@operato/scene-storage 10.0.0-beta.32 → 10.0.0-beta.34

package/dist/rack-cell-3d.js.map

@@ -1 +0,0 @@
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All rights reserved.\n *\n * RackCell 3D — invisible anchor group positioned at the cell's location\n * within the parent rack's 3D coordinate space.\n *\n * RackCell has no geometry of its own. Its sole 3D purpose is to provide\n * an Object3D that carriers can be attached to (via Three.js `.attach()`),\n * placed at the exact cell position within the rack. The position is derived\n * from the parent AsrsRack's CellMap (by cellId), not from 2D state fields —\n * rack cells occupy 3D levels that have no 2D analogue.\n *\n * updateTransform() override: things-scene's standard updateTransform\n * reads `component.center` (2D) and flattens it to 3D. For rack cells this\n * is wrong — we need the 3D cell position (bay x, level y, row z) from the\n * parent rack. So we override and read it directly from the CellMap.\n */\n\nimport * as THREE from 'three'\nimport { RealObjectGroup } from '@hatiolab/things-scene'\n\nexport class RackCell3D extends RealObjectGroup {\n  build() {\n    super.build()\n    this._repositionFromCellMap()\n  }\n\n  updateDimension() {\n    // intentional no-op — size comes from the cell definition, not state\n  }\n\n  updateTransform() {\n    this._repositionFromCellMap()\n  }\n\n  updateAlpha() {\n    // invisible — no materials to update\n  }\n\n  /**\n   * Position this group at the cell's localPosition within the rack's 3D space.\n   *\n   * CellMap.grid() places cell origins at:\n   *   x = b * bayWidth,  y = l * levelHeight,  z = r * rowDepth\n   * (starting from 0,0,0 at the rack's bottom-left-front corner).\n   *\n   * The rack's object3d is centered: X spans [-width/2, +width/2],\n   * Y spans [-depth/2, +depth/2], Z spans [-height/2, +height/2].\n   *\n   * So the cell centre in rack-local 3D space:\n   *   x3d = cellPos.x + bayWidth/2   - width/2\n   *   y3d = cellPos.y + levelHeight/2 - rackDepth/2\n   *   z3d = cellPos.z + rowDepth/2   - rackHeight/2\n   */\n  _repositionFromCellMap() {\n    const rack = (this.component as any).parent\n    if (!rack?.cellMap) return\n\n    const cellId = this.component.state.cellId as string | undefined\n    if (!cellId) return\n\n    const cell = rack.cellMap.findById(cellId)\n    if (!cell) return\n\n    const rs = rack.state as any\n    const rackWidth = (rs?.width as number) || 1000\n    const rackDepth = (rs?.depth as number) || 3000   // Y dimension (floor→ceiling)\n    const rackHeight = (rs?.height as number) || 600  // Z dimension (front→back, 2D height)\n    const bays = Math.max(1, Math.floor(rs?.bays || 5))\n    const levels = Math.max(1, Math.floor(rs?.levels || 4))\n    const rows = 1\n\n    const bayWidth = rackWidth / bays\n    const levelHeight = rackDepth / levels\n    const rowDepth = rackHeight / rows\n\n    const x3d = cell.localPosition.x + bayWidth / 2 - rackWidth / 2\n    const y3d = cell.localPosition.y + levelHeight / 2 - rackDepth / 2\n    const z3d = cell.localPosition.z + rowDepth / 2 - rackHeight / 2\n\n    this.object3d.position.set(x3d, y3d, z3d)\n\n    // Optionally visualise cells in debug mode (outline box, very faint)\n    if (process.env.NODE_ENV !== 'production' && (rack.state as any)?.debugCells) {\n      this._addDebugBox(bayWidth, levelHeight, rowDepth)\n    }\n  }\n\n  private _debugBox?: THREE.LineSegments\n\n  private _addDebugBox(w: number, h: number, d: number) {\n    if (this._debugBox) return\n    const geo = new THREE.BoxGeometry(w * 0.98, h * 0.98, d * 0.98)\n    const edges = new THREE.EdgesGeometry(geo)\n    this._debugBox = new THREE.LineSegments(\n      edges,\n      new THREE.LineBasicMaterial({ color: 0x00ff88, transparent: true, opacity: 0.2 })\n    )\n    this.object3d.add(this._debugBox)\n  }\n}\n"]}

