[AARD-1864] Code Simulation: Configuration & Auto Testing (#1111)

* feat: Add d3, test using it for path graphics

* feat(sim): Nodes and edges rendering correctly

* feat(task): Labels

* Evaluable units in progress

* fix(sim): Bug fixing and reworking unit evaluations and graph representation

* feat(sim): Working on modules and layout

* feat(sim): Modules rendering with rounded corners and proper portions

* experiment: Tinkering with ReactFlow

* feat(sim): Saving bespoke graph work

* test: Sample custom node

* feat!: Custom nodes laid out

* feat!: Working on grabbing simulation data and indivudual config menus

* Still need IDs for drivers and signals implemented

* feat!: Working on edge validation

* feat!: Slowly refactoring to include proper validation

* feat!: Edge creation validation

Currently isn't recreating edges correctly

* Still debugging

* Working through edge deletion

* feat!: Node construction and deconstructions

Node placement is off and deconstruction is untested.

* feat!: Working on alternative functions and such

* feat: SimUI compilation

* Compilation untested

* Compilation tested. Moving on to saving

* Weird react hook issues

* feat: Code sim configuration working with multiple robots

* feat: Auto panel, new sample for testing auto routine

* cleanup: Format and lint

* cleanup: Format fixes

* fix: Gampieces using wrong ID for mirabuf mapping

* fix: Sorting and version numbers for mirabuf files

* fix: Changed import delete button to say remove instead

* cleanup: Format exporter and fission

* cleanup: Remove console trace

* cleanup: Comments and removals

exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py

@@ -3,6 +3,7 @@
 
 from src.Logging import logFailure
 from src.Parser.ExporterOptions import ExporterOptions
+from src.Parser.SynthesisParser.Utilities import guid_occurrence
 from src.Types import Gamepiece, UnitSystem
 from src.UI.CreateCommandInputsHelper import (
     createBooleanInput,
@@ -198,7 +199,7 @@ def removeChildOccurrences(childOccurrences: adsk.fusion.OccurrenceList) -> None
     def getGamepieces(self) -> list[Gamepiece]:
         gamepieces: list[Gamepiece] = []
         for row in range(1, self.gamepieceTable.rowCount):  # Row is 1 indexed
-            gamepieceEntityToken = self.selectedGamepieceList[row - 1].entityToken
+            gamepieceEntityToken = guid_occurrence(self.selectedGamepieceList[row - 1])
             gamepieceWeight = convertMassUnitsTo(self.gamepieceTable.getInputAtPosition(row, 1).value)
             gamepieceFrictionCoefficient = self.gamepieceTable.getInputAtPosition(row, 2).valueOne
             gamepieces.append(Gamepiece(gamepieceEntityToken, gamepieceWeight, gamepieceFrictionCoefficient))

fission/package.json

@@ -30,6 +30,7 @@
     "@react-three/fiber": "^8.15.15",
     "@vitest/browser": "^1.6.0",
     "@vitest/coverage-v8": "^1.6.0",
+    "@xyflow/react": "^12.3.2",
     "async-mutex": "^0.5.0",
     "colord": "^2.9.3",
     "framer-motion": "^10.13.1",

fission/src/Synthesis.tsx

@@ -58,10 +58,13 @@ import AnalyticsConsent from "./ui/components/AnalyticsConsent.tsx"
 import PreferencesSystem from "./systems/preferences/PreferencesSystem.ts"
 import APSManagementModal from "./ui/modals/APSManagementModal.tsx"
 import ConfigurePanel from "./ui/panels/configuring/assembly-config/ConfigurePanel.tsx"
+import WiringPanel from "./ui/panels/simulation/WiringPanel.tsx"
 import CameraSelectionPanel from "./ui/panels/configuring/CameraSelectionPanel.tsx"
 import ContextMenu from "./ui/components/ContextMenu.tsx"
 import GlobalUIComponent from "./ui/components/GlobalUIComponent.tsx"
 import InitialConfigPanel from "./ui/panels/configuring/initial-config/InitialConfigPanel.tsx"
+import WPILibConnectionStatus from "./ui/components/WPILibConnectionStatus.tsx"
+import AutoTestPanel from "./ui/panels/simulation/AutoTestPanel.tsx"
 
 function Synthesis() {
     const { openModal, closeModal, getActiveModalElement } = useModalManager(initialModals)
@@ -173,6 +176,7 @@ function Synthesis() {
                             )}
                             <ProgressNotifications key={"progress-notifications"} />
                             <ToastContainer key={"toast-container"} />
+                            <WPILibConnectionStatus />
 
