Merge dev + fix version string issue

exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py

@@ -53,6 +53,7 @@ class ExporterOptions:
     exportAsPart: bool = field(default=False)
 
     exportLocation: ExportLocation = field(default=ExportLocation.DOWNLOAD)
+    openSynthesisUponExport: bool = field(default=False)
 
     hierarchy: ModelHierarchy = field(default=ModelHierarchy.FusionAssembly)
     visualQuality: TriangleMeshQualityOptions = field(default=TriangleMeshQualityOptions.LowQualityTriangleMesh)

exporter/SynthesisFusionAddin/src/UI/ConfigCommand.py

@@ -3,12 +3,13 @@
 """
 
 import os
+import webbrowser
 from typing import Any
 
 import adsk.core
 import adsk.fusion
 
-from src import gm
+from src import APP_WEBSITE_URL, gm
 from src.APS.APS import getAuth, getUserInfo
 from src.Logging import getLogger, logFailure
 from src.Parser.ExporterOptions import ExporterOptions
@@ -127,10 +128,10 @@ def notify(self, _: adsk.core.CommandEventArgs) -> None:
             docName, docVersion = designNameSplit[:2]
         else:
             docName = designNameSplit[0]
-            docVersion = ""
+            docVersion = "v0"
 
         processedFileName = gm.app.activeDocument.name.replace(" ", "_")
-        defaultFileName = "_".join([docName, docVersion]) + ".mira" if docVersion else f"{docName}.mira"
+        defaultFileName = f"{'_'.join([docName, docVersion])}.mira"
         if generalConfigTab.exportLocation == ExportLocation.DOWNLOAD:
             savepath = FileDialogConfig.saveFileDialog(exporterOptions.fileLocation, defaultFileName)
         else:
@@ -161,13 +162,19 @@ def notify(self, _: adsk.core.CommandEventArgs) -> None:
             exportAsPart=generalConfigTab.exportAsPart,
             frictionOverride=generalConfigTab.overrideFriction,
             frictionOverrideCoeff=generalConfigTab.frictionOverrideCoeff,
+            openSynthesisUponExport=generalConfigTab.openSynthesisUponExport,
         )
 
         Parser(exporterOptions).export()
         exporterOptions.writeToDesign()
         jointConfigTab.reset()
         gamepieceConfigTab.reset()
 
+        if generalConfigTab.openSynthesisUponExport:
+            res = webbrowser.open(APP_WEBSITE_URL)
+            if not res:
+                gm.ui.messageBox("Failed to open Synthesis in your default browser.")
+
 
 class CommandExecutePreviewHandler(PersistentEventHandler, adsk.core.CommandEventHandler):
     """Called when an execute command is ready to be previewed."""

exporter/SynthesisFusionAddin/src/UI/GeneralConfigTab.py

@@ -110,6 +110,14 @@ def __init__(self, args: adsk.core.CommandCreatedEventArgs, exporterOptions: Exp
         frictionCoefficient.tooltip = "<i>Friction coefficients range from 0 (ice) to 1 (rubber).</i>"
         frictionCoefficient.isVisible = exporterOptions.frictionOverride
 
+        createBooleanInput(
+            "openSynthesisOnExportButton",
+            "Open Synthesis on Export",
+            generalTabInputs,
+            checked=exporterOptions.openSynthesisUponExport,
+            tooltip="Launch the Synthesis website upon export.",
+        )
+
         if exporterOptions.exportMode == ExportMode.FIELD:
             autoCalcWeightButton.isVisible = False
             exportAsPartButton.isVisible = False
@@ -182,6 +190,13 @@ def frictionOverrideCoeff(self) -> float:
         )
         return frictionSlider.valueOne or -1.0
 
+    @property
+    def openSynthesisUponExport(self) -> bool:
+        openSynthesisButton: adsk.core.BoolValueCommandInput = self.generalOptionsTab.children.itemById(
+            "openSynthesisOnExportButton"
+        )
+        return openSynthesisButton.value or False
+
     @logFailure
     def handleInputChanged(self, args: adsk.core.InputChangedEventArgs) -> None:
         autoCalcWeightButton: adsk.core.BoolValueCommandInput = args.inputs.itemById("autoCalcWeightButton")

exporter/SynthesisFusionAddin/src/__init__.py

@@ -7,6 +7,7 @@
 
 APP_NAME = "Synthesis"
 APP_TITLE = "Synthesis Robot Exporter"
+APP_WEBSITE_URL = "https://synthesis.autodesk.com/fission/"
 DESCRIPTION = "Exports files from Fusion into the Synthesis Format"
 INTERNAL_ID = "Synthesis"
 ADDIN_PATH = os.path.dirname(os.path.realpath(__file__))

