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human and vehicle bug fix

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This commit is contained in:
Jerald-Golden-B
2025-08-22 13:51:35 +05:30
parent c24b0fd414
commit 970e3a837b
10 changed files with 135 additions and 130 deletions
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30
app/src/modules/simulation/actions/storageUnit/actionHandler/useRetrieveHandler.ts
View File

@@ -38,7 +38,7 @@ export function useRetrieveHandler() {
echo.info(`${materialUuid}, ${status}`);
}
const createNewMaterial = useCallback((materialId: string, materialType: string, action: StorageAction) => {
const createNewMaterial = useCallback((materialId: string, materialType: string, action: StorageAction, visible: boolean = false) => {
const modelUuid = getModelUuidByActionUuid(selectedProduct.productUuid, action.actionUuid);
const pointUuid = getPointUuidByActionUuid(selectedProduct.productUuid, action.actionUuid);
if (!modelUuid || !pointUuid) return null;
@@ -51,7 +51,7 @@ export function useRetrieveHandler() {
isActive: false,
isVisible: false,
isPaused: false,
isRendered: true,
isRendered: false,
startTime: currentTime,
previous: {
modelUuid: modelUuid,
@@ -168,10 +168,10 @@ export function useRetrieveHandler() {
if (retrieval.action.triggers[0]?.triggeredAsset.triggeredAction?.actionUuid) {
const action = getActionByUuid(selectedProduct.productUuid, retrieval.action.triggers[0]?.triggeredAsset.triggeredAction.actionUuid);
const storageAction = getActionByUuid(selectedProduct.productUuid, actionUuid);
if (action && action.triggers.length > 0 && action.triggers[0]?.triggeredAsset?.triggeredModel.modelUuid) {
const model = getEventByModelUuid(selectedProduct.productUuid, action?.triggers[0]?.triggeredAsset?.triggeredModel.modelUuid || '');
const triggeredAction = getActionByUuid(selectedProduct.productUuid, action?.triggers[0]?.triggeredAsset?.triggeredAction?.actionUuid || '');
if (model && triggeredAction) {
if (model && storageAction) {
if (model.type === 'vehicle') {
const vehicle = getVehicleById(model.modelUuid);
if (vehicle && !vehicle.isActive && vehicle.state === 'idle' && vehicle.isPicking && vehicle.currentLoad < vehicle.point.action.loadCapacity) {
@@ -179,7 +179,7 @@ export function useRetrieveHandler() {
const material = createNewMaterial(
lastMaterial.materialId,
lastMaterial.materialType,
triggeredAction as StorageAction
storageAction as StorageAction
);
if (material) {
@@ -192,11 +192,11 @@ export function useRetrieveHandler() {
retrieveLogStatus(material.materialName, `is being picked by ${armBot?.modelName}`);
}
}
} else if (triggeredAction) {
} else if (storageAction) {
const material = createNewMaterial(
lastMaterial.materialId,
lastMaterial.materialType,
triggeredAction as StorageAction
storageAction as StorageAction
);
if (material) {
@@ -327,10 +327,7 @@ export function useRetrieveHandler() {
? getEventByModelUuid(selectedProduct.productUuid, action.triggers[0].triggeredAsset.triggeredModel.modelUuid)
: null;
const triggeredAction = getActionByUuid(
selectedProduct.productUuid,
action.triggers[0]?.triggeredAsset?.triggeredAction?.actionUuid || ''
);
const storageAction = getActionByUuid(selectedProduct.productUuid, actionUuid);
if (triggeredModel?.type === 'vehicle') {
const model = getVehicleById(triggeredModel.modelUuid);
@@ -343,7 +340,7 @@ export function useRetrieveHandler() {
const material = createNewMaterial(
lastMaterial.materialId,
lastMaterial.materialType,
triggeredAction as StorageAction
storageAction as StorageAction
);
if (material) {
removeLastMaterial(storageUnit.modelUuid);
@@ -369,7 +366,7 @@ export function useRetrieveHandler() {
const material = createNewMaterial(
lastMaterial.materialId,
lastMaterial.materialType,
triggeredAction as StorageAction
storageAction as StorageAction
);
if (material) {
removeLastMaterial(storageUnit.modelUuid);
@@ -395,7 +392,7 @@ export function useRetrieveHandler() {
const material = createNewMaterial(
lastMaterial.materialId,
lastMaterial.materialType,
triggeredAction as StorageAction
storageAction as StorageAction
);
if (material) {
removeLastMaterial(storageUnit.modelUuid);
@@ -427,7 +424,7 @@ export function useRetrieveHandler() {
const material = createNewMaterial(
lastMaterial.materialId,
lastMaterial.materialType,
triggeredAction as StorageAction
storageAction as StorageAction
);
if (material) {
removeLastMaterial(storageUnit.modelUuid);
@@ -448,7 +445,7 @@ export function useRetrieveHandler() {
const material = createNewMaterial(
lastMaterial.materialId,
lastMaterial.materialType,
triggeredAction as StorageAction
storageAction as StorageAction
);
if (material) {
removeLastMaterial(storageUnit.modelUuid);
@@ -483,6 +480,7 @@ export function useRetrieveHandler() {
addCurrentActionToCrane(crane.modelUuid, action.actionUuid, material.materialType, material.materialId);
addCurrentMaterialToCrane(crane.modelUuid, material.materialType, material.materialId);
cranePickupLockRef.current.set(crane.modelUuid, true);
monitoredHumansRef.current.delete(human.modelUuid);
}, action.triggers[0].triggeredAsset.triggeredAction?.actionUuid)
}
monitoredHumansRef.current.add(human.modelUuid);

