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multiple action state updated

This commit is contained in:
Gomathi 2025-05-03 10:05:25 +05:30
parent 39c86b6fc1
commit 0e4005f31e
6 changed files with 125 additions and 128 deletions
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3
app/src/modules/simulation/events/points/creator/pointsCreator.tsx
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@ -31,8 +31,6 @@ function PointsCreator() {
selectedEventSphere.userData.modelUuid selectedEventSphere.userData.modelUuid
); );
if (eventData) { if (eventData) {
setSelectedEventData(eventData, selectedEventSphere.userData.pointUuid); setSelectedEventData(eventData, selectedEventSphere.userData.pointUuid);
} else { } else {
@ -215,7 +213,6 @@ function PointsCreator() {
); );
}} }}
onPointerMissed={() => { onPointerMissed={() => {
// clearSelectedEventSphere();
setTransformMode(null); setTransformMode(null);
}} }}
position={new THREE.Vector3(...event.point.position)} position={new THREE.Vector3(...event.point.position)}

2
app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx
View File

@ -55,11 +55,9 @@ function RoboticArmAnimator({
for (let i = 0; i < segments; i++) { for (let i = 0; i < segments; i++) {
// Calculate angle for current segment // Calculate angle for current segment
const angle = (i / segments) * Math.PI * 2; const angle = (i / segments) * Math.PI * 2;
// Calculate x and z coordinates (y remains the same for a flat ring) // Calculate x and z coordinates (y remains the same for a flat ring)
const x = Math.cos(angle) * radius; const x = Math.cos(angle) * radius;
const z = Math.sin(angle) * radius; const z = Math.sin(angle) * radius;
points.push([x, 1.5, z]); points.push([x, 1.5, z]);
} }
return points; return points;

