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timeout added

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This commit is contained in:
Gomathi
2025-04-28 13:35:13 +05:30
parent dc77d9ed43
commit 6bf53bf72c
3 changed files with 32 additions and 26 deletions
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31
app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx
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@@ -53,7 +53,7 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
if (isPlaying) {
//Moving armBot from initial point to rest position.
if (!robot?.isActive && robot?.state == "idle" && currentPhase == "init") {
setArmBotActive(robot.modelUuid, true)
setArmBotState(robot.modelUuid, "running")
setCurrentPhase("init-to-rest");
@@ -63,7 +63,7 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
setPath(curve.points.map(point => [point.x, point.y, point.z]));
}
}
logStatus(robot.modelUuid, "Starting from init to rest")
logStatus(robot.modelUuid, "Moving armBot from initial point to rest position.")
}
//Waiting for trigger.
else if (robot && !robot.isActive && robot.state === "idle" && currentPhase === "rest" && !robot.currentAction) {
@@ -85,7 +85,7 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
}
}
}
logStatus(robot.modelUuid, "Starting from rest to start")
logStatus(robot.modelUuid, "Moving armBot from rest point to start position.")
}
else if (robot && !robot.isActive && robot.state === "idle" && currentPhase === "picking" && robot.currentAction) {
setArmBotActive(robot.modelUuid, true);
@@ -99,10 +99,13 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
new THREE.Vector3(endPoint[0], endPoint[1], endPoint[2])
);
if (curve) {
setPath(curve.points.map(point => [point.x, point.y, point.z]));
setTimeout(() => {
logStatus(robot.modelUuid, "waiting to pick box");
setPath(curve.points.map(point => [point.x, point.y, point.z]));
}, 1500)
}
}
logStatus(robot.modelUuid, "Starting from start to end")
logStatus(robot.modelUuid, "Moving armBot from start point to end position.")
}
else if (robot && !robot.isActive && robot.state === "idle" && currentPhase === "dropping" && robot.currentAction) {
setArmBotActive(robot.modelUuid, true);
@@ -113,10 +116,13 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
let curve = createCurveBetweenTwoPoints(new THREE.Vector3(endPoint[0], endPoint[1], endPoint[2]), restPosition
);
if (curve) {
setPath(curve.points.map(point => [point.x, point.y, point.z]));
setTimeout(() => {
logStatus(robot.modelUuid, "waiting to drop box");
setPath(curve.points.map(point => [point.x, point.y, point.z]));
}, 1500)
}
}
logStatus(robot.modelUuid, "Starting from end to rest")
logStatus(robot.modelUuid, "Moving armBot from end point to rest position.")
}
}
@@ -134,28 +140,28 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
const HandleCallback = () => {
if (robot.isActive && robot.state == "running" && currentPhase == "init-to-rest") {
console.log("Callback triggered: rest");
logStatus(robot.modelUuid, "Callback triggered: rest");
setArmBotActive(robot.modelUuid, false)
setArmBotState(robot.modelUuid, "idle")
setCurrentPhase("rest");
setPath([])
}
else if (robot.isActive && robot.state == "running" && currentPhase == "rest-to-start") {
console.log("Callback triggered: pick.");
logStatus(robot.modelUuid, "Callback triggered: pick.");
setArmBotActive(robot.modelUuid, false)
setArmBotState(robot.modelUuid, "idle")
setCurrentPhase("picking");
setPath([])
}
else if (robot.isActive && robot.state == "running" && currentPhase == "start-to-end") {
console.log("Callback triggered: drop.");
logStatus(robot.modelUuid, "Callback triggered: drop.");
setArmBotActive(robot.modelUuid, false)
setArmBotState(robot.modelUuid, "idle")
setCurrentPhase("dropping");
setPath([])
}
else if (robot.isActive && robot.state == "running" && currentPhase == "end-to-rest") {
console.log("Callback triggered: rest, cycle completed.");
logStatus(robot.modelUuid, "Callback triggered: rest, cycle completed.");
setArmBotActive(robot.modelUuid, false)
setArmBotState(robot.modelUuid, "idle")
setCurrentPhase("rest");
@@ -164,12 +170,11 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
}
}
const logStatus = (id: string, status: string) => {
console.log(id +","+ status);
console.log(id + "," + status);
}
return (
<>
<IKInstance modelUrl={armModel} setIkSolver={setIkSolver} ikSolver={ikSolver} robot={robot} groupRef={groupRef} processes={processes}
setArmBotCurvePoints={setArmBotCurvePoints} />
<RoboticArmAnimator armUuid={robot?.modelUuid} HandleCallback={HandleCallback}