4
app/src/modules/simulation/crane/instances/animator/materialAnimator.tsx
View File

@@ -13,12 +13,12 @@ export default function MaterialAnimator({ crane }: Readonly<MaterialAnimatorPro
const [isRendered, setIsRendered] = useState<boolean>(false);
useEffect(() => {
if (crane.isCarrying) {
if (crane.isCarrying && (crane.currentPhase === 'pickup-drop' || crane.currentPhase === 'dropping')) {
setIsRendered(true);
} else {
setIsRendered(false);
}
}, [crane.isCarrying]);
}, [crane.isCarrying, crane.currentPhase]);
useFrame(() => {
const craneModel = scene.getObjectByProperty('uuid', crane.modelUuid);

1
app/src/modules/simulation/crane/instances/animator/pillarJibAnimator.tsx
View File

@@ -4,7 +4,6 @@ import { useFrame, useThree } from '@react-three/fiber';
import { useAnimationPlaySpeed, usePauseButtonStore, usePlayButtonStore, useResetButtonStore } from '../../../../../store/usePlayButtonStore';
import { useSceneContext } from '../../../../scene/sceneContext';
import { useProductContext } from '../../../products/productContext';
import { dragAction } from '@use-gesture/react';
function PillarJibAnimator({
crane,

2
app/src/modules/simulation/human/instances/instance/actions/operatorInstance.tsx
View File

@@ -130,7 +130,7 @@ function OperatorInstance({ human }: { human: HumanStatus }) {
setHumanState(human.modelUuid, 'running');
setHumanActive(human.modelUuid, true);
setCurrentAnimation(human.modelUuid, 'working_standing', true, false, false);
}, 1)
}, 10)
}
} else {
reset()

11
app/src/modules/simulation/human/instances/instance/actions/workerInstance.tsx
View File

@@ -129,10 +129,13 @@ function WorkerInstance({ human }: { human: HumanStatus }) {
humanStatus(human.modelUuid, 'Started from pickup point, heading to drop point');
}
} else if (human.currentMaterials.length > 0 && human.currentLoad > 0 && humanAsset?.animationState?.current !== 'pickup') {
if (human.currentMaterials[0]?.materialId) {
setIsVisible(human.currentMaterials[0]?.materialId, false);
}
setCurrentAnimation(human.modelUuid, 'pickup', true, false, false);
setTimeout(()=>{
if (human.currentMaterials[0]?.materialId) {
setIsVisible(human.currentMaterials[0]?.materialId, false);
}
humanStatus(human.modelUuid, 'Started to pickup in pickup point');
setCurrentAnimation(human.modelUuid, 'pickup', true, false, false);
},1)
}
} else if (!human.isActive && human.state === 'idle' && human.currentPhase === 'dropping' && human.currentLoad === 0) {
if (action.pickUpPoint && action.dropPoint) {

