bug fix

app/src/modules/simulation/human/eventManager/useHumanEventManager.ts

@@ -88,14 +88,14 @@ export function useHumanEventManager() {
                         human.currentLoad < currentAction.loadCapacity
                     );
 
-                    // if (human.totalLoadCount >= currentAction.loadCount) {
+                    if (human.totalLoadCount >= currentAction.loadCount && actionUuid === human.currentAction?.actionUuid) {
-                    //     queue.shift();
+                        queue.shift();
-                    //     actionQueue.shift();
+                        actionQueue.shift();
-                    //     if (queue.length === 0) {
+                        if (queue.length === 0) {
-                    //         removeHumanFromMonitor(humanId);
+                            removeHumanFromMonitor(humanId);
-                    //     }
+                        }
-                    //     return;
+                        return;
-                    // }
+                    }
 
                     if (conditionMet && actionUuid !== human.currentAction?.actionUuid) {
                         setCurrentPhase(human.modelUuid, 'init');
@@ -152,7 +152,7 @@ export function useHumanEventManager() {
                 }
             }
         });
-    },10);
+    }, 0);
 
     useEffect(() => {
         return () => {

app/src/modules/simulation/human/instances/instance/humanInstance.tsx

@@ -56,27 +56,28 @@ function HumanInstance({ human }: { human: HumanStatus }) {
         isSpeedRef.current = speed;
     }, [speed]);
 
-    const computePath = useCallback(
+    const computePath = useCallback((start: [number, number, number], end: [number, number, number]) => {
-        (start: any, end: any) => {
+        try {
-            try {
+            const navMeshQuery = new NavMeshQuery(navMesh);
-                const navMeshQuery = new NavMeshQuery(navMesh);
+            let startPoint = new THREE.Vector3(start[0], start[1], start[2]);
-                const { path: segmentPath } = navMeshQuery.computePath(start, end);
+            let endPoint = new THREE.Vector3(end[0], end[1], end[2]);
-                if (
+            const { path: segmentPath } = navMeshQuery.computePath(startPoint, endPoint);
-                    segmentPath.length > 0 &&
+            if (
-                    Math.round(segmentPath[segmentPath.length - 1].x) == Math.round(end.x) &&
+                segmentPath.length > 0 &&
-                    Math.round(segmentPath[segmentPath.length - 1].z) == Math.round(end.z)
+                Math.round(segmentPath[segmentPath.length - 1].x) == Math.round(endPoint.x) &&
-                ) {
+                Math.round(segmentPath[segmentPath.length - 1].z) == Math.round(endPoint.z)
-                    return segmentPath?.map(({ x, y, z }) => [x, 0, z] as [number, number, number]) || [];
+            ) {
-                } else {
+                return segmentPath?.map(({ x, y, z }) => [x, 0, z] as [number, number, number]) || [];
-                    console.log("There is no path here...Choose valid path")
+            } else {
-                    const { path: segmentPaths } = navMeshQuery.computePath(start, start);
+                console.log("There is no path here...Choose valid path")
-                    return segmentPaths.map(({ x, y, z }) => [x, 0, z] as [number, number, number]) || [];
+                const { path: segmentPaths } = navMeshQuery.computePath(startPoint, startPoint);
-                }
+                return segmentPaths.map(({ x, y, z }) => [x, 0, z] as [number, number, number]) || [];
-            } catch {
-                console.error("Failed to compute path");
-                return [];
             }
-        }, [navMesh]);
+        } catch {
+            console.error("Failed to compute path");
+            return [];
+        }
+    }, [navMesh]);
 
     function humanStatus(modelId: string, status: string) {
         // console.log(`${modelId} , ${status}`);
@@ -128,14 +129,7 @@ function HumanInstance({ human }: { human: HumanStatus }) {
                 const humanMesh = scene.getObjectByProperty('uuid', human.modelUuid);
                 if (!humanMesh) return;
 
-                const toPickupPath = computePath(
+                const toPickupPath = computePath(humanMesh.position.toArray(), (action as HumanAction)?.assemblyPoint?.position || [0, 0, 0]);
-                    new THREE.Vector3(...humanMesh.position.toArray()),
-                    new THREE.Vector3(
-                        (action as HumanAction)?.assemblyPoint?.position?.[0] ?? 0,
-                        (action as HumanAction)?.assemblyPoint?.position?.[1] ?? 0,
-                        (action as HumanAction)?.assemblyPoint?.position?.[2] ?? 0
-                    )
-                );
                 setPath(toPickupPath);
                 setHumanState(human.modelUuid, 'idle');
                 setCurrentPhase(human.modelUuid, 'init-assembly');
@@ -239,14 +233,7 @@ function HumanInstance({ human }: { human: HumanStatus }) {
                 const humanMesh = scene.getObjectByProperty('uuid', human.modelUuid);
                 if (!humanMesh) return;
 
