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

package/dist/crane.js

@@ -0,0 +1,440 @@
+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 { Crane3D } from './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: 'string',
+            label: 'target',
+            name: 'target',
+            placeholder: 'refid of target (e.g., a RackGrid) — crane serves only its cells'
+        },
+        {
+            type: 'number',
+            label: 'carriage-height',
+            name: 'carriageHeight',
+            placeholder: 'mm — height of carriage on mast'
+        },
+        {
+            type: 'number',
+            label: 'fork-length',
+            name: 'forkLength',
+            placeholder: 'mm — fork prong 최대 신축 길이 (default 600)'
+        },
+        {
+            type: 'number',
+            label: 'fork-extension',
+            name: 'forkExtension',
+            placeholder: 'mm — 현재 신축 거리 (0 = collapsed)'
+        },
+        {
+            type: 'number',
+            label: 'fork-lift',
+            name: 'forkLift',
+            placeholder: 'mm — carrier 들어올림 높이 (+ 위로)'
+        }
+    ],
+    help: 'scene/component/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.
+/**
+ * Crane — a stacker / retrieval picker. Picker contract instance.
+ *
+ * Moves carriers between rack cells (or any Placeable target). The crane
+ * is *picker-side* of the Phase G/H Pickable contract — it knows how to
+ * `pick(carrier)` / `place(carrier, target)` and `engage(target, kind)`
+ * to align its actuators. It is *storage-agnostic* — any Rack / Cell /
+ * Spot / Conveyor that implements the receive/dispatch protocol is a
+ * valid target.
+ *
+ * Structure: a tall vertical mast that translates horizontally on a rail
+ * or free floor path, with a carriage that slides up/down the mast carrying
+ * a shuttle / forks.
+ *
+ * **Monitoring mode**: crane status is driven by external 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, target)`
+ * (or `crane.pickAndPlace(carrier, target)`). Mover handles navigation +
+ * engage + reparent. During transit the carrier IS a child of the crane.
+ */
+let Crane = class Crane 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 rail axis along X (right = forward). */
+    static yawOffset = 0;
+    /**
+     * Phase H — the crane uses telescoping forks to pick up a carrier in a rack
+     * cell. Same mechanism as a forklift fork — engages the pallet's fork pocket.
+     * (Mover mixin chain is `: any` so override keyword is not usable, only the
+     * getter is defined.)
+     */
+    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 Crane3D 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);
+            // fork blade 위 (top surface) 에 pallet pocket 끼우듯 얹힘. y = blade top + carrier/2.
+            // z = blade 중심 (forkLength 의 반쪽 위치 — pallet center 가 blade 중간에 위치).
+            const platformTopY = ro?.platformTopY ?? 0;
+            const bladeMidZ = ro?.bladeMidZ ?? 0;
+            return {
+                attach: frame,
+                localPosition: { x: 0, y: platformTopY + carrierDepth / 2, z: bladeMidZ }
+            };
+        }
+        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 simulation
+     * would tween the carriageHeight here (animate Crane3D).
+     *
+     * 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. External 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 rail.
+     * 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() {
+        if (!this._simStarted) {
+            this._simStarted = true;
+            // 초기 지연 800~2800ms 사이 random — 여러 crane 이 동기적으로 시작하지 않도록.
+            const initialDelay = 800 + Math.random() * 2000;
+            setTimeout(() => {
+                this.simulate().catch(e => console.error('[Crane] simulate', e));
+            }, initialDelay);
+        }
+        return new Crane3D(this);
+    }
+    // ── Random animation (visual smoke test) ─────────────────────────────────
+    // things-scene 의 component.animate() (frameClock 기반, pause/speed 대응) 를 사용.
+    _simStarted = false;
+    _simRunning = false;
+    _simAbort = false;
+    // Rail = crane 의 *로컬 X 축* (state.rotation 적용). simulate 진입 시 1회 계산해서 캐시.
+    _railOriginX = 0;
+    _railOriginY = 0;
+    _railCos = 1;
+    _railSin = 0;
+    _railMin = NaN; // local-X 축 rail offset min
+    _railMax = NaN; // local-X 축 rail offset max
+    _targetSide = 1; // +Z (fork +Z 로 뻗어야 하나) / -Z
+    /** Continuous random pick → transport → place cycles. Visual smoke test. */
+    async simulate() {
+        if (this._simRunning)
+            return;
+        this._simRunning = true;
+        this._simAbort = false;
+        try {
+            this._initRailRange();
+            while (!this._simAbort) {
+                await this._oneCycle();
+            }
+        }
+        finally {
+            this._simRunning = false;
+        }
+    }
+    /**
+     * state.target bbox 를 crane 의 *로컬 X 축* 으로 projection 해서 rail range 1회 계산.
