@operato/scene-storage 10.0.0-beta.33 → 10.0.0-beta.34

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

@@ -1,17 +0,0 @@
-import * as THREE from 'three';
-import { RealObjectGroup } from '@hatiolab/things-scene';
-export declare class AsrsCrane3D extends RealObjectGroup {
-    build(): void;
-    /** Sub-frame where carriers attach during transport (fork tool-centre-point). */
-    private _carriageFrame?;
-    /**
-     * 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;
-    updateDimension(): void;
-    onchange(after: Record<string, unknown>, before: Record<string, unknown>): void;
-    updateAlpha(): void;
-}

package/dist/asrs-crane-3d.js

@@ -1,181 +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 { 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 || '#888';
-        const emissiveColor = this.component.state.lampEmissive || '#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 ?? 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). */
-    _carriageFrame;
-    /**
-     * 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() {
-        return this._carriageFrame;
-    }
-    updateDimension() { }
-    onchange(after, before) {
-        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() { }
-}
-//# sourceMappingURL=asrs-crane-3d.js.map

package/dist/asrs-crane-3d.js.map

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

package/dist/asrs-crane.d.ts

@@ -1,98 +0,0 @@
-import { Component, ComponentNature, RealObject } from '@hatiolab/things-scene';
-import type { SlotDef, State, Material3D } from '@hatiolab/things-scene';
-import { 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 {
-    status?: AsrsCraneStatus;
-    carriageHeight?: number;
-    material3d?: Material3D;
-}
-declare const AsrsCrane_base: any;
-/**
- * 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.
- */
-export default class AsrsCrane extends AsrsCrane_base {
-    state: AsrsCraneState;
-    _realObject?: AsrsCrane3D;
-    static legends: Record<string, LegendBinding>;
-    static placement: PlacementArchetype;
-    static align: Alignment;
-    static defaultDepth: (h: Heights) => number;
-    /** Yaw offset: crane model is drawn with the aisle axis along X (right = forward). */
-    static yawOffset: number;
-    /**
-     * 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;
-    get nature(): ComponentNature;
-    get anchors(): never[];
-    /** Stacker crane carries at most one load at a time on its forks. */
-    get slots(): SlotDef[];
-    /**
-     * 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;
-    /**
-     * 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.
-     */
-    engage(target: Component, kind: 'pick' | 'place', _options?: MoveOptions): Promise<void>;
-    /** Fetch a carrier from a rack cell (semantically = pick). */
-    fetch(carrier: Component, options?: MoveOptions): Promise<void>;
-    /** Deposit a carrier into a rack cell (semantically = place). */
-    deposit(carrier: Component, cell: Component, options?: MoveOptions): Promise<void>;
-    /**
-     * 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): void;
-    buildRealObject(): RealObject | undefined;
-}
-export {};

