added stationed-pickup and pickup to drop functionality added
This commit is contained in:
parent
71effecb32
commit
70a99316ba
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@ -1,61 +1,179 @@
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import { useFrame, useThree } from '@react-three/fiber';
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import React, { useEffect, useState } from 'react'
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import React, { useEffect, useRef, useState } from 'react';
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import { useFloorItems } from '../../../../../store/store';
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import * as THREE from 'three';
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import { Line } from '@react-three/drei';
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import { useAnimationPlaySpeed, usePauseButtonStore, useResetButtonStore } from '../../../../../store/usePlayButtonStore';
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import { useVehicleStore } from '../../../../../store/simulation/useVehicleStore';
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interface VehicleAnimatorProps {
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path: [number, number, number][];
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handleCallBack: () => void;
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currentPhase: string;
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agvUuid: number
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agvUuid: number;
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agvDetail: any;
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}
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function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid }: VehicleAnimatorProps) {
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const [progress, setProgress] = useState<number>(0)
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function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetail }: VehicleAnimatorProps) {
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const { updateVehicleLoad, vehicles } = useVehicleStore();
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const { isPaused } = usePauseButtonStore();
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const { speed } = useAnimationPlaySpeed();
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const { isReset } = useResetButtonStore();
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const [restRotation, setRestingRotation] = useState<boolean>(true);
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const [progress, setProgress] = useState<number>(0);
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const [currentPath, setCurrentPath] = useState<[number, number, number][]>([]);
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const { scene } = useThree();
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const progressRef = useRef<number>(0);
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const movingForward = useRef<boolean>(true);
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const completedRef = useRef<boolean>(false);
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let startTime: number;
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let pausedTime: number;
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let fixedInterval: number;
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useEffect(() => {
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if (currentPhase === 'stationed-pickup' && path.length > 0) {
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setCurrentPath(path);
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} else if (currentPhase === 'pickup-drop' && path.length > 0) {
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setCurrentPath(path);
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} else if (currentPhase === 'drop-pickup' && path.length > 0) {
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setCurrentPath(path);
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}
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}, [currentPhase, path]);
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useEffect(() => {
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setProgress(0);
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completedRef.current = false;
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}, [currentPath]);
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useFrame((_, delta) => {
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const object = scene.getObjectByProperty('uuid', agvUuid);
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if (!object || currentPath.length < 2) return;
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if (isPaused) return;
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let totalDistance = 0;
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const distances = [];
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for (let i = 0; i < currentPath.length - 1; i++) {
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const start = new THREE.Vector3(...currentPath[i]);
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const end = new THREE.Vector3(...currentPath[i + 1]);
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const segmentDistance = start.distanceTo(end);
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distances.push(segmentDistance);
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totalDistance += segmentDistance;
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}
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}, [currentPhase, path])
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useFrame((_, delta) => {
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if (!path || path.length < 2) return;
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let coveredDistance = progressRef.current;
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let accumulatedDistance = 0;
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let index = 0;
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const object = scene.getObjectByProperty("uuid", agvUuid)
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if (!object) return;
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while (
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index < distances.length &&
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coveredDistance > accumulatedDistance + distances[index]
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) {
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accumulatedDistance += distances[index];
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index++;
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}
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setProgress(prev => {
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const next = prev + delta * 0.1; // speed
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return next >= 1 ? 1 : next;
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if (index < distances.length) {
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const start = new THREE.Vector3(...currentPath[index]);
