+
{/** The label and divider at the top of the scroll view */}
{`${InputSchemeManager.availableInputSchemes.length} Input Schemes`}
@@ -109,8 +112,10 @@ const ChooseInputSchemePanel: React.FC = ({ panelId }) => {
{/** Edit button - same as select but opens the inputs modal */}
{EditButton(() => {
InputSystem.brainIndexSchemeMap.set(getBrainIndex(), scheme)
- InputSystem.selectedScheme = scheme
- openModal("change-inputs")
+
+ setSelectedConfigurationType(ConfigurationType.INPUTS)
+ setSelectedScheme(scheme)
+ openPanel("configure")
})}
{/** Delete button (only if the scheme is customized) */}
diff --git a/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx b/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx
new file mode 100644
index 0000000000..ffbd9b9373
--- /dev/null
+++ b/fission/src/ui/panels/configuring/ConfigureRobotBrainPanel.tsx
@@ -0,0 +1,247 @@
+import { MiraType } from "@/mirabuf/MirabufLoader"
+import MirabufSceneObject, { RigidNodeAssociate } from "@/mirabuf/MirabufSceneObject"
+import World from "@/systems/World"
+import Label, { LabelSize } from "@/ui/components/Label"
+import Button from "@/ui/components/Button"
+import Panel, { PanelPropsImpl } from "@/ui/components/Panel"
+import { useMemo, useState } from "react"
+import { FaGear } from "react-icons/fa6"
+import { ToggleButton, ToggleButtonGroup } from "@/ui/components/ToggleButtonGroup"
+import { Divider, styled } from "@mui/material"
+import GenericElevatorBehavior from "@/systems/simulation/behavior/synthesis/GenericElevatorBehavior"
+import Stack, { StackDirection } from "@/ui/components/Stack"
+import { JSX } from "react/jsx-runtime"
+import ArcadeDriveBehavior from "@/systems/simulation/behavior/synthesis/ArcadeDriveBehavior"
+import GenericArmBehavior from "@/systems/simulation/behavior/synthesis/GenericArmBehavior"
+import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
+
+// eslint-disable-next-line react-refresh/only-export-components
+export enum ConfigureRobotBrainTypes {
+ SYNTHESIS = 0,
+ WIPLIB = 1,
+}
+
+const LabelStyled = styled(Label)({
+ fontWeight: 700,
+ margin: "0pt",
+})
+
+const DividerStyled = styled(Divider)({
+ borderColor: "white",
+})
+
+/**
+ * Retrieves the joints of a robot and generates JSX elements for each joint.
+ * @param robot The MirabufSceneObject representing the robot.
+ * @returns An array of JSX elements representing the joints of the robot.
+ */
+function GetJoints(robot: MirabufSceneObject): JSX.Element[] {
+ const output: JSX.Element[] = []
+ let elementKey = 0
+
+ /* Iterate through each behavior of the robot */
+ const brain = robot.brain as SynthesisBrain
+ brain.behaviors.forEach(behavior => {
+ /* Adds the joints that the wheels are associated with */
+ if (behavior instanceof ArcadeDriveBehavior) {
+ behavior.wheels.forEach(wheel => {
+ const assoc = World.PhysicsSystem.GetBodyAssociation(
+ wheel.constraint.GetVehicleBody().GetID()
+ ) as RigidNodeAssociate
+
+ if (!assoc || assoc.sceneObject !== robot) {
+ return
+ }
+
+ output.push(
+
+
+ Wheel Node {elementKey}
+
+
+ {assoc.rigidNodeId}
+
+
+ )
+ elementKey++
+ })
+ output.push()
+ } else if (behavior instanceof GenericArmBehavior) {
+ /* Adds the joints that the arm is associated with */
