From 3cc003d961def33b209ab685aa2eb6b94ec9bb4a Mon Sep 17 00:00:00 2001 From: Hunter Barclay Date: Mon, 10 Jun 2024 03:57:29 -0600 Subject: [PATCH 01/16] Starting WS connection --- fission/package-lock.json | 10 ++++ fission/package.json | 1 + fission/src/components/MainHUD.tsx | 6 +++ .../systems/simulation/SimulationSystem.ts | 3 ++ .../simulation/wpilib_brain/WPILibBrain.ts | 16 +++++++ .../wpilib_brain/WPILibConnector.ts | 48 +++++++++++++++++++ 6 files changed, 84 insertions(+) create mode 100644 fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts create mode 100644 fission/src/systems/simulation/wpilib_brain/WPILibConnector.ts diff --git a/fission/package-lock.json b/fission/package-lock.json index a287e56772..adc9a867c7 100644 --- a/fission/package-lock.json +++ b/fission/package-lock.json @@ -11,6 +11,7 @@ "@barclah/jolt-physics": "^0.19.3", "@react-three/drei": "^9.96.5", "@react-three/fiber": "^8.15.15", + "async-mutex": "^0.5.0", "colord": "^2.9.3", "framer-motion": "^10.13.1", "react": "^18.2.0", @@ -2959,6 +2960,15 @@ "node": "*" } }, + "node_modules/async-mutex": { + "version": "0.5.0", + "resolved": "https://registry.npmjs.org/async-mutex/-/async-mutex-0.5.0.tgz", + "integrity": "sha512-1A94B18jkJ3DYq284ohPxoXbfTA5HsQ7/Mf4DEhcyLx3Bz27Rh59iScbB6EPiP+B+joue6YCxcMXSbFC1tZKwA==", + "license": "MIT", + "dependencies": { + "tslib": "^2.4.0" + } + }, "node_modules/autoprefixer": { "version": "10.4.19", "resolved": "https://registry.npmjs.org/autoprefixer/-/autoprefixer-10.4.19.tgz", diff --git a/fission/package.json b/fission/package.json index 76547f1c81..73a57cb2aa 100644 --- a/fission/package.json +++ b/fission/package.json @@ -19,6 +19,7 @@ "@barclah/jolt-physics": "^0.19.3", "@react-three/drei": "^9.96.5", "@react-three/fiber": "^8.15.15", + "async-mutex": "^0.5.0", "colord": "^2.9.3", "framer-motion": "^10.13.1", "react": "^18.2.0", diff --git a/fission/src/components/MainHUD.tsx b/fission/src/components/MainHUD.tsx index 48e20d215b..551c808834 100644 --- a/fission/src/components/MainHUD.tsx +++ b/fission/src/components/MainHUD.tsx @@ -12,6 +12,7 @@ import { motion } from "framer-motion" import logo from "../assets/autodesk_logo.png" import { ToastType, useToastContext } from "../ToastContext" import { Random } from "@/util/Random" +import WPILibConnector from "@/systems/simulation/wpilib_brain/WPILibConnector" type ButtonProps = { value: string @@ -150,6 +151,11 @@ const MainHUD: React.FC = () => { icon={} onClick={() => openModal("drivetrain")} /> + } + onClick={() => WPILibConnector.getInstance().then(_ => console.debug('WS connector loaded'))} + /> } diff --git a/fission/src/systems/simulation/SimulationSystem.ts b/fission/src/systems/simulation/SimulationSystem.ts index ce95d15d46..5c0c429786 100644 --- a/fission/src/systems/simulation/SimulationSystem.ts +++ b/fission/src/systems/simulation/SimulationSystem.ts @@ -11,6 +11,7 @@ import HingeStimulus from "./stimulus/HingeStimulus"; import WheelRotationStimulus from "./stimulus/WheelStimulus"; import SliderStimulus from "./stimulus/SliderStimulus"; import ChassisStimulus from "./stimulus/ChassisStimulus"; +// import WPILibConnector from "./wpilib_brain/WPILibConnector"; class SimulationSystem extends WorldSystem { @@ -20,6 +21,8 @@ class SimulationSystem extends WorldSystem { super(); this._simMechanisms = new Map(); + + // WPILibConnector.getInstance() } public RegisterMechanism(mechanism: Mechanism) { diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts new file mode 100644 index 0000000000..6521b8a990 --- /dev/null +++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts @@ -0,0 +1,16 @@ +import Mechanism from "@/systems/physics/Mechanism"; +import Brain from "../Brain"; + +class WPILibBrain extends Brain { + + constructor(mech: Mechanism) { + super(mech) + } + + public Update(deltaT: number): void { } + public Enable(): void { } + public Disable(): void { } + +} + +export default WPILibBrain \ No newline at end of file diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibConnector.ts b/fission/src/systems/simulation/wpilib_brain/WPILibConnector.ts new file mode 100644 index 0000000000..9cc31038a7 --- /dev/null +++ b/fission/src/systems/simulation/wpilib_brain/WPILibConnector.ts @@ -0,0 +1,48 @@ +/* +WPILib Web Socket Simulation Spec +https://github.com/wpilibsuite/allwpilib/blob/main/simulation/halsim_ws_core/doc/hardware_ws_api.md +*/ + +import { Mutex } from 'async-mutex' + +const instanceMutex = new Mutex() + +class WPILibConnector { + + private static _connector: WPILibConnector | undefined + + private _socket: WebSocket + + private constructor() { + this._socket = new WebSocket('ws://localhost:3300/wpilibws') + + this._socket.addEventListener('open', () => { + this._socket.send('hello') + }) + + this._socket.addEventListener('message', (e) => { + console.debug(`WS MESSAGE: ${e.data}`) + }) + } + + private teardown() { + + } + + public static async getInstance(): Promise { + return instanceMutex.runExclusive(() => { + if (!this._connector) { + this._connector = new WPILibConnector() + } + return this._connector + }) + } + + public static killInstance() { + if (this._connector) { + this._connector.teardown() + } + } +} + +export default WPILibConnector \ No newline at end of file From 26d8c33978a67abefa1335f7a26d6563c2db7e7b Mon Sep 17 00:00:00 2001 From: Hunter Barclay Date: Thu, 13 Jun 2024 16:55:38 -0600 Subject: [PATCH 02/16] Can now receive ws messages, need to parse --- fission/src/Synthesis.tsx | 7 ++ fission/src/components/MainHUD.tsx | 22 ++++-- fission/src/mirabuf/MirabufSceneObject.ts | 2 + .../simulation/wpilib_brain/WPILibBrain.ts | 67 ++++++++++++++++++- .../wpilib_brain/WPILibConnector.ts | 48 ------------- .../simulation/wpilib_brain/WPILibWSWorker.ts | 53 +++++++++++++++ 6 files changed, 144 insertions(+), 55 deletions(-) delete mode 100644 fission/src/systems/simulation/wpilib_brain/WPILibConnector.ts create mode 100644 fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx index b6746f0aff..06f0ad6cda 100644 --- a/fission/src/Synthesis.tsx +++ b/fission/src/Synthesis.tsx @@ -53,12 +53,16 @@ import ManageAssembliesModal from './modals/spawning/ManageAssembliesModal.tsx'; import World from './systems/World.ts'; import { AddRobotsModal, AddFieldsModal, SpawningModal } from './modals/spawning/SpawningModals.tsx'; +import WPILibWSWorker from '@/systems/simulation/wpilib_brain/WPILibWSWorker.ts?worker' + const DEFAULT_MIRA_PATH = 'test_mira/Team_2471_(2018)_v7.mira'; // const DEFAULT_MIRA_PATH = 'test_mira/Dozer_v2.mira'; // const DEFAULT_MIRA_PATH = 'test_mira/PhysicsSpikeTest_v1.mira'; // const DEFAULT_MIRA_PATH = 'test_mira/SliderTestFission_v2.mira'; // const DEFAULT_MIRA_PATH = 'test_mira/HingeTestFission_v1.mira'; +export let worker: Worker | undefined = undefined + function Synthesis() { const { openModal, closeModal, getActiveModalElement } = useModalManager(initialModals) @@ -149,6 +153,9 @@ function Synthesis() { World.InitWorld(); + // worker = new Worker(new URL('systems/simulation/wpilib_brain/Worker.ts', import.meta.url)) + worker = new WPILibWSWorker() + let mira_path = DEFAULT_MIRA_PATH; const urlParams = new URLSearchParams(document.location.search); diff --git a/fission/src/components/MainHUD.tsx b/fission/src/components/MainHUD.tsx index 551c808834..e993ac2a13 100644 --- a/fission/src/components/MainHUD.tsx +++ b/fission/src/components/MainHUD.tsx @@ -12,7 +12,11 @@ import { motion } from "framer-motion" import logo from "../assets/autodesk_logo.png" import { ToastType, useToastContext } from "../ToastContext" import { Random } from "@/util/Random" -import WPILibConnector from "@/systems/simulation/wpilib_brain/WPILibConnector" +import { worker } from "@/Synthesis" +import World from "@/systems/World" +import SceneObject from "@/systems/scene/SceneObject" +import MirabufSceneObject from "@/mirabuf/MirabufSceneObject" +import WPILibBrain from "@/systems/simulation/wpilib_brain/WPILibBrain" type ButtonProps = { value: string @@ -37,7 +41,7 @@ const MainHUDButton: React.FC = ({ {larger && icon} {!larger && ( {icon} @@ -48,7 +52,7 @@ const MainHUDButton: React.FC = ({ className={`px-2 ${larger ? "py-2" : "py-1 ml-6" } text-main-text cursor-pointer`} value={value} - onClick={onClick} + // onClick={onClick} /> ) @@ -154,7 +158,17 @@ const MainHUD: React.FC = () => { } - onClick={() => WPILibConnector.getInstance().then(_ => console.debug('WS connector loaded'))} + onClick={() => { + worker?.postMessage({ command: 'connect' }); + const miraObjs = [...World.SceneRenderer.sceneObjects.entries()] + .filter(x => x[1] instanceof MirabufSceneObject) + console.log(`Number of mirabuf scene objects: ${miraObjs.length}`) + if (miraObjs.length > 0) { + const mechanism = (miraObjs[0][1] as MirabufSceneObject).mechanism + const simLayer = World.SimulationSystem.GetSimulationLayer(mechanism) + simLayer?.SetBrain(new WPILibBrain(mechanism)) + } + }} /> = new Map() + +worker.addEventListener('message', (eventData: MessageEvent) => { + let data: any | undefined; + try { + data = JSON.parse(eventData.data) + } catch (e) { + console.warn(`Failed to parse data:\n${JSON.stringify(eventData.data)}`) + } + + if (!data) { + // console.log('No data, bailing out') + return + } + + switch (data.type.toLowerCase()) { + case 'solenoid': + if (!solenoids.has(data.device)) { + solenoids.set(data.device, new Solenoid(data.device)) + } + solenoids.get(data.device)?.Update(data.data) + break + case 'simdevice': + console.log(`SimDevice:\n${JSON.stringify(data, null, '\t')}`) + break + default: + // console.debug('Skipping Message') + break + } +}) + class WPILibBrain extends Brain { constructor(mech: Mechanism) { super(mech) } - public Update(deltaT: number): void { } - public Enable(): void { } - public Disable(): void { } + public Update(_: number): void { } + + public Enable(): void { + worker.postMessage({ command: 'connect' }) + } + + public Disable(): void { + worker.postMessage({ command: 'disconnect' }) + } } diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibConnector.ts b/fission/src/systems/simulation/wpilib_brain/WPILibConnector.ts deleted file mode 100644 index 9cc31038a7..0000000000 --- a/fission/src/systems/simulation/wpilib_brain/WPILibConnector.ts +++ /dev/null @@ -1,48 +0,0 @@ -/* -WPILib Web Socket Simulation Spec -https://github.com/wpilibsuite/allwpilib/blob/main/simulation/halsim_ws_core/doc/hardware_ws_api.md -*/ - -import { Mutex } from 'async-mutex' - -const instanceMutex = new Mutex() - -class WPILibConnector { - - private static _connector: WPILibConnector | undefined - - private _socket: WebSocket - - private constructor() { - this._socket = new WebSocket('ws://localhost:3300/wpilibws') - - this._socket.addEventListener('open', () => { - this._socket.send('hello') - }) - - this._socket.addEventListener('message', (e) => { - console.debug(`WS MESSAGE: ${e.data}`) - }) - } - - private teardown() { - - } - - public static async getInstance(): Promise { - return instanceMutex.runExclusive(() => { - if (!this._connector) { - this._connector = new WPILibConnector() - } - return this._connector - }) - } - - public static killInstance() { - if (this._connector) { - this._connector.teardown() - } - } -} - -export default WPILibConnector \ No newline at end of file diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts b/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts new file mode 100644 index 0000000000..203e5c29a0 --- /dev/null +++ b/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts @@ -0,0 +1,53 @@ +import { Mutex } from "async-mutex" + +let socket: WebSocket | undefined = undefined + +const connectMutex = new Mutex() + +async function tryConnect(port: number | undefined): Promise { + await connectMutex.runExclusive(() => { + if ((socket?.readyState ?? WebSocket.CLOSED) == WebSocket.OPEN) { + socket?.close() + socket = undefined + } + + socket = new WebSocket(`ws://localhost:${port ?? 3300}/wpilibws`) + + socket.addEventListener('open', () => { console.log('WS Opened'); self.postMessage({ status: 'open' }) }) + socket.addEventListener('error', () => { console.log('WS Could not open'); self.postMessage({ status: 'error' }) }) + + socket.addEventListener('message', onMessage) + }) +} + +async function tryDisconnect(): Promise { + await connectMutex.runExclusive(() => { + if (!socket) { + return + } + + socket.close() + socket = undefined + }) +} + +function onMessage(event: MessageEvent) { + // console.log(`${JSON.stringify(JSON.parse(event.data), null, '\t')}`) + self.postMessage(event.data) +} + +self.addEventListener('message', e => { + switch (e.data.command) { + case 'connect': + tryConnect(e.data.port) + break + case 'disconnect': + tryDisconnect() + break + default: + console.warn(`Unrecognized command '${e.data.command}'`) + break + } +}) + +console.log('Worker started') \ No newline at end of file From a491e3855b6f83f3a9130aa572e1f5578cc21cd5 Mon Sep 17 00:00:00 2001 From: Hunter Barclay Date: Fri, 21 Jun 2024 07:56:47 -0700 Subject: [PATCH 03/16] Non-deterministic behaviour because of course --- .../simulation/wpilib_brain/WPILibBrain.ts | 70 ++++++++++++++++++- .../simulation/wpilib_brain/WPILibWSWorker.ts | 33 +++++---- fission/src/ui/components/MainHUD.tsx | 2 +- 3 files changed, 89 insertions(+), 16 deletions(-) diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts index a942c63c79..a758549910 100644 --- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts +++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts @@ -27,6 +27,64 @@ class Solenoid extends DeviceType { } const solenoids: Map = new Map() +class SimDevice extends DeviceType { + constructor(device: string) { + super(device) + } + + public Update(data: any): void { + + } +} +const simDevices: Map = new Map() + +class SparkMax extends SimDevice { + + private _sparkMaxId: number; + + constructor(device: string) { + super(device) + + console.debug('Spark Max Constructed') + + if (device.match(/spark max/i)?.length ?? 0 > 0) { + const endPos = device.indexOf(']') + const startPos = device.indexOf('[') + this._sparkMaxId = parseInt(device.substring(startPos + 1, endPos)) + } else { + throw new Error('Unrecognized Device ID') + } + } + + public Update(data: any): void { + super.Update(data) + + Object.entries(data).forEach(x => { + // if (x[0].startsWith('<')) { + // console.debug(`${x[0]} -> ${x[1]}`) + // } + + switch (x[0]) { + case '': + + break + default: + console.debug(`[${this._sparkMaxId}] ${x[0]} -> ${x[1]}`) + break + } + }) + } + + public SetPosition(val: number) { + worker.postMessage( + { + command: 'update', + data: { type: 'simdevice', device: this._device, data: { '>Position': val } } + } + ) + } +} + worker.addEventListener('message', (eventData: MessageEvent) => { let data: any | undefined; try { @@ -48,10 +106,18 @@ worker.addEventListener('message', (eventData: MessageEvent) => { solenoids.get(data.device)?.Update(data.data) break case 'simdevice': - console.log(`SimDevice:\n${JSON.stringify(data, null, '\t')}`) + // console.debug(`SimDevice:\n${JSON.stringify(data, null, '\t')}`) + if (!simDevices.has(data.device)) { + if (data.device.match(/spark max/i)) { + simDevices.set(data.device, new SparkMax(data.device)) + } else { + simDevices.set(data.device, new SimDevice(data.device)) + } + } + simDevices.get(data.device)?.Update(data.data) break default: - // console.debug('Skipping Message') + // console.debug(`Unrecognized Message:\n${data}`) break } }) diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts b/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts index 203e5c29a0..632eb8f99d 100644 --- a/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts +++ b/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts @@ -5,19 +5,21 @@ let socket: WebSocket | undefined = undefined const connectMutex = new Mutex() async function tryConnect(port: number | undefined): Promise { - await connectMutex.runExclusive(() => { - if ((socket?.readyState ?? WebSocket.CLOSED) == WebSocket.OPEN) { - socket?.close() - socket = undefined - } - - socket = new WebSocket(`ws://localhost:${port ?? 3300}/wpilibws`) - - socket.addEventListener('open', () => { console.log('WS Opened'); self.postMessage({ status: 'open' }) }) - socket.addEventListener('error', () => { console.log('WS Could not open'); self.postMessage({ status: 'error' }) }) - - socket.addEventListener('message', onMessage) - }) + if (!connectMutex.isLocked()) { + await connectMutex.runExclusive(() => { + if ((socket?.readyState ?? WebSocket.CLOSED) == WebSocket.OPEN) { + socket?.close() + socket = undefined + } + + socket = new WebSocket(`ws://localhost:${port ?? 