package/dist/asrs-crane.js

@@ -1,216 +0,0 @@
-import { __decorate } from "tslib";
-/*
- * Copyright © HatioLab Inc. All rights reserved.
- */
-import { ContainerAbstract, ContainerCapacity, sceneComponent } from '@hatiolab/things-scene';
-import { CarrierHolder, Legendable, Mover, Placeable } from '@operato/scene-base';
-import { AsrsCrane3D } from './asrs-crane-3d.js';
-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 = {
-    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.
- */
-let AsrsCrane = class AsrsCrane extends Mover(CarrierHolder(ContainerCapacity(Legendable(Placeable(ContainerAbstract))))) {
-    static legends = {
-        bodyColor: { from: 'status', legend: BODY_LEGEND },
-        lampEmissive: { from: 'status', legend: LAMP_EMISSIVE_LEGEND }
-    };
-    static placement = 'floor';
-    static align = 'bottom';
-    static defaultDepth = (h) => 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() {
-        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() {
-        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) {
-        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, kind, _options = {}) {
-        if (kind === 'pick') {
-            this.setState({ status: 'loading' });
-            const carrierY = resolveCarrierCenterY(target);
-            if (carrierY !== null) {
-                this.setState({ carriageHeight: carrierY });
-            }
-        }
-        else {
-            this.setState({ status: 'unloading' });
-        }
-        // In a full simulation: await carriage-motion tween here.
-    }
-    // ── Domain aliases ────────────────────────────────────────────────────────
-    /** Fetch a carrier from a rack cell (semantically = pick). */
-    fetch(carrier, options) {
-        return this.pick(carrier, options);
-    }
-    /** Deposit a carrier into a rack cell (semantically = place). */
-    deposit(carrier, cell, options) {
-        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) {
-        const { width, height, left, top } = this.state;
-        const fillColor = this.state.bodyColor || '#888';
-        ctx.save();
-        ctx.fillStyle = fillColor;
-        ctx.beginPath();
-        ctx.rect(left, top, width, height);
-        ctx.fill();
-        ctx.restore();
-    }
-    // ── 3D ───────────────────────────────────────────────────────────────────
-    buildRealObject() {
-        return new AsrsCrane3D(this);
-    }
-};
-AsrsCrane = __decorate([
-    sceneComponent('asrs-crane')
-], AsrsCrane);
-export default AsrsCrane;
-function resolveCarrierDepth(c) {
-    const eff = c._realObject?.effectiveDepth;
-    if (typeof eff === 'number' && Number.isFinite(eff))
-        return eff;
-    return numOr(c?.state?.depth, 0);
-}
-function resolveCarrierCenterY(c) {
-    const pos = c.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, dflt) {
-    return typeof v === 'number' && Number.isFinite(v) ? v : dflt;
-}
-//# sourceMappingURL=asrs-crane.js.map