-                const toPickupPath = computePath(
+                const toPickupPath = computePath(humanMesh.position.toArray(), action?.pickUpPoint?.position || [0, 0, 0]);
-                    new THREE.Vector3(...humanMesh.position.toArray()),
-                    new THREE.Vector3(
-                        action?.pickUpPoint?.position?.[0] ?? 0,
-                        action?.pickUpPoint?.position?.[1] ?? 0,
-                        action?.pickUpPoint?.position?.[2] ?? 0
-                    )
-                );
                 setPath(toPickupPath);
                 setCurrentPhase(human.modelUuid, 'init-pickup');
                 setHumanState(human.modelUuid, 'running');
@@ -257,18 +244,7 @@ function HumanInstance({ human }: { human: HumanStatus }) {
             } else if (!human.isActive && human.state === 'idle' && human.currentPhase === 'picking') {
                 if (humanAsset && human.currentLoad === action.loadCapacity && human.currentMaterials.length > 0 && humanAsset.animationState?.current === 'pickup' && humanAsset.animationState?.isCompleted) {
                     if (action.pickUpPoint && action.dropPoint) {
-                        const toDrop = computePath(
+                        const toDrop = computePath(action.pickUpPoint.position || [0, 0, 0], action.dropPoint.position || [0, 0, 0]);
-                            new THREE.Vector3(
-                                action.pickUpPoint.position?.[0] ?? 0,
-                                action.pickUpPoint.position?.[1] ?? 0,
-                                action.pickUpPoint.position?.[2] ?? 0
-                            ),
-                            new THREE.Vector3(
-                                action.dropPoint.position?.[0] ?? 0,
-                                action.dropPoint.position?.[1] ?? 0,
-                                action.dropPoint.position?.[2] ?? 0
-                            )
-                        );
                         setPath(toDrop);
                         setCurrentPhase(human.modelUuid, 'pickup-drop');
                         setHumanState(human.modelUuid, 'running');
@@ -283,18 +259,7 @@ function HumanInstance({ human }: { human: HumanStatus }) {
                 }
             } else if (!human.isActive && human.state === 'idle' && human.currentPhase === 'dropping' && human.currentLoad === 0) {
                 if (action.pickUpPoint && action.dropPoint) {
-                    const dropToPickup = computePath(
+                    const dropToPickup = computePath(action.dropPoint.position || [0, 0, 0], action.pickUpPoint.position || [0, 0, 0]);
-                        new THREE.Vector3(
-                            action.dropPoint.position?.[0] ?? 0,
-                            action.dropPoint.position?.[1] ?? 0,
-                            action.dropPoint.position?.[2] ?? 0
-                        ),
-                        new THREE.Vector3(
-                            action.pickUpPoint.position?.[0] ?? 0,
-                            action.pickUpPoint.position?.[1] ?? 0,
-                            action.pickUpPoint.position?.[2] ?? 0
-                        )
-                    );
                     setPath(dropToPickup);
                     setCurrentPhase(human.modelUuid, 'drop-pickup');
                     setHumanState(human.modelUuid, 'running');
@@ -333,7 +298,6 @@ function HumanInstance({ human }: { human: HumanStatus }) {
             humanStatus(human.modelUuid, 'Reached drop point');
             setPath([]);
         } else if (human.currentPhase === 'drop-pickup') {
-            console.log('human: ', human);
             setCurrentPhase(human.modelUuid, 'picking');
             setHumanState(human.modelUuid, 'idle');
             setHumanActive(human.modelUuid, false);

app/src/modules/simulation/vehicle/instances/instance/vehicleInstance.tsx

@@ -273,7 +273,6 @@ function VehicleInstance({ agvDetail }: Readonly<{ agvDetail: VehicleStatus }>)
                     loopMaterialDropToHuman(
                         agvDetail,
                         model.modelUuid,
-                        agvDetail.point.action,
                         action.actionUuid
                     );
                 }, action.actionUuid || '')
@@ -284,7 +283,6 @@ function VehicleInstance({ agvDetail }: Readonly<{ agvDetail: VehicleStatus }>)
     function loopMaterialDropToHuman(
         vehicle: VehicleStatus,
         humanId: string,
-        vehicleAction: VehicleAction,
         humanActionId: string
     ) {
         let currentVehicleLoad = vehicle.currentLoad;