3300}/wpilibws`) + + socket.addEventListener('open', () => { console.log('WS Opened'); self.postMessage({ status: 'open' }); }) + socket.addEventListener('error', () => { console.log('WS Could not open'); self.postMessage({ status: 'error' }) }) + + socket.addEventListener('message', onMessage) + }) + } } async function tryDisconnect(): Promise { @@ -44,6 +46,11 @@ self.addEventListener('message', e => { case 'disconnect': tryDisconnect() break + case 'update': + if (socket) { + socket.send(JSON.stringify(e.data.data)) + } + break default: console.warn(`Unrecognized command '${e.data.command}'`) break diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx index e1b42622f0..f81b3dde21 100644 --- a/fission/src/ui/components/MainHUD.tsx +++ b/fission/src/ui/components/MainHUD.tsx @@ -36,7 +36,7 @@ const MainHUDButton: React.FC = ({ value, icon, onClick, larger }) > {larger && icon} {!larger && ( - + {icon} )} From 1b59d9459d1fb96242e36bc6ecdbd042c4543c15 Mon Sep 17 00:00:00 2001 From: Hunter Barclay Date: Fri, 5 Jul 2024 19:06:32 -0600 Subject: [PATCH 04/16] Working on View panle --- fission/src/Synthesis.tsx | 2 + .../simulation/wpilib_brain/WPILibBrain.ts | 157 +++++++++--------- fission/src/ui/components/MainHUD.tsx | 7 +- fission/src/ui/panels/WSViewPanel.tsx | 42 +++++ 4 files changed, 129 insertions(+), 79 deletions(-) create mode 100644 fission/src/ui/panels/WSViewPanel.tsx diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx index bc66c24396..982dc31708 100644 --- a/fission/src/Synthesis.tsx +++ b/fission/src/Synthesis.tsx @@ -55,6 +55,7 @@ import { AddRobotsModal, AddFieldsModal, SpawningModal } from '@/modals/spawning import ImportMirabufModal from '@/modals/mirabuf/ImportMirabufModal.tsx'; import WPILibWSWorker from '@/systems/simulation/wpilib_brain/WPILibWSWorker.ts?worker' +import WSViewPanel from './ui/panels/WSViewPanel.tsx'; const DEFAULT_MIRA_PATH = '/api/mira/Robots/Team 2471 (2018)_v7.mira'; @@ -209,6 +210,7 @@ const initialPanels: ReactElement[] = [ , , , + , ] export default Synthesis diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts index a758549910..7f7985b37a 100644 --- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts +++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts @@ -6,84 +6,88 @@ import WPILibWSWorker from './WPILibWSWorker?worker' const worker = new WPILibWSWorker() -abstract class DeviceType { - protected _device: string +export const PWM_UPDATE_EVENT_KEY = "ws/pwm-update" + +// abstract class DeviceType { +// protected _device: string - constructor(device: string) { - this._device = device - } +// constructor(device: string) { +// this._device = device +// } - public abstract Update(data: any): void -} +// public abstract Update(data: any): void +// } -class Solenoid extends DeviceType { - constructor(device: string) { - super(device) - } +// class Solenoid extends DeviceType { +// constructor(device: string) { +// super(device) +// } - public Update(data: any): void { +// public Update(data: any): void { - } -} -const solenoids: Map = new Map() +// } +// } +// const solenoids: Map = new Map() -class SimDevice extends DeviceType { - constructor(device: string) { - super(device) - } +// class SimDevice extends DeviceType { +// constructor(device: string) { +// super(device) +// } - public Update(data: any): void { +// public Update(data: any): void { - } -} -const simDevices: Map = new Map() +// } +// } +// const simDevices: Map = new Map() -class SparkMax extends SimDevice { +// class SparkMax extends SimDevice { - private _sparkMaxId: number; +// private _sparkMaxId: number; - constructor(device: string) { - super(device) +// constructor(device: string) { +// super(device) - console.debug('Spark Max Constructed') +// console.debug('Spark Max Constructed') - if (device.match(/spark max/i)?.length ?? 0 > 0) { - const endPos = device.indexOf(']') - const startPos = device.indexOf('[') - this._sparkMaxId = parseInt(device.substring(startPos + 1, endPos)) - } else { - throw new Error('Unrecognized Device ID') - } - } - - public Update(data: any): void { - super.Update(data) - - Object.entries(data).forEach(x => { - // if (x[0].startsWith('<')) { - // console.debug(`${x[0]} -> ${x[1]}`) - // } - - switch (x[0]) { - case '': - - break - default: - console.debug(`[${this._sparkMaxId}] ${x[0]} -> ${x[1]}`) - break - } - }) - } - - public SetPosition(val: number) { - worker.postMessage( - { - command: 'update', - data: { type: 'simdevice', device: this._device, data: { '>Position': val } } - } - ) - } -} +// if (device.match(/spark max/i)?.length ?? 0 > 0) { +// const endPos = device.indexOf(']') +// const startPos = device.indexOf('[') +// this._sparkMaxId = parseInt(device.substring(startPos + 1, endPos)) +// } else { +// throw new Error('Unrecognized Device ID') +// } +// } + +// public Update(data: any): void { +// super.Update(data) + +// Object.entries(data).forEach(x => { +// // if (x[0].startsWith('<')) { +// // console.debug(`${x[0]} -> ${x[1]}`) +// // } + +// switch (x[0]) { +// case '': + +// break +// default: +// console.debug(`[${this._sparkMaxId}] ${x[0]} -> ${x[1]}`) +// break +// } +// }) +// } + +// public SetPosition(val: number) { +// worker.postMessage( +// { +// command: 'update', +// data: { type: 'simdevice', device: this._device, data: { '>Position': val } } +// } +// ) +// } +// } + +export const pwmMap = new Map() worker.addEventListener('message', (eventData: MessageEvent) => { let data: any | undefined; @@ -98,23 +102,20 @@ worker.addEventListener('message', (eventData: MessageEvent) => { return } + const device = data.device + const updateData = data.data + switch (data.type.toLowerCase()) { + case 'pwm': { // ESLint wants curly brackets apparently. Doesn't like scoped variables with only colon? + const currentData = pwmMap.get(device) ?? {} + Object.entries(updateData).forEach(kvp => currentData[kvp[0]] = kvp[1]) + pwmMap.set(device, currentData) + window.dispatchEvent(new Event(PWM_UPDATE_EVENT_KEY)) + break + } case 'solenoid': - if (!solenoids.has(data.device)) { - solenoids.set(data.device, new Solenoid(data.device)) - } - solenoids.get(data.device)?.Update(data.data) break case 'simdevice': - // console.debug(`SimDevice:\n${JSON.stringify(data, null, '\t')}`) - if (!simDevices.has(data.device)) { - if (data.device.match(/spark max/i)) { - simDevices.set(data.device, new SparkMax(data.device)) - } else { - simDevices.set(data.device, new SimDevice(data.device)) - } - } - simDevices.get(data.device)?.Update(data.data) break default: // console.debug(`Unrecognized Message:\n${data}`) diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx index f81b3dde21..76da3a2248 100644 --- a/fission/src/ui/components/MainHUD.tsx +++ b/fission/src/ui/components/MainHUD.tsx @@ -2,7 +2,7 @@ import React, { useEffect, useState } from "react" import { BsCodeSquare } from "react-icons/bs" import { FaCar, FaGear, FaMagnifyingGlass, FaPlus } from "react-icons/fa6" import { BiMenuAltLeft } from "react-icons/bi" -import { GrFormClose } from "react-icons/gr" +import { GrConnect, GrFormClose } from "react-icons/gr" import { GiSteeringWheel } from "react-icons/gi" import { HiDownload } from "react-icons/hi" import { IoGameControllerOutline, IoPeople } from "react-icons/io5" @@ -120,6 +120,11 @@ const MainHUD: React.FC = () => { icon={} onClick={() => openModal("import-mirabuf")} /> + } + onClick={() => openPanel("ws-view")} + />
= ({ panelId }) => { + + const onPwmUpdate = useCallback((_: Event) => { + + }, []) + + useEffect(() => { + window.addEventListener(PWM_UPDATE_EVENT_KEY, onPwmUpdate) + + return () => { + window.removeEventListener(PWM_UPDATE_EVENT_KEY, onPwmUpdate) + } + }, [onPwmUpdate]) + + return ( + } + panelId={panelId} + openLocation="right" + sidePadding={4} + > + + Sup + + + ) +} + +export default WSViewPanel From 52e5a162aad976a13f11ba2ed802f0ac4b1142c6 Mon Sep 17 00:00:00 2001 From: Hunter Barclay Date: Sat, 6 Jul 2024 10:35:30 -0600 Subject: [PATCH 05/16] Discovering some short comings with the WPILib WS sim --- .../simulation/wpilib_brain/WPILibBrain.ts | 39 ++++++++-- .../simulation/wpilib_brain/WPILibWSWorker.ts | 25 +++---- fission/src/ui/components/MainHUD.tsx | 2 +- fission/src/ui/panels/WSViewPanel.tsx | 75 ++++++++++++++++--- 4 files changed, 108 insertions(+), 33 deletions(-) diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts index 7f7985b37a..f7141aa8e8 100644 --- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts +++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts @@ -6,7 +6,7 @@ import WPILibWSWorker from './WPILibWSWorker?worker' const worker = new WPILibWSWorker() -export const PWM_UPDATE_EVENT_KEY = "ws/pwm-update" +export const SIM_MAP_UPDATE_EVENT = "ws/sim-map-update" // abstract class DeviceType { // protected _device: string @@ -88,35 +88,62 @@ export const PWM_UPDATE_EVENT_KEY = "ws/pwm-update" // } export const pwmMap = new Map() +export const simDeviceMap = new Map() +export const canMotorMap = new Map() worker.addEventListener('message', (eventData: MessageEvent) => { let data: any | undefined; try { - data = JSON.parse(eventData.data) + if (typeof(eventData.data) == 'object') { + data = eventData.data + } else { + data = JSON.parse(eventData.data) + } } catch (e) { console.warn(`Failed to parse data:\n${JSON.stringify(eventData.data)}`) } - if (!data) { - // console.log('No data, bailing out') + if (!data || !data.type) { + console.log('No data, bailing out') return } + // console.debug(data) + const device = data.device const updateData = data.data switch (data.type.toLowerCase()) { case 'pwm': { // ESLint wants curly brackets apparently. Doesn't like scoped variables with only colon? + console.debug('pwm') const currentData = pwmMap.get(device) ?? {} Object.entries(updateData).forEach(kvp => currentData[kvp[0]] = kvp[1]) pwmMap.set(device, currentData) - window.dispatchEvent(new Event(PWM_UPDATE_EVENT_KEY)) + + window.dispatchEvent(new Event(SIM_MAP_UPDATE_EVENT)) break } case 'solenoid': + console.debug('solenoid') + break + case 'simdevice': { + console.debug('simdevice') + const currentData = simDeviceMap.get(device) ?? {} + Object.entries(updateData).forEach(kvp => currentData[kvp[0]] = kvp[1]) + simDeviceMap.set(device, currentData) + + window.dispatchEvent(new Event(SIM_MAP_UPDATE_EVENT)) break - case 'simdevice': + } + case 'canmotor': { + console.debug('canmotor') + const currentData = canMotorMap.get(device) ?? {} + Object.entries(updateData).forEach(kvp => currentData[kvp[0]] = kvp[1]) + canMotorMap.set(device, currentData) + + window.dispatchEvent(new Event(SIM_MAP_UPDATE_EVENT)) break + } default: // console.debug(`Unrecognized Message:\n${data}`) break diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts b/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts index 632eb8f99d..784db32306 100644 --- a/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts +++ b/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts @@ -5,21 +5,18 @@ let socket: WebSocket | undefined = undefined const connectMutex = new Mutex() async function tryConnect(port: number | undefined): Promise { - if (!connectMutex.isLocked()) { - await connectMutex.runExclusive(() => { - if ((socket?.readyState ?? WebSocket.CLOSED) == WebSocket.OPEN) { - socket?.close() - socket = undefined - } - - socket = new WebSocket(`ws://localhost:${port ?? 3300}/wpilibws`) + await connectMutex.runExclusive(() => { + if ((socket?.readyState ?? WebSocket.CLOSED) == WebSocket.OPEN) { + return + } - socket.addEventListener('open', () => { console.log('WS Opened'); self.postMessage({ status: 'open' }); }) - socket.addEventListener('error', () => { console.log('WS Could not open'); self.postMessage({ status: 'error' }) }) + socket = new WebSocket(`ws://localhost:${port ?? 3300}/wpilibws`) - socket.addEventListener('message', onMessage) - }) - } + socket.addEventListener('open', () => { console.log('WS Opened'); self.postMessage({ status: 'open' }); }) + socket.addEventListener('error', () => { console.log('WS Could not open'); self.postMessage({ status: 'error' }) }) + + socket.addEventListener('message', onMessage) + }).then(() => console.debug('Mutex released')) } async function tryDisconnect(): Promise { @@ -28,7 +25,7 @@ async function tryDisconnect(): Promise { return } - socket.close() + socket?.close() socket = undefined }) } diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx index 76da3a2248..fab368a401 100644 --- a/fission/src/ui/components/MainHUD.tsx +++ b/fission/src/ui/components/MainHUD.tsx @@ -143,7 +143,7 @@ const MainHUD: React.FC = () => { value={"WS Test"} icon={} onClick={() => { - worker?.postMessage({ command: 'connect' }); + // worker?.postMessage({ command: 'connect' }); const miraObjs = [...World.SceneRenderer.sceneObjects.entries()] .filter(x => x[1] instanceof MirabufSceneObject) console.log(`Number of mirabuf scene objects: ${miraObjs.length}`) diff --git a/fission/src/ui/panels/WSViewPanel.tsx b/fission/src/ui/panels/WSViewPanel.tsx index fc87e15965..7c77c18eed 100644 --- a/fission/src/ui/panels/WSViewPanel.tsx +++ b/fission/src/ui/panels/WSViewPanel.tsx @@ -1,23 +1,65 @@ import Panel, { PanelPropsImpl } from "@/components/Panel" -import { PWM_UPDATE_EVENT_KEY } from "@/systems/simulation/wpilib_brain/WPILibBrain" -import { Typography } from "@mui/material" -import { useCallback, useEffect } from "react" +import { SIM_MAP_UPDATE_EVENT, canMotorMap, pwmMap, simDeviceMap } from "@/systems/simulation/wpilib_brain/WPILibBrain" +import { styled, Table, TableBody, TableCell, TableContainer, TableHead, TableRow, Typography } from "@mui/material" +import { useCallback, useEffect, useState } from "react" import { GrConnect } from "react-icons/gr" import { IoPeople } from "react-icons/io5" +const TypoStyled = styled(Typography)({ + fontFamily: "Artifakt Legend", + fontWeight: 300, + color: "white" +}) + +function generateTableBody() { + return ( + + {[...pwmMap.entries()].filter(x => x[1][" { + return ( + + PWM + {x[0]} + {JSON.stringify(x[1])} + + ) + })} + {[...simDeviceMap.entries()].map(x => { + return ( + + SimDevice + {x[0]} + {JSON.stringify(x[1])} + + ) + })} + {[...canMotorMap.entries()].map(x => { + return ( + + CAN Motor + {x[0]} + {JSON.stringify(x[1])} + + ) + })} + + ) +} + const WSViewPanel: React.FC = ({ panelId }) => { - const onPwmUpdate = useCallback((_: Event) => { + const [tb, setTb] = useState(generateTableBody()) + const onSimMapUpdate = useCallback((_: Event) => { + setTb(generateTableBody()) }, []) useEffect(() => { - window.addEventListener(PWM_UPDATE_EVENT_KEY, onPwmUpdate) + window.addEventListener(SIM_MAP_UPDATE_EVENT, onSimMapUpdate) return () => { - window.removeEventListener(PWM_UPDATE_EVENT_KEY, onPwmUpdate) + window.removeEventListener(SIM_MAP_UPDATE_EVENT, onSimMapUpdate) } - }, [onPwmUpdate]) + }, [onSimMapUpdate]) return ( = ({ panelId }) => { openLocation="right" sidePadding={4} > - - Sup - + + + + Type + Device + Data + + + {tb} +
+ ) } From dd28d7aa5791f62dec57a5a73df446c6d1ba8cc2 Mon Sep 17 00:00:00 2001 From: Hunter Barclay Date: Sat, 6 Jul 2024 11:10:41 -0600 Subject: [PATCH 06/16] CAN Motors and Encoders giving ok ish data. SparkMaxes aren't supported, however --- .../simulation/wpilib_brain/WPILibBrain.ts | 60 +++++++++++-------- fission/src/ui/panels/WSViewPanel.tsx | 24 +++++--- 2 files changed, 52 insertions(+), 32 deletions(-) diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts index f7141aa8e8..e699509752 100644 --- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts +++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts @@ -8,6 +8,13 @@ const worker = new WPILibWSWorker() export const SIM_MAP_UPDATE_EVENT = "ws/sim-map-update" +export type SimType = + | 'pwm' + | 'canmotor' + | 'solenoid' + | 'simdevice' + | 'canencoder' + // abstract class DeviceType { // protected _device: string @@ -87,9 +94,7 @@ export const SIM_MAP_UPDATE_EVENT = "ws/sim-map-update" // } // } -export const pwmMap = new Map() -export const simDeviceMap = new Map() -export const canMotorMap = new Map() +export const simMap = new Map>() worker.addEventListener('message', (eventData: MessageEvent) => { let data: any | undefined; @@ -114,42 +119,49 @@ worker.addEventListener('message', (eventData: MessageEvent) => { const updateData = data.data switch (data.type.toLowerCase()) { - case 'pwm': { // ESLint wants curly brackets apparently. Doesn't like scoped variables with only colon? + case 'pwm': console.debug('pwm') - const currentData = pwmMap.get(device) ?? {} - Object.entries(updateData).forEach(kvp => currentData[kvp[0]] = kvp[1]) - pwmMap.set(device, currentData) - - window.dispatchEvent(new Event(SIM_MAP_UPDATE_EVENT)) + UpdateSimMap('pwm', device, updateData) break - } case 'solenoid': console.debug('solenoid') + UpdateSimMap('solenoid', device, updateData) break - case 'simdevice': { + case 'simdevice': console.debug('simdevice') - const currentData = simDeviceMap.get(device) ?? {} - Object.entries(updateData).forEach(kvp => currentData[kvp[0]] = kvp[1]) - simDeviceMap.set(device, currentData) - - window.dispatchEvent(new Event(SIM_MAP_UPDATE_EVENT)) + UpdateSimMap('simdevice', device, updateData) break - } - case 'canmotor': { + case 'canmotor': console.debug('canmotor') - const currentData = canMotorMap.get(device) ?? {} - Object.entries(updateData).forEach(kvp => currentData[kvp[0]] = kvp[1]) - canMotorMap.set(device, currentData) - - window.dispatchEvent(new Event(SIM_MAP_UPDATE_EVENT)) + UpdateSimMap('canmotor', device, updateData) + break + case 'canencoder': + console.debug('canencoder') + UpdateSimMap('canencoder', device, updateData) break - } default: // console.debug(`Unrecognized Message:\n${data}`) break } }) +function UpdateSimMap(type: SimType, device: string, updateData: any) { + let typeMap = simMap.get(type) + if (!typeMap) { + typeMap = new Map() + simMap.set(type, typeMap) + } + + let currentData = typeMap.get(device) + if (!currentData) { + currentData = {} + typeMap.set(device, currentData) + } + Object.entries(updateData).forEach(kvp => currentData[kvp[0]] = kvp[1]) + + window.dispatchEvent(new Event(SIM_MAP_UPDATE_EVENT)) +} + class WPILibBrain extends Brain { constructor(mech: Mechanism) { diff --git a/fission/src/ui/panels/WSViewPanel.tsx b/fission/src/ui/panels/WSViewPanel.tsx index 7c77c18eed..36356243de 100644 --- a/fission/src/ui/panels/WSViewPanel.tsx +++ b/fission/src/ui/panels/WSViewPanel.tsx @@ -1,9 +1,8 @@ import Panel, { PanelPropsImpl } from "@/components/Panel" -import { SIM_MAP_UPDATE_EVENT, canMotorMap, pwmMap, simDeviceMap } from "@/systems/simulation/wpilib_brain/WPILibBrain" +import { SIM_MAP_UPDATE_EVENT, simMap } from "@/systems/simulation/wpilib_brain/WPILibBrain" import { styled, Table, TableBody, TableCell, TableContainer, TableHead, TableRow, Typography } from "@mui/material" import { useCallback, useEffect, useState } from "react" import { GrConnect } from "react-icons/gr" -import { IoPeople } from "react-icons/io5" const TypoStyled = styled(Typography)({ fontFamily: "Artifakt Legend", @@ -14,7 +13,7 @@ const TypoStyled = styled(Typography)({ function generateTableBody() { return ( - {[...pwmMap.entries()].filter(x => x[1][" { + {simMap.has('pwm') ? [...simMap.get('pwm')!.entries()].filter(x => x[1][" { return ( PWM @@ -22,8 +21,8 @@ function generateTableBody() { {JSON.stringify(x[1])} ) - })} - {[...simDeviceMap.entries()].map(x => { + }) : <>} + {simMap.has('simdevice') ? [...simMap.get('simdevice')!.entries()].map(x => { return ( SimDevice @@ -31,8 +30,8 @@ function generateTableBody() { {JSON.stringify(x[1])} ) - })} - {[...canMotorMap.entries()].map(x => { + }): <>} + {simMap.has('canmotor') ? [...simMap.get('canmotor')!.entries()].map(x => { return ( CAN Motor @@ -40,7 +39,16 @@ function generateTableBody() { {JSON.stringify(x[1])} ) - })} + }) : <>} + {simMap.has('canencoder') ? [...simMap.get('canencoder')!.entries()].map(x => { + return ( + + CAN Encoder + {x[0]} + {JSON.stringify(x[1])} + + ) + }) : <>} ) } From eb0277737fa2320bc7c63828e4eb4389b2c89d2c Mon Sep 17 00:00:00 2001 From: Hunter Barclay Date: Sat, 6 Jul 2024 12:39:10 -0600 Subject: [PATCH 07/16] Slowly discovering this may not be the solution --- .../simulation/wpilib_brain/WPILibBrain.ts | 214 +++++++++++------- fission/src/ui/components/MainHUD.tsx | 1 - fission/src/ui/panels/WSViewPanel.tsx | 8 +- 3 files changed, 133 insertions(+), 90 deletions(-) diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts index e699509752..ed5d8bd1d5 100644 --- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts +++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts @@ -8,93 +8,133 @@ const worker = new WPILibWSWorker() export const SIM_MAP_UPDATE_EVENT = "ws/sim-map-update" +const PWM_SPEED = "" ? FieldType.Both : FieldType.Read + case '>': + return FieldType.Write + default: + return FieldType.Unknown + } +} -// public abstract Update(data: any): void -// } +export const simMap = new Map>() -// class Solenoid extends DeviceType { -// constructor(device: string) { -// super(device) -// } +class SimGeneric { + private constructor() { } -// public Update(data: any): void { + public static Get(simType: SimType, device: string, field: string, defaultValue?: T): T | undefined { + const fieldType = GetFieldType(field) + if (fieldType != FieldType.Read && fieldType != FieldType.Both) { + console.warn(`Field '${field}' is not a read or both field type`) + return undefined + } -// } -// } -// const solenoids: Map = new Map() + const map = simMap.get(simType) + if (!map) { + console.warn(`No '${simType}' devices found`) + return undefined + } + + const data = map.get(device) + if (!data) { + console.warn(`No '${simType}' device '${device}' found`) + return undefined + } + + return data[field] as (T | undefined) ?? defaultValue + } + + public static Set(simType: SimType, device: string, field: string, value: T): boolean { + const fieldType = GetFieldType(field) + if (fieldType != FieldType.Write && fieldType != FieldType.Both) { + console.warn(`Field '${field}' is not a write or both field type`) + return false + } -// class SimDevice extends DeviceType { -// constructor(device: string) { -// super(device) -// } + const map = simMap.get(simType) + if (!map) { + console.warn(`No '${simType}' devices found`) + return false + } -// public Update(data: any): void { + const data = map.get(device) + if (!data) { + console.warn(`No '${simType}' device '${device}' found`) + return false + } -// } -// } -// const simDevices: Map = new Map() + const selectedData: any = {} + selectedData[field] = value + + data[field] = value + worker.postMessage({ + command: 'update', + data: { + type: simType, + device: device, + data: selectedData + } + }) + return true + } +} -// class SparkMax extends SimDevice { +class SimPWM { + private constructor() { } -// private _sparkMaxId: number; + public static GetSpeed(device: string): number | undefined { + return SimGeneric.Get('PWM', device, PWM_SPEED, 0.0) + } -// constructor(device: string) { -// super(device) + public static GetPosition(device: string): number | undefined { + return SimGeneric.Get('PWM', device, PWM_POSITION, 0.0) + } +} -// console.debug('Spark Max Constructed') - -// if (device.match(/spark max/i)?.length ?? 0 > 0) { -// const endPos = device.indexOf(']') -// const startPos = device.indexOf('[') -// this._sparkMaxId = parseInt(device.substring(startPos + 1, endPos)) -// } else { -// throw new Error('Unrecognized Device ID') -// } -// } - -// public Update(data: any): void { -// super.Update(data) - -// Object.entries(data).forEach(x => { -// // if (x[0].startsWith('<')) { -// // console.debug(`${x[0]} -> ${x[1]}`) -// // } - -// switch (x[0]) { -// case '': - -// break -// default: -// console.debug(`[${this._sparkMaxId}] ${x[0]} -> ${x[1]}`) -// break -// } -// }) -// } - -// public SetPosition(val: number) { -// worker.postMessage( -// { -// command: 'update', -// data: { type: 'simdevice', device: this._device, data: { '>Position': val } } -// } -// ) -// } -// } +class SimCANMotor { + private constructor() { } -export const simMap = new Map>() + public static GetDutyCycle(device: string): number | undefined { + return SimGeneric.Get('CANMotor', device, CANMOTOR_DUTY_CYCLE, 0.0) + } + + public static SetSupplyVoltage(device: string, voltage: number): boolean { + return SimGeneric.Set('CANMotor', device, CANMOTOR_SUPPLY_VOLTAGE, voltage) + } +} + +class SimCANEncoder { + private constructor() { } + + public static SetRawInputPosition(device: string, rawInputPosition: number): boolean { + return SimGeneric.Set('CANEncoder', device, CANENCODER_RAW_INPUT_POSITION, rawInputPosition) + } +} + +let flag = false worker.addEventListener('message', (eventData: MessageEvent) => { let data: any | undefined; @@ -118,26 +158,30 @@ worker.addEventListener('message', (eventData: MessageEvent) => { const device = data.device const updateData = data.data - switch (data.type.toLowerCase()) { - case 'pwm': + switch (data.type) { + case 'PWM': console.debug('pwm') - UpdateSimMap('pwm', device, updateData) + UpdateSimMap('PWM', device, updateData) break - case 'solenoid': + case 'Solenoid': console.debug('solenoid') - UpdateSimMap('solenoid', device, updateData) + UpdateSimMap('Solenoid', device, updateData) break - case 'simdevice': + case 'SimDevice': console.debug('simdevice') - UpdateSimMap('simdevice', device, updateData) + UpdateSimMap('SimDevice', device, updateData) + if (!flag) { + flag = true + SimGeneric.Set('SimDevice', device, '>init', true) + } break - case 'canmotor': + case 'CANMotor': console.debug('canmotor') - UpdateSimMap('canmotor', device, updateData) + UpdateSimMap('CANMotor', device, updateData) break - case 'canencoder': + case 'CANEncoder': console.debug('canencoder') - UpdateSimMap('canencoder', device, updateData) + UpdateSimMap('CANEncoder', device, updateData) break default: // console.debug(`Unrecognized Message:\n${data}`) diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx index fab368a401..196d794a2e 100644 --- a/fission/src/ui/components/MainHUD.tsx +++ b/fission/src/ui/components/MainHUD.tsx @@ -12,7 +12,6 @@ import { motion } from "framer-motion" import logo from "@/assets/autodesk_logo.png" import { ToastType, useToastContext } from "@/ui/ToastContext" import { Random } from "@/util/Random" -import { worker } from "@/Synthesis" import World from "@/systems/World" import MirabufSceneObject from "@/mirabuf/MirabufSceneObject" import WPILibBrain from "@/systems/simulation/wpilib_brain/WPILibBrain" diff --git a/fission/src/ui/panels/WSViewPanel.tsx b/fission/src/ui/panels/WSViewPanel.tsx index 36356243de..693581488d 100644 --- a/fission/src/ui/panels/WSViewPanel.tsx +++ b/fission/src/ui/panels/WSViewPanel.tsx @@ -13,7 +13,7 @@ const TypoStyled = styled(Typography)({ function generateTableBody() { return ( - {simMap.has('pwm') ? [...simMap.get('pwm')!.entries()].filter(x => x[1][" { + {simMap.has('PWM') ? [...simMap.get('PWM')!.entries()].filter(x => x[1][" { return ( PWM @@ -22,7 +22,7 @@ function generateTableBody() { ) }) : <>} - {simMap.has('simdevice') ? [...simMap.get('simdevice')!.entries()].map(x => { + {simMap.has('SimDevice') ? [...simMap.get('SimDevice')!.entries()].map(x => { return ( SimDevice @@ -31,7 +31,7 @@ function generateTableBody() { ) }): <>} - {simMap.has('canmotor') ? [...simMap.get('canmotor')!.entries()].map(x => { + {simMap.has('CANMotor') ? [...simMap.get('CANMotor')!.entries()].map(x => { return ( CAN Motor @@ -40,7 +40,7 @@ function generateTableBody() { ) }) : <>} - {simMap.has('canencoder') ? [...simMap.get('canencoder')!.entries()].map(x => { + {simMap.has('CANEncoder') ? [...simMap.get('CANEncoder')!.entries()].map(x => { return ( CAN Encoder From c0d38ad46329c74d682c81cf0d9f786103bd0f39 Mon Sep 17 00:00:00 2001 From: Hunter Barclay Date: Sat, 6 Jul 2024 14:10:23 -0600 Subject: [PATCH 08/16] Added modification --- .../simulation/wpilib_brain/WPILibBrain.ts | 43 +++++---- fission/src/ui/components/Panel.tsx | 2 +- fission/src/ui/panels/WSViewPanel.tsx | 94 +++++++++++++++++-- 3 files changed, 116 insertions(+), 23 deletions(-) diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts index ed5d8bd1d5..b00d4aabec 100644 --- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts +++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts @@ -6,13 +6,11 @@ import WPILibWSWorker from './WPILibWSWorker?worker' const worker = new WPILibWSWorker() -export const SIM_MAP_UPDATE_EVENT = "ws/sim-map-update" - const PWM_SPEED = ">() -class SimGeneric { +export class SimGeneric { private constructor() { } - public static Get(simType: SimType, device: string, field: string, defaultValue?: T): T | undefined { + public static Get(simType: SimType, device: string, field: string, defaultValue?: T): T | undefined { const fieldType = GetFieldType(field) if (fieldType != FieldType.Read && fieldType != FieldType.Both) { console.warn(`Field '${field}' is not a read or both field type`) @@ -67,7 +65,7 @@ class SimGeneric { return data[field] as (T | undefined) ?? defaultValue } - public static Set(simType: SimType, device: string, field: string, value: T): boolean { + public static Set(simType: SimType, device: string, field: string, value: T): boolean { const fieldType = GetFieldType(field) if (fieldType != FieldType.Write && fieldType != FieldType.Both) { console.warn(`Field '${field}' is not a write or both field type`) @@ -98,11 +96,13 @@ class SimGeneric { data: selectedData } }) + + window.dispatchEvent(new SimMapUpdateEvent(true)) return true } } -class SimPWM { +export class SimPWM { private constructor() { } public static GetSpeed(device: string): number | undefined { @@ -114,7 +114,7 @@ class SimPWM { } } -class SimCANMotor { +export class SimCANMotor { private constructor() { } public static GetDutyCycle(device: string): number | undefined { @@ -126,7 +126,7 @@ class SimCANMotor { } } -class SimCANEncoder { +export class SimCANEncoder { private constructor() { } public static SetRawInputPosition(device: string, rawInputPosition: number): boolean { @@ -134,8 +134,6 @@ class SimCANEncoder { } } -let flag = false - worker.addEventListener('message', (eventData: MessageEvent) => { let data: any | undefined; try { @@ -170,10 +168,6 @@ worker.addEventListener('message', (eventData: MessageEvent) => { case 'SimDevice': console.debug('simdevice') UpdateSimMap('SimDevice', device, updateData) - if (!flag) { - flag = true - SimGeneric.Set('SimDevice', device, '>init', true) - } break case 'CANMotor': console.debug('canmotor') @@ -203,7 +197,7 @@ function UpdateSimMap(type: SimType, device: string, updateData: any) { } Object.entries(updateData).forEach(kvp => currentData[kvp[0]] = kvp[1]) - window.dispatchEvent(new Event(SIM_MAP_UPDATE_EVENT)) + window.dispatchEvent(new SimMapUpdateEvent(false)) } class WPILibBrain extends Brain { @@ -224,4 +218,21 @@ class WPILibBrain extends Brain { } +export class SimMapUpdateEvent extends Event { + + public static readonly TYPE: string = "ws/sim-map-update" + + private _internalUpdate: boolean; + + public get internalUpdate(): boolean { + return this._internalUpdate + } + + public constructor(internalUpdate: boolean) { + super(SimMapUpdateEvent.TYPE) + + this._internalUpdate = internalUpdate + } +} + export default WPILibBrain \ No newline at end of file diff --git a/fission/src/ui/components/Panel.tsx b/fission/src/ui/components/Panel.tsx index bf0703ffce..2edcc18a02 100644 --- a/fission/src/ui/components/Panel.tsx +++ b/fission/src/ui/components/Panel.tsx @@ -125,7 +125,7 @@ const Panel: React.FC = ({ return (
diff --git a/fission/src/ui/panels/WSViewPanel.tsx b/fission/src/ui/panels/WSViewPanel.tsx index 693581488d..4df0226f52 100644 --- a/fission/src/ui/panels/WSViewPanel.tsx +++ b/fission/src/ui/panels/WSViewPanel.tsx @@ -1,13 +1,15 @@ import Panel, { PanelPropsImpl } from "@/components/Panel" -import { SIM_MAP_UPDATE_EVENT, simMap } from "@/systems/simulation/wpilib_brain/WPILibBrain" -import { styled, Table, TableBody, TableCell, TableContainer, TableHead, TableRow, Typography } from "@mui/material" -import { useCallback, useEffect, useState } from "react" +import { SimMapUpdateEvent, SimGeneric, simMap, SimType } from "@/systems/simulation/wpilib_brain/WPILibBrain" +import { Button, Dropdown } from "@mui/base" +import { Box, MenuItem, Select, Stack, styled, Table, TableBody, TableCell, TableContainer, TableHead, TableRow, TextField, Typography } from "@mui/material" +import { useCallback, useEffect, useMemo, useRef, useState } from "react" import { GrConnect } from "react-icons/gr" +type ValueType = "string" | "number" | "object" | "boolean" + const TypoStyled = styled(Typography)({ fontFamily: "Artifakt Legend", fontWeight: 300, - color: "white" }) function generateTableBody() { @@ -53,19 +55,62 @@ function generateTableBody() { ) } +function setGeneric(simType: SimType, device: string, field: string, value: string, valueType: ValueType) { + switch (valueType) { + case "number": + SimGeneric.Set(simType, device, field, parseFloat(value)) + break + case "object": + SimGeneric.Set(simType, device, field, JSON.parse(value)) + break + case "boolean": + SimGeneric.Set(simType, device, field, value.toLowerCase() == "true") + break + default: + SimGeneric.Set(simType, device, field, value) + break + } +} + const WSViewPanel: React.FC = ({ panelId }) => { const [tb, setTb] = useState(generateTableBody()) + const [selectedType, setSelectedType] = useState() + const [selectedDevice, setSelectedDevice] = useState() + const [field, setField] = useState("") + const [value, setValue] = useState("") + const [selectedValueType, setSelectedValueType] = useState("string") + + const deviceSelect = useMemo(() => { + if (!selectedType || !simMap.has(selectedType)) { + return (<>) + } + + return ( + + ) + }, [selectedType]) + + useEffect(() => { + setSelectedDevice(undefined) + }, [selectedType]) + const onSimMapUpdate = useCallback((_: Event) => { setTb(generateTableBody()) }, []) useEffect(() => { - window.addEventListener(SIM_MAP_UPDATE_EVENT, onSimMapUpdate) + window.addEventListener(SimMapUpdateEvent.TYPE, onSimMapUpdate) return () => { - window.removeEventListener(SIM_MAP_UPDATE_EVENT, onSimMapUpdate) + window.removeEventListener(SimMapUpdateEvent.TYPE, onSimMapUpdate) } }, [onSimMapUpdate]) @@ -94,6 +139,43 @@ const WSViewPanel: React.FC = ({ panelId }) => { {tb} + + + {deviceSelect} + {selectedDevice + ? + setField(x.target.value as string)} + > + + setValue(x.target.value as string)} + > + + + + + : <> + } + ) } From 5d61696a8c721d88abadea5fe6e6aef0c985f5c8 Mon Sep 17 00:00:00 2001 From: Hunter Barclay Date: Sat, 6 Jul 2024 19:54:59 -0600 Subject: [PATCH 09/16] Added sample --- simulation/JavaSample/.gitignore | 8 + simulation/JavaSample/WPILib-License.md | 24 ++ simulation/JavaSample/build.gradle | 109 ++++++ .../gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 43462 bytes .../gradle/wrapper/gradle-wrapper.properties | 7 + simulation/JavaSample/gradlew | 249 +++++++++++++ simulation/JavaSample/gradlew.bat | 92 +++++ simulation/JavaSample/settings.gradle | 30 ++ .../JavaSample/src/main/deploy/example.txt | 3 + .../src/main/java/frc/robot/Main.java | 25 ++ .../src/main/java/frc/robot/Robot.java | 128 +++++++ simulation/JavaSample/vendordeps/NavX.json | 40 +++ .../JavaSample/vendordeps/Phoenix6.json | 339 ++++++++++++++++++ simulation/JavaSample/vendordeps/REVLib.json | 74 ++++ .../vendordeps/WPILibNewCommands.json | 38 ++ 15 files changed, 1166 insertions(+) create mode 100644 simulation/JavaSample/.gitignore create mode 100644 simulation/JavaSample/WPILib-License.md create mode 100644 simulation/JavaSample/build.gradle create mode 100644 simulation/JavaSample/gradle/wrapper/gradle-wrapper.jar create mode 100644 simulation/JavaSample/gradle/wrapper/gradle-wrapper.properties create mode 100755 simulation/JavaSample/gradlew create mode 100644 simulation/JavaSample/gradlew.bat create mode 100644 simulation/JavaSample/settings.gradle create mode 100644 simulation/JavaSample/src/main/deploy/example.txt create mode 100644 simulation/JavaSample/src/main/java/frc/robot/Main.java create mode 100644 simulation/JavaSample/src/main/java/frc/robot/Robot.java create mode 100644 simulation/JavaSample/vendordeps/NavX.json create mode 100644 simulation/JavaSample/vendordeps/Phoenix6.json create mode 100644 simulation/JavaSample/vendordeps/REVLib.json create mode 100644 simulation/JavaSample/vendordeps/WPILibNewCommands.json diff --git a/simulation/JavaSample/.gitignore b/simulation/JavaSample/.gitignore new file mode 100644 index 0000000000..0a7cba8930 --- /dev/null +++ b/simulation/JavaSample/.gitignore @@ -0,0 +1,8 @@ +*.json + +.gradle/ +.vscode/ +.wpilib/ +build/ +ctre_sim/ +bin/ diff --git a/simulation/JavaSample/WPILib-License.md b/simulation/JavaSample/WPILib-License.md new file mode 100644 index 0000000000..645e54253a --- /dev/null +++ b/simulation/JavaSample/WPILib-License.md @@ -0,0 +1,24 @@ +Copyright (c) 2009-2024 FIRST and other WPILib contributors +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of FIRST, WPILib, nor the names of other WPILib + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR +PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR +ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/simulation/JavaSample/build.gradle b/simulation/JavaSample/build.gradle new file mode 100644 index 0000000000..f0c731e2d9 --- /dev/null +++ b/simulation/JavaSample/build.gradle @@ -0,0 +1,109 @@ +plugins { + id "java" + // id "edu.wpi.first.GradleRIO" version "2024.3.2" +} + +// wpi.maven.useLocal = false +// wpi.maven.useFrcMavenLocalDevelopment = true +// wpi.versions.wpilibVersion = '2024.424242.