fission/src/ui/components/Modal.tsx

@@ -56,7 +56,7 @@ const Modal: React.FC<ModalProps> = ({
             <div
                 id={modalId}
                 key={modalId}
-                className={`${className} flex flex-col absolute max-w-[98vw] max-h-[90vh] w-fit h-fit left-1/2 top-1/2 -translate-x-1/2 -translate-y-1/2 bg-background text-main-text m-auto border-5 rounded-2xl shadow-sm shadow-slate-800`}
+                className={`${className} flex flex-col absolute max-w-[50vw] max-h-[95vh] w-fit h-fit left-1/2 top-1/2 -translate-x-1/2 -translate-y-1/2 bg-background text-main-text m-auto border-5 rounded-2xl shadow-sm shadow-slate-800`}
             >
                 {name && (
                     <div id="header" className="flex items-center gap-8 h-16">
@@ -78,7 +78,7 @@ const Modal: React.FC<ModalProps> = ({
                     id="content"
                     className={`${contentClassName || ""} ${
                         !contentClassName?.includes("mx") ? "mx-[2rem]" : ""
-                    } flex flex-col gap-4 max-h-75vh p-4`}
+                    } flex flex-col gap-4 max-h-[75vh]`}
                 >
                     {children}
                 </div>

fission/src/ui/components/StyledComponents.tsx

@@ -3,7 +3,6 @@ import Label, { LabelSize } from "./Label"
 import Button, { ButtonProps, ButtonSize } from "./Button"
 import { IoCheckmark, IoPencil, IoPeople, IoTrashBin } from "react-icons/io5"
 import { HiDownload } from "react-icons/hi"
-import { AiOutlinePlus } from "react-icons/ai"
 import { BiRefresh } from "react-icons/bi"
 import { AiFillWarning } from "react-icons/ai"
 import { BsCodeSquare } from "react-icons/bs"
@@ -58,7 +57,8 @@ export class SynthesisIcons {
     /** Large icons: used for icon buttons */
     public static DeleteLarge = (<IoTrashBin size={"1.25rem"} />)
     public static DownloadLarge = (<HiDownload size={"1.25rem"} />)
-    public static AddLarge = (<AiOutlinePlus size={"1.25rem"} />)
+    public static AddLarge = (<FaPlus size={"1.25rem"} />)
+    public static GearLarge = (<FaGear size={"1.25rem"} />)
     public static RefreshLarge = (<BiRefresh size={"1.25rem"} />)
     public static SelectLarge = (<IoCheckmark size={"1.25rem"} />)
     public static EditLarge = (<IoPencil size={"1.25rem"} />)

fission/src/ui/modals/configuring/SettingsModal.tsx

@@ -1,34 +1,38 @@
 import React, { useState } from "react"
 import Modal, { ModalPropsImpl } from "@/components/Modal"
-import { FaGear } from "react-icons/fa6"
 import Label, { LabelSize } from "@/components/Label"
 import Dropdown from "@/components/Dropdown"
-import Slider from "@/components/Slider"
 import Checkbox from "@/components/Checkbox"
 import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import { SceneOverlayEvent, SceneOverlayEventKey } from "@/ui/components/SceneOverlayEvents"
 import { QualitySetting } from "@/systems/preferences/PreferenceTypes"
 import { Box } from "@mui/material"
-import { Spacer } from "@/ui/components/StyledComponents"
+import { Spacer, SynthesisIcons } from "@/ui/components/StyledComponents"
 import World from "@/systems/World"
 
 const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const [qualitySettings, setQualitySettings] = useState<string>(
         PreferencesSystem.getGlobalPreference<string>("QualitySettings")
     )
-    const [zoomSensitivity, setZoomSensitivity] = useState<number>(
+
+    // Disabled until camera settings are implemented
+    /* const [zoomSensitivity, setZoomSensitivity] = useState<number>(
         PreferencesSystem.getGlobalPreference<number>("ZoomSensitivity")
     )
     const [pitchSensitivity, setPitchSensitivity] = useState<number>(
         PreferencesSystem.getGlobalPreference<number>("PitchSensitivity")
     )
     const [yawSensitivity, setYawSensitivity] = useState<number>(
         PreferencesSystem.getGlobalPreference<number>("YawSensitivity")
-    )
+    ) */
+
     const [reportAnalytics, setReportAnalytics] = useState<boolean>(
         PreferencesSystem.getGlobalPreference<boolean>("ReportAnalytics")
     )
-    const [useMetric, setUseMetric] = useState<boolean>(PreferencesSystem.getGlobalPreference<boolean>("UseMetric"))
+
+    // Disabled until use metric is implemented
+    // const [useMetric, setUseMetric] = useState<boolean>(PreferencesSystem.getGlobalPreference<boolean>("UseMetric"))
+
     const [renderScoringZones, setRenderScoringZones] = useState<boolean>(
         PreferencesSystem.getGlobalPreference<boolean>("RenderScoringZones")
     )
@@ -44,29 +48,32 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
 
