Combined Configuration (#1068)

Autodesk · Aug 9, 2024 · 1a171c5 · 1a171c5
2 parents 5d4e5e4 + ff07568
commit 1a171c5
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diff --git a/fission/index.html b/fission/index.html
@@ -1,16 +1,22 @@
 <!doctype html>
 <html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <script async src="https://www.googletagmanager.com/gtag/js?id=G-6XNCRD7QNC"></script>
-    <link rel="icon" type="image/svg+xml" href="/synthesis-logo.svg" />
-    <link rel='stylesheet' href='https://static-dc.autodesk.net/etc/designs/v201808022224/templates-general/structure/fonts/artifakt/clientlibs/artifakt.css'/>
-    <link rel="stylesheet" href="https://fonts.googleapis.com/css2?family=Roboto:ital,wght@0,100;0,300;0,400;0,500;0,700;0,900;1,100;1,300;1,400;1,500;1,700;1,900&display=swap" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Fission | Synthesis</title>
-  </head>
-  <body>
-    <div id="root"></div>
-    <script type="module" src="/src/main.tsx"></script>
-  </body>
+    <head>
+        <meta charset="UTF-8" />
+        <script async src="https://www.googletagmanager.com/gtag/js?id=G-6XNCRD7QNC"></script>
+        <link rel="icon" type="image/svg+xml" href="/synthesis-logo.svg" />
+        <link
+            rel="stylesheet"
+            href="https://static-dc.autodesk.net/etc/designs/v201808022224/templates-general/structure/fonts/artifakt/clientlibs/artifakt.css"
+        />
+        <link
+            rel="stylesheet"
+            href="https://fonts.googleapis.com/css2?family=Roboto:ital,wght@0,100;0,300;0,400;0,500;0,700;0,900;1,100;1,300;1,400;1,500;1,700;1,900&display=swap"
+        />
+        <meta name="viewport" content="width=device-width, initial-scale=1.0, user-scalable=no" />
+        <title>Fission | Synthesis</title>
+    </head>
+    <body>
+        <div id="root"></div>
+        <script type="module" src="/src/main.tsx"></script>
+    </body>
 </html>
diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
@@ -20,7 +20,6 @@ import UpdateAvailableModal from "@/modals/UpdateAvailableModal"
 import ViewModal from "@/modals/ViewModal"
 import ConnectToMultiplayerModal from "@/modals/aether/ConnectToMultiplayerModal"
 import ServerHostingModal from "@/modals/aether/ServerHostingModal"
-import ChangeInputsModal from "@/ui/modals/configuring/inputs/ChangeInputsModal.tsx"
 import ChooseMultiplayerModeModal from "@/modals/configuring/ChooseMultiplayerModeModal"
 import ChooseSingleplayerModeModal from "@/modals/configuring/ChooseSingleplayerModeModal"
 import ConfigMotorModal from "@/modals/configuring/ConfigMotorModal"
@@ -37,36 +36,33 @@ import ThemeEditorModal from "@/modals/configuring/theme-editor/ThemeEditorModal
 import MatchModeModal from "@/modals/spawning/MatchModeModal"
 import RobotSwitchPanel from "@/panels/RobotSwitchPanel"
 import SpawnLocationsPanel from "@/panels/SpawnLocationPanel"
-import ConfigureGamepiecePickupPanel from "@/panels/configuring/ConfigureGamepiecePickupPanel"
-import ConfigureShotTrajectoryPanel from "@/panels/configuring/ConfigureShotTrajectoryPanel"
-import ScoringZonesPanel from "@/panels/configuring/scoring/ScoringZonesPanel"
 import ScoreboardPanel from "@/panels/information/ScoreboardPanel"
 import DriverStationPanel from "@/panels/simulation/DriverStationPanel"
 import PokerPanel from "@/panels/PokerPanel.tsx"
-import ManageAssembliesModal from "@/modals/spawning/ManageAssembliesModal.tsx"
 import World from "@/systems/World.ts"
 import { AddRobotsModal, AddFieldsModal, SpawningModal } from "@/modals/spawning/SpawningModals.tsx"
 import ImportLocalMirabufModal from "@/modals/mirabuf/ImportLocalMirabufModal.tsx"
 import ImportMirabufPanel from "@/ui/panels/mirabuf/ImportMirabufPanel.tsx"
 import Skybox from "./ui/components/Skybox.tsx"
 import ChooseInputSchemePanel from "./ui/panels/configuring/ChooseInputSchemePanel.tsx"
 import ProgressNotifications from "./ui/components/ProgressNotification.tsx"
-import ConfigureRobotModal from "./ui/modals/configuring/ConfigureRobotModal.tsx"
-import ResetAllInputsModal from "./ui/modals/configuring/inputs/ResetAllInputsModal.tsx"
-import ZoneConfigPanel from "./ui/panels/configuring/scoring/ZoneConfigPanel.tsx"
+import ConfigureRobotBrainPanel from "./ui/panels/configuring/ConfigureRobotBrainPanel.tsx"
 import SceneOverlay from "./ui/components/SceneOverlay.tsx"
 
