diff --git a/app/src/components/layout/sidebarRight/properties/eventProperties/mechanics/machineMechanics.tsx b/app/src/components/layout/sidebarRight/properties/eventProperties/mechanics/machineMechanics.tsx index ec296f2..8437612 100644 --- a/app/src/components/layout/sidebarRight/properties/eventProperties/mechanics/machineMechanics.tsx +++ b/app/src/components/layout/sidebarRight/properties/eventProperties/mechanics/machineMechanics.tsx @@ -72,6 +72,15 @@ function MachineMechanics() { const handleRenameAction = (newName: string) => { if (!selectedPointData) return; const event = updateAction(selectedProduct.productId, selectedPointData.action.actionUuid, { actionName: newName }); + + if (event) { + updateBackend( + selectedProduct.productName, + selectedProduct.productId, + organization, + event + ); + } }; const handleProcessTimeChange = (value: string) => { @@ -79,6 +88,15 @@ function MachineMechanics() { const event = updateAction(selectedProduct.productId, selectedPointData.action.actionUuid, { processTime: parseFloat(value), }); + + if (event) { + updateBackend( + selectedProduct.productName, + selectedProduct.productId, + organization, + event + ); + } }; const handleMaterialSelect = (material: string) => { @@ -86,6 +104,15 @@ function MachineMechanics() { const event = updateAction(selectedProduct.productId, selectedPointData.action.actionUuid, { swapMaterial: material, }); + + if (event) { + updateBackend( + selectedProduct.productName, + selectedProduct.productId, + organization, + event + ); + } }; // Get current values from store diff --git a/app/src/components/layout/sidebarRight/simulation/Simulations.tsx b/app/src/components/layout/sidebarRight/simulation/Simulations.tsx index 7799858..a261e08 100644 --- a/app/src/components/layout/sidebarRight/simulation/Simulations.tsx +++ b/app/src/components/layout/sidebarRight/simulation/Simulations.tsx @@ -140,11 +140,10 @@ const Simulations: React.FC = () => { {products.map((product, index) => (
{/* eslint-disable-next-line */}
{ - clearCurrentSpawn(); + clearAllSpawns(); cleanupDelay(); - }, [clearCurrentSpawn, cleanupDelay]); + }, [clearAllSpawns, cleanupDelay]); useEffect(() => { return () => { diff --git a/app/src/modules/simulation/actions/machine/actionHandler/useProcessHandler.ts b/app/src/modules/simulation/actions/machine/actionHandler/useProcessHandler.ts new file mode 100644 index 0000000..a6bf16c --- /dev/null +++ b/app/src/modules/simulation/actions/machine/actionHandler/useProcessHandler.ts @@ -0,0 +1,40 @@ +import { useCallback } from "react"; +import { useMaterialStore } from "../../../../../store/simulation/useMaterialStore"; +import { useMachineStore } from "../../../../../store/simulation/useMachineStore"; +import { useProductStore } from "../../../../../store/simulation/useProductStore"; +import { useSelectedProduct } from "../../../../../store/simulation/useSimulationStore"; + +export function useProcessHandler() { + const { getMaterialById, setMaterial } = useMaterialStore(); + const { addCurrentAction } = useMachineStore(); + const { getModelUuidByActionUuid } = useProductStore(); + const { selectedProduct } = useSelectedProduct(); + + const processLogStatus = (materialUuid: string, status: string) => { + // console.log(`${materialUuid}, ${status}`); + } + + const handleProcess = useCallback((action: MachineAction, materialId?: string) => { + if (!action || action.actionType !