+' +// wpi.versions.wpimathVersion = '2024.424242.+' + +java { + sourceCompatibility = JavaVersion.VERSION_17 + targetCompatibility = JavaVersion.VERSION_17 +} + +def ROBOT_MAIN_CLASS = "frc.robot.Main" + +// Define my targets (RoboRIO) and artifacts (deployable files) +// This is added by GradleRIO's backing project DeployUtils. +// deploy { +// targets { +// roborio(getTargetTypeClass('RoboRIO')) { +// // Team number is loaded either from the .wpilib/wpilib_preferences.json +// // or from command line. If not found an exception will be thrown. +// // You can use getTeamOrDefault(team) instead of getTeamNumber if you +// // want to store a team number in this file. +// team = project.frc.getTeamNumber() +// debug = project.frc.getDebugOrDefault(false) + +// artifacts { +// // First part is artifact name, 2nd is artifact type +// // getTargetTypeClass is a shortcut to get the class type using a string + +// frcJava(getArtifactTypeClass('FRCJavaArtifact')) { +// } + +// // Static files artifact +// frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { +// files = project.fileTree('src/main/deploy') +// directory = '/home/lvuser/deploy' +// } +// } +// } +// } +// } + +// def deployArtifact = deploy.targets.roborio.artifacts.frcJava + +// Set to true to use debug for JNI. +wpi.java.debugJni = false + +// Set this to true to enable desktop support. +def includeDesktopSupport = true + +// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. +// Also defines JUnit 5. +dependencies { + implementation wpi.java.deps.wpilib() + implementation wpi.java.vendor.java() + + roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) + roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio) + + roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio) + roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio) + + nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop) + nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop) + simulationDebug wpi.sim.enableDebug() + + nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) + nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) + simulationRelease wpi.sim.enableRelease() + + testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' +} + +test { + useJUnitPlatform() + systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' +} + +// Simulation configuration (e.g. environment variables). +wpi.sim.addGui().defaultEnabled = true +wpi.sim.addDriverstation() + +wpi.sim.envVar("HALSIMWS_HOST", "127.0.0.1") +wpi.sim.addWebsocketsServer().defaultEnabled = true + +// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar') +// in order to make them all available at runtime. Also adding the manifest so WPILib +// knows where to look for our Robot Class. +jar { + from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } + from sourceSets.main.allSource + manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) + duplicatesStrategy = DuplicatesStrategy.INCLUDE +} + +// Configure jar and deploy tasks +deployArtifact.jarTask = jar +wpi.java.configureExecutableTasks(jar) +wpi.java.configureTestTasks(test) + +// Configure string concat to always inline compile +tasks.withType(JavaCompile) { + options.compilerArgs.add '-XDstringConcat=inline' +} diff --git a/simulation/JavaSample/gradle/wrapper/gradle-wrapper.jar b/simulation/JavaSample/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000000000000000000000000000000000000..d64cd4917707c1f8861d8cb53dd15194d4248596 GIT binary patch literal 43462 zcma&NWl&^owk(X(xVyW%ySuwf;qI=D6|RlDJ2cR^yEKh!@I- zp9QeisK*rlxC>+~7Dk4IxIRsKBHqdR9b3+fyL=ynHmIDe&|>O*VlvO+%z5;9Z$|DJ zb4dO}-R=MKr^6EKJiOrJdLnCJn>np?~vU-1sSFgPu;pthGwf}bG z(1db%xwr#x)r+`4AGu$j7~u2MpVs3VpLp|mx&;>`0p0vH6kF+D2CY0fVdQOZ@h;A` z{infNyvmFUiu*XG}RNMNwXrbec_*a3N=2zJ|Wh5z* z5rAX$JJR{#zP>KY**>xHTuw?|-Rg|o24V)74HcfVT;WtQHXlE+_4iPE8QE#DUm%x0 zEKr75ur~W%w#-My3Tj`hH6EuEW+8K-^5P62$7Sc5OK+22qj&Pd1;)1#4tKihi=~8C zHiQSst0cpri6%OeaR`PY>HH_;CPaRNty%WTm4{wDK8V6gCZlG@U3$~JQZ;HPvDJcT1V{ z?>H@13MJcCNe#5z+MecYNi@VT5|&UiN1D4ATT+%M+h4c$t;C#UAs3O_q=GxK0}8%8 z8J(_M9bayxN}69ex4dzM_P3oh@ZGREjVvn%%r7=xjkqxJP4kj}5tlf;QosR=%4L5y zWhgejO=vao5oX%mOHbhJ8V+SG&K5dABn6!WiKl{|oPkq(9z8l&Mm%(=qGcFzI=eLu zWc_oCLyf;hVlB@dnwY98?75B20=n$>u3b|NB28H0u-6Rpl((%KWEBOfElVWJx+5yg z#SGqwza7f}$z;n~g%4HDU{;V{gXIhft*q2=4zSezGK~nBgu9-Q*rZ#2f=Q}i2|qOp z!!y4p)4o=LVUNhlkp#JL{tfkhXNbB=Ox>M=n6soptJw-IDI|_$is2w}(XY>a=H52d z3zE$tjPUhWWS+5h=KVH&uqQS=$v3nRs&p$%11b%5qtF}S2#Pc`IiyBIF4%A!;AVoI zXU8-Rpv!DQNcF~(qQnyyMy=-AN~U>#&X1j5BLDP{?K!%h!;hfJI>$mdLSvktEr*89 zdJHvby^$xEX0^l9g$xW-d?J;L0#(`UT~zpL&*cEh$L|HPAu=P8`OQZV!-}l`noSp_ zQ-1$q$R-gDL)?6YaM!=8H=QGW$NT2SeZlb8PKJdc=F-cT@j7Xags+Pr*jPtlHFnf- zh?q<6;)27IdPc^Wdy-mX%2s84C1xZq9Xms+==F4);O`VUASmu3(RlgE#0+#giLh-& zcxm3_e}n4{%|X zJp{G_j+%`j_q5}k{eW&TlP}J2wtZ2^<^E(O)4OQX8FDp6RJq!F{(6eHWSD3=f~(h} zJXCf7=r<16X{pHkm%yzYI_=VDP&9bmI1*)YXZeB}F? 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b/simulation/JavaSample/gradle/wrapper/gradle-wrapper.properties new file mode 100644 index 0000000000..5e82d67b9f --- /dev/null +++ b/simulation/JavaSample/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,7 @@ +distributionBase=GRADLE_USER_HOME +distributionPath=permwrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip +networkTimeout=10000 +validateDistributionUrl=true +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists diff --git a/simulation/JavaSample/gradlew b/simulation/JavaSample/gradlew new file mode 100755 index 0000000000..1aa94a4269 --- /dev/null +++ b/simulation/JavaSample/gradlew @@ -0,0 +1,249 @@ +#!/bin/sh + +# +# Copyright © 2015-2021 the original authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# + +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# within the Gradle project. +# +# You can find Gradle at https://github.com/gradle/gradle/. +# +############################################################################## + +# Attempt to set APP_HOME + +# Resolve links: $0 may be a link +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac +done + +# This is normally unused +# shellcheck disable=SC2034 +APP_BASE_NAME=${0##*/} +# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) +APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&2 + +die () { + echo + echo "$*" + echo + exit 1 +} >&2 + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD=$JAVA_HOME/jre/sh/java + else + JAVACMD=$JAVA_HOME/bin/java + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac +fi + +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. + +# For Cygwin or MSYS, switch paths to Windows format before running java +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + + # Now convert the arguments - kludge to limit ourselves to /bin/sh + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) + fi + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg + done +fi + + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' + +exec "$JAVACMD" "$@" diff --git a/simulation/JavaSample/gradlew.bat b/simulation/JavaSample/gradlew.bat new file mode 100644 index 0000000000..93e3f59f13 --- /dev/null +++ b/simulation/JavaSample/gradlew.bat @@ -0,0 +1,92 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem + +@if "%DEBUG%"=="" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if %ERRORLEVEL% equ 0 goto execute + +echo. +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* + +:end +@rem End local scope for the variables with windows NT shell +if %ERRORLEVEL% equ 0 goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/simulation/JavaSample/settings.gradle b/simulation/JavaSample/settings.gradle new file mode 100644 index 0000000000..d94f73c635 --- /dev/null +++ b/simulation/JavaSample/settings.gradle @@ -0,0 +1,30 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2024' + File frcHome + if (OperatingSystem.current().isWindows()) { + String publicFolder = System.getenv('PUBLIC') + if (publicFolder == null) { + publicFolder = "C:\\Users\\Public" + } + def homeRoot = new File(publicFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } else { + def userFolder = System.getProperty("user.home") + def homeRoot = new File(userFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } + def frcHomeMaven = new File(frcHome, 'maven') + maven { + name 'frcHome' + url frcHomeMaven + } + } +} + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/simulation/JavaSample/src/main/deploy/example.txt b/simulation/JavaSample/src/main/deploy/example.txt new file mode 100644 index 0000000000..bb82515dad --- /dev/null +++ b/simulation/JavaSample/src/main/deploy/example.txt @@ -0,0 +1,3 @@ +Files placed in this directory will be deployed to the RoboRIO into the +'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function +to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/simulation/JavaSample/src/main/java/frc/robot/Main.java b/simulation/JavaSample/src/main/java/frc/robot/Main.java new file mode 100644 index 0000000000..8776e5dda7 --- /dev/null +++ b/simulation/JavaSample/src/main/java/frc/robot/Main.java @@ -0,0 +1,25 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot; + +import edu.wpi.first.wpilibj.RobotBase; + +/** + * Do NOT add any static variables to this class, or any initialization at all. Unless you know what + * you are doing, do not modify this file except to change the parameter class to the startRobot + * call. + */ +public final class Main { + private Main() {} + + /** + * Main initialization function. Do not perform any initialization here. + * + *

If you change your main robot class, change the parameter type. + */ + public static void main(String... args) { + RobotBase.startRobot(Robot::new); + } +} diff --git a/simulation/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/JavaSample/src/main/java/frc/robot/Robot.java new file mode 100644 index 0000000000..3922566c6e --- /dev/null +++ b/simulation/JavaSample/src/main/java/frc/robot/Robot.java @@ -0,0 +1,128 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot; + +import com.ctre.phoenix6.hardware.TalonFX; +import com.revrobotics.CANSparkMax; +import com.revrobotics.CANSparkLowLevel.MotorType; + +import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.motorcontrol.Spark; +import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + +/** + * The VM is configured to automatically run this class, and to call the functions corresponding to + * each mode, as described in the TimedRobot documentation. If you change the name of this class or + * the package after creating this project, you must also update the build.gradle file in the + * project. + */ +public class Robot extends TimedRobot { + private static final String kDefaultAuto = "Default"; + private static final String kCustomAuto = "My Auto"; + private String m_autoSelected; + private final SendableChooser m_chooser = new SendableChooser<>(); + + private Spark m_Spark = new Spark(0); + private CANSparkMax m_SparkMax = new CANSparkMax(1, MotorType.kBrushless); + private TalonFX m_Talon = new TalonFX(2); + + /** + * This function is run when the robot is first started up and should be used for any + * initialization code. + */ + @Override + public void robotInit() { + m_chooser.setDefaultOption("Default Auto", kDefaultAuto); + m_chooser.addOption("My Auto", kCustomAuto); + SmartDashboard.putData("Auto choices", m_chooser); + } + + /** + * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics + * that you want ran during disabled, autonomous, teleoperated and test. + * + *

This runs after the mode specific periodic functions, but before LiveWindow and + * SmartDashboard integrated updating. + */ + @Override + public void robotPeriodic() {} + + /** + * This autonomous (along with the chooser code above) shows how to select between different + * autonomous modes using the dashboard. The sendable chooser code works with the Java + * SmartDashboard. If you prefer the LabVIEW Dashboard, remove all of the chooser code and + * uncomment the getString line to get the auto name from the text box below the Gyro + * + *

You can add additional auto modes by adding additional comparisons to the switch structure + * below with additional strings. If using the SendableChooser make sure to add them to the + * chooser code above as well. + */ + @Override + public void autonomousInit() { + m_autoSelected = m_chooser.getSelected(); + // m_autoSelected = SmartDashboard.getString("Auto Selector", kDefaultAuto); + System.out.println("Auto selected: " + m_autoSelected); + } + + /** This function is called periodically during autonomous. */ + @Override + public void autonomousPeriodic() { + + m_Spark.set(0.5); + m_SparkMax.set(1.0); + m_Talon.set(-1.0); + + switch (m_autoSelected) { + case kCustomAuto: + // Put custom auto code here + break; + case kDefaultAuto: + default: + // Put default auto code here + break; + } + } + + /** This function is called once when teleop is enabled. */ + @Override + public void teleopInit() {} + + /** This function is called periodically during operator control. */ + @Override + public void teleopPeriodic() { + m_Spark.set(0.25); + m_SparkMax.set(0.75); + m_Talon.set(-0.5); + } + + /** This function is called once when the robot is disabled. */ + @Override + public void disabledInit() { + m_Spark.set(0.0); + m_SparkMax.set(0.0); + m_Talon.set(0.0); + } + + /** This function is called periodically when disabled. */ + @Override + public void disabledPeriodic() {} + + /** This function is called once when test mode is enabled. */ + @Override + public void testInit() {} + + /** This function is called periodically during test mode. */ + @Override + public void testPeriodic() {} + + /** This function is called once when the robot is first started up. */ + @Override + public void simulationInit() {} + + /** This function is called periodically whilst in simulation. */ + @Override + public void simulationPeriodic() {} +} diff --git a/simulation/JavaSample/vendordeps/NavX.json b/simulation/JavaSample/vendordeps/NavX.json new file mode 100644 index 0000000000..e978a5f745 --- /dev/null +++ b/simulation/JavaSample/vendordeps/NavX.json @@ -0,0 +1,40 @@ +{ + "fileName": "NavX.json", + "name": "NavX", + "version": "2024.1.0", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "frcYear": "2024", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2024/" + ], + "jsonUrl": "https://dev.studica.com/releases/2024/NavX.json", + "javaDependencies": [ + { + "groupId": "com.kauailabs.navx.frc", + "artifactId": "navx-frc-java", + "version": "2024.1.0" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.kauailabs.navx.frc", + "artifactId": "navx-frc-cpp", + "version": "2024.1.0", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": false, + "libName": "navx_frc", + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxraspbian", + "linuxarm32", + "linuxarm64", + "linuxx86-64", + "osxuniversal", + "windowsx86-64" + ] + } + ] +} \ No newline at end of file diff --git a/simulation/JavaSample/vendordeps/Phoenix6.json b/simulation/JavaSample/vendordeps/Phoenix6.json new file mode 100644 index 0000000000..032238505f --- /dev/null +++ b/simulation/JavaSample/vendordeps/Phoenix6.json @@ -0,0 +1,339 @@ +{ + "fileName": "Phoenix6.json", + "name": "CTRE-Phoenix (v6)", + "version": "24.3.0", + "frcYear": 2024, + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json", + "conflictsWith": [ + { + "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a", + "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.", + "offlineFileName": "Phoenix6And5.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "24.3.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonFX", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simCANCoder", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-cpp", + "version": "24.3.0", + "libName": "CTRE_Phoenix6_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "24.3.0", + "libName": "CTRE_PhoenixTools", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "24.3.0", + "libName": "CTRE_Phoenix6_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "24.3.0", + "libName": "CTRE_PhoenixTools_Sim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "24.3.0", + "libName": "CTRE_SimTalonSRX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonFX", + "version": "24.3.0", + "libName": "CTRE_SimTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "24.3.0", + "libName": "CTRE_SimVictorSPX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "24.3.0", + "libName": "CTRE_SimPigeonIMU", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simCANCoder", + "version": "24.3.0", + "libName": "CTRE_SimCANCoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "24.3.0", + "libName": "CTRE_SimProTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "24.3.0", + "libName": "CTRE_SimProCANcoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "24.3.0", + "libName": "CTRE_SimProPigeon2", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/simulation/JavaSample/vendordeps/REVLib.json b/simulation/JavaSample/vendordeps/REVLib.json new file mode 100644 index 0000000000..f85acd4054 --- /dev/null +++ b/simulation/JavaSample/vendordeps/REVLib.json @@ -0,0 +1,74 @@ +{ + "fileName": "REVLib.json", + "name": "REVLib", + "version": "2024.2.4", + "frcYear": "2024", + "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", + "mavenUrls": [ + "https://maven.revrobotics.com/" + ], + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json", + "javaDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-java", + "version": "2024.2.4" + } + ], + "jniDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2024.2.4", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-cpp", + "version": "2024.2.4", + "libName": "REVLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2024.2.4", + "libName": "REVLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/simulation/JavaSample/vendordeps/WPILibNewCommands.json b/simulation/JavaSample/vendordeps/WPILibNewCommands.json new file mode 100644 index 0000000000..67bf3898d5 --- /dev/null +++ b/simulation/JavaSample/vendordeps/WPILibNewCommands.json @@ -0,0 +1,38 @@ +{ + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "1.