package/dist/rack-cell.js.map

@@ -1 +0,0 @@
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All rights reserved.\n *\n * RackCell — a single storage slot within an AsrsRack.\n *\n * A RackCell is a virtual component: it occupies a specific (bay, row, level)\n * coordinate within the parent rack and acts as a CarrierHolder for one carrier\n * (or several, depending on `cellType`).\n *\n * The crane (AsrsCrane) navigates toward a RackCell as its `place()` destination —\n * because the rack cell is a discrete component, Mover.moveTo() can target it\n * directly and arrive at exactly the right bay × level position.\n *\n * Visual: invisible in 2D (no visible 2D footprint — rack cells don't make\n * sense as 2D top-down boxes). In 3D, each cell is an invisible Group\n * positioned within the rack's coordinate space (RackCell3D handles\n * this via updateTransform override).\n *\n * Lifecycle: AsrsRack._buildCells() instantiates RackCell children.\n * Do not create RackCell components manually — they are managed by the rack.\n *\n * Domain aliases:\n *   cell.store(carrier)            ← cell.receive(carrier)\n *   cell.retrieve(carrier, target) ← cell.dispatch(carrier, target)\n */\n\nimport {\n  Component,\n  ComponentNature,\n  ContainerAbstract,\n  RealObject,\n  TRANSFER_SLOT_KEY,\n  sceneComponent\n} from '@hatiolab/things-scene'\nimport type { State, Material3D } from '@hatiolab/things-scene'\nimport { CarrierHolder, type AttachFrame } from '@operato/scene-base'\n\nimport { RackCell3D } from './rack-cell-3d.js'\n\n/**\n * How many carriers a cell can hold simultaneously.\n * - single: exactly 1 (typical pallet bay)\n * - multi:  small stack (up to 4, e.g. a multi-deep tray)\n * - bulk:   unlimited (e.g. a floor area measured in slots)\n */\nexport type RackCellType = 'single' | 'multi' | 'bulk'\n\n/** RackCell 컴포넌트 state */\nexport interface RackCellState extends State {\n  // ── 식별 ──\n  cellId?: string\n  cellType?: RackCellType\n\n  // ── 3D 재질 ──\n  material3d?: Material3D\n}\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: false,\n  rotatable: false,\n  properties: [\n    {\n      type: 'string',\n      label: 'cell-id',\n      name: 'cellId',\n      placeholder: 'e.g. 0-0-0'\n    },\n    {\n      type: 'select',\n      label: 'cell-type',\n      name: 'cellType',\n      property: {\n        options: [\n          { display: 'Single', value: 'single' },\n          { display: 'Multi', value: 'multi' },\n          { display: 'Bulk', value: 'bulk' }\n        ]\n      }\n    }\n  ],\n  help: 'scene/component/rack-cell'\n}\n\n/**\n * RackCell — single-slot storage cell inside an AsrsRack.\n *\n * Mixin chain: CarrierHolder(ContainerAbstract)\n *   - CarrierHolder: publishes attachPointFor(), gates containable() to Carriables\n *   - ContainerAbstract: manages child carrier components\n *\n * No Placeable mixin — RackCell3D self-positions from the parent rack's\n * CellMap (via updateTransform override), bypassing things-scene's standard\n * 2D→3D coordinate mapping which cannot express 3D levels.\n */\n@sceneComponent('rack-cell')\nexport default class RackCell extends CarrierHolder(ContainerAbstract) {\n  declare state: RackCellState\n\n  // ── Identification ────────────────────────────────────────────────────────\n\n  get cellId(): string {\n    return this.state.cellId ?? ''\n  }\n\n  get cellType(): RackCellType {\n    return this.state.cellType ?? 'single'\n  }\n\n  /** Maximum carrier count for this cell based on cellType. */\n  get capacity(): number {\n    switch (this.cellType) {\n      case 'single': return 1\n      case 'multi': return 4\n      case 'bulk': return Infinity\n    }\n  }\n\n  // ── Interface ─────────────────────────────────────────────────────────────\n\n  get nature(): ComponentNature {\n    return NATURE\n  }\n\n  get anchors(): [] {\n    return []\n  }\n\n  // ── Transfer protocol ─────────────────────────────────────────────────────\n\n  /** True when fewer carriers are currently held than capacity. */\n  canReceive(_component?: any): boolean {\n    const occupied = (this.components as Component[] | undefined)?.length ?? 