite": false,
|
||||
"isPartOfComposite": false
|
||||
},
|
||||
{
|
||||
"name": "",
|
||||
"id": "6722f789-b46d-494b-b1f5-ac158cdf784c",
|
||||
"path": "<Keyboard>/u",
|
||||
"interactions": "",
|
||||
"processors": "",
|
||||
"groups": "",
|
||||
"action": "U",
|
||||
"isComposite": false,
|
||||
"isPartOfComposite": false
|
||||
},
|
||||
{
|
||||
"name": "",
|
||||
"id": "c7afe6a4-4565-46d0-bfe5-e27c8a5b5ac0",
|
||||
"path": "<Keyboard>/d",
|
||||
"interactions": "",
|
||||
"processors": "",
|
||||
"groups": "",
|
||||
"action": "D",
|
||||
"isComposite": false,
|
||||
"isPartOfComposite": false
|
||||
}
|
||||
]
|
||||
}
|
||||
],
|
||||
"controlSchemes": []
|
||||
}
|
||||
14
Assets/Scripting/PlayerInputActions.inputactions.meta
Normal file
14
Assets/Scripting/PlayerInputActions.inputactions.meta
Normal file
@@ -0,0 +1,14 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 46cf0cb27cb69524f8eae00dc3fe8eb0
|
||||
ScriptedImporter:
|
||||
internalIDToNameTable: []
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
script: {fileID: 11500000, guid: 8404be70184654265930450def6a9037, type: 3}
|
||||
generateWrapperCode: 1
|
||||
wrapperCodePath:
|
||||
wrapperClassName:
|
||||
wrapperCodeNamespace:
|
||||
8
Assets/Scripting/Robot.meta
Normal file
8
Assets/Scripting/Robot.meta
Normal file
@@ -0,0 +1,8 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 14f80c6c49fdaff41b0b04cea1c0f448
|
||||
folderAsset: yes
|
||||
DefaultImporter:
|
||||
externalObjects: {}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
6114
Assets/Scripting/Robot/AMR.cs
Normal file
6114
Assets/Scripting/Robot/AMR.cs
Normal file
File diff suppressed because it is too large
Load Diff
2
Assets/Scripting/Robot/AMR.cs.meta
Normal file
2
Assets/Scripting/Robot/AMR.cs.meta
Normal file
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: b3ef713dec000114695d1df96efa8e36
|
||||
778
Assets/Scripting/Robot/ActionExecutor.cs
Normal file
778
Assets/Scripting/Robot/ActionExecutor.cs
Normal file
@@ -0,0 +1,778 @@
|
||||
using System;
|
||||
using System.Collections;
|
||||
using UnityEngine;
|
||||
|
||||
public class ActionExecutor
|
||||
{
|
||||
private readonly MonoBehaviour monoBehaviour;
|
||||
private readonly AnimationControllerAPM animationController;
|
||||
private readonly ActionStateSender actionStateSender;
|
||||
private readonly Transform transform;
|
||||
private volatile bool isCancelled;
|
||||
private readonly float rotationSpeed = 180f; // Tốc độ xoay (độ/giây)
|
||||
private readonly float moveSpeed; // Tốc độ di chuyển từ AMR.defaultSpeed
|
||||
private readonly float checkPalletRadius; // Bán kính kiểm tra pallet
|
||||
private readonly float checkPalletMaxDistance; // Khoảng cách kiểm tra pallet
|
||||
private readonly LayerMask checkPalletTargetMask; // LayerMask kiểm tra pallet
|
||||
private readonly bool isDebuggingPalletCheck; // Bật/tắt debug vùng kiểm tra pallet
|
||||
|
||||
public ActionExecutor(
|
||||
MonoBehaviour monoBehaviour,
|
||||
AnimationControllerAPM animationController,
|
||||
ActionStateSender actionStateSender,
|
||||
Transform transform,
|
||||
float moveSpeed,
|
||||
float checkPalletRadius,
|
||||
float checkPalletMaxDistance,
|
||||
LayerMask checkPalletTargetMask,
|
||||
bool isDebuggingPalletCheck)
|
||||
{
|
||||
this.monoBehaviour = monoBehaviour;
|
||||
this.animationController = animationController;
|
||||
this.actionStateSender = actionStateSender;
|
||||
this.transform = transform;
|
||||
this.moveSpeed = moveSpeed;
|
||||
this.checkPalletRadius = checkPalletRadius;
|
||||
this.checkPalletMaxDistance = checkPalletMaxDistance;
|
||||
this.checkPalletTargetMask = checkPalletTargetMask;
|
||||
this.isDebuggingPalletCheck = isDebuggingPalletCheck;
|
||||
this.isCancelled = false;
|
||||
|
||||
if (animationController != null)
|
||||
{
|
||||
animationController.OnAnimationStateChanged += OnAnimationStateChanged;
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.LogError("AnimationControllerAPM is null in ActionExecutor constructor!");
|
||||
}
|
||||
}
|
||||
|
||||
public void CancelActions()
|
||||
{
|
||||
isCancelled = true;
|
||||
Debug.Log("Đã hủy thực thi actions.");
|
||||
}
|
||||
|
||||
public IEnumerator ExecuteNodeActions(Node node)
|
||||
{
|
||||
if (node == null || node.Actions == null || node.Actions.Length == 0)
|
||||
{
|
||||
yield break;
|
||||
}
|
||||
|
||||
foreach (var action in node.Actions)
|
||||
{
|
||||
if (isCancelled)
|
||||
{
|
||||
Debug.Log($"Hủy thực thi actions tại node {node.NodeDescription} do isCancelled=true.");
|
||||
yield break;
|
||||
}
|
||||
|
||||
// Gửi trạng thái WAITING
|
||||
yield return actionStateSender.SendActionStateAsync(
|
||||
action,
|
||||
node.NodeId,
|
||||
"NODE",
|
||||
"WAITING",
|
||||
"Action is waiting to start");
|
||||
|
||||
// Thực thi hành động
|
||||
ExecutionResult execResult = null;
|
||||
yield return monoBehaviour.StartCoroutine(ExecuteAction(action, node, result => execResult = result));
|
||||
|
||||
bool isActionSuccessful = execResult != null && execResult.IsActionSuccessful;
|
||||
string actionStatus = execResult != null ? execResult.ActionStatus : "FAILED";
|
||||
string resultDescription = execResult != null ? execResult.ResultDescription : "Unknown error";
|
||||
|
||||
// Gửi trạng thái cuối cùng
|
||||
yield return actionStateSender.SendActionStateAsync(
|
||||
action,
|
||||
node.NodeId,
|
||||
"NODE",
|
||||
actionStatus,
|
||||
resultDescription);
|
||||
|
||||
// Nếu hành động HARD thất bại, dừng lại
|
||||
if (action.BlockingType == "HARD" && actionStatus != "FINISHED")
|
||||
{
|
||||
Debug.LogError($"Action {action.ActionId} tại node {node.NodeDescription} có blockingType HARD nhưng không hoàn tất (status: {actionStatus}). Bỏ qua các hành động tiếp theo trong node này.");
|
||||
if (action.ActionType == "checkPallet")
|
||||
{
|
||||
isCancelled = true;
|
||||
yield return actionStateSender.SendCancelOrder(node, action);
|
||||
yield break;
|
||||
}
|
||||
yield break;
|
||||
}
|
||||
|
||||
// Đợi hành động HARD hoàn tất (pick, drop, rotation, moveBackward, startInPallet)
|
||||