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "frcYear": "2024", + "mavenUrls": [], + "jsonUrl": "", + "javaDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-java", + "version": "wpilib" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-cpp", + "version": "wpilib", + "libName": "wpilibNewCommands", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxarm32", + "linuxarm64", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxuniversal" + ] + } + ] +} From d6070d6e903fe3f30f9a4369e7e2f11e7d34c16d Mon Sep 17 00:00:00 2001 From: KyroVibe Date: Sun, 7 Jul 2024 03:51:09 -0600 Subject: [PATCH 10/16] This actually appears to be a plausible path --- simulation/JavaSample/build.gradle | 58 +++++++++---------- .../synthesis/revrobotics/CANSparkMax.java | 45 ++++++++++++++ .../src/main/java/frc/robot/Robot.java | 5 +- 3 files changed, 78 insertions(+), 30 deletions(-) create mode 100644 simulation/JavaSample/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java diff --git a/simulation/JavaSample/build.gradle b/simulation/JavaSample/build.gradle index f0c731e2d9..7735bda8e6 100644 --- a/simulation/JavaSample/build.gradle +++ b/simulation/JavaSample/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - // id "edu.wpi.first.GradleRIO" version "2024.3.2" + id "edu.wpi.first.GradleRIO" version "2024.3.2" } // wpi.maven.useLocal = false @@ -17,34 +17,34 @@ def ROBOT_MAIN_CLASS = "frc.robot.Main" // Define my targets (RoboRIO) and artifacts (deployable files) // This is added by GradleRIO's backing project DeployUtils. -// deploy { -// targets { -// roborio(getTargetTypeClass('RoboRIO')) { -// // Team number is loaded either from the .wpilib/wpilib_preferences.json -// // or from command line. If not found an exception will be thrown. -// // You can use getTeamOrDefault(team) instead of getTeamNumber if you -// // want to store a team number in this file. -// team = project.frc.getTeamNumber() -// debug = project.frc.getDebugOrDefault(false) - -// artifacts { -// // First part is artifact name, 2nd is artifact type -// // getTargetTypeClass is a shortcut to get the class type using a string - -// frcJava(getArtifactTypeClass('FRCJavaArtifact')) { -// } - -// // Static files artifact -// frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { -// files = project.fileTree('src/main/deploy') -// directory = '/home/lvuser/deploy' -// } -// } -// } -// } -// } - -// def deployArtifact = deploy.targets.roborio.artifacts.frcJava +deploy { + targets { + roborio(getTargetTypeClass('RoboRIO')) { + // Team number is loaded either from the .wpilib/wpilib_preferences.json + // or from command line. If not found an exception will be thrown. + // You can use getTeamOrDefault(team) instead of getTeamNumber if you + // want to store a team number in this file. + team = project.frc.getTeamOrDefault(997) + debug = project.frc.getDebugOrDefault(false) + + artifacts { + // First part is artifact name, 2nd is artifact type + // getTargetTypeClass is a shortcut to get the class type using a string + + frcJava(getArtifactTypeClass('FRCJavaArtifact')) { + } + + // Static files artifact + frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { + files = project.fileTree('src/main/deploy') + directory = '/home/lvuser/deploy' + } + } + } + } +} + +def deployArtifact = deploy.targets.roborio.artifacts.frcJava // Set to true to use debug for JNI. wpi.java.debugJni = false diff --git a/simulation/JavaSample/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java b/simulation/JavaSample/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java new file mode 100644 index 0000000000..bb63a11238 --- /dev/null +++ b/simulation/JavaSample/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java @@ -0,0 +1,45 @@ +package com.autodesk.synthesis.revrobotics; + +import com.revrobotics.REVLibError; + +import edu.wpi.first.hal.SimBoolean; +import edu.wpi.first.hal.SimDevice; +import edu.wpi.first.hal.SimDouble; +import edu.wpi.first.hal.SimDevice.Direction; + +public class CANSparkMax extends com.revrobotics.CANSparkMax { + + private SimDevice m_device; + private SimDouble m_percentOutput; + private SimBoolean m_brakeMode; + private SimDouble m_neutralDeadband; + + public CANSparkMax(int deviceId, MotorType motorType) { + super(deviceId, motorType); + + m_device = SimDevice.create("SYN CANSparkMax", deviceId); + m_percentOutput = m_device.createDouble("percentOutput", Direction.kOutput, 0.0); + m_brakeMode = m_device.createBoolean("brakeMode", Direction.kOutput, false); + } + + @Override + public void set(double percent) { + if (Double.isNaN(percent) || Double.isInfinite(percent)) { + percent = 0.0; + } + + m_percentOutput.set(Math.min(1.0, Math.max(-1.0, percent))); + + super.set(percent); + } + + @Override + public REVLibError setIdleMode(com.revrobotics.CANSparkBase.IdleMode mode) { + if (mode != null) { + m_brakeMode.set(mode.equals(com.revrobotics.CANSparkBase.IdleMode.kBrake)); + } + + return super.setIdleMode(mode); + } + +} diff --git a/simulation/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/JavaSample/src/main/java/frc/robot/Robot.java index 3922566c6e..8a9aa5024b 100644 --- a/simulation/JavaSample/src/main/java/frc/robot/Robot.java +++ b/simulation/JavaSample/src/main/java/frc/robot/Robot.java @@ -5,7 +5,8 @@ package frc.robot; import com.ctre.phoenix6.hardware.TalonFX; -import com.revrobotics.CANSparkMax; +import com.revrobotics.CANSparkBase.IdleMode; +// import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkLowLevel.MotorType; import edu.wpi.first.wpilibj.TimedRobot; @@ -13,6 +14,8 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import com.autodesk.synthesis.revrobotics.CANSparkMax; + /** * The VM is configured to automatically run this class, and to call the functions corresponding to * each mode, as described in the TimedRobot documentation. If you change the name of this class or From 71de3f9f3277afceb35d962ea146e5edb00376c0 Mon Sep 17 00:00:00 2001 From: KyroVibe Date: Sun, 7 Jul 2024 12:21:41 -0600 Subject: [PATCH 11/16] Added javadocs to SyntheSimJava, READMEs all around, and now JavaSample is making use of SyntheSimJava --- .../synthesis/revrobotics/CANSparkMax.java | 45 --- simulation/JavaSample/vendordeps/NavX.json | 40 --- .../JavaSample/vendordeps/Phoenix6.json | 339 ------------------ simulation/JavaSample/vendordeps/REVLib.json | 74 ---- .../vendordeps/WPILibNewCommands.json | 38 -- simulation/README.md | 12 + simulation/SyntheSimJava/.gitattributes | 9 + simulation/SyntheSimJava/.gitignore | 6 + simulation/SyntheSimJava/README.md | 86 +++++ simulation/SyntheSimJava/build.gradle | 76 ++++ simulation/SyntheSimJava/gradle.properties | 6 + .../SyntheSimJava/gradle/libs.versions.toml | 10 + .../gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 43453 bytes .../gradle/wrapper/gradle-wrapper.properties | 7 + simulation/SyntheSimJava/gradlew | 249 +++++++++++++ simulation/SyntheSimJava/gradlew.bat | 92 +++++ simulation/SyntheSimJava/settings.gradle | 15 + .../com/autodesk/synthesis/CANEncoder.java | 50 +++ .../java/com/autodesk/synthesis/CANMotor.java | 108 ++++++ .../com/autodesk/synthesis/ctre/TalonFX.java | 13 + .../synthesis/revrobotics/CANSparkMax.java | 43 +++ .../{ => samples}/JavaSample/.gitignore | 0 .../JavaSample/WPILib-License.md | 0 .../{ => samples}/JavaSample/build.gradle | 6 + .../gradle/wrapper/gradle-wrapper.jar | Bin .../gradle/wrapper/gradle-wrapper.properties | 0 simulation/{ => samples}/JavaSample/gradlew | 0 .../{ => samples}/JavaSample/gradlew.bat | 0 .../{ => samples}/JavaSample/settings.gradle | 0 .../JavaSample/src/main/deploy/example.txt | 0 .../src/main/java/frc/robot/Main.java | 0 .../src/main/java/frc/robot/Robot.java | 0 32 files changed, 788 insertions(+), 536 deletions(-) delete mode 100644 simulation/JavaSample/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java delete mode 100644 simulation/JavaSample/vendordeps/NavX.json delete mode 100644 simulation/JavaSample/vendordeps/Phoenix6.json delete mode 100644 simulation/JavaSample/vendordeps/REVLib.json delete mode 100644 simulation/JavaSample/vendordeps/WPILibNewCommands.json create mode 100644 simulation/README.md create mode 100644 simulation/SyntheSimJava/.gitattributes create mode 100644 simulation/SyntheSimJava/.gitignore create mode 100644 simulation/SyntheSimJava/README.md create mode 100644 simulation/SyntheSimJava/build.gradle create mode 100644 simulation/SyntheSimJava/gradle.properties create mode 100644 simulation/SyntheSimJava/gradle/libs.versions.toml create mode 100644 simulation/SyntheSimJava/gradle/wrapper/gradle-wrapper.jar create mode 100644 simulation/SyntheSimJava/gradle/wrapper/gradle-wrapper.properties create mode 100644 simulation/SyntheSimJava/gradlew create mode 100644 simulation/SyntheSimJava/gradlew.bat create mode 100644 simulation/SyntheSimJava/settings.gradle create mode 100644 simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java create mode 100644 simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java create mode 100644 simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java create mode 100644 simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java rename simulation/{ => samples}/JavaSample/.gitignore (100%) rename simulation/{ => samples}/JavaSample/WPILib-License.md (100%) rename simulation/{ => samples}/JavaSample/build.gradle (97%) rename simulation/{ => samples}/JavaSample/gradle/wrapper/gradle-wrapper.jar (100%) rename simulation/{ => samples}/JavaSample/gradle/wrapper/gradle-wrapper.properties (100%) rename simulation/{ => samples}/JavaSample/gradlew (100%) mode change 100755 => 100644 rename simulation/{ => samples}/JavaSample/gradlew.bat (100%) rename simulation/{ => samples}/JavaSample/settings.gradle (100%) rename simulation/{ => samples}/JavaSample/src/main/deploy/example.txt (100%) rename simulation/{ => samples}/JavaSample/src/main/java/frc/robot/Main.java (100%) rename simulation/{ => samples}/JavaSample/src/main/java/frc/robot/Robot.java (100%) diff --git a/simulation/JavaSample/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java b/simulation/JavaSample/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java deleted file mode 100644 index bb63a11238..0000000000 --- a/simulation/JavaSample/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java +++ /dev/null @@ -1,45 +0,0 @@ -package com.autodesk.synthesis.revrobotics; - -import com.revrobotics.REVLibError; - -import edu.wpi.first.hal.SimBoolean; -import edu.wpi.first.hal.SimDevice; -import edu.wpi.first.hal.SimDouble; -import edu.wpi.first.hal.SimDevice.Direction; - -public class CANSparkMax extends com.revrobotics.CANSparkMax { - - private SimDevice m_device; - private SimDouble m_percentOutput; - private SimBoolean m_brakeMode; - private SimDouble m_neutralDeadband; - - public CANSparkMax(int deviceId, MotorType motorType) { - super(deviceId, motorType); - - m_device = SimDevice.create("SYN CANSparkMax", deviceId); - m_percentOutput = m_device.createDouble("percentOutput", Direction.kOutput, 0.0); - m_brakeMode = m_device.createBoolean("brakeMode", Direction.kOutput, false); - } - - @Override - public void set(double percent) { - if (Double.isNaN(percent) || Double.isInfinite(percent)) { - percent = 0.0; - } - - m_percentOutput.set(Math.min(1.0, Math.max(-1.0, percent))); - - super.set(percent); - } - - @Override - public REVLibError setIdleMode(com.revrobotics.CANSparkBase.IdleMode mode) { - if (mode != null) { - m_brakeMode.set(mode.equals(com.revrobotics.CANSparkBase.IdleMode.kBrake)); - } - - return super.setIdleMode(mode); - } - -} diff --git a/simulation/JavaSample/vendordeps/NavX.json b/simulation/JavaSample/vendordeps/NavX.json deleted file mode 100644 index e978a5f745..0000000000 --- a/simulation/JavaSample/vendordeps/NavX.json +++ /dev/null @@ -1,40 +0,0 @@ -{ - "fileName": "NavX.json", - "name": "NavX", - "version": "2024.1.0", - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "frcYear": "2024", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2024/" - ], - "jsonUrl": "https://dev.studica.com/releases/2024/NavX.json", - "javaDependencies": [ - { - "groupId": "com.kauailabs.navx.frc", - "artifactId": "navx-frc-java", - "version": "2024.1.0" - } - ], - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "com.kauailabs.navx.frc", - "artifactId": "navx-frc-cpp", - "version": "2024.1.0", - "headerClassifier": "headers", - "sourcesClassifier": "sources", - "sharedLibrary": false, - "libName": "navx_frc", - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxraspbian", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ] - } - ] -} \ No newline at end of file diff --git a/simulation/JavaSample/vendordeps/Phoenix6.json b/simulation/JavaSample/vendordeps/Phoenix6.json deleted file mode 100644 index 032238505f..0000000000 --- a/simulation/JavaSample/vendordeps/Phoenix6.json +++ /dev/null @@ -1,339 +0,0 @@ -{ - "fileName": "Phoenix6.json", - "name": "CTRE-Phoenix (v6)", - "version": "24.3.0", - "frcYear": 2024, - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json", - "conflictsWith": [ - { - "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a", - "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.", - "offlineFileName": "Phoenix6And5.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "wpiapi-java", - "version": "24.3.0" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "tools", - "version": "24.3.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "24.3.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "24.3.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonFX", - "version": "24.3.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "24.3.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "24.3.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "24.3.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "24.3.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "24.3.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "24.3.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "wpiapi-cpp", - "version": "24.3.0", - "libName": "CTRE_Phoenix6_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - 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"windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "24.3.0", - "libName": "CTRE_SimPigeonIMU", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "24.3.0", - "libName": "CTRE_SimCANCoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "24.3.0", - "libName": "CTRE_SimProTalonFX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "24.3.0", - "libName": "CTRE_SimProCANcoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "24.3.0", - "libName": "CTRE_SimProPigeon2", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/simulation/JavaSample/vendordeps/REVLib.json b/simulation/JavaSample/vendordeps/REVLib.json deleted file mode 100644 index f85acd4054..0000000000 --- a/simulation/JavaSample/vendordeps/REVLib.json +++ /dev/null @@ -1,74 +0,0 @@ -{ - "fileName": "REVLib.json", - "name": "REVLib", - "version": "2024.2.4", - "frcYear": "2024", - "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", - "mavenUrls": [ - "https://maven.revrobotics.com/" - ], - "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json", - "javaDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-java", - "version": "2024.2.4" - } - ], - "jniDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-driver", - "version": "2024.2.4", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "windowsx86", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-cpp", - "version": "2024.2.4", - "libName": "REVLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "windowsx86", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-driver", - "version": "2024.2.4", - "libName": "REVLibDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "windowsx86", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} \ No newline at end of file diff --git a/simulation/JavaSample/vendordeps/WPILibNewCommands.json b/simulation/JavaSample/vendordeps/WPILibNewCommands.json deleted file mode 100644 index 67bf3898d5..0000000000 --- a/simulation/JavaSample/vendordeps/WPILibNewCommands.json +++ /dev/null @@ -1,38 +0,0 @@ -{ - "fileName": "WPILibNewCommands.json", - "name": "WPILib-New-Commands", - "version": "1.0.0", - "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2024", - "mavenUrls": [], - "jsonUrl": "", - "javaDependencies": [ - { - "groupId": "edu.wpi.first.wpilibNewCommands", - "artifactId": "wpilibNewCommands-java", - "version": "wpilib" - } - ], - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "edu.wpi.first.wpilibNewCommands", - "artifactId": "wpilibNewCommands-cpp", - "version": "wpilib", - "libName": "wpilibNewCommands", - "headerClassifier": "headers", - "sourcesClassifier": "sources", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "windowsx86-64", - "windowsx86", - "linuxx86-64", - "osxuniversal" - ] - } - ] -} diff --git a/simulation/README.md b/simulation/README.md new file mode 100644 index 0000000000..4f33881b3b --- /dev/null +++ b/simulation/README.md @@ -0,0 +1,12 @@ +# Synthesis Simulation + +A collection of simulation tools and samples to help enchance the use of code simulation inside of Synthesis. + +## SyntheSim + +SyntheSim is a utility used to bolster the simulation capabilities of WPILib compatible libraries commonly used in FRC today. + +## Samples + +This directory includes sample projects that are simulation compatible with Synthesis. These sample projects give +users an idea of how to configure their own projects to best take advantage of simulation. diff --git a/simulation/SyntheSimJava/.gitattributes b/simulation/SyntheSimJava/.gitattributes new file mode 100644 index 0000000000..097f9f98d9 --- /dev/null +++ b/simulation/SyntheSimJava/.gitattributes @@ -0,0 +1,9 @@ +# +# https://help.github.com/articles/dealing-with-line-endings/ +# +# Linux start script should use lf +/gradlew text eol=lf + +# These are Windows script files and should use crlf +*.bat text eol=crlf + diff --git a/simulation/SyntheSimJava/.gitignore b/simulation/SyntheSimJava/.gitignore new file mode 100644 index 0000000000..3b2f6ee393 --- /dev/null +++ b/simulation/SyntheSimJava/.gitignore @@ -0,0 +1,6 @@ +# Ignore Gradle project-specific cache directory +.gradle +.vscode + +# Ignore Gradle build output directory +build diff --git a/simulation/SyntheSimJava/README.md b/simulation/SyntheSimJava/README.md new file mode 100644 index 0000000000..3e10a613a3 --- /dev/null +++ b/simulation/SyntheSimJava/README.md @@ -0,0 +1,86 @@ +# SyntheSim - Java + +This is the SyntheSim Java utility library. FRC users can add this to their project to enhance the simulation capabilities of commonly used libraries + +## 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. + +### REVRobotics +- [ ] CANSparkMax + - [x] Basic motor control + - [x] Basic internal encoder data + - [ ] Motor following + - [ ] Full encoder support + +### CTRE Phoenix +- [ ] TalonFX + - [ ] Basic motor control + - [ ] Basic internal encoder data + - [ ] Motor following + - [ ] Full encoder support + +## Building + +To build the project, run the `build` task: + +