0\n    return occupied < this.capacity\n  }\n\n  /**\n   * Accept a carrier into this cell.\n   * Sets TRANSFER_SLOT_KEY = cellId on the carrier, then reparents.\n   * Fires 'transfer-received' so monitors can react.\n   */\n  async receive(carrier: any, options: any = {}): Promise<void> {\n    if (!this.canReceive(carrier)) {\n      this.trigger('transfer-rejected', {\n        type: 'transfer-rejected',\n        component: carrier,\n        container: this,\n        reason: 'no-slot'\n      })\n      return\n    }\n    carrier[TRANSFER_SLOT_KEY] = this.cellId\n    this.reparent(carrier, options)\n    this.trigger('transfer-received', {\n      type: 'transfer-received',\n      component: carrier,\n      container: this,\n      slotId: this.cellId\n    })\n  }\n\n  /**\n   * Release a carrier from this cell to `target`.\n   * Delegates to `target.receive()` if available, otherwise `target.reparent()`.\n   */\n  async dispatch(carrier: any, target: any, options: any = {}): Promise<void> {\n    if (target?.canReceive && !target.canReceive(carrier)) {\n      this.trigger('transfer-rejected', {\n        type: 'transfer-rejected',\n        component: carrier,\n        container: this,\n        reason: 'target-full'\n      })\n      return\n    }\n    delete carrier[TRANSFER_SLOT_KEY]\n    if (typeof target?.receive === 'function') {\n      await target.receive(carrier, options)\n    } else {\n      ;(target as any).reparent?.(carrier, options)\n    }\n    this.trigger('transfer-dispatched', {\n      type: 'transfer-dispatched',\n      component: carrier,\n      container: this,\n      target\n    })\n  }\n\n  // ── Domain aliases ────────────────────────────────────────────────────────\n\n  /** Alias for receive() — semantic sugar for the storage domain. */\n  store(carrier: any, options?: any): Promise<void> {\n    return this.receive(carrier, options)\n  }\n\n  /** Alias for dispatch() — semantic sugar for the storage domain. */\n  retrieve(carrier: any, target: any, options?: any): Promise<void> {\n    return this.dispatch(carrier, target, options)\n  }\n\n  // ── 3D attach frame ───────────────────────────────────────────────────────\n\n  /**\n   * Return the 3D attach frame for carriers placed in this cell.\n   * Carriers are lifted by their own halfDepth so the bottom face\n   * rests at the cell's Y-center (which is levelHeight/2 above the beam).\n   */\n  attachPointFor(carrier: Component): AttachFrame | null {\n    const root = this._realObject?.object3d\n    if (!root) return null\n    const carrierDepth = resolveCarrierDepth(carrier)\n    return {\n      attach: root,\n      localPosition: { x: 0, y: carrierDepth / 2, z: 0 }\n    }\n  }\n\n  // ── 2D rendering ──────────────────────────────────────────────────────────\n\n  /** RackCell has no 2D visual — the rack draws its own structure. */\n  render(_ctx: CanvasRenderingContext2D) {\n    // intentional no-op\n  }\n\n  // ── 3D ───────────────────────────────────────────────────────────────────\n\n  buildRealObject(): RealObject | undefined {\n    return new RackCell3D(this)\n  }\n}\n\nfunction resolveCarrierDepth(c: Component): number {\n  const eff = (c as any)._realObject?.effectiveDepth\n  if (typeof eff === 'number' && Number.isFinite(eff)) return eff\n  return numOr((c as any)?.state?.depth, 0)\n}\n\nfunction numOr(v: unknown, dflt: number): number {\n  return typeof v === 'number' && Number.isFinite(v) ? v : dflt\n}\n"]}

package/src/asrs-crane-3d.ts

@@ -1,211 +0,0 @@
-/*
- * Copyright © HatioLab Inc. All rights reserved.