if (isActionSuccessful && action.BlockingType == "HARD")
|
||||
{
|
||||
if (action.ActionType == "rotation")
|
||||
{
|
||||
float rotationAngle = GetRotationAngle(action);
|
||||
if (rotationAngle != 0f)
|
||||
{
|
||||
yield return monoBehaviour.StartCoroutine(RotateRobot(rotationAngle));
|
||||
}
|
||||
else
|
||||
{
|
||||
isActionSuccessful = false;
|
||||
actionStatus = "FAILED";
|
||||
resultDescription = "Invalid rotation angle";
|
||||
}
|
||||
}
|
||||
else if (action.ActionType == "moveBackward")
|
||||
{
|
||||
float distance = GetBackwardDistance(action);
|
||||
if (distance > 0f)
|
||||
{
|
||||
yield return monoBehaviour.StartCoroutine(MoveBackward(distance));
|
||||
}
|
||||
else
|
||||
{
|
||||
isActionSuccessful = false;
|
||||
actionStatus = "FAILED";
|
||||
resultDescription = "Invalid or non-positive backward distance";
|
||||
}
|
||||
}
|
||||
else if (action.ActionType == "startInPallet")
|
||||
{
|
||||
float x = 0f, y = 0f, theta = 0f, speed = moveSpeed;
|
||||
bool hasValidParams = ParseStartInPalletParams(action, out x, out y, out theta, out speed);
|
||||
if (hasValidParams)
|
||||
{
|
||||
yield return monoBehaviour.StartCoroutine(MoveToPalletPosition(x, y, theta, speed));
|
||||
}
|
||||
else
|
||||
{
|
||||
isActionSuccessful = false;
|
||||
actionStatus = "FAILED";
|
||||
resultDescription = "Invalid or missing parameters for startInPallet";
|
||||
}
|
||||
}
|
||||
|
||||
// Gửi lại trạng thái nếu có lỗi
|
||||
if (!isActionSuccessful)
|
||||
{
|
||||
yield return actionStateSender.SendActionStateAsync(
|
||||
action,
|
||||
node.NodeId,
|
||||
"NODE",
|
||||
actionStatus,
|
||||
resultDescription);
|
||||
}
|
||||
}
|
||||
|
||||
// Kiểm tra trạng thái sau khi thực thi
|
||||
if (action.BlockingType == "HARD" && actionStatus != "FINISHED")
|
||||
{
|
||||
Debug.LogError($"Action {action.ActionType} (ActionId: {action.ActionId}) failed with status {actionStatus}. Stopping further actions in node {node.NodeDescription}.");
|
||||
yield break;
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.Log($"Action {action.ActionType} (ActionId: {action.ActionId}) completed with status {actionStatus}. Proceeding to next action.");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Helper class for execution result
|
||||
private class ExecutionResult
|
||||
{
|
||||
public bool IsActionSuccessful { get; set; }
|
||||
public string ActionStatus { get; set; }
|
||||
public string ResultDescription { get; set; }
|
||||
}
|
||||
|
||||
public IEnumerator ExecuteEdgeAction(Edge edge, ActionData action)
|
||||
{
|
||||
if (isCancelled)
|
||||
{
|
||||
Debug.Log($"Hủy thực thi action {action.ActionType} tại edge {edge.EdgeDescription} do isCancelled=true.");
|
||||
yield break;
|
||||
}
|
||||
|
||||
// Gửi trạng thái WAITING
|
||||
yield return actionStateSender.SendActionStateAsync(
|
||||
action,
|
||||
edge.EdgeId,
|
||||
"EDGE",
|
||||
"WAITING",
|
||||
"Action is waiting to start");
|
||||
|
||||
// Gửi trạng thái RUNNING
|
||||
yield return actionStateSender.SendActionStateAsync(
|
||||
action,
|
||||
edge.EdgeId,
|
||||
"EDGE",
|
||||
"RUNNING",
|
||||
"Action is running");
|
||||
|
||||
string actionStatus = "FINISHED";
|
||||
string resultDescription = "Action executed successfully";
|
||||
bool needYield = false;
|
||||
float x = 0f, y = 0f, theta = 0f, speed = moveSpeed;
|
||||
|
||||
// Xử lý hành động trong một khối try-catch riêng
|
||||
try
|
||||
{
|
||||
switch (action.ActionType)
|
||||
{
|
||||
case "backwardNavigation":
|
||||
break;
|
||||
|
||||
case "pick":
|
||||
case "drop":
|
||||
if (animationController != null)
|
||||
{
|
||||
if (action.ActionType == "pick")
|
||||
animationController.OnKey2(); // Gắn pallet vào fork trong OnKey2
|
||||
else
|
||||
animationController.OnKey1(); // Tách pallet khỏi fork trong OnKey1
|
||||
}
|
||||
else
|
||||
{
|
||||
actionStatus = "FAILED";
|
||||
resultDescription = "AnimationControllerAPM not found";
|
||||
}
|
||||
break;
|
||||
|
||||
case "startInPallet":
|
||||
bool hasValidParams = ParseStartInPalletParams(action, out x, out y, out theta, out speed);
|
||||
if (hasValidParams)
|
||||
{
|
||||
needYield = true; // Đánh dấu cần yield coroutine
|
||||
}
|
||||
else
|
||||
{
|
||||
actionStatus = "FAILED";
|
||||
resultDescription = "Invalid or missing parameters for startInPallet";
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
actionStatus = "FAILED";
|
||||
resultDescription = $"Unsupported ActionType: {action.ActionType}";
|
||||
break;
|
||||
}
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
actionStatus = "FAILED";
|
||||
resultDescription = $"Action failed: {ex.Message}";
|
||||
}
|
||||
|
||||
// Xử lý yield ngoài khối try-catch
|
||||
if (needYield && actionStatus == "FINISHED")
|
||||
{
|
||||
yield return monoBehaviour.StartCoroutine(MoveToPalletPosition(x, y, theta, speed));
|
||||
}
|
||||
|
||||
// Gửi trạng thái cuối cùng
|
||||
yield return actionStateSender.SendActionStateAsync(
|
||||
action,
|
||||
edge.EdgeId,
|
||||
"EDGE",
|
||||
actionStatus,
|
||||
resultDescription);
|
||||
|
||||
// Nếu hành động HARD thất bại, hủy di chuyển
|
||||
if (action.BlockingType == "HARD" && actionStatus != "FINISHED")
|
||||
{
|
||||
isCancelled = true;
|
||||
}
|
||||
}
|
||||
private IEnumerator WaitForAnimation(string actionType, float timeout, Action<bool> onComplete)
|
||||
{
|
||||
bool animationCompleted = false;
|
||||
float elapsed = 0f;
|
||||
|
||||
void OnAnimationState(string type, string state)
|
||||
{
|
||||
if (type == actionType && state == "FINISHED")
|
||||
{
|
||||
animationCompleted = true;
|
||||
Debug.Log($"Animation {actionType} hoàn tất qua callback.");
|
||||
}
|
||||
}
|
||||
|
||||
animationController.OnAnimationStateChanged += OnAnimationState;
|
||||
|
||||
// Fallback: Kiểm tra trạng thái Animator nếu Animation Events không hoạt động
|
||||
Animator animator = animationController?.GetComponent<Animator>();
|
||||
string expectedState = actionType == "pick" ? "Up" : "Down";
|
||||
|
||||
while (!animationCompleted && elapsed < timeout && !isCancelled)
|
||||
{
|
||||
if (animator != null)