+ Example + + Windows: + ```sh + $ gradlew.bat build + ``` + + MacOS/Linux: + ```sh + $ ./gradlew build + ``` +
+ +## Usage + +Currently, SyntheSimJava is only available as a local repository. This means it will need to be published and accessed locally. + +### Publish (Local) + +To publish the project locally, run the `publishToMavenLocal` task: + +
+ Example + + Windows: + ```sh + $ gradlew.bat publishToMavenLocal + ``` + + MacOS/Linux: + ```sh + $ ./gradlew publishToMavenLocal + ``` +
+ +### Adding to project locally + +In order to add the project locally, you must include the the `mavenLocal()` repository to your projects: + +```groovy +repositories { + mavenLocal() + ... +} +``` + +Then, add the implementation to your dependencies: + +```groovy +dependencies { + ... + implementation "com.autodesk.synthesis:SyntheSimJava:1.0.0" + ... +} +``` + +### 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. \ No newline at end of file diff --git a/simulation/SyntheSimJava/build.gradle b/simulation/SyntheSimJava/build.gradle new file mode 100644 index 0000000000..421980fb3d --- /dev/null +++ b/simulation/SyntheSimJava/build.gradle @@ -0,0 +1,76 @@ +/* + * This file was generated by the Gradle 'init' task. + * + * This generated file contains a sample Java library project to get you started. + * For more details on building Java & JVM projects, please refer to https://docs.gradle.org/8.8/userguide/building_java_projects.html in the Gradle documentation. + * This project uses @Incubating APIs which are subject to change. + */ + +plugins { + // Apply the java-library plugin for API and implementation separation. + id 'java-library' + id 'maven-publish' +} + +repositories { + // Use Maven Central for resolving dependencies. + mavenCentral() + + // WPILib + maven { + url "https://frcmaven.wpi.edu/artifactory/release/" + } + + // CTRE + maven { + url "https://maven.ctr-electronics.com/release/" + } + + // REV + maven { + url "https://maven.revrobotics.com/" + } +} + +def WPI_Version = '2024.3.2' +def REV_Version = '2024.2.4' +def CTRE_Version = '24.3.0' + +dependencies { + // This dependency is exported to consumers, that is to say found on their compile classpath. + api libs.commons.math3 + + // This dependency is used internally, and not exposed to consumers on their own compile classpath. + implementation libs.guava + + // WPILib + implementation "edu.wpi.first.wpilibj:wpilibj-java:$WPI_Version" + implementation "edu.wpi.first.wpiutil:wpiutil-java:$WPI_Version" + implementation "edu.wpi.first.hal:hal-java:$WPI_Version" + + // REVRobotics + implementation "com.revrobotics.frc:REVLib-java:$REV_Version" + + // CTRE + implementation "com.ctre.phoenix6:wpiapi-java:$CTRE_Version" +} + +java { + withJavadocJar() + withSourcesJar() + + sourceCompatibility = JavaVersion.VERSION_17 + targetCompatibility = JavaVersion.VERSION_17 +} + +publishing() { + publications { + maven(MavenPublication) { + group = 'com.autodesk.synthesis' + artifactId = 'SyntheSimJava' + version = '1.0.0' + + from components.java + } + } +} diff --git a/simulation/SyntheSimJava/gradle.properties b/simulation/SyntheSimJava/gradle.properties new file mode 100644 index 0000000000..18f452c73f --- /dev/null +++ b/simulation/SyntheSimJava/gradle.properties @@ -0,0 +1,6 @@ +# This file was generated by the Gradle 'init' task. +# https://docs.gradle.org/current/userguide/build_environment.html#sec:gradle_configuration_properties + +org.gradle.parallel=true +org.gradle.caching=true + diff --git a/simulation/SyntheSimJava/gradle/libs.versions.toml b/simulation/SyntheSimJava/gradle/libs.versions.toml new file mode 100644 index 0000000000..db11383cd4 --- /dev/null +++ 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-x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac +fi + +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. + +# For Cygwin or MSYS, switch paths to Windows format before running java +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + + # Now convert the arguments - kludge to limit ourselves to /bin/sh + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) + fi + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg + done +fi + + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' + +exec "$JAVACMD" "$@" diff --git a/simulation/SyntheSimJava/gradlew.bat b/simulation/SyntheSimJava/gradlew.bat new file mode 100644 index 0000000000..25da30dbde --- /dev/null +++ b/simulation/SyntheSimJava/gradlew.bat @@ -0,0 +1,92 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem + +@if "%DEBUG%"=="" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if %ERRORLEVEL% equ 0 goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* + +:end +@rem End local scope for the variables with windows NT shell +if %ERRORLEVEL% equ 0 goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/simulation/SyntheSimJava/settings.gradle b/simulation/SyntheSimJava/settings.gradle new file mode 100644 index 0000000000..9bc6b745d3 --- /dev/null +++ b/simulation/SyntheSimJava/settings.gradle @@ -0,0 +1,15 @@ +/* + * This file was generated by the Gradle 'init' task. + * + * The settings file is used to specify which projects to include in your build. + * For more detailed information on multi-project builds, please refer to https://docs.gradle.org/8.8/userguide/multi_project_builds.html in the Gradle documentation. + * This project uses @Incubating APIs which are subject to change. + */ + +plugins { + // Apply the foojay-resolver plugin to allow automatic download of JDKs + id 'org.gradle.toolchains.foojay-resolver-convention' version '0.8.0' +} + +// rootProject.name = 'SyntheSimJava' +// include('lib') diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java new file mode 100644 index 0000000000..fa74dbbe0f --- /dev/null +++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java @@ -0,0 +1,50 @@ +package com.autodesk.synthesis; + +import edu.wpi.first.hal.SimDevice; +import edu.wpi.first.hal.SimDouble; +import edu.wpi.first.hal.SimDevice.Direction; + +/** + * CANEncoder class for easy implementation of documentation-compliant simulation data. + * + * See https://github.com/wpilibsuite/allwpilib/blob/6478ba6e3fa317ee041b8a41e562d925602b6ea4/simulation/halsim_ws_core/doc/hardware_ws_api.md + * for documentation on the WebSocket API Specification. + */ +public class CANEncoder { + + private SimDevice m_device; + + private SimDouble m_position; + private SimDouble m_velocity; + + /** + * Creates an Encoder accessed by the CANBus. + * + * @param name Name of the CAN Motor. This is generally the class name of the originating encoder, prefixed with something (ie. "SYN CANSparkMax/Encoder"). + * @param deviceId CAN Device ID. + */ + public CANEncoder(String name, int deviceId) { + m_device = SimDevice.create(name, deviceId); + + m_position = m_device.createDouble("position", Direction.kInput, 0.0); + m_velocity = m_device.createDouble("velocity", Direction.kInput, 0.0); + } + + /** + * Gets the current position of the encoder, simulated. + * + * @return Current Position. + */ + public double getPosition() { + return m_position.get(); + } + + /** + * Gets the current velocity of the encoder, simulated. + * + * @return Current Velocity. + */ + public double getVelocity() { + return m_velocity.get(); + } +} diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java new file mode 100644 index 0000000000..eeca38ed7b --- /dev/null +++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANMotor.java @@ -0,0 +1,108 @@ +package com.autodesk.synthesis; + +import edu.wpi.first.hal.SimBoolean; +import edu.wpi.first.hal.SimDevice; +import edu.wpi.first.hal.SimDevice.Direction; +import edu.wpi.first.hal.SimDouble; + +/** + * CANMotor class for easy implementation of documentation-compliant simulation data. + * + * See https://github.com/wpilibsuite/allwpilib/blob/6478ba6e3fa317ee041b8a41e562d925602b6ea4/simulation/halsim_ws_core/doc/hardware_ws_api.md + * for documentation on the WebSocket API Specification. + */ +public class CANMotor { + + private SimDevice m_device; + + private SimDouble m_percentOutput; + private SimBoolean m_brakeMode; + private SimDouble m_neutralDeadband; + + private SimDouble m_supplyCurrent; + private SimDouble m_motorCurrent; + private SimDouble m_busVoltage; + + /** + * Creates a CANMotor sim device in accordance with the WebSocket API Specification. + * + * @param name Name of the CAN Motor. This is generally the class name of the originating motor, prefixed with something (ie. "SYN CANSparkMax"). + * @param deviceId CAN Device ID. + * @param defaultPercentOutput Default PercentOutput value. [-1.0, 1.0] + * @param defaultBrakeMode Default BrakeMode value. (true/false) + * @param defaultNeutralDeadband Default Neutral Deadband value. This is used to determine when braking should be enabled. [0.0, 1.0] + */ + public CANMotor(String name, int deviceId, double defaultPercentOutput, boolean defaultBrakeMode, double defaultNeutralDeadband) { + m_device = SimDevice.create(name, deviceId); + + m_percentOutput = m_device.createDouble("percentOutput", Direction.kOutput, 0.0); + m_brakeMode = m_device.createBoolean("brakeMode", Direction.kOutput, false); + m_neutralDeadband = m_device.createDouble("neutralDeadband", Direction.kOutput, deviceId); + + m_supplyCurrent = m_device.createDouble("supplyCurrent", Direction.kInput, 120.0); + m_motorCurrent = m_device.createDouble("motorCurrent", Direction.kInput, 120.0); + m_busVoltage = m_device.createDouble("busVoltage", Direction.kInput, 12.0); + } + + /** + * Set the PercentOutput of the motor. + * + * @param percent [-1.0, 1.0] + */ + public void setPercentOutput(double percent) { + if (Double.isNaN(percent) || Double.isInfinite(percent)) { + percent = 0.0; + } + + m_percentOutput.set(Math.min(1.0, Math.max(-1.0, percent))); + } + + /** + * Set the BrakeMode of the motor. + * + * @param brake True to enable braking. False to not. + */ + public void setBrakeMode(boolean brake) { + m_brakeMode.set(brake); + } + + /** + * Set the neutral deadband of the motor. Essentially when to enable brake mode. + * + * @param deadband [0.0, 1.0] + */ + public void setNeutralDeadband(double deadband) { + if (Double.isNaN(deadband) || Double.isInfinite(deadband)) { + deadband = 0.0; + } + + m_neutralDeadband.set(Math.min(1.0, Math.max(0.0, deadband))); + } + + /** + * Get the supply current, simulated. + * + * @return Supply Current. + */ + public double getSupplyCurrent() { + return m_supplyCurrent.get(); + } + + /** + * Get the motor current, simulated. + * + * @return Motor Current. + */ + public double getMotorCurrent() { + return m_motorCurrent.get(); + } + + /** + * Get the Bus Voltage, simulated. + * + * @return Bus Voltage + */ + public double getBusVoltage() { + return m_busVoltage.get(); + } +} diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java new file mode 100644 index 0000000000..63ed5b1e9c --- /dev/null +++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java @@ -0,0 +1,13 @@ +package com.autodesk.synthesis.ctre; + +import com.autodesk.synthesis.CANMotor; + +public class TalonFX extends com.ctre.phoenix6.hardware.TalonFX { + private CANMotor m_motor; + + public TalonFX(int deviceId) { + super(deviceId); + + m_motor = new CANMotor("SYN TalonFX", deviceId, 0.0, false, 0.3); + } +} diff --git a/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java new file mode 100644 index 0000000000..da2087e7ab --- /dev/null +++ b/simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/CANSparkMax.java @@ -0,0 +1,43 @@ +package com.autodesk.synthesis.revrobotics; + +import com.autodesk.synthesis.CANEncoder; +import com.autodesk.synthesis.CANMotor; +import com.revrobotics.REVLibError; + +/** + * CANSparkMax wrapper to add proper WPILib HALSim support. + */ +public class CANSparkMax extends com.revrobotics.CANSparkMax { + + private CANMotor m_motor; + private CANEncoder m_encoder; + + /** + * Creates a new CANSparkMax, wrapped with simulation support. + * + * @param deviceId CAN Device ID. + * @param motorType Motortype. For Simulation purposes, this is discarded at the moment. + */ + public CANSparkMax(int deviceId, MotorType motorType) { + super(deviceId, motorType); + + m_motor = new CANMotor("SYN CANSparkMax", deviceId, 0.0, false, 0.3); + m_encoder = new CANEncoder("SYN CANSparkMax/Encoder", deviceId); + } + + @Override + public void set(double percent) { + super.set(percent); + m_motor.setPercentOutput(percent); + } + + @Override + public REVLibError setIdleMode(com.revrobotics.CANSparkBase.IdleMode mode) { + if (mode != null) { + m_motor.setBrakeMode(mode.equals(com.revrobotics.CANSparkBase.IdleMode.kBrake)); + } + + return super.setIdleMode(mode); + } + +} diff --git a/simulation/JavaSample/.gitignore b/simulation/samples/JavaSample/.gitignore similarity index 100% rename from simulation/JavaSample/.gitignore rename to simulation/samples/JavaSample/.gitignore diff --git a/simulation/JavaSample/WPILib-License.md b/simulation/samples/JavaSample/WPILib-License.md similarity index 100% rename from simulation/JavaSample/WPILib-License.md rename to simulation/samples/JavaSample/WPILib-License.md diff --git a/simulation/JavaSample/build.gradle b/simulation/samples/JavaSample/build.gradle similarity index 97% rename from simulation/JavaSample/build.gradle rename to simulation/samples/JavaSample/build.gradle index 7735bda8e6..5acbea004b 100644 --- a/simulation/JavaSample/build.gradle +++ b/simulation/samples/JavaSample/build.gradle @@ -3,6 +3,10 @@ plugins { id "edu.wpi.first.GradleRIO" version "2024.3.2" } +repositories { + mavenLocal() +} + // wpi.maven.useLocal = false // wpi.maven.useFrcMavenLocalDevelopment = true // wpi.versions.wpilibVersion = '2024.424242.+' @@ -74,6 +78,8 @@ dependencies { testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' testRuntimeOnly 'org.junit.platform:junit-platform-launcher' + + implementation "com.autodesk.synthesis:SyntheSimJava:1.0.0" } test { diff --git a/simulation/JavaSample/gradle/wrapper/gradle-wrapper.jar b/simulation/samples/JavaSample/gradle/wrapper/gradle-wrapper.jar similarity index 100% rename from simulation/JavaSample/gradle/wrapper/gradle-wrapper.jar rename to simulation/samples/JavaSample/gradle/wrapper/gradle-wrapper.jar diff --git a/simulation/JavaSample/gradle/wrapper/gradle-wrapper.properties b/simulation/samples/JavaSample/gradle/wrapper/gradle-wrapper.properties similarity index 100% rename from simulation/JavaSample/gradle/wrapper/gradle-wrapper.properties rename to simulation/samples/JavaSample/gradle/wrapper/gradle-wrapper.properties diff --git a/simulation/JavaSample/gradlew b/simulation/samples/JavaSample/gradlew old mode 100755 new mode 100644 similarity index 100% rename from simulation/JavaSample/gradlew rename to simulation/samples/JavaSample/gradlew diff --git a/simulation/JavaSample/gradlew.bat b/simulation/samples/JavaSample/gradlew.bat similarity index 100% rename from simulation/JavaSample/gradlew.bat rename to simulation/samples/JavaSample/gradlew.bat diff --git a/simulation/JavaSample/settings.gradle b/simulation/samples/JavaSample/settings.gradle similarity index 100% rename from simulation/JavaSample/settings.gradle rename to simulation/samples/JavaSample/settings.gradle diff --git a/simulation/JavaSample/src/main/deploy/example.txt b/simulation/samples/JavaSample/src/main/deploy/example.txt similarity index 100% rename from simulation/JavaSample/src/main/deploy/example.txt rename to simulation/samples/JavaSample/src/main/deploy/example.txt diff --git a/simulation/JavaSample/src/main/java/frc/robot/Main.java b/simulation/samples/JavaSample/src/main/java/frc/robot/Main.java similarity index 100% rename from simulation/JavaSample/src/main/java/frc/robot/Main.java rename to simulation/samples/JavaSample/src/main/java/frc/robot/Main.java diff --git a/simulation/JavaSample/src/main/java/frc/robot/Robot.java b/simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java similarity index 100% rename from simulation/JavaSample/src/main/java/frc/robot/Robot.java rename to simulation/samples/JavaSample/src/main/java/frc/robot/Robot.java From b9db0946aff58929f2c2bd460f06d68a5a0ce928 Mon Sep 17 00:00:00 2001 From: KyroVibe Date: Mon, 8 Jul 2024 11:07:11 -0600 Subject: [PATCH 12/16] Added Cpp sampel --- simulation/samples/CppSample/.gitignore | 4 + .../samples/CppSample/WPILib-License.md | 24 ++ simulation/samples/CppSample/build.gradle | 99 +++++ .../gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 43462 bytes .../gradle/wrapper/gradle-wrapper.properties | 7 + simulation/samples/CppSample/gradlew | 249 +++++++++++++ simulation/samples/CppSample/gradlew.bat | 92 +++++ simulation/samples/CppSample/settings.gradle | 30 ++ .../samples/CppSample/src/main/cpp/Robot.cpp | 78 ++++ .../CppSample/src/main/deploy/example.txt | 4 + .../CppSample/src/main/include/Robot.h | 32 ++ .../samples/CppSample/src/test/cpp/main.cpp | 10 + .../samples/CppSample/vendordeps/NavX.json | 40 +++ .../CppSample/vendordeps/Phoenix6.json | 339 ++++++++++++++++++ .../samples/CppSample/vendordeps/REVLib.json | 74 ++++ .../vendordeps/WPILibNewCommands.json | 38 ++ 16 files changed, 1120 insertions(+) create mode 100644 simulation/samples/CppSample/.gitignore create mode 100644 simulation/samples/CppSample/WPILib-License.md create mode 100644 simulation/samples/CppSample/build.gradle create mode 100644 simulation/samples/CppSample/gradle/wrapper/gradle-wrapper.jar create mode 100644 simulation/samples/CppSample/gradle/wrapper/gradle-wrapper.properties create mode 100644 simulation/samples/CppSample/gradlew create mode 100644 simulation/samples/CppSample/gradlew.bat create mode 100644 simulation/samples/CppSample/settings.gradle create mode 100644 simulation/samples/CppSample/src/main/cpp/Robot.cpp create mode 100644 simulation/samples/CppSample/src/main/deploy/example.txt create mode 100644 simulation/samples/CppSample/src/main/include/Robot.h create mode 100644 simulation/samples/CppSample/src/test/cpp/main.cpp create mode 100644 simulation/samples/CppSample/vendordeps/NavX.json create mode 100644 simulation/samples/CppSample/vendordeps/Phoenix6.json create mode 100644 simulation/samples/CppSample/vendordeps/REVLib.json create mode 100644 simulation/samples/CppSample/vendordeps/WPILibNewCommands.json diff --git a/simulation/samples/CppSample/.gitignore b/simulation/samples/CppSample/.gitignore new file mode 100644 index 0000000000..11c9fdd738 --- /dev/null +++ b/simulation/samples/CppSample/.gitignore @@ -0,0 +1,4 @@ +.gradle/ +.vscode/ +.wpilib/ +build/ diff --git a/simulation/samples/CppSample/WPILib-License.md b/simulation/samples/CppSample/WPILib-License.md new file mode 100644 index 0000000000..645e54253a --- /dev/null +++ b/simulation/samples/CppSample/WPILib-License.md @@ -0,0 +1,24 @@ +Copyright (c) 2009-2024 FIRST and other WPILib contributors +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of FIRST, WPILib, nor the names of other WPILib + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR +PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR +ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/simulation/samples/CppSample/build.gradle b/simulation/samples/CppSample/build.gradle new file mode 100644 index 0000000000..5692953ce6 --- /dev/null +++ b/simulation/samples/CppSample/build.gradle @@ -0,0 +1,99 @@ +plugins { + id "cpp" + id "google-test-test-suite" + id "edu.wpi.first.GradleRIO" version "2024.3.2" +} + +// Define my targets (RoboRIO) and artifacts (deployable files) +// This is added by GradleRIO's backing project DeployUtils. +deploy { + targets { + roborio(getTargetTypeClass('RoboRIO')) { + // Team number is loaded either from the .wpilib/wpilib_preferences.json + // or from command line. If not found an exception will be thrown. + // You can use getTeamOrDefault(team) instead of getTeamNumber if you + // want to store a team number in this file. + team = project.frc.getTeamOrDefault(997) + debug = project.frc.getDebugOrDefault(false) + + artifacts { + // First part is artifact name, 2nd is artifact type + // getTargetTypeClass is a shortcut to get the class type using a string + + frcCpp(getArtifactTypeClass('FRCNativeArtifact')) { + } + + // Static files artifact + frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { + files = project.fileTree('src/main/deploy') + directory = '/home/lvuser/deploy' + } + } + } + } +} + +def deployArtifact = deploy.targets.roborio.artifacts.frcCpp + +// Set this to true to enable desktop support. +def includeDesktopSupport = true + +// Set to true to run simulation in debug mode +wpi.cpp.debugSimulation = false + +// Default enable simgui +wpi.sim.addGui().defaultEnabled = true +// Enable DS but not by default +wpi.sim.addDriverstation() + +model { + components { + frcUserProgram(NativeExecutableSpec) { + targetPlatform wpi.platforms.roborio + if (includeDesktopSupport) { + targetPlatform wpi.platforms.desktop + } + + sources.cpp { + source { + srcDir 'src/main/cpp' + include '**/*.cpp', '**/*.cc' + } + exportedHeaders { + srcDir 'src/main/include' + } + } + + // Set deploy task to deploy this component + deployArtifact.component = it + + // Enable run tasks for this component + wpi.cpp.enableExternalTasks(it) + + // Enable simulation for this component + wpi.sim.enable(it) + // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. + wpi.cpp.vendor.cpp(it) + wpi.cpp.deps.wpilib(it) + } + } + testSuites { + frcUserProgramTest(GoogleTestTestSuiteSpec) { + testing $.components.frcUserProgram + + sources.cpp { + source { + srcDir 'src/test/cpp' + include '**/*.cpp' + } + } + + // Enable run tasks for this component + wpi.cpp.enableExternalTasks(it) + + wpi.cpp.vendor.cpp(it) + wpi.cpp.deps.wpilib(it) + wpi.cpp.deps.googleTest(it) + } + } +} diff --git a/simulation/samples/CppSample/gradle/wrapper/gradle-wrapper.jar b/simulation/samples/CppSample/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000000000000000000000000000000000000..d64cd4917707c1f8861d8cb53dd15194d4248596 GIT binary patch literal 43462 zcma&NWl&^owk(X(xVyW%ySuwf;qI=D6|RlDJ2cR^yEKh!@I- zp9QeisK*rlxC>+~7Dk4IxIRsKBHqdR9b3+fyL=ynHmIDe&|>O*VlvO+%z5;9Z$|DJ zb4dO}-R=MKr^6EKJiOrJdLnCJn>np?~vU-1sSFgPu;pthGwf}bG z(1db%xwr#x)r+`4AGu$j7~u2MpVs3VpLp|mx&;>`0p0vH6kF+D2CY0fVdQOZ@h;A` z{infNyvmFUiu*XG}RNMNwXrbec_*a3N=2zJ|Wh5z* z5rAX$JJR{#zP>KY**>xHTuw?|-Rg|o24V)74HcfVT;WtQHXlE+_4iPE8QE#DUm%x0 zEKr75ur~W%w#-My3Tj`hH6EuEW+8K-^5P62$7Sc5OK+22qj&Pd1;)1#4tKihi=~8C zHiQSst0cpri6%OeaR`PY>HH_;CPaRNty%WTm4{wDK8V6gCZlG@U3$~JQZ;HPvDJcT1V{ z?>H@13MJcCNe#5z+MecYNi@VT5|&UiN1D4ATT+%M+h4c$t;C#UAs3O_q=GxK0}8%8 z8J(_M9bayxN}69ex4dzM_P3oh@ZGREjVvn%%r7=xjkqxJP4kj}5tlf;QosR=%4L5y zWhgejO=vao5oX%mOHbhJ8V+SG&K5dABn6!WiKl{|oPkq(9z8l&Mm%(=qGcFzI=eLu zWc_oCLyf;hVlB@dnwY98?75B20=n$>u3b|NB28H0u-6Rpl((%KWEBOfElVWJx+5yg z#SGqwza7f}$z;n~g%4HDU{;V{gXIhft*q2=4zSezGK~nBgu9-Q*rZ#2f=Q}i2|qOp z!!y4p)4o=LVUNhlkp#JL{tfkhXNbB=Ox>M=n6soptJw-IDI|_$is2w}(XY>a=H52d z3zE$tjPUhWWS+5h=KVH&uqQS=$v3nRs&p$%11b%5qtF}S2#Pc`IiyBIF4%A!;AVoI zXU8-Rpv!DQNcF~(qQnyyMy=-AN~U>#&X1j5BLDP{?K!%h!;hfJI>$mdLSvktEr*89 zdJHvby^$xEX0^l9g$xW-d?J;L0#(`UT~zpL&*cEh$L|HPAu=P8`OQZV!-}l`noSp_ zQ-1$q$R-gDL)?6YaM!=8H=QGW$NT2SeZlb8PKJdc=F-cT@j7Xags+Pr*jPtlHFnf- zh?q<6;)27IdPc^Wdy-mX%2s84C1xZq9Xms+==F4);O`VUASmu3(RlgE#0+#giLh-& zcxm3_e}n4{%|X zJp{G_j+%`j_q5}k{eW&TlP}J2wtZ2^<^E(O)4OQX8FDp6RJq!F{(6eHWSD3=f~(h} zJXCf7=r<16X{pHkm%yzYI_=VDP&9bmI1*)YXZeB}F? 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b/simulation/samples/CppSample/gradle/wrapper/gradle-wrapper.properties new file mode 100644 index 0000000000..5e82d67b9f --- /dev/null +++ b/simulation/samples/CppSample/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,7 @@ +distributionBase=GRADLE_USER_HOME +distributionPath=permwrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip +networkTimeout=10000 +validateDistributionUrl=true +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists diff --git a/simulation/samples/CppSample/gradlew b/simulation/samples/CppSample/gradlew new file mode 100644 index 0000000000..1aa94a4269 --- /dev/null +++ b/simulation/samples/CppSample/gradlew @@ -0,0 +1,249 @@ +#!/bin/sh + +# +# Copyright © 2015-2021 the original authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# + +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# within the Gradle project. +# +# You can find Gradle at https://github.com/gradle/gradle/. +# +############################################################################## + +# Attempt to set APP_HOME + +# Resolve links: $0 may be a link +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac +done + +# This is normally unused +# shellcheck disable=SC2034 +APP_BASE_NAME=${0##*/} +# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) +APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&2 + +die () { + echo + echo "$*" + echo + exit 1 +} >&2 + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD=$JAVA_HOME/jre/sh/java + else + JAVACMD=$JAVA_HOME/bin/java + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac +fi + +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. + +# For Cygwin or MSYS, switch paths to Windows format before running java +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + + # Now convert the arguments - kludge to limit ourselves to /bin/sh + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) + fi + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg + done +fi + + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' + +exec "$JAVACMD" "$@" diff --git a/simulation/samples/CppSample/gradlew.bat b/simulation/samples/CppSample/gradlew.bat new file mode 100644 index 0000000000..93e3f59f13 --- /dev/null +++ b/simulation/samples/CppSample/gradlew.bat @@ -0,0 +1,92 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem + +@if "%DEBUG%"=="" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if %ERRORLEVEL% equ 0 goto execute + +echo. +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* + +:end +@rem End local scope for the variables with windows NT shell +if %ERRORLEVEL% equ 0 goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/simulation/samples/CppSample/settings.gradle b/simulation/samples/CppSample/settings.gradle new file mode 100644 index 0000000000..d94f73c635 --- /dev/null +++ b/simulation/samples/CppSample/settings.gradle @@ -0,0 +1,30 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2024' + File frcHome + if (OperatingSystem.current().isWindows()) { + String publicFolder = System.getenv('PUBLIC') + if (publicFolder == null) { + publicFolder = "C:\\Users\\Public" + } + def homeRoot = new File(publicFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } else { + def userFolder = System.getProperty("user.home") + def homeRoot = new File(userFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } + def frcHomeMaven = new File(frcHome, 'maven') + maven { + name 'frcHome' + url frcHomeMaven + } + } +} + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/simulation/samples/CppSample/src/main/cpp/Robot.cpp b/simulation/samples/CppSample/src/main/cpp/Robot.cpp new file mode 100644 index 0000000000..f74262bef9 --- /dev/null +++ b/simulation/samples/CppSample/src/main/cpp/Robot.cpp @@ -0,0 +1,78 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +#include "Robot.h" + +#include +#include + +void Robot::RobotInit() { + m_chooser.SetDefaultOption(kAutoNameDefault, kAutoNameDefault); + m_chooser.AddOption(kAutoNameCustom, kAutoNameCustom); + frc::SmartDashboard::PutData("Auto Modes", &m_chooser); +} + +/** + * This function is called every 20 ms, no matter the mode. Use + * this for items like diagnostics that you want ran during disabled, + * autonomous, teleoperated and test. + * + *

This runs after the mode specific periodic functions, but before + * LiveWindow and SmartDashboard integrated updating. + */ +void Robot::RobotPeriodic() {} + +/** + * This autonomous (along with the chooser code above) shows how to select + * between different autonomous modes using the dashboard. The sendable chooser + * code works with the Java SmartDashboard. If you prefer the LabVIEW Dashboard, + * remove all of the chooser code and uncomment the GetString line to get the + * auto name from the text box below the Gyro. + * + * You can add additional auto modes by adding additional comparisons to the + * if-else structure below with additional strings. If using the SendableChooser + * make sure to add them to the chooser code above as well. + */ +void Robot::AutonomousInit() { + m_autoSelected = m_chooser.GetSelected(); + // m_autoSelected = SmartDashboard::GetString("Auto Selector", + // kAutoNameDefault); + fmt::print("Auto selected: {}\n", m_autoSelected); + + if (m_autoSelected == kAutoNameCustom) { + // Custom Auto goes here + } else { + // Default Auto goes here + } +} + +void Robot::AutonomousPeriodic() { + if (m_autoSelected == kAutoNameCustom) { + // Custom Auto goes here + } else { + // Default Auto goes here + } +} + +void Robot::TeleopInit() {} + +void Robot::TeleopPeriodic() {} + +void Robot::DisabledInit() {} + +void Robot::DisabledPeriodic() {} + +void Robot::TestInit() {} + +void Robot::TestPeriodic() {} + +void Robot::SimulationInit() {} + +void Robot::SimulationPeriodic() {} + +#ifndef RUNNING_FRC_TESTS +int main() { + return frc::StartRobot(); +} +#endif diff --git a/simulation/samples/CppSample/src/main/deploy/example.txt b/simulation/samples/CppSample/src/main/deploy/example.txt new file mode 100644 index 0000000000..683953917e --- /dev/null +++ b/simulation/samples/CppSample/src/main/deploy/example.txt @@ -0,0 +1,4 @@ +Files placed in this directory will be deployed to the RoboRIO into the + 'deploy' directory in the home folder. Use the 'frc::filesystem::GetDeployDirectory' + function from the 'frc/Filesystem.h' header to get a proper path relative to the deploy + directory. \ No newline at end of file diff --git a/simulation/samples/CppSample/src/main/include/Robot.h b/simulation/samples/CppSample/src/main/include/Robot.h new file mode 100644 index 0000000000..5677a88fe5 --- /dev/null +++ b/simulation/samples/CppSample/src/main/include/Robot.h @@ -0,0 +1,32 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +#pragma once + +#include + +#include +#include + +class Robot : public frc::TimedRobot { + public: + void RobotInit() override; + void RobotPeriodic() override; + void AutonomousInit() override; + void AutonomousPeriodic() override; + void TeleopInit() override; + void TeleopPeriodic() override; + void DisabledInit() override; + void DisabledPeriodic() override; + void TestInit() override; + void TestPeriodic() override; + void SimulationInit() override; + void SimulationPeriodic() override; + + private: + frc::SendableChooser m_chooser; + const std::string kAutoNameDefault = "Default"; + const std::string kAutoNameCustom = "My Auto"; + std::string m_autoSelected; +}; diff --git a/simulation/samples/CppSample/src/test/cpp/main.cpp b/simulation/samples/CppSample/src/test/cpp/main.cpp new file mode 100644 index 0000000000..b8b23d2382 --- /dev/null +++ b/simulation/samples/CppSample/src/test/cpp/main.cpp @@ -0,0 +1,10 @@ +#include + +#include "gtest/gtest.h" + +int main(int argc, char** argv) { + HAL_Initialize(500, 0); + ::testing::InitGoogleTest(&argc, argv); + int ret = RUN_ALL_TESTS(); + return ret; +} diff --git a/simulation/samples/CppSample/vendordeps/NavX.json b/simulation/samples/CppSample/vendordeps/NavX.json new file mode 100644 index 0000000000..e978a5f745 --- /dev/null +++ b/simulation/samples/CppSample/vendordeps/NavX.json @@ -0,0 +1,40 @@ +{ + "fileName": "NavX.json", + "name": "NavX", + "version": "2024.1.0", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "frcYear": "2024", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2024/" + ], + "jsonUrl": "https://dev.studica.com/releases/2024/NavX.json", + "javaDependencies": [ + { + "groupId": "com.kauailabs.navx.frc", + "artifactId": "navx-frc-java", + "version": "2024.1.0" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.kauailabs.navx.frc", + "artifactId": "navx-frc-cpp", + "version": "2024.1.0", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": false, + "libName": "navx_frc", + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxraspbian", + "linuxarm32", + "linuxarm64", + "linuxx86-64", + "osxuniversal", + "windowsx86-64" + ] + } + ] +} \ No newline at end of file diff --git a/simulation/samples/CppSample/vendordeps/Phoenix6.json b/simulation/samples/CppSample/vendordeps/Phoenix6.json new file mode 100644 index 0000000000..032238505f --- /dev/null +++ b/simulation/samples/CppSample/vendordeps/Phoenix6.json @@ -0,0 +1,339 @@ +{ + "fileName": "Phoenix6.json", + "name": "CTRE-Phoenix (v6)", + "version": "24.3.0", + "frcYear": 2024, + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json", + "conflictsWith": [ + { + "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a", + "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.", + "offlineFileName": "Phoenix6And5.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "24.3.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonFX", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simCANCoder", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "24.3.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-cpp", + "version": "24.3.0", + "libName": "CTRE_Phoenix6_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "24.3.0", + "libName": "CTRE_PhoenixTools", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "24.3.0", + "libName": "CTRE_Phoenix6_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "24.3.0", + "libName": "CTRE_PhoenixTools_Sim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "24.3.0", + "libName": "CTRE_SimTalonSRX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonFX", + "version": "24.3.0", + "libName": "CTRE_SimTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "24.3.0", + "libName": "CTRE_SimVictorSPX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "24.3.0", + "libName": "CTRE_SimPigeonIMU", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simCANCoder", + "version": "24.3.0", + "libName": "CTRE_SimCANCoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "24.3.0", + "libName": "CTRE_SimProTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "24.3.0", + "libName": "CTRE_SimProCANcoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "24.3.0", + "libName": "CTRE_SimProPigeon2", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/simulation/samples/CppSample/vendordeps/REVLib.json b/simulation/samples/CppSample/vendordeps/REVLib.json new file mode 100644 index 0000000000..f85acd4054 --- /dev/null +++ b/simulation/samples/CppSample/vendordeps/REVLib.json @@ -0,0 +1,74 @@ +{ + "fileName": "REVLib.json", + "name": "REVLib", + "version": "2024.2.4", + "frcYear": "2024", + "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", + "mavenUrls": [ + "https://maven.revrobotics.com/" + ], + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json", + "javaDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-java", + "version": "2024.2.4" + } + ], + "jniDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2024.2.4", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-cpp", + "version": "2024.2.4", + "libName": "REVLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2024.2.4", + "libName": "REVLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/simulation/samples/CppSample/vendordeps/WPILibNewCommands.json b/simulation/samples/CppSample/vendordeps/WPILibNewCommands.json new file mode 100644 index 0000000000..67bf3898d5 --- /dev/null +++ b/simulation/samples/CppSample/vendordeps/WPILibNewCommands.json @@ -0,0 +1,38 @@ +{ + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "1.