WPILibBrain Mapping (#1043)

fission/src/Synthesis.tsx

@@ -29,7 +29,6 @@ import PracticeSettingsModal from "@/modals/configuring/PracticeSettingsModal"
 import RoboRIOModal from "@/modals/configuring/RoboRIOModal"
 import SettingsModal from "@/modals/configuring/SettingsModal"
 import RCConfigEncoderModal from "@/modals/configuring/rio-config/RCConfigEncoderModal"
-import RCConfigPwmGroupModal from "@/modals/configuring/rio-config/RCConfigPwmGroupModal"
 import RCCreateDeviceModal from "@/modals/configuring/rio-config/RCCreateDeviceModal"
 import DeleteAllThemesModal from "@/modals/configuring/theme-editor/DeleteAllThemesModal"
 import DeleteThemeModal from "@/modals/configuring/theme-editor/DeleteThemeModal"
@@ -61,6 +60,8 @@ 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"
@@ -200,7 +201,8 @@ const initialModals = [
     <DeleteAllThemesModal key="delete-all-themes" modalId="delete-all-themes" />,
     <NewThemeModal key="new-theme" modalId="new-theme" />,
     <RCCreateDeviceModal key="create-device" modalId="create-device" />,
-    <RCConfigPwmGroupModal key="config-pwm" modalId="config-pwm" />,
+    <RCConfigPWMGroupModal key="config-pwm" modalId="config-pwm" />,
+    <RCConfigCANGroupModal key="config-can" modalId="config-can" />,
     <RCConfigEncoderModal key="config-encoder" modalId="config-encoder" />,
     <MatchModeModal key="match-mode" modalId="match-mode" />,
     <ConfigMotorModal key="config-motor" modalId="config-motor" />,

fission/src/mirabuf/IntakeSensorSceneObject.ts

@@ -12,6 +12,7 @@ import {
 } from "@/util/TypeConversions"
 import { OnContactPersistedEvent } from "@/systems/physics/ContactEvents"
 import InputSystem from "@/systems/input/InputSystem"
+import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
 
 class IntakeSensorSceneObject extends SceneObject {
     private _parentAssembly: MirabufSceneObject
@@ -53,7 +54,9 @@ class IntakeSensorSceneObject extends SceneObject {
             World.SceneRenderer.scene.add(this._mesh)
 
             this._collision = (event: OnContactPersistedEvent) => {
-                if (InputSystem.getInput("intake", this._parentAssembly.brain?.brainIndex ?? -1)) {
+                const brain = this._parentAssembly.brain
+                const brainIndex = brain instanceof SynthesisBrain ? brain.brainIndex ?? -1 : -1
+                if (InputSystem.getInput("intake", brainIndex)) {
                     if (this._joltBodyId && !World.PhysicsSystem.isPaused) {
                         const body1 = event.message.body1
                         const body2 = event.message.body2

fission/src/mirabuf/MirabufSceneObject.ts

@@ -9,17 +9,19 @@ import * as THREE from "three"
 import JOLT from "@/util/loading/JoltSyncLoader"
 import { BodyAssociate, LayerReserve } from "@/systems/physics/PhysicsSystem"
 import Mechanism from "@/systems/physics/Mechanism"
-import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
 import InputSystem from "@/systems/input/InputSystem"
 import TransformGizmos from "@/ui/components/TransformGizmos"
 import { EjectorPreferences, FieldPreferences, IntakePreferences } from "@/systems/preferences/PreferenceTypes"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import { MiraType } from "./MirabufLoader"
 import IntakeSensorSceneObject from "./IntakeSensorSceneObject"
 import EjectableSceneObject from "./EjectableSceneObject"
+import Brain from "@/systems/simulation/Brain"
+import WPILibBrain from "@/systems/simulation/wpilib_brain/WPILibBrain"
 import ScoringZoneSceneObject from "./ScoringZoneSceneObject"
 import { SceneOverlayTag } from "@/ui/components/SceneOverlayEvents"
 import { ProgressHandle } from "@/ui/components/ProgressNotificationData"
+import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
 
 const DEBUG_BODIES = false
 
@@ -32,7 +34,7 @@ class MirabufSceneObject extends SceneObject {
     private _assemblyName: string
     private _mirabufInstance: MirabufInstance
     private _mechanism: Mechanism
-    private _brain: SynthesisBrain | undefined
+    private _brain: Brain | undefined
 
     private _debugBodies: Map<string, RnDebugMeshes> | null
     private _physicsLayerReserve: LayerReserve | undefined
@@ -111,7 +113,9 @@ class MirabufSceneObject extends SceneObject {
 
