feat: Enhance Robotic Arm functionality with state management and action handling
This commit is contained in:
SreeNath14
parent
04f91585e6
commit
4e652bb48e
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@ -1,6 +1,6 @@
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import React from 'react'
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function RoboticArmAnimator() {
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function RoboticArmAnimator({ armUuid, HandleCallback, currentPhase }: any) {
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return (
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<></>
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)
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@ -1,14 +1,58 @@
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import React from 'react'
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import React, { useEffect, useState } from 'react'
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import IKInstance from '../ikInstance/ikInstance';
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import RoboticArmAnimator from '../animator/roboticArmAnimator';
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import { usePlayButtonStore } from '../../../../../store/usePlayButtonStore';
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import { useArmBotStore } from '../../../../../store/simulation/useArmBotStore';
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function RoboticArmInstance({ armBot }: any) {
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const { isPlaying } = usePlayButtonStore();
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const [currentPhase, setCurrentPhase] = useState<(string)>("init");
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console.log('currentPhase: ', currentPhase);
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const { armBots, addArmBot, addCurrentAction } = useArmBotStore();
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useEffect(() => {
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console.log('isPlaying: ', isPlaying);
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if (isPlaying) {
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//Moving armBot from initial point to rest position.
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if (armBot?.isActive && armBot?.state == "idle" && currentPhase == "init") {
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addCurrentAction(armBot.modelUuid, 'action-001');
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setCurrentPhase("moving-to-rest");
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}
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//Waiting for trigger.
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if (!armBot?.isActive && armBot?.state == "idle" && currentPhase == "moving-to-rest") {
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setCurrentPhase("rest");
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}
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// Moving armBot from rest position to pick up point.
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if (!armBot?.isActive && armBot?.state == "idle" && currentPhase == "rest") {
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}
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//Moving arm from start point to end point.
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if (armBot?.isActive && armBot?.state == "running " && currentPhase == "rest-to-start ") {
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}
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//Moving arm from end point to idle.
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if (armBot?.isActive && armBot?.state == "running" && currentPhase == "end-to-start") {
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}
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}
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}, [currentPhase, armBot, isPlaying])
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const HandleCallback = () => {
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if (armBot.isActive && armBot.state == "idle" && currentPhase == "init") {
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addCurrentAction('armbot-xyz-001', 'action-001');
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}
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}
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function RoboticArmInstance() {
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return (
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<>
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<IKInstance />
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<RoboticArmAnimator />
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<RoboticArmAnimator armUuid={armBot?.modelUuid} HandleCallback={HandleCallback} currentPhase={currentPhase} />
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</>
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)
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@ -1,11 +1,21 @@
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import React from 'react'
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import RoboticArmInstance from './armInstance/roboticArmInstance';
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import { useArmBotStore } from '../../../../store/simulation/useArmBotStore';
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function RoboticArmInstances() {
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const { armBots } = useArmBotStore();
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return (
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<>
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{
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armBots?.map((robot: any) => (
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<RoboticArmInstance />
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<RoboticArmInstance armdetals={robot} />
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)
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)
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}
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</>
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)
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@ -1,15 +1,103 @@
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import React from 'react'
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import RoboticArmInstances from './instances/roboticArmInstances';
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import IkInstances from './instances/ikInstances';
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import React, { useEffect } from "react";
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import RoboticArmInstances from "./instances/roboticArmInstances";
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import IkInstances from "./instances/ikInstances";
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import { log } from "node:console";
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import { useArmBotStore } from "../../../store/simulation/useArmBotStore";
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function RoboticArm() {
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const { armBots, addArmBot, addCurrentAction } = useArmBotStore();
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const armBotStatusSample: RoboticArmEventSchema[] = [
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{
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state: "idle",
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// currentAction: {
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// actionUuid: "action-001",
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// actionName: "Pick Component",
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// },
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modelUuid: "armbot-xyz-001",
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modelName: "ArmBot-X200",
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position: [0, 0, 0],
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rotation: [91.94347308985614, 0, 6.742905194869091],
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type: "roboticArm",
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speed: 1.5,
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point: {
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uuid: "point-123",
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position: [0, 1.5, 0],
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rotation: [0, 0, 0],
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actions: [
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{
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actionUuid: "action-001",
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actionName: "Pick Component",
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actionType: "pickAndPlace",
