@viamrobotics/motion-tools 0.15.1 → 0.15.2

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Files changed (2) hide show
  1. package/dist/hooks/useFrames.svelte.js +64 -64
  2. package/package.json +1 -1
package/dist/hooks/useFrames.svelte.js CHANGED
@@ -6,7 +6,6 @@ import { resourceNameToColor } from '../color';
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  import { usePartConfig } from './usePartConfig.svelte';
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  import { useEnvironment } from './useEnvironment.svelte';
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  import { createPoseFromFrame } from '../transform';
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- import { usePersistentUUIDs } from './usePersistentUUIDs.svelte';
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  import { createGeometryFromFrame } from '../geometry';
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  import { useResourceByName } from './useResourceByName.svelte';
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  const key = Symbol('frames-context');
@@ -19,7 +18,6 @@ export const provideFrames = (partID) => {
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  const revision = $derived(machineStatus.current?.config?.revision);
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  const partConfig = usePartConfig();
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  const environment = useEnvironment();
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- const { updateUUIDs } = usePersistentUUIDs();
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  $effect.pre(() => {
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  if (revision) {
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  untrack(() => query.current).refetch();
@@ -34,8 +32,8 @@ export const provideFrames = (partID) => {
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  environment.current.viewerMode = 'monitor';
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  }
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  });
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- const machineFrames = $derived.by(() => {
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- const objects = {};
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+ let current = $derived.by(() => {
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+ const objects = [];
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  for (const { frame } of query.current.data ?? []) {
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  if (frame === undefined) {
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  continue;
@@ -43,32 +41,60 @@ export const provideFrames = (partID) => {
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  const resourceName = resourceByName.current[frame.referenceFrame];
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  const frameName = frame.referenceFrame ? frame.referenceFrame : 'Unnamed frame';
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  const color = resourceNameToColor(resourceName);
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- objects[frameName] = new WorldObject(frameName, frame.poseInObserverFrame?.pose, frame.poseInObserverFrame?.referenceFrame, frame.physicalObject, color ? { color } : undefined);
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+ objects.push(new WorldObject(frameName, frame.poseInObserverFrame?.pose, frame.poseInObserverFrame?.referenceFrame, frame.physicalObject, color ? { color } : undefined));
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  }
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  return objects;
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  });
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- const configFrames = $derived.by(() => {
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- const components = partConfig.localPartConfig.toJson().components;
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- const objects = [];
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+ let currentWorldObjects = {};
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+ const getWorldObjects = () => ({ ...currentWorldObjects });
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+ const getWorldObject = (componentName) => currentWorldObjects[componentName];
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+ const setWorldObject = (component, worldObject) => {
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+ if (!component.frame) {
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+ return;
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+ }
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+ worldObject.referenceFrame = component.frame.parent;
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+ worldObject.localEditedPose = createPoseFromFrame(component.frame);
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+ if (component.frame.geometry) {
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+ worldObject.geometry = createGeometryFromFrame(component.frame);
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+ }
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+ else {
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+ worldObject.geometry = undefined;
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+ }
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+ currentWorldObjects[component.name] = worldObject;
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+ };
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+ const deleteWorldObject = (componentName) => {
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+ delete currentWorldObjects[componentName];
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+ };
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+ $effect.pre(() => {
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+ untrack(() => {
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+ currentWorldObjects = {};
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+ for (const currentWorldObject of current) {
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+ currentWorldObjects[currentWorldObject.name] = currentWorldObject;
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+ }
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+ });
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+ const components = partConfig.localPartConfig.toJson()?.components;
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+ const fragmentMods = partConfig.localPartConfig.toJson()
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+ ?.fragment_mods;
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+ const fragmentDefinedComponents = Object.keys(partConfig.componentNameToFragmentId);
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  // deal with part defined frame config
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- for (const component of components ?? []) {
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- if (!component.frame) {
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- continue;
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+ for (const component of components || []) {
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+ const worldObject = getWorldObject(component.name);
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+ if (worldObject && component.frame) {
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+ setWorldObject(component, worldObject);
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+ }
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+ else if (component.frame && Object.keys(getWorldObjects()).length > 0) {
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+ // extra clause to prevent adding a component to the world objects when it may be loaded via frame system config later (first tick issue where config updated but current world objects not triggered yet)
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+ const pose = createPoseFromFrame(component.frame);
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+ const newWorldObject = new WorldObject(component.name, pose, component.frame.parent);
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+ setWorldObject(component, newWorldObject);
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+ }
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+ else {
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+ deleteWorldObject(component.name);
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  }
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- const pose = createPoseFromFrame(component.frame);
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- const geometry = createGeometryFromFrame(component.frame);
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- const worldObject = new WorldObject(component.name, pose, component.frame.parent, geometry);
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- objects.push(worldObject);
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  }
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- return objects;
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- });
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- const [fragmentFrames, fragmentUnsetFrames] = $derived.by(() => {
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- const { fragment_mods: fragmentMods = [] } = partConfig.localPartConfig.toJson() ?? {};
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- const fragmentDefinedComponents = Object.keys(partConfig.componentNameToFragmentId);
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- const objects = [];
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- const unsetObjects = [];
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  // deal with fragment defined components
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  for (const fragmentComponentName of fragmentDefinedComponents || []) {
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+ const worldObject = getWorldObject(fragmentComponentName);
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  const fragmentId = partConfig.componentNameToFragmentId[fragmentComponentName];
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  const fragmentMod = fragmentMods?.find((mod) => mod.fragment_id === fragmentId);
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  if (!fragmentMod) {
@@ -77,53 +103,27 @@ export const provideFrames = (partID) => {
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  const setComponentModIndex = fragmentMod.mods.findLastIndex((mod) => mod['$set']?.[`components.${fragmentComponentName}.frame`] !== undefined);
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  const unsetComponentModIndex = fragmentMod.mods.findLastIndex((mod) => mod['$unset']?.[`components.${fragmentComponentName}.frame`] !== undefined);
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  if (setComponentModIndex < unsetComponentModIndex) {
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- unsetObjects.push(fragmentComponentName);
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+ deleteWorldObject(fragmentComponentName);
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  }
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  else if (unsetComponentModIndex < setComponentModIndex) {
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  const frameData = fragmentMod.mods[setComponentModIndex]['$set'][`components.${fragmentComponentName}.frame`];
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- const pose = createPoseFromFrame(frameData);
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- const geometry = createGeometryFromFrame(frameData);
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- const worldObject = new WorldObject(fragmentComponentName, pose, frameData.parent, geometry);
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- objects.push(worldObject);
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- }
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- }
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- return [objects, unsetObjects];
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- });
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- $effect.pre(() => {
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- for (const frame of configFrames) {
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- const result = machineFrames[frame.name];
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- if (result) {
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- result.referenceFrame = frame.referenceFrame;
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- result.pose = frame.pose;
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- result.geometry = frame.geometry;
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- }
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- else {
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- machineFrames[frame.name] = frame;
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- }
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- }
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- });
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- $effect.pre(() => {
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- for (const frame of fragmentFrames) {
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- const result = machineFrames[frame.name];
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- if (result) {
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- result.referenceFrame = frame.referenceFrame;
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- result.pose = frame.pose;
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- result.geometry = frame.geometry;
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- }
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- else {
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- machineFrames[frame.name] = frame;
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+ const componentConfig = {
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+ name: fragmentComponentName,
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+ frame: frameData,
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+ };
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+ if (worldObject) {
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+ setWorldObject(componentConfig, worldObject);
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+ }
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+ else if (Object.keys(getWorldObjects()).length > 0) {
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+ const pose = createPoseFromFrame(frameData);
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+ const newWorldObject = new WorldObject(fragmentComponentName, pose, frameData.parent);
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+ setWorldObject(componentConfig, newWorldObject);
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+ }
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  }
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  }
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- });
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- $effect.pre(() => {
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- for (const name of fragmentUnsetFrames) {
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- delete machineFrames[name];
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- }
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- });
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- const current = $derived.by(() => {
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- const results = Object.values(machineFrames);
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- updateUUIDs(results);
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- return results;
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+ untrack(() => {
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+ current = [...Object.values(getWorldObjects())];
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+ });
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  });
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  const error = $derived(query.current.error ?? undefined);
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  const fetching = $derived(query.current.isFetching);
package/package.json CHANGED
@@ -1,6 +1,6 @@
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  {
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  "name": "@viamrobotics/motion-tools",
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- "version": "0.15.1",
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+ "version": "0.15.2",
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  "description": "Motion visualization with Viam",
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  "license": "Apache-2.0",
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  "type": "module",