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Merge remote-tracking branch 'origin/simulation-agv-v2' into v2

This commit is contained in:
Jerald-Golden-B 2025-04-29 09:11:34 +05:30
parent 1651e972db 29d38b4b40
commit 62bfce104c
2 changed files with 140 additions and 26 deletions
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149
app/src/modules/simulation/vehicle/instances/animator/vehicleAnimator.tsx
View File

@ -9,12 +9,13 @@ import { useVehicleStore } from '../../../../../store/simulation/useVehicleStore
interface VehicleAnimatorProps { interface VehicleAnimatorProps {
path: [number, number, number][]; path: [number, number, number][];
handleCallBack: () => void; handleCallBack: () => void;
reset: () => void;
currentPhase: string; currentPhase: string;
agvUuid: number; agvUuid: number;
agvDetail: any; agvDetail: any;
} }
function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetail }: VehicleAnimatorProps) { function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetail, reset }: VehicleAnimatorProps) {
const { decrementVehicleLoad, vehicles } = useVehicleStore(); const { decrementVehicleLoad, vehicles } = useVehicleStore();
const { isPaused } = usePauseButtonStore(); const { isPaused } = usePauseButtonStore();
const { speed } = useAnimationPlaySpeed(); const { speed } = useAnimationPlaySpeed();
@ -44,8 +45,118 @@ function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetai
setProgress(0); setProgress(0);
completedRef.current = false; completedRef.current = false;
}, [currentPath]); }, [currentPath]);
// useEffect(() => {
// console.log('isReset: ', isReset);
// if (isReset) {
// reset();
// setCurrentPath([]);
// setProgress(0);
// completedRef.current = false;
// decrementVehicleLoad(agvDetail.modelUuid, 0)
// }
// }, [isReset])
// useFrame((_, delta) => {
// const object = scene.getObjectByProperty('uuid', agvUuid);
// if (!object || currentPath.length < 2) return;
// if (isPaused) return;
// let totalDistance = 0;
// const distances = [];
// for (let i = 0; i < currentPath.length - 1; i++) {
// const start = new THREE.Vector3(...currentPath[i]);
// const end = new THREE.Vector3(...currentPath[i + 1]);
// const segmentDistance = start.distanceTo(end);
// distances.push(segmentDistance);
// totalDistance += segmentDistance;
// }
// let coveredDistance = progressRef.current;
// let accumulatedDistance = 0;
// let index = 0;
// while (
// index < distances.length &&
// coveredDistance > accumulatedDistance + distances[index]
// ) {
// accumulatedDistance += distances[index];
// index++;
// }
// if (index < distances.length) {
// const start = new THREE.Vector3(...currentPath[index]);
// const end = new THREE.Vector3(...currentPath[index + 1]);
// const segmentDistance = distances[index];
// const currentDirection = new THREE.Vector3().subVectors(end, start).normalize();
// const targetAngle = Math.atan2(currentDirection.x, currentDirection.z);
// const rotationSpeed = 2.0;
// const currentAngle = object.rotation.y;
// let angleDifference = targetAngle - currentAngle;
// if (angleDifference > Math.PI) angleDifference -= 2 * Math.PI;
// if (angleDifference < -Math.PI) angleDifference += 2 * Math.PI;
// const maxRotationStep = rotationSpeed * delta;
// object.rotation.y += Math.sign(angleDifference) * Math.min(Math.abs(angleDifference), maxRotationStep);
// const isAligned = Math.abs(angleDifference) < 0.01;
// if (isAligned) {
// progressRef.current += delta * (speed * agvDetail.speed);
// coveredDistance = progressRef.current;
// const t = (coveredDistance - accumulatedDistance) / segmentDistance;
// const position = start.clone().lerp(end, t);
// object.position.copy(position);
// }
// }
// if (progressRef.current >= totalDistance) {
// if (restRotation) {
// const targetQuaternion = new THREE.Quaternion().setFromEuler(new THREE.Euler(0, 0, 0));
// object.quaternion.slerp(targetQuaternion, delta * 2);
// const angleDiff = object.quaternion.angleTo(targetQuaternion);
