Dwinzo_dev/app/src/modules/simulation/vehicle/instances/instance/vehicleInstance.tsx

import React, { useCallback, useEffect, useState } from 'react';
import VehicleAnimator from '../animator/vehicleAnimator';
import * as THREE from 'three';
import { NavMeshQuery } from '@recast-navigation/core';
import { useNavMesh } from '../../../../../store/store';
import { usePlayButtonStore, useResetButtonStore } from '../../../../../store/usePlayButtonStore';
import { useVehicleStore } from '../../../../../store/simulation/useVehicleStore';

function VehicleInstance({ agvDetail }: any) {
  const { navMesh } = useNavMesh();
  const { isPlaying, setIsPlaying } = usePlayButtonStore();
  const { isReset } = useResetButtonStore();
  const { vehicles, setVehicleActive, setVehicleState, incrementVehicleLoad } = useVehicleStore();
  const [currentPhase, setCurrentPhase] = useState<string>('stationed');
  const [path, setPath] = useState<[number, number, number][]>([]);

  const computePath = useCallback(
    (start: any, end: any) => {
      try {
        const navMeshQuery = new NavMeshQuery(navMesh);
        const { path: segmentPath } = navMeshQuery.computePath(start, end);
        return (
          segmentPath?.map(({ x, y, z }) => [x, y + 0.1, z] as [number, number, number]) || []
        );
      } catch {
        return [];
      }
    },
    [navMesh]
  );

  function vehicleStatus(modelid: string, status: string) {
    // console.log(`AGV ${modelid}: ${status}`);
  }
  function reset() {
    console.log("runs");
    setVehicleActive(agvDetail.modelUuid, false);
    setVehicleState(agvDetail.modelUuid, 'idle');
    setPath([]);
    setCurrentPhase('stationed')
  }

  useEffect(() => {
    if (isPlaying) {
      if (!agvDetail.isActive && agvDetail.state === 'idle' && currentPhase === 'stationed') {
        const toPickupPath = computePath(
          new THREE.Vector3(agvDetail.position[0], agvDetail.position[1], agvDetail.position[2]),
          agvDetail.point.action.pickUpPoint
        );
        setPath(toPickupPath);
        setVehicleActive(agvDetail.modelUuid, true);
        setVehicleState(agvDetail.modelUuid, 'running');
        setCurrentPhase('stationed-pickup');
        vehicleStatus(agvDetail.modelUuid, 'Started from station, heading to pickup');
        return;
      } else if (
        !agvDetail.isActive &&
        agvDetail.state === 'idle' &&
        currentPhase === 'picking'
      ) {

        setTimeout(() => {
          incrementVehicleLoad(agvDetail.modelUuid, 2);
        }, 5000);

        if (agvDetail.currentLoad === agvDetail.point.action.loadCapacity) {
          const toDrop = computePath(
            agvDetail.point.action.pickUpPoint,
            agvDetail.point.action.unLoadPoint
          );
          setPath(toDrop);
          setVehicleActive(agvDetail.modelUuid, true);
          setVehicleState(agvDetail.modelUuid, 'running');
          setCurrentPhase('pickup-drop');
          vehicleStatus(agvDetail.modelUuid, 'Started from pickup point, heading to drop point');
        }
      } else if (
        !agvDetail.isActive &&
        agvDetail.state === 'idle' &&
        currentPhase === 'dropping' &&
        agvDetail.currentLoad === 0
      ) {
        const dropToPickup = computePath(
          agvDetail.point.action.unLoadPoint,
          agvDetail.point.action.pickUpPoint
        );
        setPath(dropToPickup);
        setVehicleActive(agvDetail.modelUuid, true);
        setVehicleState(agvDetail.modelUuid, 'running');
        setCurrentPhase('drop-pickup');
        vehicleStatus(agvDetail.modelUuid, 'Started from dropping point, heading to pickup point');
      }
    }
  }, [vehicles, currentPhase, path, isPlaying, isReset]);

  function handleCallBack() {
    if (currentPhase === 'stationed-pickup') {
      setVehicleActive(agvDetail.modelUuid, false);
      setVehicleState(agvDetail.modelUuid, 'idle');
      setCurrentPhase('picking');
      vehicleStatus(agvDetail.modelUuid, 'Reached pickup point, waiting for material');
      setPath([]);
    } else if (currentPhase === 'pickup-drop') {
      setVehicleActive(agvDetail.modelUuid, false);
      setVehicleState(agvDetail.modelUuid, 'idle');
      setCurrentPhase('dropping');
      vehicleStatus(agvDetail.modelUuid, 'Reached drop point');
      setPath([]);
    } else if (currentPhase === 'drop-pickup') {
      setVehicleActive(agvDetail.modelUuid, false);
      setVehicleState(agvDetail.modelUuid, 'idle');
      setCurrentPhase('picking');
      setPath([]);
      vehicleStatus(agvDetail.modelUuid, 'Reached pickup point again, cycle complete');
    }
  }

  return (
    <>
      <VehicleAnimator
        path={path}
        handleCallBack={handleCallBack}
        currentPhase={currentPhase}
        agvUuid={agvDetail?.modelUuid}
        agvDetail={agvDetail}
        reset={reset}
      />
    </>
  );
}

export default VehicleInstance;