 import WPILibWSWorker from "@/systems/simulation/wpilib_brain/WPILibWSWorker.ts?worker"
 import WSViewPanel from "./ui/panels/WSViewPanel.tsx"
 import Lazy from "./util/Lazy.ts"
+
 import RCConfigPWMGroupModal from "@/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx"
 import RCConfigCANGroupModal from "@/modals/configuring/rio-config/RCConfigCANGroupModal.tsx"
 import DebugPanel from "./ui/panels/DebugPanel.tsx"
 import NewInputSchemeModal from "./ui/modals/configuring/theme-editor/NewInputSchemeModal.tsx"
 import AssignNewSchemeModal from "./ui/modals/configuring/theme-editor/AssignNewSchemeModal.tsx"
 import AnalyticsConsent from "./ui/components/AnalyticsConsent.tsx"
 import PreferencesSystem from "./systems/preferences/PreferencesSystem.ts"
+import ResetAllInputsModal from "./ui/modals/configuring/inputs/ResetAllInputsModal.tsx"
 import APSManagementModal from "./ui/modals/APSManagementModal.tsx"
+import ConfigurePanel from "./ui/panels/configuring/assembly-config/ConfigurePanel.tsx"
 
 const worker = new Lazy<Worker>(() => new WPILibWSWorker())
 
@@ -209,7 +205,6 @@ const initialModals = [
     <UpdateAvailableModal key="update-available" modalId="update-available" />,
     <ConnectToMultiplayerModal key="connect-to-multiplayer" modalId="connect-to-multiplayer" />,
     <ServerHostingModal key="server-hosting" modalId="server-hosting" />,
-    <ChangeInputsModal key="change-inputs" modalId="change-inputs" />,
     <ChooseMultiplayerModeModal key="multiplayer-mode" modalId="multiplayer-mode" />,
     <ChooseSingleplayerModeModal key="singleplayer-mode" modalId="singleplayer-mode" />,
     <PracticeSettingsModal key="practice-settings" modalId="practice-settings" />,
@@ -224,9 +219,7 @@ const initialModals = [
     <RCConfigEncoderModal key="config-encoder" modalId="config-encoder" />,
     <MatchModeModal key="match-mode" modalId="match-mode" />,
     <ConfigMotorModal key="config-motor" modalId="config-motor" />,
-    <ManageAssembliesModal key="manage-assemblies" modalId="manage-assemblies" />,
     <ImportLocalMirabufModal key="import-local-mirabuf" modalId="import-local-mirabuf" />,
-    <ConfigureRobotModal key="config-robot" modalId="config-robot" />,
     <ResetAllInputsModal key="reset-inputs" modalId="reset-inputs" />,
     <APSManagementModal key="aps-management" modalId="aps-management" />,
 ]
@@ -236,25 +229,18 @@ const initialPanels: ReactElement[] = [
     <DriverStationPanel key="driver-station" panelId="driver-station" />,
     <SpawnLocationsPanel key="spawn-locations" panelId="spawn-locations" />,
     <ScoreboardPanel key="scoreboard" panelId="scoreboard" openLocation="top" sidePadding={8} />,
-    <ConfigureGamepiecePickupPanel
-        key="config-gamepiece-pickup"
-        panelId="config-gamepiece-pickup"
-        openLocation="right"
-        sidePadding={8}
-    />,
-    <ConfigureShotTrajectoryPanel
-        key="config-shot-trajectory"
-        panelId="config-shot-trajectory"
+    <ImportMirabufPanel key="import-mirabuf" panelId="import-mirabuf" />,
+    <PokerPanel key="poker" panelId="poker" />,
+    <ConfigureRobotBrainPanel
+        key="config-robot-brain"
+        panelId="config-robot-brain"
         openLocation="right"
         sidePadding={8}
     />,
-    <ScoringZonesPanel key="scoring-zones" panelId="scoring-zones" openLocation="right" sidePadding={8} />,
-    <ZoneConfigPanel key="zone-config" panelId="zone-config" openLocation="right" sidePadding={8} />,
-    <ImportMirabufPanel key="import-mirabuf" panelId="import-mirabuf" />,
-    <PokerPanel key="poker" panelId="poker" />,
     <ChooseInputSchemePanel key="choose-scheme" panelId="choose-scheme" />,
     <WSViewPanel key="ws-view" panelId="ws-view" />,
     <DebugPanel key="debug" panelId="debug" />,
+    <ConfigurePanel key="configure" panelId="configure" />,
 ]
 
