Init

Scripts/Factory/IdComponent.cs

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+using Godot;
+
+namespace BITKit;
+
+/// <summary>
+/// ECS的Id组件，用于提供Id
+/// </summary>
+public partial class IdComponent:EntityComponent
+{
+  [Export]
+  public string Id;
+}

Scripts/Factory/ROSClientService.cs

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+using Godot;
+using RosBridgeClient;
+using RosSharp.RosBridgeClient.Protocols;
+
+namespace BITKit;
+/// <summary>
+/// 使用Godot.Node作为容器的RosClient
+/// </summary>
+public partial class ROSClientService : Node
+{
+    public override void _Ready()
+    {
+        WebSocketNetProtocol protocol = new("ws://");
+        RosSharp.RosBridgeClient.RosSocket client = new(protocol);
+    }
+}

Scripts/Factory/RotationComponent.cs

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+using Godot;
+
+namespace BITKit;
+/// <summary>
+/// ECS中iFactory.Rotation的角度组件
+/// </summary>
+public partial class RotationComponent : EntityComponent
+{
+    /// <summary>
+    /// 获取角度的路径
+    /// </summary>
+    [Export] public string Path { get; private set; }
+    /// <summary>
+    /// 角度的绝对权重，例如90*0,0,1 = 0,0,90
+    /// </summary>
+    [Export] public Vector3 Weight { get; private set; }
+    /// <summary>
+    /// 角度的相对偏移
+    /// </summary>
+    [Export] public Vector3 Offset { get; private set; }
+    /// <summary>
+    /// 默认角度的缓存
+    /// </summary>
+    public Vector3 OriginalEuler { get; private set; }
+    public override void _Ready()
+    {
+        //保存默认角度
+        OriginalEuler = Rotation;
+    }
+}

Scripts/Factory/SCADAService.cs

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+using Godot;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Threading;
+using BITKit.Core.Entites;
+using Cysharp.Threading.Tasks;
+using Microsoft.Extensions.DependencyInjection;
+using Newtonsoft.Json;
+using Newtonsoft.Json.Linq;
+
+namespace BITKit;
+/// <summary>
+/// 单例SCADA Service,从http接口获取json后解析为指定数据
+/// </summary>
+public partial class SCADAService : Node
+{
+	/// <summary>
+	/// 在构造函数中注入依赖
+	/// </summary>
+	public SCADAService()
+	{
+		BITAppForGodot.ServiceCollection.AddSingleton(this);
+	}
+	/// <summary>
+	/// 获取json的Url
+	/// </summary>
+	[Export]
+	private string url;
+	/// <summary>
+	/// 是否固定控制的Entity，如果固定，只会刷新一次，如果不固定，每帧都会刷新
+	/// </summary>
+	[Export]
+	private bool fixedEntities;
+	/// <summary>
+	/// 已加载的Entity
+	/// </summary>
+	private readonly Dictionary<string, IEntity> _entities = new();
+	/// <summary>
+	/// 最大并行请求数量
+	/// </summary>
+	private readonly LimitTimes requestRate =new (1);
+	/// <summary>
+	/// 请求数据的间隔
+	/// </summary>
+	private readonly IntervalTimer _intervalTimer = new(1);
+	/// <summary>
+	/// 取消令牌，用于取消Http Get
+	/// </summary>
+	private CancellationToken _cancellationToken;
+	/// <summary>
+	/// http客户端
+	/// </summary>
+	private System.Net.Http.HttpClient httpClient;
+	/// <summary>
+	/// 获取Entity并加载依赖
+	/// </summary>
+	public override async void _Ready()
+	{
+		_cancellationToken = new CancellationToken();
+		if (!fixedEntities) return;
+		await UniTask.Yield();
+		LoadAllEntities();
+		BIT4Log.Log<SCADAService>($"已加载{_entities.Count}个设备");
+		httpClient = BITAppForGodot.ServiceProvider.GetService<System.Net.Http.HttpClient>();
+	}
+	/// <summary>
+	/// 内部方法，从EntityService加载所有Entity
+	/// </summary>
+	private void LoadAllEntities()
+	{
+		foreach (var entity in DI.Get<IEntitiesService>().Entities)
+		{
+			if (entity.TryGetComponent<IdComponent>(out var deviceComponent))
+			{
+				_entities.Add(deviceComponent.Id,deviceComponent.Entity);
+			}
+		}
+	}
+	/// <summary>
+	/// 物理帧用于控制并发和间隔的同时请求数据
+	/// </summary>
+	/// <param name="delta"></param>
+	public override void _PhysicsProcess(double delta)
+	{
+		//依赖加载
+		httpClient ??= BITAppForGodot.ServiceProvider.GetService<System.Net.Http.HttpClient>();
+		//请求间隔控制+请求并发控制+检查依赖是否为Null
+		if (_intervalTimer.Allow && requestRate && httpClient is not null)
+		{
+			//发送请求
+			Request();
+		}
+	}
+	/// <summary>
+	/// 从http请求json
+	/// </summary>
+	private async void Request()
+	{
+		//获取json
+		var json =await httpClient.GetStringAsync(url, _cancellationToken);
+		try
+		{
+			//取消执行，如果已取消令牌
+			_cancellationToken.ThrowIfCancellationRequested();
+		}
+		catch (OperationCanceledException)
+		{
+			//返回并发数量
+			requestRate.Release();
+			return;
+		}
+		//返回并发数量
+		requestRate.Release();
+		//处理json
+		ProcessJson(json);
+	}
+	/// <summary>
+	/// 解析json
+	/// </summary>
+	/// <param name="json">从SCADA获取的Json</param>
+	private void ProcessJson(string json)
+	{
+		//首先从result中获取数组
+		var jArray = JsonConvert.DeserializeObject<JObject>(json)["result"]!.ToObject<JArray>();
+		//然后遍历所有数组的内容
+		foreach (var element in jArray)
+		{
+			//获取数组元素的Id
+			var id = element["id"]!.ToObject<string>();
+			//通过Id查找已加载的Entity
+			if (!_entities.TryGetValue(id, out var entity)) continue;
+			//加载数组中的"value"为json
+			var _json = element["value"]!.ToObject<string>();
+			//获取被加载为string的json
+			var obj = Json.ParseString(_json);
+			//反序列化string为原始json
+			var value = JObject.Parse(obj.ToString());
+			//提交json和entity
+			ProcessEntity(value,entity);
+		}
+	}
+	/// <summary>
+	/// 提交jObject数据和Entity进行解析和处理
+	/// </summary>
+	/// <param name="jObject">json [result] [0] [value] 中的原始json</param>
+	/// <param name="entity">引用实体，如PLC-ZL</param>
+	private static void ProcessEntity(JObject jObject, IEntity entity)
+	{
+		//从Entity中加载所有Rotation Component
+		var rotationComponents = entity
+			.Components
+			.Where(x => x is RotationComponent)
+			.Select((x => (RotationComponent)x));
+		//遍历所有Rotation Component
+		foreach (var rotationComponent in rotationComponents)
+		{
+			//加载rotation需要的path,如 var angle = value["J1"]
+			var path = rotationComponent.Path;
+			//加载以获取到的角度
+			var currentAngle = jObject[path]!.ToObject<float>();
+			//最终角度 = 当前角度*角度权重 + 角度偏移 + 原始角度
+			var euler = currentAngle * rotationComponent.Weight + rotationComponent.Offset + rotationComponent.OriginalEuler;
+			//为Node3D.Rotation提交最后的角度计算结果
+			rotationComponent.Rotation = euler;
+		}
+	}
+}