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const end = new THREE.Vector3(...currentPath[index + 1]);
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const segmentDistance = distances[index];
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const currentDirection = new THREE.Vector3().subVectors(end, start).normalize();
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const targetAngle = Math.atan2(currentDirection.x, currentDirection.z);
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const rotationSpeed = 2.0;
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const currentAngle = object.rotation.y;
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let angleDifference = targetAngle - currentAngle;
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if (angleDifference > Math.PI) angleDifference -= 2 * Math.PI;
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if (angleDifference < -Math.PI) angleDifference += 2 * Math.PI;
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const maxRotationStep = rotationSpeed * delta;
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object.rotation.y += Math.sign(angleDifference) * Math.min(Math.abs(angleDifference), maxRotationStep);
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const isAligned = Math.abs(angleDifference) < 0.01;
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if (isAligned) {
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progressRef.current += delta * (speed * agvDetail.speed);
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coveredDistance = progressRef.current;
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const t = (coveredDistance - accumulatedDistance) / segmentDistance;
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const position = start.clone().lerp(end, t);
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object.position.copy(position);
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}
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}
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if (progressRef.current >= totalDistance) {
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if (restRotation) {
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const targetQuaternion = new THREE.Quaternion().setFromEuler(new THREE.Euler(0, 0, 0));
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object.quaternion.slerp(targetQuaternion, delta * 2);
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const angleDiff = object.quaternion.angleTo(targetQuaternion);
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if (angleDiff < 0.01) {
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let objectRotation = agvDetail.point.rotation
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object.rotation.set(objectRotation[0], objectRotation[1], objectRotation[2]);
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setRestingRotation(false);
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}
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return;
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}
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}
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if (progressRef.current >= totalDistance) {
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setRestingRotation(true);
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progressRef.current = 0;
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movingForward.current = !movingForward.current;
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setCurrentPath([]);
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handleCallBack();
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if (currentPhase === 'pickup-drop') {
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requestAnimationFrame(firstFrame);
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}
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}
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});
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const totalSegments = path.length - 1;
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const segmentIndex = Math.floor(progress * totalSegments);
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const t = progress * totalSegments - segmentIndex;
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function firstFrame() {
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const unLoadDuration = agvDetail.point.action.unLoadDuration;
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const droppedMaterial = agvDetail.currentLoad;
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fixedInterval = (unLoadDuration / droppedMaterial) * 1000;
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if (!isPaused) {
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step(droppedMaterial);
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} else {
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pausedTime = performance.now();
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step(droppedMaterial);
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}
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}
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const start = path[segmentIndex];
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const end = path[segmentIndex + 1] || start;
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function step(droppedMaterial: number) {
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if (!isPaused) {
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startTime = performance.now();
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const elapsedTime = performance.now() - startTime - pausedTime;
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if (elapsedTime >= fixedInterval) {
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let droppedMat = droppedMaterial - 1;
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updateVehicleLoad(agvDetail.modelUuid, droppedMat);
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if (droppedMat === 0) return;
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startTime = performance.now();
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pausedTime = 0;
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requestAnimationFrame(() => step(droppedMat));
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} else {
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requestAnimationFrame(() => step(droppedMaterial));
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}
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} else {
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requestAnimationFrame(() => firstFrame);
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}
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}
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// Directly set position without creating a new Vector3
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object.position.x = start[0] + (end[0] - start[0]) * t;
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object.position.y = start[1] + (end[1] - start[1]) * t;
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object.position.z = start[2] + (end[2] - start[2]) * t;
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});
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// useFrame(() => {
