Mujoco_WASM/web_platform/src/app/hooks/useSimulationActions.ts

import type { RefObject } from 'react';
import type { MainThreadPhysicsAdapter } from '../../simulation/PhysicsAdapter';
import type { ActuatorParameters, SimulationSession } from '../../simulation/SimulationSession';
import type { ProjectManifest } from '../../project/types';
import type { PickPlaceTaskConfig } from '../../mobile/agent/PickPlaceScene';
import type { DataRecorderConfig } from '../../telemetry/DataRecorder';
import type { InteractionMode } from '../../viewer/MuJoCoViewer';
import type { useAppStore } from '../../stores/useAppStore';
import { downloadBytes } from '../../project/cachedFiles';
import { diagnostic, type useWorkbenchFeedback } from './useWorkbenchFeedback';

/** UI 意图委托，不拥有物理时钟或控制权算法。 */
export function useSimulationActions({
  state,
  adapterRef,
  manifestRef,
  agentSceneSessionRef,
  lastAgentConfigRef,
  prepareAgentScene,
  ignoreJointLimits,
  setIgnoreJointLimits,
  setGeneratedMjcf,
  notify,
}: {
  state: Pick<
    ReturnType<typeof useAppStore.getState>,
    | 'paused'
    | 'snapshot'
    | 'selectedEntry'
    | 'setPaused'
    | 'setSnapshot'
    | 'setSpeed'
    | 'setMode'
    | 'setDiagnostic'
  >;
  adapterRef: RefObject<MainThreadPhysicsAdapter>;
  manifestRef: RefObject<ProjectManifest | null>;
  agentSceneSessionRef: RefObject<SimulationSession | undefined>;
  lastAgentConfigRef: RefObject<PickPlaceTaskConfig>;
  prepareAgentScene(config: PickPlaceTaskConfig): Promise<SimulationSession>;
  ignoreJointLimits: boolean;
  setIgnoreJointLimits(value: boolean): void;
  setGeneratedMjcf(value: string): void;
  notify: ReturnType<typeof useWorkbenchFeedback>['notify'];
}) {
  const togglePause = () => {
    const value = !state.paused;
    state.setPaused(value);
    adapterRef.current.setPaused(value);
  };
  const reset = () => {
    if (
      agentSceneSessionRef.current &&
      agentSceneSessionRef.current === adapterRef.current.session
    ) {
      void prepareAgentScene(lastAgentConfigRef.current).catch(() => undefined);
      return;
    }
    adapterRef.current.setPaused(true);
    adapterRef.current.reset();
    state.setSnapshot(adapterRef.current.snapshot() ?? undefined);
    state.setPaused(true);
  };
  const singleStep = () => {
    adapterRef.current.singleStep();
    state.setSnapshot(adapterRef.current.snapshot() ?? undefined);
  };
  const changeSpeed = (value: number) => {
    state.setSpeed(value);
    adapterRef.current.setSpeed(value);
  };
  const jointPoseEditingDisabled = Boolean(
    state.snapshot?.robot ||
    state.snapshot?.mobileRobotId ||
    (state.snapshot?.controlOwner && state.snapshot.controlOwner !== 'manual'),
  );
  const mode = (value: InteractionMode) => {
    if (value === 'joint' && jointPoseEditingDisabled) return;
    state.setMode(value);
  };
  const resetJoints = () => {
    adapterRef.current.resetJoints();
    state.setPaused(true);
    state.setSnapshot(adapterRef.current.snapshot() ?? undefined);
  };
  const toggleJointLimits = () => {
    const next = !ignoreJointLimits;
    adapterRef.current.setIgnoreJointLimits(next);
    setIgnoreJointLimits(next);
    state.setSnapshot(adapterRef.current.snapshot() ?? undefined);
  };
  const setActuator = (id: number, value: number) => {
    adapterRef.current.setActuator(id, value);
    state.setSnapshot(adapterRef.current.snapshot() ?? undefined);
  };
  const setActuatorParameters = (id: number, parameters: ActuatorParameters) => {
    if (!adapterRef.current.setActuatorParameters(id, parameters)) return;
    state.setSnapshot(adapterRef.current.snapshot() ?? undefined);
    try {
      setGeneratedMjcf(new TextDecoder().decode(adapterRef.current.exportMjcf()));
    } catch (error) {
      console.warn('[MuJoCo] 无法刷新驱动器参数源码', error);
    }
  };
  const setJoint = (id: number, value: number) => {
    adapterRef.current.setJointPosition(id, value);
    state.setPaused(true);
    state.setSnapshot(adapterRef.current.snapshot() ?? undefined);
  };
  const configureDataRecorder = (patch: Partial<DataRecorderConfig>) => {
    try {
      adapterRef.current.configureDataRecorder(patch);
      state.setSnapshot(adapterRef.current.snapshot() ?? undefined);
    } catch (error) {
      state.setDiagnostic(diagnostic('仿真', error, state.selectedEntry));
    }
  };
  const startDataRecording = () => {
    adapterRef.current.startDataRecording();
    state.setSnapshot(adapterRef.current.snapshot() ?? undefined);
  };
  const stopDataRecording = () => {
    adapterRef.current.stopDataRecording();
    state.setSnapshot(adapterRef.current.snapshot() ?? undefined);
  };
  const clearDataRecording = () => {
    adapterRef.current.clearDataRecording();
    state.setSnapshot(adapterRef.current.snapshot() ?? undefined);
  };
  const exportDataRecording = (format: 'csv' | 'json') => {
    try {
      const stem =
        (manifestRef.current?.name ?? 'simulation')
          .replace(/\.(?:zip|xml|urdf)$/i, '')
          .replace(/[^\p{L}\p{N}._-]+/gu, '_') || 'simulation';
      downloadBytes(
        adapterRef.current.exportDataRecording(format),
        `${stem}-telemetry.${format}`,
        format === 'csv' ? 'text/csv' : 'application/json',
      );
      notify(`遥测 ${format.toUpperCase()} 已导出`, `${stem}-telemetry.${format}`);
    } catch (error) {
      state.setDiagnostic(diagnostic('仿真', error, state.selectedEntry));
    }
  };
  return {
    togglePause,
    reset,
    singleStep,
    changeSpeed,
    jointPoseEditingDisabled,
    mode,
    resetJoints,
    toggleJointLimits,
    setActuator,
    setActuatorParameters,
    setJoint,
    configureDataRecorder,
    startDataRecording,
    stopDataRecording,
    clearDataRecording,
    exportDataRecording,
  };
}