 export default Synthesis
diff --git a/fission/src/systems/input/DefaultInputs.ts b/fission/src/systems/input/DefaultInputs.ts
@@ -91,8 +91,8 @@ class DefaultInputs {
                     shift: false,
                     meta: false,
                 }),
-                new AxisInput("joint 5", "KeyN", "true", -1, false, false, -1, -1, EmptyModifierState, {
-                    ctrl: false,
+                new AxisInput("joint 5", "KeyN", "KeyN", -1, false, false, -1, -1, EmptyModifierState, {
+                    ctrl: true,
                     alt: false,
                     shift: false,
                     meta: false,

diff --git a/fission/src/systems/input/InputSystem.ts b/fission/src/systems/input/InputSystem.ts
@@ -141,9 +141,6 @@ class InputSystem extends WorldSystem {
     private static _gpIndex: number | null
     public static gamepad: Gamepad | null
 
-    // The scheme most recently selected in the controls modal
-    public static selectedScheme: InputScheme | undefined
-
     // Maps a brain index to a certain input scheme
     public static brainIndexSchemeMap: Map<number, InputScheme> = new Map()
 

diff --git a/fission/src/systems/preferences/PreferenceTypes.ts b/fission/src/systems/preferences/PreferenceTypes.ts
@@ -43,10 +43,29 @@ export type EjectorPreferences = {
     parentNode: string | undefined
 }
 
+export type BehaviorType = "Elevator" | "Arm"
+
+export type SequentialBehaviorPreferences = {
+    jointIndex: number
+    parentJointIndex: number | undefined
+    type: BehaviorType
+    inverted: boolean
+}
+
+export function DefaultSequentialConfig(index: number, type: BehaviorType): SequentialBehaviorPreferences {
+    return {
+        jointIndex: index,
+        parentJointIndex: undefined,
+        type: type,
+        inverted: false,
+    }
+}
+
 export type RobotPreferences = {
     inputsSchemes: InputScheme[]
     intake: IntakePreferences
     ejector: EjectorPreferences
+    sequentialConfig?: SequentialBehaviorPreferences[]
 }
 
 export type Alliance = "red" | "blue"

diff --git a/fission/src/systems/simulation/Brain.ts b/fission/src/systems/simulation/Brain.ts
@@ -3,8 +3,8 @@ import Mechanism from "../physics/Mechanism"
 abstract class Brain {
     protected _mechanism: Mechanism
 