|
||||
{
|
||||
AnimatorStateInfo stateInfo = animator.GetCurrentAnimatorStateInfo(0);
|
||||
if (stateInfo.IsName(expectedState) && stateInfo.normalizedTime >= 1f)
|
||||
{
|
||||
animationCompleted = true;
|
||||
Debug.Log($"Animation {actionType} hoàn tất qua polling.");
|
||||
}
|
||||
}
|
||||
elapsed += Time.deltaTime;
|
||||
yield return null;
|
||||
}
|
||||
|
||||
animationController.OnAnimationStateChanged -= OnAnimationState;
|
||||
|
||||
bool success = animationCompleted && !isCancelled;
|
||||
onComplete?.Invoke(success);
|
||||
|
||||
if (!success)
|
||||
{
|
||||
Debug.LogWarning($"Animation {actionType} không hoàn tất: completed={animationCompleted}, cancelled={isCancelled}, timeout={timeout}s");
|
||||
}
|
||||
}
|
||||
private IEnumerator ExecuteAction(ActionData action, Node node, Action<ExecutionResult> callback)
|
||||
{
|
||||
var result = new ExecutionResult
|
||||
{
|
||||
IsActionSuccessful = true,
|
||||
ActionStatus = "FINISHED",
|
||||
ResultDescription = "Action executed successfully"
|
||||
};
|
||||
|
||||
bool needToYieldCancelOrder = false;
|
||||
bool needToYieldMovement = false;
|
||||
bool needToYieldAnimation = false;
|
||||
float x = 0f, y = 0f, theta = 0f, speed = moveSpeed;
|
||||
|
||||
try
|
||||
{
|
||||
switch (action.ActionType)
|
||||
{
|
||||
case "pick":
|
||||
case "drop":
|
||||
if (animationController != null)
|
||||
{
|
||||
if (action.ActionType == "pick")
|
||||
animationController.OnKey2(); // Gắn pallet vào fork
|
||||
else
|
||||
animationController.OnKey1(); // Tách pallet khỏi fork
|
||||
needToYieldAnimation = true; // Đánh dấu cần đợi animation
|
||||
}
|
||||
else
|
||||
{
|
||||
result.IsActionSuccessful = false;
|
||||
result.ActionStatus = "FAILED";
|
||||
result.ResultDescription = "AnimationControllerAPM not found";
|
||||
}
|
||||
break;
|
||||
|
||||
case "rotation":
|
||||
float rotationAngle = GetRotationAngle(action);
|
||||
if (rotationAngle != 0f)
|
||||
{
|
||||
if (action.BlockingType != "HARD")
|
||||
{
|
||||
monoBehaviour.StartCoroutine(RotateRobot(rotationAngle));
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
result.IsActionSuccessful = false;
|
||||
result.ActionStatus = "FAILED";
|
||||
result.ResultDescription = "Invalid or missing rotation angle in parameters";
|
||||
}
|
||||
break;
|
||||
|
||||
case "moveBackward":
|
||||
float distance = GetBackwardDistance(action);
|
||||
if (distance > 0f)
|
||||
{
|
||||
if (action.BlockingType != "HARD")
|
||||
{
|
||||
monoBehaviour.StartCoroutine(MoveBackward(distance));
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
result.IsActionSuccessful = false;
|
||||
result.ActionStatus = "FAILED";
|
||||
result.ResultDescription = "Invalid or non-positive backward distance in parameters";
|
||||
}
|
||||
break;
|
||||
|
||||
case "checkPallet":
|
||||
bool palletDetected = CheckPallet(action);
|
||||
if (palletDetected)
|
||||
{
|
||||
result.ActionStatus = "FINISHED";
|
||||
result.ResultDescription = "Pallet detected successfully";
|
||||
}
|
||||
else
|
||||
{
|
||||
result.IsActionSuccessful = false;
|
||||
result.ActionStatus = "FAILED";
|
||||
result.ResultDescription = "Không có pallet";
|
||||
needToYieldCancelOrder = true;
|
||||
}
|
||||
break;
|
||||
|
||||
case "startInPallet":
|
||||
bool hasValidParams = ParseStartInPalletParams(action, out x, out y, out theta, out speed);
|
||||
if (hasValidParams)
|
||||
{
|
||||
needToYieldMovement = true; // Đánh dấu cần di chuyển
|
||||
}
|
||||
else
|
||||
{
|
||||
result.IsActionSuccessful = false;
|
||||
result.ActionStatus = "FAILED";
|
||||
result.ResultDescription = "Invalid or missing parameters for startInPallet";
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
result.IsActionSuccessful = false;
|
||||
result.ActionStatus = "FAILED";
|
||||
result.ResultDescription = $"Unsupported ActionType: {action.ActionType}";
|
||||
break;
|
||||
}
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
result.IsActionSuccessful = false;
|
||||
result.ActionStatus = "FAILED";
|
||||
result.ResultDescription = $"Action failed: {ex.Message}";
|
||||
Debug.LogError($"Lỗi khi thực thi action {action.ActionType} tại node {node.NodeDescription}: {ex.Message}");
|
||||
}
|
||||
|
||||
// Xử lý các yield ngoài khối try-catch
|
||||
if (needToYieldAnimation && result.ActionStatus == "FINISHED")
|
||||
{
|
||||
float animationDuration = animationController.GetAnimationDuration(action.ActionType);
|
||||
if (animationDuration <= 0f)
|
||||
{
|
||||
result.IsActionSuccessful = false;
|
||||
result.ActionStatus = "FAILED";
|
||||
result.ResultDescription = "Invalid animation duration";
|
||||
Debug.LogError($"Invalid animation duration for {action.ActionType}. Check AnimationControllerAPM clip names.");
|
||||
}
|
||||
else
|
||||
{
|
||||
bool animationSuccess = false;
|
||||
yield return monoBehaviour.StartCoroutine(WaitForAnimation(action.ActionType, animationDuration + 1f, success => animationSuccess = success));
|
||||
if (!animationSuccess)
|
||||
{
|
||||
result.IsActionSuccessful = false;
|
||||
result.ActionStatus = "FAILED";
|
||||
result.ResultDescription = "Animation did not complete within timeout or was cancelled";
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (needToYieldMovement && result.ActionStatus == "FINISHED")
|
||||
{
|
||||
yield return monoBehaviour.StartCoroutine(MoveToPalletPosition(x, y, theta, speed));
|
||||
}
|
||||
|
||||
// Gọi callback với kết quả
|
||||
callback?.Invoke(result);
|
||||
|
||||
// Xử lý hủy order nếu cần
|
||||
if (needToYieldCancelOrder)
|
||||
{
|
||||
yield return actionStateSender.SendCancelOrder(node, action);
|
||||
}
|
||||
}
|
||||
|
||||
private bool ParseStartInPalletParams(ActionData action, out float x, out float y, out float theta, out float speed)
|
||||
{
|
||||
x = 0f;
|
||||
y = 0f;
|
||||
theta = 0f;
|
||||
speed = moveSpeed; // Tốc độ mặc định nếu không được cung cấp
|
||||
|
||||
if (action.Parameters == null || action.Parameters.Length == 0)
|
||||
{
|
||||
Debug.LogWarning($"Action parameters are null or empty for startInPallet action (ActionId: {action.ActionId}).");
