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

This commit is contained in:
Jerald-Golden-B 2025-05-08 15:16:42 +05:30
parent 962215d574 2e19637173
commit bf48793db6
2 changed files with 66 additions and 56 deletions
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57
app/src/modules/simulation/vehicle/instances/animator/vehicleAnimator.tsx
View File

@ -10,12 +10,13 @@ interface VehicleAnimatorProps {
path: [number, number, number][];
handleCallBack: () => void;
reset: () => void;
startUnloadingProcess: () => void;
currentPhase: string;
agvUuid: string;
agvDetail: VehicleStatus;
}
function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetail, reset }: VehicleAnimatorProps) {
function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetail, reset, startUnloadingProcess }: VehicleAnimatorProps) {
const { decrementVehicleLoad, getVehicleById, removeLastMaterial } = useVehicleStore();
const { removeMaterial } = useMaterialStore();
const { isPaused } = usePauseButtonStore();
@ -25,15 +26,11 @@ function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetai
const progressRef = useRef<number>(0);
const movingForward = useRef<boolean>(true);
const completedRef = useRef<boolean>(false);
const isPausedRef = useRef<boolean>(false);
const pauseTimeRef = useRef<number | null>(null);
const [objectRotation, setObjectRotation] = useState<{ x: number; y: number; z: number } | undefined>(agvDetail.point?.action?.pickUpPoint?.rotation || { x: 0, y: 0, z: 0 })
const [progress, setProgress] = useState<number>(0);
const [restRotation, setRestingRotation] = useState<boolean>(true);
const [currentPath, setCurrentPath] = useState<[number, number, number][]>([]);
const { scene } = useThree();
let startTime: number;
let fixedInterval: number;
let coveredDistance = progressRef.current;
useEffect(() => {
@ -62,12 +59,9 @@ function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetai
completedRef.current = false;
movingForward.current = true;
progressRef.current = 0;
startTime = 0;
coveredDistance = 0;
setReset(false);
setRestingRotation(true);
isPausedRef.current = false;
pauseTimeRef.current = 0;
const object = scene.getObjectByProperty('uuid', agvUuid);
const vehicle = getVehicleById(agvDetail.modelUuid);
if (object && vehicle) {
@ -77,10 +71,6 @@ function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetai
}
}, [isReset, isPlaying])
useEffect(() => {
isPausedRef.current = isPaused;
}, [isPaused]);
useFrame((_, delta) => {
const object = scene.getObjectByProperty('uuid', agvUuid);
if (!object || currentPath.length < 2) return;
@ -157,53 +147,12 @@ function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetai
setCurrentPath([]);
handleCallBack();
if (currentPhase === 'pickup-drop') {
requestAnimationFrame(firstFrame);
requestAnimationFrame(startUnloadingProcess);
}
}
});
function firstFrame() {
const droppedMaterial = agvDetail.currentLoad;
startTime = performance.now();
step(droppedMaterial);
}
function step(droppedMaterial: number) {
if (isPausedRef.current) {
if (!pauseTimeRef.current) {
pauseTimeRef.current = performance.now();
}
requestAnimationFrame(() => step(droppedMaterial));
return;
}
if (pauseTimeRef.current) {
const pauseDuration = performance.now() - pauseTimeRef.current;
startTime += pauseDuration;
pauseTimeRef.current = null;
}
const elapsedTime = performance.now() - startTime;
const unLoadDuration = agvDetail.point.action.unLoadDuration;
fixedInterval = ((unLoadDuration / agvDetail.currentLoad) * (1000 / speed));
if (elapsedTime >= fixedInterval) {
let droppedMat = droppedMaterial - 1;
decrementVehicleLoad(agvDetail.modelUuid, 1);
const materialId = removeLastMaterial(agvDetail.modelUuid);
if (materialId) {
removeMaterial(materialId);
}
if (droppedMat > 0) {
startTime = performance.now();
requestAnimationFrame(() => step(droppedMat));
} else {
return;
}
} else {
requestAnimationFrame(() => step(droppedMaterial));
}
}
return (
<>