+     * Rotation 적용된 crane 의 local X (= rail) 방향으로 움직이도록 cos/sin 캐시.
+     */
+    _initRailRange() {
+        this._railMin = this._railMax = NaN;
+        // 1순위: state.target refid 로 명시. 2순위: crane 의 parent 컴포넌트 (자연스러운
+        // "이 컨테이너 안에서만 움직여" 기본값).
+        const targetRefId = this.state.target;
+        const root = this.root;
+        let target = targetRefId ? root?.findById?.(targetRefId) : null;
+        if (!target) {
+            const parent = this.parent;
+            // parent 가 root/model-layer 같은 top-level 이면 bbox 가 의미없음 → skip
+            if (parent && parent !== root && parent.state?.width > 0) {
+                target = parent;
+            }
+        }
+        if (!target)
+            return;
+        const tState = target.state ?? {};
+        const tl = numOr(tState.left, 0);
+        const tt = numOr(tState.top, 0);
+        const tw = numOr(tState.width, 0);
+        const th = numOr(tState.height, 0);
+        if (tw <= 0 || th <= 0)
+            return;
+        const W = numOr(this.state.width, 100);
+        const H = numOr(this.state.height, 100);
+        const rotation = numOr(this.state.rotation, 0);
+        const cos = Math.cos(rotation);
+        const sin = Math.sin(rotation);
+        // Rail origin = crane 의 현재 canvas center. 이 점에서 local X 방향으로 ±rail offset.
+        this._railOriginX = numOr(this.state.left, 0) + W / 2;
+        this._railOriginY = numOr(this.state.top, 0) + H / 2;
+        this._railCos = cos;
+        this._railSin = sin;
+        // Target bbox 4 corner 를 crane local frame 으로 projection.
+        // local X (rail) = dx*cos + dy*sin
+        // local Z (aisle) = -dx*sin + dy*cos
+        const corners = [
+            { x: tl, y: tt },
+            { x: tl + tw, y: tt },
+            { x: tl, y: tt + th },
+            { x: tl + tw, y: tt + th }
+        ];
+        let minRail = Infinity;
+        let maxRail = -Infinity;
+        let aisleSum = 0;
+        for (const c of corners) {
+            const dx = c.x - this._railOriginX;
+            const dy = c.y - this._railOriginY;
+            const rail = dx * cos + dy * sin;
+            const aisle = -dx * sin + dy * cos;
+            if (rail < minRail)
+                minRail = rail;
+            if (rail > maxRail)
+                maxRail = rail;
+            aisleSum += aisle;
+        }
+        // Crane 자체 W 만큼 안쪽으로 좁혀 — crane center 가 [minRail+W/2, maxRail-W/2] 안에
+        // 있으면 crane 전체가 target bbox 안 (local X 방향).
+        this._railMin = minRail + W / 2;
+        this._railMax = Math.max(this._railMin, maxRail - W / 2);
+        this._targetSide = aisleSum >= 0 ? +1 : -1;
+    }
+    stopSimulate() {
+        this._simAbort = true;
+    }
+    async _oneCycle() {
+        const W = numOr(this.state.width, 100);
+        const H = numOr(this.state.height, 100);
+        const D = numOr(this.state.depth, W * 4);
+        const forkLen = numOr(this.state.forkLength, H * 0.6);
+        if (!Number.isFinite(this._railMin) || !Number.isFinite(this._railMax)) {
+            await new Promise(r => setTimeout(r, 800));
+            return;
+        }
+        const pickRail = () => this._railMin + Math.random() * Math.max(0, this._railMax - this._railMin);
+        const toLeftTop = (rail) => ({
+            left: this._railOriginX + rail * this._railCos - W / 2,
+            top: this._railOriginY + rail * this._railSin - H / 2
+        });
+        const source = toLeftTop(pickRail());
+        const dest = toLeftTop(pickRail());
+        const sourceCH = Math.random() * D * 0.75;
+        const destCH = Math.random() * D * 0.75;
+        const liftH = Math.max(20, D * 0.02);
+        const side = this._targetSide;
+        // Tween duration 은 base 의 70~130% 사이 random — 여러 crane 이 같은 타이밍으로 안 보이도록.
