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added stationed-pickup and pickup to drop functionality added

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Poovizhi99
2025-04-25 17:57:38 +05:30
parent 71effecb32
commit 70a99316ba
4 changed files with 288 additions and 131 deletions
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139
app/src/modules/simulation/vehicle/instances/instance/vehicleInstance.tsx
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@@ -1,67 +1,122 @@
import React, { useCallback, useEffect, useState } from 'react'
import VehicleAnimator from '../animator/vehicleAnimator'
import * as THREE from "three";
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 } from '../../../../../store/usePlayButtonStore';
import { useVehicleStore } from '../../../../../store/simulation/useVehicleStore';
function VehicleInstance({ agvDetails }: any) {
function VehicleInstance({ agvDetail }: any) {
const { navMesh } = useNavMesh();
const { isPlaying } = usePlayButtonStore();
const { setVehicleActive, setVehicleState } = useVehicleStore();
const [currentPhase, setCurrentPhase] = useState<(string)>("stationed");
const { vehicles, setVehicleActive, setVehicleState, updateVehicleLoad } = useVehicleStore();
const [currentPhase, setCurrentPhase] = useState<string>('stationed');
const [path, setPath] = useState<[number, number, number][]>([]);
const computePath = useCallback((start: any, end: any) => {
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]
);
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}`);
}
useEffect(() => {
// const pickupToDropPath = computePath(pickup, drop);
// const dropToPickupPath = computePath(drop, pickup);
if (isPlaying) {
if (!agvDetails.isActive && agvDetails.state == "idle" && currentPhase == "stationed") {
const toPickupPath = computePath(new THREE.Vector3(agvDetails.position[0], agvDetails.position[1], agvDetails.position[2]), agvDetails.point.action.pickUpPoint);
setPath(toPickupPath)
setVehicleActive(agvDetails.modelUuid, true)
setVehicleState(agvDetails.modelUuid, "running")
setCurrentPhase("stationed-pickup")
//
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(() => {
updateVehicleLoad(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');
}
}
}, [agvDetails, currentPhase, path, isPlaying])
}, [vehicles, currentPhase, path, isPlaying]);
function handleCallBack() {
if (currentPhase === "stationed-pickup") {
setVehicleActive(agvDetails.modelUuid, false)
setVehicleState(agvDetails.modelUuid, "idle")
setCurrentPhase("picking")
setPath([])
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={agvDetails?.modelUuid} />
<VehicleAnimator
path={path}
handleCallBack={handleCallBack}
currentPhase={currentPhase}
agvUuid={agvDetail?.modelUuid}
agvDetail={agvDetail}
/>
</>
)
);
}
export default VehicleInstance
export default VehicleInstance;