     const saveSettings = () => {
         PreferencesSystem.setGlobalPreference<string>("QualitySettings", qualitySettings)
-        PreferencesSystem.setGlobalPreference<number>("ZoomSensitivity", zoomSensitivity)
-        PreferencesSystem.setGlobalPreference<number>("PitchSensitivity", pitchSensitivity)
-        PreferencesSystem.setGlobalPreference<number>("YawSensitivity", yawSensitivity)
+
         PreferencesSystem.setGlobalPreference<boolean>("ReportAnalytics", reportAnalytics)
-        PreferencesSystem.setGlobalPreference<boolean>("UseMetric", useMetric)
         PreferencesSystem.setGlobalPreference<boolean>("RenderScoringZones", renderScoringZones)
         PreferencesSystem.setGlobalPreference<boolean>("RenderSceneTags", renderSceneTags)
         PreferencesSystem.setGlobalPreference<boolean>("RenderScoreboard", renderScoreboard)
         PreferencesSystem.setGlobalPreference<boolean>("SubsystemGravity", subsystemGravity)
 
+        // Disabled until these settings are implemented
+        /* PreferencesSystem.setGlobalPreference<number>("ZoomSensitivity", zoomSensitivity)
+        PreferencesSystem.setGlobalPreference<number>("PitchSensitivity", pitchSensitivity)
+        PreferencesSystem.setGlobalPreference<number>("YawSensitivity", yawSensitivity)
+        PreferencesSystem.setGlobalPreference<boolean>("UseMetric", useMetric) */
+
         PreferencesSystem.savePreferences()
     }
 
     return (
         <Modal
             name="Settings"
-            icon={<FaGear />}
+            icon={SynthesisIcons.GearLarge}
             modalId={modalId}
             onAccept={() => {
                 saveSettings()
             }}
         >
-            <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary rounded-md p-2 max-h-[60vh]">
+            <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary rounded-md p-2 max-h-[60vh] min-w-[20vw]">
                 <Label size={LabelSize.Medium}>Screen Settings</Label>
                 <Dropdown
                     label="Quality Settings"
@@ -77,7 +84,9 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                         World.SceneRenderer.ChangeLighting(selected)
                     }}
                 />
-                {Spacer(5)}
+
+                {/* Disabled until these settings are implemented */}
+                {/*   {Spacer(5)}
                 <Label size={LabelSize.Medium}>Camera Settings</Label>
                 <Slider
                     min={1}
@@ -106,7 +115,7 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                     format={{ maximumFractionDigits: 2 }}
                     onChange={(_, value) => setYawSensitivity(value as number)}
                     tooltipText="Moving the camera left and right."
-                />
+                />*/}
                 {Spacer(20)}
                 <Label size={LabelSize.Medium}>Preferences</Label>
                 <Box display="flex" flexDirection={"column"}>
@@ -118,13 +127,15 @@ const SettingsModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
                         }}
                         tooltipText="Record user data such as what robots are spawned and how they are configured. No personal data will be collected."
                     />
-                    <Checkbox
+                    {/* Disabled until this settings is implemented */}
+                    {/*  <Checkbox
                         label="Use Metric"
                         defaultState={PreferencesSystem.getGlobalPreference<boolean>("UseMetric")}
                         onClick={checked => {
                             setUseMetric(checked)
                         }}
-                    />
+                        tooltipText="Metric measurements. (ex: meters instead of feet)"
+                    /> */}
                     <Checkbox
                         label="Realistic Subsystem Gravity"
                         defaultState={PreferencesSystem.getGlobalPreference<boolean>("SubsystemGravity")}

fission/src/ui/modals/configuring/theme-editor/NewInputSchemeModal.tsx

@@ -16,7 +16,7 @@ const NewInputSchemeModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     return (
         <Modal
             name="New Input Scheme"
-            icon={SynthesisIcons.Add}
+            icon={SynthesisIcons.AddLarge}
             modalId={modalId}
             onAccept={() => {
                 const scheme = DefaultInputs.newBlankScheme

fission/src/ui/panels/configuring/ChooseInputSchemePanel.tsx

@@ -73,7 +73,6 @@ const ChooseInputSchemePanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             sidePadding={8}
             acceptEnabled={false}
             icon={SynthesisIcons.Gamepad}
-            cancelEnabled={selectedBrainIndexGlobal != undefined}
             cancelName="Close"
         >
             {/** A scroll view with buttons to select default and custom input schemes */}

fission/src/ui/panels/configuring/assembly-config/interfaces/inputs/ConfigureInputsInterface.tsx