33
app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx
View File

@ -8,7 +8,9 @@ import { useThree } from "@react-three/fiber";
import { useFloorItems } from '../../../../../store/store'; import { useFloorItems } from '../../../../../store/store';
import useModuleStore from '../../../../../store/useModuleStore'; import useModuleStore from '../../../../../store/useModuleStore';
import * as THREE from "three"; import * as THREE from "three";
import { useSelectedAction } from '../../../../../store/simulation/useSimulationStore'; import { useSelectedAction, useSelectedProduct } from '../../../../../store/simulation/useSimulationStore';
import { useProductStore } from '../../../../../store/simulation/useProductStore';
function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) { function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
@ -24,6 +26,8 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
let startTime: number; let startTime: number;
//zustand //zustand
const { addCurrentAction, setArmBotActive, setArmBotState, removeCurrentAction } = useArmBotStore(); const { addCurrentAction, setArmBotActive, setArmBotState, removeCurrentAction } = useArmBotStore();
const { products, getActionByUuid } = useProductStore();
const { selectedProduct } = useSelectedProduct();
const { floorItems } = useFloorItems(); const { floorItems } = useFloorItems();
const { activeModule } = useModuleStore(); const { activeModule } = useModuleStore();
const { isPlaying } = usePlayButtonStore(); const { isPlaying } = usePlayButtonStore();
@ -54,12 +58,12 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
requestAnimationFrame(step); requestAnimationFrame(step);
return; return;
} }
if(currentPhase==="picking"){ if (currentPhase === "picking") {
setArmBotActive(armBot.modelUuid, true); setArmBotActive(armBot.modelUuid, true);
setArmBotState(armBot.modelUuid, "running"); setArmBotState(armBot.modelUuid, "running");
setCurrentPhase("start-to-end"); setCurrentPhase("start-to-end");
startTime=0 startTime = 0
const startPoint = armBot.point.actions[0].process.startPoint; const startPoint = armBot.point.actions[0].process.startPoint;
const endPoint = armBot.point.actions[0].process.endPoint; const endPoint = armBot.point.actions[0].process.endPoint;
if (startPoint && endPoint) { if (startPoint && endPoint) {
@ -72,12 +76,12 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
} }
} }
logStatus(armBot.modelUuid, "Moving armBot from start point to end position.") logStatus(armBot.modelUuid, "Moving armBot from start point to end position.")
}else if(currentPhase==="dropping"){ } else if (currentPhase === "dropping") {
setArmBotActive(armBot.modelUuid, true); setArmBotActive(armBot.modelUuid, true);
setArmBotState(armBot.modelUuid, "running"); setArmBotState(armBot.modelUuid, "running");
setCurrentPhase("end-to-rest"); setCurrentPhase("end-to-rest");
startTime=0; startTime = 0;
const endPoint = armBot.point.actions[0].process.endPoint; const endPoint = armBot.point.actions[0].process.endPoint;
if (endPoint) { if (endPoint) {
@ -112,12 +116,12 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
setArmBotActive(armBot.modelUuid, true) setArmBotActive(armBot.modelUuid, true)
setArmBotState(armBot.modelUuid, "running") setArmBotState(armBot.modelUuid, "running")
setCurrentPhase("init-to-rest"); setCurrentPhase("init-to-rest");
isPausedRef.current=false isPausedRef.current = false
pauseTimeRef.current=null pauseTimeRef.current = null
isPausedRef.current=false isPausedRef.current = false
startTime=0 startTime = 0
if (targetBones) { if (targetBones) {
let curve = createCurveBetweenTwoPoints(targetBones.position, restPosition) let curve = createCurveBetweenTwoPoints(targetBones.position, targetBones.position)
if (curve) { if (curve) {
setPath(curve.points.map(point => [point.x, point.y, point.z])); setPath(curve.points.map(point => [point.x, point.y, point.z]));
} }
@ -145,9 +149,8 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
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") logStatus(armBot.modelUuid, "Waiting to trigger CurrentAction")
const timeoutId = setTimeout(() => { const timeoutId = setTimeout(() => {
let actionId=armBot.point.actions[0].actionUuid addCurrentAction(armBot.modelUuid, selectedAction?.actionId);
addCurrentAction(armBot.modelUuid,actionId); console.log('selectedAction?.actionId: ', selectedAction?.actionId);
// addCurrentAction(armBot.modelUuid, selectedAction?.actionId);
}, 3000); }, 3000);
return () => clearTimeout(timeoutId); return () => clearTimeout(timeoutId);
} }
@ -157,6 +160,8 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
setArmBotActive(armBot.modelUuid, true); setArmBotActive(armBot.modelUuid, true);
setArmBotState(armBot.modelUuid, "running"); setArmBotState(armBot.modelUuid, "running");
setCurrentPhase("rest-to-start"); setCurrentPhase("rest-to-start");
let actiondata = getActionByUuid(selectedProduct.productId, selectedAction.actionId)
console.log('actiondata: ', actiondata);
const startPoint = armBot.point.actions[0].process.startPoint; const startPoint = armBot.point.actions[0].process.startPoint;
if (startPoint) { if (startPoint) {
let curve = createCurveBetweenTwoPoints(restPosition, new THREE.Vector3(startPoint[0], startPoint[1], startPoint[2])); let curve = createCurveBetweenTwoPoints(restPosition, new THREE.Vector3(startPoint[0], startPoint[1], startPoint[2]));
@ -265,7 +270,7 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
<> <>
<IKInstance modelUrl={armModel} setIkSolver={setIkSolver} ikSolver={ikSolver} armBot={armBot} groupRef={groupRef} /> <IKInstance modelUrl={armModel} setIkSolver={setIkSolver} ikSolver={ikSolver} armBot={armBot} groupRef={groupRef} />
<RoboticArmAnimator HandleCallback={HandleCallback} restPosition={restPosition} ikSolver={ikSolver} targetBone={targetBone} armBot={armBot} <RoboticArmAnimator HandleCallback={HandleCallback} restPosition={restPosition} ikSolver={ikSolver} targetBone={targetBone} armBot={armBot}
logStatus={logStatus} path={path}currentPhase={currentPhase} /> logStatus={logStatus} path={path} currentPhase={currentPhase} />
</> </>
) )
} }

