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HunterBarclayHunterBarclay
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feat: Auto panel, new sample for testing auto routine
1 parent b770206 commit 22b8130

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37 files changed

+2053
-78
lines changed

37 files changed

+2053
-78
lines changed

‎fission/src/Synthesis.tsx

+3-1
Original file line numberDiff line numberDiff line change
@@ -64,6 +64,7 @@ import ContextMenu from "./ui/components/ContextMenu.tsx"
6464
import GlobalUIComponent from "./ui/components/GlobalUIComponent.tsx"
6565
import InitialConfigPanel from "./ui/panels/configuring/initial-config/InitialConfigPanel.tsx"
6666
import WPILibConnectionStatus from "./ui/components/WPILibConnectionStatus.tsx"
67+
import AutoTestPanel from "./ui/panels/simulation/AutoTestPanel.tsx"
6768

6869
function Synthesis() {
6970
const { openModal, closeModal, getActiveModalElement } = useModalManager(initialModals)
@@ -167,7 +168,6 @@ function Synthesis() {
167168
<SceneOverlay />
168169
<ContextMenu />
169170
<MainHUD key={"main-hud"} />
170-
<WPILibConnectionStatus />
171171
{panelElements.length > 0 && panelElements}
172172
{modalElement && (
173173
<div className="absolute w-full h-full left-0 top-0" key={"modal-element"}>
@@ -176,6 +176,7 @@ function Synthesis() {
176176
)}
177177
<ProgressNotifications key={"progress-notifications"} />
178178
<ToastContainer key={"toast-container"} />
179+
<WPILibConnectionStatus />
179180

180181
{!consentPopupDisable ? (
181182
<AnalyticsConsent onClose={onDisableConsent} onConsent={onConsent} />
@@ -234,6 +235,7 @@ const initialPanels: ReactElement[] = [
234235
<WiringPanel key="wiring" panelId="wiring" />,
235236
<CameraSelectionPanel key="camera-select" panelId="camera-select" />,
236237
<InitialConfigPanel key="initial-config" panelId="initial-config" />,
238+
<AutoTestPanel key="auto-test" panelId="auto-test" />,
237239
]
238240

239241
export default Synthesis

‎fission/src/mirabuf/IntakeSensorSceneObject.ts

+1-5
Original file line numberDiff line numberDiff line change
@@ -11,8 +11,6 @@ import {
1111
ThreeVector3_JoltVec3,
1212
} from "@/util/TypeConversions"
1313
import { OnContactPersistedEvent } from "@/systems/physics/ContactEvents"
14-
import InputSystem from "@/systems/input/InputSystem"
15-
import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
1614

1715
class IntakeSensorSceneObject extends SceneObject {
1816
private _parentAssembly: MirabufSceneObject
@@ -44,9 +42,7 @@ class IntakeSensorSceneObject extends SceneObject {
4442
}
4543

4644
this._collision = (event: OnContactPersistedEvent) => {
47-
const brain = this._parentAssembly.brain
48-
const brainIndex = brain instanceof SynthesisBrain ? brain.brainIndex ?? -1 : -1
49-
if (InputSystem.getInput("intake", brainIndex)) {
45+
if (this._parentAssembly.intakeActive) {
5046
if (this._joltBodyId && !World.PhysicsSystem.isPaused) {
5147
const body1 = event.message.body1
5248
const body2 = event.message.body2

‎fission/src/mirabuf/MirabufSceneObject.ts

+20-7
Original file line numberDiff line numberDiff line change
@@ -80,6 +80,14 @@ class MirabufSceneObject extends SceneObject implements ContextSupplier {
8080