+        const jitter = (base) => base * (0.7 + Math.random() * 0.6);
+        // 이동: crane local X 방향 → canvas (left, top) 둘 다 동시 변경 (rotation 적용 시 diagonal)
+        await this._tween({ status: 'moving', left: source.left, top: source.top, carriageHeight: sourceCH }, jitter(1500));
+        await this._tween({ status: 'loading', forkExtension: side * forkLen }, jitter(700));
+        await this._tween({ forkLift: liftH }, jitter(400));
+        await this._tween({ forkExtension: 0 }, jitter(700));
+        await this._tween({ status: 'moving', left: dest.left, top: dest.top, carriageHeight: destCH }, jitter(1500));
+        await this._tween({ status: 'unloading', forkExtension: side * forkLen }, jitter(700));
+        await this._tween({ forkLift: 0 }, jitter(400));
+        await this._tween({ status: 'idle', forkExtension: 0 }, jitter(700));
+        // 사이클 사이 짧은 idle (200~1000ms) — 자연스러운 phase 분산
+        await new Promise(r => setTimeout(r, 200 + Math.random() * 800));
+    }
+    /**
+     * things-scene 의 `component.animate()` 로 한 구간 tween. step 콜백에서 setState 호출.
+     * frameClock.simTime 기반이라 scene pause / speed change / suppressAnimations 모두 자동 대응.
+     */
+    _tween(targets, duration) {
+        const start = {};
+        for (const k of Object.keys(targets)) {
+            if (k === 'status')
+                continue;
+            const v = this.state[k];
+            start[k] = typeof v === 'number' && Number.isFinite(v) ? v : 0;
+        }
+        if (typeof targets.status === 'string') {
+            this.setState({ status: targets.status });
+        }
+        return new Promise(resolve => {
+            let resolved = false;
+            const finish = () => {
+                if (resolved)
+                    return;
+                resolved = true;
+                resolve();
+            };
+            const controller = this.animate({
+                duration,
+                ease: 'inout',
+                delta: 'quad',
+                step: (dx) => {
+                    if (this._simAbort) {
+                        controller.stop?.();
+                        return finish();
+                    }
+                    const update = {};
+                    for (const k of Object.keys(start)) {
+                        const tgt = targets[k];
+                        if (typeof tgt !== 'number')
+                            continue;
+                        update[k] = start[k] + (tgt - start[k]) * dx;
+                    }
+                    this.setState(update);
+                },
+                onComplete: finish
+            });
+            controller.start();
+        });
+    }
+};
+Crane = __decorate([
+    sceneComponent('crane')
+], Crane);
+export default Crane;
+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=crane.js.map

package/dist/crane.js.map

@@ -0,0 +1 @@
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* Copyright © HatioLab Inc. 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 { Crane3D } from './crane-3d.js'\n\n/**\n * Crane status — the operating state of a stacker crane.\n *\n * - `idle`       — parked at home position\n * - `moving`     — translating (horizontal) or along the mast (vertical);\n *                  typically combined\n * - `loading`    — extracting a carrier from a rack cell\n * - `unloading`  — placing a carrier into a rack cell\n * - `error`      — fault / e-stop / collision warning\n */\nexport type CraneStatus = 'idle' | 'moving' | 'loading' | 'unloading' | 'error'\n\n/** Crane 컴포넌트 state */\nexport interface CraneState extends State {\n  // ── 운영 상태 ──\n  status?: CraneStatus\n\n  /**\n   * Crane 이 서비스 할 타깃 컴포넌트의 refid (또는 id).\n   * 명시되면 그 컴포넌트 (또는 그 children) 의 위치를 stop point 로 사용 — heuristic\n   * 으로 sibling 추정 안 함. 미명시면 sibling 안에서 추측.\n   * 예: RackGrid 의 refid 를 지정하면 그 안의 cell 들 사이에서만 이동.\n   */\n  target?: string\n\n  // ── 액추에이터 ──\n  /** 마스트 따라 carriage 의 수직 위치 (mm). */\n  carriageHeight?: number\n  /**\n   * Fork prong 의 최대 신축 가능 길이 (mm). cell 깊이 + 여유.\n   * 일반적으로 pallet 깊이 (1200mm) + 여유 ≈ 1300mm 또는 그 이하 (default 600).\n   */\n  forkLength?: number\n  /**\n   * Fork 의 *현재 신축 거리* (mm). 