From bcc908bfca788034573248784421891649cf6f10 Mon Sep 17 00:00:00 2001
From: Poovizhi99 <poovizhi@hexrfactory.com>
Date: Wed, 23 Apr 2025 09:13:33 +0530
Subject: [PATCH 1/2] added static agv
---
.../builder/groups/floorItemsGroup.tsx | 4 +-
.../instances/instance/vehicleInstance.tsx | 2 +-
.../vehicle/instances/vehicleInstances.tsx | 9 ++-
.../modules/simulation/vehicle/vehicles.tsx | 63 ++++++++++++++++---
4 files changed, 66 insertions(+), 12 deletions(-)
diff --git a/app/src/modules/builder/groups/floorItemsGroup.tsx b/app/src/modules/builder/groups/floorItemsGroup.tsx
index 23fa80d..04376ce 100644
--- a/app/src/modules/builder/groups/floorItemsGroup.tsx
+++ b/app/src/modules/builder/groups/floorItemsGroup.tsx
@@ -16,10 +16,10 @@ import addAssetModel from "../geomentries/assets/addAssetModel";
import { getFloorAssets } from "../../../services/factoryBuilder/assest/floorAsset/getFloorItemsApi";
import useModuleStore from "../../../store/useModuleStore";
// import { retrieveGLTF } from "../../../utils/indexDB/idbUtils";
-const assetManagerWorker = new Worker(new URL("../../../services/factoryBuilder/webWorkers/assetManagerWorker.js", import.meta.url));
-const gltfLoaderWorker = new Worker(new URL("../../../services/factoryBuilder/webWorkers/gltfLoaderWorker.js", import.meta.url));
import { useEventsStore } from "../../../store/simulation/useEventsStore";
+const assetManagerWorker = new Worker(new URL("../../../services/factoryBuilder/webWorkers/assetManagerWorker.js", import.meta.url));
+const gltfLoaderWorker = new Worker(new URL("../../../services/factoryBuilder/webWorkers/gltfLoaderWorker.js", import.meta.url));
const FloorItemsGroup = ({ itemsGroup, hoveredDeletableFloorItem, AttachedObject, floorGroup, tempLoader, isTempLoader, plane, }: any) => {
const state: Types.ThreeState = useThree();
diff --git a/app/src/modules/simulation/vehicle/instances/instance/vehicleInstance.tsx b/app/src/modules/simulation/vehicle/instances/instance/vehicleInstance.tsx
index 0996b3c..283be58 100644
--- a/app/src/modules/simulation/vehicle/instances/instance/vehicleInstance.tsx
+++ b/app/src/modules/simulation/vehicle/instances/instance/vehicleInstance.tsx
@@ -1,7 +1,7 @@
import React from 'react'
import VehicleAnimator from '../animator/vehicleAnimator'
-function VehicleInstance() {
+function VehicleInstance({ agvDetails }: any) {
return (
<>
diff --git a/app/src/modules/simulation/vehicle/instances/vehicleInstances.tsx b/app/src/modules/simulation/vehicle/instances/vehicleInstances.tsx
index 13e15b7..8374080 100644
--- a/app/src/modules/simulation/vehicle/instances/vehicleInstances.tsx
+++ b/app/src/modules/simulation/vehicle/instances/vehicleInstances.tsx
@@ -1,11 +1,16 @@
import React from 'react'
import VehicleInstance from './instance/vehicleInstance'
-function VehicleInstances() {
+function VehicleInstances({ vehicles }: any) {
return (
<>
- <VehicleInstance />
+ {vehicles.map((val: any) =>
+
+ <VehicleInstance agvDetails={val} />
+ )
+
+ }
</>
)
diff --git a/app/src/modules/simulation/vehicle/vehicles.tsx b/app/src/modules/simulation/vehicle/vehicles.tsx
index 7a270d4..b5cf86f 100644
--- a/app/src/modules/simulation/vehicle/vehicles.tsx