         // creating nametag for robots
         if (this.miraType === MiraType.ROBOT) {
-            this._nameTag = new SceneOverlayTag(() => (this._brain ? this._brain.inputSchemeName : "Not Configured"))
+            this._nameTag = new SceneOverlayTag(() =>
+                this._brain instanceof SynthesisBrain ? this._brain.inputSchemeName : "Not Configured"
+            )
         }
     }
 
@@ -149,7 +153,7 @@ class MirabufSceneObject extends SceneObject {
         // Simulation
         World.SimulationSystem.RegisterMechanism(this._mechanism)
         const simLayer = World.SimulationSystem.GetSimulationLayer(this._mechanism)!
-        this._brain = new SynthesisBrain(this._mechanism, this._assemblyName)
+        this._brain = new WPILibBrain(this._mechanism)
         simLayer.SetBrain(this._brain)
 
         // Intake
@@ -159,7 +163,8 @@ class MirabufSceneObject extends SceneObject {
     }
 
     public Update(): void {
-        if (InputSystem.getInput("eject", this._brain?.brainIndex ?? -1)) {
+        const brainIndex = this._brain instanceof SynthesisBrain ? this._brain.brainIndex ?? -1 : -1
+        if (InputSystem.getInput("eject", brainIndex)) {
             this.Eject()
         }
 
@@ -253,7 +258,7 @@ class MirabufSceneObject extends SceneObject {
         this._scoringZones = []
 
         this._mechanism.nodeToBody.forEach(bodyId => {
-            World.PhysicsSystem.RemoveBodyAssocation(bodyId)
+            World.PhysicsSystem.RemoveBodyAssociation(bodyId)
         })
 
         this._nameTag?.Dispose()
@@ -271,7 +276,7 @@ class MirabufSceneObject extends SceneObject {
         this._debugBodies?.clear()
         this._physicsLayerReserve?.Release()
 
-        this._brain?.clearControls()
+        if (this._brain && this._brain instanceof SynthesisBrain) this._brain?.clearControls()
     }
 
     public Eject() {

fission/src/systems/physics/Mechanism.ts

@@ -1,11 +1,13 @@
 import Jolt from "@barclah/jolt-physics"
 import { LayerReserve } from "./PhysicsSystem"
 import { RigidNodeId } from "@/mirabuf/MirabufParser"
+import { mirabuf } from "@/proto/mirabuf"
 
 export interface MechanismConstraint {
     parentBody: Jolt.BodyID
     childBody: Jolt.BodyID
     constraint: Jolt.Constraint
+    info?: mirabuf.IInfo
 }
 
 class Mechanism {

fission/src/systems/physics/PhysicsSystem.ts

@@ -135,7 +135,7 @@ class PhysicsSystem extends WorldSystem {
         this._bodyAssociations.set(assocation.associatedBody, assocation)
     }
 
-    public RemoveBodyAssocation(bodyId: Jolt.BodyID) {
+    public RemoveBodyAssociation(bodyId: Jolt.BodyID) {
         this._bodyAssociations.delete(bodyId.GetIndexAndSequenceNumber())
     }
 