- *
- * AsrsCrane 3D — stacker crane for AS/RS aisles.
- *
- * LO-POLY but structurally complete. The signature parts:
- *
- *   - tall vertical mast (the dominant element — runs floor → ceiling)
- *   - base unit (motor housing at floor level, runs on the floor rail)
- *   - top guide (sliding block at ceiling that runs on the ceiling rail —
- *     stabilizes the mast under acceleration)
- *   - carriage (horizontal block that slides up/down the mast at
- *     `state.carriageHeight`)
- *   - shuttle/fork attachment on the carriage (extends sideways into a cell
- *     to extract / insert a pallet)
- *   - status lamp on top of the base unit
- *
- * The base unit + top guide combo is what visually distinguishes a stacker
- * crane from a forklift — the stacker is *constrained* to the aisle, riding
- * rails top and bottom, and that constraint is the visual signature.
- */
-
-import * as THREE from 'three'
-import * as BufferGeometryUtils from 'three/examples/jsm/utils/BufferGeometryUtils.js'
-import { RealObjectGroup } from '@hatiolab/things-scene'
-
-const MAST_COLOR = 0x4a5060
-const BASE_COLOR = 0x33394a
-const SHUTTLE_COLOR = 0x222233
-const RAIL_COLOR = 0x222222
-
-export class AsrsCrane3D extends RealObjectGroup {
-  build() {
-    super.build()
-
-    const { width, height, depth = 200 } = this.component.state
-    const bodyColor = (this.component.state.bodyColor as string) || '#888'
-    const emissiveColor = (this.component.state.lampEmissive as string) || '#222222'
-    const status = this.component.state.status
-    const lampIntensity = status && status !== 'idle' ? 1.5 : 0.2
-    // Clamp carriageHeight to the available mast travel — keeps the carriage
-    // inside the shaft even if state.carriageHeight is stale (e.g. left over
-    // from an older height-scale convention).
-    const carriageRaw = (this.component.state.carriageHeight as number) ?? depth * 0.4
-    const carriageHeight = Math.max(0, Math.min(carriageRaw, depth * 0.85))
-
-    const baseY = -depth / 2
-
-    // Proportions
-    const baseH = depth * 0.10
-    const topGuideH = depth * 0.05
-    const mastH = depth - baseH - topGuideH
-    const mastW = width * 0.35
-    const mastD = height * 0.35
-
-    const bodyMaterial = new THREE.MeshStandardMaterial({
-      color: bodyColor,
-      metalness: 0.4,
-      roughness: 0.5
-    })
-    const mastMaterial = new THREE.MeshStandardMaterial({
-      color: MAST_COLOR,
-      metalness: 0.85,
-      roughness: 0.3
-    })
-    const baseMaterial = new THREE.MeshStandardMaterial({
-      color: BASE_COLOR,
-      metalness: 0.7,
-      roughness: 0.4
-    })
-    const shuttleMaterial = new THREE.MeshStandardMaterial({
-      color: SHUTTLE_COLOR,
-      metalness: 0.85,
-      roughness: 0.3
-    })
-
-    // ── Floor rail (visible track under the base) ─────────────────────
-    const railH = baseH * 0.25
-    const railGeo = new THREE.BoxGeometry(width * 1.15, railH, mastD * 0.4)
-    const railMesh = new THREE.Mesh(
-      railGeo,
-      new THREE.MeshStandardMaterial({ color: RAIL_COLOR, metalness: 0.9, roughness: 0.3 })
-    )
-    railMesh.position.set(0, baseY + railH / 2, 0)
-    railMesh.receiveShadow = true
-    this.object3d.add(railMesh)
-
-    // ── Base unit (motor housing on floor rail) ───────────────────────
-    const baseGeo = new THREE.BoxGeometry(width * 0.95, baseH, height * 0.85)
-    const baseMesh = new THREE.Mesh(baseGeo, baseMaterial)
-    baseMesh.position.set(0, baseY + railH + baseH / 2, 0)
-    baseMesh.castShadow = true
-    baseMesh.receiveShadow = true
