From 4e652bb48e1dfcc3d1c98c15c049e90818771281 Mon Sep 17 00:00:00 2001
From: SreeNath14 <153710861+SreeNath14@users.noreply.github.com>
Date: Thu, 24 Apr 2025 09:47:44 +0530
Subject: [PATCH] feat: Enhance Robotic Arm functionality with state management
and action handling
---
.../instances/animator/roboticArmAnimator.tsx | 2 +-
.../armInstance/roboticArmInstance.tsx | 52 ++-
.../instances/roboticArmInstances.tsx | 12 +-
.../simulation/roboticArm/roboticArm.tsx | 98 +++++-
app/src/modules/simulation/simulation.tsx | 24 +-
app/src/store/simulation/useArmBotStore.ts | 298 +++++++++---------
6 files changed, 319 insertions(+), 167 deletions(-)
diff --git a/app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx b/app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx
index 0cd4fe2..6b35a43 100644
--- a/app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx
+++ b/app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx
@@ -1,6 +1,6 @@
import React from 'react'
-function RoboticArmAnimator() {
+function RoboticArmAnimator({ armUuid, HandleCallback, currentPhase }: any) {
return (
<>
)
diff --git a/app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx b/app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx
index 2817906..42b775a 100644
--- a/app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx
+++ b/app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx
@@ -1,14 +1,58 @@
-import React from 'react'
+import React, { useEffect, useState } from 'react'
import IKInstance from '../ikInstance/ikInstance';
import RoboticArmAnimator from '../animator/roboticArmAnimator';
+import { usePlayButtonStore } from '../../../../../store/usePlayButtonStore';
+import { useArmBotStore } from '../../../../../store/simulation/useArmBotStore';
+
+function RoboticArmInstance({ armBot }: any) {
+ const { isPlaying } = usePlayButtonStore();
+ const [currentPhase, setCurrentPhase] = useState<(string)>("init");
+ console.log('currentPhase: ', currentPhase);
+ const { armBots, addArmBot, addCurrentAction } = useArmBotStore();
+
+ useEffect(() => {
+
+ console.log('isPlaying: ', isPlaying);
+ if (isPlaying) {
+ //Moving armBot from initial point to rest position.
+
+ if (armBot?.isActive && armBot?.state == "idle" && currentPhase == "init") {
+ addCurrentAction(armBot.modelUuid, 'action-001');
+ setCurrentPhase("moving-to-rest");
+
+ }
+ //Waiting for trigger.
+ if (!armBot?.isActive && armBot?.state == "idle" && currentPhase == "moving-to-rest") {
+ setCurrentPhase("rest");
+ }
+ // Moving armBot from rest position to pick up point.
+ if (!armBot?.isActive && armBot?.state == "idle" && currentPhase == "rest") {
+
+ }
+ //Moving arm from start point to end point.
+ if (armBot?.isActive && armBot?.state == "running " && currentPhase == "rest-to-start ") {
+
+ }
+ //Moving arm from end point to idle.