package/dist/asrs-crane.js.map

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

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

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All rights reserved.\n *\n * AsrsRack 3D — multi-level high-bay storage rack.\n *\n * LO-POLY but visually unambiguous as a rack. The signature parts:\n *\n *   - 4 corner uprights (vertical posts running floor → top)\n *   - intermediate uprights between bays (one between each adjacent bay pair)\n *   - horizontal beams at each level on both front and back faces (defining\n *     the cell decks)\n *   - diagonal cross-bracing on the back face (the \"X\" pattern that says\n *     this is a load-bearing storage rack, not just a generic frame)\n *\n * No floor / ceiling panels — the rack is open by design (cells are accessed\n * by the stacker crane from the front/aisle side).\n *\n * Cargo (pallets, boxes) added as children render at their own z position.\n * The rack itself is purely structural geometry.\n */\n\nimport * as THREE from 'three'\nimport * as BufferGeometryUtils from 'three/examples/jsm/utils/BufferGeometryUtils.js'\nimport { RealObjectGroup } from '@hatiolab/things-scene'\n\nconst POST_COLOR = 0x6a7080\nconst BEAM_COLOR = 0x556070\nconst BRACE_COLOR = 0x556070\n\nexport class AsrsRack3D extends RealObjectGroup {\n  build() {\n    super.build()\n\n    const { width, height, depth = 3000 } = this.component.state\n    const levels = Math.max(1, Math.floor((this.component.state.levels as number) || 4))\n    const bays = Math.max(1, Math.floor((this.component.state.bays as number) || 5))\n\n    const baseY = -depth / 2\n    const postW = Math.min(width / bays, height) * 0.06\n    const beamH = depth * 0.025\n    const braceT = postW * 0.6\n\n    const postMaterial = new THREE.MeshStandardMaterial({\n      color: POST_COLOR,\n      metalness: 0.7,\n      roughness: 0.4\n    })\n    const beamMaterial = new THREE.MeshStandardMaterial({\n      color: BEAM_COLOR,\n      metalness: 0.7,\n      roughness: 0.4\n    })\n    const braceMaterial = new THREE.MeshStandardMaterial({\n      color: BRACE_COLOR,\n      metalness: 0.7,\n      roughness: 0.4\n    })\n\n    // ── Uprights (vertical posts at every bay boundary) ──────────────\n    // bays + 1 vertical positions; for each, one front post + one back post.\n    const postGeos: THREE.BufferGeometry[] = []\n    for (let i = 0; i <= bays; i++) {\n      const xFrac = i / bays - 0.5\n      const x = xFrac * width\n      // Front + back posts\n      for (const zSign of [-1, 1]) {\n        const post = new THREE.BoxGeometry(postW, depth, postW)\n        post.translate(x, 0, zSign * (height / 2 - postW / 2))\n        postGeos.push(post)\n      }\n    }\n    const postMesh = new THREE.Mesh(BufferGeometryUtils.mergeGeometries(postGeos), postMaterial)\n    postMesh.castShadow = true\n    postMesh.receiveShadow = true\n    this.object3d.add(postMesh)\n\n    // ── Horizontal beams (front + back faces at each level) ──────────\n    // levels + 1 vertical positions (level 0 = ground, level N = top).\n    const beamGeos: THREE.BufferGeometry[] = []\n    for (let lv = 0; lv <= levels; lv++) {\n      const yFrac = lv / levels\n      const y = baseY + yFrac * depth - beamH / 2 + (lv === 0 ? beamH : 0)\n\n      for (const zSign of [-1, 1]) {\n        const beam = new THREE.BoxGeometry(width, beamH, beamH)\n        beam.translate(0, y, zSign * (height / 2 - beamH / 2))\n        beamGeos.push(beam)\n      }\n    }\n    const beamMesh = new THREE.Mesh(BufferGeometryUtils.mergeGeometries(beamGeos), beamMaterial)\n    beamMesh.castShadow = true\n    beamMesh.receiveShadow = true\n    this.object3d.add(beamMesh)\n\n    // ── Diagonal cross-bracing on the back face (the \"X\" pattern) ────\n    // Two diagonals per level — \"/\" and \"\\\" — making an X across each\n    // bay-tall cell. Visual signature of a load-bearing rack.\n    const braceGeos: THREE.BufferGeometry[] = []\n    const cellW = width / bays\n    const cellH = depth / levels\n    const braceLen = Math.sqrt(cellW * cellW + cellH * cellH)\n    const braceAngle = Math.atan2(cellH, cellW)\n    const backZ = height / 2 - postW * 0.6\n\n    for (let bay = 0; bay < bays; bay++) {\n      // Brace only every other bay to keep things visually open\n      if (bay % 2 !== 0) continue\n\n      const cellCenterX = (bay - bays / 2 + 0.5) * cellW\n\n      for (let lv = 0; lv < levels; lv++) {\n        const cellCenterY = baseY + (lv + 0.5) * cellH\n\n        for (const sign of [-1, 1]) {\n          const brace = new THREE.BoxGeometry(braceLen, braceT, braceT)\n          brace.rotateZ(sign * braceAngle)\n          brace.translate(cellCenterX, cellCenterY, backZ)\n          braceGeos.push(brace)\n        }\n      }\n    }\n    if (braceGeos.length > 0) {\n      const braceMesh = new THREE.Mesh(BufferGeometryUtils.mergeGeometries(braceGeos), braceMaterial)\n      braceMesh.castShadow = true\n      this.object3d.add(braceMesh)\n    }\n  }\n\n  updateDimension() {}\n\n  onchange(after: Record<string, unknown>, before: Record<string, unknown>) {\n    if (\n      'levels' in after ||\n      'bays' in after ||\n      'width' in after ||\n      'height' in after ||\n      'depth' in after\n    ) {\n      this.update()\n      return\n    }\n    super.onchange(after, before)\n  }\n\n  updateAlpha() {}\n}\n"]}