// if (angleDiff < 0.01) {
// let objectRotation = agvDetail.point.rotation
// object.rotation.set(objectRotation[0], objectRotation[1], objectRotation[2]);
// setRestingRotation(false);
// }
// return;
// }
// }
// if (progressRef.current >= totalDistance) {
// setRestingRotation(true);
// progressRef.current = 0;
// movingForward.current = !movingForward.current;
// setCurrentPath([]);
// handleCallBack();
// if (currentPhase === 'pickup-drop') {
// requestAnimationFrame(firstFrame);
// }
// }
// });
useEffect(() => {
console.log('isReset: ', isReset);
if (isReset) {
reset();
setCurrentPath([]);
setProgress(0);
progressRef.current = 0;
completedRef.current = false;
movingForward.current = true;
setRestingRotation(false);
decrementVehicleLoad(agvDetail.modelUuid, 0);
console.log('agvDetail: ', vehicles);
}
}, [isReset]);
useFrame((_, delta) => { useFrame((_, delta) => {
// If reset is active, don't run anything in frame
if (isReset) return;
const object = scene.getObjectByProperty('uuid', agvUuid); const object = scene.getObjectByProperty('uuid', agvUuid);
if (!object || currentPath.length < 2) return; if (!object || currentPath.length < 2) return;
if (isPaused) return; if (isPaused) return;
@ -65,10 +176,7 @@ function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetai
let accumulatedDistance = 0; let accumulatedDistance = 0;
let index = 0; let index = 0;
while ( while (index < distances.length && coveredDistance > accumulatedDistance + distances[index]) {
index < distances.length &&
coveredDistance > accumulatedDistance + distances[index]
) {
accumulatedDistance += distances[index]; accumulatedDistance += distances[index];
index++; index++;
} }
@ -80,15 +188,16 @@ function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetai
const currentDirection = new THREE.Vector3().subVectors(end, start).normalize(); const currentDirection = new THREE.Vector3().subVectors(end, start).normalize();
const targetAngle = Math.atan2(currentDirection.x, currentDirection.z); const targetAngle = Math.atan2(currentDirection.x, currentDirection.z);
const rotationSpeed = 2.0;
const currentAngle = object.rotation.y; const currentAngle = object.rotation.y;
let angleDifference = targetAngle - currentAngle; let angleDifference = targetAngle - currentAngle;
if (angleDifference > Math.PI) angleDifference -= 2 * Math.PI; if (angleDifference > Math.PI) angleDifference -= 2 * Math.PI;
if (angleDifference < -Math.PI) angleDifference += 2 * Math.PI; if (angleDifference < -Math.PI) angleDifference += 2 * Math.PI;
const rotationSpeed = 2.0;
const maxRotationStep = rotationSpeed * delta; const maxRotationStep = rotationSpeed * delta;
object.rotation.y += Math.sign(angleDifference) * Math.min(Math.abs(angleDifference), maxRotationStep); const rotationStep = Math.sign(angleDifference) * Math.min(Math.abs(angleDifference), maxRotationStep);
object.rotation.y += rotationStep;
const isAligned = Math.abs(angleDifference) < 0.01; const isAligned = Math.abs(angleDifference) < 0.01;
@ -108,22 +217,19 @@ function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetai
object.quaternion.slerp(targetQuaternion, delta * 2); object.quaternion.slerp(targetQuaternion, delta * 2);
const angleDiff = object.quaternion.angleTo(targetQuaternion); const angleDiff = object.quaternion.angleTo(targetQuaternion);
if (angleDiff < 0.01) { if (angleDiff < 0.01) {
let objectRotation = agvDetail.point.rotation const objectRotation = agvDetail.point.rotation;
object.rotation.set(objectRotation[0], objectRotation[1], objectRotation[2]); object.rotation.set(objectRotation[0], objectRotation[1], objectRotation[2]);
setRestingRotation(false); setRestingRotation(false);
} }
return; } else {
} setRestingRotation(true);
} progressRef.current = 0;
movingForward.current = !movingForward.current;
if (progressRef.current >= totalDistance) { setCurrentPath([]);
setRestingRotation(true); handleCallBack();
progressRef.current = 0; if (currentPhase === 'pickup-drop') {