0 = collapsed (shuttle 안 들어가있음),\n   * forkLength = fully extended (cell 안 carrier 의 fork pocket 도달).\n   *\n   * 시뮬레이션 흐름:\n   *   idle: 0\n   *   approach → 0\n   *   pick / place: 0 → forkLength (extending) → 0 (retracting with carrier)\n   */\n  forkExtension?: number\n  /**\n   * Fork 의 *carrier 들어올림 높이* (mm). 0 = neutral (cell shelf 와 같은 면),\n   * +값 = carrier 를 *위로* 들어올림 (fork pocket 안으로 진입 후 위로 lifting).\n   */\n  forkLift?: 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: 'string',\n      label: 'target',\n      name: 'target',\n      placeholder: 'refid of target (e.g., a RackGrid) — crane serves only its cells'\n    },\n    {\n      type: 'number',\n      label: 'carriage-height',\n      name: 'carriageHeight',\n      placeholder: 'mm — height of carriage on mast'\n    },\n    {\n      type: 'number',\n      label: 'fork-length',\n      name: 'forkLength',\n      placeholder: 'mm — fork prong 최대 신축 길이 (default 600)'\n    },\n    {\n      type: 'number',\n      label: 'fork-extension',\n      name: 'forkExtension',\n      placeholder: 'mm — 현재 신축 거리 (0 = collapsed)'\n    },\n    {\n      type: 'number',\n      label: 'fork-lift',\n      name: 'forkLift',\n      placeholder: 'mm — carrier 들어올림 높이 (+ 위로)'\n    }\n  ],\n  help: 'scene/component/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 * Crane — a stacker / retrieval picker. Picker contract instance.\n *\n * Moves carriers between rack cells (or any Placeable target). The crane\n * is *picker-side* of the Phase G/H Pickable contract — it knows how to\n * `pick(carrier)` / `place(carrier, target)` and `engage(target, kind)`\n * to align its actuators. It is *storage-agnostic* — any Rack / Cell /\n * Spot / Conveyor that implements the receive/dispatch protocol is a\n * valid target.\n *\n * Structure: a tall vertical mast that translates horizontally on a rail\n * or free floor path, with a carriage that slides up/down the mast carrying\n * a shuttle / forks.\n *\n * **Monitoring mode**: crane status is driven by external 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, target)`\n * (or `crane.pickAndPlace(carrier, target)`). Mover handles navigation +\n * engage + reparent. During transit the carrier IS a child of the crane.\n */\n@sceneComponent('crane')\nexport default class Crane extends Mover(CarrierHolder(ContainerCapacity(Legendable(Placeable(ContainerAbstract))))) {\n  declare state: CraneState\n  declare _realObject?: Crane3D\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 rail axis along X (right = forward). */\n  static yawOffset = 0\n\n  /**\n   * Phase H — the crane uses telescoping forks to pick up a carrier in a rack\n   * cell. Same mechanism as a forklift fork — engages the pallet's fork pocket.\n   * (Mover mixin chain is `: any` so override keyword is not usable, only the\n   * getter is defined.)\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 Crane3D 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      // fork blade 위 (top surface) 에 pallet pocket 끼우듯 얹힘. y = blade top + carrier/2.\n      // z = blade 중심 (forkLength 의 반쪽 위치 — pallet center 가 blade 중간에 위치).\n      const platformTopY = ro?.platformTopY ?? 0\n      const bladeMidZ = ro?.bladeMidZ ?? 0\n      return {\n        attach: frame,\n        localPosition: { x: 0, y: platformTopY + carrierDepth / 2, z: bladeMidZ }\n      }\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 simulation\n   * would tween the carriageHeight here (animate Crane3D).\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. External data\n   * binding sets 'moving' in monitoring mode; override pick()/place() to\n   * set it 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 CraneStatus })\n      const carrierY = resolveCarrierCenterY(target)\n      if (carrierY !== null) {\n        this.setState({ carriageHeight: carrierY })\n      }\n    } else {\n      this.setState({ status: 'unloading' as CraneStatus })\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 rail.\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    if (!this._simStarted) {\n      this._simStarted = true\n      // 초기 지연 800~2800ms 사이 random — 여러 crane 이 동기적으로 시작하지 않도록.