-    this.object3d.add(baseMesh)
-
-    // Body color tint band on base unit (subtle status indication)
-    const tintH = baseH * 0.15
-    const tintGeo = new THREE.BoxGeometry(width * 0.95, tintH, height * 0.85)
-    const tintMaterial = new THREE.MeshStandardMaterial({
-      color: bodyColor,
-      transparent: true,
-      opacity: 0.6,
-      metalness: 0.1,
-      roughness: 0.6
-    })
-    const tintMesh = new THREE.Mesh(tintGeo, tintMaterial)
-    tintMesh.position.set(0, baseY + railH + baseH - tintH / 2, 0)
-    this.object3d.add(tintMesh)
-
-    // ── Mast (vertical column from base top to ceiling) ───────────────
-    const mastY = baseY + railH + baseH + mastH / 2
-    const mastGeo = new THREE.BoxGeometry(mastW, mastH, mastD)
-    const mastMesh = new THREE.Mesh(mastGeo, mastMaterial)
-    mastMesh.position.set(0, mastY, 0)
-    mastMesh.castShadow = true
-    this.object3d.add(mastMesh)
-
-    // ── Carriage (horizontal block sliding on mast at carriageHeight) ─
-    const carriageW = width * 0.85
-    const carriageH = baseH * 0.7
-    const carriageD = mastD * 1.4
-    const carriageY = baseY + railH + baseH + carriageHeight + carriageH / 2
-    const carriageGeo = new THREE.BoxGeometry(carriageW, carriageH, carriageD)
-    const carriageMesh = new THREE.Mesh(carriageGeo, bodyMaterial)
-    carriageMesh.position.set(0, carriageY, 0)
-    carriageMesh.castShadow = true
-    this.object3d.add(carriageMesh)
-
-    // ── Shuttle / fork attachment on carriage (extends sideways) ──────
-    const shuttleW = width * 1.05
-    const shuttleH = carriageH * 0.5
-    const shuttleD = carriageD * 0.6
-    const shuttleGeo = new THREE.BoxGeometry(shuttleW, shuttleH, shuttleD)
-    const shuttleMesh = new THREE.Mesh(shuttleGeo, shuttleMaterial)
-    shuttleMesh.position.set(0, carriageY - carriageH / 2 - shuttleH / 2, 0)
-    shuttleMesh.castShadow = true
-    this.object3d.add(shuttleMesh)
-
-    // ── Top guide (sliding block on ceiling rail) ─────────────────────
-    const topGuideGeo = new THREE.BoxGeometry(width * 0.7, topGuideH, height * 0.6)
-    const topGuideMesh = new THREE.Mesh(topGuideGeo, baseMaterial)
-    topGuideMesh.position.set(0, baseY + depth - topGuideH / 2, 0)
-    topGuideMesh.castShadow = true
-    this.object3d.add(topGuideMesh)
-
-    // Ceiling rail (small visual cue at very top)
-    const ceilingRailGeo = new THREE.BoxGeometry(width * 1.15, topGuideH * 0.4, mastD * 0.4)
-    const ceilingRailMesh = new THREE.Mesh(
-      ceilingRailGeo,
-      new THREE.MeshStandardMaterial({ color: RAIL_COLOR, metalness: 0.9, roughness: 0.3 })
-    )
-    ceilingRailMesh.position.set(0, baseY + depth - topGuideH * 0.2, 0)
-    this.object3d.add(ceilingRailMesh)
-
-    // ── Status lamp on top of base unit ───────────────────────────────
-    const lampR = Math.min(width, height) * 0.04
-    const lampH = lampR * 1.5
-    const lampMaterial = new THREE.MeshStandardMaterial({
-      color: emissiveColor,
-      emissive: emissiveColor,
-      emissiveIntensity: lampIntensity,
-      metalness: 0,
-      roughness: 0.3
-    })
-    const lampGeo = new THREE.CylinderGeometry(lampR, lampR * 0.85, lampH, 12)
-    const lampMesh = new THREE.Mesh(lampGeo, lampMaterial)
-    // Place lamp near the corner of the base, away from the mast
-    lampMesh.position.set(width * 0.3, baseY + railH + baseH + lampH / 2, height * 0.3)
-    this.object3d.add(lampMesh)
-
-    // ── Carriage frame (invisible anchor for carrier attach) ──────────
-    // Placed at the top of the shuttle, where cargo rests.