|
||||
return false;
|
||||
}
|
||||
|
||||
bool hasX = false, hasY = false, hasTheta = false;
|
||||
|
||||
foreach (var param in action.Parameters)
|
||||
{
|
||||
if (param.Key == "X" && float.TryParse(param.Value.ToString(), out float parsedX))
|
||||
{
|
||||
x = parsedX;
|
||||
hasX = true;
|
||||
}
|
||||
else if (param.Key == "Y" && float.TryParse(param.Value.ToString(), out float parsedY))
|
||||
{
|
||||
y = parsedY;
|
||||
hasY = true;
|
||||
}
|
||||
else if (param.Key == "Theta" && float.TryParse(param.Value.ToString(), out float parsedTheta))
|
||||
{
|
||||
theta = parsedTheta;
|
||||
hasTheta = true;
|
||||
}
|
||||
else if (param.Key == "speed" && float.TryParse(param.Value.ToString(), out float parsedSpeed) && parsedSpeed > 0f)
|
||||
{
|
||||
speed = parsedSpeed;
|
||||
Debug.Log($"Sử dụng tốc độ từ actionParameters: {speed} m/s");
|
||||
}
|
||||
}
|
||||
|
||||
if (!hasX || !hasY || !hasTheta)
|
||||
{
|
||||
Debug.LogWarning($"Missing parameters for startInPallet action (ActionId: {action.ActionId}). Required: X, Y, Theta. Found: X={hasX}, Y={hasY}, Theta={hasTheta}");
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
private IEnumerator MoveToPalletPosition(float x, float y, float theta, float speed)
|
||||
{
|
||||
if (isCancelled)
|
||||
{
|
||||
Debug.Log("Hủy di chuyển đến vị trí pallet do isCancelled=true.");
|
||||
yield break;
|
||||
}
|
||||
|
||||
// Kiểm tra pallet trước khi di chuyển
|
||||
if (!CheckPallet(null)) // Gọi CheckPallet với action null để sử dụng tham số mặc định
|
||||
{
|
||||
Debug.LogWarning("Không phát hiện pallet trước khi thực hiện startInPallet, nhưng vẫn tiếp tục di chuyển.");
|
||||
}
|
||||
|
||||
Vector3 targetPosition = new Vector3(x, transform.position.y, y);
|
||||
float distance = Vector3.Distance(transform.position, targetPosition);
|
||||
|
||||
if (distance <= 0.01f)
|
||||
{
|
||||
Debug.LogWarning("Distance to pallet position is too small, skipping movement.");
|
||||
yield break;
|
||||
}
|
||||
|
||||
// Di chuyển đến vị trí (x, y)
|
||||
Vector3 startPosition = transform.position;
|
||||
float elapsed = 0f;
|
||||
float duration = distance / speed;
|
||||
|
||||
while (elapsed < duration && !isCancelled)
|
||||
{
|
||||
float t = elapsed / duration;
|
||||
transform.position = Vector3.Lerp(startPosition, targetPosition, t);
|
||||
elapsed += Time.deltaTime;
|
||||
yield return null;
|
||||
}
|
||||
|
||||
if (!isCancelled)
|
||||
{
|
||||
transform.position = targetPosition;
|
||||
Debug.Log($"Hoàn thành di chuyển đến vị trí pallet ({x}, {y}) với tốc độ {speed} m/s.");
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.Log("Hủy di chuyển đến vị trí pallet do isCancelled=true.");
|
||||
yield break;
|
||||
}
|
||||
|
||||
// Không xoay, giữ nguyên góc hiện tại
|
||||
Debug.Log($"Không xoay sau khi di chuyển đến vị trí pallet: giữ góc hiện tại, Unity eulerAngles.y={transform.eulerAngles.y:F2}°");
|
||||
}
|
||||
|
||||
private bool CheckPallet(ActionData action)
|
||||
{
|
||||
float radius = checkPalletRadius;
|
||||
float maxDistance = checkPalletMaxDistance;
|
||||
LayerMask targetMask = checkPalletTargetMask;
|
||||
|
||||
if (action?.Parameters != null)
|
||||
{
|
||||
foreach (var param in action.Parameters)
|
||||
{
|
||||
if (param.Key == "radius" && float.TryParse(param.Value.ToString(), out float parsedRadius))
|
||||
{
|
||||
radius = parsedRadius;
|
||||
Debug.Log($"Sử dụng radius từ actionParameters: {radius}");
|
||||
}
|
||||
else if (param.Key == "distance" && float.TryParse(param.Value.ToString(), out float parsedDistance))
|
||||
{
|
||||
maxDistance = parsedDistance;
|
||||
Debug.Log($"Sử dụng maxDistance từ actionParameters: {maxDistance}");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Vector3 origin = transform.position;
|
||||
Vector3 direction = transform.right; // Thay đổi từ transform.forward sang transform.right để kiểm tra theo trục X
|
||||
Vector3 endPoint = origin + direction * maxDistance;
|
||||
|
||||
// Hiển thị vùng kiểm tra pallet khi bật debug
|
||||
if (isDebuggingPalletCheck)
|
||||
{
|
||||
// Vẽ đường từ vị trí robot đến điểm kiểm tra (sử dụng Debug.DrawRay để tương thích với runtime)
|
||||
Debug.DrawRay(origin, direction * maxDistance, Color.green, 0.1f);
|
||||
}
|
||||
|
||||
Collider[] hits = Physics.OverlapSphere(endPoint, radius, targetMask);
|
||||
foreach (var hit in hits)
|
||||
{
|
||||
if (hit.CompareTag("Pallet") || hit.name.Contains("Pallet"))
|
||||
{
|
||||
Debug.Log($"Phát hiện pallet tại node: {hit.name} (vị trí: {endPoint})");
|
||||
|
||||
if (animationController != null)
|
||||
{
|
||||
animationController.pallet = hit.transform;
|
||||
Debug.Log($"Đã gán pallet {hit.name} vào AnimationControllerAPM.pallet.");
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.LogWarning("AnimationControllerAPM là null, không thể gán pallet.");
|
||||
}
|
||||
|
||||
return true; // Phát hiện pallet
|
||||
}
|
||||
}
|
||||
|
||||
Debug.Log($"Không phát hiện pallet tại điểm kiểm tra (vị trí: {endPoint})");
|
||||
|
||||
if (animationController != null)
|
||||
{
|
||||
animationController.pallet = null;
|
||||
Debug.Log("Không tìm thấy pallet, đặt AnimationControllerAPM.pallet thành null.");
|
||||
}
|
||||
|
||||
return false; // Không phát hiện pallet
|
||||
}
|
||||
private float GetRotationAngle(ActionData action)
|
||||
{
|
||||
if (action.Parameters == null || action.Parameters.Length == 0)
|
||||
{
|
||||
Debug.LogWarning($"Action parameters are null or empty for rotation action (ActionId: {action.ActionId}).");
|
||||
return 0f;
|
||||
}
|
||||
|
||||
foreach (var param in action.Parameters)
|
||||
{
|
||||
if (param.Key == "ro")
|
||||
{
|
||||
Debug.Log($"Found rotation parameter 'ro' with value: {param.Value} for ActionId: {action.ActionId}");
|
||||
if (float.TryParse(param.Value.ToString(), out float angle))
|
||||
{
|
||||
return angle;
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.LogWarning($"Invalid rotation parameter value: {param.Value} for ActionId: {action.ActionId}");
|
||||