\n      const initialDelay = 800 + Math.random() * 2000\n      setTimeout(() => {\n        this.simulate().catch(e => console.error('[Crane] simulate', e))\n      }, initialDelay)\n    }\n    return new Crane3D(this)\n  }\n\n  // ── Random animation (visual smoke test) ─────────────────────────────────\n  // things-scene 의 component.animate() (frameClock 기반, pause/speed 대응) 를 사용.\n\n  private _simStarted = false\n  private _simRunning = false\n  private _simAbort = false\n  // Rail = crane 의 *로컬 X 축* (state.rotation 적용). simulate 진입 시 1회 계산해서 캐시.\n  private _railOriginX = 0\n  private _railOriginY = 0\n  private _railCos = 1\n  private _railSin = 0\n  private _railMin = NaN      // local-X 축 rail offset min\n  private _railMax = NaN      // local-X 축 rail offset max\n  private _targetSide = 1     // +Z (fork +Z 로 뻗어야 하나) / -Z\n\n  /** Continuous random pick → transport → place cycles. Visual smoke test. */\n  async simulate(): Promise<void> {\n    if (this._simRunning) return\n    this._simRunning = true\n    this._simAbort = false\n    try {\n      this._initRailRange()\n      while (!this._simAbort) {\n        await this._oneCycle()\n      }\n    } finally {\n      this._simRunning = false\n    }\n  }\n\n  /**\n   * state.target bbox 를 crane 의 *로컬 X 축* 으로 projection 해서 rail range 1회 계산.\n   * Rotation 적용된 crane 의 local X (= rail) 방향으로 움직이도록 cos/sin 캐시.\n   */\n  private _initRailRange(): void {\n    this._railMin = this._railMax = NaN\n\n    // 1순위: state.target refid 로 명시. 2순위: crane 의 parent 컴포넌트 (자연스러운\n    // \"이 컨테이너 안에서만 움직여\" 기본값).\n    const targetRefId = (this.state as any).target as string | undefined\n    const root = (this as any).root\n    let target = targetRefId ? root?.findById?.(targetRefId) : null\n    if (!target) {\n      const parent = (this as any).parent\n      // parent 가 root/model-layer 같은 top-level 이면 bbox 가 의미없음 → skip\n      if (parent && parent !== root && (parent.state as any)?.width > 0) {\n        target = parent\n      }\n    }\n    if (!target) return\n\n    const tState = target.state ?? {}\n    const tl = numOr(tState.left, 0)\n    const tt = numOr(tState.top, 0)\n    const tw = numOr(tState.width, 0)\n    const th = numOr(tState.height, 0)\n    if (tw <= 0 || th <= 0) return\n\n    const W = numOr((this.state as any).width, 100)\n    const H = numOr((this.state as any).height, 100)\n    const rotation = numOr((this.state as any).rotation, 0)\n    const cos = Math.cos(rotation)\n    const sin = Math.sin(rotation)\n\n    // Rail origin = crane 의 현재 canvas center. 이 점에서 local X 방향으로 ±rail offset.\n    this._railOriginX = numOr((this.state as any).left, 0) + W / 2\n    this._railOriginY = numOr((this.state as any).top, 0) + H / 2\n    this._railCos = cos\n    this._railSin = sin\n\n    // Target bbox 4 corner 를 crane local frame 으로 projection.\n    // local X (rail) = dx*cos + dy*sin\n    // local Z (aisle) = -dx*sin + dy*cos\n    const corners = [\n      { x: tl, y: tt },\n      { x: tl + tw, y: tt },\n      { x: tl, y: tt + th },\n      { x: tl + tw, y: tt + th }\n    ]\n    let minRail = Infinity\n    let maxRail = -Infinity\n    let aisleSum = 0\n    for (const c of corners) {\n      const dx = c.x - this._railOriginX\n      const dy = c.y - this._railOriginY\n      const rail = dx * cos + dy * sin\n      const aisle = -dx * sin + dy * cos\n      if (rail < minRail) minRail = rail\n      if (rail > maxRail) maxRail = rail\n      aisleSum += aisle\n    }\n    // Crane 자체 W 만큼 안쪽으로 좁혀 — crane center 가 [minRail+W/2, maxRail-W/2] 안에\n    // 있으면 crane 전체가 target bbox 안 (local X 방향).\n    this._railMin = minRail + W / 2\n    this._railMax = Math.max(this._railMin, maxRail - W / 2)\n    this._targetSide = aisleSum >= 0 ? +1 : -1\n  }\n\n  stopSimulate(): void {\n    this._simAbort = true\n  }\n\n  private async _oneCycle(): Promise<void> {\n    const W = numOr((this.state as any).width, 100)\n    const H = numOr((this.state as any).height, 100)\n    const D = numOr((this.state as any).depth, W * 4)\n    const forkLen = numOr((this.state as any).forkLength, H * 0.6)\n\n    if (!Number.isFinite(this._railMin) || !Number.isFinite(this._railMax)) {\n      await new Promise(r => setTimeout(r, 800))\n      return\n    }\n\n    const pickRail = () => this._railMin + Math.random() * Math.max(0, this._railMax - this._railMin)\n    const toLeftTop = (rail: number) => ({\n      left: this._railOriginX + rail * this._railCos - W / 2,\n      top: this._railOriginY + rail * this._railSin - H / 2\n    })\n\n    const source = toLeftTop(pickRail())\n    const dest = toLeftTop(pickRail())\n\n    const sourceCH = Math.random() * D * 0.75\n    const destCH = Math.random() * D * 0.75\n    const liftH = Math.max(20, D * 0.02)\n    const side = this._targetSide\n\n    // Tween duration 은 base 의 70~130% 사이 random — 여러 crane 이 같은 타이밍으로 안 보이도록.