-    this._carriageFrame = new THREE.Object3D()
-    this._carriageFrame.name = 'crane-carriage-tcp'
-    this._carriageFrame.position.set(0, carriageY - carriageH / 2 - shuttleH, 0)
-    this.object3d.add(this._carriageFrame)
-  }
-
-  /** Sub-frame where carriers attach during transport (fork tool-centre-point). */
-  private _carriageFrame?: THREE.Object3D
-
-  /**
-   * Return the carriage TCP anchor. Carriers attached to this frame will
-   * follow carriage movement as `carriageHeight` changes and the crane rebuilds.
-   *
-   * Callers should re-fetch this after any state change that triggers rebuild.
-   */
-  getCarriageFrame(): THREE.Object3D | undefined {
-    return this._carriageFrame
-  }
-
-  updateDimension() {}
-
-  onchange(after: Record<string, unknown>, before: Record<string, unknown>) {
-    if (
-      'status' in after ||
-      'bodyColor' in after ||
-      'lampEmissive' in after ||
-      'carriageHeight' in after ||
-      'width' in after ||
-      'height' in after ||
-      'depth' in after
-    ) {
-      this.update()
-      return
-    }
-    super.onchange(after, before)
-  }
-
-  updateAlpha() {}
-}

package/src/asrs-crane.ts

@@ -1,275 +0,0 @@
-/*
- * Copyright © HatioLab Inc. All rights reserved.
- */
-import { Component, ComponentNature, ContainerAbstract, ContainerCapacity, RealObject, sceneComponent } from '@hatiolab/things-scene'
-import type { SlotDef, State, Material3D } from '@hatiolab/things-scene'
-import {
-  CarrierHolder,
-  Legendable,
-  Mover,
-  Placeable,
-  type AttachFrame,
-  type Alignment,
-  type Heights,
-  type LegendBinding,
-  type MoveOptions,
-  type PlacementArchetype
-} from '@operato/scene-base'
-
-import { AsrsCrane3D } from './asrs-crane-3d.js'
-
-/**
- * AsrsCrane status — the operating state of a stacker crane in an AS/RS aisle.
- *
- * - `idle`       — parked at home position
- * - `moving`     — translating along the aisle (horizontal) or along the
- *                  mast (vertical); the two motions are typically combined
- * - `loading`    — extracting a pallet from a rack cell
- * - `unloading`  — placing a pallet into a rack cell
- * - `error`      — fault / e-stop / collision warning
- */
-export type AsrsCraneStatus = 'idle' | 'moving' | 'loading' | 'unloading' | 'error'
-
-/** AsrsCrane 컴포넌트 state */
-export interface AsrsCraneState extends State {
-  // ── 운영 상태 ──
-  status?: AsrsCraneStatus
-
-  // ── 액추에이터 ──
-  carriageHeight?: number
-
-  // ── 3D 재질 ──
-  material3d?: Material3D
-}
-
-const BODY_LEGEND = {
-  idle: '#888',
-  moving: '#aabbcc',
-  loading: '#ffaa00',
-  unloading: '#ffaa00',
-  error: '#c66',
-  default: '#888'
-}
-
-const LAMP_EMISSIVE_LEGEND = {
-  idle: '#222222',
-  moving: '#44ff44',
-  loading: '#ffaa00',
-  unloading: '#ffaa00',
-  error: '#ff3333',
-  default: '#222222'
-}
-
-const NATURE: ComponentNature = {
-  mutable: false,
-  resizable: true,
-  rotatable: true,
-  properties: [
-    {
-      type: 'select',
-      label: 'status',
-      name: 'status',
-      property: {
-        options: [
-          { display: 'Idle', value: 'idle' },
-          { display: 'Moving', value: 'moving' },
-          { display: 'Loading', value: 'loading' },
-          { display: 'Unloading', value: 'unloading' },
-          { display: 'Error', value: 'error' }
-        ]
-      }
-    },
-    {
-      type: 'number',
-      label: 'carriage-height',
-      name: 'carriageHeight',
-      placeholder: 'mm — height of carriage on mast'