                             {!consentPopupDisable ? (
                                 <AnalyticsConsent onClose={onDisableConsent} onConsent={onConsent} />
@@ -228,8 +232,10 @@ const initialPanels: ReactElement[] = [
     <WSViewPanel key="ws-view" panelId="ws-view" />,
     <DebugPanel key="debug" panelId="debug" />,
     <ConfigurePanel key="configure" panelId="configure" />,
+    <WiringPanel key="wiring" panelId="wiring" />,
     <CameraSelectionPanel key="camera-select" panelId="camera-select" />,
     <InitialConfigPanel key="initial-config" panelId="initial-config" />,
+    <AutoTestPanel key="auto-test" panelId="auto-test" />,
 ]
 
 export default Synthesis

fission/src/aps/APS.ts

@@ -339,10 +339,6 @@ class APS {
                 email: json.email,
             }
 
-            if (json.sub) {
-                World.AnalyticsSystem?.SetUserId(json.sub as string)
-            }
-
             this.userInfo = info
         } catch (e) {
             console.error(e)

fission/src/mirabuf/IntakeSensorSceneObject.ts

@@ -11,8 +11,6 @@ import {
     ThreeVector3_JoltVec3,
 } 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
@@ -44,9 +42,7 @@ class IntakeSensorSceneObject extends SceneObject {
             }
 
             this._collision = (event: OnContactPersistedEvent) => {
-                const brain = this._parentAssembly.brain
-                const brainIndex = brain instanceof SynthesisBrain ? brain.brainIndex ?? -1 : -1
-                if (InputSystem.getInput("intake", brainIndex)) {
+                if (this._parentAssembly.intakeActive) {
                     if (this._joltBodyId && !World.PhysicsSystem.isPaused) {
                         const body1 = event.message.body1
                         const body2 = event.message.body2

fission/src/mirabuf/MirabufSceneObject.ts

@@ -9,7 +9,6 @@ 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 InputSystem from "@/systems/input/InputSystem"
 import { EjectorPreferences, FieldPreferences, IntakePreferences } from "@/systems/preferences/PreferenceTypes"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import { MiraType } from "./MirabufLoader"
@@ -32,6 +31,8 @@ import {
     ConfigurationType,
     setSelectedConfigurationType,
 } from "@/ui/panels/configuring/assembly-config/ConfigurationType"
+import { SimConfigData } from "@/ui/panels/simulation/SimConfigShared"
+import WPILibBrain from "@/systems/simulation/wpilib_brain/WPILibBrain"
 
 const DEBUG_BODIES = false
 
@@ -68,6 +69,7 @@ class MirabufSceneObject extends SceneObject implements ContextSupplier {
 
     private _intakePreferences: IntakePreferences | undefined
     private _ejectorPreferences: EjectorPreferences | undefined
+    private _simConfigData: SimConfigData | undefined
 
     private _fieldPreferences: FieldPreferences | undefined
 
@@ -77,6 +79,22 @@ class MirabufSceneObject extends SceneObject implements ContextSupplier {
 
     private _nameTag: SceneOverlayTag | undefined
 
+    private _intakeActive = false
+    private _ejectorActive = false
+
+    public get intakeActive() {
+        return this._intakeActive
+    }
+    public get ejectorActive() {
+        return this._ejectorActive
+    }
+    public set intakeActive(a: boolean) {
+        this._intakeActive = a
+    }
+    public set ejectorActive(a: boolean) {
+        this._ejectorActive = a
+    }
+
     get mirabufInstance() {
         return this._mirabufInstance
     }
@@ -97,6 +115,10 @@ class MirabufSceneObject extends SceneObject implements ContextSupplier {
         return this._ejectorPreferences
     }
 
+    get simConfigData() {
+        return this._simConfigData
+    }
+
     get fieldPreferences() {
         return this._fieldPreferences
     }
@@ -117,6 +139,12 @@ class MirabufSceneObject extends SceneObject implements ContextSupplier {
         return this._brain
     }
 
+    public set brain(brain: Brain | undefined) {
+        this._brain = brain
+        const simLayer = World.SimulationSystem.GetSimulationLayer(this._mechanism)!
+        simLayer.SetBrain(brain)
+    }
+
     public constructor(mirabufInstance: MirabufInstance, assemblyName: string, progressHandle?: ProgressHandle) {
         super()
 