\n    const jitter = (base: number): number => base * (0.7 + Math.random() * 0.6)\n\n    // 이동: crane local X 방향 → canvas (left, top) 둘 다 동시 변경 (rotation 적용 시 diagonal)\n    await this._tween({ status: 'moving', left: source.left, top: source.top, carriageHeight: sourceCH }, jitter(1500))\n    await this._tween({ status: 'loading', forkExtension: side * forkLen }, jitter(700))\n    await this._tween({ forkLift: liftH }, jitter(400))\n    await this._tween({ forkExtension: 0 }, jitter(700))\n    await this._tween({ status: 'moving', left: dest.left, top: dest.top, carriageHeight: destCH }, jitter(1500))\n    await this._tween({ status: 'unloading', forkExtension: side * forkLen }, jitter(700))\n    await this._tween({ forkLift: 0 }, jitter(400))\n    await this._tween({ status: 'idle', forkExtension: 0 }, jitter(700))\n\n    // 사이클 사이 짧은 idle (200~1000ms) — 자연스러운 phase 분산\n    await new Promise(r => setTimeout(r, 200 + Math.random() * 800))\n  }\n\n  /**\n   * things-scene 의 `component.animate()` 로 한 구간 tween. step 콜백에서 setState 호출.\n   * frameClock.simTime 기반이라 scene pause / speed change / suppressAnimations 모두 자동 대응.\n   */\n  private _tween(targets: Record<string, any>, duration: number): Promise<void> {\n    const start: Record<string, number> = {}\n    for (const k of Object.keys(targets)) {\n      if (k === 'status') continue\n      const v = (this.state as any)[k]\n      start[k] = typeof v === 'number' && Number.isFinite(v) ? v : 0\n    }\n    if (typeof targets.status === 'string') {\n      this.setState({ status: targets.status })\n    }\n    return new Promise<void>(resolve => {\n      let resolved = false\n      const finish = () => {\n        if (resolved) return\n        resolved = true\n        resolve()\n      }\n      const controller = (this as any).animate({\n        duration,\n        ease: 'inout',\n        delta: 'quad',\n        step: (dx: number) => {\n          if (this._simAbort) {\n            controller.stop?.()\n            return finish()\n          }\n          const update: Record<string, number> = {}\n          for (const k of Object.keys(start)) {\n            const tgt = targets[k]\n            if (typeof tgt !== 'number') continue\n            update[k] = start[k] + (tgt - start[k]) * dx\n          }\n          this.setState(update as any)\n        },\n        onComplete: finish\n      })\n      controller.start()\n    })\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/index.d.ts

@@ -3,12 +3,19 @@ export type { PalletMaterial } from './pallet.js';
 export { default as Box } from './box.js';
 export type { BoxMaterial } from './box.js';
 export { default as Parcel } from './parcel.js';
-export { default as AsrsRack } from './asrs-rack.js';
-export { default as RackCell } from './rack-cell.js';
-export type { RackCellType } from './rack-cell.js';
-export { RackCell3D } from './rack-cell-3d.js';
-export { default as AsrsCrane } from './asrs-crane.js';
-export type { AsrsCraneStatus } from './asrs-crane.js';
+export { default as StorageRack } from './storage-rack.js';
+export type { StorageRackState } from './storage-rack.js';
+export { StorageRack3D } from './storage-rack-3d.js';
+export { default as RackGrid } from './rack-grid.js';
+export type { RackGridState } from './rack-grid.js';
+export { RackGrid3D } from './rack-grid-3d.js';
+export { default as MobileStorageRack } from './mobile-storage-rack.js';
+export { default as StorageCell } from './storage-cell.js';
+export type { StorageCellType } from './storage-cell.js';
+export { StorageCell3D } from './storage-cell-3d.js';