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process: {
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startPoint: [1.2, 0.3, 0.5],
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endPoint: [-0.8, 1.1, 0.7],
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},
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triggers: [
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{
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triggerUuid: "trigger-001",
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triggerName: "Start Trigger",
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triggerType: "onStart",
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delay: 0,
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triggeredAsset: {
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triggeredModel: {
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modelName: "Conveyor A1",
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modelUuid: "conveyor-01",
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},
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triggeredPoint: {
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pointName: "Start Point",
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pointUuid: "conveyor-01-point-001",
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},
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triggeredAction: {
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actionName: "Move Forward",
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actionUuid: "conveyor-action-01",
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},
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},
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},
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{
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triggerUuid: "trigger-002",
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triggerName: "Complete Trigger",
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triggerType: "onComplete",
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delay: 0,
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triggeredAsset: {
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triggeredModel: {
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modelName: "StaticMachine B2",
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modelUuid: "machine-02",
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},
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triggeredPoint: {
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pointName: "Receive Point",
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pointUuid: "machine-02-point-001",
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},
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triggeredAction: {
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actionName: "Process Part",
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actionUuid: "machine-action-01",
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},
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},
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},
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],
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},
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],
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},
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},
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];
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useEffect(() => {
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addArmBot('123', armBotStatusSample[0]);
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// addCurrentAction('armbot-xyz-001', 'action-001');
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}, []);
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useEffect(() => {
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console.log('armBots: ', armBots);
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}, [armBots]);
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return (
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<>
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<RoboticArmInstances />
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</>
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)
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);
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}
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export default RoboticArm;
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export default RoboticArm;
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@ -1,30 +1,30 @@
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import React, { useEffect } from 'react';
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import { useEventsStore } from '../../store/simulation/useEventsStore';
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import { useProductStore } from '../../store/simulation/useProductStore';
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import Vehicles from './vehicle/vehicles';
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import Points from './events/points/points';
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import React, { useEffect } from "react";
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import { useEventsStore } from "../../store/simulation/useEventsStore";
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import { useProductStore } from "../../store/simulation/useProductStore";
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import Vehicles from "./vehicle/vehicles";
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import Points from "./events/points/points";
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import RoboticArm from "./roboticArm/roboticArm";
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function Simulation() {
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const { events } = useEventsStore();
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const { products } = useProductStore();
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useEffect(() => {
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console.log('events: ', events);
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}, [events])
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console.log("events: ", events);
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}, [events]);
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useEffect(() => {
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// console.log('products: ', products);
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}, [products])
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}, [products]);
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return (
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<>
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<Points />
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<Vehicles />
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<RoboticArm />
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</>
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)
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);
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}
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export default Simulation
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export default Simulation;
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@ -1,160 +1,170 @@
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import { create } from 'zustand';
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import { immer } from 'zustand/middleware/immer';
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import { create } from "zustand";
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import { immer } from "zustand/middleware/immer";
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interface ArmBotStore {
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armBots: ArmBotStatus[];
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armBots: ArmBotStatus[];
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addArmBot: (productId: string, event: RoboticArmEventSchema) => void;
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removeArmBot: (modelUuid: string) => void;
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updateArmBot: (
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modelUuid: string,
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updates: Partial<Omit<ArmBotStatus, 'modelUuid' | 'productId'>>
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) => void;
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addArmBot: (productId: string, event: RoboticArmEventSchema) => void;
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removeArmBot: (modelUuid: string) => void;
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addCurrentAction: (modelUuid: string, actionUuid: string) => void;