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All rights reserved.\n */\nimport { Component, ComponentNature, ContainerAbstract, RealObject, sceneComponent } from '@hatiolab/things-scene'\nimport type { State, Material3D } from '@hatiolab/things-scene'\nimport {\n  CellContainer,\n  CellMap,\n  CarrierHolder,\n  Placeable,\n  type AttachFrame,\n  type Alignment,\n  type Heights,\n  type PlacementArchetype\n} from '@operato/scene-base'\n\nimport { AsrsRack3D } from './asrs-rack-3d.js'\n\n/** AsrsRack 컴포넌트 state */\nexport interface AsrsRackState extends State {\n  // ── 토폴로지 ──\n  bays?: number\n  levels?: number\n\n  // ── 디버그 ──\n  debugCells?: boolean\n\n  // ── 3D 재질 ──\n  material3d?: Material3D\n}\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    {\n      type: 'number',\n      label: 'levels',\n      name: 'levels',\n      placeholder: '# of vertical levels (default 4)'\n    },\n    {\n      type: 'number',\n      label: 'bays',\n      name: 'bays',\n      placeholder: '# of horizontal bays (default 5)'\n    }\n  ],\n  help: 'scene/component/asrs-rack'\n}\n\n// `ContainerAbstract` (not `Container`) — Container = MixinHTMLElement(ContainerAbstract),\n// which forces `isHTMLElement(): true` and trips the 3D pipeline's\n// addObject DOM-skip gate. ASRS rack lives only in the 3D scene graph.\n//\n// Mixin chain: CellContainer → CarrierHolder → Placeable → ContainerAbstract\n//   CellContainer: cell topology (cellMap, cell(), findAvailableCell(), occupiedCellIds())\n//   CarrierHolder: 3D attach-point protocol (attachPointFor, containable gates)\n//   Placeable:     floor-archetype positioning\n//   ContainerAbstract: child component management\n/**\n * AsrsRack — a multi-level high-bay storage rack, the structural backbone of\n * an AS/RS (Automated Storage / Retrieval System).\n *\n * `levels` × `bays` cells form a vertical grid. Each cell holds one logistics\n * package (Pallet / Box / Parcel). A pair of AsrsRacks separated by an aisle\n * (where an AsrsCrane runs) is the typical AS/RS configuration.\n *\n * **Monitoring mode** (default): pallets/boxes are direct children of the rack,\n * placed by the WCS data binding. No RackCell children are created.\n *\n * **Simulation mode**: call `rack._buildCells()` after placing the rack on the\n * scene. This creates RackCell children at the correct 3D positions. The\n * AsrsCrane then navigates to individual RackCells for pick-and-place.\n *\n * **Placement**: `floor` archetype, full ceiling depth by default.\n */\n@sceneComponent('asrs-rack')\nexport default class AsrsRack extends CellContainer(CarrierHolder(Placeable(ContainerAbstract))) {\n  declare state: AsrsRackState\n\n  static placement: PlacementArchetype = 'floor'\n  static align: Alignment = 'bottom'\n  static defaultDepth = (h: Heights) => h.ceiling - h.floor\n\n  get nature() {\n    return NATURE\n  }\n\n  get anchors() {\n    return []\n  }\n\n  // ── CellContainer ─────────────────────────────────────────────────────────\n\n  /**\n   * Derive the cell topology from the rack's current dimensions and bay/level\n   * counts. The CellMap is rebuilt fresh each time (state changes trigger\n   * re-reads via things-scene's invalidation pipeline).\n   *\n   * Coordinate convention (matches things-scene 3D):\n   *   X = bay axis  (left → right)\n   *   Y = level axis (floor → ceiling, the rack's `depth` state property)\n   *   Z = row axis   (front → back, the rack's `height` state property)\n   */\n  get cellMap(): CellMap {\n    const bays = Math.max(1, Math.floor((this.state.bays as number) || 5))\n    const levels = Math.max(1, Math.floor((this.state.levels as number) || 4))\n    const width = (this.state.width as number) || 1000\n    const rackDepth = (this.state.depth as number) || 3000   // Y: floor→ceiling\n    const rackHeight = (this.state.height as number) || 600  // Z: front→back\n\n    return CellMap.grid({\n      bays,\n      rows: 1,\n      levels,\n      bayWidth: width / bays,\n      rowDepth: rackHeight,\n      levelHeight: rackDepth / levels\n    })\n  }\n\n  /**\n   * Create RackCell child components for each cell in the CellMap.