+ // Get the rigid node associates for the two bodies
+ const assoc1 = World.PhysicsSystem.GetBodyAssociation(
+ behavior.hingeDriver.constraint.GetBody1().GetID()
+ ) as RigidNodeAssociate
+ const assoc2 = World.PhysicsSystem.GetBodyAssociation(
+ behavior.hingeDriver.constraint.GetBody2().GetID()
+ ) as RigidNodeAssociate
+
+ if (!assoc1 || assoc1.sceneObject !== robot || !assoc2 || assoc2.sceneObject !== robot) {
+ return
+ }
+
+ output.push(
+
+
+ Arm Nodes
+
+
+ {assoc1.rigidNodeId + " " + assoc2.rigidNodeId}
+
+
+ )
+ elementKey++
+ } else if (behavior instanceof GenericElevatorBehavior) {
+ /* Adds the joints that the elevator is associated with */
+ // Get the rigid node associates for the two bodies
+ const assoc1 = World.PhysicsSystem.GetBodyAssociation(
+ behavior.sliderDriver.constraint.GetBody1().GetID()
+ ) as RigidNodeAssociate
+ const assoc2 = World.PhysicsSystem.GetBodyAssociation(
+ behavior.sliderDriver.constraint.GetBody2().GetID()
+ ) as RigidNodeAssociate
+
+ if (!assoc1 || assoc1.sceneObject !== robot || !assoc2 || assoc2.sceneObject !== robot) {
+ return
+ }
+
+ output.push(
+
+
+ Elevator Nodes
+
+
+ {assoc1.rigidNodeId + " " + assoc2.rigidNodeId}
+
+
+ )
+ elementKey++
+ }
+ })
+
+ return output
+}
+
+const ConfigureRobotBrainPanel: React.FC = ({ panelId, openLocation, sidePadding }) => {
+ const [selectedRobot, setSelectedRobot] = useState(undefined)
+ const [viewType, setViewType] = useState(ConfigureRobotBrainTypes.SYNTHESIS)
+ const robots = useMemo(() => {
+ const assemblies = [...World.SceneRenderer.sceneObjects.values()].filter(x => {
+ if (x instanceof MirabufSceneObject) {
+ return x.miraType === MiraType.ROBOT
+ }
+ return false
+ }) as MirabufSceneObject[]
+ return assemblies
+ }, [])
+
+ return (
+ }
+ panelId={panelId}
+ openLocation={openLocation}
+ sidePadding={sidePadding}
+ onAccept={() => {}}
+ onCancel={() => {}}
+ >
+ {selectedRobot?.ejectorPreferences == undefined ? (
+ <>
+
+ {/** Scroll view for selecting a robot to configure */}
+
+ {robots.map(mirabufSceneObject => {
+ return (
+
+ )
+ })}
+
+ {/* TODO: remove the accept button on this version */}
+
+ ) : (
+ <>
+
+
v != null && setViewType(v)}
+ sx={{
+ alignSelf: "center",
+ }}
+ >
+ SynthesisBrain
+ WIPLIBBrain
+
+ {viewType === ConfigureRobotBrainTypes.SYNTHESIS ? (
+ <>
+
+ Behaviors
+
+
+ {GetJoints(selectedRobot)}
+
+ ) : (
+ <>
+
+ Example WIPLIB Brain
+
+
+
+
+ Example 2
+
+
+
+
+ Example 3
+
+
+
+
+ Example 4
+
+
+
+ )}
+
)
}
-export default ZoneConfigPanel
+export default ZoneConfigInterface
diff --git a/fission/src/ui/panels/configuring/scoring/ScoringZonesPanel.tsx b/fission/src/ui/panels/configuring/scoring/ScoringZonesPanel.tsx
deleted file mode 100644
index 82e44851bb..0000000000
--- a/fission/src/ui/panels/configuring/scoring/ScoringZonesPanel.tsx
+++ /dev/null
@@ -1,201 +0,0 @@
-import { useEffect, useMemo, useState } from "react"
-import { usePanelControlContext } from "@/ui/PanelContext"
-import Button from "@/components/Button"
-import Label, { LabelSize } from "@/components/Label"
-import Panel, { PanelPropsImpl } from "@/components/Panel"
-import ScrollView from "@/components/ScrollView"
-import Stack, { StackDirection } from "@/components/Stack"
-import { ScoringZonePreferences } from "@/systems/preferences/PreferenceTypes"
