fix: Accelerometers metrics are relative, matching real devices.

Also included some minor tweaks.

fission/src/systems/simulation/wpilib_brain/SimInput.ts

@@ -4,6 +4,8 @@ import { SimCANEncoder, SimGyro, SimAccel, SimDIO, SimAI } from "./WPILibBrain"
 import Mechanism from "@/systems/physics/Mechanism"
 import Jolt from "@barclah/jolt-physics"
 import JOLT from "@/util/loading/JoltSyncLoader"
+import { JoltQuat_ThreeQuaternion, JoltVec3_ThreeVector3 } from "@/util/TypeConversions"
+import * as THREE from 'three'
 
 export abstract class SimInput {
     constructor(protected _device: string) {}
@@ -93,31 +95,32 @@ export class SimGyroInput extends SimInput {
 export class SimAccelInput extends SimInput {
     private _robot: Mechanism
     private _joltID?: Jolt.BodyID
-    private _joltBody?: Jolt.Body
-    private _prevVel: Jolt.Vec3
+    private _prevVel: THREE.Vector3
 
     constructor(device: string, robot: Mechanism) {
         super(device)
         this._robot = robot
         this._joltID = this._robot.nodeToBody.get(this._robot.rootBody)
-        this._prevVel = new JOLT.Vec3(0, 0, 0)
-
-        if (this._joltID) this._joltBody = World.PhysicsSystem.GetBody(this._joltID)
+        this._prevVel = new THREE.Vector3(0,0,0)
     }
 
     public Update(deltaT: number) {
-        const newVel = this._joltBody?.GetLinearVelocity()
-        if (!newVel) return
+        if (!this._joltID) return
+        const body = World.PhysicsSystem.GetBody(this._joltID)
+
+        const rot = JoltQuat_ThreeQuaternion(body.GetRotation())
+        const mat = new THREE.Matrix4().makeRotationFromQuaternion(rot).transpose()
+        const newVel = JoltVec3_ThreeVector3(body.GetLinearVelocity()).applyMatrix4(mat)
 
-        const x = (newVel.GetX() - this._prevVel.GetX()) / deltaT
-        const y = (newVel.GetY() - this._prevVel.GetY()) / deltaT
-        const z = (newVel.GetZ() - this._prevVel.GetZ()) / deltaT
+        const x = (newVel.x - this._prevVel.x) / deltaT
+        const y = (newVel.y - this._prevVel.y) / deltaT
+        const z = (newVel.y - this._prevVel.y) / deltaT
 
         SimAccel.SetX(this._device, x)
         SimAccel.SetY(this._device, y)
         SimAccel.SetZ(this._device, z)
 
-        this._prevVel = new JOLT.Vec3(newVel.GetX(), newVel.GetY(), newVel.GetZ())
+        this._prevVel = newVel
     }
 }
 

fission/src/systems/simulation/wpilib_brain/SimOutput.ts

@@ -61,7 +61,7 @@ export class CANOutputGroup extends SimOutputGroup {
         const average =
             this.ports.reduce((sum, port) => {
                 const device = SimCAN.GetDeviceWithID(port, SimType.CANMotor)
-                return sum + +(device?.get("<percentOutput") ?? 0)
+                return sum + (device?.get("<percentOutput") as number | undefined ?? 0)
             }, 0) / this.ports.length
 
         this.drivers.forEach(d => {

fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts

@@ -6,8 +6,8 @@ import WPILibWSWorker from "./WPILibWSWorker?worker"
 import { SimulationLayer } from "../SimulationSystem"
 import World from "@/systems/World"
 
-import { SimOutput } from "./SimOutput"
-import { SimInput } from "./SimInput"
+import { SimAnalogOutput, SimDigitalOutput, SimOutput } from "./SimOutput"
+import { SimAccelInput, SimAnalogInput, SimDigitalInput, SimGyroInput, SimInput } from "./SimInput"
 
 const worker: Lazy<Worker> = new Lazy<Worker>(() => new WPILibWSWorker())
 
@@ -145,7 +145,7 @@ export class SimCAN {
     private constructor() {}
 
     public static GetDeviceWithID(id: number, type: SimType): DeviceData | undefined {
-        const id_exp = /.*\[(\d+)\]/g
+        const id_exp = /SYN.*\[(\d+)\]/g
         const entries = [...simMap.entries()].filter(([simType, _data]) => simType == type)
         for (const [_simType, data] of entries) {
             for (const key of data.keys()) {
@@ -380,11 +380,11 @@ class WPILibBrain extends Brain {
         }
 