+++ b/app/src/modules/simulation/vehicle/vehicles.tsx
@@ -9,8 +9,8 @@ function Vehicles() {
const vehicleStatusSample: VehicleStatus[] = [
{
- modelUuid: "veh-123",
- modelName: "Autonomous Truck A1",
+ modelUuid: "2c01ed76-359a-485b-83d4-052cfcdb9d89",
+ modelName: "AGV",
position: [10, 0, 5],
rotation: [0, 0, 0],
state: "idle",
@@ -18,7 +18,7 @@ function Vehicles() {
speed: 2.5,
point: {
uuid: "point-789",
- position: [0, 1, 0],
+ position: [93.42159216649789, 0, 23.790878603572857],
rotation: [0, 0, 0],
action: {
actionUuid: "action-456",
@@ -59,9 +59,58 @@ function Vehicles() {
distanceTraveled: 0
},
{
- modelUuid: "veh-123",
- modelName: "Autonomous Truck A1",
- position: [10, 0, 5],
+ modelUuid: "311130b9-4f2e-425a-b3b5-5039cb348806",
+ modelName: "AGV",
+ position: [95.69567023145055, 0, 33.18042399595448],
+ rotation: [0, 0, 0],
+ state: "idle",
+ type: "vehicle",
+ speed: 2.5,
+ point: {
+ uuid: "point-789",
+ position: [0, 1, 0],
+ rotation: [0, 0, 0],
+ action: {
+ actionUuid: "action-456",
+ actionName: "Deliver to Zone A",
+ actionType: "travel",
+ material: "crate",
+ unLoadDuration: 15,
+ loadCapacity: 5,
+ pickUpPoint: { x: 5, y: 0, z: 3 },
+ unLoadPoint: { x: 20, y: 0, z: 10 },
+ triggers: [
+ {
+ triggerUuid: "trig-001",
+ triggerName: "Start Travel",
+ triggerType: "onStart",
+ delay: 0,
+ triggeredAsset: {
+ triggeredModel: { modelName: "ArmBot-X", modelUuid: "arm-001" },
+ triggeredPoint: { pointName: "Pickup Arm Point", pointUuid: "arm-point-01" },
+ triggeredAction: { actionName: "Grab Widget", actionUuid: "grab-001" }
+ }
+ },
+ {
+ triggerUuid: "trig-002",
+ triggerName: "Complete Travel",
+ triggerType: "onComplete",
+ delay: 2,
+ triggeredAsset: null
+ }
+ ]
+ }
+ },
+ productId: "prod-890",
+ isActive: false,
+ idleTime: 0,
+ activeTime: 0,
+ currentLoad: 0,
+ distanceTraveled: 0
+ }, {
+ modelUuid: "fa54132c-8333-4832-becb-5281f5e11549",
+ modelName: "AGV",
+ position: [102.71483985219794, 0, 23.66321267938962],
rotation: [0, 0, 0],
state: "idle",
type: "vehicle",
@@ -124,7 +173,7 @@ function Vehicles() {
return (
<>
- <VehicleInstances />
+ <VehicleInstances vehicles={vehicles} />
</>
)
From 4ad5e1255b864672ff1ca83f0019cf2d782ba617 Mon Sep 17 00:00:00 2001
From: Poovizhi99 <poovizhi@hexrfactory.com>
Date: Wed, 23 Apr 2025 12:25:52 +0530
Subject: [PATCH 2/2] added functionalities for vehicle
---
.../instances/animator/vehicleAnimator.tsx | 36 +++++++++-
.../instances/instance/vehicleInstance.tsx | 65 +++++++++++++++++--
.../vehicle/instances/vehicleInstances.tsx | 9 +--
.../modules/simulation/vehicle/vehicles.tsx | 1 +
4 files changed, 97 insertions(+), 14 deletions(-)
diff --git a/app/src/modules/simulation/vehicle/instances/animator/vehicleAnimator.tsx b/app/src/modules/simulation/vehicle/instances/animator/vehicleAnimator.tsx
index 14cb6fa..db6bedb 100644
--- a/app/src/modules/simulation/vehicle/instances/animator/vehicleAnimator.tsx
+++ b/app/src/modules/simulation/vehicle/instances/animator/vehicleAnimator.tsx
@@ -1,6 +1,38 @@
-import React from 'react'
+import { useFrame, useThree } from '@react-three/fiber';
+import React, { useEffect, useState } from 'react'