1
app/src/modules/simulation/roboticArm/roboticArm.tsx
View File

@ -172,7 +172,6 @@ function RoboticArm() {
}, [selectedProduct, products]); }, [selectedProduct, products]);
useEffect(() => { useEffect(() => {
}, [armBots]) }, [armBots])
useEffect(() => { useEffect(() => {

3
app/src/modules/simulation/ui/arm/PickDropPoints.tsx
View File

@ -24,10 +24,7 @@ const PickDropPoints: React.FC<PickDropProps> = ({
handlePointerDown, handlePointerDown,
isSelected, isSelected,
}) => { }) => {
const groupRef = useRef<THREE.Group>(null); const groupRef = useRef<THREE.Group>(null);
return ( return (
<group <group
ref={groupRef} ref={groupRef}

49
app/src/modules/simulation/ui/arm/armBotUI.tsx
View File

@ -1,5 +1,5 @@
import React, { useCallback, useEffect, useState } from 'react'; import React, { useCallback, useEffect, useState } from 'react';
import { useSelectedEventData, useSelectedEventSphere, useSelectedProduct } from '../../../../store/simulation/useSimulationStore'; import { useSelectedAction, useSelectedEventData, useSelectedEventSphere, useSelectedProduct } from '../../../../store/simulation/useSimulationStore';
import { useArmBotStore } from '../../../../store/simulation/useArmBotStore'; import { useArmBotStore } from '../../../../store/simulation/useArmBotStore';
import { useGLTF } from '@react-three/drei'; import { useGLTF } from '@react-three/drei';
import { useThree } from '@react-three/fiber'; import { useThree } from '@react-three/fiber';
@ -24,6 +24,7 @@ const ArmBotUI = () => {
const { selectedProduct } = useSelectedProduct(); const { selectedProduct } = useSelectedProduct();
const { armBots, updateStartPoint, updateEndPoint } = useArmBotStore(); const { armBots, updateStartPoint, updateEndPoint } = useArmBotStore();
const { scene } = useThree(); const { scene } = useThree();
const { selectedAction } = useSelectedAction();
const armUiPick = useGLTF(armPick) as any; const armUiPick = useGLTF(armPick) as any;
const armUiDrop = useGLTF(armDrop) as any; const armUiDrop = useGLTF(armDrop) as any;
@ -37,32 +38,29 @@ const ArmBotUI = () => {
if (selectedEventData?.data.type === "roboticArm") { if (selectedEventData?.data.type === "roboticArm") {
const selectedArmBot = getEventByModelUuid(selectedProduct.productId, selectedEventData.data.modelUuid); const selectedArmBot = getEventByModelUuid(selectedProduct.productId, selectedEventData.data.modelUuid);
if (selectedArmBot) { if (selectedArmBot?.type === "roboticArm") {
if (selectedArmBot.type === "roboticArm") {
setSelectedArmBotData(selectedArmBot); setSelectedArmBotData(selectedArmBot);
const defaultPositions = getDefaultPositions(selectedArmBot.modelUuid); const defaultPositions = getDefaultPositions(selectedArmBot.modelUuid);
const matchingAction = armBots?.flatMap((robot: ArmBotStatus) => robot.point.actions)
selectedArmBot?.point?.actions?.forEach((action: any) => { .find((action) => action.actionUuid === selectedAction.actionId);
if (action.actionType === "pickAndPlace") { if (matchingAction) {
const startPoint = action.process.startPoint; const startPoint = matchingAction.process.startPoint;
const pickPosition = (!startPoint || (Array.isArray(startPoint) && startPoint.every(v => v === 0))) const pickPosition = (!startPoint || (Array.isArray(startPoint) && startPoint.every(v => v === 0)))
? defaultPositions.pick ? defaultPositions.pick
: startPoint; : startPoint;
const endPoint = action.process.endPoint;
const endPoint = matchingAction.process.endPoint;