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removeCurrentAction: (modelUuid: string) => void;
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updateArmBot: (
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modelUuid: string,
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updates: Partial<Omit<ArmBotStatus, "modelUuid" | "productId">>
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) => void;
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addAction: (modelUuid: string, action: RoboticArmPointSchema['actions'][number]) => void;
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removeAction: (modelUuid: string, actionUuid: string) => void;
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addCurrentAction: (modelUuid: string, actionUuid: string) => void;
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removeCurrentAction: (modelUuid: string) => void;
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setArmBotActive: (modelUuid: string, isActive: boolean) => void;
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addAction: (
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modelUuid: string,
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action: RoboticArmPointSchema["actions"][number]
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) => void;
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removeAction: (modelUuid: string, actionUuid: string) => void;
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incrementActiveTime: (modelUuid: string, incrementBy: number) => void;
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incrementIdleTime: (modelUuid: string, incrementBy: number) => void;
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setArmBotActive: (modelUuid: string, isActive: boolean) => void;
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getArmBotById: (modelUuid: string) => ArmBotStatus | undefined;
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getArmBotsByProduct: (productId: string) => ArmBotStatus[];
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getArmBotsByState: (state: string) => ArmBotStatus[];
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getActiveArmBots: () => ArmBotStatus[];
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getIdleArmBots: () => ArmBotStatus[];
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getArmBotsByCurrentAction: (actionUuid: string) => ArmBotStatus[];
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incrementActiveTime: (modelUuid: string, incrementBy: number) => void;
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incrementIdleTime: (modelUuid: string, incrementBy: number) => void;
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getArmBotById: (modelUuid: string) => ArmBotStatus | undefined;
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getArmBotsByProduct: (productId: string) => ArmBotStatus[];
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getArmBotsByState: (state: string) => ArmBotStatus[];
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getActiveArmBots: () => ArmBotStatus[];
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getIdleArmBots: () => ArmBotStatus[];
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getArmBotsByCurrentAction: (actionUuid: string) => ArmBotStatus[];
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}
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export const useArmBotStore = create<ArmBotStore>()(
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immer((set, get) => ({
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armBots: [],
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immer((set, get) => ({
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armBots: [],
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addArmBot: (productId, event) => {
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set((state) => {
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state.armBots.push({
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...event,
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productId,
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isActive: false,
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idleTime: 0,
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activeTime: 0,
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state: 'idle',
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});
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});
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},
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addArmBot: (productId, event) => {
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set((state) => {
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state.armBots.push({
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...event,
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productId,
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isActive: false,
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idleTime: 0,
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activeTime: 0,
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state: "idle",
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});
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});
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},
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removeArmBot: (modelUuid) => {
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set((state) => {
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state.armBots = state.armBots.filter(a => a.modelUuid !== modelUuid);
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});
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},
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removeArmBot: (modelUuid) => {
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set((state) => {
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state.armBots = state.armBots.filter((a) => a.modelUuid !== modelUuid);
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});
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},
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updateArmBot: (modelUuid, updates) => {
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set((state) => {
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const armBot = state.armBots.find(a => a.modelUuid === modelUuid);
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if (armBot) {
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Object.assign(armBot, updates);
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}
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});
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},
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addCurrentAction: (modelUuid, actionUuid) => {
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set((state) => {
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const armBot = state.armBots.find(a => a.modelUuid === modelUuid);
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if (armBot) {
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const action = armBot.point.actions.find(a => a.actionUuid === actionUuid);
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if (action) {
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armBot.currentAction = {
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actionUuid: action.actionUuid,
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actionName: action.actionName,
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};
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armBot.isActive = true;
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}
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}
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});
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},
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removeCurrentAction: (modelUuid) => {
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set((state) => {
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const armBot = state.armBots.find(a => a.modelUuid === modelUuid);
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if (armBot) {
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armBot.currentAction = undefined;
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armBot.isActive = false;
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}
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});
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},
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addAction: (modelUuid, action) => {
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set((state) => {
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const armBot = state.armBots.find(a => a.modelUuid === modelUuid);
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if (armBot) {
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armBot.point.actions.push(action);
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}
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});
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},