== 'process' || !materialId) return; + + const { swapMaterial: newMaterialType } = action; + + const material = getMaterialById(materialId); + if (!material) return; + + const modelUuid = getModelUuidByActionUuid(selectedProduct.productId, action.actionUuid); + + if (!modelUuid) return; + setMaterial(material.materialId, newMaterialType); + + addCurrentAction(modelUuid, action.actionUuid, newMaterialType, material.materialId); + + processLogStatus(material.materialId, `Swapped to ${newMaterialType}`); + processLogStatus(material.materialId, `starts Process action`); + + }, [getMaterialById]); + + return { + handleProcess + }; +} \ No newline at end of file diff --git a/app/src/modules/simulation/actions/machine/useMachineActions.ts b/app/src/modules/simulation/actions/machine/useMachineActions.ts index 38e8ce3..2bb0054 100644 --- a/app/src/modules/simulation/actions/machine/useMachineActions.ts +++ b/app/src/modules/simulation/actions/machine/useMachineActions.ts @@ -1,18 +1,19 @@ -import { useEffect, useCallback, useRef, useState } from 'react'; +import { useEffect, useCallback } from 'react'; +import { useProcessHandler } from './actionHandler/useProcessHandler'; export function useMachineActions() { + const { handleProcess } = useProcessHandler(); - const handleProcessAction = useCallback((action: MachineAction) => { - if (!action || action.actionType !== 'process') return; - console.log(`Machine processing for ${action.processTime}ms`); - }, []); + const handleProcessAction = useCallback((action: MachineAction, materialId: string) => { + handleProcess(action, materialId); + }, [handleProcess]); - const handleMachineAction = useCallback((action: MachineAction) => { + const handleMachineAction = useCallback((action: MachineAction, materialId: string) => { if (!action) return; switch (action.actionType) { case 'process': - handleProcessAction(action); + handleProcessAction(action, materialId); break; default: console.warn(`Unknown machine action type: ${action.actionType}`); diff --git a/app/src/modules/simulation/actions/roboticArm/actionHandler/usePickAndPlaceHandler.ts b/app/src/modules/simulation/actions/roboticArm/actionHandler/usePickAndPlaceHandler.ts index 2f44cfe..5368a82 100644 --- a/app/src/modules/simulation/actions/roboticArm/actionHandler/usePickAndPlaceHandler.ts +++ b/app/src/modules/simulation/actions/roboticArm/actionHandler/usePickAndPlaceHandler.ts @@ -31,7 +31,7 @@ export function usePickAndPlaceHandler() { material.materialId ); - pickAndPlaceLogStatus(material.materialId, `if going to be picked by armBot ${modelUuid}`); + pickAndPlaceLogStatus(material.materialId, `is going to be picked by armBot ${modelUuid}`); }, [getMaterialById, getModelUuidByActionUuid, addCurrentAction]); diff --git a/app/src/modules/simulation/actions/useActionHandler.ts b/app/src/modules/simulation/actions/useActionHandler.ts index 4041ab5..30e0dad 100644 --- a/app/src/modules/simulation/actions/useActionHandler.ts +++ b/app/src/modules/simulation/actions/useActionHandler.ts @@ -1,6 +1,6 @@ import { - usePlayButtonStore, - useResetButtonStore, + usePlayButtonStore, + useResetButtonStore, } from "../../../store/usePlayButtonStore"; import { useConveyorActions } from "./conveyor/useConveyorActions"; import { useMachineActions } from "./machine/useMachineActions"; @@ -10,75 +10,61 @@ import { useVehicleActions } from "./vehicle/useVehicleActions"; import { useCallback, useEffect } from "react"; export function useActionHandler() { - const { isReset } = useResetButtonStore(); - const { isPlaying } = usePlayButtonStore(); - const { handleConveyorAction, cleanup: cleanupConveyor } = - useConveyorActions(); - const { handleVehicleAction, cleanup: cleanupVehicle } = useVehicleActions(); - const { handleRoboticArmAction, cleanup: cleanupRoboticArm } = - useRoboticArmActions(); - const { handleMachineAction, cleanup: cleanupMachine } = useMachineActions(); - const { handleStorageAction, cleanup: cleanupStorage } = useStorageActions(); + const { isReset } = useResetButtonStore(); + const { isPlaying } = usePlayButtonStore(); + const { handleConveyorAction, cleanup: cleanupConveyor } = useConveyorActions(); + const { handleVehicleAction, cleanup: cleanupVehicle } = useVehicleActions(); + const { handleRoboticArmAction, cleanup: cleanupRoboticArm } = useRoboticArmActions(); + const { handleMachineAction, cleanup: cleanupMachine } = useMachineActions(); + const { handleStorageAction, cleanup: cleanupStorage } = useStorageActions(); - const handleAction = useCallback( - (action: Action, materialId?: string) => { - if (!action) return; - try { - switch (action.actionType) { - case 'default': case 'spawn': case 'swap': case 'delay': case 'despawn': - handleConveyorAction(action as ConveyorAction, materialId as string); - break; - case 'travel': - handleVehicleAction(action as VehicleAction, materialId as string); - break; - case 'pickAndPlace': - handleRoboticArmAction(action as RoboticArmAction, materialId as string); - break; - case 'process': - handleMachineAction(action as MachineAction); - break; - case 'store': - handleStorageAction(action as StorageAction); - break; - default: - console.warn(`Unknown action type: ${(action as Action).actionType}`); + const handleAction = useCallback( + (action: Action, materialId?: string) => { + if (!action) return; + try { + switch (action.actionType) { + case 'default': case 'spawn': case 'swap': case 'delay': case 'despawn': + handleConveyorAction(action as ConveyorAction, materialId as string); + break; + case 'travel': + handleVehicleAction(action as VehicleAction, materialId as string); + break; + case 'pickAndPlace': + handleRoboticArmAction(action as RoboticArmAction, materialId as string); + break; + case 'process': + handleMachineAction(action as MachineAction, materialId as string); + break; + case 'store': + handleStorageAction(action as StorageAction); + break; + default: + console.warn(`Unknown action type: ${(action as Action).actionType}`); + } + } catch (error) { + echo.error("Failed to handle action"); + console.error("Error handling action:", error); } - } catch (error) { - echo.error("Failed to handle action"); - console.error("Error handling action:", error); - } - }, - [ - handleConveyorAction, - handleVehicleAction, - handleRoboticArmAction, - handleMachineAction, - handleStorageAction, - ] - ); + }, + [handleConveyorAction, handleVehicleAction, handleRoboticArmAction, handleMachineAction, handleStorageAction,] + ); - const cleanup = useCallback(() => { - cleanupConveyor(); - cleanupVehicle(); - cleanupRoboticArm(); - cleanupMachine(); - cleanupStorage(); - }, [ - cleanupConveyor, - cleanupVehicle, - cleanupRoboticArm, - cleanupMachine, - cleanupStorage, - ]); + const cleanup = useCallback(() => { + cleanupConveyor(); + cleanupVehicle(); + cleanupRoboticArm(); + cleanupMachine(); + cleanupStorage(); + }, [cleanupConveyor, cleanupVehicle, cleanupRoboticArm, cleanupMachine, cleanupStorage,]); - useEffect(() => { - return () => { - cleanup(); + useEffect(() => { + return () => { + cleanup(); + }; + }, [cleanup, isReset, isPlaying]); + + return { + handleAction, + cleanup, }; - }, [cleanup, isReset, isPlaying]); - - return { - handleAction, - cleanup, - }; } diff --git a/app/src/modules/simulation/machine/instances/animator/machineAnimator.tsx b/app/src/modules/simulation/machine/instances/animator/machineAnimator.tsx index c4b4b44..8f1505f 100644 --- a/app/src/modules/simulation/machine/instances/animator/machineAnimator.tsx +++ b/app/src/modules/simulation/machine/instances/animator/machineAnimator.tsx @@ -1,5 +1,4 @@ -import { useFrame } from '@react-three/fiber'; -import React, { useEffect, useRef } from 'react'; +import { useEffect, useRef } from 'react'; import { useMachineStore } from '../../../../../store/simulation/useMachineStore'; import { useAnimationPlaySpeed, usePauseButtonStore, usePlayButtonStore, useResetButtonStore } from '../../../../../store/usePlayButtonStore'; @@ -21,22 +20,19 @@ const MachineAnimator = ({ currentPhase, handleCallBack, processingTime, machine const pauseTimeRef = useRef(null); const { isPaused } = usePauseButtonStore(); const { removeCurrentAction } = useMachineStore(); - const { isReset, setReset } = useResetButtonStore(); + const { isReset } = useResetButtonStore(); const { isPlaying } = usePlayButtonStore(); const { speed } = useAnimationPlaySpeed(); const isPlayingRef = useRef(false); - const isResetRef = useRef(false) - useEffect(() => { isPausedRef.current = isPaused; }, [isPaused]); + useEffect(() => { isPlayingRef.current = isPlaying; }, [isPlaying]); - - useEffect(() => { if (isReset || !isPlaying) { reset(); @@ -49,8 +45,6 @@ const MachineAnimator = ({ currentPhase, handleCallBack, processingTime, machine } }, [isReset, isPlaying]) - - useEffect(() => { if (currentPhase === 'processing' && !animationStarted.current && machineUuid) { animationStarted.current = true; @@ -94,8 +88,6 @@ const MachineAnimator = ({ currentPhase, handleCallBack, processingTime, machine } } - - return null; } diff --git a/app/src/modules/simulation/machine/instances/machineInstance/machineInstance.tsx b/app/src/modules/simulation/machine/instances/machineInstance/machineInstance.tsx index b3d4498..525c9c9 100644 --- a/app/src/modules/simulation/machine/instances/machineInstance/machineInstance.tsx +++ b/app/src/modules/simulation/machine/instances/machineInstance/machineInstance.tsx @@ -1,13 +1,19 @@ -import React, { useEffect, useRef, useState } from 'react' +import { useEffect, useRef, useState } from 'react' import { useMachineStore } from '../../../../../store/simulation/useMachineStore'; import { usePlayButtonStore } from '../../../../../store/usePlayButtonStore'; import MachineAnimator from '../animator/machineAnimator'; +import { useProductStore } from '../../../../../store/simulation/useProductStore'; +import { useSelectedProduct } from '../../../../../store/simulation/useSimulationStore'; +import { useTriggerHandler } from '../../../triggers/triggerHandler/useTriggerHandler'; -function MachineInstance({ machineDetail }: any) { +function MachineInstance({ machineDetail }: { machineDetail: MachineStatus }) { const [currentPhase, setCurrentPhase] = useState('idle'); let isIncrememtable = useRef(true); const { isPlaying } = usePlayButtonStore(); - const { machines, addCurrentAction, setMachineState, setMachineActive } = useMachineStore(); + const { machines, setMachineState, setMachineActive } = useMachineStore(); + const { selectedProduct } = useSelectedProduct(); + const { getActionByUuid } = useProductStore(); + const { triggerPointActions } = useTriggerHandler(); const reset = () => { setCurrentPhase("idle"); @@ -15,23 +21,14 @@ function MachineInstance({ machineDetail }: any) { setMachineActive(machineDetail.modelUuid, false); isIncrememtable.current = true; } - const increment = () => { - if (isIncrememtable.current) { - addCurrentAction(machineDetail.modelUuid, "machine-action-2468-1357-8024") - isIncrememtable.current = false; - } - } + function machineStatus(modelId: string, status: string) { // console.log(`${modelId} , ${status}`); - } useEffect(() => { if (isPlaying) { if (!machineDetail.isActive && machineDetail.state === "idle" && currentPhase == "idle" && !machineDetail.currentAction) { - setTimeout(() => { - increment(); - }, 5000); machineStatus(machineDetail.modelUuid, 'Machine is idle and waiting for next instruction.') } else if (!machineDetail.isActive && machineDetail.state === "idle" && currentPhase == "idle" && machineDetail.currentAction) { setCurrentPhase("processing"); @@ -49,11 +46,15 @@ function MachineInstance({ machineDetail }: any) { setCurrentPhase("idle") isIncrememtable.current = true; machineStatus(machineDetail.modelUuid, "Machine has completed the processing") + + if (machineDetail.currentAction) { + const action = getActionByUuid(selectedProduct.productId, machineDetail.currentAction.actionUuid); + if (action && machineDetail.currentAction.materialId) { + triggerPointActions(action, machineDetail.currentAction.materialId) + } + } } } - // console.log('currentPhase: ', currentPhase); - - return ( <> diff --git a/app/src/modules/simulation/machine/machine.tsx b/app/src/modules/simulation/machine/machine.tsx index 3d24f61..9e16e83 100644 --- a/app/src/modules/simulation/machine/machine.tsx +++ b/app/src/modules/simulation/machine/machine.tsx @@ -1,48 +1,6 @@ -import React, { useEffect } from 'react' import MachineInstances from './instances/machineInstances' -import { useMachineStore } from '../../../store/simulation/useMachineStore' -import { useSelectedProduct } from '../../../store/simulation/useSimulationStore'; function Machine() { - const { addMachine, addCurrentAction, removeMachine, machines } = useMachineStore(); - const { selectedProduct } = useSelectedProduct(); - - const machineSample: MachineEventSchema[] = [ - { - modelUuid: "machine-1234-5678-9012", - modelName: "CNC Milling Machine", - position: [10, 0, 5], - rotation: [0, 0, 0], - state: "idle", - type: "machine", - point: { - uuid: "machine-point-9876-5432-1098", - position: [10, 0.5, 5.2], - rotation: [0, 0, 0], - action: { - actionUuid: "machine-action-2468-1357-8024", - actionName: "Metal Processing", - actionType: "process", - processTime: 10, - swapMaterial: "steel", - triggers: [] - } - } - } - ]; - - useEffect(() => { - removeMachine(machineSample[0].modelUuid); - addMachine(selectedProduct.productId, machineSample[0]); - - // addCurrentAction(machineSample[0].modelUuid, machineSample[0].point.action.actionUuid); - }, []) - - - useEffect(() => { - - // console.log('machines: ', machines); - }, [machines]) return ( <> diff --git a/app/src/modules/simulation/products/products.tsx b/app/src/modules/simulation/products/products.tsx index 4a4807d..d413379 100644 --- a/app/src/modules/simulation/products/products.tsx +++ b/app/src/modules/simulation/products/products.tsx @@ -8,6 +8,7 @@ import { getAllProductsApi } from '../../../services/simulation/getallProductsAp import { useVehicleStore } from '../../../store/simulation/useVehicleStore'; import { useArmBotStore } from '../../../store/simulation/useArmBotStore'; import { useConveyorStore } from '../../../store/simulation/useConveyorStore'; +import { useMachineStore } from '../../../store/simulation/useMachineStore'; import { useResetButtonStore } from '../../../store/usePlayButtonStore'; function Products() { @@ -15,6 +16,7 @@ function Products() { const { selectedProduct, setSelectedProduct } = useSelectedProduct(); const { addVehicle, clearvehicles } = useVehicleStore(); const { addArmBot, clearArmBots } = useArmBotStore(); + const { addMachine, clearMachines } = useMachineStore(); const { addConveyor, clearConveyors } = useConveyorStore(); const { isReset } = useResetButtonStore(); @@ -77,6 +79,20 @@ function Products() { } }, [selectedProduct, products, isReset]); + useEffect(() => { + if (selectedProduct.productId) { + const product = getProductById(selectedProduct.productId); + if (product) { + clearMachines(); + product.eventDatas.forEach(events => { + if (events.type === 'machine') { + addMachine(selectedProduct.productId, events); + } + }); + } + } + }, [selectedProduct, products, isReset]); + return ( <> diff --git a/app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx b/app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx index be8c561..7b65141 100644 --- a/app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx +++ b/app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx @@ -186,12 +186,13 @@ function RoboticArmAnimator({ HandleCallback, restPosition, ikSolver, targetBone new THREE.Vector3(end[0], curveHeight, end[2]), new THREE.Vector3(end[0], end[1], end[2]) ]; - + const pathSegments: [THREE.Vector3, THREE.Vector3][] = []; for (let i = 0; i < pathVectors.length - 1; i++) { pathSegments.push([pathVectors[i], pathVectors[i + 1]]); } - + console.log('pathVectors: ', pathVectors.length, pathSegments.length); + const