readme
This commit is contained in:
CortexCore
parent
983cf15fa2
commit
eaa5650823
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@ -1,14 +1,13 @@
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[gd_scene load_steps=25 format=3 uid="uid://vlopmythikrl"]
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[gd_scene load_steps=24 format=3 uid="uid://vlopmythikrl"]
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[ext_resource type="Environment" uid="uid://jt4uyj7mecg4" path="res://Maps/new_environment.tres" id="1_4lshp"]
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[ext_resource type="PackedScene" uid="uid://b2kkx25rbmq5q" path="res://Services/Framework.tscn" id="1_wdha4"]
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[ext_resource type="PackedScene" uid="uid://df10ceig3k8xr" path="res://Models/BaseGround.dae" id="2_ih8qi"]
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[ext_resource type="Script" path="res://Scripts/Camera/CameraService.cs" id="3_l7a6m"]
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[ext_resource type="Script" path="res://Scripts/Factory/DeviceComponent.cs" id="5_55cao"]
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[ext_resource type="Script" path="res://Scripts/Factory/IdComponent.cs" id="5_55cao"]
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[ext_resource type="Script" path="res://Scripts/ECS/Entity.cs" id="5_e331s"]
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[ext_resource type="Script" path="res://Scripts/Factory/RotationComponent.cs" id="8_605k2"]
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[ext_resource type="Script" path="res://Scripts/Camera/VirtualCamera.cs" id="9_dg2nh"]
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[ext_resource type="Script" path="res://Scripts/Core/ReferenceNode.cs" id="10_bymi1"]
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[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_nhcin"]
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resource_name = "Material_White"
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@ -247,11 +246,10 @@ script = ExtResource("3_l7a6m")
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[node name="BaseGround" parent="." instance=ExtResource("2_ih8qi")]
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[node name="Assembly Unit" type="Node3D" parent="." node_paths=PackedStringArray("root")]
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[node name="Assembly Unit" type="Node3D" parent="."]
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script = ExtResource("5_e331s")
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root = NodePath(".")
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[node name="DeviceComponent" type="Node3D" parent="Assembly Unit"]
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[node name="IdCompoment" type="Node3D" parent="Assembly Unit"]
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script = ExtResource("5_55cao")
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Id = "PLC-ZK"
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@ -290,8 +288,8 @@ skeleton = NodePath("")
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transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -0.000885574, 0.436716, -0.071)
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script = ExtResource("8_605k2")
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Path = "ZP-A3"
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Weight = Vector3(0, 0, 1)
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Offset = Vector3(0, 0, -90)
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Weight = Vector3(0, 0, -1)
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Offset = Vector3(0, 0, 90)
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[node name="Mesh022" type="MeshInstance3D" parent="Assembly Unit/Models/Model_SR7CL11/SR7CL11_Root/SR7CL11_Axis_1/SR7CL11_Axis_2/SR7CL11_Axis_3"]
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mesh = SubResource("ArrayMesh_1q61h")
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@ -303,12 +301,12 @@ Path = "ZP-A4"
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Weight = Vector3(0, 1, 0)
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[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"]
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transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -0.000555572, 0.331249, 0)
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transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -0.0348583, 0.434378, 0)
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mesh = SubResource("ArrayMesh_mve4j")
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skeleton = NodePath("")
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[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"]
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transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -0.000555571, 0.331249, 0)
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transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -0.0373534, 0.437793, 0)
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script = ExtResource("8_605k2")
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Path = "ZP-A5"
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Weight = Vector3(0, 0, 1)
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@ -331,8 +329,4 @@ script = ExtResource("9_dg2nh")
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fov = 75
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isEnabled = true
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[node name="Refencer" type="Node" parent="." node_paths=PackedStringArray("Proxy")]
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script = ExtResource("10_bymi1")
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Proxy = NodePath(".")
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[editable path="Framework"]
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73
README.md
73
README.md
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@ -1,4 +1,73 @@
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# iFactory.Godot
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基于Godot的iFactory客户端
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正在从Unity一步一步移植到Godot中
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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)
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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
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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
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## Installation 安装过程
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1.首先你需要安装 **Godot4.0.3 Net** 👉[GodotEngine.Net](https://godotengine.org/download/windows/)
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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:
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> GitHub (你的项目文件夹的上一级)
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> >iFactory.Godot [外网仓库链接](http://server.bitfall.icu:3000/root/iFactory.Godot.git)
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>
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> >BITKit [外网仓库链接](http://server.bitfall.icu:3000/root/BITKit.git)
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>
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> >AGV_System [内网仓库链接](http://192.168.1.50:3000/cn-intelli/AGV_System.git)
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3.最后在**Godot**中导入**iFactory.Godot**
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4.⭐ 安装完成
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## Features 功能与模块
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### 功能介绍
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#### 机位同步
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* 超炫酷`零延迟`机位同步(可能需要一些硬件支持)
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* 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
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* 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
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* 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`)
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#### 数据回放
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* 录制生产时的数据，可离线播放生产过程
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* 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
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#### 布局规划
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* 拖放`模型库`/`预制件`到场景中，快速完成场景的基础规划
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* 选中`实体`并编辑数值或节点，可快速定制`模型`，例如
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* 自定义围墙，围栏，输送带的尺寸，如 长`4096mm`，宽`256mm`
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* 编辑贝塞尔曲线，标记`AGV`或其他可运动设备的`路线`
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* 快速替换预览设备的型号,例如将`KUKA.AGV`替换为`Intelli.AGV`
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#### 多终端实时同步场景
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* `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
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* 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
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* `AGV`夹起`物料`放入`装配单元`
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* `AGV`向`装配单元`提供`物料`
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* `装配单元`进行虚拟化装配
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* `AGV`从`装配单元`取走产品，并放入`交付单元`
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* `所有客户端`可对现实坐标进行标记(`文字消息` `图像消息`)
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* 标记需要改进的工序或移动的位置
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* 标记用户希望的生产路线
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#### 智能诊断
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* 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
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* 可通过`WebAPI`接口下发异常
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* 与`微信`紧密绑定
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### 功能清单
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- [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
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- [x] 基于`Lancer.SCADA`基本的角度和位置同步
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- [ ] 基于`AI`算法的零延迟同步
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- [ ] 基于`硬件本身的api`提供的零延迟同步
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- [ ] 全平台通用网络通讯接口(基于KCP的基本网络服务)`NetProvider` `NetClient` `NetServer`
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- [ ] 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`