+export { default as Crane } from './crane.js';
+export type { CraneState, CraneStatus } from './crane.js';
+export { Crane3D } from './crane-3d.js';
 export { default as Spot } from './spot.js';
 export { Spot3D } from './spot-3d.js';
 export { default as GenericContainer } from './generic-container.js';

package/dist/index.js

@@ -4,10 +4,15 @@
 export { default as Pallet } from './pallet.js';
 export { default as Box } from './box.js';
 export { default as Parcel } from './parcel.js';
-export { default as AsrsRack } from './asrs-rack.js';
-export { default as RackCell } from './rack-cell.js';
-export { RackCell3D } from './rack-cell-3d.js';
-export { default as AsrsCrane } from './asrs-crane.js';
+export { default as StorageRack } from './storage-rack.js';
+export { StorageRack3D } from './storage-rack-3d.js';
+export { default as RackGrid } from './rack-grid.js';
+export { RackGrid3D } from './rack-grid-3d.js';
+export { default as MobileStorageRack } from './mobile-storage-rack.js';
+export { default as StorageCell } from './storage-cell.js';
+export { StorageCell3D } from './storage-cell-3d.js';
+export { default as Crane } from './crane.js';
+export { Crane3D } from './crane-3d.js';
 export { default as Spot } from './spot.js';
 export { Spot3D } from './spot-3d.js';
 export { default as GenericContainer } from './generic-container.js';

package/dist/index.js.map

@@ -1 +1 @@
-{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;GAEG;AACH,OAAO,EAAE,OAAO,IAAI,MAAM,EAAE,MAAM,aAAa,CAAA;AAG/C,OAAO,EAAE,OAAO,IAAI,GAAG,EAAE,MAAM,UAAU,CAAA;AAGzC,OAAO,EAAE,OAAO,IAAI,MAAM,EAAE,MAAM,aAAa,CAAA;AAE/C,OAAO,EAAE,OAAO,IAAI,QAAQ,EAAE,MAAM,gBAAgB,CAAA;AACpD,OAAO,EAAE,OAAO,IAAI,QAAQ,EAAE,MAAM,gBAAgB,CAAA;AAEpD,OAAO,EAAE,UAAU,EAAE,MAAM,mBAAmB,CAAA;AAC9C,OAAO,EAAE,OAAO,IAAI,SAAS,EAAE,MAAM,iBAAiB,CAAA;AAGtD,OAAO,EAAE,OAAO,IAAI,IAAI,EAAE,MAAM,WAAW,CAAA;AAC3C,OAAO,EAAE,MAAM,EAAE,MAAM,cAAc,CAAA;AAErC,OAAO,EAAE,OAAO,IAAI,gBAAgB,EAAE,MAAM,wBAAwB,CAAA;AAEpE,OAAO,EAAE,kBAAkB,EAAE,MAAM,2BAA2B,CAAA","sourcesContent":["/*\n * Copyright © HatioLab Inc. All rights reserved.\n */\nexport { default as Pallet } from './pallet.js'\nexport type { PalletMaterial } from './pallet.js'\n\nexport { default as Box } from './box.js'\nexport type { BoxMaterial } from './box.js'\n\nexport { default as Parcel } from './parcel.js'\n\nexport { default as AsrsRack } from './asrs-rack.js'\nexport { default as RackCell } from './rack-cell.js'\nexport type { RackCellType } from './rack-cell.js'\nexport { RackCell3D } from './rack-cell-3d.js'\nexport { default as AsrsCrane } from './asrs-crane.js'\nexport type { AsrsCraneStatus } from './asrs-crane.js'\n\nexport { default as Spot } from './spot.js'\nexport { Spot3D } from './spot-3d.js'\n\nexport { default as GenericContainer } from './generic-container.js'\nexport type { ContainerStatus } from './generic-container.js'\nexport { GenericContainer3D } from './generic-container-3d.js'\n"]}
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;GAEG;AACH,OAAO,EAAE,OAAO,IAAI,MAAM,EAAE,MAAM,aAAa,CAAA;AAG/C,OAAO,EAAE,OAAO,IAAI,GAAG,EAAE,MAAM,UAAU,CAAA;AAGzC,OAAO,EAAE,OAAO,IAAI,MAAM,EAAE,MAAM,aAAa,CAAA;AAE/C,OAAO,EAAE,OAAO,IAAI,WAAW,EAAE,MAAM,mBAAmB,CAAA;AAE1D,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAA;AACpD,OAAO,EAAE,OAAO,IAAI,QAAQ,EAAE,MAAM,gBAAgB,CAAA;AAEpD,OAAO,EAAE,UAAU,EAAE,MAAM,mBAAmB,CAAA;AAC9C,OAAO,EAAE,OAAO,IAAI,iBAAiB,EAAE,MAAM,0BAA0B,CAAA;AACvE,OAAO,EAAE,OAAO,IAAI,WAAW,EAAE,MAAM,mBAAmB,CAAA;AAE1D,OAAO,EAAE,aAAa,EAAE,MAAM,sBAAsB,CAAA;AACpD,OAAO,EAAE,OAAO,IAAI,KAAK,EAAE,MAAM,YAAY,CAAA;AAE7C,OAAO,EAAE,OAAO,EAAE,MAAM,eAAe,CAAA;AAEvC,OAAO,EAAE,OAAO,IAAI,IAAI,EAAE,MAAM,WAAW,CAAA;AAC3C,OAAO,EAAE,MAAM,EAAE,MAAM,cAAc,CAAA;AAErC,OAAO,EAAE,OAAO,IAAI,gBAAgB,EAAE,MAAM,wBAAwB,CAAA;AAEpE,OAAO,EAAE,kBAAkB,EAAE,MAAM,2BAA2B,CAAA","sourcesContent":["/*\n * Copyright © HatioLab Inc. All rights reserved.