\n   *\n   * Called explicitly to enter simulation mode — monitoring-mode racks\n   * never call this (pallets are direct children, no explicit cells).\n   *\n   * Idempotent: removes existing rack-cell children first.\n   */\n  _buildCells(): void {\n    // Remove existing rack-cell children\n    const existing = (this.components as Component[] | undefined) ?? []\n    for (const child of [...existing]) {\n      if ((child as any).state?.type === 'rack-cell') {\n        this.removeComponent(child)\n      }\n    }\n\n    // Create a RackCell for each cell in the map\n    const RackCellClass = (Component as any).register('rack-cell') as (new (...args: any[]) => Component) | undefined\n    if (!RackCellClass) {\n      console.warn('AsrsRack._buildCells: rack-cell type not registered. Import rack-cell.ts first.')\n      return\n    }\n\n    const context = this._app\n    for (const cell of this.cellMap.cells) {\n      const model = {\n        type: 'rack-cell',\n        cellId: cell.id,\n        width: cell.size.width,\n        height: cell.size.depth,  // 2D height = 3D Z depth\n        depth: cell.size.height   // 3D Y = level height\n      }\n      const rackCell = new RackCellClass(model, context)\n      this.addComponent(rackCell)\n    }\n  }\n\n  // ── Container gates ───────────────────────────────────────────────────────\n\n  /**\n   * Allow:\n   *   - Carriable components (pallets, boxes, parcels) — direct children in monitoring mode.\n   *   - RackCell — created by _buildCells() in simulation mode.\n   *\n   * Block:\n   *   - Everything else (sensors, labels, etc. can be siblings of the rack, not children).\n   */\n  containable(component: Component): boolean {\n    if ((component as any).state?.type === 'rack-cell') return true\n    const archetype = (component.constructor as any).placement\n    if (archetype === 'operation') return true\n    return component.isDescendible(this)\n  }\n\n  // ── CarrierHolder — attach frame for direct carrier children ─────────────\n\n  /**\n   * Attach frame for carriers that are DIRECT children of the rack\n   * (monitoring mode, where pallets go directly into the rack without\n   * explicit RackCell components).\n   *\n   * In simulation mode, carriers become children of their RackCell,\n   * and each RackCell provides its own attachPointFor(). So this method\n   * is only invoked on direct-child carriers in monitoring mode — it\n   * returns the rack's own object3d as the attach frame (default behavior).\n   */\n  attachPointFor(_carrier: Component): AttachFrame | null {\n    const root = this._realObject?.object3d\n    if (!root) return null\n    return { attach: root }\n  }\n\n  // ── 2D rendering ─────────────────────────────────────────────────────────\n\n  /**\n   * 2D — top-down rectangle showing the rack footprint, with subdivisions\n   * suggesting the bay layout (lines parallel to the aisle).\n   */\n  render(ctx: CanvasRenderingContext2D) {\n    const { width, height, left, top } = this.state\n    const bays = Math.max(1, Math.floor((this.state.bays as number) || 5))\n\n    ctx.beginPath()\n    // Outer rectangle\n    ctx.rect(left, top, width, height)\n    // Bay subdivisions (vertical lines)\n    for (let i = 1; i < bays; i++) {\n      const x = left + (width * i) / bays\n      ctx.moveTo(x, top)\n      ctx.lineTo(x, top + height)\n    }\n  }\n\n  get fillStyle() {\n    return '#a0a0a8'\n  }\n\n  // ── 3D ───────────────────────────────────────────────────────────────────\n\n  buildRealObject(): RealObject | undefined {\n    return new AsrsRack3D(this)\n  }\n}\n"]}