return 0f;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Debug.LogWarning($"Rotation parameter 'ro' not found in action parameters for ActionId: {action.ActionId}.");
|
||||
return 0f;
|
||||
}
|
||||
|
||||
private float GetBackwardDistance(ActionData action)
|
||||
{
|
||||
if (action.Parameters == null || action.Parameters.Length == 0)
|
||||
{
|
||||
Debug.LogWarning($"Action parameters are null or empty for moveBackward action (ActionId: {action.ActionId}).");
|
||||
return 0f;
|
||||
}
|
||||
|
||||
foreach (var param in action.Parameters)
|
||||
{
|
||||
if (param.Key == "distance")
|
||||
{
|
||||
if (float.TryParse(param.Value.ToString(), out float distance) && distance > 0f)
|
||||
{
|
||||
Debug.Log($"Found backward distance parameter 'distance' with value: {distance} for ActionId: {action.ActionId}");
|
||||
return distance;
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.LogWarning($"Invalid backward distance value: {param.Value} (must be positive) for ActionId: {action.ActionId}");
|
||||
return 0f;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Debug.LogWarning($"Backward distance parameter 'distance' not found in action parameters for ActionId: {action.ActionId}.");
|
||||
return 0f;
|
||||
}
|
||||
|
||||
private IEnumerator RotateRobot(float angleRad)
|
||||
{
|
||||
if (Mathf.Approximately(angleRad, 0f))
|
||||
{
|
||||
Debug.LogWarning("Rotation angle is zero, skipping rotation.");
|
||||
yield break;
|
||||
}
|
||||
|
||||
float angleDeg = angleRad * Mathf.Rad2Deg;
|
||||
Quaternion startRotation = transform.rotation;
|
||||
Quaternion targetRotation = startRotation * Quaternion.Euler(0f, angleDeg, 0f);
|
||||
float elapsed = 0f;
|
||||
float duration = Mathf.Abs(angleDeg) / rotationSpeed;
|
||||
|
||||
while (elapsed < duration && !isCancelled)
|
||||
{
|
||||
float t = elapsed / duration;
|
||||
transform.rotation = Quaternion.Slerp(startRotation, targetRotation, t);
|
||||
elapsed += Time.deltaTime;
|
||||
yield return null;
|
||||
}
|
||||
|
||||
if (!isCancelled)
|
||||
{
|
||||
transform.rotation = targetRotation;
|
||||
Debug.Log($"Hoàn thành xoay {angleRad} rad ({angleDeg} độ).");
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.Log("Hủy xoay do isCancelled=true.");
|
||||
}
|
||||
}
|
||||
|
||||
private IEnumerator MoveBackward(float distance)
|
||||
{
|
||||
if (distance <= 0f)
|
||||
{
|
||||
Debug.LogWarning("Backward distance is zero or negative, skipping moveBackward.");
|
||||
yield break;
|
||||
}
|
||||
|
||||
Vector3 startPosition = transform.position;
|
||||
Vector3 direction = -transform.forward; // Hướng ngược lại
|
||||
Vector3 targetPosition = startPosition + direction * distance;
|
||||
float elapsed = 0f;
|
||||
float duration = distance / moveSpeed;
|
||||
|
||||
while (elapsed < duration && !isCancelled)
|
||||
{
|
||||
float t = elapsed / duration;
|
||||
transform.position = Vector3.Lerp(startPosition, targetPosition, t);
|
||||
elapsed += Time.deltaTime;
|
||||
yield return null;
|
||||
}
|
||||
|
||||
if (!isCancelled)
|
||||
{
|
||||
transform.position = targetPosition;
|
||||
Debug.Log($"Hoàn thành đi lùi {distance} mét.");
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.Log("Hủy đi lùi do isCancelled=true.");
|
||||
}
|
||||
}
|
||||
|
||||
private void OnAnimationStateChanged(string actionType, string state)
|
||||
{
|
||||
Debug.Log($"Animation state changed: {actionType} -> {state}");
|
||||
}
|
||||
}
|
||||
2
Assets/Scripting/Robot/ActionExecutor.cs.meta
Normal file
2
Assets/Scripting/Robot/ActionExecutor.cs.meta
Normal file
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 4aa787d0618948746860649f325e4055
|
||||
393
Assets/Scripting/Robot/ActionStateSender.cs
Normal file
393
Assets/Scripting/Robot/ActionStateSender.cs
Normal file
@@ -0,0 +1,393 @@
|
||||
using Newtonsoft.Json;
|
||||
using System;
|
||||
using System.Collections;
|
||||
using System.Linq;
|
||||
using System.Threading.Tasks;
|
||||
using UnityEngine;
|
||||
|
||||
public class ActionStateSender
|
||||
{
|
||||
private readonly MqttClientManager mqttClientManager;
|
||||
private readonly OrderProcessor orderProcessor;
|
||||
private readonly AnimationControllerAPM animationController;
|
||||
private readonly string stateTopic;
|
||||
private readonly string instantActionsTopic;
|
||||
private readonly string serialNumber;
|
||||
private readonly string currentMapId;
|
||||
private readonly PathMover pathMover;
|
||||
private uint headerIdCounter;
|
||||
|
||||
public ActionStateSender(
|
||||
MqttClientManager mqttClientManager,
|
||||
OrderProcessor orderProcessor,
|
||||
AnimationControllerAPM animationController,
|
||||
string stateTopic,
|
||||
string instantActionsTopic,
|
||||
string serialNumber,
|
||||
string currentMapId,
|
||||
PathMover pathMover)
|
||||
{
|
||||
this.mqttClientManager = mqttClientManager;
|
||||
this.orderProcessor = orderProcessor;
|
||||
this.animationController = animationController;
|
||||
this.stateTopic = stateTopic;
|
||||
this.instantActionsTopic = instantActionsTopic;
|
||||
this.serialNumber = serialNumber;
|
||||
this.currentMapId = currentMapId;
|
||||
this.pathMover = pathMover;
|
||||
this.headerIdCounter = 0;
|
||||
}
|
||||
|
||||
public async void ProcessInstantActionJson(string json)
|
||||
{
|
||||
try
|
||||
{
|
||||
InstantActionData instantAction = await Task.Run(() => JsonConvert.DeserializeObject<InstantActionData>(json));
|
||||
if (instantAction.Actions != null)
|
||||
{
|
||||
foreach (var action in instantAction.Actions)
|
||||
{
|
||||
if (action == null) continue;
|
||||
|
||||
Debug.Log($"Nhận được instant action: ActionType={action.ActionType}, ActionId={action.ActionId ?? "null"}, SerialNumber={serialNumber}");
|
||||
|
||||
if (instantAction.SerialNumber != serialNumber)
|
||||
{
|
||||
Debug.LogWarning($"Action có serialNumber ({instantAction.SerialNumber}) không khớp với serialNumber của robot ({serialNumber}). Bỏ qua.");
|
||||
continue;
|
||||
}
|
||||
|
||||
switch (action.ActionType)
|
||||
{
|
||||
case "cancelOrder":
|
||||
Debug.Log($"Nhận được lệnh cancelOrder, ActionId: {(action.ActionId ?? "null")}, SerialNumber: {serialNumber}, HeaderId: {instantAction.HeaderId}");
