Dwinzo_dev/app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx

import React, { useEffect, useRef, useState } from 'react'
import IKInstance from '../ikInstance/ikInstance';
import RoboticArmAnimator from '../animator/roboticArmAnimator';
import { usePlayButtonStore } from '../../../../../store/usePlayButtonStore';
import { useArmBotStore } from '../../../../../store/simulation/useArmBotStore';
import armModel from "../../../../../assets/gltf-glb/rigged/ik_arm_4.glb";
import { useThree } from "@react-three/fiber";
import { useFloorItems } from '../../../../../store/store';
import useModuleStore from '../../../../../store/useModuleStore';
import { Vector3 } from "three";
import * as THREE from "three";

interface Process {
    triggerId: string;
    startPoint?: Vector3;
    endPoint?: Vector3;
    speed: number;
}
function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {

    const { isPlaying } = usePlayButtonStore();
    const [currentPhase, setCurrentPhase] = useState<(string)>("init");
    const { scene } = useThree();
    const targetBone = "Target";
    const { activeModule } = useModuleStore();
    const [ikSolver, setIkSolver] = useState<any>(null);
    const { addCurrentAction, setArmBotActive, setArmBotState, removeCurrentAction } = useArmBotStore();
    const { floorItems } = useFloorItems();
    const groupRef = useRef<any>(null);
    const [processes, setProcesses] = useState<Process[]>([]);
    const [armBotCurvePoints, setArmBotCurvePoints] = useState({ start: [], end: [] })
    const restPosition = new THREE.Vector3(0, 2, 1.6);
    let armBotCurveRef = useRef<THREE.CatmullRomCurve3 | null>(null)
    const [path, setPath] = useState<[number, number, number][]>([]);

    useEffect(() => {
        let armItems = floorItems?.filter((val: any) =>
            val.modeluuid === "3abf5d46-b59e-4e6b-9c02-a4634b64b82d"
        );
        // Get the first matching item
        let armItem = armItems?.[0];
        if (armItem) {
            const targetMesh = scene?.getObjectByProperty("uuid", armItem.modeluuid);
            if (targetMesh) {
                targetMesh.visible = activeModule !== "simulation"
            }
        }
        const targetBones = ikSolver?.mesh.skeleton.bones.find(
            (b: any) => b.name === targetBone
        );

        if (isPlaying) {
            //Moving armBot from initial point to rest position.
            if (!robot?.isActive && robot?.state == "idle" && currentPhase == "init") {
           
                setArmBotActive(robot.modelUuid, true)
                setArmBotState(robot.modelUuid, "running")
                setCurrentPhase("init-to-rest");
                if (targetBones) {
                    let curve = createCurveBetweenTwoPoints(targetBones.position, restPosition)
                    if (curve) {
                        setPath(curve.points.map(point => [point.x, point.y, point.z]));
                    }
                }
                logStatus(robot.modelUuid, "Starting from init to rest")
            }
            //Waiting for trigger.
            else if (robot && !robot.isActive && robot.state === "idle" && currentPhase === "rest" && !robot.currentAction) {
                console.log("trigger");
                setTimeout(() => {
                    addCurrentAction(robot.modelUuid, 'action-003');
                }, 3000);
            }
            else if (robot && !robot.isActive && robot.state === "idle" && currentPhase === "rest" && robot.currentAction) {
                if (robot.currentAction) {
                    setArmBotActive(robot.modelUuid, true);
                    setArmBotState(robot.modelUuid, "running");
                    setCurrentPhase("rest-to-start");
                    const startPoint = robot.point.actions[0].process.startPoint;
                    if (startPoint) {
                        let curve = createCurveBetweenTwoPoints(restPosition, new THREE.Vector3(startPoint[0], startPoint[1], startPoint[2]));
                        if (curve) {
                            setPath(curve.points.map(point => [point.x, point.y, point.z]));
                        }
                    }
                }
                logStatus(robot.modelUuid, "Starting from rest to start")
            }
            else if (robot && !robot.isActive && robot.state === "idle" && currentPhase === "picking" && robot.currentAction) {
                setArmBotActive(robot.modelUuid, true);
                setArmBotState(robot.modelUuid, "running");
                setCurrentPhase("start-to-end");
                const startPoint = robot.point.actions[0].process.startPoint;
                const endPoint = robot.point.actions[0].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) {
                        setPath(curve.points.map(point => [point.x, point.y, point.z]));
                    }
                }
                logStatus(robot.modelUuid, "Starting from start to end")
            }
            else if (robot && !robot.isActive && robot.state === "idle" && currentPhase === "dropping" && robot.currentAction) {
                setArmBotActive(robot.modelUuid, true);
                setArmBotState(robot.modelUuid, "running");
                setCurrentPhase("end-to-rest");
                const endPoint = robot.point.actions[0].process.endPoint;
                if (endPoint) {
                    let curve = createCurveBetweenTwoPoints(new THREE.Vector3(endPoint[0], endPoint[1], endPoint[2]), restPosition
                    );
                    if (curve) {
                        setPath(curve.points.map(point => [point.x, point.y, point.z]));
                    }
                }
                logStatus(robot.modelUuid, "Starting from end to rest")
            }
        }

    }, [currentPhase, robot, isPlaying, ikSolver])


    function createCurveBetweenTwoPoints(p1: any, p2: any) {
        const mid = new THREE.Vector3().addVectors(p1, p2).multiplyScalar(0.5);
        mid.y += 0.5;

        const points = [p1, mid, p2];
        return new THREE.CatmullRomCurve3(points);
    }


    const HandleCallback = () => {
        if (robot.isActive && robot.state == "running" && currentPhase == "init-to-rest") {
            console.log("Callback triggered: rest");
            setArmBotActive(robot.modelUuid, false)
            setArmBotState(robot.modelUuid, "idle")
            setCurrentPhase("rest");
            setPath([])
        }
        else if (robot.isActive && robot.state == "running" && currentPhase == "rest-to-start") {
            console.log("Callback triggered: pick.");
            setArmBotActive(robot.modelUuid, false)
            setArmBotState(robot.modelUuid, "idle")
            setCurrentPhase("picking");
            setPath([])
        }
        else if (robot.isActive && robot.state == "running" && currentPhase == "start-to-end") {
            console.log("Callback triggered: drop.");
            setArmBotActive(robot.modelUuid, false)
            setArmBotState(robot.modelUuid, "idle")
            setCurrentPhase("dropping");
            setPath([])
        }
        else if (robot.isActive && robot.state == "running" && currentPhase == "end-to-rest") {
            console.log("Callback triggered: rest, cycle completed.");
            setArmBotActive(robot.modelUuid, false)
            setArmBotState(robot.modelUuid, "idle")
            setCurrentPhase("rest");
            setPath([])
            removeCurrentAction(robot.modelUuid)
        }
    }
    const logStatus = (id: string, status: string) => {
        console.log(id +","+ status);
    }

    return (
        <>

            <IKInstance modelUrl={armModel} setIkSolver={setIkSolver} ikSolver={ikSolver} robot={robot} groupRef={groupRef} processes={processes}
                setArmBotCurvePoints={setArmBotCurvePoints} />
            <RoboticArmAnimator armUuid={robot?.modelUuid} HandleCallback={HandleCallback}
                currentPhase={currentPhase} targetBone={targetBone} ikSolver={ikSolver} robot={robot}
                logStatus={logStatus} groupRef={groupRef} processes={processes} armBotCurveRef={armBotCurveRef} path={path} />

        </>
    )
}

export default RoboticArmInstance;