From 5c24d7ca71f82d474851c3b89e1c328e19f1f8ea Mon Sep 17 00:00:00 2001
From: Jerald-Golden-B <jerald@hexrfactory.com>
Date: Wed, 16 Apr 2025 10:47:12 +0530
Subject: [PATCH] feat: Improve trigger processing and static machine status
updates in IKAnimationController
---
.../armbot/IKAnimationController.tsx | 57 +++++++++----------
1 file changed, 28 insertions(+), 29 deletions(-)
diff --git a/app/src/modules/simulation/armbot/IKAnimationController.tsx b/app/src/modules/simulation/armbot/IKAnimationController.tsx
index 1044540..9f19797 100644
--- a/app/src/modules/simulation/armbot/IKAnimationController.tsx
+++ b/app/src/modules/simulation/armbot/IKAnimationController.tsx
@@ -114,10 +114,38 @@ const IKAnimationController = ({
if (prev.needsInitialMovement !== needsInitialMovement && !needsInitialMovement) {
logStatus(`[Arm ${uuid}] Reached rest position, ready for animation`);
+
}
if (prev.selectedTrigger !== selectedTrigger) {
logStatus(`[Arm ${uuid}] Processing new trigger: ${selectedTrigger}`);
+
+
+ const currentProcess = process.find(p => p.triggerId === prev.selectedTrigger);
+ if (currentProcess) {
+ const triggerId = currentProcess.triggerId;
+
+ const endPoint = armBot.actions.processes.find((process) => process.triggerId === triggerId)?.endPoint;
+
+ // Search simulationStates for a StaticMachine that has a point matching this endPointId
+ const matchedStaticMachine = simulationStates.find(
+ (state) =>
+ state.type === "StaticMachine" &&
+ state.points?.uuid === endPoint// check for static machine with matching point uuid
+ ) as any;
+
+ if (matchedStaticMachine) {
+ setStaticMachines((machines) => {
+ return machines.map((machine) => {
+ if (machine.uuid === matchedStaticMachine.modeluuid) {
+ return { ...machine, status: "running" };
+ } else {
+ return machine;
+ }
+ });
+ });
+ }
+ }
}
// Update previous state
@@ -249,35 +277,6 @@ const IKAnimationController = ({
} else if (progress >= startToEndRange[0] && progress < startToEndRange[1]) {
currentSpeed = speed;
currentStatus = "moving"; // Moving between points
- if (1 - progress < 0.05) {
- // Find the process that matches the current trigger
- const currentProcess = process.find(p => p.triggerId === selectedTrigger);
- if (currentProcess) {
- const triggerId = currentProcess.triggerId;
-
- const endPoint = armBot.actions.processes.find((process) => process.triggerId === triggerId)?.endPoint;
-
- // Search simulationStates for a StaticMachine that has a point matching this endPointId
- const matchedStaticMachine = simulationStates.find(
- (state) =>
- state.type === "StaticMachine" &&
- state.points?.uuid === endPoint// check for static machine with matching point uuid
- ) as any;
-
- if (matchedStaticMachine) {
- setStaticMachines((machines) => {
- return machines.map((machine) => {
- if (machine.uuid === matchedStaticMachine.modeluuid) {
- return { ...machine, status: "running" };
- } else {
- return machine;
- }
- });
- });
- }
- }
-
- }
} else if (progress >= endToRestRange[0] && progress < 1) {
currentSpeed = restSpeed;
currentStatus = "moving"; // Returning to rest