|
||||
//await SendActionConfirmation(instantAction, action, "FINISHED", "Hủy nhiệm vụ thành công");
|
||||
UnityMainThreadDispatcher.Enqueue(() => orderProcessor.CancelOrder());
|
||||
break;
|
||||
|
||||
case "pick":
|
||||
if (animationController != null)
|
||||
{
|
||||
UnityMainThreadDispatcher.Enqueue(() =>
|
||||
{
|
||||
animationController.OnKey2();
|
||||
Debug.Log($"Đã kích hoạt animation U cho instant action: {action.ActionType}");
|
||||
});
|
||||
//await SendActionConfirmation(instantAction, action, "FINISHED", "Animation U triggered successfully");
|
||||
}
|
||||
else
|
||||
{
|
||||
//await SendActionConfirmation(instantAction, action, "FAILED", "AnimationControllerAPM not found");
|
||||
}
|
||||
break;
|
||||
|
||||
case "drop":
|
||||
if (animationController != null)
|
||||
{
|
||||
UnityMainThreadDispatcher.Enqueue(() =>
|
||||
{
|
||||
animationController.OnKey1();
|
||||
Debug.Log($"Đã kích hoạt animation D cho instant action: {action.ActionType}");
|
||||
});
|
||||
//await SendActionConfirmation(instantAction, action, "FINISHED", "Animation D triggered successfully");
|
||||
}
|
||||
else
|
||||
{
|
||||
//await SendActionConfirmation(instantAction, action, "FAILED", "AnimationControllerAPM not found");
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
Debug.LogWarning($"Instant ActionType không được hỗ trợ: {action.ActionType}, SerialNumber: {serialNumber}");
|
||||
//await SendActionConfirmation(instantAction, action, "FAILED", $"Unsupported ActionType: {action.ActionType}");
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Debug.LogError($"Lỗi khi phân tích JSON instant action cho robot với serialNumber {serialNumber}: {ex.Message}");
|
||||
}
|
||||
}
|
||||
|
||||
public async Task SendActionStateAsync(
|
||||
ActionData action,
|
||||
string referenceId,
|
||||
string referenceType,
|
||||
string actionStatus,
|
||||
string resultDescription)
|
||||
{
|
||||
try
|
||||
{
|
||||
// Cập nhật trạng thái hành động trong ActionData
|
||||
action.ActionStatus = actionStatus;
|
||||
action.ActionDescription = resultDescription;
|
||||
|
||||
var actionState = new ActionState
|
||||
{
|
||||
ActionId = string.IsNullOrEmpty(action.ActionId) ? Guid.NewGuid().ToString() : action.ActionId,
|
||||
ActionType = action.ActionType,
|
||||
ActionDescription = action.ActionDescription ?? "",
|
||||
ActionStatus = actionStatus,
|
||||
};
|
||||
|
||||
var stateData = new SendState
|
||||
{
|
||||
HeaderId = headerIdCounter++,
|
||||
Timestamp = DateTime.UtcNow.ToString("yyyy-MM-ddTHH:mm:ss.fffZ"),
|
||||
Version = "1.0.0",
|
||||
Manufacturer = "phenikaaX",
|
||||
SerialNumber = serialNumber,
|
||||
Maps = new Map[]
|
||||
{
|
||||
new Map
|
||||
{
|
||||
MapId = currentMapId,
|
||||
MapVersion = "1.0",
|
||||
MapDescription = "Default map",
|
||||
MapStatus = "ENABLED"
|
||||
}
|
||||
},
|
||||
OrderId = orderProcessor?.OrderId ?? "",
|
||||
OrderUpdateId = orderProcessor?.OrderId != null ? 1 : 0,
|
||||
ZoneSetId = "",
|
||||
LastNodeId = orderProcessor?.LastNodeId ?? "",
|
||||
LastNodeSequenceId = orderProcessor?.LastNodeSequenceId ?? 0,
|
||||
NodeStates = orderProcessor?.CurrentOrder?.Nodes?.Select(n => new NodeState
|
||||
{
|
||||
NodeId = n.NodeId,
|
||||
SequenceId = n.SequenceId,
|
||||
NodeDescription = n.NodeDescription ?? "",
|
||||
Released = n.Released,
|
||||
NodePosition = new NodePosition
|
||||
{
|
||||
X = n.NodePosition.X,
|
||||
Y = n.NodePosition.Y,
|
||||
Theta = n.NodePosition.Theta,
|
||||
AllowedDeviationXY = n.NodePosition.AllowedDeviationXY,
|
||||
AllowedDeviationTheta = n.NodePosition.AllowedDeviationTheta,
|
||||
MapId = n.NodePosition.MapId,
|
||||
MapDescription = n.NodePosition.MapDescription ?? ""
|
||||
}
|
||||
}).ToArray() ?? new NodeState[0],
|
||||
EdgeStates = orderProcessor?.CurrentOrder?.Edges?.Select(e => new EdgeState
|
||||
{
|
||||
EdgeId = e.EdgeId,
|
||||
SequenceId = e.SequenceId,
|
||||
EdgeDescription = e.EdgeDescription ?? "",
|
||||
Released = e.Released,
|
||||
Trajectory = e.Trajectory != null ? new Trajectory
|
||||
{
|
||||
Degree = e.Trajectory.Degree,
|
||||
KnotVector = e.Trajectory.KnotVector,
|
||||
ControlPoints = e.Trajectory.ControlPoints?.Select(cp => new ControlPoint
|
||||
{
|
||||
X = cp.X,
|
||||
Y = cp.Y,
|
||||
Weight = cp.Weight
|
||||
}).ToArray()
|
||||
} : null
|
||||
}).ToArray() ?? new EdgeState[0],
|
||||
Driving = pathMover?.IsMoving ?? false,
|
||||
Paused = !(pathMover?.IsMoving ?? false),
|
||||
NewBaseRequest = !(pathMover?.IsMoving ?? false),
|
||||
DistanceSinceLastNode = 1.531483174223427f,
|
||||
AgvPosition = new AgvPosition
|
||||
{
|
||||
X = 0f, // Will be updated by VisualizationSender
|
||||
Y = 0f,
|
||||
Theta = 0f,
|
||||
MapId = currentMapId,
|
||||
MapDescription = "",
|
||||
PositionInitialized = true,
|
||||
LocalizationScore = 0.7f,
|
||||
DeviationRange = 0.1f
|
||||
},
|
||||
Velocity = new Velocity
|
||||
{
|
||||
Vx = 0f,
|
||||
Vy = 0f,
|
||||
Omega = 0f
|
||||
},
|
||||
Loads = new Load[0],
|
||||
ActionStates = new[] { actionState },
|
||||
BatteryState = new BatteryState
|
||||
{
|
||||
BatteryCharge = 80f,
|
||||
BatteryVoltage = 48f,
|
||||
BatteryHealth = 100f,
|
||||
Charging = false,
|
||||
Reach = 1000f
|
||||
},
|
||||
OperatingMode = "AUTOMATIC",
|
||||
Errors = new Error[0],
|
||||
Information = new Information[0],
|
||||
SafetyState = new SafetyState
|
||||
{
|
||||
EStop = "NONE",
|
||||
FieldViolation = false
|
||||
}
|
||||
};
|
||||
|
||||
string json = JsonConvert.SerializeObject(stateData, Formatting.None);
|
||||
await mqttClientManager.PublishAsync(stateTopic, json);
|
||||
Debug.Log($"Đã gửi trạng thái action {action.ActionType} ({referenceType} {referenceId}): {actionStatus} - {resultDescription}");
|
||||
}
|
||||
catch (Exception)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
private async Task SendActionConfirmation(InstantActionData instantAction, ActionData action, string actionStatus, string resultDescription)
|
||||
{
|
||||
try
|
||||
{
|
||||
var confirmation = new CancelConfirmationData
|
||||
{
|
||||
HeaderId = instantAction.HeaderId,