8181
private _nameTag: SceneOverlayTag | undefined
8282

83+
private _intakeActive = false
84+
private _ejectorActive = false
85+
86+
public get intakeActive() { return this._intakeActive }
87+
public get ejectorActive() { return this._ejectorActive }
88+
public set intakeActive(a: boolean) { this._intakeActive = a }
89+
public set ejectorActive(a: boolean) { this._ejectorActive = a }
90+
8391
get mirabufInstance() {
8492
return this._mirabufInstance
8593
}
@@ -191,7 +199,7 @@ class MirabufSceneObject extends SceneObject implements ContextSupplier {
191199
if (this.miraType == MiraType.ROBOT) {
192200
World.SimulationSystem.RegisterMechanism(this._mechanism)
193201
const simLayer = World.SimulationSystem.GetSimulationLayer(this._mechanism)!
194-
this._brain = new SynthesisBrain(this._mechanism, this._assemblyName)
202+
this._brain = new SynthesisBrain(this, this._assemblyName)
195203
simLayer.SetBrain(this._brain)
196204
}
197205

@@ -226,13 +234,11 @@ class MirabufSceneObject extends SceneObject implements ContextSupplier {
226234
}
227235

228236
public Update(): void {
229-
const brainIndex = this._brain instanceof SynthesisBrain ? this._brain.brainIndex ?? -1 : -1
230-
if (InputSystem.getInput("eject", brainIndex)) {
237+
if (this.ejectorActive) {
231238
this.Eject()
232239
}
233240

234241
this.UpdateMeshTransforms()
235-
236242
this.UpdateBatches()
237243
this.UpdateNameTag()
238244
}
@@ -528,9 +534,7 @@ class MirabufSceneObject extends SceneObject implements ContextSupplier {
528534
})
529535
Global_OpenPanel?.("configure")
530536
},
531-
})
532-
533-
data.items.push({
537+
}, {
534538
name: "Configure",
535539
func: () => {
536540
setSelectedConfigurationType(
@@ -544,6 +548,15 @@ class MirabufSceneObject extends SceneObject implements ContextSupplier {
544548
},
545549
})
546550

551+
if (this.brain?.brainType == "wpilib") {
552+
data.items.push({
553+
name: "Auto Testing",
554+
func: () => {
555+
Global_OpenPanel?.("auto-test")
556+
},
557+
})
558+
}
559+
547560
// if (this.miraType == MiraType.ROBOT) {
548561
// const brainIndex = (this.brain as SynthesisBrain)?.brainIndex
549562
// if (brainIndex != undefined) {

‎fission/src/systems/physics/PhysicsSystem.ts

+23
Original file line numberDiff line numberDiff line change
@@ -1098,6 +1098,29 @@ class PhysicsSystem extends WorldSystem {
10981098
)
10991099
}
11001100

1101+
public SetBodyPositionRotationAndVelocity(
1102+
id: Jolt.BodyID,
1103+
position: Jolt.RVec3,
1104+
rotation: Jolt.Quat,
1105+
linear: Jolt.Vec3,
1106+
angular: Jolt.Vec3,
1107+
activate: boolean = true
1108+
): void {
1109+
if (!this.IsBodyAdded(id)) {
1110+
return
1111+
}
1112+
1113+
this._joltBodyInterface.SetPositionAndRotation(
1114+
id,
1115+
position,
1116+
rotation,
1117+
activate ? JOLT.EActivation_Activate : JOLT.EActivation_DontActivate
1118+
)
1119+
1120+
this._joltBodyInterface.SetLinearVelocity(id, linear)
1121+
this._joltBodyInterface.SetAngularVelocity(id, angular)
1122+
}
1123+
11011124
/**
11021125
* Exposes SetShape method on the _joltBodyInterface
11031126
* Sets the shape of the body

‎fission/src/systems/preferences/PreferenceTypes.ts

+2
Original file line numberDiff line numberDiff line change
@@ -15,6 +15,7 @@ export type GlobalPreference =
1515
| "RenderSceneTags"
1616
| "RenderScoreboard"
1717
| "SubsystemGravity"
18+
| "SimAutoReconnect"
1819

1920
export const RobotPreferencesKey: string = "Robots"
2021
export const FieldPreferencesKey: string = "Fields"
@@ -35,6 +36,7 @@ export const DefaultGlobalPreferences: { [key: string]: unknown } = {
3536
RenderSceneTags: true,
3637
RenderScoreboard: true,
3738
SubsystemGravity: false,
39+
SimAutoReconnect: false,
3840
}
3941