+ if (armBot?.isActive && armBot?.state == "running" && currentPhase == "end-to-start") {
+
+ }
+
+ }
+
+ }, [currentPhase, armBot, isPlaying])
+
+ const HandleCallback = () => {
+ if (armBot.isActive && armBot.state == "idle" && currentPhase == "init") {
+ addCurrentAction('armbot-xyz-001', 'action-001');
+ }
+ }
-function RoboticArmInstance() {
return (
<>
-
-
+
)
diff --git a/app/src/modules/simulation/roboticArm/instances/roboticArmInstances.tsx b/app/src/modules/simulation/roboticArm/instances/roboticArmInstances.tsx
index 6e8a70a..1f963c8 100644
--- a/app/src/modules/simulation/roboticArm/instances/roboticArmInstances.tsx
+++ b/app/src/modules/simulation/roboticArm/instances/roboticArmInstances.tsx
@@ -1,11 +1,21 @@
import React from 'react'
import RoboticArmInstance from './armInstance/roboticArmInstance';
+import { useArmBotStore } from '../../../../store/simulation/useArmBotStore';
function RoboticArmInstances() {
+ const { armBots } = useArmBotStore();
+
+
return (
<>
+ {
+ armBots?.map((robot: any) => (
-
+
+ )
+ )
+
+ }
)
diff --git a/app/src/modules/simulation/roboticArm/roboticArm.tsx b/app/src/modules/simulation/roboticArm/roboticArm.tsx
index 1270d93..7899f56 100644
--- a/app/src/modules/simulation/roboticArm/roboticArm.tsx
+++ b/app/src/modules/simulation/roboticArm/roboticArm.tsx
@@ -1,15 +1,103 @@
-import React from 'react'
-import RoboticArmInstances from './instances/roboticArmInstances';
-import IkInstances from './instances/ikInstances';
+import React, { useEffect } from "react";
+import RoboticArmInstances from "./instances/roboticArmInstances";
+import IkInstances from "./instances/ikInstances";
+import { log } from "node:console";
+import { useArmBotStore } from "../../../store/simulation/useArmBotStore";
function RoboticArm() {
+ const { armBots, addArmBot, addCurrentAction } = useArmBotStore();
+
+ const armBotStatusSample: RoboticArmEventSchema[] = [
+ {
+ state: "idle",
+ // currentAction: {
+ // actionUuid: "action-001",
+ // actionName: "Pick Component",
+ // },
+ modelUuid: "armbot-xyz-001",
+ modelName: "ArmBot-X200",
+ position: [0, 0, 0],
+ rotation: [91.94347308985614, 0, 6.742905194869091],
+ type: "roboticArm",
+ speed: 1.5,
+ point: {
+ uuid: "point-123",
+ position: [0, 1.5, 0],
+ rotation: [0, 0, 0],
+ actions: [
+ {
+ actionUuid: "action-001",
+ actionName: "Pick Component",
+ actionType: "pickAndPlace",
+ process: {
+ startPoint: [1.2, 0.3, 0.5],
+ endPoint: [-0.8, 1.1, 0.7],
+ },
+ triggers: [
+ {
+ triggerUuid: "trigger-001",
+ triggerName: "Start Trigger",
+ triggerType: "onStart",
+ delay: 0,
+ triggeredAsset: {
+ triggeredModel: {
+ modelName: "Conveyor A1",
+ modelUuid: "conveyor-01",
+ },
+ triggeredPoint: {
+ pointName: "Start Point",
+ pointUuid: "conveyor-01-point-001",
+ },
+ triggeredAction: {
+ actionName: "Move Forward",
+ actionUuid: "conveyor-action-01",
+ },
+ },
+ },
+ {
+ triggerUuid: "trigger-002",
+ triggerName: "Complete Trigger",
+ triggerType: "onComplete",
+ delay: 0,
+ triggeredAsset: {
+ triggeredModel: {
+ modelName: "StaticMachine B2",
+ modelUuid: "machine-02",
+ },
+ triggeredPoint: {
+ pointName: "Receive Point",
+ pointUuid: "machine-02-point-001",
+ },
+ triggeredAction: {
+ actionName: "Process Part",
+ actionUuid: "machine-action-01",
+ },
+ },
+ },
+ ],
+ },
+ ],
+ },
+ },
+ ];
+
+ useEffect(() => {
+ addArmBot('123', armBotStatusSample[0]);
+ // addCurrentAction('armbot-xyz-001', 'action-001');
+ }, []);
+
+
+ useEffect(() => {