-    constructor(mechansim: Mechanism) {
-        this._mechanism = mechansim
+    constructor(mechanism: Mechanism) {
+        this._mechanism = mechanism
     }
 
     public abstract Update(deltaT: number): void

diff --git a/fission/src/systems/simulation/behavior/synthesis/ArcadeDriveBehavior.ts b/fission/src/systems/simulation/behavior/synthesis/ArcadeDriveBehavior.ts
@@ -11,6 +11,10 @@ class ArcadeDriveBehavior extends Behavior {
     private _driveSpeed = 30
     private _turnSpeed = 30
 
+    public get wheels(): WheelDriver[] {
+        return this.leftWheels.concat(this.rightWheels)
+    }
+
     constructor(
         leftWheels: WheelDriver[],
         rightWheels: WheelDriver[],

diff --git a/fission/src/systems/simulation/behavior/synthesis/GenericArmBehavior.ts b/fission/src/systems/simulation/behavior/synthesis/GenericArmBehavior.ts
@@ -1,30 +1,31 @@
-import HingeDriver from "@/systems/simulation/driver/HingeDriver"
-import HingeStimulus from "@/systems/simulation/stimulus/HingeStimulus"
-import Behavior from "@/systems/simulation/behavior/Behavior"
-import InputSystem from "@/systems/input/InputSystem"
+import { SequentialBehaviorPreferences } from "@/systems/preferences/PreferenceTypes"
+import HingeDriver from "../../driver/HingeDriver"
+import HingeStimulus from "../../stimulus/HingeStimulus"
+import SequenceableBehavior from "./SequenceableBehavior"
 
-class GenericArmBehavior extends Behavior {
+class GenericArmBehavior extends SequenceableBehavior {
     private _hingeDriver: HingeDriver
-    private _inputName: string
-    private _brainIndex: number
 
-    private _rotationalSpeed = 6
+    public get hingeDriver(): HingeDriver {
+        return this._hingeDriver
+    }
 
-    constructor(hingeDriver: HingeDriver, hingeStimulus: HingeStimulus, jointIndex: number, brainIndex: number) {
-        super([hingeDriver], [hingeStimulus])
+    maxVelocity: number = 6
 
-        this._hingeDriver = hingeDriver
-        this._inputName = "joint " + jointIndex
-        this._brainIndex = brainIndex
-    }
+    constructor(
+        hingeDriver: HingeDriver,
+        hingeStimulus: HingeStimulus,
+        jointIndex: number,
+        brainIndex: number,
+        sequentialConfig: SequentialBehaviorPreferences | undefined
+    ) {
+        super(jointIndex, brainIndex, [hingeDriver], [hingeStimulus], sequentialConfig)
 
-    // Sets the arms target rotational velocity
-    rotateArm(rotationalVelocity: number) {
-        this._hingeDriver.targetVelocity = rotationalVelocity
+        this._hingeDriver = hingeDriver
     }
 
-    public Update(_: number): void {
-        this.rotateArm(InputSystem.getInput(this._inputName, this._brainIndex) * this._rotationalSpeed)
+    applyInput = (velocity: number) => {
+        this._hingeDriver.targetVelocity = velocity
     }
 }
 

diff --git a/fission/src/systems/simulation/behavior/synthesis/GenericElevatorBehavior.ts b/fission/src/systems/simulation/behavior/synthesis/GenericElevatorBehavior.ts
@@ -1,30 +1,31 @@
-import SliderDriver from "@/systems/simulation/driver/SliderDriver"
-import SliderStimulus from "@/systems/simulation/stimulus/SliderStimulus"
-import Behavior from "@/systems/simulation/behavior/Behavior"
-import InputSystem from "@/systems/input/InputSystem"
+import { SequentialBehaviorPreferences } from "@/systems/preferences/PreferenceTypes"
+import SliderDriver from "../../driver/SliderDriver"
+import SliderStimulus from "../../stimulus/SliderStimulus"
+import SequenceableBehavior from "./SequenceableBehavior"
 
-class GenericElevatorBehavior extends Behavior {
+class GenericElevatorBehavior extends SequenceableBehavior {
     private _sliderDriver: SliderDriver
-    private _inputName: string
-    private _brainIndex: number
 