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// if (currentPath.length === 0) return;
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// const object = scene.getObjectByProperty("uuid", agvUuid);
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// if (!object) return;
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// })
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return (
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<>
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{currentPath.length > 0 && (
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<>
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<Line points={currentPath} color="blue" lineWidth={3} />
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{currentPath.map((point, index) => (
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<mesh key={index} position={point}>
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<sphereGeometry args={[0.1, 16, 16]} />
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<meshStandardMaterial color="red" />
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</mesh>
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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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export default VehicleAnimator
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export default VehicleAnimator;
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@ -1,67 +1,122 @@
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import React, { useCallback, useEffect, useState } from 'react'
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import VehicleAnimator from '../animator/vehicleAnimator'
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import * as THREE from "three";
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import React, { useCallback, useEffect, useState } from 'react';
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import VehicleAnimator from '../animator/vehicleAnimator';
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import * as THREE from 'three';
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import { NavMeshQuery } from '@recast-navigation/core';
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import { useNavMesh } from '../../../../../store/store';
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import { usePlayButtonStore } from '../../../../../store/usePlayButtonStore';
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import { useVehicleStore } from '../../../../../store/simulation/useVehicleStore';
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function VehicleInstance({ agvDetails }: any) {
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function VehicleInstance({ agvDetail }: any) {
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const { navMesh } = useNavMesh();
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const { isPlaying } = usePlayButtonStore();
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const { setVehicleActive, setVehicleState } = useVehicleStore();
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const [currentPhase, setCurrentPhase] = useState<(string)>("stationed");
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const { vehicles, setVehicleActive, setVehicleState, updateVehicleLoad } = useVehicleStore();
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const [currentPhase, setCurrentPhase] = useState<string>('stationed');
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const [path, setPath] = useState<[number, number, number][]>([]);
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const computePath = useCallback((start: any, end: any) => {
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const computePath = useCallback(
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(start: any, end: any) => {
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try {
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const navMeshQuery = new NavMeshQuery(navMesh);
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const { path: segmentPath } = navMeshQuery.computePath(start, end);
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return (
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segmentPath?.map(
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({ x, y, z }) => [x, y + 0.1, z] as [number, number, number]
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) || []
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segmentPath?.map(({ x, y, z }) => [x, y + 0.1, z] as [number, number, number]) || []
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);
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} catch {
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return [];
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}
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}, [navMesh]);
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},
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[navMesh]
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);
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function vehicleStatus(modelid: string, status: string) {
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// console.log(`AGV ${modelid}: ${status}`);
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}
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useEffect(() => {
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// const pickupToDropPath = computePath(pickup, drop);
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// const dropToPickupPath = computePath(drop, pickup);
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if (isPlaying) {
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if (!agvDetails.isActive && agvDetails.state == "idle" && currentPhase == "stationed") {
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const toPickupPath = computePath(new THREE.Vector3(agvDetails.position[0], agvDetails.position[1], agvDetails.position[2]), agvDetails.point.action.pickUpPoint);
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setPath(toPickupPath)
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setVehicleActive(agvDetails.modelUuid, true)
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setVehicleState(agvDetails.modelUuid, "running")
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setCurrentPhase("stationed-pickup")
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//
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if (!agvDetail.isActive && agvDetail.state === 'idle' && currentPhase === 'stationed') {
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const toPickupPath = computePath(
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new THREE.Vector3(agvDetail.position[0], agvDetail.position[1], agvDetail.position[2]),
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agvDetail.point.action.pickUpPoint
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);
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setPath(toPickupPath);
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setVehicleActive(agvDetail.modelUuid, true);
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setVehicleState(agvDetail.modelUuid, 'running');
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setCurrentPhase('stationed-pickup');