-    }
-  ],
-  help: 'scene/component/asrs-crane'
-}
-
-// Mixin chain: Mover → CarrierHolder → ContainerCapacity → Legendable → Placeable → ContainerAbstract
-//
-//   Mover:             pick / place / pickAndPlace / moveTo / engage primitives
-//   CarrierHolder:     attachPointFor() — where the carrier sits on the crane (carriage fork)
-//   ContainerCapacity: receive() / dispatch() / canReceive() / slots — slot tracking +
-//                      TRANSFER_SLOT_KEY bookkeeping during transit
-//   Legendable:        status → bodyColor / lampEmissive colour mapping
-//   Placeable:         floor-archetype 3D positioning
-//   ContainerAbstract: child management — carrier becomes a child while in transit
-//
-// Note: ContainerAbstract replaces Shape. The 2D outline is drawn manually in
-// render() below (a simple top-down rectangle), matching the old Shape output
-// without the Shape base-class overhead.
-/**
- * AsrsCrane — the stacker / retrieval crane that runs in the aisle of an
- * AS/RS, moving cargo between the load port and the rack cells.
- *
- * Structure: a tall vertical mast that translates along a floor + ceiling
- * rail (the aisle), with a carriage that slides up/down the mast carrying a
- * shuttle / forks.
- *
- * **Monitoring mode**: crane status is driven by data binding
- * (`state.status`, `state.carriageHeight`). The carrier is referenced
- * via data binding — it is NOT a child of the crane in monitoring mode.
- *
- * **Simulation mode**: call `crane.pick(carrier)` / `crane.place(carrier, rackCell)`
- * (or `crane.pickAndPlace(carrier, rackCell)`). Mover handles navigation +
- * engage + reparent. During transit the carrier IS a child of the crane.
- */
-@sceneComponent('asrs-crane')
-export default class AsrsCrane extends Mover(CarrierHolder(ContainerCapacity(Legendable(Placeable(ContainerAbstract))))) {
-  declare state: AsrsCraneState
-  declare _realObject?: AsrsCrane3D
-
-  static legends: Record<string, LegendBinding> = {
-    bodyColor: { from: 'status', legend: BODY_LEGEND },
-    lampEmissive: { from: 'status', legend: LAMP_EMISSIVE_LEGEND }
-  }
-
-  static placement: PlacementArchetype = 'floor'
-  static align: Alignment = 'bottom'
-  static defaultDepth = (h: Heights) => h.ceiling - h.floor
-
-  /** Yaw offset: crane model is drawn with the aisle axis along X (right = forward). */
-  static yawOffset = 0
-
-  /**
-   * Phase H — ASRS crane 은 telescoping forks 로 rack cell 안의 carrier 픽업.
-   * forklift-fork 와 동일 mechanism — pallet 의 fork pocket 진입.
-   * (Mover mixin chain 이 :any 라 override 키워드 불가, getter 만 정의.)
-   */
-  get toolType(): string {
-    return 'forklift-fork'
-  }
-
-  get nature() {
-    return NATURE
-  }
-
-  get anchors() {
-    return []
-  }
-
-  // ── ContainerCapacity ─────────────────────────────────────────────────────
-
-  /** Stacker crane carries at most one load at a time on its forks. */
-  get slots(): SlotDef[] {
-    return [{ id: 'forks', maxCount: 1 }]
-  }
-
-  // ── CarrierHolder — attach frame (carriage fork position) ─────────────────
-
-  /**
-   * Return the 3D attach frame on the crane's carriage (fork tip).
-   * Carriers are attached here while the crane is in transit (pick phase).
-   *
-   * The AsrsCrane3D exposes `getCarriageFrame()` — a sub-Object3D that
-   * tracks the carriage height and sits at the fork TCP. If the 3D object
-   * isn't built yet (e.g. before scene initialization), fall back to the
-   * crane's own object3d centre.