-    private _linearSpeed = 2.5
+    maxVelocity = 6
 
-    constructor(sliderDriver: SliderDriver, sliderStimulus: SliderStimulus, jointIndex: number, brainIndex: number) {
-        super([sliderDriver], [sliderStimulus])
-
-        this._sliderDriver = sliderDriver
-        this._inputName = "joint " + jointIndex
-        this._brainIndex = brainIndex
+    public get sliderDriver(): SliderDriver {
+        return this._sliderDriver
     }
 
-    // Changes the elevators target position
-    moveElevator(linearVelocity: number) {
-        this._sliderDriver.targetVelocity = linearVelocity
+    constructor(
+        sliderDriver: SliderDriver,
+        sliderStimulus: SliderStimulus,
+        jointIndex: number,
+        brainIndex: number,
+        sequentialConfig: SequentialBehaviorPreferences | undefined
+    ) {
+        super(jointIndex, brainIndex, [sliderDriver], [sliderStimulus], sequentialConfig)
+
+        this._sliderDriver = sliderDriver
     }
 
-    public Update(_: number): void {
-        this.moveElevator(InputSystem.getInput(this._inputName, this._brainIndex) * this._linearSpeed)
+    applyInput = (velocity: number) => {
+        this._sliderDriver.targetVelocity = velocity
     }
 }
 

diff --git a/fission/src/systems/simulation/behavior/synthesis/SequenceableBehavior.ts b/fission/src/systems/simulation/behavior/synthesis/SequenceableBehavior.ts
@@ -0,0 +1,42 @@
+import { SequentialBehaviorPreferences } from "@/systems/preferences/PreferenceTypes"
+import Driver from "../../driver/Driver"
+import Stimulus from "../../stimulus/Stimulus"
+import Behavior from "../Behavior"
+import InputSystem from "@/systems/input/InputSystem"
+
+abstract class SequenceableBehavior extends Behavior {
+    private _jointIndex: number
+    private _brainIndex: number
+    private _sequentialConfig: SequentialBehaviorPreferences | undefined
+
+    abstract maxVelocity: number
+
+    public get jointIndex(): number {
+        return this._jointIndex
+    }
+
+    constructor(
+        jointIndex: number,
+        brainIndex: number,
+        drivers: Driver[],
+        stimuli: Stimulus[],
+        sequentialConfig: SequentialBehaviorPreferences | undefined
+    ) {
+        super(drivers, stimuli)
+
+        this._jointIndex = jointIndex
+        this._brainIndex = brainIndex
+        this._sequentialConfig = sequentialConfig
+    }
+
+    abstract applyInput: (velocity: number) => void
+
+    public Update(_: number): void {
+        const inputName = "joint " + (this._sequentialConfig?.parentJointIndex ?? this._jointIndex)
+        const inverted = this._sequentialConfig?.inverted ?? false
+
+        this.applyInput(InputSystem.getInput(inputName, this._brainIndex) * this.maxVelocity * (inverted ? -1 : 1))
+    }
+}
+
+export default SequenceableBehavior
diff --git a/fission/src/systems/simulation/driver/HingeDriver.ts b/fission/src/systems/simulation/driver/HingeDriver.ts
@@ -11,6 +11,10 @@ class HingeDriver extends Driver {
     private _targetVelocity: number = 0.0
     private _targetAngle: number
 
+    public get constraint(): Jolt.HingeConstraint {
+        return this._constraint
+    }
+
     public get targetVelocity(): number {
         return this._targetVelocity
     }

diff --git a/fission/src/systems/simulation/driver/SliderDriver.ts b/fission/src/systems/simulation/driver/SliderDriver.ts
@@ -11,6 +11,10 @@ class SliderDriver extends Driver {
     private _targetVelocity: number = 0.0
     private _targetPosition: number = 0.0
 
+    public get constraint(): Jolt.SliderConstraint {
+        return this._constraint
+    }
+
     public get targetVelocity(): number {
         return this._targetVelocity
     }