-import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
-import World from "@/systems/World"
-import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
-import { MiraType } from "@/mirabuf/MirabufLoader"
-import { Box } from "@mui/material"
-import { SynthesisIcons } from "@/ui/components/StyledComponents"
-
-type ScoringZoneRowProps = {
- zone: ScoringZonePreferences
- field: MirabufSceneObject
- save: () => void
- openPanel: (id: string) => void
- deleteZone: () => void
-}
-
-export class SelectedZone {
- public static field: MirabufSceneObject | undefined
- public static zone: ScoringZonePreferences
-}
-
-const saveZones = (zones: ScoringZonePreferences[] | undefined, field: MirabufSceneObject | undefined) => {
- if (!zones || !field) return
-
- const fieldPrefs = field.fieldPreferences
- if (fieldPrefs) fieldPrefs.scoringZones = zones
-
- PreferencesSystem.savePreferences()
- field.UpdateScoringZones()
-}
-
-const ScoringZoneRow: React.FC
= ({ zone, save, field, openPanel, deleteZone }) => {
- return (
-
-
-
-
-
-
-
-
-
-
-
- )
-}
-
-const ScoringZonesPanel: React.FC = ({ panelId, openLocation, sidePadding }) => {
- const { openPanel, closePanel } = usePanelControlContext()
-
- const [selectedField, setSelectedField] = useState(SelectedZone.field)
- const [zones, setZones] = useState(
- SelectedZone.field?.fieldPreferences?.scoringZones
- )
-
- const fields = useMemo(() => {
- const assemblies = [...World.SceneRenderer.sceneObjects.values()].filter(x => {
- if (x instanceof MirabufSceneObject) {
- return x.miraType === MiraType.FIELD
- }
- return false
- }) as MirabufSceneObject[]
-
- return assemblies
- }, [])
-
- useEffect(() => {
- closePanel("zone-config")
- saveZones(zones, selectedField)
-
- World.PhysicsSystem.HoldPause()
-
- return () => {
- World.PhysicsSystem.ReleasePause()
- }
- // eslint-disable-next-line react-hooks/exhaustive-deps
- }, [])
-
- return (
- {
- SelectedZone.field = undefined
- saveZones(zones, selectedField)
- }}
- >
- {selectedField == undefined || zones == undefined ? (
- <>
-
- {/** Scroll view for selecting a robot to configure */}
-
- {fields.map(mirabufSceneObject => {
- return (
-
- )
- })}
-
-
- ) : (
- <>
- {zones?.length > 0 ? (
-
- {zones.map((zonePrefs: ScoringZonePreferences, i: number) => (
- {
- return zonePrefs
- })()}
- field={selectedField}
- openPanel={openPanel}
- save={() => saveZones(zones, selectedField)}
- deleteZone={() => {
- setZones(zones.filter((_, idx) => idx !== i))
- saveZones(
- zones.filter((_, idx) => idx !== i),
- selectedField
- )
- }}
- />
- ))}
-
- ) : (
-
- )}
-
- )
-}
-
-export default ScoringZonesPanel
diff --git a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
index 93dcf2563a..fdc5a0efcb 100644
--- a/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
+++ b/fission/src/ui/panels/mirabuf/ImportMirabufPanel.tsx
@@ -140,6 +140,11 @@ const ImportMirabufPanel: React.FC = ({ panelId }) => {
}
}, [])
+ useEffect(() => {
+ closePanel("configure")
+ // eslint-disable-next-line react-hooks/exhaustive-deps
+ }, [])
+
// Get Default Mirabuf Data, Load into manifest.
useEffect(() => {
// To remove the prettier warning
@@ -339,7 +344,7 @@ const ImportMirabufPanel: React.FC = ({ panelId }) => {
return (