-   */
-  attachPointFor(carrier: Component): AttachFrame | null {
-    const ro = this._realObject
-    const frame = ro?.getCarriageFrame?.()
-    if (frame) {
-      const carrierDepth = resolveCarrierDepth(carrier)
-      return { attach: frame, localPosition: { x: 0, y: carrierDepth / 2, z: 0 } }
-    }
-    const root = this._realObject?.object3d
-    if (!root) return null
-    return { attach: root }
-  }
-
-  // ── Mover overrides ───────────────────────────────────────────────────────
-
-  /**
-   * Domain-specific actuation between arrival and reparent.
-   *
-   * Simulation sequence for PICK:
-   *   1. Mover.pick() navigates crane to carrier position (moveTo).
-   *   2. engage('pick') → snap carriage height + status 'loading'.
-   *   3. Carrier is reparented to crane (becomes child).
-   *
-   * For now: set status and snap carriage height. A full ASRS simulation
-   * would tween the carriageHeight here (animate AsrsCrane3D).
-   *
-   * Status lifecycle:
-   *   idle → (moveTo running) → engage fires → loading/unloading → (reparent) → idle
-   * The 'moving' state is not set from Mover.moveTo() because TypeScript
-   * can't call super.moveTo() on an `: any`-typed mixin. WCS data binding
-   * sets 'moving' in monitoring mode; override pick()/place() to set it
-   * in full simulation environments.
-   */
-  async engage(
-    target: Component,
-    kind: 'pick' | 'place',
-    _options: MoveOptions = {}
-  ): Promise<void> {
-    if (kind === 'pick') {
-      this.setState({ status: 'loading' as AsrsCraneStatus })
-      const carrierY = resolveCarrierCenterY(target)
-      if (carrierY !== null) {
-        this.setState({ carriageHeight: carrierY })
-      }
-    } else {
-      this.setState({ status: 'unloading' as AsrsCraneStatus })
-    }
-    // In a full simulation: await carriage-motion tween here.
-  }
-
-  // ── Domain aliases ────────────────────────────────────────────────────────
-
-  /** Fetch a carrier from a rack cell (semantically = pick). */
-  fetch(carrier: Component, options?: MoveOptions): Promise<void> {
-    return this.pick(carrier, options)
-  }
-
-  /** Deposit a carrier into a rack cell (semantically = place). */
-  deposit(carrier: Component, cell: Component, options?: MoveOptions): Promise<void> {
-    return this.place(carrier, cell, options)
-  }
-
-  // ── 2D rendering ─────────────────────────────────────────────────────────
-
-  /**
-   * 2D — top-down rectangle showing the crane's footprint along the aisle.
-   * The crane is much taller than wide, so the 2D mark is small.
-   */
-  render(ctx: CanvasRenderingContext2D) {
-    const { width, height, left, top } = this.state
-    const fillColor = (this.state.bodyColor as string) || '#888'
-    ctx.save()
-    ctx.fillStyle = fillColor
-    ctx.beginPath()
-    ctx.rect(left, top, width, height)
-    ctx.fill()
-    ctx.restore()
-  }
-
-  // ── 3D ───────────────────────────────────────────────────────────────────
-
-  buildRealObject(): RealObject | undefined {
-    return new AsrsCrane3D(this)
-  }
-}
-
-function resolveCarrierDepth(c: Component): number {
-  const eff = (c as any)._realObject?.effectiveDepth
-  if (typeof eff === 'number' && Number.isFinite(eff)) return eff
-  return numOr((c as any)?.state?.depth, 0)
-}
-
-function resolveCarrierCenterY(c: Component): number | null {
-  const pos = (c as any).state
-  if (!pos) return null
-  // zPos is the 3D Y center of a Placeable component in things-scene
-  const zPos = numOr(pos.zPos, NaN)
-  if (!Number.isNaN(zPos)) return zPos
-  return null
-}
-
-function numOr(v: unknown, dflt: number): number {
-  return typeof v === 'number' && Number.isFinite(v) ? v : dflt
-}