@@ -399,6 +399,7 @@ class PhysicsSystem extends WorldSystem {
                         parentBody: bodyIdA,
                         childBody: bodyIdB,
                         constraint: x,
+                        info: jInst.info ?? undefined, // remove possibility for null
                     })
                 )
             }

fission/src/systems/simulation/SimulationSystem.ts

@@ -85,19 +85,19 @@ class SimulationLayer {
         this._mechanism.constraints.forEach(x => {
             if (x.constraint.GetSubType() == JOLT.EConstraintSubType_Hinge) {
                 const hinge = JOLT.castObject(x.constraint, JOLT.HingeConstraint)
-                const driver = new HingeDriver(hinge)
+                const driver = new HingeDriver(hinge, x.info)
                 this._drivers.push(driver)
                 const stim = new HingeStimulus(hinge)
                 this._stimuli.push(stim)
             } else if (x.constraint.GetSubType() == JOLT.EConstraintSubType_Vehicle) {
                 const vehicle = JOLT.castObject(x.constraint, JOLT.VehicleConstraint)
-                const driver = new WheelDriver(vehicle)
+                const driver = new WheelDriver(vehicle, x.info)
                 this._drivers.push(driver)
                 const stim = new WheelRotationStimulus(vehicle.GetWheel(0))
                 this._stimuli.push(stim)
             } else if (x.constraint.GetSubType() == JOLT.EConstraintSubType_Slider) {
                 const slider = JOLT.castObject(x.constraint, JOLT.SliderConstraint)
-                const driver = new SliderDriver(slider)
+                const driver = new SliderDriver(slider, x.info)
                 this._drivers.push(driver)
                 const stim = new SliderStimulus(slider)
                 this._stimuli.push(stim)

fission/src/systems/simulation/behavior/Behavior.ts

@@ -1,5 +1,5 @@
-import Driver from "../driver/Driver"
-import Stimulus from "../stimulus/Stimulus"
+import Driver from "@/systems/simulation/driver/Driver"
+import Stimulus from "@/systems/simulation/stimulus/Stimulus"
 
 abstract class Behavior {
     private _drivers: Driver[]

fission/src/systems/simulation/behavior/ArcadeDriveBehavior.ts → fission/src/systems/simulation/behavior/synthesis/ArcadeDriveBehavior.ts

@@ -1,6 +1,6 @@
-import WheelDriver from "../driver/WheelDriver"
-import WheelRotationStimulus from "../stimulus/WheelStimulus"
-import Behavior from "./Behavior"
+import WheelDriver from "@/systems/simulation/driver/WheelDriver"
+import WheelRotationStimulus from "@/systems/simulation/stimulus/WheelStimulus"
+import Behavior from "@/systems/simulation/behavior/Behavior"
 import InputSystem from "@/systems/input/InputSystem"
 
 class ArcadeDriveBehavior extends Behavior {

fission/src/systems/simulation/behavior/GenericArmBehavior.ts → fission/src/systems/simulation/behavior/synthesis/GenericArmBehavior.ts

@@ -1,6 +1,6 @@
-import HingeDriver from "../driver/HingeDriver"
-import HingeStimulus from "../stimulus/HingeStimulus"
-import Behavior from "./Behavior"
+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"
 
 class GenericArmBehavior extends Behavior {

fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts → fission/src/systems/simulation/behavior/synthesis/GenericElevatorBehavior.ts

@@ -1,6 +1,6 @@
-import SliderDriver from "../driver/SliderDriver"
-import SliderStimulus from "../stimulus/SliderStimulus"
-import Behavior from "./Behavior"
+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"
 
 class GenericElevatorBehavior extends Behavior {

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

@@ -1,5 +1,17 @@
+import { mirabuf } from "@/proto/mirabuf"
+
 abstract class Driver {
+    private _info?: mirabuf.IInfo
+
+    constructor(info?: mirabuf.IInfo) {
+        this._info = info
+    }
+
     public abstract Update(deltaT: number): void
+
+    public get info() {
+        return this._info
+    }
 }
 
 export enum DriverControlMode {

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

@@ -2,6 +2,7 @@ import Jolt from "@barclah/jolt-physics"
 import Driver, { DriverControlMode } from "./Driver"
 import { GetLastDeltaT } from "@/systems/physics/PhysicsSystem"
 import JOLT from "@/util/loading/JoltSyncLoader"
+import { mirabuf } from "@/proto/mirabuf"
 
 class HingeDriver extends Driver {
     private _constraint: Jolt.HingeConstraint
@@ -52,8 +53,8 @@ class HingeDriver extends Driver {
         }
     }
 