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "frcYear": "2024", + "mavenUrls": [], + "jsonUrl": "", + "javaDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-java", + "version": "wpilib" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-cpp", + "version": "wpilib", + "libName": "wpilibNewCommands", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxarm32", + "linuxarm64", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxuniversal" + ] + } + ] +} From fec36d84be4caed41c21af6dd51d7aa62c13c27d Mon Sep 17 00:00:00 2001 From: KyroVibe Date: Wed, 17 Jul 2024 12:30:13 -0600 Subject: [PATCH 13/16] Linting and build errors --- .../simulation/wpilib_brain/WPILibBrain.ts | 2 +- fission/src/ui/panels/WSViewPanel.tsx | 16 ++-------------- 2 files changed, 3 insertions(+), 15 deletions(-) diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts index b00d4aabec..835bf27c5a 100644 --- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts +++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts @@ -10,7 +10,7 @@ const PWM_SPEED = " From d5b8a8e90f4aa754c6eef712214afdd4f3d453e4 Mon Sep 17 00:00:00 2001 From: KyroVibe Date: Wed, 17 Jul 2024 12:32:05 -0600 Subject: [PATCH 14/16] Formatted --- fission/src/Synthesis.tsx | 6 +- .../systems/simulation/SimulationSystem.ts | 28 +-- .../simulation/wpilib_brain/WPILibBrain.ts | 109 +++++------ .../simulation/wpilib_brain/WPILibWSWorker.ts | 36 ++-- fission/src/ui/components/MainHUD.tsx | 11 +- fission/src/ui/panels/WSViewPanel.tsx | 185 ++++++++++++------ 6 files changed, 217 insertions(+), 158 deletions(-) diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx index 48a5c73b88..cb2dd3ea32 100644 --- a/fission/src/Synthesis.tsx +++ b/fission/src/Synthesis.tsx @@ -60,10 +60,10 @@ import Skybox from "./ui/components/Skybox.tsx" import ConfigureRobotModal from "./ui/modals/configuring/ConfigureRobotModal.tsx" import ResetAllInputsModal from "./ui/modals/configuring/ResetAllInputsModal.tsx" -import WPILibWSWorker from '@/systems/simulation/wpilib_brain/WPILibWSWorker.ts?worker' -import WSViewPanel from './ui/panels/WSViewPanel.tsx'; +import WPILibWSWorker from "@/systems/simulation/wpilib_brain/WPILibWSWorker.ts?worker" +import WSViewPanel from "./ui/panels/WSViewPanel.tsx" -const DEFAULT_MIRA_PATH = '/api/mira/Robots/Team 2471 (2018)_v7.mira'; +const DEFAULT_MIRA_PATH = "/api/mira/Robots/Team 2471 (2018)_v7.mira" export let worker: Worker | undefined = undefined diff --git a/fission/src/systems/simulation/SimulationSystem.ts b/fission/src/systems/simulation/SimulationSystem.ts index 9023815afb..fb18d3af4f 100644 --- a/fission/src/systems/simulation/SimulationSystem.ts +++ b/fission/src/systems/simulation/SimulationSystem.ts @@ -1,16 +1,16 @@ -import JOLT from "@/util/loading/JoltSyncLoader"; -import Mechanism from "../physics/Mechanism"; -import WorldSystem from "../WorldSystem"; -import Brain from "./Brain"; -import Driver from "./driver/Driver"; -import Stimulus from "./stimulus/Stimulus"; -import HingeDriver from "./driver/HingeDriver"; -import WheelDriver from "./driver/WheelDriver"; -import SliderDriver from "./driver/SliderDriver"; -import HingeStimulus from "./stimulus/HingeStimulus"; -import WheelRotationStimulus from "./stimulus/WheelStimulus"; -import SliderStimulus from "./stimulus/SliderStimulus"; -import ChassisStimulus from "./stimulus/ChassisStimulus"; +import JOLT from "@/util/loading/JoltSyncLoader" +import Mechanism from "../physics/Mechanism" +import WorldSystem from "../WorldSystem" +import Brain from "./Brain" +import Driver from "./driver/Driver" +import Stimulus from "./stimulus/Stimulus" +import HingeDriver from "./driver/HingeDriver" +import WheelDriver from "./driver/WheelDriver" +import SliderDriver from "./driver/SliderDriver" +import HingeStimulus from "./stimulus/HingeStimulus" +import WheelRotationStimulus from "./stimulus/WheelStimulus" +import SliderStimulus from "./stimulus/SliderStimulus" +import ChassisStimulus from "./stimulus/ChassisStimulus" // import WPILibConnector from "./wpilib_brain/WPILibConnector"; class SimulationSystem extends WorldSystem { @@ -19,7 +19,7 @@ class SimulationSystem extends WorldSystem { constructor() { super() - this._simMechanisms = new Map(); + this._simMechanisms = new Map() // WPILibConnector.getInstance() } diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts index 835bf27c5a..43127ece74 100644 --- a/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts +++ b/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts @@ -1,8 +1,8 @@ /* eslint-disable @typescript-eslint/no-explicit-any */ -import Mechanism from "@/systems/physics/Mechanism"; -import Brain from "../Brain"; +import Mechanism from "@/systems/physics/Mechanism" +import Brain from "../Brain" -import WPILibWSWorker from './WPILibWSWorker?worker' +import WPILibWSWorker from "./WPILibWSWorker?worker" const worker = new WPILibWSWorker() @@ -12,15 +12,13 @@ const CANMOTOR_DUTY_CYCLE = "" ? FieldType.Both : FieldType.Read - case '>': + case ">": return FieldType.Write default: return FieldType.Unknown @@ -41,7 +39,7 @@ function GetFieldType(field: string): FieldType { export const simMap = new Map>() export class SimGeneric { - private constructor() { } + private constructor() {} public static Get(simType: SimType, device: string, field: string, defaultValue?: T): T | undefined { const fieldType = GetFieldType(field) @@ -49,7 +47,7 @@ export class SimGeneric { console.warn(`Field '${field}' is not a read or both field type`) return undefined } - + const map = simMap.get(simType) if (!map) { console.warn(`No '${simType}' devices found`) @@ -62,7 +60,7 @@ export class SimGeneric { return undefined } - return data[field] as (T | undefined) ?? defaultValue + return (data[field] as T | undefined) ?? defaultValue } public static Set(simType: SimType, device: string, field: string, value: T): boolean { @@ -89,12 +87,12 @@ export class SimGeneric { data[field] = value worker.postMessage({ - command: 'update', + command: "update", data: { type: simType, device: device, - data: selectedData - } + data: selectedData, + }, }) window.dispatchEvent(new SimMapUpdateEvent(true)) @@ -103,41 +101,41 @@ export class SimGeneric { } export class SimPWM { - private constructor() { } + private constructor() {} public static GetSpeed(device: string): number | undefined { - return SimGeneric.Get('PWM', device, PWM_SPEED, 0.0) + return SimGeneric.Get("PWM", device, PWM_SPEED, 0.0) } public static GetPosition(device: string): number | undefined { - return SimGeneric.Get('PWM', device, PWM_POSITION, 0.0) + return SimGeneric.Get("PWM", device, PWM_POSITION, 0.0) } } export class SimCANMotor { - private constructor() { } + private constructor() {} public static GetDutyCycle(device: string): number | undefined { - return SimGeneric.Get('CANMotor', device, CANMOTOR_DUTY_CYCLE, 0.0) + return SimGeneric.Get("CANMotor", device, CANMOTOR_DUTY_CYCLE, 0.0) } public static SetSupplyVoltage(device: string, voltage: number): boolean { - return SimGeneric.Set('CANMotor', device, CANMOTOR_SUPPLY_VOLTAGE, voltage) + return SimGeneric.Set("CANMotor", device, CANMOTOR_SUPPLY_VOLTAGE, voltage) } } export class SimCANEncoder { - private constructor() { } + private constructor() {} public static SetRawInputPosition(device: string, rawInputPosition: number): boolean { - return SimGeneric.Set('CANEncoder', device, CANENCODER_RAW_INPUT_POSITION, rawInputPosition) + return SimGeneric.Set("CANEncoder", device, CANENCODER_RAW_INPUT_POSITION, rawInputPosition) } } -worker.addEventListener('message', (eventData: MessageEvent) => { - let data: any | undefined; +worker.addEventListener("message", (eventData: MessageEvent) => { + let data: any | undefined try { - if (typeof(eventData.data) == 'object') { + if (typeof eventData.data == "object") { data = eventData.data } else { data = JSON.parse(eventData.data) @@ -145,9 +143,9 @@ worker.addEventListener('message', (eventData: MessageEvent) => { } catch (e) { console.warn(`Failed to parse data:\n${JSON.stringify(eventData.data)}`) } - + if (!data || !data.type) { - console.log('No data, bailing out') + console.log("No data, bailing out") return } @@ -157,25 +155,25 @@ worker.addEventListener('message', (eventData: MessageEvent) => { const updateData = data.data switch (data.type) { - case 'PWM': - console.debug('pwm') - UpdateSimMap('PWM', device, updateData) + case "PWM": + console.debug("pwm") + UpdateSimMap("PWM", device, updateData) break - case 'Solenoid': - console.debug('solenoid') - UpdateSimMap('Solenoid', device, updateData) + case "Solenoid": + console.debug("solenoid") + UpdateSimMap("Solenoid", device, updateData) break - case 'SimDevice': - console.debug('simdevice') - UpdateSimMap('SimDevice', device, updateData) + case "SimDevice": + console.debug("simdevice") + UpdateSimMap("SimDevice", device, updateData) break - case 'CANMotor': - console.debug('canmotor') - UpdateSimMap('CANMotor', device, updateData) + case "CANMotor": + console.debug("canmotor") + UpdateSimMap("CANMotor", device, updateData) break - case 'CANEncoder': - console.debug('canencoder') - UpdateSimMap('CANEncoder', device, updateData) + case "CANEncoder": + console.debug("canencoder") + UpdateSimMap("CANEncoder", device, updateData) break default: // console.debug(`Unrecognized Message:\n${data}`) @@ -195,35 +193,32 @@ function UpdateSimMap(type: SimType, device: string, updateData: any) { currentData = {} typeMap.set(device, currentData) } - Object.entries(updateData).forEach(kvp => currentData[kvp[0]] = kvp[1]) + Object.entries(updateData).forEach(kvp => (currentData[kvp[0]] = kvp[1])) window.dispatchEvent(new SimMapUpdateEvent(false)) } class WPILibBrain extends Brain { - constructor(mech: Mechanism) { super(mech) } - public Update(_: number): void { } - + public Update(_: number): void {} + public Enable(): void { - worker.postMessage({ command: 'connect' }) + worker.postMessage({ command: "connect" }) } public Disable(): void { - worker.postMessage({ command: 'disconnect' }) + worker.postMessage({ command: "disconnect" }) } - } export class SimMapUpdateEvent extends Event { - public static readonly TYPE: string = "ws/sim-map-update" - private _internalUpdate: boolean; - + private _internalUpdate: boolean + public get internalUpdate(): boolean { return this._internalUpdate } @@ -235,4 +230,4 @@ export class SimMapUpdateEvent extends Event { } } -export default WPILibBrain \ No newline at end of file +export default WPILibBrain diff --git a/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts b/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts index 784db32306..836dbd0d4f 100644 --- a/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts +++ b/fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts @@ -5,18 +5,26 @@ let socket: WebSocket | undefined = undefined const connectMutex = new Mutex() async function tryConnect(port: number | undefined): Promise { - await connectMutex.runExclusive(() => { - if ((socket?.readyState ?? WebSocket.CLOSED) == WebSocket.OPEN) { - return - } + await connectMutex + .runExclusive(() => { + if ((socket?.readyState ?? WebSocket.CLOSED) == WebSocket.OPEN) { + return + } - socket = new WebSocket(`ws://localhost:${port ?? 3300}/wpilibws`) + socket = new WebSocket(`ws://localhost:${port ?? 3300}/wpilibws`) - socket.addEventListener('open', () => { console.log('WS Opened'); self.postMessage({ status: 'open' }); }) - socket.addEventListener('error', () => { console.log('WS Could not open'); self.postMessage({ status: 'error' }) }) + socket.addEventListener("open", () => { + console.log("WS Opened") + self.postMessage({ status: "open" }) + }) + socket.addEventListener("error", () => { + console.log("WS Could not open") + self.postMessage({ status: "error" }) + }) - socket.addEventListener('message', onMessage) - }).then(() => console.debug('Mutex released')) + socket.addEventListener("message", onMessage) + }) + .then(() => console.debug("Mutex released")) } async function tryDisconnect(): Promise { @@ -35,15 +43,15 @@ function onMessage(event: MessageEvent) { self.postMessage(event.data) } -self.addEventListener('message', e => { +self.addEventListener("message", e => { switch (e.data.command) { - case 'connect': + case "connect": tryConnect(e.data.port) break - case 'disconnect': + case "disconnect": tryDisconnect() break - case 'update': + case "update": if (socket) { socket.send(JSON.stringify(e.data.data)) } @@ -54,4 +62,4 @@ self.addEventListener('message', e => { } }) -console.log('Worker started') \ No newline at end of file +console.log("Worker started") diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx index d920f03774..9d5c6db6d7 100644 --- a/fission/src/ui/components/MainHUD.tsx +++ b/fission/src/ui/components/MainHUD.tsx @@ -146,11 +146,7 @@ const MainHUD: React.FC = () => { } }} /> - } - onClick={() => openPanel("ws-view")} - /> + } onClick={() => openPanel("ws-view")} />

{ icon={} onClick={() => { // worker?.postMessage({ command: 'connect' }); - const miraObjs = [...World.SceneRenderer.sceneObjects.entries()] - .filter(x => x[1] instanceof MirabufSceneObject) + const miraObjs = [...World.SceneRenderer.sceneObjects.entries()].filter( + x => x[1] instanceof MirabufSceneObject + ) console.log(`Number of mirabuf scene objects: ${miraObjs.length}`) if (miraObjs.length > 0) { const mechanism = (miraObjs[0][1] as MirabufSceneObject).mechanism diff --git a/fission/src/ui/panels/WSViewPanel.tsx b/fission/src/ui/panels/WSViewPanel.tsx index 969ce74a50..2168b2f203 100644 --- a/fission/src/ui/panels/WSViewPanel.tsx +++ b/fission/src/ui/panels/WSViewPanel.tsx @@ -1,6 +1,17 @@ import Panel, { PanelPropsImpl } from "@/components/Panel" import { SimMapUpdateEvent, SimGeneric, simMap, SimType } from "@/systems/simulation/wpilib_brain/WPILibBrain" -import { Box, Stack, styled, Table, TableBody, TableCell, TableContainer, TableHead, TableRow, Typography } from "@mui/material" +import { + Box, + Stack, + styled, + Table, + TableBody, + TableCell, + TableContainer, + TableHead, + TableRow, + Typography, +} from "@mui/material" import { useCallback, useEffect, useMemo, useState } from "react" import { GrConnect } from "react-icons/gr" import Dropdown from "../components/Dropdown" @@ -18,42 +29,84 @@ const TypoStyled = styled(Typography)({ function generateTableBody() { return ( - {simMap.has('PWM') ? [...simMap.get('PWM')!.entries()].filter(x => x[1][" { - return ( - - PWM - {x[0]} - {JSON.stringify(x[1])} - - ) - }) : <>} - {simMap.has('SimDevice') ? [...simMap.get('SimDevice')!.entries()].map(x => { - return ( - - SimDevice - {x[0]} - {JSON.stringify(x[1])} - - ) - }): <>} - {simMap.has('CANMotor') ? [...simMap.get('CANMotor')!.entries()].map(x => { - return ( - - CAN Motor - {x[0]} - {JSON.stringify(x[1])} - - ) - }) : <>} - {simMap.has('CANEncoder') ? [...simMap.get('CANEncoder')!.entries()].map(x => { - return ( - - CAN Encoder - {x[0]} - {JSON.stringify(x[1])} - - ) - }) : <>} + {simMap.has("PWM") ? ( + [...simMap.get("PWM")!.entries()] + .filter(x => x[1][" { + return ( + + + PWM + + + {x[0]} + + + {JSON.stringify(x[1])} + + + ) + }) + ) : ( + <> + )} + {simMap.has("SimDevice") ? ( + [...simMap.get("SimDevice")!.entries()].map(x => { + return ( + + + SimDevice + + + {x[0]} + + + {JSON.stringify(x[1])} + + + ) + }) + ) : ( + <> + )} + {simMap.has("CANMotor") ? ( + [...simMap.get("CANMotor")!.entries()].map(x => { + return ( + + + CAN Motor + + + {x[0]} + + + {JSON.stringify(x[1])} + + + ) + }) + ) : ( + <> + )} + {simMap.has("CANEncoder") ? ( + [...simMap.get("CANEncoder")!.entries()].map(x => { + return ( + + + CAN Encoder + + + {x[0]} + + + {JSON.stringify(x[1])} + + + ) + }) + ) : ( + <> + )} ) } @@ -76,7 +129,6 @@ function setGeneric(simType: SimType, device: string, field: string, value: stri } const WSViewPanel: React.FC = ({ panelId }) => { - const [tb, setTb] = useState(generateTableBody()) const [selectedType, setSelectedType] = useState() @@ -87,12 +139,10 @@ const WSViewPanel: React.FC = ({ panelId }) => { const deviceSelect = useMemo(() => { if (!selectedType || !simMap.has(selectedType)) { - return (<>) + return <> } - return ( - setSelectedDevice(v)}/> - ) + return setSelectedDevice(v)} /> }, [selectedType]) useEffect(() => { @@ -112,45 +162,54 @@ const WSViewPanel: React.FC = ({ panelId }) => { }, [onSimMapUpdate]) return ( - } - panelId={panelId} - openLocation="right" - sidePadding={4} - > + } panelId={panelId} openLocation="right" sidePadding={4}> - Type - Device - Data + + Type + + + Device + + + Data + {tb}
- setSelectedType(v as unknown as SimType)} /> + setSelectedType(v as unknown as SimType)} + /> {deviceSelect} - {selectedDevice - ? - setField(v)} /> - setValue(v)} /> - setSelectedValueType(v as ValueType)} /> + {selectedDevice ? ( + + setField(v)} /> + setValue(v)} /> + setSelectedValueType(v as ValueType)} + />