         // this.addSimInput(new SimGyroInput("Test Gyro[1]", mechanism))
-        // this.addSimInput(new SimAccelInput("ADXL362[4]", mechanism))
-        // this.addSimInput(new SimDigitalInput("SYN DI[0]", () => Math.random() > 0.5))
-        // this.addSimOutput(new SimDigitalOutput("SYN DO[1]"))
-        // this.addSimInput(new SimAnalogInput("SYN AI[0]", () => Math.random() * 12))
-        // this.addSimOutput(new SimAnalogOutput("SYN AO[1]"))
+        this.addSimInput(new SimAccelInput("ADXL362[4]", mechanism))
+        this.addSimInput(new SimDigitalInput("SYN DI[0]", () => Math.random() > 0.5))
+        this.addSimOutput(new SimDigitalOutput("SYN DO[1]"))
+        this.addSimInput(new SimAnalogInput("SYN AI[0]", () => Math.random() * 12))
+        this.addSimOutput(new SimAnalogOutput("SYN AO[1]"))
     }
 
     public addSimOutput(device: SimOutput) {

fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx

@@ -56,7 +56,7 @@ const RCConfigEncoderModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
         >
             <Label size={LabelSize.Small}>Name</Label>
             <Input placeholder="..." className="w-full" onInput={setName} />
-            <Dropdown label="Encoders" options={devices.map(n => n[0])} onSelect={s => setSelectedDevice(s)} />
+            <Dropdown label="CAN Encoders" options={devices.map(n => n[0])} onSelect={s => setSelectedDevice(s)} />
             <Dropdown
                 label="Stimuli"
                 options={[...stimMap.keys()]}

fission/src/ui/panels/WSViewPanel.tsx

@@ -1,5 +1,5 @@
 import Panel, { PanelPropsImpl } from "@/components/Panel"
-import { SimMapUpdateEvent, SimGeneric, simMap, SimType } from "@/systems/simulation/wpilib_brain/WPILibBrain"
+import { SimGeneric, simMap, SimType } from "@/systems/simulation/wpilib_brain/WPILibBrain"
 import {
     Box,
     Stack,
@@ -12,12 +12,14 @@ import {
     TableRow,
     Typography,
 } from "@mui/material"
-import { useCallback, useEffect, useMemo, useState } from "react"
+import { useEffect, useMemo, useReducer, useState } from "react"
 import Dropdown from "../components/Dropdown"
 import Input from "../components/Input"
 import Button from "../components/Button"
 import { SynthesisIcons } from "../components/StyledComponents"
 
+const TABLE_UPDATE_INTERVAL = 250
+
 type ValueType = "string" | "number" | "object" | "boolean"
 
 const TypoStyled = styled(Typography)({
@@ -47,8 +49,6 @@ function generateTableBody() {
         SimType.AO,
     ]
 
-    console.log(simMap)
-
     return (
         <TableBody>
             {names.map(name =>
@@ -95,7 +95,9 @@ function setGeneric(simType: SimType, device: string, field: string, value: stri
 }
 
 const WSViewPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
-    const [tb, setTb] = useState(generateTableBody())
+    // const [tb, setTb] = useState(generateTableBody())
+
+    const [table, updateTable] = useReducer((_) => generateTableBody(), generateTableBody())
 
     const [selectedType, setSelectedType] = useState<SimType | undefined>()
     const [selectedDevice, setSelectedDevice] = useState<string | undefined>()
@@ -115,17 +117,14 @@ const WSViewPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
         setSelectedDevice(undefined)
     }, [selectedType])
 
-    const onSimMapUpdate = useCallback((_: Event) => {
-        setTb(generateTableBody())
-    }, [])
-
     useEffect(() => {
-        window.addEventListener(SimMapUpdateEvent.TYPE, onSimMapUpdate)
+        const func = () => { updateTable() }
+        const id: NodeJS.Timeout = setInterval(func, TABLE_UPDATE_INTERVAL)
 
         return () => {
-            window.removeEventListener(SimMapUpdateEvent.TYPE, onSimMapUpdate)
+            clearTimeout(id)
         }
-    }, [onSimMapUpdate])
+    }, [updateTable])
 
     return (
         <Panel
@@ -155,7 +154,7 @@ const WSViewPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                             </TableCell>
                         </TableRow>
                     </TableHead>
-                    {tb}
+                    {table}
                 </Table>
             </TableContainer>
             <Stack>