diff --git a/app/src/modules/simulation/events/points/creator/pointsCreator.tsx b/app/src/modules/simulation/events/points/creator/pointsCreator.tsx index 5037f75..0ed7e13 100644 --- a/app/src/modules/simulation/events/points/creator/pointsCreator.tsx +++ b/app/src/modules/simulation/events/points/creator/pointsCreator.tsx @@ -31,8 +31,6 @@ function PointsCreator() { selectedEventSphere.userData.modelUuid ); - - if (eventData) { setSelectedEventData(eventData, selectedEventSphere.userData.pointUuid); } else { @@ -215,7 +213,6 @@ function PointsCreator() { ); }} onPointerMissed={() => { - // clearSelectedEventSphere(); setTransformMode(null); }} position={new THREE.Vector3(...event.point.position)} diff --git a/app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx b/app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx index d32a6c3..10f90bf 100644 --- a/app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx +++ b/app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx @@ -55,11 +55,9 @@ function RoboticArmAnimator({ for (let i = 0; i < segments; i++) { // Calculate angle for current segment const angle = (i / segments) * Math.PI * 2; - // Calculate x and z coordinates (y remains the same for a flat ring) const x = Math.cos(angle) * radius; const z = Math.sin(angle) * radius; - points.push([x, 1.5, z]); } return points; diff --git a/app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx b/app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx index 4fd5860..9199ede 100644 --- a/app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx +++ b/app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx @@ -8,7 +8,9 @@ import { useThree } from "@react-three/fiber"; import { useFloorItems } from '../../../../../store/store'; import useModuleStore from '../../../../../store/useModuleStore'; 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 }) { @@ -24,17 +26,19 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) { let startTime: number; //zustand const { addCurrentAction, setArmBotActive, setArmBotState, removeCurrentAction } = useArmBotStore(); + const { products, getActionByUuid } = useProductStore(); + const { selectedProduct } = useSelectedProduct(); const { floorItems } = useFloorItems(); const { activeModule } = useModuleStore(); const { isPlaying } = usePlayButtonStore(); const { isReset, setReset } = useResetButtonStore(); const { isPaused } = usePauseButtonStore(); - const { selectedAction } = useSelectedAction(); - + const { selectedAction } = useSelectedAction(); + function firstFrame() { startTime = performance.now(); step(); - } + } function step() { if (isPausedRef.current) { if (!pauseTimeRef.current) { @@ -54,70 +58,70 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) { requestAnimationFrame(step); return; } - if(currentPhase==="picking"){ - - setArmBotActive(armBot.modelUuid, true); - 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 (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) { - logStatus(armBot.modelUuid, "picking the object"); - setPath(curve.points.map(point => [point.x, point.y, point.z])) - } + if (currentPhase === "picking") { + + setArmBotActive(armBot.modelUuid, true); + 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 (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) { + logStatus(armBot.modelUuid, "picking the object"); + setPath(curve.points.map(point => [point.x, point.y, point.z])) } - logStatus(armBot.modelUuid, "Moving armBot from start point to end position.") - }else if(currentPhase==="dropping"){ - - setArmBotActive(armBot.modelUuid, true); - setArmBotState(armBot.modelUuid, "running"); - setCurrentPhase("end-to-rest"); - startTime=0; - const endPoint = armBot.point.actions[0].process.endPoint; - if (endPoint) { - - let curve = createCurveBetweenTwoPoints(new THREE.Vector3(endPoint[0], endPoint[1], endPoint[2]), restPosition); - if (curve) { - logStatus(armBot.modelUuid, "dropping the object"); - setPath(curve.points.map(point => [point.x, point.y, point.z])); - } - } - logStatus(armBot.modelUuid, "Moving armBot from end point to rest position.") } - - } - useEffect(() => { + logStatus(armBot.modelUuid, "Moving armBot from start point to end position.") + } else if (currentPhase === "dropping") { + + setArmBotActive(armBot.modelUuid, true); + setArmBotState(armBot.modelUuid, "running"); + setCurrentPhase("end-to-rest"); + startTime = 0; + const endPoint = armBot.point.actions[0].process.endPoint; + if (endPoint) { + + let curve = createCurveBetweenTwoPoints(new THREE.Vector3(endPoint[0], endPoint[1], endPoint[2]), restPosition); + if (curve) { + logStatus(armBot.modelUuid, "dropping the object"); + setPath(curve.points.map(point => [point.x, point.y, point.z])); + } + } + logStatus(armBot.modelUuid, "Moving armBot from end point to rest position.") + } + + } + useEffect(() => { isPausedRef.current = isPaused; }, [isPaused]); useEffect(() => { - const targetMesh = scene?.getObjectByProperty("uuid", armBot.modelUuid); - - if (targetMesh) { - targetMesh.visible = activeModule !== "simulation" - } + const targetMesh = scene?.getObjectByProperty("uuid", armBot.modelUuid); + + if (targetMesh) { + targetMesh.visible = activeModule !== "simulation" + } const targetBones = ikSolver?.mesh.skeleton.bones.find( (b: any) => b.name === targetBone ); if (isReset) { - + logStatus(armBot.modelUuid, "Simulation Play Reset Successfully") removeCurrentAction(armBot.modelUuid) setArmBotActive(armBot.modelUuid, true) setArmBotState(armBot.modelUuid, "running") setCurrentPhase("init-to-rest"); - isPausedRef.current=false - pauseTimeRef.current=null - isPausedRef.current=false - startTime=0 + isPausedRef.current = false + pauseTimeRef.current = null + isPausedRef.current = false + startTime = 0 if (targetBones) { - let curve = createCurveBetweenTwoPoints(targetBones.position, restPosition) + let curve = createCurveBetweenTwoPoints(targetBones.position, targetBones.position) if (curve) { setPath(curve.points.map(point => [point.x, point.y, point.z])); } @@ -126,10 +130,10 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) { logStatus(armBot.modelUuid, "Moving armBot from initial point to rest position.") } if (isPlaying) { - + //Moving armBot from initial point to rest position. if (!armBot?.isActive && armBot?.state == "idle" && currentPhase == "init") { - + setArmBotActive(armBot.modelUuid, true) setArmBotState(armBot.modelUuid, "running") setCurrentPhase("init-to-rest"); @@ -145,18 +149,19 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) { else if (armBot && !armBot.isActive && armBot.state === "idle" && currentPhase === "rest" && !armBot.currentAction) { logStatus(armBot.modelUuid, "Waiting to trigger CurrentAction") const timeoutId = setTimeout(() => { - let actionId=armBot.point.actions[0].actionUuid - addCurrentAction(armBot.modelUuid,actionId); - // addCurrentAction(armBot.modelUuid, selectedAction?.actionId); + addCurrentAction(armBot.modelUuid, selectedAction?.actionId); + console.log('selectedAction?.actionId: ', selectedAction?.actionId); }, 3000); return () => clearTimeout(timeoutId); } else if (armBot && !armBot.isActive && armBot.state === "idle" && currentPhase === "rest" && armBot.currentAction) { if (armBot.currentAction) { - + setArmBotActive(armBot.modelUuid, true); setArmBotState(armBot.modelUuid, "running"); setCurrentPhase("rest-to-start"); + let actiondata = getActionByUuid(selectedProduct.productId, selectedAction.actionId) + console.log('actiondata: ', actiondata); const startPoint = armBot.point.actions[0].process.startPoint; if (startPoint) { let curve = createCurveBetweenTwoPoints(restPosition, new THREE.Vector3(startPoint[0], startPoint[1], startPoint[2])); @@ -211,7 +216,7 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) { setCurrentPhase("init"); setPath([]) removeCurrentAction(armBot.modelUuid) - + } }, [currentPhase, armBot, isPlaying, ikSolver, isReset]) @@ -258,14 +263,14 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) { } const logStatus = (id: string, status: string) => { // - + } return ( <> + logStatus={logStatus} path={path} currentPhase={currentPhase} /> ) } diff --git a/app/src/modules/simulation/roboticArm/roboticArm.tsx b/app/src/modules/simulation/roboticArm/roboticArm.tsx index 528b0bd..2cb9ea6 100644 --- a/app/src/modules/simulation/roboticArm/roboticArm.tsx +++ b/app/src/modules/simulation/roboticArm/roboticArm.tsx @@ -172,7 +172,6 @@ function RoboticArm() { }, [selectedProduct, products]); useEffect(() => { - }, [armBots]) useEffect(() => { diff --git a/app/src/modules/simulation/ui/arm/PickDropPoints.tsx