6
app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx
View File

@@ -34,7 +34,7 @@ function RoboticArmAnimator({ HandleCallback, restPosition, ikSolver, targetBone
const { armBotStore, productStore, materialStore } = useSceneContext();
const { getArmBotById } = armBotStore();
const { getMaterialById, getMaterialPosition } = materialStore();
const { getEventByModelUuid, getActionByUuid, getPointByUuid } = productStore();
const { getEventByModelUuid, getActionByUuid, getPointByUuid, getTriggeringModels } = productStore();
const { selectedProductStore } = useProductContext();
const { selectedProduct } = selectedProductStore();
const { scene } = useThree();
@@ -176,10 +176,12 @@ function RoboticArmAnimator({ HandleCallback, restPosition, ikSolver, targetBone
if (armbotStatus && currentMaterial && currentAction && (currentPhase === 'rest-to-start' || currentPhase === 'start-to-end' || currentPhase === 'end-to-rest')) {
const materialData = getMaterialById(currentMaterial);
if (materialData) {
const prevModel = getEventByModelUuid(selectedProduct.productUuid, materialData.current.modelUuid);
const triggeringModel = getTriggeringModels(selectedProduct.productUuid, currentAction.actionUuid);
const prevModel = triggeringModel[0] || null;
const nextModel = getEventByModelUuid(selectedProduct.productUuid, currentAction?.triggers[0]?.triggeredAsset?.triggeredModel?.modelUuid || '');
const nextPoint = getPointByUuid(selectedProduct.productUuid, currentAction?.triggers[0]?.triggeredAsset?.triggeredModel?.modelUuid || '', currentAction?.triggers[0]?.triggeredAsset?.triggeredPoint?.pointUuid || '');
console.log('prevModel: ', prevModel);
if (prevModel && prevModel.type === 'transfer') {
const material = scene.getObjectByProperty("uuid", currentMaterial);
const armbotModel = scene.getObjectByProperty("uuid", armBot.modelUuid);

