diff --git a/Maps/Prototype.tscn b/Maps/Prototype.tscn index 0f61734..f40d688 100644 --- a/Maps/Prototype.tscn +++ b/Maps/Prototype.tscn @@ -1,14 +1,13 @@ -[gd_scene load_steps=25 format=3 uid="uid://vlopmythikrl"] +[gd_scene load_steps=24 format=3 uid="uid://vlopmythikrl"] [ext_resource type="Environment" uid="uid://jt4uyj7mecg4" path="res://Maps/new_environment.tres" id="1_4lshp"] [ext_resource type="PackedScene" uid="uid://b2kkx25rbmq5q" path="res://Services/Framework.tscn" id="1_wdha4"] [ext_resource type="PackedScene" uid="uid://df10ceig3k8xr" path="res://Models/BaseGround.dae" id="2_ih8qi"] [ext_resource type="Script" path="res://Scripts/Camera/CameraService.cs" id="3_l7a6m"] -[ext_resource type="Script" path="res://Scripts/Factory/DeviceComponent.cs" id="5_55cao"] +[ext_resource type="Script" path="res://Scripts/Factory/IdComponent.cs" id="5_55cao"] [ext_resource type="Script" path="res://Scripts/ECS/Entity.cs" id="5_e331s"] [ext_resource type="Script" path="res://Scripts/Factory/RotationComponent.cs" id="8_605k2"] [ext_resource type="Script" path="res://Scripts/Camera/VirtualCamera.cs" id="9_dg2nh"] -[ext_resource type="Script" path="res://Scripts/Core/ReferenceNode.cs" id="10_bymi1"] [sub_resource type="StandardMaterial3D" id="StandardMaterial3D_nhcin"] resource_name = "Material_White" @@ -247,11 +246,10 @@ script = ExtResource("3_l7a6m") [node name="BaseGround" parent="." instance=ExtResource("2_ih8qi")] -[node name="Assembly Unit" type="Node3D" parent="." node_paths=PackedStringArray("root")] +[node name="Assembly Unit" type="Node3D" parent="."] script = ExtResource("5_e331s") -root = NodePath(".") -[node name="DeviceComponent" type="Node3D" parent="Assembly Unit"] +[node name="IdCompoment" type="Node3D" parent="Assembly Unit"] script = ExtResource("5_55cao") Id = "PLC-ZK" @@ -290,8 +288,8 @@ skeleton = NodePath("") transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -0.000885574, 0.436716, -0.071) script = ExtResource("8_605k2") Path = "ZP-A3" -Weight = Vector3(0, 0, 1) -Offset = Vector3(0, 0, -90) +Weight = Vector3(0, 0, -1) +Offset = Vector3(0, 0, 90) [node name="Mesh022" type="MeshInstance3D" parent="Assembly Unit/Models/Model_SR7CL11/SR7CL11_Root/SR7CL11_Axis_1/SR7CL11_Axis_2/SR7CL11_Axis_3"] mesh = SubResource("ArrayMesh_1q61h") @@ -303,12 +301,12 @@ Path = "ZP-A4" Weight = Vector3(0, 1, 0) [node name="Mesh013" type="MeshInstance3D" parent="Assembly Unit/Models/Model_SR7CL11/SR7CL11_Root/SR7CL11_Axis_1/SR7CL11_Axis_2/SR7CL11_Axis_3/SR7CL11_Axis_4"] -transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -0.000555572, 0.331249, 0) +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -0.0348583, 0.434378, 0) mesh = SubResource("ArrayMesh_mve4j") skeleton = NodePath("") [node name="SR7CL11_Axis_5" type="Node3D" parent="Assembly Unit/Models/Model_SR7CL11/SR7CL11_Root/SR7CL11_Axis_1/SR7CL11_Axis_2/SR7CL11_Axis_3/SR7CL11_Axis_4"] -transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -0.000555571, 0.331249, 0) +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -0.0373534, 0.437793, 0) script = ExtResource("8_605k2") Path = "ZP-A5" Weight = Vector3(0, 0, 1) @@ -331,8 +329,4 @@ script = ExtResource("9_dg2nh") fov = 75 isEnabled = true -[node name="Refencer" type="Node" parent="." node_paths=PackedStringArray("Proxy")] -script = ExtResource("10_bymi1") -Proxy = NodePath(".") - [editable path="Framework"] diff --git a/README.md b/README.md index 0764971..fc057bd 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,73 @@ # iFactory.Godot -基于Godot的iFactory客户端 -正在从Unity一步一步移植到Godot中 \ No newline at end of file +![](https://img.shields.io/badge/Dev-0.32-green) + +基于Godot的iFactory客户端(网络服务和服务端已定义接口,预计使用[KCP](https://github.com/skywind3000/kcp)实现) + +正在从Unity版[内网链接](http://192.168.1.50:3000/cn-intelli/iFactory.git)一步一步移植到Godot中 + +该项目主要使用[ECS](https://zhuanlan.zhihu.com/p/30538626)架构，[BITKit](http://server.bitfall.icu:3000/root/BITKit.git)作为基本的dotnet框架 + + +## Installation 安装过程 +1.首先你需要安装 **Godot4.0.3 Net** 👉[GodotEngine.Net](https://godotengine.org/download/windows/) + +2.通过Git Clone两个仓库到与该仓库相同路径的文件夹,文件结构看起来像这样: + +> GitHub (你的项目文件夹的上一级) +> >iFactory.Godot [外网仓库链接](http://server.bitfall.icu:3000/root/iFactory.Godot.git) +> +> >BITKit [外网仓库链接](http://server.bitfall.icu:3000/root/BITKit.git) +> +> >AGV_System [内网仓库链接](http://192.168.1.50:3000/cn-intelli/AGV_System.git) + +3.最后在**Godot**中导入**iFactory.Godot** + +4.⭐ 安装完成 + +## Features 功能与模块 +### 功能介绍 +#### 机位同步 +* 超炫酷`零延迟`机位同步(可能需要一些硬件支持) +* 基于角度的`Loopback`算法,解决了同步角度和位置时0>1>0的值被线性插值解析为0>0.7414>0的问题 +* 基于物理`PBR`的三维模型,确保和现实中的设备看起来几乎一致 +* 基于`Lancer.SCADA`返回数据的物料同步(例如`SR7C1L`夹着物料`多功能笔记本`放进`交付气缸夹`) +#### 数据回放 +* 录制生产时的数据，可离线播放生产过程 +* 支持数据追溯，收集和录制重要数据，可对数据进行加工、提炼和分析，找到可能存在的重要数据 +#### 布局规划 +* 拖放`模型库`/`预制件`到场景中，快速完成场景的基础规划 +* 选中`实体`并编辑数值或节点，可快速定制`模型`，例如 + * 自定义围墙，围栏，输送带的尺寸，如 长`4096mm`，宽`256mm` + * 编辑贝塞尔曲线，标记`AGV`或其他可运动设备的`路线` + * 快速替换预览设备的型号,例如将`KUKA.AGV`替换为`Intelli.AGV` +#### 多终端实时同步场景 +* `PC客户端`进行布局规划，`Mixed Reality`客户端(例如`AR`)可直接在现场看到设备规划的位置和生产路线 +* 虚拟化生产过程，用户可通过`手机AR`或者`AR眼睛`在现场预览生产过程并对过程进行评估 + * `AGV`夹起`物料`放入`装配单元` + * `AGV`向`装配单元`提供`物料` + * `装配单元`进行虚拟化装配 + * `AGV`从`装配单元`取走产品，并放入`交付单元` +* `所有客户端`可对现实坐标进行标记(`文字消息` `图像消息`) + * 标记需要改进的工序或移动的位置 + * 标记用户希望的生产路线 +#### 智能诊断 +* 基于`Lancer.SCADA`提供的数据，自动分析重要数据的值并返回异常和诊断数据 +* 可通过`WebAPI`接口下发异常 +* 与`微信`紧密绑定 +### 功能清单 + +- [x] 基于`Lancer.SCADA`的基本数据请求服务`WebApi/GetInfos`——请求json,处理json嵌套,向内部提交数据 +- [x] 基于`Lancer.SCADA`基本的角度和位置同步 +- [ ] 基于`AI`算法的零延迟同步 +- [ ] 基于`硬件本身的api`提供的零延迟同步 +- [ ] 全平台通用网络通讯接口(基于KCP的基本网络服务)`NetProvider` `NetClient` `NetServer` +- [ ] 基于`Camera3D`的虚拟相机服务`观察场景` 例如`移动视角` `拖动视角` `缩放视角` `保存与加载预设视角` +- [ ] `Android`支持 +- [ ] `WebGL` 支持 +- [ ] 回放录制器——录制`Lancer.SCADA`返回的数据， +- [ ] 场景编辑器——拖动预制件到场景中，完成组合场景,可用于对现场规划进行三维浏览和布局评估 +- [ ] 网络场景——多个平台和客户端同步场景，例如在PC上更改场景，在`Mixed Reality`中可实时看到场景的更改 +- [ ] 自诊断服务——通过解析数据，找到`空值`或`null`的数据并向指定接口(例如`微信推送` `数据库日志`)提交异常 + +## Getting Started 使用指南 \ No newline at end of file diff --git a/Scripts/Core/BITAppForGodot.cs b/Scripts/Core/BITAppForGodot.cs index aeadc2a..3116a07 100644 --- a/Scripts/Core/BITAppForGodot.cs +++ b/Scripts/Core/BITAppForGodot.cs @@ -11,14 +11,7 @@ namespace BITKit; /// public partial class BITAppForGodot : Node { - /// - /// 依赖服务集合 - /// - public static ServiceCollection ServiceCollection { get; private set; } = new(); - /// - /// 依赖服务提供接口 - /// - public static