-function VehicleAnimator() {
+interface VehicleAnimatorProps {
+ path: [number, number, number][];
+ handleCallBack: () => void;
+ currentPhase: string;
+ agvUuid: number
+}
+
+
+function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid }: VehicleAnimatorProps) {
+
+ const [currentPath, setCurrentPath] = useState<[number, number, number][]>([]);
+ const { scene } = useThree();
+
+ useEffect(() => {
+
+ if (currentPhase === 'stationed-pickup' && path.length > 0) {
+
+
+ setCurrentPath(path);
+
+ }
+
+ }, [currentPhase, path])
+
+ useFrame(() => {
+ if (currentPath.length === 0) return;
+ const object = scene.getObjectByProperty("uuid", agvUuid);
+ if (!object) return;
+
+
+
+ })
return (
<>
</>
diff --git a/app/src/modules/simulation/vehicle/instances/instance/vehicleInstance.tsx b/app/src/modules/simulation/vehicle/instances/instance/vehicleInstance.tsx
index 283be58..e381311 100644
--- a/app/src/modules/simulation/vehicle/instances/instance/vehicleInstance.tsx
+++ b/app/src/modules/simulation/vehicle/instances/instance/vehicleInstance.tsx
@@ -1,14 +1,67 @@
-import React from 'react'
+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) {
- return (
- <>
+ const { navMesh } = useNavMesh();
+ const { isPlaying } = usePlayButtonStore();
+ const { setVehicleActive, setVehicleState } = useVehicleStore();
+ const [currentPhase, setCurrentPhase] = useState<(string)>("stationed");
+ const [path, setPath] = useState<[number, number, number][]>([]);
- <VehicleAnimator />
+ 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]);
+
+ 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")
+ //
+ }
+ }
+ }, [agvDetails, currentPhase, path, isPlaying])
+
+ function handleCallBack() {
+ if (currentPhase === "stationed-pickup") {
+ setVehicleActive(agvDetails.modelUuid, false)
+ setVehicleState(agvDetails.modelUuid, "idle")
+ setCurrentPhase("picking")
+ setPath([])
+ }
+ }
+
+
+ return (
+ <>
+
+ <VehicleAnimator path={path} handleCallBack={handleCallBack} currentPhase={currentPhase} agvUuid={agvDetails?.modelUUID} />
+
+ </>
+ )
}
export default VehicleInstance
\ No newline at end of file
diff --git a/app/src/modules/simulation/vehicle/instances/vehicleInstances.tsx b/app/src/modules/simulation/vehicle/instances/vehicleInstances.tsx
index 8374080..f3f1435 100644
--- a/app/src/modules/simulation/vehicle/instances/vehicleInstances.tsx
+++ b/app/src/modules/simulation/vehicle/instances/vehicleInstances.tsx
@@ -5,12 +5,9 @@ function VehicleInstances({ vehicles }: any) {
return (
<>
- {vehicles.map((val: any) =>
-
- <VehicleInstance agvDetails={val} />
- )
-
- }
+ {vehicles.map((val: any, i: any) =>
+ <VehicleInstance agvDetails={val} key={i} />
+ )}
</>
)
diff --git a/app/src/modules/simulation/vehicle/vehicles.tsx b/app/src/modules/simulation/vehicle/vehicles.tsx
index b5cf86f..b9bc07b 100644
--- a/app/src/modules/simulation/vehicle/vehicles.tsx
+++ b/app/src/modules/simulation/vehicle/vehicles.tsx
@@ -163,6 +163,7 @@ function Vehicles() {
useEffect(() => {
addVehicle('123', vehicleStatusSample[0]);
addVehicle('123', vehicleStatusSample[1]);
+ addVehicle('123', vehicleStatusSample[2]);
}, [])
useEffect(() => {