+ console.log('armBots: ', armBots);
+ }, [armBots]);
+
return (
<>
- )
+ );
}
-export default RoboticArm;
\ No newline at end of file
+export default RoboticArm;
diff --git a/app/src/modules/simulation/simulation.tsx b/app/src/modules/simulation/simulation.tsx
index 1be292e..556ed01 100644
--- a/app/src/modules/simulation/simulation.tsx
+++ b/app/src/modules/simulation/simulation.tsx
@@ -1,30 +1,30 @@
-import React, { useEffect } from 'react';
-import { useEventsStore } from '../../store/simulation/useEventsStore';
-import { useProductStore } from '../../store/simulation/useProductStore';
-import Vehicles from './vehicle/vehicles';
-import Points from './events/points/points';
+import React, { useEffect } from "react";
+import { useEventsStore } from "../../store/simulation/useEventsStore";
+import { useProductStore } from "../../store/simulation/useProductStore";
+import Vehicles from "./vehicle/vehicles";
+import Points from "./events/points/points";
+import RoboticArm from "./roboticArm/roboticArm";
function Simulation() {
const { events } = useEventsStore();
const { products } = useProductStore();
useEffect(() => {
- console.log('events: ', events);
- }, [events])
+ console.log("events: ", events);
+ }, [events]);
useEffect(() => {
// console.log('products: ', products);
- }, [products])
+ }, [products]);
return (
<>
-
-
+
- )
+ );
}
-export default Simulation
\ No newline at end of file
+export default Simulation;
diff --git a/app/src/store/simulation/useArmBotStore.ts b/app/src/store/simulation/useArmBotStore.ts
index 493a068..84f0ec9 100644
--- a/app/src/store/simulation/useArmBotStore.ts
+++ b/app/src/store/simulation/useArmBotStore.ts
@@ -1,160 +1,170 @@
-import { create } from 'zustand';
-import { immer } from 'zustand/middleware/immer';
+import { create } from "zustand";
+import { immer } from "zustand/middleware/immer";
interface ArmBotStore {
- armBots: ArmBotStatus[];
+ armBots: ArmBotStatus[];
- addArmBot: (productId: string, event: RoboticArmEventSchema) => void;
- removeArmBot: (modelUuid: string) => void;
- updateArmBot: (
- modelUuid: string,
- updates: Partial>
- ) => void;
+ addArmBot: (productId: string, event: RoboticArmEventSchema) => void;
+ removeArmBot: (modelUuid: string) => void;
- addCurrentAction: (modelUuid: string, actionUuid: string) => void;
- removeCurrentAction: (modelUuid: string) => void;
+ updateArmBot: (
+ modelUuid: string,
+ updates: Partial>
+ ) => void;
- addAction: (modelUuid: string, action: RoboticArmPointSchema['actions'][number]) => void;
- removeAction: (modelUuid: string, actionUuid: string) => void;
+ addCurrentAction: (modelUuid: string, actionUuid: string) => void;
+ removeCurrentAction: (modelUuid: string) => void;
- setArmBotActive: (modelUuid: string, isActive: boolean) => void;
+ addAction: (
+ modelUuid: string,
+ action: RoboticArmPointSchema["actions"][number]
+ ) => void;
+ removeAction: (modelUuid: string, actionUuid: string) => void;
- incrementActiveTime: (modelUuid: string, incrementBy: number) => void;
- incrementIdleTime: (modelUuid: string, incrementBy: number) => void;
+ setArmBotActive: (modelUuid: string, isActive: boolean) => void;
- getArmBotById: (modelUuid: string) => ArmBotStatus | undefined;
- getArmBotsByProduct: (productId: string) => ArmBotStatus[];
- getArmBotsByState: (state: string) => ArmBotStatus[];
- getActiveArmBots: () => ArmBotStatus[];
- getIdleArmBots: () => ArmBotStatus[];