65
app/src/modules/simulation/vehicle/instances/instance/vehicleInstance.tsx
View File

@ -3,16 +3,29 @@ import VehicleAnimator from '../animator/vehicleAnimator';
import * as THREE from 'three';
import { NavMeshQuery } from '@recast-navigation/core';
import { useNavMesh } from '../../../../../store/store';
import { usePlayButtonStore } from '../../../../../store/usePlayButtonStore';
import { useAnimationPlaySpeed, usePauseButtonStore, usePlayButtonStore } from '../../../../../store/usePlayButtonStore';
import { useVehicleStore } from '../../../../../store/simulation/useVehicleStore';
import MaterialAnimator from '../animator/materialAnimator';
import { useMaterialStore } from '../../../../../store/simulation/useMaterialStore';
function VehicleInstance({ agvDetail }: { agvDetail: VehicleStatus }) {
const { navMesh } = useNavMesh();
const { isPlaying } = usePlayButtonStore();
const { vehicles, setVehicleActive, setVehicleState, clearCurrentMaterials, setVehicleLoad } = useVehicleStore();
const { removeMaterial } = useMaterialStore();
const { vehicles, setVehicleActive, setVehicleState, clearCurrentMaterials, setVehicleLoad, decrementVehicleLoad, removeLastMaterial } = useVehicleStore();
const [currentPhase, setCurrentPhase] = useState<string>('stationed');
const [path, setPath] = useState<[number, number, number][]>([]);
const pauseTimeRef = useRef<number | null>(null);
const isPausedRef = useRef<boolean>(false);
let startTime: number;
let fixedInterval: number;
const { speed } = useAnimationPlaySpeed();
const { isPaused } = usePauseButtonStore();
useEffect(() => {
isPausedRef.current = isPaused;
}, [isPaused]);
const computePath = useCallback(
(start: any, end: any) => {
@ -41,6 +54,9 @@ function VehicleInstance({ agvDetail }: { agvDetail: VehicleStatus }) {
setVehicleState(agvDetail.modelUuid, 'idle');
setVehicleLoad(agvDetail.modelUuid, 0);
setPath([]);
startTime = 0;
isPausedRef.current = false;
pauseTimeRef.current = 0;
}
useEffect(() => {
@ -118,6 +134,50 @@ function VehicleInstance({ agvDetail }: { agvDetail: VehicleStatus }) {
}
}
function startUnloadingProcess() {
const droppedMaterial = agvDetail.currentLoad;
startTime = performance.now();
handleMaterialDrop(droppedMaterial);
}
function handleMaterialDrop(droppedMaterial: number) {
if (isPausedRef.current) {
if (!pauseTimeRef.current) {
pauseTimeRef.current = performance.now();
}
requestAnimationFrame(() => handleMaterialDrop(droppedMaterial));
return;
}
if (pauseTimeRef.current) {
const pauseDuration = performance.now() - pauseTimeRef.current;
startTime += pauseDuration;
pauseTimeRef.current = null;
}
const elapsedTime = performance.now() - startTime;
const unLoadDuration = agvDetail.point.action.unLoadDuration;
fixedInterval = ((unLoadDuration / agvDetail.currentLoad) * (1000 / speed));
if (elapsedTime >= fixedInterval) {
let droppedMat = droppedMaterial - 1;
decrementVehicleLoad(agvDetail.modelUuid, 1);
const materialId = removeLastMaterial(agvDetail.modelUuid);
if (materialId) {
removeMaterial(materialId);
}
if (droppedMat > 0) {
startTime = performance.now();
requestAnimationFrame(() => handleMaterialDrop(droppedMat));
} else {
return;
}
} else {
requestAnimationFrame(() => handleMaterialDrop(droppedMaterial));
}
}
return (
<>
<VehicleAnimator
@ -127,6 +187,7 @@ function VehicleInstance({ agvDetail }: { agvDetail: VehicleStatus }) {
agvUuid={agvDetail?.modelUuid}
agvDetail={agvDetail}
reset={reset}
startUnloadingProcess={startUnloadingProcess}
/>
<MaterialAnimator agvDetail={agvDetail} />
</>