@@ -137,7 +165,11 @@ class MirabufSceneObject extends SceneObject implements ContextSupplier {
         // creating nametag for robots
         if (this.miraType === MiraType.ROBOT) {
             this._nameTag = new SceneOverlayTag(() =>
-                this._brain instanceof SynthesisBrain ? this._brain.inputSchemeName : "Not Configured"
+                this._brain instanceof SynthesisBrain
+                    ? this._brain.inputSchemeName
+                    : this._brain instanceof WPILibBrain
+                      ? "Magic"
+                      : "Not Configured"
             )
         }
     }
@@ -177,7 +209,7 @@ class MirabufSceneObject extends SceneObject implements ContextSupplier {
         if (this.miraType == MiraType.ROBOT) {
             World.SimulationSystem.RegisterMechanism(this._mechanism)
             const simLayer = World.SimulationSystem.GetSimulationLayer(this._mechanism)!
-            this._brain = new SynthesisBrain(this._mechanism, this._assemblyName)
+            this._brain = new SynthesisBrain(this, this._assemblyName)
             simLayer.SetBrain(this._brain)
         }
 
@@ -212,13 +244,11 @@ class MirabufSceneObject extends SceneObject implements ContextSupplier {
     }
 
     public Update(): void {
-        const brainIndex = this._brain instanceof SynthesisBrain ? this._brain.brainIndex ?? -1 : -1
-        if (InputSystem.getInput("eject", brainIndex)) {
+        if (this.ejectorActive) {
             this.Eject()
         }
 
         this.UpdateMeshTransforms()
-
         this.UpdateBatches()
         this.UpdateNameTag()
     }
@@ -456,12 +486,26 @@ class MirabufSceneObject extends SceneObject implements ContextSupplier {
     }
 
     private getPreferences(): void {
-        this._intakePreferences = PreferencesSystem.getRobotPreferences(this.assemblyName)?.intake
-        this._ejectorPreferences = PreferencesSystem.getRobotPreferences(this.assemblyName)?.ejector
+        const robotPrefs = PreferencesSystem.getRobotPreferences(this.assemblyName)
+        if (robotPrefs) {
+            this._intakePreferences = robotPrefs.intake
+            this._ejectorPreferences = robotPrefs.ejector
+            this._simConfigData = robotPrefs.simConfig
+        }
 
         this._fieldPreferences = PreferencesSystem.getFieldPreferences(this.assemblyName)
     }
 
+    public UpdateSimConfig(config: SimConfigData | undefined) {
+        const robotPrefs = PreferencesSystem.getRobotPreferences(this.assemblyName)
+        if (robotPrefs) {
+            this._simConfigData = robotPrefs.simConfig = config
+            PreferencesSystem.setRobotPreferences(this.assemblyName, robotPrefs)
+            PreferencesSystem.savePreferences()
+            ;(this._brain as WPILibBrain)?.loadSimConfig?.()
+        }
+    }
+
     public EnablePhysics() {
         this._mirabufInstance.parser.rigidNodes.forEach(rn => {
             World.PhysicsSystem.EnablePhysicsForBody(this._mechanism.GetBodyByNodeId(rn.id)!)
@@ -488,31 +532,42 @@ class MirabufSceneObject extends SceneObject implements ContextSupplier {
     public getSupplierData(): ContextData {
         const data: ContextData = { title: this.miraType == MiraType.ROBOT ? "A Robot" : "A Field", items: [] }
 
-        data.items.push({
-            name: "Move",
-            func: () => {
-                setSelectedConfigurationType(
-                    this.miraType == MiraType.ROBOT ? ConfigurationType.ROBOT : ConfigurationType.FIELD
-                )
-                setNextConfigurePanelSettings({
-                    configMode: ConfigMode.MOVE,
-                    selectedAssembly: this,
-                })
-                Global_OpenPanel?.("configure")
+        data.items.push(
+            {
+                name: "Move",
+                func: () => {
+                    setSelectedConfigurationType(
+                        this.miraType == MiraType.ROBOT ? ConfigurationType.ROBOT : ConfigurationType.FIELD
+                    )
+                    setNextConfigurePanelSettings({
+                        configMode: ConfigMode.MOVE,
+                        selectedAssembly: this,
+                    })
+                    Global_OpenPanel?.("configure")
+                },
             },
-        })
-
-        if (this.miraType == MiraType.ROBOT) {
-            const brainIndex = (this.brain as SynthesisBrain)?.brainIndex
-            if (brainIndex != undefined) {
-                data.items.push({
-                    name: "Set Scheme",
-                    func: () => {
-                        setSpotlightAssembly(this)
-                        Global_OpenPanel?.("choose-scheme")
-                    },
-                })
+            {
+                name: "Configure",
+                func: () => {
+                    setSelectedConfigurationType(
+                        this.miraType == MiraType.ROBOT ? ConfigurationType.ROBOT : ConfigurationType.FIELD
+                    )
+                    setNextConfigurePanelSettings({
+                        configMode: undefined,
+                        selectedAssembly: this,
+                    })
+                    Global_OpenPanel?.("configure")
+                },
             }
+        )
+
+        if (this.brain?.brainType == "wpilib") {
+            data.items.push({
+                name: "Auto Testing",
+                func: () => {
+                    Global_OpenPanel?.("auto-test")
+                },
+            })
         }
 