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vehicleStatus(agvDetail.modelUuid, 'Started from station, heading to pickup');
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return;
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} else if (
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!agvDetail.isActive &&
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agvDetail.state === 'idle' &&
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currentPhase === 'picking'
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) {
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setTimeout(() => {
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updateVehicleLoad(agvDetail.modelUuid, 2);
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}, 5000);
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if (agvDetail.currentLoad === agvDetail.point.action.loadCapacity) {
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const toDrop = computePath(
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agvDetail.point.action.pickUpPoint,
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agvDetail.point.action.unLoadPoint
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);
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setPath(toDrop);
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setVehicleActive(agvDetail.modelUuid, true);
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setVehicleState(agvDetail.modelUuid, 'running');
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setCurrentPhase('pickup-drop');
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vehicleStatus(agvDetail.modelUuid, 'Started from pickup point, heading to drop point');
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}
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} else if (
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!agvDetail.isActive &&
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agvDetail.state === 'idle' &&
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currentPhase === 'dropping' &&
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agvDetail.currentLoad === 0
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) {
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const dropToPickup = computePath(
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agvDetail.point.action.unLoadPoint,
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agvDetail.point.action.pickUpPoint
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);
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setPath(dropToPickup);
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setVehicleActive(agvDetail.modelUuid, true);
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setVehicleState(agvDetail.modelUuid, 'running');
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setCurrentPhase('drop-pickup');
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vehicleStatus(agvDetail.modelUuid, 'Started from dropping point, heading to pickup point');
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}
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}
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}, [agvDetails, currentPhase, path, isPlaying])
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}, [vehicles, currentPhase, path, isPlaying]);
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function handleCallBack() {
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if (currentPhase === "stationed-pickup") {
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setVehicleActive(agvDetails.modelUuid, false)
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setVehicleState(agvDetails.modelUuid, "idle")
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setCurrentPhase("picking")
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setPath([])
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if (currentPhase === 'stationed-pickup') {
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setVehicleActive(agvDetail.modelUuid, false);
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setVehicleState(agvDetail.modelUuid, 'idle');
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setCurrentPhase('picking');
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vehicleStatus(agvDetail.modelUuid, 'Reached pickup point, waiting for material');
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setPath([]);
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} else if (currentPhase === 'pickup-drop') {
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setVehicleActive(agvDetail.modelUuid, false);
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setVehicleState(agvDetail.modelUuid, 'idle');
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setCurrentPhase('dropping');
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vehicleStatus(agvDetail.modelUuid, 'Reached drop point');
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setPath([]);
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} else if (currentPhase === 'drop-pickup') {
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setVehicleActive(agvDetail.modelUuid, false);
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setVehicleState(agvDetail.modelUuid, 'idle');
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setCurrentPhase('picking');
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setPath([]);
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vehicleStatus(agvDetail.modelUuid, 'Reached pickup point again, cycle complete');
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}
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}
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return (
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<>
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<VehicleAnimator path={path} handleCallBack={handleCallBack} currentPhase={currentPhase} agvUuid={agvDetails?.modelUuid} />
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<VehicleAnimator
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path={path}
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handleCallBack={handleCallBack}
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currentPhase={currentPhase}
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agvUuid={agvDetail?.modelUuid}
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agvDetail={agvDetail}
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/>
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</>
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)
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);
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}
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export default VehicleInstance
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export default VehicleInstance;
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import React from 'react'
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import VehicleInstance from './instance/vehicleInstance'
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import { useVehicleStore } from '../../../../store/simulation/useVehicleStore'
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function VehicleInstances({ vehicles }: any) {
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function VehicleInstances() {
