Configuring Mirabuf Brains

fission/src/Synthesis.tsx

@@ -61,6 +61,7 @@ import { ProgressHandle } from "./ui/components/ProgressNotificationData.ts"
 import ConfigureRobotModal from "./ui/modals/configuring/ConfigureRobotModal.tsx"
 import ResetAllInputsModal from "./ui/modals/configuring/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"
@@ -266,6 +267,12 @@ const initialPanels: ReactElement[] = [
     <ZoneConfigPanel key="zone-config" panelId="zone-config" openLocation="right" sidePadding={8} />,
     <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}
+    />,
     <WSViewPanel key="ws-view" panelId="ws-view" />,
 ]
 

fission/src/mirabuf/MirabufSceneObject.ts

@@ -56,6 +56,10 @@ class MirabufSceneObject extends SceneObject {
         return this._mechanism
     }
 
+    get brain() {
+        return this._brain
+    }
+
     get assemblyName() {
         return this._assemblyName
     }

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

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

@@ -12,6 +12,10 @@ 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[],

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

@@ -11,6 +11,10 @@ class GenericArmBehavior extends Behavior {
 
     private _rotationalSpeed = 6
 
+    public get hingeDriver(): HingeDriver {
+        return this._hingeDriver
+    }
+
     constructor(
         hingeDriver: HingeDriver,
         hingeStimulus: HingeStimulus,

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

@@ -11,6 +11,10 @@ class GenericElevatorBehavior extends Behavior {
 
     private _linearSpeed = 2.5
 
+    public get sliderDriver(): SliderDriver {
+        return this._sliderDriver
+    }
+
     constructor(
         sliderDriver: SliderDriver,
         sliderStimulus: SliderStimulus,

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

@@ -10,6 +10,10 @@ 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
     }

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

@@ -10,6 +10,10 @@ 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
     }

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

@@ -28,6 +28,10 @@ class SynthesisBrain extends Brain {
     private _assemblyName: string
     private _assemblyIndex: number = 0
 
+    public get behaviors(): Behavior[] {
+        return this._behaviors
+    }
+
     // Tracks the number of each specific mira file spawned
     public static numberRobotsSpawned: { [key: string]: number } = {}
 

fission/src/ui/components/MainHUD.tsx

@@ -207,6 +207,11 @@ const MainHUD: React.FC = () => {
                         }}
                     />
                     <MainHUDButton value={"Configure"} icon={<FaGear />} onClick={() => openModal("config-robot")} />
+                    <MainHUDButton
+                        value={"Configure Brain"}
+                        icon={<FaGear />}
+                        onClick={() => openPanel("config-robot-brain")}
+                    />
                 </div>
                 {userInfo ? (
                     <MainHUDButton