segmentDistances = pathSegments.map(([p1, p2]) => p1.distanceTo(p2)); segmentDistancesRef.current = segmentDistances; const totalDistance = segmentDistances.reduce((sum, d) => sum + d, 0); @@ -209,11 +210,6 @@ function RoboticArmAnimator({ HandleCallback, restPosition, ikSolver, targetBone if (!bone) return; if (isPlaying) { - if (isReset) { - bone.position.copy(restPosition); - setCustomCurvePoints([]); - ikSolver.update(); - } if (!isPaused && customCurvePoints && customCurvePoints.length > 0) { const distances = segmentDistancesRef.current; const totalDistance = totalDistanceRef.current; @@ -248,7 +244,6 @@ function RoboticArmAnimator({ HandleCallback, restPosition, ikSolver, targetBone progressRef.current = 0; startTimeRef.current = null; } - ikSolver.update(); } } else if (!isPlaying && currentPath.length === 0) { @@ -257,16 +252,15 @@ function RoboticArmAnimator({ HandleCallback, restPosition, ikSolver, targetBone setCurrentPath([]); setCustomCurvePoints([]); bone.position.copy(restPosition); - + ikSolver.update(); } - ikSolver.update(); }); //Helper to Visible the Circle and Curve return ( <> {customCurvePoints && customCurvePoints?.length >= 2 && currentPath && isPlaying && ( - + [p.x, p.y, p.z] as [number, number, number])} color="green" diff --git a/app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx b/app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx index 75e7715..2852bc7 100644 --- a/app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx +++ b/app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx @@ -41,6 +41,33 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) { step(); } + const action = getActionByUuid(selectedProduct.productId, armBot.currentAction?.actionUuid || ''); + + const handleTrigger = () => { + if (armBot.currentAction && armBot.currentAction.materialId) { + const material = getMaterialById(armBot.currentAction.materialId); + if (material && material.previous && material.previous.modelUuid) { + const model = getEventByModelUuid(selectedProduct.productId, material.previous.modelUuid); + if (model) { + if (model.type === 'transfer') { + setIsVisible(armBot.currentAction.materialId, false); + } else if (model.type === 'machine') { + // machine specific logic + } else if (model.type === 'vehicle') { + decrementVehicleLoad(model.modelUuid, 1); + removeLastMaterial(model.modelUuid); + } else if (model.type === 'storageUnit') { + // storage unit logic + } + } else { + setIsVisible(armBot.currentAction.materialId, false); + } + } else { + setIsVisible(armBot.currentAction.materialId, false); + } + } + } + function step() { if (isPausedRef.current) { if (!pauseTimeRef.current) { @@ -65,8 +92,9 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) { setArmBotState(armBot.modelUuid, "running"); setCurrentPhase("start-to-end"); startTime = 0 - const startPoint = armBot.point.actions[0].process.startPoint; - const endPoint = armBot.point.actions[0].process.endPoint; + 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]), @@ -75,30 +103,8 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) { logStatus(armBot.modelUuid, "picking the object"); setPath(curve.points.map(point => [point.x, point.y, point.z])) - if (armBot.currentAction && armBot.currentAction.materialId) { - const material = getMaterialById(armBot.currentAction.materialId) - if (material && material.previous && material.previous.modelUuid) { + handleTrigger(); - const model = getEventByModelUuid(selectedProduct.productId, material.previous.modelUuid); - - if (model) { - if (model.type === 'transfer') { - setIsVisible(armBot.currentAction.materialId, false); - } else if (model.type === 'machine') { - - } else if (model.type === 'vehicle') { - decrementVehicleLoad(model.modelUuid, 1); - removeLastMaterial(model.modelUuid); - } else if (model.type === 'storageUnit') { - - } - } else { - setIsVisible(armBot.currentAction.materialId, false); - } - } else { - setIsVisible(armBot.currentAction.materialId, false); - } - } } } logStatus(armBot.modelUuid, "Moving armBot from start point to end position.") @@ -107,7 +113,8 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) { setArmBotState(armBot.modelUuid, "running"); setCurrentPhase("end-to-rest"); startTime = 0; - const endPoint = armBot.point.actions[0].process.endPoint; + 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); @@ -190,7 +197,8 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) { setArmBotActive(armBot.modelUuid, true); setArmBotState(armBot.modelUuid, "running"); setCurrentPhase("rest-to-start"); - const startPoint = armBot.point.actions[0].process.startPoint; + if (!action) return; + const startPoint = (action as RoboticArmAction).process.startPoint; if (startPoint) { let curve = createCurveBetweenTwoPoints(targetBones.position, new THREE.Vector3(startPoint[0], startPoint[1], startPoint[2])); if (curve) { @@ -232,6 +240,7 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) { } const HandleCallback = () => { + if (armBot.isActive && armBot.state == "running" && currentPhase == "init-to-rest") { logStatus(armBot.modelUuid, "Callback triggered: rest"); setArmBotActive(armBot.modelUuid, false) @@ -262,6 +271,7 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) { } } const logStatus = (id: string, status: string) => { + // console.log('status: ', status); } return ( @@ -269,8 +279,16 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) { {!isReset && isPlaying && ( <> - + )} diff --git a/app/src/modules/simulation/triggers/triggerHandler/useTriggerHandler.ts b/app/src/modules/simulation/triggers/triggerHandler/useTriggerHandler.ts index f0e4d06..4f4a947 100644 --- a/app/src/modules/simulation/triggers/triggerHandler/useTriggerHandler.ts +++ b/app/src/modules/simulation/triggers/triggerHandler/useTriggerHandler.ts @@ -5,6 +5,7 @@ import { useSelectedProduct } from '../../../../store/simulation/useSimulationSt import { useMaterialStore } from '../../../../store/simulation/useMaterialStore'; import { useArmBotStore } from '../../../../store/simulation/useArmBotStore'; import { useVehicleStore } from '../../../../store/simulation/useVehicleStore'; +import { useMachineStore } from '../../../../store/simulation/useMachineStore'; export function useTriggerHandler() { const { handleAction } = useActionHandler(); @@ -12,6 +13,7 @@ export function useTriggerHandler() { const { getEventByTriggerUuid, getEventByModelUuid, getActionByUuid, getModelUuidByActionUuid } = useProductStore(); const { getArmBotById } = useArmBotStore(); const { getVehicleById } = useVehicleStore(); + const { getMachineById } = useMachineStore(); const { setCurrentLocation, setNextLocation, setPreviousLocation, getMaterialById, setIsPaused, setIsVisible, setEndTime } = useMaterialStore(); const handleTrigger = (trigger: TriggerSchema, action: Action, materialId?: string) => { @@ -252,6 +254,46 @@ export function useTriggerHandler() { } else if (toEvent?.type === 'roboticArm') { // Machine to Robotic Arm + if (materialId && trigger.triggeredAsset && trigger.triggeredAsset.triggeredPoint && trigger.triggeredAsset.triggeredAction) { + const material = getMaterialById(materialId); + if (material) { + const action = getActionByUuid(selectedProduct.productId, trigger.triggeredAsset.triggeredAction.actionUuid); + const armBot = getArmBotById(trigger.triggeredAsset?.triggeredModel.modelUuid); + + setPreviousLocation(material.materialId, { + modelUuid: material.current.modelUuid, + pointUuid: material.current.pointUuid, + actionUuid: material.current.actionUuid, + }) + + setCurrentLocation(material.materialId, { + modelUuid: trigger.triggeredAsset.triggeredModel.modelUuid, + pointUuid: trigger.triggeredAsset.triggeredPoint.pointUuid, + actionUuid: trigger.triggeredAsset?.triggeredAction?.actionUuid, + }); + + setNextLocation(material.materialId, null); + + setIsVisible(materialId, false); + + if (action && armBot && + action.triggers[0].triggeredAsset?.triggeredModel.modelUuid && + action.triggers[0].triggeredAsset?.triggeredPoint?.pointUuid + ) { + + if (armBot.isActive === false && armBot.state === 'idle') { + + // Handle current action from arm bot + handleAction(action, materialId); + + } else { + + // Event Manager Needed + + } + } + } + } } else if (toEvent?.type === 'storageUnit') { // Machine to Storage Unit @@ -395,6 +437,49 @@ export function useTriggerHandler() { } else if (toEvent?.type === 'machine') { // Robotic Arm to Machine + if (materialId && trigger.triggeredAsset && trigger.triggeredAsset.triggeredPoint && trigger.triggeredAsset.triggeredAction) { + const material = getMaterialById(materialId); + if (material) { + + setIsPaused(material.materialId, false); + + const action = getActionByUuid(selectedProduct.productId, trigger.triggeredAsset.triggeredAction.actionUuid); + const machine = getMachineById(trigger.triggeredAsset?.triggeredModel.modelUuid); + setNextLocation(material.materialId, null); + + if (action) { + + if (machine) { + + if (machine.isActive === false && machine.state === 'idle') { + + setIsVisible(materialId, false); + + setPreviousLocation(material.materialId, { + modelUuid: material.current.modelUuid, + pointUuid: material.current.pointUuid, + actionUuid: material.current.actionUuid, + }) + + setCurrentLocation(material.materialId, { + modelUuid: trigger.triggeredAsset.triggeredModel.modelUuid, + pointUuid: trigger.triggeredAsset.triggeredPoint.pointUuid, + actionUuid: trigger.triggeredAsset?.triggeredAction?.actionUuid, + }); + + // Handle current action from machine + handleAction(action, materialId); + + } else { + + // Event Manager Needed + + } + } + } + } + } + } else if (toEvent?.type === 'roboticArm') { // Robotic Arm to Robotic Arm diff --git a/app/src/store/simulation/useArmBotStore.ts b/app/src/store/simulation/useArmBotStore.ts index a112552..7c4d38b 100644 --- a/app/src/store/simulation/useArmBotStore.ts +++ b/app/src/store/simulation/useArmBotStore.ts @@ -85,7 +85,7 @@ export const useArmBotStore = create()( actionUuid: action.actionUuid, actionName: action.actionName, materialType: materialType, - materialId:materialId + materialId: materialId }; } } diff --git a/app/src/store/simulation/useMachineStore.ts b/app/src/store/simulation/useMachineStore.ts index 5754da3..2c4c98a 100644 --- a/app/src/store/simulation/useMachineStore.ts +++ b/app/src/store/simulation/useMachineStore.ts @@ -12,7 +12,7 @@ interface MachineStore { ) => void; clearMachines: () => void; - addCurrentAction: (modelUuid: string, actionUuid: string) => void; + addCurrentAction: (modelUuid: string, actionUuid: string, materialType: string, materialId: string) => void; removeCurrentAction: (modelUuid: string) => void; setMachineActive: (modelUuid: string, isActive: boolean) => void; @@ -69,16 +69,17 @@ export const useMachineStore = create()( }); }, - addCurrentAction: (modelUuid) => { + addCurrentAction: (modelUuid, actionUuid, materialType, materialId) => { set((state) => { const armBot = state.machines.find(a => a.modelUuid === modelUuid); if (armBot) { const action = armBot.point.action; if (action) { armBot.currentAction = { - actionUuid: action.actionUuid, + actionUuid: actionUuid, actionName: action.actionName, - materialType: null + materialType: materialType, + materialId: materialId }; } } diff --git a/app/src/types/simulationTypes.d.ts b/app/src/types/simulationTypes.d.ts index 1b8788a..be56d82 100644 --- a/app/src/types/simulationTypes.d.ts +++ b/app/src/types/simulationTypes.d.ts @@ -159,6 +159,7 @@ interface MachineStatus extends MachineEventSchema { actionUuid: string; actionName: string; materialType: string | null; + materialId: string | null; }; }