ServiceProvider ServiceProvider { get; private set; } + /// /// 在构造函数中注册Logger /// @@ -34,16 +27,15 @@ public partial class BITAppForGodot : Node BIT4Log.Log("已创建BITApp"); } - public override async void _Ready() + public override void _Ready() { BIT4Log.Log("正在创建BITWebApp"); //添加测试用HttpClient - ServiceCollection.AddSingleton(); + BITApp.ServiceCollection.AddSingleton(); //构造依赖服务提供接口 - ServiceProvider = ServiceCollection.BuildServiceProvider(); - + BITApp.BuildService(); } protected override void Dispose(bool disposing) { diff --git a/Scripts/Core/IntervalTimer.cs b/Scripts/Core/IntervalTimer.cs index 5c25a78..8bc3416 100644 --- a/Scripts/Core/IntervalTimer.cs +++ b/Scripts/Core/IntervalTimer.cs @@ -15,7 +15,7 @@ public class IntervalTimer /// /// 在构造函数中声明间隔时间 /// - /// + /// 间隔(秒) public IntervalTimer(ulong interval) { this.interval = interval; diff --git a/Scripts/Factory/SCADAService.cs b/Scripts/Factory/SCADAService.cs index 5d8da3a..f6e56e2 100644 --- a/Scripts/Factory/SCADAService.cs +++ b/Scripts/Factory/SCADAService.cs @@ -4,6 +4,7 @@ using System.Collections.Generic; using System.Linq; using System.Threading; using BITKit.Core.Entites; +using BITKit.Packages.Core.LazyLoad; using Cysharp.Threading.Tasks; using Microsoft.Extensions.DependencyInjection; using Newtonsoft.Json; @@ -20,7 +21,7 @@ public partial class SCADAService : Node /// public SCADAService() { - BITAppForGodot.ServiceCollection.AddSingleton(this); + BITApp.ServiceCollection.AddSingleton(this); } /// /// 获取json的Url @@ -39,7 +40,7 @@ public partial class SCADAService : Node /// /// 最大并行请求数量 /// - private readonly LimitTimes requestRate =new (1); + private readonly LimitTimes limitConcurrent =new (1); /// /// 请求数据的间隔 /// @@ -51,7 +52,7 @@ public partial class SCADAService : Node /// /// http客户端 /// - private System.Net.Http.HttpClient httpClient; + private readonly ServiceLoader httpClient=new(); /// /// 获取Entity并加载依赖 /// @@ -62,7 +63,6 @@ public partial class SCADAService : Node await UniTask.Yield(); LoadAllEntities(); BIT4Log.Log($"已加载{_entities.Count}个设备"); - httpClient = BITAppForGodot.ServiceProvider.GetService(); } /// /// 内部方法，从EntityService加载所有Entity @@ -83,14 +83,14 @@ public partial class SCADAService : Node /// public override void _PhysicsProcess(double delta) { - //依赖加载 - httpClient ??= BITAppForGodot.ServiceProvider.GetService(); - //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(); - } + //等待依赖加载 + //请求间隔控制+请求并发控制 + if (_intervalTimer.Allow is false || httpClient.IsLoaded is false) return; + if (!limitConcurrent.AllowOnly) return; + //提交并发 + limitConcurrent.CanUpdate(); + //发送请求 + Request(); } /// /// 从http请求json @@ -98,7 +98,7 @@ public partial class SCADAService : Node private async void Request() { //获取json - var json =await httpClient.GetStringAsync(url, _cancellationToken); + var json =await httpClient.Value.GetStringAsync(url, _cancellationToken); try { //取消执行，如果已取消令牌 @@ -107,11 +107,11 @@ public partial class SCADAService : Node catch (OperationCanceledException) { //返回并发数量 - requestRate.Release(); + limitConcurrent.Release(); return; } //返回并发数量 - requestRate.Release(); + limitConcurrent.Release(); //处理json ProcessJson(json); }