b/app/src/modules/simulation/ui/arm/PickDropPoints.tsx index 831da7f..c44eee8 100644 --- a/app/src/modules/simulation/ui/arm/PickDropPoints.tsx +++ b/app/src/modules/simulation/ui/arm/PickDropPoints.tsx @@ -24,10 +24,7 @@ const PickDropPoints: React.FC = ({ handlePointerDown, isSelected, }) => { - - const groupRef = useRef(null); - return ( { const { selectedProduct } = useSelectedProduct(); const { armBots, updateStartPoint, updateEndPoint } = useArmBotStore(); const { scene } = useThree(); + const { selectedAction } = useSelectedAction(); const armUiPick = useGLTF(armPick) as any; const armUiDrop = useGLTF(armDrop) as any; @@ -37,43 +38,40 @@ const ArmBotUI = () => { if (selectedEventData?.data.type === "roboticArm") { const selectedArmBot = getEventByModelUuid(selectedProduct.productId, selectedEventData.data.modelUuid); - if (selectedArmBot) { - if (selectedArmBot.type === "roboticArm") { + if (selectedArmBot?.type === "roboticArm") { + setSelectedArmBotData(selectedArmBot); + const defaultPositions = getDefaultPositions(selectedArmBot.modelUuid); + const matchingAction = armBots?.flatMap((robot: ArmBotStatus) => robot.point.actions) + .find((action) => action.actionUuid === selectedAction.actionId); + if (matchingAction) { + const startPoint = matchingAction.process.startPoint; + const pickPosition = (!startPoint || (Array.isArray(startPoint) && startPoint.every(v => v === 0))) + ? defaultPositions.pick + : startPoint; - setSelectedArmBotData(selectedArmBot); + const endPoint = matchingAction.process.endPoint; + const dropPosition = (!endPoint || (Array.isArray(endPoint) && endPoint.every(v => v === 0))) + ? defaultPositions.drop + : endPoint; - const defaultPositions = getDefaultPositions(selectedArmBot.modelUuid); - - selectedArmBot?.point?.actions?.forEach((action: any) => { - if (action.actionType === "pickAndPlace") { - const startPoint = action.process.startPoint; - const pickPosition = (!startPoint || (Array.isArray(startPoint) && startPoint.every(v => v === 0))) - ? defaultPositions.pick - : startPoint; - const endPoint = action.process.endPoint; - const dropPosition = (!endPoint || (Array.isArray(endPoint) && endPoint.every(v => v === 0))) - ? defaultPositions.drop - : endPoint; - setStartPosition(pickPosition); - setEndPosition(dropPosition) - - } - }); + setStartPosition(pickPosition); + setEndPosition(dropPosition); } } } - }, [selectedEventData, selectedProduct, getEventByModelUuid]); + }, [selectedEventData, selectedProduct, getEventByModelUuid, selectedAction]); + function getDefaultPositions(modelUuid: string): Positions { const modelData = getEventByModelUuid(selectedProduct.productId, modelUuid); - + if (modelData?.type === "roboticArm") { const baseX = modelData.point.position?.[0] || 0; const baseY = modelData.point.position?.[1] || 0;; const baseZ = modelData.point.position?.[2] || 0; return { - pick: [baseX, baseY , baseZ + 0.5], - drop: [baseX, baseY , baseZ - 0.5], + pick: [baseX, baseY, baseZ + 0.5], + drop: [baseX, baseY, baseZ - 0.5], default: [baseX, baseY, baseZ], }; } @@ -118,13 +116,10 @@ const ArmBotUI = () => { if (actionType === "pick") { updatedProcess.startPoint = getLocalPosition(modelUuid, worldPositionArray); - // updatedProcess.startPoint = worldPositionArray setStartPosition(updatedProcess.startPoint) - updateStartPoint(modelUuid, actionUuid, updatedProcess.startPoint); } else if (actionType === "drop") { updatedProcess.endPoint = getLocalPosition(modelUuid, worldPositionArray); - // updatedProcess.endPoint = worldPositionArray setEndPosition(updatedProcess.endPoint) updateEndPoint(modelUuid, actionUuid, updatedProcess.endPoint); } @@ -143,47 +138,53 @@ const ArmBotUI = () => { useEffect(() => { -}, [armBots]) + }, [armBots]) const { handlePointerDown } = useDraggableGLTF(updatePointToState); if (!selectedArmBotData || !Array.isArray(selectedArmBotData.point?.actions)) { return null; // avoid rendering if no data yet } - return ( <> - {selectedArmBotData.point.actions.map((action: any) => ( - - - - - - - ))} + {selectedArmBotData.point.actions.map((action: any) => { + if (action.actionUuid === selectedAction.actionId) { + return ( + + + + + + + ); + } else { + return null; // important! must return something + } + })} ); + }; export default ArmBotUI;