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- [ ] `Android`支持
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- [ ] `WebGL` 支持
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- [ ] 回放录制器——录制`Lancer.SCADA`返回的数据，
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- [ ] 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
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- [ ] 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
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- [ ] 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
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## Getting Started 使用指南
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@ -11,14 +11,7 @@ namespace BITKit;
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/// </summary>
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public partial class BITAppForGodot : Node
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{
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/// <summary>
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/// 依赖服务集合
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/// </summary>
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public static ServiceCollection ServiceCollection { get; private set; } = new();
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/// <summary>
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/// 依赖服务提供接口
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/// </summary>
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public static ServiceProvider ServiceProvider { get; private set; }
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/// <summary>
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/// 在构造函数中注册Logger
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/// </summary>
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@ -34,16 +27,15 @@ public partial class BITAppForGodot : Node
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BIT4Log.Log<BITAppForGodot>("已创建BITApp");
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}
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public override async void _Ready()
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public override void _Ready()
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{
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BIT4Log.Log<BITAppForGodot>("正在创建BITWebApp");
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//添加测试用HttpClient
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ServiceCollection.AddSingleton<HttpClient>();
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BITApp.ServiceCollection.AddSingleton<HttpClient>();
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//构造依赖服务提供接口
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ServiceProvider = ServiceCollection.BuildServiceProvider();
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BITApp.BuildService();
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}
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protected override void Dispose(bool disposing)
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{
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@ -15,7 +15,7 @@ public class IntervalTimer
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/// <summary>
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/// 在构造函数中声明间隔时间
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/// </summary>
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/// <param name="interval"></param>
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/// <param name="interval">间隔(秒)</param>
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public IntervalTimer(ulong interval)
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{
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this.interval = interval;
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@ -4,6 +4,7 @@ using System.Collections.Generic;
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using System.Linq;
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using System.Threading;
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using BITKit.Core.Entites;
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using BITKit.Packages.Core.LazyLoad;
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using Cysharp.Threading.Tasks;
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using Microsoft.Extensions.DependencyInjection;
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using Newtonsoft.Json;
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@ -20,7 +21,7 @@ public partial class SCADAService : Node
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/// </summary>
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public SCADAService()
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{
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BITAppForGodot.ServiceCollection.AddSingleton(this);
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BITApp.ServiceCollection.AddSingleton(this);
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}
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/// <summary>
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/// 获取json的Url
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/// <summary>
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/// 最大并行请求数量
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/// </summary>
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private readonly LimitTimes requestRate =new (1);
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private readonly LimitTimes limitConcurrent =new (1);
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/// <summary>
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/// 请求数据的间隔
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/// </summary>
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@ -51,7 +52,7 @@ public partial class SCADAService : Node
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/// <summary>
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/// http客户端
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/// </summary>
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private System.Net.Http.HttpClient httpClient;
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private readonly ServiceLoader<System.Net.Http.HttpClient> httpClient=new();
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/// <summary>
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/// 获取Entity并加载依赖
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/// </summary>
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await UniTask.Yield();
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LoadAllEntities();
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BIT4Log.Log<SCADAService>($"已加载{_entities.Count}个设备");
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httpClient = BITAppForGodot.ServiceProvider.GetService<System.Net.Http.HttpClient>();
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}
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/// <summary>
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/// 内部方法，从EntityService加载所有Entity
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@ -83,14 +83,14 @@ public partial class SCADAService : Node
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/// <param name="delta"></param>
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public override void _PhysicsProcess(double delta)
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{
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//依赖加载
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httpClient ??= BITAppForGodot.ServiceProvider.GetService<System.Net.Http.HttpClient>();
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//请求间隔控制+请求并发控制+检查依赖是否为Null
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if (_intervalTimer.Allow && requestRate && httpClient is not null)
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{
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//发送请求
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Request();
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}
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//等待依赖加载
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//请求间隔控制+请求并发控制
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if (_intervalTimer.Allow is false || httpClient.IsLoaded is false) return;
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if (!limitConcurrent.AllowOnly) return;
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//提交并发
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limitConcurrent.CanUpdate();
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//发送请求
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Request();
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}
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/// <summary>
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/// 从http请求json
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@ -98,7 +98,7 @@ public partial class SCADAService : Node
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private async void Request()
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{
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//获取json
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var json =await httpClient.GetStringAsync(url, _cancellationToken);
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var json =await httpClient.Value.GetStringAsync(url, _cancellationToken);
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try
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{
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//取消执行，如果已取消令牌
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@ -107,11 +107,11 @@ public partial class SCADAService : Node
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catch (OperationCanceledException)
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{
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//返回并发数量
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requestRate.Release();
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limitConcurrent.Release();
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return;
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}
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//返回并发数量
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requestRate.Release();
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limitConcurrent.Release();
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//处理json
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ProcessJson(json);
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}
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