|
||||
Timestamp = DateTime.UtcNow.ToString("yyyy-MM-ddTHH:mm:ss.fffZ"),
|
||||
Version = instantAction.Version ?? "0.0.1",
|
||||
Manufacturer = instantAction.Manufacturer ?? "phenikaaX",
|
||||
SerialNumber = instantAction.SerialNumber ?? serialNumber,
|
||||
ActionStates = new[]
|
||||
{
|
||||
new ActionState
|
||||
{
|
||||
ActionId = string.IsNullOrEmpty(action.ActionId) ? Guid.NewGuid().ToString() : action.ActionId,
|
||||
ActionType = action.ActionType,
|
||||
ActionStatus = actionStatus,
|
||||
ResultDescription = resultDescription
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
string confirmationJson = JsonConvert.SerializeObject(confirmation, Formatting.None);
|
||||
await mqttClientManager.PublishAsync(stateTopic, confirmationJson);
|
||||
Debug.Log($"Đã gửi xác nhận action {action.ActionType} lên topic {stateTopic}: {confirmationJson}");
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Debug.LogError($"Lỗi khi gửi xác nhận action {action.ActionType}: {ex.Message}");
|
||||
}
|
||||
}
|
||||
|
||||
public IEnumerator SendCancelOrder(Node node, ActionData action)
|
||||
{
|
||||
if (node is null)
|
||||
{
|
||||
yield break;
|
||||
}
|
||||
|
||||
if (action is null)
|
||||
{
|
||||
yield break;
|
||||
}
|
||||
|
||||
// Kiểm tra orderProcessor
|
||||
if (orderProcessor == null)
|
||||
{
|
||||
// Gửi thông báo hủy qua MQTT mà không cần orderProcessor
|
||||
var cancelOrderDataWithoutProcessor = new
|
||||
{
|
||||
HeaderId = headerIdCounter++,
|
||||
Timestamp = DateTime.UtcNow.ToString("yyyy-MM-ddTHH:mm:ss.fffZ"),
|
||||
Version = "0.0.1",
|
||||
Manufacturer = "phenikaaX",
|
||||
SerialNumber = serialNumber ?? "unknown",
|
||||
Actions = new[]
|
||||
{
|
||||
new
|
||||
{
|
||||
ActionType = "cancelOrder",
|
||||
ActionId = Guid.NewGuid().ToString(),
|
||||
ActionDescription = $"Không có pallet tại node {node.NodeDescription}",
|
||||
BlockingType = "NONE",
|
||||
ActionParameters = new[]
|
||||
{
|
||||
new { Key = "ORDER_ID", Value = "unknown" },
|
||||
new { Key = "REASON", Value = "Không có pallet" }
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
string cancelJson = JsonConvert.SerializeObject(cancelOrderDataWithoutProcessor, Formatting.None);
|
||||
|
||||
if (mqttClientManager != null)
|
||||
{
|
||||
Task publishTask = mqttClientManager.PublishAsync(instantActionsTopic, cancelJson);
|
||||
while (!publishTask.IsCompleted)
|
||||
{
|
||||
yield return null;
|
||||
}
|
||||
if (publishTask.IsFaulted)
|
||||
{
|
||||
Debug.LogError($"Lỗi khi gửi JSON cancelOrder: {publishTask.Exception?.Message}");
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.Log($"Đã gửi JSON cancelOrder lên topic instantActions: {cancelJson}");
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.LogError("MqttClientManager is null. Cannot send cancel order message.");
|
||||
}
|
||||
yield break;
|
||||
}
|
||||
|
||||
// Hủy order ngay lập tức
|
||||
UnityMainThreadDispatcher.Enqueue(() => orderProcessor.CancelOrder());
|
||||
Debug.Log($"Đã hủy order với OrderId: {orderProcessor.OrderId ?? "N/A"} do không có pallet tại node {node.NodeDescription}");
|
||||
|
||||
// Tạo JSON hủy order
|
||||
var cancelOrderDataWithProcessor = new
|
||||
{
|
||||
HeaderId = headerIdCounter++,
|
||||
Timestamp = DateTime.UtcNow.ToString("yyyy-MM-ddTHH:mm:ss.fffZ"),
|
||||
Version = "0.0.1",
|
||||
Manufacturer = "phenikaaX",
|
||||
SerialNumber = orderProcessor.SerialNumber ?? "unknown",
|
||||
Actions = new[]
|
||||
{
|
||||
new
|
||||
{
|
||||
ActionType = "cancelOrder",
|
||||
ActionId = Guid.NewGuid().ToString(),
|
||||
ActionDescription = $"Không có pallet tại node {node.NodeDescription}",
|
||||
BlockingType = "NONE",
|
||||
ActionParameters = new[]
|
||||
{
|
||||
new { Key = "ORDER_ID", Value = orderProcessor.OrderId ?? "" },
|
||||
new { Key = "REASON", Value = "Không có pallet" }
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
// Gửi JSON qua MQTT
|
||||
if (mqttClientManager != null)
|
||||
{
|
||||
string cancelJson = JsonConvert.SerializeObject(cancelOrderDataWithProcessor, Formatting.None);
|
||||
|
||||
Task publishTask = mqttClientManager.PublishAsync(instantActionsTopic, cancelJson);
|
||||
while (!publishTask.IsCompleted)
|
||||
{
|
||||
yield return null;
|
||||
}
|
||||
if (publishTask.IsFaulted)
|
||||
{
|
||||
Debug.LogError($"Lỗi khi gửi JSON cancelOrder: {publishTask.Exception?.Message}");
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.Log($"Đã gửi JSON cancelOrder lên topic instantActions: {cancelJson}");
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.LogError("MqttClientManager is null. Cannot send cancel order message.");
|
||||
}
|
||||
}
|
||||
}
|
||||
2
Assets/Scripting/Robot/ActionStateSender.cs.meta
Normal file
2
Assets/Scripting/Robot/ActionStateSender.cs.meta
Normal file
@@ -0,0 +1,2 @@
|
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fileFormatVersion: 2
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381
Assets/Scripting/Robot/GameObjectTimeline.playable
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381
Assets/Scripting/Robot/GameObjectTimeline.playable
Normal file
@@ -0,0 +1,381 @@
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encoderPresetSelectedSuffixes:
|
||||
encoderColorDefinitionSelected: 0
|
||||
encoderCustomOptions:
|
||||
m_MovieRecorderVersion: 1
|
||||
references:
|
||||
version: 2
|
||||
RefIds:
|
||||
- rid: 5465612107755290723
|
||||
type: {class: CoreEncoderSettings, ns: UnityEditor.Recorder.Encoder, asm: Unity.Recorder.Editor}
|
||||
data:
|
||||
targetBitRate: 8
|
||||
gopSize: 25
|
||||
numConsecutiveBFrames: 2
|
||||
encodingProfile: 2
|
||||
keyframeDistance: 25
|
||||
codec: 0
|
||||
encodingQuality: 2
|
||||
- rid: 5465612107755290724
|
||||
type: {class: AccumulationSettings, ns: , asm: Unity.Recorder.Editor}
|
||||
data:
|
||||
captureAccumulation: 0
|
||||
samples: 1
|
||||
shutterInterval: 1
|
||||
shutterProfileType: 0
|
||||
shutterProfileCurve:
|
||||
serializedVersion: 2
|
||||
m_Curve:
|
||||
- serializedVersion: 3
|
||||
time: 0
|
||||
value: 1
|
||||
inSlope: 0
|
||||
outSlope: 0
|
||||