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 ArcadeDriveBehavior from "@/systems/simulation/behavior/ArcadeDriveBehavior"
+import GenericArmBehavior from "@/systems/simulation/behavior/GenericArmBehavior"
+import GenericElevatorBehavior from "@/systems/simulation/behavior/GenericElevatorBehavior"
+import Stack, { StackDirection } from "@/ui/components/Stack"
+import { JSX } from "react/jsx-runtime"
+
+// 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 */
+    robot.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(
+                    <Stack
+                        key={`Behavior ${elementKey}`}
+                        direction={StackDirection.Horizontal}
+                        className="items-center"
+                    >
+                        <LabelStyled
+                            key={`wheel-node-notation ${elementKey}`}
+                            size={LabelSize.Small}
+                            className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
+                        >
+                            Wheel Node {elementKey}
+                        </LabelStyled>
+                        <LabelStyled
+                            key={`wheel-node-number ${elementKey}`}
+                            size={LabelSize.Small}
+                            className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
+                        >
+                            {assoc.rigidNodeId}
+                        </LabelStyled>
+                    </Stack>
+                )
+                elementKey++
+            })
+            output.push(<DividerStyled key={`divider-${elementKey}`} />)
+        } 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(
+                <Stack key={`Behavior ${elementKey}`} direction={StackDirection.Horizontal} className="items-center">
+                    <LabelStyled
+                        key={`arm-nodes-notation ${elementKey}`}
+                        size={LabelSize.Small}
+                        className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
+                    >
+                        Arm Nodes
+                    </LabelStyled>
+                    <LabelStyled
+                        key={`arm-nodes ${elementKey}`}
+                        size={LabelSize.Small}
+                        className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
+                    >
+                        {assoc1.rigidNodeId + " " + assoc2.rigidNodeId}
+                    </LabelStyled>
+                </Stack>
+            )
+            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(
+                <Stack key={`Behavior ${elementKey}`} direction={StackDirection.Horizontal} className="items-center">
+                    <LabelStyled
+                        key={`elevator-nodes-notation ${elementKey}`}
+                        size={LabelSize.Small}
+                        className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
+                    >
+                        Elevator Nodes
+                    </LabelStyled>
+                    <LabelStyled
+                        key={`elevator-nodes ${elementKey}`}
+                        size={LabelSize.Small}
+                        className="text-center mt-[4pt] mb-[2pt] mx-[5%]"
+                    >
+                        {assoc1.rigidNodeId + " " + assoc2.rigidNodeId}
+                    </LabelStyled>
+                </Stack>
+            )
+            elementKey++
+        }
+    })
+
+    return output
+}
+
+const ConfigureRobotBrainPanel: React.FC<PanelPropsImpl> = ({ panelId, openLocation, sidePadding }) => {
+    const [selectedRobot, setSelectedRobot] = useState<MirabufSceneObject | undefined>(undefined)
+    const [viewType, setViewType] = useState<ConfigureRobotBrainTypes>(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 (
+        <Panel
+            name="Configure Robot Brain"
+            icon={<FaGear />}
+            panelId={panelId}
+            openLocation={openLocation}
+            sidePadding={sidePadding}
+            onAccept={() => {}}
+            onCancel={() => {}}
+        >
+            {selectedRobot?.ejectorPreferences == undefined ? (
+                <>
+                    <Label>Select a robot</Label>
+                    {/** Scroll view for selecting a robot to configure */}
+                    <div className="flex overflow-y-auto flex-col gap-2 min-w-[20vw] max-h-[40vh] bg-background-secondary rounded-md p-2">
+                        {robots.map(mirabufSceneObject => {
+                            return (
+                                <Button
+                                    value={mirabufSceneObject.assemblyName}
+                                    onClick={() => {
+                                        setSelectedRobot(mirabufSceneObject)
+                                    }}
+                                    key={mirabufSceneObject.id}
+                                ></Button>
+                            )
+                        })}
+                    </div>
+                    {/* TODO: remove the accept button on this version */}
+                </>
+            ) : (
+                <>
+                    <div className="flex flex-col gap-2 bg-background-secondary rounded-md p-2">
+                        <ToggleButtonGroup
+                            value={viewType}
+                            exclusive
+                            onChange={(_, v) => v != null && setViewType(v)}
+                            sx={{
+                                alignSelf: "center",
+                            }}
+                        >
+                            <ToggleButton value={ConfigureRobotBrainTypes.SYNTHESIS}>SynthesisBrain</ToggleButton>
+                            <ToggleButton value={ConfigureRobotBrainTypes.WIPLIB}>WIPLIBBrain</ToggleButton>
+                        </ToggleButtonGroup>
+                        {viewType === ConfigureRobotBrainTypes.SYNTHESIS ? (
+                            <>
+                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                                    Behaviors
+                                </LabelStyled>
+                                <DividerStyled />
+                                {GetJoints(selectedRobot)}
+                            </>
+                        ) : (
+                            <>
+                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                                    Example WIPLIB Brain
+                                </LabelStyled>
+                                <DividerStyled />
+
+                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                                    Example 2
+                                </LabelStyled>
+                                <DividerStyled />
+
+                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                                    Example 3
+                                </LabelStyled>
+                                <DividerStyled />
+
+                                <LabelStyled size={LabelSize.Medium} className="text-center mt-[4pt] mb-[2pt] mx-[5%]">
+                                    Example 4
+                                </LabelStyled>
+                                <DividerStyled />
+                            </>
+                        )}
+                    </div>
+                </>
+            )}
+        </Panel>
+    )
+}
+
+export default ConfigureRobotBrainPanel