@wandelbots/wandelbots-js-react-components 4.1.0 → 4.1.1-pr.feat-RB-3107-motion-group-visualizer.510.3add2c2

package/src/components/robots/MotionGroupVisualizer.tsx

@@ -0,0 +1,73 @@
+import React, { useCallback, useEffect, useMemo, useState } from "react"
+import { NovaClient } from "@wandelbots/nova-js/v2"
+import type { KinematicModel } from "@wandelbots/nova-api/v2"
+
+import { externalizeComponent } from "../../externalizeComponent"
+import { SupportedRobot, type SupportedRobotProps } from "./SupportedRobot"
+import { SupportedLinearAxis, type SupportedLinearAxisProps } from "./SupportedLinearAxis"
+
+export type MotionGroupVisualizerProps = {
+  inverseSolver?: string | null
+} & (SupportedRobotProps | SupportedLinearAxisProps)
+
+export const MotionGroupVisualizer: React.FC<MotionGroupVisualizerProps> = externalizeComponent((props: MotionGroupVisualizerProps) => {
+  const { inverseSolver: inverseSolverProp, modelFromController, ...rest } = props
+
+  const [inverseSolver, setInverseSolver] = useState<string | null | undefined>(inverseSolverProp)
+
+  const instanceUrl = import.meta.env.WANDELAPI_BASE_URL
+
+  /**
+   * Fetches the kinematic model from the API and saved the inverse_solver property, which defined
+   * whether the motion group should be displayed as a robot or linear axis
+   */
+  const fetchKinematicModel = useCallback(async () => {
+    const nova = new NovaClient({ instanceUrl })
+    try {
+      const kinematicModel: KinematicModel = await nova.api.motionGroupModels.getMotionGroupKinematicModel(
+        modelFromController,
+      )
+
+      setInverseSolver(kinematicModel.inverse_solver)
+    } catch (err) {
+      console.warn(`Failed to fetch kinematic model from API for ${modelFromController}, falling back to local config`)
+    }
+  }, [modelFromController, instanceUrl])
+
+  /**
+   * Checks the delivered inverseSolver property from the consumer
+   * Defined, Null - carry on with the delivered value - the inverseSolver was fetched via consumer app
+   * Undefined - carry out a request to fetch the inverseSolver value
+   */
+  useEffect(() => {
+    if (inverseSolverProp === undefined && modelFromController && instanceUrl) {
+      fetchKinematicModel()
+    }
+  }, [inverseSolverProp, modelFromController, fetchKinematicModel, instanceUrl])
+
+  /**
+   * The turntable models return inverseSolver = null - however these models
+   * should be rendered with SupportedRobot instead of SupportedLinearAxis
+   *
+   * In the future - this hard coded check would be replaced with a new "type" property
+   * from dh parameters
+   */
+  const isTurnTable = useMemo(() => {
+    return ["KUKA_DK250", "KUKA_DK500", "YASKAWA_TURN1", "YASKAWA_TURN2", "YASKAWA_TURN3"]
+      .includes(modelFromController)
+  }, [modelFromController])
+
+  if (inverseSolver || isTurnTable) {
+    return (
+      <SupportedRobot modelFromController={modelFromController} {...rest} />
+    )
+  }
+
+  if (inverseSolver === null) {
+    return (
+      <SupportedLinearAxis modelFromController={modelFromController} {...rest} />
+    )
+  }
+
+  return null
+})