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removeAction: (modelUuid, actionUuid) => {
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set((state) => {
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const armBot = state.armBots.find(a => a.modelUuid === modelUuid);
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if (armBot) {
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armBot.point.actions = armBot.point.actions.filter(a => a.actionUuid !== actionUuid);
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}
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});
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},
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setArmBotActive: (modelUuid, isActive) => {
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set((state) => {
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const armBot = state.armBots.find(a => a.modelUuid === modelUuid);
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if (armBot) {
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armBot.isActive = isActive;
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}
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});
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},
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incrementActiveTime: (modelUuid, incrementBy) => {
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set((state) => {
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const armBot = state.armBots.find(a => a.modelUuid === modelUuid);
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if (armBot) {
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armBot.activeTime += incrementBy;
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}
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});
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},
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incrementIdleTime: (modelUuid, incrementBy) => {
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set((state) => {
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const armBot = state.armBots.find(a => a.modelUuid === modelUuid);
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if (armBot) {
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armBot.idleTime += incrementBy;
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}
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});
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},
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getArmBotById: (modelUuid) => {
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return get().armBots.find(a => a.modelUuid === modelUuid);
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},
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getArmBotsByProduct: (productId) => {
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return get().armBots.filter(a => a.productId === productId);
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},
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getArmBotsByState: (state) => {
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return get().armBots.filter(a => a.state === state);
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},
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getActiveArmBots: () => {
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return get().armBots.filter(a => a.isActive);
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},
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getIdleArmBots: () => {
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return get().armBots.filter(a => !a.isActive && a.state === 'idle');
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},
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getArmBotsByCurrentAction: (actionUuid) => {
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return get().armBots.filter(a => a.currentAction?.actionUuid === actionUuid);
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updateArmBot: (modelUuid, updates) => {
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set((state) => {
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const armBot = state.armBots.find((a) => a.modelUuid === modelUuid);
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if (armBot) {
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Object.assign(armBot, updates);
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}
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}))
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});
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},
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addCurrentAction: (modelUuid, actionUuid) => {
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set((state) => {
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const armBot = state.armBots.find((a) => a.modelUuid === modelUuid);
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if (armBot) {
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const action = armBot.point.actions.find(
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(a) => a.actionUuid === actionUuid
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);
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if (action) {
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armBot.currentAction = {
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actionUuid: action.actionUuid,
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actionName: action.actionName,
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};
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armBot.isActive = true;
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}
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}
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});
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},
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removeCurrentAction: (modelUuid) => {
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set((state) => {
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const armBot = state.armBots.find((a) => a.modelUuid === modelUuid);
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if (armBot) {
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armBot.currentAction = undefined;
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armBot.isActive = false;
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}
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});
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},
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addAction: (modelUuid, action) => {
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set((state) => {
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const armBot = state.armBots.find((a) => a.modelUuid === modelUuid);
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if (armBot) {
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armBot.point.actions.push(action);
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}
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});
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},
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|
||||
removeAction: (modelUuid, actionUuid) => {
|
||||
set((state) => {
|
||||
const armBot = state.armBots.find((a) => a.modelUuid === modelUuid);
|
||||
if (armBot) {
|
||||
armBot.point.actions = armBot.point.actions.filter(
|
||||
(a) => a.actionUuid !== actionUuid
|
||||
);
|
||||
}
|
||||
});
|
||||
},
|
||||
|
||||
setArmBotActive: (modelUuid, isActive) => {
|
||||
set((state) => {
|
||||
const armBot = state.armBots.find((a) => a.modelUuid === modelUuid);
|
||||
if (armBot) {
|
||||
armBot.isActive = isActive;
|
||||
}
|
||||
});
|
||||
},
|
||||
|
||||
incrementActiveTime: (modelUuid, incrementBy) => {
|
||||
set((state) => {
|
||||
const armBot = state.armBots.find((a) => a.modelUuid === modelUuid);
|
||||
if (armBot) {
|
||||
armBot.activeTime += incrementBy;
|
||||
}
|
||||
});
|
||||
},
|
||||
|
||||
incrementIdleTime: (modelUuid, incrementBy) => {
|
||||
set((state) => {
|
||||
const armBot = state.armBots.find((a) => a.modelUuid === modelUuid);
|
||||
if (armBot) {
|
||||
armBot.idleTime += incrementBy;
|
||||
}
|
||||
});
|
||||
},
|
||||
|
||||
getArmBotById: (modelUuid) => {
|
||||
return get().armBots.find((a) => a.modelUuid === modelUuid);
|
||||
},
|
||||
|
||||
getArmBotsByProduct: (productId) => {
|
||||
return get().armBots.filter((a) => a.productId === productId);
|
||||
},
|
||||
|
||||
getArmBotsByState: (state) => {
|
||||
return get().armBots.filter((a) => a.state === state);
|
||||
},
|
||||
|
||||
getActiveArmBots: () => {
|
||||
return get().armBots.filter((a) => a.isActive);
|
||||
},
|
||||
|
||||
getIdleArmBots: () => {
|
||||
return get().armBots.filter((a) => !a.isActive && a.state === "idle");
|
||||
},
|
||||
|
||||
getArmBotsByCurrentAction: (actionUuid) => {
|
||||
return get().armBots.filter(
|
||||
(a) => a.currentAction?.actionUuid === actionUuid
|
||||
);
|
||||
},
|
||||
}))
|
||||
);
|
||||
|
|
|
|||
Loading…
Reference in New Issue