movingForward.current = !movingForward.current; requestAnimationFrame(firstFrame);
setCurrentPath([]); }
handleCallBack();
if (currentPhase === 'pickup-drop') {
requestAnimationFrame(firstFrame);
} }
} }
}); });
@ -137,8 +243,7 @@ function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetai
} }
function step(droppedMaterial: number) { function step(droppedMaterial: number) {
const elapsedTime = performance.now() - startTime; const elapsedTime = (performance.now() - startTime) * speed;
if (elapsedTime >= fixedInterval) { if (elapsedTime >= fixedInterval) {
let droppedMat = droppedMaterial - 1; let droppedMat = droppedMaterial - 1;
decrementVehicleLoad(agvDetail.modelUuid, 1); decrementVehicleLoad(agvDetail.modelUuid, 1);

17
app/src/modules/simulation/vehicle/instances/instance/vehicleInstance.tsx
View File

@ -3,12 +3,13 @@ import VehicleAnimator from '../animator/vehicleAnimator';
import * as THREE from 'three'; import * as THREE from 'three';
import { NavMeshQuery } from '@recast-navigation/core'; import { NavMeshQuery } from '@recast-navigation/core';
import { useNavMesh } from '../../../../../store/store'; import { useNavMesh } from '../../../../../store/store';
import { usePlayButtonStore } from '../../../../../store/usePlayButtonStore'; import { usePlayButtonStore, useResetButtonStore } from '../../../../../store/usePlayButtonStore';
import { useVehicleStore } from '../../../../../store/simulation/useVehicleStore'; import { useVehicleStore } from '../../../../../store/simulation/useVehicleStore';
function VehicleInstance({ agvDetail }: any) { function VehicleInstance({ agvDetail }: any) {
const { navMesh } = useNavMesh(); const { navMesh } = useNavMesh();
const { isPlaying } = usePlayButtonStore(); const { isPlaying, setIsPlaying } = usePlayButtonStore();
const { isReset } = useResetButtonStore();
const { vehicles, setVehicleActive, setVehicleState, incrementVehicleLoad } = useVehicleStore(); const { vehicles, setVehicleActive, setVehicleState, incrementVehicleLoad } = useVehicleStore();
const [currentPhase, setCurrentPhase] = useState<string>('stationed'); const [currentPhase, setCurrentPhase] = useState<string>('stationed');
const [path, setPath] = useState<[number, number, number][]>([]); const [path, setPath] = useState<[number, number, number][]>([]);
@ -31,6 +32,13 @@ function VehicleInstance({ agvDetail }: any) {
function vehicleStatus(modelid: string, status: string) { function vehicleStatus(modelid: string, status: string) {
// console.log(`AGV ${modelid}: ${status}`); // console.log(`AGV ${modelid}: ${status}`);
} }
function reset() {
console.log("runs");
setVehicleActive(agvDetail.modelUuid, false);
setVehicleState(agvDetail.modelUuid, 'idle');
setPath([]);
setCurrentPhase('stationed')
}
useEffect(() => { useEffect(() => {
if (isPlaying) { if (isPlaying) {
@ -50,7 +58,7 @@ function VehicleInstance({ agvDetail }: any) {
agvDetail.state === 'idle' && agvDetail.state === 'idle' &&
currentPhase === 'picking' currentPhase === 'picking'
) { ) {
setTimeout(() => { setTimeout(() => {
incrementVehicleLoad(agvDetail.modelUuid, 2); incrementVehicleLoad(agvDetail.modelUuid, 2);
}, 5000); }, 5000);
@ -83,7 +91,7 @@ function VehicleInstance({ agvDetail }: any) {
vehicleStatus(agvDetail.modelUuid, 'Started from dropping point, heading to pickup point'); vehicleStatus(agvDetail.modelUuid, 'Started from dropping point, heading to pickup point');
} }
} }
}, [vehicles, currentPhase, path, isPlaying]); }, [vehicles, currentPhase, path, isPlaying, isReset]);
function handleCallBack() { function handleCallBack() {
if (currentPhase === 'stationed-pickup') { if (currentPhase === 'stationed-pickup') {
@ -115,6 +123,7 @@ function VehicleInstance({ agvDetail }: any) {
currentPhase={currentPhase} currentPhase={currentPhase}
agvUuid={agvDetail?.modelUuid} agvUuid={agvDetail?.modelUuid}
agvDetail={agvDetail} agvDetail={agvDetail}
reset={reset}
/> />
</> </>
); );