4042
export type QualitySetting = "Low" | "Medium" | "High"

‎fission/src/systems/simulation/SimulationSystem.ts

+32-3
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@ import JOLT from "@/util/loading/JoltSyncLoader"
22
import Mechanism from "../physics/Mechanism"
33
import WorldSystem from "../WorldSystem"
44
import Brain from "./Brain"
5-
import Driver, { makeDriverID } from "./driver/Driver"
5+
import Driver, { DriverType, makeDriverID } from "./driver/Driver"
66
import Stimulus, { makeStimulusID, StimulusType } from "./stimulus/Stimulus"
77
import HingeDriver from "./driver/HingeDriver"
88
import WheelDriver from "./driver/WheelDriver"
@@ -11,6 +11,10 @@ import HingeStimulus from "./stimulus/HingeStimulus"
1111
import WheelRotationStimulus from "./stimulus/WheelStimulus"
1212
import SliderStimulus from "./stimulus/SliderStimulus"
1313
import ChassisStimulus from "./stimulus/ChassisStimulus"
14+
import IntakeDriver from "./driver/IntakeDriver"
15+
import World from "../World"
16+
import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
17+
import EjectorDriver from "./driver/EjectorDriver"
1418

1519
class SimulationSystem extends WorldSystem {
1620
private _simMechanisms: Map<Mechanism, SimulationLayer>
@@ -79,6 +83,8 @@ class SimulationLayer {
7983
constructor(mechanism: Mechanism) {
8084
this._mechanism = mechanism
8185

86+
const assembly = [...World.SceneRenderer.sceneObjects.values()].find(x => (x as MirabufSceneObject).mechanism == mechanism) as MirabufSceneObject
87+
8288
// Generate standard drivers and stimuli
8389
this._drivers = new Map()
8490
this._stimuli = new Map()
@@ -103,8 +109,31 @@ class SimulationLayer {
103109
this._stimuli.set(JSON.stringify(stim.id), stim)
104110
}
105111
})
106-
const chassisStim = new ChassisStimulus({ type: StimulusType.Stim_ChassisAccel, guid: "unknown" }, mechanism.nodeToBody.get(mechanism.rootBody)!)
107-
this._stimuli.set(JSON.stringify(chassisStim), chassisStim)
112+
113+
const chassisStim = new ChassisStimulus(
114+
{ type: StimulusType.Stim_ChassisAccel, guid: "CHASSIS_GUID" },
115+
mechanism.nodeToBody.get(mechanism.rootBody)!,
116+
{ GUID: "CHASSIS_GUID", name: "Chassis" }
117+
)
118+
this._stimuli.set(JSON.stringify(chassisStim.id), chassisStim)
119+
120+
if (assembly) {
121+
const intakeDriv = new IntakeDriver(
122+
{ type: DriverType.Driv_Intake, guid: "INTAKE_GUID" },
123+
assembly,
124+
{ GUID: "INTAKE_GUID", name: "Intake" }
125+
)
126+
const ejectorDriv = new EjectorDriver(
127+
{ type: DriverType.Driv_Ejector, guid: "EJECTOR_GUID" },
128+
assembly,
129+
{ GUID: "EJECTOR_GUID", name: "Ejector" }
130+
)
131+
this._drivers.set(JSON.stringify(ejectorDriv.id), ejectorDriv)
132+
this._drivers.set(JSON.stringify(intakeDriv.id), intakeDriv)
133+
} else {
134+
console.debug("No Assembly found with given mechanism, skipping intake and ejector...")
135+
}
136+
108137
}
109138