\n */\nexport { default as Pallet } from './pallet.js'\nexport type { PalletMaterial } from './pallet.js'\n\nexport { default as Box } from './box.js'\nexport type { BoxMaterial } from './box.js'\n\nexport { default as Parcel } from './parcel.js'\n\nexport { default as StorageRack } from './storage-rack.js'\nexport type { StorageRackState } from './storage-rack.js'\nexport { StorageRack3D } from './storage-rack-3d.js'\nexport { default as RackGrid } from './rack-grid.js'\nexport type { RackGridState } from './rack-grid.js'\nexport { RackGrid3D } from './rack-grid-3d.js'\nexport { default as MobileStorageRack } from './mobile-storage-rack.js'\nexport { default as StorageCell } from './storage-cell.js'\nexport type { StorageCellType } from './storage-cell.js'\nexport { StorageCell3D } from './storage-cell-3d.js'\nexport { default as Crane } from './crane.js'\nexport type { CraneState, CraneStatus } from './crane.js'\nexport { Crane3D } from './crane-3d.js'\n\nexport { default as Spot } from './spot.js'\nexport { Spot3D } from './spot-3d.js'\n\nexport { default as GenericContainer } from './generic-container.js'\nexport type { ContainerStatus } from './generic-container.js'\nexport { GenericContainer3D } from './generic-container-3d.js'\n"]}

package/dist/mobile-storage-rack.d.ts

@@ -0,0 +1,17 @@
+import { Component } from '@hatiolab/things-scene';
+import type { SlotDef } from '@hatiolab/things-scene';
+declare const MobileRack_base: any;
+export default class MobileRack extends MobileRack_base {
+    /**
+     * Mobile racks carry their cells as cargo. The crane that *moves* a
+     * MobileRack treats the rack itself as the carrier — one slot, one rack.
+     */
+    get slots(): SlotDef[];
+    /**
+     * The toolType for a fork/clamp that lifts an entire mobile rack.
+     * Different from the per-pallet tooling used to extract a carrier from
+     * a cell inside the rack.
+     */
+    get toolType(): string;
+}
+export { Component };

package/dist/mobile-storage-rack.js

@@ -0,0 +1,55 @@
+/*
+ * Copyright © HatioLab Inc. All rights reserved.
+ *
+ * MobileRack — a Rack that can also move.
+ *
+ * The whole point of the storage abstraction: `Mover(Rack)` mixin gives a
+ * *moving storage* without changing Rack's role. Use cases — an AGV-mounted
+ * rack, a cart, a tote-on-conveyor, a mobile shelving unit, etc.
+ *
+ * The cells, the cell-map topology, the Pickable contract, the carrier
+ * attach-point — all unchanged. Only thing added: the rack can `moveTo(...)`,
+ * `pick(...)`, `place(...)`, `pickAndPlace(...)`.
+ *
+ * Component type: `mobile-rack`. Use `<mobile-rack levels=...>` on the
+ * board same as a Rack; pickers (Crane / Forklift / robot arm) interact
+ * with its cells via the same RackCell-side contract.
+ *
+ * Note: a moving rack is itself a *picker target* from another picker's
+ * point of view — the same RackCell.acceptanceRotation contract applies
+ * because cells, not racks, are the picker's interlocutor.
+ */
+import { __decorate } from "tslib";
+import { Component, ContainerCapacity, sceneComponent } from '@hatiolab/things-scene';
+import { Mover } from '@operato/scene-base';
+import StorageRack from './storage-rack.js';
+// `Mover(Rack)` adds moveTo / pick / place / engage. `ContainerCapacity` is
+// also added so the rack itself participates in slot bookkeeping when it
+// behaves as a (mobile) carrier holder during transit. Rack already extends
+// `CarrierHolder + Placeable`, so the full chain becomes:
+//   Mover → ContainerCapacity → Rack(=CellContainer → CarrierHolder → Placeable → ContainerAbstract)
+let MobileRack = class MobileRack extends Mover(ContainerCapacity(StorageRack)) {
+    /**
+     * Mobile racks carry their cells as cargo. The crane that *moves* a
+     * MobileRack treats the rack itself as the carrier — one slot, one rack.
+     */
+    get slots() {
+        return [{ id: 'self', maxCount: 1 }];
+    }
+    /**
+     * The toolType for a fork/clamp that lifts an entire mobile rack.
+     * Different from the per-pallet tooling used to extract a carrier from
+     * a cell inside the rack.
+     */
+    get toolType() {
+        return 'rack-clamp';
+    }
+};
+MobileRack = __decorate([
+    sceneComponent('mobile-storage-rack')
+], MobileRack);
+export default MobileRack;
+// Re-export `Component` import to keep the file self-contained for IDEs that
+// flatten dependency graphs. (Used implicitly by the parent mixin chain.)
+export { Component };
+//# sourceMappingURL=mobile-storage-rack.js.map