@@ -77,10 +77,19 @@ const ConfigureInputsInterface = () => {
                     // Fetch current custom schemes
                     InputSchemeManager.saveSchemes()
                     InputSchemeManager.resetDefaultSchemes()
-                    const schemes = PreferencesSystem.getGlobalPreference<InputScheme[]>("InputSchemes")
 
-                    // Find and remove this input scheme
+                    // Find the scheme to remove in preferences
+                    const schemes = PreferencesSystem.getGlobalPreference<InputScheme[]>("InputSchemes")
                     const index = schemes.indexOf(val.scheme)
+
+                    // If currently bound to a robot, remove the binding
+                    for (const [key, value] of InputSystem.brainIndexSchemeMap.entries()) {
+                        if (value == schemes[index]) {
+                            InputSystem.brainIndexSchemeMap.delete(key)
+                        }
+                    }
+
+                    // Find and remove this input scheme from preferences
                     schemes.splice(index, 1)
 
                     // Save to preferences

simulation/SyntheSimJava/README.md

@@ -4,21 +4,24 @@ This is the SyntheSim Java utility library. FRC users can add this to their proj
 
 ## Current 3rd-Party Support
 
-This is a list of the following 3rd-Party libraries that SyntheSim - Java improves, as well as the level of capability currently offered.
+A list of the 3rd-Party libraries SyntheSimJava supports, including the features currently offered.
 
 ### REVRobotics
-- [ ] CANSparkMax
+
+- [x] CANSparkMax
   - [x] Basic motor control
   - [x] Basic internal encoder data
-  - [ ] Motor following
-  - [ ] Full encoder support
+  - [x] Motor following
+  - [x] Full encoder support
+
+### CTRE Phoenix v6
 
-### CTRE Phoenix
-- [ ] TalonFX
-  - [ ] Basic motor control
-  - [ ] Basic internal encoder data
-  - [ ] Motor following
-  - [ ] Full encoder support
+- [x] TalonFX
+  - [x] Basic motor control
+  - [x] Full configuration support (via a [TalonFXConfigurator](src/main/com/autodesk/synthesis/ctre/TalonFXConfigurator.java) wrapper)
+  - [x] Basic internal encoder data
+  - [x] Motor following
+  - [x] Full encoder support
 
 ## Building
 
@@ -27,15 +30,18 @@ To build the project, run the `build` task:
 <details>
   <summary>Example</summary>
 
-  Windows:
-  ```sh
-  $ gradlew.bat build
-  ```
+Windows:
+
+```sh
+gradlew.bat build
+```
+
+MacOS/Linux:
+
+```sh
+./gradlew build
+```
 
-  MacOS/Linux:
-  ```sh
-  $ ./gradlew build
-  ```
 </details>
 
 ## Usage
@@ -49,20 +55,23 @@ To publish the project locally, run the `publishToMavenLocal` task:
 <details>
   <summary>Example</summary>
 
-  Windows:
-  ```sh
-  $ gradlew.bat publishToMavenLocal
-  ```
+Windows:
+
+```sh
+gradlew.bat publishToMavenLocal
+```
+
+MacOS/Linux:
+
+```sh
+./gradlew publishToMavenLocal
+```
 
-  MacOS/Linux:
-  ```sh
-  $ ./gradlew publishToMavenLocal
-  ```
 </details>
 
 ### Adding to project locally
 
-In order to add the project locally, you must include the the `mavenLocal()` repository to your projects:
+In order to add the project locally, you must include the `mavenLocal()` repository to your projects:
 
 ```groovy
 repositories {
@@ -83,4 +92,6 @@ dependencies {
 
 ### Swapping Imports
 
-SyntheSimJava creates alternative classes that wrap the original ones. Everything that we intercept is passed on to the original class, making it so these classes can (although not recommended) be used when running your robot code on original hardware. Be sure to switch over any and all CAN devices that this project supports in order to effectively simulate your code inside of Synthesis, or with any HALSim, WebSocket supported simulation/device.
+SyntheSimJava creates alternative classes that wrap the original ones. Everything that we intercept is passed on to the original class, making it so these classes can (although not recommended) be used when running your robot code on original hardware. Be sure to switch over any and all CAN devices that this project supports in order to effectively simulate your code inside of Synthesis, or with any HALSim, WebSocket supported simulation/device.
+
+The one exception to this is the `CANSparkMax.getAbsoluteEncoder()` method, which you must substitute for the `CANSparkMax.getAbsoluteEncoderSim()` method, because we were unable to override the original, because we are unable to wrap the return type `SparkAbsoluteEncoder`, because it's constructor is private. We instead created a class that implements all the same interfaces and has all the same methods, and thus works exactly the same, except it isn't an explicit subclass of `SparkAbsoluteEncoder`. The only difference to the API is the method name, everything else operates identically.