const dropPosition = (!endPoint || (Array.isArray(endPoint) && endPoint.every(v => v === 0))) const dropPosition = (!endPoint || (Array.isArray(endPoint) && endPoint.every(v => v === 0)))
? defaultPositions.drop ? defaultPositions.drop
: endPoint; : endPoint;
setStartPosition(pickPosition);
setEndPosition(dropPosition)
} setStartPosition(pickPosition);
}); setEndPosition(dropPosition);
} }
} }
} }
}, [selectedEventData, selectedProduct, getEventByModelUuid]); }, [selectedEventData, selectedProduct, getEventByModelUuid, selectedAction]);
function getDefaultPositions(modelUuid: string): Positions { function getDefaultPositions(modelUuid: string): Positions {
const modelData = getEventByModelUuid(selectedProduct.productId, modelUuid); const modelData = getEventByModelUuid(selectedProduct.productId, modelUuid);
@ -72,8 +70,8 @@ const ArmBotUI = () => {
const baseY = modelData.point.position?.[1] || 0;; const baseY = modelData.point.position?.[1] || 0;;
const baseZ = modelData.point.position?.[2] || 0; const baseZ = modelData.point.position?.[2] || 0;
return { return {
pick: [baseX, baseY , baseZ + 0.5], pick: [baseX, baseY, baseZ + 0.5],
drop: [baseX, baseY , baseZ - 0.5], drop: [baseX, baseY, baseZ - 0.5],
default: [baseX, baseY, baseZ], default: [baseX, baseY, baseZ],
}; };
} }
@ -118,13 +116,10 @@ const ArmBotUI = () => {
if (actionType === "pick") { if (actionType === "pick") {
updatedProcess.startPoint = getLocalPosition(modelUuid, worldPositionArray); updatedProcess.startPoint = getLocalPosition(modelUuid, worldPositionArray);
// updatedProcess.startPoint = worldPositionArray
setStartPosition(updatedProcess.startPoint) setStartPosition(updatedProcess.startPoint)
updateStartPoint(modelUuid, actionUuid, updatedProcess.startPoint); updateStartPoint(modelUuid, actionUuid, updatedProcess.startPoint);
} else if (actionType === "drop") { } else if (actionType === "drop") {
updatedProcess.endPoint = getLocalPosition(modelUuid, worldPositionArray); updatedProcess.endPoint = getLocalPosition(modelUuid, worldPositionArray);
// updatedProcess.endPoint = worldPositionArray
setEndPosition(updatedProcess.endPoint) setEndPosition(updatedProcess.endPoint)
updateEndPoint(modelUuid, actionUuid, updatedProcess.endPoint); updateEndPoint(modelUuid, actionUuid, updatedProcess.endPoint);
} }
@ -143,17 +138,18 @@ const ArmBotUI = () => {
useEffect(() => { useEffect(() => {
}, [armBots]) }, [armBots])
const { handlePointerDown } = useDraggableGLTF(updatePointToState); const { handlePointerDown } = useDraggableGLTF(updatePointToState);
if (!selectedArmBotData || !Array.isArray(selectedArmBotData.point?.actions)) { if (!selectedArmBotData || !Array.isArray(selectedArmBotData.point?.actions)) {
return null; // avoid rendering if no data yet return null; // avoid rendering if no data yet
} }
return ( return (
<> <>
{selectedArmBotData.point.actions.map((action: any) => ( {selectedArmBotData.point.actions.map((action: any) => {
if (action.actionUuid === selectedAction.actionId) {
return (
<React.Fragment key={action.actionUuid}> <React.Fragment key={action.actionUuid}>
<group <group
position={new THREE.Vector3(...selectedArmBotData.position)} position={new THREE.Vector3(...selectedArmBotData.position)}
@ -181,9 +177,14 @@ const ArmBotUI = () => {
/> />
</group> </group>
</React.Fragment> </React.Fragment>
))} );
} else {
return null; // important! must return something
}
})}
</> </>
); );
}; };
export default ArmBotUI; export default ArmBotUI;