         if (World.SceneRenderer.currentCameraControls.controlsType == "Orbit") {

fission/src/systems/World.ts

@@ -9,6 +9,7 @@ import AnalyticsSystem, { AccumTimes } from "./analytics/AnalyticsSystem"
 class World {
     private static _isAlive: boolean = false
     private static _clock: THREE.Clock
+    private static _currentDeltaT: number = 0
 
     private static _sceneRenderer: SceneRenderer
     private static _physicsSystem: PhysicsSystem
@@ -91,18 +92,22 @@ class World {
     }
 
     public static UpdateWorld() {
-        const deltaT = World._clock.getDelta()
+        this._currentDeltaT = World._clock.getDelta()
 
         this._accumTimes.frames++
 
         this._accumTimes.totalTime += this.time(() => {
-            this._accumTimes.simulationTime += this.time(() => World._simulationSystem.Update(deltaT))
-            this._accumTimes.physicsTime += this.time(() => World._physicsSystem.Update(deltaT))
-            this._accumTimes.inputTime += this.time(() => World._inputSystem.Update(deltaT))
-            this._accumTimes.sceneTime += this.time(() => World._sceneRenderer.Update(deltaT))
+            this._accumTimes.simulationTime += this.time(() => World._simulationSystem.Update(this._currentDeltaT))
+            this._accumTimes.physicsTime += this.time(() => World._physicsSystem.Update(this._currentDeltaT))
+            this._accumTimes.inputTime += this.time(() => World._inputSystem.Update(this._currentDeltaT))
+            this._accumTimes.sceneTime += this.time(() => World._sceneRenderer.Update(this._currentDeltaT))
         })
 
-        World._analyticsSystem?.Update(deltaT)
+        World._analyticsSystem?.Update(this._currentDeltaT)
+    }
+
+    public static get currentDeltaT(): number {
+        return this._currentDeltaT
     }
 
     private static time(func: () => void): number {

fission/src/systems/physics/PhysicsSystem.ts

@@ -1098,6 +1098,29 @@ class PhysicsSystem extends WorldSystem {
         )
     }
 
+    public SetBodyPositionRotationAndVelocity(
+        id: Jolt.BodyID,
+        position: Jolt.RVec3,
+        rotation: Jolt.Quat,
+        linear: Jolt.Vec3,
+        angular: Jolt.Vec3,
+        activate: boolean = true
+    ): void {
+        if (!this.IsBodyAdded(id)) {
+            return
+        }
+
+        this._joltBodyInterface.SetPositionAndRotation(
+            id,
+            position,
+            rotation,
+            activate ? JOLT.EActivation_Activate : JOLT.EActivation_DontActivate
+        )
+
+        this._joltBodyInterface.SetLinearVelocity(id, linear)
+        this._joltBodyInterface.SetAngularVelocity(id, angular)
+    }
+
     /**
      * Exposes SetShape method on the _joltBodyInterface
      * Sets the shape of the body

fission/src/systems/preferences/PreferenceTypes.ts

@@ -1,3 +1,4 @@
+import { SimConfigData } from "@/ui/panels/simulation/SimConfigShared"
 import { InputScheme } from "../input/InputSchemeManager"
 import { Vector3Tuple } from "three"
 
@@ -14,6 +15,7 @@ export type GlobalPreference =
     | "RenderSceneTags"
     | "RenderScoreboard"
     | "SubsystemGravity"
+    | "SimAutoReconnect"
 
 export const RobotPreferencesKey: string = "Robots"
 export const FieldPreferencesKey: string = "Fields"
@@ -34,6 +36,7 @@ export const DefaultGlobalPreferences: { [key: string]: unknown } = {
     RenderSceneTags: true,
     RenderScoreboard: true,
     SubsystemGravity: false,
+    SimAutoReconnect: false,
 }
 
 export type QualitySetting = "Low" | "Medium" | "High"
@@ -79,6 +82,7 @@ export type RobotPreferences = {
     driveVelocity: number
     driveAcceleration: number
     sequentialConfig?: SequentialBehaviorPreferences[]
+    simConfig?: SimConfigData
 }
 
 export type MotorPreferences = {