-    public constructor(constraint: Jolt.HingeConstraint) {
-        super()
+    public constructor(constraint: Jolt.HingeConstraint, info?: mirabuf.IInfo) {
+        super(info)
 
         this._constraint = constraint
 

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

@@ -2,6 +2,7 @@ import Jolt from "@barclah/jolt-physics"
 import Driver, { DriverControlMode } from "./Driver"
 import { GetLastDeltaT } from "@/systems/physics/PhysicsSystem"
 import JOLT from "@/util/loading/JoltSyncLoader"
+import { mirabuf } from "@/proto/mirabuf"
 
 class SliderDriver extends Driver {
     private _constraint: Jolt.SliderConstraint
@@ -55,8 +56,8 @@ class SliderDriver extends Driver {
         }
     }
 
-    public constructor(constraint: Jolt.SliderConstraint) {
-        super()
+    public constructor(constraint: Jolt.SliderConstraint, info?: mirabuf.IInfo) {
+        super(info)
 
         this._constraint = constraint
 

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

@@ -1,13 +1,18 @@
 import Jolt from "@barclah/jolt-physics"
 import Driver from "./Driver"
 import JOLT from "@/util/loading/JoltSyncLoader"
+import { SimType } from "../wpilib_brain/WPILibBrain"
+import { mirabuf } from "@/proto/mirabuf"
 
 const LATERIAL_FRICTION = 0.6
 const LONGITUDINAL_FRICTION = 0.8
 
 class WheelDriver extends Driver {
     private _constraint: Jolt.VehicleConstraint
     private _wheel: Jolt.WheelWV
+    public deviceType?: SimType
+    public device?: string
+    private _reversed: boolean
 
     private _targetWheelSpeed: number = 0.0
 
@@ -22,17 +27,30 @@ class WheelDriver extends Driver {
         return this._constraint
     }
 
-    public constructor(constraint: Jolt.VehicleConstraint) {
-        super()
+    public constructor(
+        constraint: Jolt.VehicleConstraint,
+        info?: mirabuf.IInfo,
+        deviceType?: SimType,
+        device?: string,
+        reversed: boolean = false
+    ) {
+        super(info)
 
         this._constraint = constraint
+        this._reversed = reversed
+        this.deviceType = deviceType
+        this.device = device
         this._wheel = JOLT.castObject(this._constraint.GetWheel(0), JOLT.WheelWV)
         this._wheel.set_mCombinedLateralFriction(LATERIAL_FRICTION)
         this._wheel.set_mCombinedLongitudinalFriction(LONGITUDINAL_FRICTION)
     }
 
     public Update(_: number): void {
-        this._wheel.SetAngularVelocity(this._targetWheelSpeed)
+        this._wheel.SetAngularVelocity(this._targetWheelSpeed * (this._reversed ? -1 : 1))
+    }
+
+    public set reversed(val: boolean) {
+        this._reversed = val
     }
 }
 

fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts

@@ -4,16 +4,16 @@ import Behavior from "../behavior/Behavior"
 import World from "@/systems/World"
 import WheelDriver from "../driver/WheelDriver"
 import WheelRotationStimulus from "../stimulus/WheelStimulus"
-import ArcadeDriveBehavior from "../behavior/ArcadeDriveBehavior"
+import ArcadeDriveBehavior from "../behavior/synthesis/ArcadeDriveBehavior"
 import { SimulationLayer } from "../SimulationSystem"
 import Jolt from "@barclah/jolt-physics"
 import JOLT from "@/util/loading/JoltSyncLoader"
 import HingeDriver from "../driver/HingeDriver"
 import HingeStimulus from "../stimulus/HingeStimulus"
-import GenericArmBehavior from "../behavior/GenericArmBehavior"
+import GenericArmBehavior from "../behavior/synthesis/GenericArmBehavior"
 import SliderDriver from "../driver/SliderDriver"
 import SliderStimulus from "../stimulus/SliderStimulus"
-import GenericElevatorBehavior from "../behavior/GenericElevatorBehavior"
+import GenericElevatorBehavior from "../behavior/synthesis/GenericElevatorBehavior"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import InputSystem from "@/systems/input/InputSystem"