- getArmBotsByCurrentAction: (actionUuid: string) => ArmBotStatus[];
+ incrementActiveTime: (modelUuid: string, incrementBy: number) => void;
+ incrementIdleTime: (modelUuid: string, incrementBy: number) => void;
+
+ getArmBotById: (modelUuid: string) => ArmBotStatus | undefined;
+ getArmBotsByProduct: (productId: string) => ArmBotStatus[];
+ getArmBotsByState: (state: string) => ArmBotStatus[];
+ getActiveArmBots: () => ArmBotStatus[];
+ getIdleArmBots: () => ArmBotStatus[];
+ getArmBotsByCurrentAction: (actionUuid: string) => ArmBotStatus[];
}
export const useArmBotStore = create()(
- immer((set, get) => ({
- armBots: [],
+ immer((set, get) => ({
+ armBots: [],
- addArmBot: (productId, event) => {
- set((state) => {
- state.armBots.push({
- ...event,
- productId,
- isActive: false,
- idleTime: 0,
- activeTime: 0,
- state: 'idle',
- });
- });
- },
+ addArmBot: (productId, event) => {
+ set((state) => {
+ state.armBots.push({
+ ...event,
+ productId,
+ isActive: false,
+ idleTime: 0,
+ activeTime: 0,
+ state: "idle",
+ });
+ });
+ },
- removeArmBot: (modelUuid) => {
- set((state) => {
- state.armBots = state.armBots.filter(a => a.modelUuid !== modelUuid);
- });
- },
+ removeArmBot: (modelUuid) => {
+ set((state) => {
+ state.armBots = state.armBots.filter((a) => a.modelUuid !== modelUuid);
+ });
+ },
- updateArmBot: (modelUuid, updates) => {
- set((state) => {
- const armBot = state.armBots.find(a => a.modelUuid === modelUuid);
- if (armBot) {
- Object.assign(armBot, updates);
- }
- });
- },
-
- addCurrentAction: (modelUuid, actionUuid) => {
- set((state) => {
- const armBot = state.armBots.find(a => a.modelUuid === modelUuid);
- if (armBot) {
- const action = armBot.point.actions.find(a => a.actionUuid === actionUuid);
- if (action) {
- armBot.currentAction = {
- actionUuid: action.actionUuid,
- actionName: action.actionName,
- };
- armBot.isActive = true;
- }
- }
- });
- },
-
- removeCurrentAction: (modelUuid) => {
- set((state) => {
- const armBot = state.armBots.find(a => a.modelUuid === modelUuid);
- if (armBot) {
- armBot.currentAction = undefined;
- armBot.isActive = false;
- }
- });
- },
-
- addAction: (modelUuid, action) => {
- set((state) => {
- const armBot = state.armBots.find(a => a.modelUuid === modelUuid);
- if (armBot) {
- armBot.point.actions.push(action);
- }
- });
- },
-
- 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);
+ updateArmBot: (modelUuid, updates) => {
+ set((state) => {
+ const armBot = state.armBots.find((a) => a.modelUuid === modelUuid);
+ if (armBot) {
+ Object.assign(armBot, updates);
}
- }))
+ });
+ },
+
+ addCurrentAction: (modelUuid, actionUuid) => {
+ set((state) => {
+ const armBot = state.armBots.find((a) => a.modelUuid === modelUuid);
+ if (armBot) {
+ const action = armBot.point.actions.find(
+ (a) => a.actionUuid === actionUuid
+ );
+ if (action) {
+ armBot.currentAction = {
+ actionUuid: action.actionUuid,
+ actionName: action.actionName,
+ };
+ armBot.isActive = true;
+ }
+ }
+ });
+ },
+
+ removeCurrentAction: (modelUuid) => {
+ set((state) => {
+ const armBot = state.armBots.find((a) => a.modelUuid === modelUuid);
+ if (armBot) {
+ armBot.currentAction = undefined;
+ armBot.isActive = false;
+ }
+ });
+ },
+
+ addAction: (modelUuid, action) => {
+ set((state) => {
+ const armBot = state.armBots.find((a) => a.modelUuid === modelUuid);
+ if (armBot) {
+ armBot.point.actions.push(action);
+ }
+ });
+ },
+
+ 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
+ );
+ },
+ }))
);