tangentMode: 0
|
||||
weightedMode: 0
|
||||
inWeight: 0
|
||||
outWeight: 0
|
||||
- serializedVersion: 3
|
||||
time: 1
|
||||
value: 1
|
||||
inSlope: 0
|
||||
outSlope: 0
|
||||
tangentMode: 0
|
||||
weightedMode: 0
|
||||
inWeight: 0
|
||||
outWeight: 0
|
||||
m_PreInfinity: 2
|
||||
m_PostInfinity: 2
|
||||
m_RotationOrder: 4
|
||||
shutterFullyOpen: 0.25
|
||||
shutterBeginsClosing: 0.75
|
||||
useSubPixelJitter: 1
|
||||
8
Assets/Scripting/Robot/GameObjectTimeline.playable.meta
Normal file
8
Assets/Scripting/Robot/GameObjectTimeline.playable.meta
Normal file
@@ -0,0 +1,8 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 1db705b096781be4594bd90ce844c93f
|
||||
NativeFormatImporter:
|
||||
externalObjects: {}
|
||||
mainObjectFileID: 11400000
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
9
Assets/Scripting/Robot/MainThreadDispatcher.cs
Normal file
9
Assets/Scripting/Robot/MainThreadDispatcher.cs
Normal file
@@ -0,0 +1,9 @@
|
||||
using UnityEngine;
|
||||
|
||||
public class MainThreadDispatcher : MonoBehaviour
|
||||
{
|
||||
private void Update()
|
||||
{
|
||||
UnityMainThreadDispatcher.Update();
|
||||
}
|
||||
}
|
||||
2
Assets/Scripting/Robot/MainThreadDispatcher.cs.meta
Normal file
2
Assets/Scripting/Robot/MainThreadDispatcher.cs.meta
Normal file
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 2a549a9912ffa1f4b9d7e5cade52a964
|
||||
145
Assets/Scripting/Robot/OrderProcessor.cs
Normal file
145
Assets/Scripting/Robot/OrderProcessor.cs
Normal file
@@ -0,0 +1,145 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Threading.Tasks;
|
||||
using Newtonsoft.Json;
|
||||
using UnityEngine;
|
||||
|
||||
public class OrderProcessor
|
||||
{
|
||||
private readonly PathVisualizer pathVisualizer;
|
||||
private readonly PathMover pathMover;
|
||||
private readonly Transform transform;
|
||||
private string currentMapId;
|
||||
private readonly string serialNumber;
|
||||
private string lastNodeId;
|
||||
private string orderId;
|
||||
private int lastNodeSequenceId;
|
||||
private OrderData currentOrder;
|
||||
private readonly Queue<OrderData> orderQueue;
|
||||
private bool isProcessingOrder;
|
||||
|
||||
public OrderProcessor(PathVisualizer pathVisualizer, PathMover pathMover, Transform transform,
|
||||
string initialMapId, string serialNumber)
|
||||
{
|
||||
this.pathVisualizer = pathVisualizer;
|
||||
this.pathMover = pathMover;
|
||||
this.transform = transform;
|
||||
this.currentMapId = initialMapId;
|
||||
this.serialNumber = serialNumber;
|
||||
this.lastNodeId = null;
|
||||
this.orderId = null;
|
||||
this.lastNodeSequenceId = 0;
|
||||
this.currentOrder = null;
|
||||
this.orderQueue = new Queue<OrderData>();
|
||||
this.isProcessingOrder = false;
|
||||
|
||||
if (pathMover != null)
|
||||
{
|
||||
pathMover.OnMoveCompleted += OnMoveCompleted;
|
||||
}
|
||||
}
|
||||
|
||||
public string CurrentMapId => currentMapId;
|
||||
public string LastNodeId => lastNodeId;
|
||||
public string OrderId => orderId;
|
||||
public int LastNodeSequenceId => lastNodeSequenceId;
|
||||
public OrderData CurrentOrder => currentOrder;
|
||||
public string SerialNumber => serialNumber;
|
||||
|
||||
public async void ProcessOrderJson(string json)
|
||||
{
|
||||
try
|
||||
{
|
||||
OrderData order = await Task.Run(() => JsonConvert.DeserializeObject<OrderData>(json));
|
||||
|
||||
if (order.SerialNumber != serialNumber)
|
||||
{
|
||||
Debug.LogWarning($"SerialNumber trong JSON ({order.SerialNumber}) không khớp với serialNumber của robot ({serialNumber}).");
|
||||
return;
|
||||
}
|
||||
|
||||
lock (orderQueue)
|
||||
{
|
||||
orderQueue.Enqueue(order);
|
||||
}
|
||||
|
||||
if (!isProcessingOrder)
|
||||
{
|
||||
UnityMainThreadDispatcher.Enqueue(() => ProcessNextOrder());
|
||||
}
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Debug.LogError($"Lỗi khi phân tích JSON: {ex.Message}, SerialNumber: {serialNumber}");
|
||||
}
|
||||
}
|
||||
|
||||
private void ProcessNextOrder()
|
||||
{
|
||||
if (isProcessingOrder)
|
||||
{
|
||||
Debug.Log($"Đang xử lý order, không thể bắt đầu order mới. SerialNumber: {serialNumber}");
|
||||
return;
|
||||
}
|
||||
|
||||
lock (orderQueue)
|
||||
{
|
||||
if (orderQueue.Count == 0)
|
||||
{
|
||||
Debug.Log($"Hàng đợi order trống. SerialNumber: {serialNumber}");
|
||||
return;
|
||||
}
|
||||
|
||||
isProcessingOrder = true;
|
||||
currentOrder = orderQueue.Dequeue();
|
||||
}
|
||||
|
||||
orderId = currentOrder.OrderId;
|
||||
|
||||
var lastNode = currentOrder.Nodes.OrderByDescending(n => n.SequenceId).FirstOrDefault();
|
||||
lastNodeId = lastNode?.NodeId ?? "";
|
||||
lastNodeSequenceId = lastNode?.SequenceId ?? 0;
|
||||
|
||||
string newMapId = currentOrder.Nodes.FirstOrDefault()?.NodePosition.MapId;
|
||||
if (!string.IsNullOrEmpty(newMapId))
|
||||
{
|
||||
currentMapId = newMapId;
|
||||
}
|
||||
|
||||
pathVisualizer.DrawPath(currentOrder.Nodes, currentOrder.Edges);
|
||||
pathMover.StartMove(currentOrder.Nodes, currentOrder.Edges);
|
||||
}
|
||||
|
||||
private void OnMoveCompleted()
|
||||
{
|
||||
Debug.Log($"Hoàn thành order. OrderId: {orderId}, SerialNumber: {serialNumber}");
|
||||
|
||||
lastNodeId = "";
|
||||
orderId = "";
|
||||
lastNodeSequenceId = 0;
|
||||
currentOrder = null;
|
||||
isProcessingOrder = false;
|
||||
|
||||
ProcessNextOrder();
|
||||
}
|
||||
|
||||
public void CancelOrder()
|
||||
{
|
||||
pathMover.CancelMove();
|
||||
pathVisualizer.ClearPath();
|
||||
lastNodeId = "";
|
||||
orderId = "";
|
||||
lastNodeSequenceId = 0;
|
||||
currentOrder = null;
|
||||
|
||||
lock (orderQueue)
|
||||
{
|
||||
orderQueue.Clear();
|
||||
Debug.Log($"Đã hủy order hiện tại và xóa hàng đợi. SerialNumber: {serialNumber}");
|
||||
}
|
||||
|
||||
isProcessingOrder = false;
|
||||
Debug.Log($"Đã hủy nhiệm vụ. SerialNumber: {serialNumber}");
|
||||
}
|
||||
}
|
||||
2
Assets/Scripting/Robot/OrderProcessor.cs.meta
Normal file
2
Assets/Scripting/Robot/OrderProcessor.cs.meta
Normal file
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 9461eea78d7ab1b42a75393b8636e54c
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user