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const { vehicles } = useVehicleStore();
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return (
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<>
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{vehicles.map((val: any, i: any) =>
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<VehicleInstance agvDetails={val} key={i} />
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<VehicleInstance agvDetail={val} key={i} />
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)}
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</>
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@ -1,34 +1,36 @@
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import React, { useEffect } from 'react'
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import VehicleInstances from './instances/vehicleInstances';
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import { useVehicleStore } from '../../../store/simulation/useVehicleStore';
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import { useFloorItems } from '../../../store/store';
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function Vehicles() {
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const { vehicles, addVehicle } = useVehicleStore();
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const vehicleStatusSample: VehicleStatus[] = [
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const { floorItems } = useFloorItems();
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const vehicleStatusSample: VehicleEventSchema[] = [
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{
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modelUuid: "2c01ed76-359a-485b-83d4-052cfcdb9d89",
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modelUuid: "9356f710-4727-4b50-bdb2-9c1e747ecc74",
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modelName: "AGV",
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position: [10, 0, 5],
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position: [97.9252965204558, 0, 37.96138815638661],
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rotation: [0, 0, 0],
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state: "idle",
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type: "vehicle",
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speed: 2.5,
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point: {
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uuid: "point-789",
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position: [93.42159216649789, 0, 23.790878603572857],
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position: [0, 1, 0],
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rotation: [0, 0, 0],
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action: {
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actionUuid: "action-456",
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actionName: "Deliver to Zone A",
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actionType: "travel",
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material: "crate",
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unLoadDuration: 15,
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loadCapacity: 5,
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pickUpPoint: { x: 5, y: 0, z: 3 },
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unLoadPoint: { x: 20, y: 0, z: 10 },
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unLoadDuration: 10,
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loadCapacity: 2,
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pickUpPoint: { x: 98.71483985219794, y: 0, z: 28.66321267938962 },
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unLoadPoint: { x: 105.71483985219794, y: 0, z: 28.66321267938962 },
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triggers: [
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{
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triggerUuid: "trig-001",
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@ -50,18 +52,12 @@ function Vehicles() {
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}
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]
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}
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},
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productId: "prod-890",
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isActive: false,
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idleTime: 0,
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activeTime: 0,
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currentLoad: 0,
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distanceTraveled: 0
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}
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},
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{
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modelUuid: "311130b9-4f2e-425a-b3b5-5039cb348806",
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modelUuid: "b06960bb-3d2e-41f7-a646-335f389c68b4",
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modelName: "AGV",
|
||||
position: [95.69567023145055, 0, 33.18042399595448],
|
||||
position: [89.61609306554463, 0, 33.634136622267356],
|
||||
rotation: [0, 0, 0],
|
||||
state: "idle",
|
||||
type: "vehicle",
|
||||
|
|
@ -75,9 +71,9 @@ function Vehicles() {
|
|||
actionName: "Deliver to Zone A",
|
||||
actionType: "travel",
|
||||
material: "crate",
|
||||
unLoadDuration: 15,
|
||||
loadCapacity: 5,
|
||||
pickUpPoint: { x: 5, y: 0, z: 3 },
|
||||
unLoadDuration: 10,
|
||||
loadCapacity: 2,
|
||||
pickUpPoint: { x: 90, y: 0, z: 28 },
|
||||
unLoadPoint: { x: 20, y: 0, z: 10 },
|
||||
triggers: [
|
||||
{
|
||||
|
|
@ -100,17 +96,11 @@ function Vehicles() {
|
|||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
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],
|
||||
modelUuid: "e729a4f1-11d2-4778-8d6a-468f1b4f6b79",
|
||||
modelName: "forklift",
|
||||
position: [98.85729337188162, 0, 38.36616546567653],
|
||||
rotation: [0, 0, 0],
|
||||
state: "idle",
|
||||
type: "vehicle",
|
||||
|
|
@ -126,7 +116,7 @@ function Vehicles() {
|
|||
material: "crate",
|
||||
unLoadDuration: 15,
|
||||
loadCapacity: 5,
|
||||
pickUpPoint: { x: 5, y: 0, z: 3 },
|
||||
pickUpPoint: { x: 98.71483985219794, y: 0, z: 28.66321267938962 },
|
||||
unLoadPoint: { x: 20, y: 0, z: 10 },
|
||||
triggers: [
|
||||
{
|
||||
|
|
@ -149,13 +139,7 @@ function Vehicles() {
|
|||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
productId: "prod-890",
|
||||
isActive: false,
|
||||
idleTime: 0,
|
||||
activeTime: 0,
|
||||
currentLoad: 0,
|
||||
distanceTraveled: 0
|
||||
}
|
||||
}
|
||||
];
|
||||
|
||||
|
|
@ -163,7 +147,7 @@ function Vehicles() {
|
|||
useEffect(() => {
|
||||
addVehicle('123', vehicleStatusSample[0]);
|
||||
addVehicle('123', vehicleStatusSample[1]);
|
||||
addVehicle('123', vehicleStatusSample[2]);
|
||||
// addVehicle('123', vehicleStatusSample[2]);
|
||||
}, [])
|
||||
|
||||
useEffect(() => {
|
||||
|
|
@ -173,9 +157,7 @@ function Vehicles() {
|
|||
|
||||
return (
|
||||
<>
|
||||
|
||||
<VehicleInstances vehicles={vehicles} />
|
||||
|
||||
<VehicleInstances />
|
||||
</>
|
||||
)
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue