@wandelbots/wandelbots-js-react-components 2.34.1-pr.feature-robot-precondition-list.372.224a5cd → 2.34.1-pr.fix-kr30-glb-model.375.36f4141

package/src/components/RobotCard.tsx

@@ -1,601 +0,0 @@
-import { Box, Button, Card, Divider, Typography, useTheme } from "@mui/material"
-import { Bounds, useBounds } from "@react-three/drei"
-import { Canvas } from "@react-three/fiber"
-import type {
-  ConnectedMotionGroup,
-  RobotControllerStateOperationModeEnum,
-  RobotControllerStateSafetyStateEnum,
-} from "@wandelbots/nova-js/v1"
-import { observer } from "mobx-react-lite"
-import { useCallback, useEffect, useRef, useState } from "react"
-import { useTranslation } from "react-i18next"
-import type { Group } from "three"
-import { externalizeComponent } from "../externalizeComponent"
-import { PresetEnvironment } from "./3d-viewport/PresetEnvironment"
-import { CycleTimer } from "./CycleTimer"
-import { useAutorun } from "./utils/hooks"
-
-// Component that handles bounds refreshing when motion state changes
-function BoundsRefresher({
-  connectedMotionGroup,
-}: {
-  connectedMotionGroup: ConnectedMotionGroup
-}) {
-  const bounds = useBounds()
-
-  useAutorun(() => {
-    // Ensure rapidlyChangingMotionState exists before accessing its properties
-    if (!connectedMotionGroup.rapidlyChangingMotionState?.state) {
-      return
-    }
-    
-    // Access the rapidly changing motion state to make the autorun reactive to changes
-    connectedMotionGroup.rapidlyChangingMotionState.state.joint_position
-    connectedMotionGroup.rapidlyChangingMotionState.tcp_pose
-
-    // Refresh bounds when robot pose/position changes
-    bounds.refresh().clip().fit()
-  })
-
-  return null
-}
-
-import type { ProgramState } from "./ProgramControl"
-import { ProgramStateIndicator } from "./ProgramStateIndicator"
-import { Robot } from "./robots/Robot"
-
-export interface RobotCardProps {
-  /** Name of the robot displayed at the top */
-  robotName: string
-  /** Current program state */
-  programState: ProgramState
-  /** Current safety state of the robot controller */
-  safetyState: RobotControllerStateSafetyStateEnum
-  /** Current operation mode of the robot controller */
-  operationMode: RobotControllerStateOperationModeEnum
-  /** Whether the "Drive to Home" button should be enabled */
-  driveToHomeEnabled?: boolean
-  /** Callback fired when "Drive to Home" button is pressed */
-  onDriveToHomePress?: () => void
-  /** Callback fired when "Drive to Home" button is released */
-  onDriveToHomeRelease?: () => void
-  /**
-   * Callback fired when "Drive to Home" button is pressed, with the default home position.
-   * If provided, this will be called instead of onDriveToHomePress, providing the recommended
-   * home position joint configuration based on the robot manufacturer.
-   */
-  onDriveToHomePressWithConfig?: (homePosition: number[]) => void
-  /**
-   * Callback fired when "Drive to Home" button is released after using onDriveToHomePressWithConfig.
-   * If provided, this will be called instead of onDriveToHomeRelease.
-   */
-  onDriveToHomeReleaseWithConfig?: () => void
-  /**
-   * Custom default joint configuration to use if manufacturer-based defaults are not available.
-   * Joint values should be in radians.
-   */
-  defaultJointConfig?: number[]
-  /** Connected motion group for the robot */
-  connectedMotionGroup: ConnectedMotionGroup
-  /** Custom robot component to render (optional, defaults to Robot) */
-  robotComponent?: React.ComponentType<{
-    connectedMotionGroup: ConnectedMotionGroup
-    flangeRef?: React.Ref<Group>
-    postModelRender?: () => void
-    transparentColor?: string
-    getModel?: (modelFromController: string) => string
-  }>
-  /** Custom cycle timer component (optional, defaults to CycleTimer) */
-  cycleTimerComponent?: React.ComponentType<{
-    variant?: "default" | "small"
-    compact?: boolean
-    onCycleComplete: (controls: {
-      startNewCycle: (maxTimeSeconds?: number, elapsedSeconds?: number) => void
-      pause: () => void
-      resume: () => void
-      isPaused: () => boolean
-    }) => void
-    onCycleEnd?: () => void
-    autoStart?: boolean
-    hasError?: boolean
-    className?: string
-  }>
-  /** Callback to receive cycle timer controls for external timer management */
-  onCycleTimerReady?: (controls: {
-    startNewCycle: (maxTimeSeconds?: number, elapsedSeconds?: number) => void
-    pause: () => void
-    resume: () => void
-    isPaused: () => boolean
-  }) => void
-  /** Callback fired when a cycle completes (reaches zero) */
-  onCycleEnd?: () => void
-  /** Whether the cycle timer should auto-start when a new cycle is set */
-  cycleTimerAutoStart?: boolean
-  /** Whether the cycle timer is in an error state (pauses timer and shows error styling) */
-  cycleTimerHasError?: boolean
-  /** Additional CSS class name */
-  className?: string
-}
-
-/**
- * A responsive card component that displays a 3D robot with states and controls.
- * The card automatically adapts to its container's size and aspect ratio.
- *
- * Features:
- * - Fully responsive Material-UI Card that adapts to container dimensions
- * - Automatic layout switching based on aspect ratio:
- *   - Portrait mode: Vertical layout with robot in center
- *   - Landscape mode: Horizontal layout with robot on left, content on right (left-aligned)
- * - Responsive 3D robot rendering:
- *   - Scales dynamically with container size
- *   - Hides at very small sizes to preserve usability
- *   - Adaptive margin based on available space
- * - Smart spacing and padding that reduces at smaller sizes
- * - Minimum size constraints for usability while maximizing content density
- * - Robot name displayed in Typography h6 at top-left
- * - Program state indicator below the name
- * - Auto-fitting 3D robot model that scales with container size
- * - Compact cycle time component with small variant, error state, and count-up/count-down mode support
- * - Transparent gray divider line
- * - "Drive to Home" button with press-and-hold functionality
- * - Localization support via react-i18next
- * - Material-UI theming integration
- */
-export const RobotCard = externalizeComponent(
-  observer(
-    ({
-      robotName,
-      programState,
-      safetyState,
-      operationMode,
-      driveToHomeEnabled = false,
-      onDriveToHomePress,
-      onDriveToHomeRelease,
-      connectedMotionGroup,
-      robotComponent: RobotComponent = Robot,
-      cycleTimerComponent: CycleTimerComponent = CycleTimer,
-      onCycleTimerReady,
-      onCycleEnd,
-      cycleTimerAutoStart = true,
-      cycleTimerHasError = false,
-      className,
-    }: RobotCardProps) => {
-      const theme = useTheme()
-      const { t } = useTranslation()
-      const [isDriveToHomePressed, setIsDriveToHomePressed] = useState(false)
-      const driveButtonRef = useRef<HTMLButtonElement>(null)
-      const cardRef = useRef<HTMLDivElement>(null)
-      const [isLandscape, setIsLandscape] = useState(false)
-      const [cardSize, setCardSize] = useState<{
-        width: number
-        height: number
-      }>({ width: 400, height: 600 })
-      const [modelRenderTrigger, setModelRenderTrigger] = useState(0)
-
-      // Store cycle timer controls for external control
-      const cycleControlsRef = useRef<{
-        startNewCycle: (
-          maxTimeSeconds?: number,
-          elapsedSeconds?: number,
-        ) => void
-        pause: () => void
-        resume: () => void
-        isPaused: () => boolean
-      } | null>(null)
-
-      // Hook to detect aspect ratio and size changes
-      useEffect(() => {
-        const checkDimensions = () => {
-          if (cardRef.current) {
-            const { offsetWidth, offsetHeight } = cardRef.current
-            setIsLandscape(offsetWidth > offsetHeight)
-            setCardSize({ width: offsetWidth, height: offsetHeight })
-          }
-        }
-
-        // Initial check
-        checkDimensions()
-
-        // Set up ResizeObserver to watch for size changes
-        const resizeObserver = new ResizeObserver(checkDimensions)
-        if (cardRef.current) {
-          resizeObserver.observe(cardRef.current)
-        }
-
-        return () => {
-          resizeObserver.disconnect()
-        }
-      }, [])
-
-      const handleModelRender = useCallback(() => {
-        // Trigger bounds refresh when model renders
-        setModelRenderTrigger((prev) => prev + 1)
-      }, [])
-
-      const handleDriveToHomeMouseDown = useCallback(() => {
-        if (!driveToHomeEnabled || !onDriveToHomePress) return
-        setIsDriveToHomePressed(true)
-        onDriveToHomePress()
-      }, [driveToHomeEnabled, onDriveToHomePress])
-
-      const handleDriveToHomeMouseUp = useCallback(() => {
-        if (!driveToHomeEnabled || !onDriveToHomeRelease) return
-        setIsDriveToHomePressed(false)
-        onDriveToHomeRelease()
-      }, [driveToHomeEnabled, onDriveToHomeRelease])
-
-      const handleDriveToHomeMouseLeave = useCallback(() => {
-        if (isDriveToHomePressed && onDriveToHomeRelease) {
-          setIsDriveToHomePressed(false)
-          onDriveToHomeRelease()
-        }
-      }, [isDriveToHomePressed, onDriveToHomeRelease])
-
-      // Store and provide cycle timer controls for external use
-      const handleCycleComplete = useCallback(
-        (controls: {
-          startNewCycle: (
-            maxTimeSeconds?: number,
-            elapsedSeconds?: number,
-          ) => void
-          pause: () => void
-          resume: () => void
-          isPaused: () => boolean
-        }) => {
-          // Store the controls for potential future use
-          cycleControlsRef.current = controls
-
-          // Notify parent component that timer controls are ready
-          if (onCycleTimerReady) {
-            onCycleTimerReady(controls)
-          }
-        },
-        [onCycleTimerReady],
-      )
-
-      // Determine if robot should be hidden at small sizes to save space
-      const shouldHideRobot = isLandscape
-        ? cardSize.width < 350
-        : cardSize.height < 200 // Hide robot at height < 200px in portrait
-
-      // Determine if runtime view should be hidden when height is too low
-      // Runtime should be hidden BEFORE the robot (at higher threshold)
-      const shouldHideRuntime = isLandscape
-        ? cardSize.height < 310 // Landscape: hide runtime at height < 350px
-        : cardSize.height < 450 // Portrait: hide runtime at height < 450px
-
-      return (
-        <Card
-          ref={cardRef}
-          className={className}
-          sx={{
-            width: "100%",
-            height: "100%",
-            display: "flex",
-            flexDirection: isLandscape ? "row" : "column",
-            position: "relative",
-            overflow: "hidden",
-            minWidth: { xs: 180, sm: 220, md: 250 },
-            minHeight: isLandscape
-              ? { xs: 200, sm: 240, md: 260 } // Allow runtime hiding at < 283px
-              : { xs: 150, sm: 180, md: 220 }, // Allow progressive hiding in portrait mode
-            border: `1px solid ${theme.palette.divider}`,
-            borderRadius: "18px",
-            boxShadow: "none",
-            backgroundColor:
-              theme.palette.backgroundPaperElevation?.[8] || "#2A2A3F",
-            backgroundImage: "none", // Override any gradient from elevation
-          }}
-        >
-          {isLandscape ? (
-            <>
-              {/* Landscape Layout: Robot on left, content on right */}
-              <Box
-                sx={{
-                  flex: "0 0 50%",
-                  position: "relative",
-                  height: "100%",
-                  minHeight: "100%",
-                  maxHeight: "100%",
-                  borderRadius: 1,
-                  m: { xs: 1.5, sm: 2, md: 3 },
-                  mr: { xs: 0.75, sm: 1, md: 1.5 },
-                  overflow: "hidden", // Prevent content from affecting container size
-                  display: shouldHideRobot ? "none" : "block",
-                }}
-              >
-                {!shouldHideRobot && (
-                  <Canvas
-                    orthographic
-                    camera={{
-                      position: [3, 2, 3],
-                      zoom: 1,
-                    }}
-                    shadows
-                    frameloop="demand"
-                    style={{
-                      borderRadius: theme.shape.borderRadius,
-                      width: "100%",
-                      height: "100%",
-                      background: "transparent",
-                      position: "absolute",
-                      top: 0,
-                      left: 0,
-                    }}
-                    dpr={[1, 2]}
-                    gl={{ alpha: true, antialias: true }}
-                  >
-                    <PresetEnvironment />
-                    <Bounds fit observe margin={1} maxDuration={1}>
-                      <BoundsRefresher
-                        connectedMotionGroup={connectedMotionGroup}
-                      />
-                      <RobotComponent
-                        connectedMotionGroup={connectedMotionGroup}
-                        postModelRender={handleModelRender}
-                      />
-                    </Bounds>
-                  </Canvas>
-                )}
-              </Box>
-
-              {/* Content container on right */}
-              <Box
-                sx={{
-                  flex: shouldHideRobot ? "1" : "1",
-                  display: "flex",
-                  flexDirection: "column",
-                  justifyContent: "flex-start",
-                  width: shouldHideRobot ? "100%" : "50%",
-                }}
-              >
-                {/* Header section with robot name and program state */}
-                <Box
-                  sx={{
-                    p: { xs: 1.5, sm: 2, md: 3 },
-                    pb: { xs: 1, sm: 1.5, md: 2 },
-                    textAlign: "left",
-                  }}
-                >
-                  <Typography variant="h6" component="h2" sx={{ mb: 1 }}>
-                    {robotName}
-                  </Typography>
-                  <ProgramStateIndicator
-                    programState={programState}
-                    safetyState={safetyState}
-                    operationMode={operationMode}
-                  />
-                </Box>
-
-                {/* Bottom section with runtime, cycle time, and button */}
-                <Box
-                  sx={{
-                    p: { xs: 1.5, sm: 2, md: 3 },
-                    pt: 0,
-                    flex: "1",
-                    display: "flex",
-                    flexDirection: "column",
-                    justifyContent: "space-between",
-                  }}
-                >
-                  {/* Runtime view - hidden if height is too low in landscape mode */}
-                  {!shouldHideRuntime && (
-                    <Box>
-                      {/* Runtime display */}
-                      <Typography
-                        variant="body1"
-                        sx={{
-                          mb: 0,
-                          color: theme.palette.text.secondary,
-                          textAlign: "left",
-                        }}
-                      >
-                        {t("RobotCard.Runtime.lb")}
-                      </Typography>
-
-                      {/* Compact cycle time component directly below runtime */}
-                      <Box sx={{ textAlign: "left" }}>
-                        <CycleTimerComponent
-                          variant="small"
-                          compact
-                          onCycleComplete={handleCycleComplete}
-                          onCycleEnd={onCycleEnd}
-                          autoStart={cycleTimerAutoStart}
-                          hasError={cycleTimerHasError}
-                        />
-                      </Box>
-
-                      {/* Divider */}
-                      <Divider
-                        sx={{
-                          mt: 1,
-                          mb: 0,
-                          borderColor: theme.palette.divider,
-                          opacity: 0.5,
-                        }}
-                      />
-                    </Box>
-                  )}
-
-                  <Box sx={{ mt: !shouldHideRuntime ? "auto" : 0 }}>
-                    {/* Drive to Home button with some space */}
-                    <Box
-                      sx={{
-                        display: "flex",
-                        justifyContent: "flex-start",
-                        mt: { xs: 1, sm: 1.5, md: 2 },
-                        mb: { xs: 0.5, sm: 0.75, md: 1 },
-                      }}
-                    >
-                      <Button
-                        ref={driveButtonRef}
-                        variant="contained"
-                        color="secondary"
-                        size="small"
-                        disabled={!driveToHomeEnabled}
-                        onMouseDown={handleDriveToHomeMouseDown}
-                        onMouseUp={handleDriveToHomeMouseUp}
-                        onMouseLeave={handleDriveToHomeMouseLeave}
-                        onTouchStart={handleDriveToHomeMouseDown}
-                        onTouchEnd={handleDriveToHomeMouseUp}
-                        sx={{
-                          textTransform: "none",
-                          px: 1.5,
-                          py: 0.5,
-                        }}
-                      >
-                        {t("RobotCard.DriveToHome.bt")}
-                      </Button>
-                    </Box>
-                  </Box>
-                </Box>
-              </Box>
-            </>
-          ) : (
-            <>
-              {/* Portrait Layout: Header, Robot, Footer */}
-              <Box
-                sx={{
-                  p: 3,
-                  height: "100%",
-                  display: "flex",
-                  flexDirection: "column",
-                }}
-              >
-                {/* Header section with robot name and program state */}
-                <Box>
-                  <Typography variant="h6" component="h2" sx={{ mb: 1 }}>
-                    {robotName}
-                  </Typography>
-                  <ProgramStateIndicator
-                    programState={programState}
-                    safetyState={safetyState}
-                    operationMode={operationMode}
-                  />
-                </Box>
-
-                {/* 3D Robot viewport in center */}
-                <Box
-                  sx={{
-                    flex: shouldHideRobot ? 0 : 1,
-                    position: "relative",
-                    minHeight: shouldHideRobot
-                      ? 0
-                      : { xs: 120, sm: 150, md: 200 },
-                    height: shouldHideRobot ? 0 : "auto",
-                    borderRadius: 1,
-                    overflow: "hidden",
-                    display: shouldHideRobot ? "none" : "block",
-                  }}
-                >
-                  {!shouldHideRobot && (
-                    <Canvas
-                      orthographic
-                      camera={{
-                        position: [3, 2, 3],
-                        zoom: 1,
-                      }}
-                      shadows
-                      frameloop="demand"
-                      style={{
-                        borderRadius: theme.shape.borderRadius,
-                        width: "100%",
-                        height: "100%",
-                        background: "transparent",
-                        position: "absolute",
-                      }}
-                      dpr={[1, 2]}
-                      gl={{ alpha: true, antialias: true }}
-                    >
-                      <PresetEnvironment />
-                      <Bounds fit clip observe margin={1} maxDuration={1}>
-                        <BoundsRefresher
-                          connectedMotionGroup={connectedMotionGroup}
-                        />
-                        <RobotComponent
-                          connectedMotionGroup={connectedMotionGroup}
-                          postModelRender={handleModelRender}
-                        />
-                      </Bounds>
-                    </Canvas>
-                  )}
-                </Box>
-
-                {/* Bottom section with runtime, cycle time, and button */}
-                <Box>
-                  {/* Runtime view - hidden if height is too low */}
-                  {!shouldHideRuntime && (
-                    <>
-                      {/* Runtime display */}
-                      <Typography
-                        variant="body1"
-                        sx={{
-                          mb: 0,
-                          color: theme.palette.text.secondary,
-                        }}
-                      >
-                        {t("RobotCard.Runtime.lb")}
-                      </Typography>
-
-                      {/* Compact cycle time component directly below runtime */}
-                      <CycleTimerComponent
-                        variant="small"
-                        compact
-                        onCycleComplete={handleCycleComplete}
-                        onCycleEnd={onCycleEnd}
-                        autoStart={cycleTimerAutoStart}
-                        hasError={cycleTimerHasError}
-                      />
-
-                      {/* Divider */}
-                      <Divider
-                        sx={{
-                          mt: 1,
-                          mb: 0,
-                          borderColor: theme.palette.divider,
-                          opacity: 0.5,
-                        }}
-                      />
-                    </>
-                  )}
-
-                  {/* Drive to Home button with some space */}
-                  <Box
-                    sx={{
-                      display: "flex",
-                      justifyContent: "flex-start",
-                      mt: !shouldHideRuntime
-                        ? { xs: 1, sm: 2, md: 5 }
-                        : { xs: 0.5, sm: 1, md: 2 },
-                      mb: { xs: 0.5, sm: 0.75, md: 1 },
-                    }}
-                  >
-                    <Button
-                      ref={driveButtonRef}
-                      variant="contained"
-                      color="secondary"
-                      size="small"
-                      disabled={!driveToHomeEnabled}
-                      onMouseDown={handleDriveToHomeMouseDown}
-                      onMouseUp={handleDriveToHomeMouseUp}
-                      onMouseLeave={handleDriveToHomeMouseLeave}
-                      onTouchStart={handleDriveToHomeMouseDown}
-                      onTouchEnd={handleDriveToHomeMouseUp}
-                      sx={{
-                        textTransform: "none",
-                        px: 1.5,
-                        py: 0.5,
-                      }}
-                    >
-                      {t("RobotCard.DriveToHome.bt")}
-                    </Button>
-                  </Box>
-                </Box>
-              </Box>
-            </>
-          )}
-        </Card>
-      )
-    },
-  ),
-)