Spaces:
Running
Running
File size: 6,908 Bytes
6ce4ca6 67a499d 6ce4ca6 67a499d 6ce4ca6 67a499d |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 |
<script lang="ts">
import { T } from "@threlte/core";
import { Billboard } from "@threlte/extras";
import type { Robot } from "../Robot.svelte.js";
import { interactivity, type IntersectionEvent, useCursor } from "@threlte/extras";
import { getRootLinks } from "@/components/3d/elements/robot/URDF/utils/UrdfParser";
import UrdfLink from "@/components/3d/elements/robot/URDF/primitives/UrdfLink.svelte";
import { ROBOT_CONFIG } from "../config.js";
interface Props {
robot: Robot;
onInteract: (robot: Robot, type: "consumer" | "producer" | "manual") => void;
}
let { robot, onInteract }: Props = $props();
// Reactive values
const position = $derived(robot.position);
const hasConsumer = $derived(robot.hasConsumer);
const outputDriverCount = $derived(robot.outputDriverCount);
const isManualControl = $derived(robot.isManualControlEnabled);
const connectionStatus = $derived(robot.connectionStatus);
const jointArray = $derived(robot.jointArray);
// Use the robot's stored URDF state (loaded once when robot was created)
const urdfRobotState = $derived(robot.urdfRobotState);
let isHovered = $state(false);
let isSelected = $state(false);
let lastJointValues = $state<Record<string, number>>({});
// Sync joint values from simplified Robot to URDF joints with optimized updates
$effect(() => {
if (!urdfRobotState || jointArray.length === 0) return;
// Check if this is the initial sync (no previous values recorded)
const isInitialSync = Object.keys(lastJointValues).length === 0;
// Check if any joint values have actually changed (using config threshold)
const threshold = isInitialSync ? 0 : ROBOT_CONFIG.performance.uiUpdateThreshold;
const hasSignificantChanges =
isInitialSync ||
jointArray.some(
(joint) => Math.abs((lastJointValues[joint.name] || 0) - joint.value) > threshold
);
if (!hasSignificantChanges) return;
// Batch update all joints that have changed (or all joints on initial sync)
let updatedCount = 0;
jointArray.forEach((joint) => {
if (isInitialSync || Math.abs((lastJointValues[joint.name] || 0) - joint.value) > threshold) {
lastJointValues[joint.name] = joint.value;
const urdfJoint = findUrdfJoint(urdfRobotState, joint.name);
if (urdfJoint) {
// Initialize rotation array if it doesn't exist
if (!urdfJoint.rotation) {
urdfJoint.rotation = [0, 0, 0];
}
// Use the Robot's conversion method for proper coordinate mapping
const radians = robot.convertNormalizedToUrdfRadians(joint.name, joint.value);
const axis = urdfJoint.axis_xyz || [0, 0, 1];
// Reset rotation and apply to the appropriate axis
urdfJoint.rotation = [0, 0, 0];
for (let i = 0; i < 3; i++) {
if (Math.abs(axis[i]) > 0.001) {
urdfJoint.rotation[i] = radians * axis[i];
}
}
updatedCount++;
}
}
});
if (updatedCount > 0) {
console.debug(
`${isInitialSync ? "Initial sync: " : ""}Updated ${updatedCount} URDF joints for robot ${robot.id}`
);
}
});
function findUrdfJoint(robot: any, jointName: string): any {
// Search through the robot's joints array
if (robot.joints && Array.isArray(robot.joints)) {
for (const joint of robot.joints) {
if (joint.name === jointName) {
return joint;
}
}
}
return null;
}
const { onPointerEnter, onPointerLeave } = useCursor();
interactivity();
</script>
<T.Group
position.x={position.x}
position.y={position.y}
position.z={position.z}
scale={[10, 10, 10]}
rotation={[-Math.PI / 2, 0, 0]}
>
{#if urdfRobotState}
<!-- URDF Robot representation -->
<T.Group
onclick={(event: IntersectionEvent<MouseEvent>) => {
event.stopPropagation();
isSelected = true;
onInteract(robot, "manual");
}}
onpointerenter={(event: IntersectionEvent<PointerEvent>) => {
event.stopPropagation();
onPointerEnter();
isHovered = true;
}}
onpointerleave={(event: IntersectionEvent<PointerEvent>) => {
event.stopPropagation();
onPointerLeave();
isHovered = false;
}}
>
{#each getRootLinks(urdfRobotState) as link}
<UrdfLink
robot={urdfRobotState}
{link}
textScale={0.2}
showName={isHovered || isSelected}
showVisual={true}
showCollision={false}
visualColor={connectionStatus.isConnected ? "#10b981" : "#6b7280"}
visualOpacity={isHovered || isSelected ? 0.4 : 1.0}
collisionOpacity={1.0}
collisionColor="#813d9c"
jointNames={isHovered}
joints={isHovered}
jointColor="#62a0ea"
jointIndicatorColor="#f66151"
nameHeight={0.1}
showLine={isHovered || isSelected}
opacity={1}
/>
{/each}
</T.Group>
{:else}
<!-- Fallback simple representation while URDF loads -->
<T.Mesh
onpointerenter={() => (isHovered = true)}
onpointerleave={() => (isHovered = false)}
onclick={() => onInteract(robot, "manual")}
>
<T.BoxGeometry args={[0.1, 0.1, 0.1]} />
<T.MeshStandardMaterial
color={connectionStatus.isConnected ? "#10b981" : "#6b7280"}
opacity={isHovered ? 0.8 : 1.0}
transparent
/>
</T.Mesh>
{/if}
<!-- Status billboard when hovered -->
{#if isHovered}
<Billboard>
<T.Group position.y={1.5}>
<div class="min-w-48 rounded-lg bg-slate-800/90 p-3 text-sm text-white backdrop-blur">
<div class="mb-2 font-semibold">{robot.id}</div>
<!-- Connection status boxes -->
<div class="mb-2 flex gap-2">
<!-- Consumer status -->
<button
onclick={() => onInteract(robot, "consumer")}
class="flex-1 rounded border p-2 transition-colors {hasConsumer
? 'border-green-500 bg-green-600'
: 'border-gray-500 bg-gray-600 hover:bg-gray-500'}"
>
<div class="text-xs">Consumer</div>
<div class="text-[10px] opacity-75">
{hasConsumer ? "Connected" : "None"}
</div>
</button>
<!-- Robot status -->
<div class="flex-1 rounded border border-yellow-500 bg-yellow-600 p-2">
<div class="text-xs">Robot</div>
<div class="text-[10px] opacity-75">{robot.jointArray.length} joints</div>
</div>
<!-- Producer status -->
<button
onclick={() => onInteract(robot, "producer")}
class="flex-1 rounded border p-2 transition-colors {outputDriverCount > 0
? 'border-blue-500 bg-blue-600'
: 'border-gray-500 bg-gray-600 hover:bg-gray-500'}"
>
<div class="text-xs">Producer</div>
<div class="text-[10px] opacity-75">
{outputDriverCount} driver{outputDriverCount !== 1 ? "s" : ""}
</div>
</button>
</div>
<!-- Control status -->
<div
class="rounded px-2 py-1 text-center text-xs {isManualControl
? 'bg-purple-600'
: 'bg-orange-600'}"
>
{isManualControl ? "Manual Control" : "External Control"}
</div>
</div>
</T.Group>
</Billboard>
{/if}
</T.Group>
|