125
app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx
View File

@@ -42,11 +42,6 @@ function RoboticArmInstance({ armBot }: { readonly armBot: ArmBotStatus }) {
const lastRemoved = useRef<{ type: string, materialId: string, modelId: string } | null>(null);
function firstFrame() {
startTime = performance.now();
step();
}
const action = getActionByUuid(selectedProduct.productUuid, armBot.currentAction?.actionUuid || '');
const handlePickUpTrigger = () => {
@@ -109,68 +104,6 @@ function RoboticArmInstance({ armBot }: { readonly armBot: ArmBotStatus }) {
}
}
function step() {
if (isPausedRef.current) {
if (!pauseTimeRef.current) {
pauseTimeRef.current = performance.now();
}
requestAnimationFrame(() => step());
return;
}
if (pauseTimeRef.current) {
const pauseDuration = performance.now() - pauseTimeRef.current;
startTime += pauseDuration;
pauseTimeRef.current = null;
}
const elapsedTime = performance.now() - startTime;
if (elapsedTime < 1000) {
// Wait until 1500ms has passed
requestAnimationFrame(step);
return;
}
if (currentPhase === "picking") {
setArmBotActive(armBot.modelUuid, true);
setArmBotState(armBot.modelUuid, "running");
setCurrentPhase("start-to-end");
startTime = 0
if (!action) return;
const startPoint = (action as RoboticArmAction).process.startPoint;
const endPoint = (action as RoboticArmAction).process.endPoint;
if (startPoint && endPoint) {
let curve = createCurveBetweenTwoPoints(
new THREE.Vector3(startPoint[0], startPoint[1], startPoint[2]),
new THREE.Vector3(endPoint[0], endPoint[1], endPoint[2]));
if (curve) {
logStatus(armBot.modelUuid, "picking the object");
setPath(curve.points.map(point => [point.x, point.y, point.z]))
handlePickUpTrigger();
}
}
logStatus(armBot.modelUuid, "Moving armBot from start point to end position.")
} else if (currentPhase === "dropping") {
setArmBotActive(armBot.modelUuid, true);
setArmBotState(armBot.modelUuid, "running");
setCurrentPhase("end-to-rest");
startTime = 0;
if (!action) return;
const endPoint = (action as RoboticArmAction).process.endPoint;
if (endPoint) {
let curve = createCurveBetweenTwoPoints(new THREE.Vector3(endPoint[0], endPoint[1], endPoint[2]), restPosition);
if (curve) {
logStatus(armBot.modelUuid, "dropping the object");
setPath(curve.points.map(point => [point.x, point.y, point.z]));
handleDropTrigger();
}
}
logStatus(armBot.modelUuid, "Moving armBot from end point to rest position.")
}
}
useEffect(() => {
isPausedRef.current = isPaused;
}, [isPaused]);
@@ -268,7 +201,6 @@ function RoboticArmInstance({ armBot }: { readonly armBot: ArmBotStatus }) {
useEffect(() => {
const targetBones = ikSolver?.mesh.skeleton.bones.find((b: any) => b.name === targetBone);
if (!isReset && isPlaying) {
//Moving armBot from initial point to rest position.
if (!armBot?.isActive && armBot?.state == "idle" && currentPhase == "init") {
if (targetBones) {
setArmBotActive(armBot.modelUuid, true)
@@ -280,13 +212,9 @@ function RoboticArmInstance({ armBot }: { readonly armBot: ArmBotStatus }) {
}
}
logStatus(armBot.modelUuid, "Moving armBot from initial point to rest position.")
}
//Waiting for trigger.
else if (armBot && !armBot.isActive && armBot.state === "idle" && currentPhase === "rest" && !armBot.currentAction) {
} else if (armBot && !armBot.isActive && armBot.state === "idle" && currentPhase === "rest" && !armBot.currentAction) {
logStatus(armBot.modelUuid, "Waiting to trigger CurrentAction")
}
//Moving to pickup point
else if (armBot && !armBot.isActive && armBot.state === "idle" && currentPhase === "rest" && armBot.currentAction) {
} else if (armBot && !armBot.isActive && armBot.state === "idle" && currentPhase === "rest" && armBot.currentAction) {
if (armBot.currentAction) {
setArmBotActive(armBot.modelUuid, true);
@@ -302,14 +230,45 @@ function RoboticArmInstance({ armBot }: { readonly armBot: ArmBotStatus }) {
}
}
logStatus(armBot.modelUuid, "Moving armBot from rest point to start position.")
}
// Moving to Pick to Drop position
else if (armBot && !armBot.isActive && armBot.state === "running" && currentPhase === "picking" && armBot.currentAction) {
requestAnimationFrame(firstFrame);
}
//Moving to drop point to restPosition
else if (armBot && !armBot.isActive && armBot.state === "running" && currentPhase === "dropping" && armBot.currentAction) {
requestAnimationFrame(firstFrame);
} else if (armBot && !armBot.isActive && armBot.state === "running" && currentPhase === "picking" && armBot.currentAction) {
setTimeout(() => {
setArmBotActive(armBot.modelUuid, true);
setArmBotState(armBot.modelUuid, "running");
setCurrentPhase("start-to-end");
startTime = 0
if (!action) return;
const startPoint = (action as RoboticArmAction).process.startPoint;
const endPoint = (action as RoboticArmAction).process.endPoint;
if (startPoint && endPoint) {
let curve = createCurveBetweenTwoPoints(new THREE.Vector3(startPoint[0], startPoint[1], startPoint[2]), new THREE.Vector3(endPoint[0], endPoint[1], endPoint[2]));
if (curve) {
logStatus(armBot.modelUuid, "picking the object");
setPath(curve.points.map(point => [point.x, point.y, point.z]))
handlePickUpTrigger();
}
}
logStatus(armBot.modelUuid, "Moving armBot from start point to end position.")
}, 100)
} else if (armBot && !armBot.isActive && armBot.state === "running" && currentPhase === "dropping" && armBot.currentAction) {
setTimeout(() => {
setArmBotActive(armBot.modelUuid, true);
setArmBotState(armBot.modelUuid, "running");
setCurrentPhase("end-to-rest");
startTime = 0;
if (!action) return;
const endPoint = (action as RoboticArmAction).process.endPoint;
if (endPoint) {
let curve = createCurveBetweenTwoPoints(new THREE.Vector3(endPoint[0], endPoint[1], endPoint[2]), restPosition);
if (curve) {
logStatus(armBot.modelUuid, "dropping the object");
setPath(curve.points.map(point => [point.x, point.y, point.z]));
handleDropTrigger();
}
}
logStatus(armBot.modelUuid, "Moving armBot from end point to rest position.")
}, 100)
}
} else {
logStatus(armBot.modelUuid, "Simulation Play Exited")
@@ -348,7 +307,7 @@ function RoboticArmInstance({ armBot }: { readonly armBot: ArmBotStatus }) {
setCurrentPhase("rest");
setPath([])
}
else if (armBot.isActive && armBot.state == "running" && currentPhase == "rest-to-start") {
else if (armBot.state == "running" && currentPhase == "rest-to-start") {
logStatus(armBot.modelUuid, "Callback triggered: pick.");
setArmBotActive(armBot.modelUuid, false)
setArmBotState(armBot.modelUuid, "running")