110139
public Update(deltaT: number) {

‎fission/src/systems/simulation/behavior/synthesis/GamepieceManipBehavior.ts

+30
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,30 @@
1+
import Behavior from "@/systems/simulation/behavior/Behavior"
2+
import InputSystem from "@/systems/input/InputSystem"
3+
import EjectorDriver from "../../driver/EjectorDriver"
4+
import IntakeDriver from "../../driver/IntakeDriver"
5+
6+
class GamepieceManipBehavior extends Behavior {
7+
private _brainIndex: number
8+
9+
private _ejector: EjectorDriver
10+
private _intake: IntakeDriver
11+
12+
constructor(
13+
ejector: EjectorDriver,
14+
intake: IntakeDriver,
15+
brainIndex: number
16+
) {
17+
super([ejector, intake], [])
18+
19+
this._brainIndex = brainIndex
20+
this._ejector = ejector
21+
this._intake = intake
22+
}
23+
24+
public Update(_: number): void {
25+
this._ejector.value = InputSystem.getInput("eject", this._brainIndex)
26+
this._intake.value = InputSystem.getInput("intake", this._brainIndex)
27+
}
28+
}
29+
30+
export default GamepieceManipBehavior

‎fission/src/systems/simulation/driver/Driver.ts

+2
Original file line numberDiff line numberDiff line change
@@ -8,6 +8,8 @@ export enum DriverType {
88
Driv_Hinge = "Driv_Hinge",
99
Driv_Wheel = "Driv_Wheel",
1010
Driv_Slider = "Driv_Slider",
11+
Driv_Intake = "Driv_Intake",
12+
Driv_Ejector = "Driv_Ejector",
1113
Driv_Unknown = "Driv_Unknown",
1214
}
1315

‎fission/src/systems/simulation/driver/EjectorDriver.ts

+35
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,35 @@
1+
import { mirabuf } from "@/proto/mirabuf";
2+
import { NoraNumber, NoraTypes } from "../Nora";
3+
import Driver, { DriverID } from "./Driver";
4+
import MirabufSceneObject from "@/mirabuf/MirabufSceneObject";
5+
6+
class EjectorDriver extends Driver {
7+
8+
public value: number
9+
10+
private _assembly: MirabufSceneObject
11+
12+
public constructor(id: DriverID, assembly: MirabufSceneObject, info?: mirabuf.IInfo) {
13+
super(id, info)
14+
15+
this._assembly = assembly
16+
this.value = 0.0
17+
}
18+
19+
public Update(_deltaT: number): void {
20+
this._assembly.ejectorActive = this.value > 0.5
21+
}
22+
23+
public setReceiverValue(val: NoraNumber): void {
24+
this.value = val
25+
}
26+
public getReceiverType(): NoraTypes {
27+
return NoraTypes.Number
28+
}
29+
public DisplayName(): string {
30+
return "Ejector"
31+
}
32+
33+
}
34+
35+
export default EjectorDriver

‎fission/src/systems/simulation/driver/IntakeDriver.ts

+35
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,35 @@
1+
import { mirabuf } from "@/proto/mirabuf";
2+
import { NoraNumber, NoraTypes } from "../Nora";
3+
import Driver, { DriverID } from "./Driver";
4+
import MirabufSceneObject from "@/mirabuf/MirabufSceneObject";
5+
6+
class IntakeDriver extends Driver {
7+
8+
public value: number
9+
10+
private _assembly: MirabufSceneObject
11+
12+
public constructor(id: DriverID, assembly: MirabufSceneObject, info?: mirabuf.IInfo) {
13+
super(id, info)
14+
15+
this._assembly = assembly
16+
this.value = 0.0
17+
}
18+
19+
public Update(_deltaT: number): void {
20+
this._assembly.intakeActive = this.value > 0.5
21+
}
22+
23+
public setReceiverValue(val: NoraNumber): void {
24+
this.value = val
25+
}
26+
public getReceiverType(): NoraTypes {
27+
return NoraTypes.Number
28+
}
29+
public DisplayName(): string {
30+
return "Intake"
31+
}
32+
33+
}
34+
35+
export default IntakeDriver

‎fission/src/systems/simulation/stimulus/ChassisStimulus.ts

+1-1
Original file line numberDiff line numberDiff line change
@@ -38,7 +38,7 @@ class ChassisStimulus extends Stimulus {
3838
throw new Error("Method not implemented.")
3939
}
4040
public DisplayName(): string {
41-
return "Chassis"
41+
return "Chassis [Accel|Gyro]"
4242
}
4343
}
4444

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