17
app/src/modules/simulation/triggers/triggerHandler/useTriggerHandler.ts
View File

@@ -528,24 +528,11 @@ export function useTriggerHandler() {
if (action && armBot) {
if (armBot.isActive === false && armBot.state === 'idle') {
// Handle current action from arm bot
addArmBotToMonitor(armBot.modelUuid, () => {
setIsVisible(materialId, false);
handleAction(action, materialId);
} else {
addArmBotToMonitor(armBot.modelUuid,
() => {
setIsVisible(materialId, false);
handleAction(action, materialId);
}
)
}
})
}
}
}

16
app/src/modules/simulation/vehicle/instances/animator/vehicleAnimator.tsx
View File

@@ -147,6 +147,16 @@ function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetai
if (angle < 0.01) {
object.quaternion.copy(targetQuaternion);
setRestingRotation(false);
setTimeout(() => {
setRestingRotation(true);
progressRef.current = 0;
movingForward.current = !movingForward.current;
setCurrentPath([]);
handleCallBack();
if (currentPhase === 'pickup-drop') {
requestAnimationFrame(startUnloadingProcess);
}
}, 0)
} else {
const step = rotationSpeed * delta * speed * agvDetail.speed;
const angle = object.quaternion.angleTo(targetQuaternion);
@@ -169,7 +179,6 @@ function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetai
handleCallBack();
if (currentPhase === 'pickup-drop') {
requestAnimationFrame(startUnloadingProcess);
}
}
});
@@ -226,13 +235,8 @@ function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetai
);
}
export default VehicleAnimator;
function DraggableSphere({
index,
position,

53
app/src/store/simulation/useProductStore.ts
View File

@@ -73,6 +73,7 @@ type ProductsStore = {
getPointUuidByActionUuid: (productUuid: string, actionUuid: string) => (string) | undefined;
getTriggerByUuid: (productUuid: string, triggerUuid: string) => TriggerSchema | undefined;
getTriggersByTriggeredPointUuid: (productUuid: string, triggeredPointUuid: string) => TriggerSchema[];
getTriggeringModels: (productUuid: string, actionUUid: string) => EventsSchema[];
getIsEventInProduct: (productUuid: string, modelUuid: string) => boolean;
};
@@ -898,6 +899,58 @@ export const createProductStore = () => {
return undefined;
},
getTriggeringModels: (productUuid: string, actionUuid: string) => {
const product = get().products.find(p => p.productUuid === productUuid);
if (!product) return [];
const triggeringModels: EventsSchema[] = [];
const targetModelUuid = get().getModelUuidByActionUuid(productUuid, actionUuid);
if (!targetModelUuid) return [];
for (const event of product.eventDatas) {
if ('points' in event) {
for (const point of (event as ConveyorEventSchema).points) {
if (point.action?.triggers) {
for (const trigger of point.action.triggers) {
if (trigger.triggeredAsset?.triggeredModel?.modelUuid === targetModelUuid &&
trigger.triggeredAsset?.triggeredAction?.actionUuid === actionUuid) {
triggeringModels.push(event);
break;
}
}
}
}
} else if ('point' in event) {
const point = (event as any).point;
if ('action' in point && point.action?.triggers) {
for (const trigger of point.action.triggers) {
if (trigger.triggeredAsset?.triggeredModel?.modelUuid === targetModelUuid &&
trigger.triggeredAsset?.triggeredAction?.actionUuid === actionUuid) {
triggeringModels.push(event);
break;
}
}
} else if ('actions' in point) {
for (const action of point.actions) {
if (action.triggers) {
for (const trigger of action.triggers) {
if (trigger.triggeredAsset?.triggeredModel?.modelUuid === targetModelUuid &&
trigger.triggeredAsset?.triggeredAction?.actionUuid === actionUuid) {
triggeringModels.push(event);
break;
}
}
}
}
}
}
}
return triggeringModels;
},
getTriggersByTriggeredPointUuid: (productUuid, triggeredPointUuid) => {
const product = get().products.find(p => p.productUuid === productUuid);
if (!product) return [];