diff --git a/.eslintrc.json b/.eslintrc.json new file mode 100644 index 00000000..61bf40eb --- /dev/null +++ b/.eslintrc.json @@ -0,0 +1,45 @@ +{ + "env": { + "browser": true, + "es2020": true + }, + "ignorePatterns": ["src/main/deploy", "node_modules", "dist"], + "extends": ["eslint:recommended", "prettier"], + "plugins": ["import", "prettier", "@typescript-eslint"], + "parserOptions": { + "ecmaVersion": "latest", + "sourceType": "module" + }, + "rules": { + "prefer-const": ["error", { "destructuring": "all", "ignoreReadBeforeAssign": false }], + "sort-imports": ["error", { "ignoreDeclarationSort": true }], + "import/order": ["error", { "alphabetize": { "order": "asc" } }], + "prettier/prettier": "error" + }, + "overrides": [ + { + "files": ["*.ts"], + "extends": [ + "plugin:import/typescript", + "plugin:@typescript-eslint/eslint-recommended", + "plugin:@typescript-eslint/recommended-type-checked", + "plugin:@typescript-eslint/stylistic-type-checked" + ], + "parser": "@typescript-eslint/parser", + "parserOptions": { + "project": true + }, + "rules": { + "@typescript-eslint/consistent-indexed-object-style": "off", + "@typescript-eslint/no-empty-function": "off", + "@typescript-eslint/no-empty-interface": "off", + "@typescript-eslint/no-explicit-any": "off", + "@typescript-eslint/no-inferrable-types": ["error", { "ignoreParameters": true }], + "@typescript-eslint/no-unsafe-member-access": "off", + "@typescript-eslint/no-unused-vars": ["error", { "args": "none", "ignoreRestSiblings": true }], + "@typescript-eslint/no-var-requires": "error", + "@typescript-eslint/prefer-nullish-coalescing": "off" + } + } + ] +} diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 74db03ce..2bceecd3 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -17,6 +17,8 @@ jobs: - name: Grant execute permission run: chmod +x gradlew - name: Check formatting - run: ./gradlew spotlessCheck + run: ./gradlew lint + env: + CI: 'true' - name: Build and test run: ./gradlew build \ No newline at end of file diff --git a/.gitignore b/.gitignore index fe3ae64d..160925a9 100644 --- a/.gitignore +++ b/.gitignore @@ -182,3 +182,12 @@ logs/ # Folder that has CTRE Phoenix Sim device config storage ctre_sim/ + +################# +### Team 1701 ### +################# + +# Node +node_modules +dist +src/main/deploy/web diff --git a/.prettierignore b/.prettierignore new file mode 100644 index 00000000..d8e0d892 --- /dev/null +++ b/.prettierignore @@ -0,0 +1,9 @@ +.wpilib +.github +src/main/deploy +vendordeps +*.md +package-lock.json +simgui*.json +networktables.json +navgrid.json diff --git a/.prettierrc b/.prettierrc new file mode 100644 index 00000000..896724d0 --- /dev/null +++ b/.prettierrc @@ -0,0 +1,10 @@ +{ + "bracketSpacing": true, + "printWidth": 150, + "quoteProps": "consistent", + "semi": true, + "singleQuote": true, + "tabWidth": 2, + "trailingComma": "es5", + "useTabs": false +} diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 00000000..1c79ec96 --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,13 @@ +{ + "recommendations": [ + "eamodio.gitlens", + "streetsidesoftware.code-spell-checker", + "vscjava.vscode-gradle", + "richardwillis.vscode-spotless-gradle", + "dbaeumer.vscode-eslint", + "esbenp.prettier-vscode", + "runem.lit-plugin", + "bradlc.vscode-tailwindcss" + ], + "unwantedRecommendations": ["vscjava.vscode-java-pack"] +} diff --git a/.vscode/launch.json b/.vscode/launch.json index 5b804e84..0b8bb7ef 100644 --- a/.vscode/launch.json +++ b/.vscode/launch.json @@ -1,21 +1,20 @@ -{ - // Use IntelliSense to learn about possible attributes. - // Hover to view descriptions of existing attributes. - // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 - "version": "0.2.0", - "configurations": [ - - { - "type": "wpilib", - "name": "WPILib Desktop Debug", - "request": "launch", - "desktop": true, - }, - { - "type": "wpilib", - "name": "WPILib roboRIO Debug", - "request": "launch", - "desktop": false, - } - ] -} +{ + // Use IntelliSense to learn about possible attributes. + // Hover to view descriptions of existing attributes. + // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 + "version": "0.2.0", + "configurations": [ + { + "type": "wpilib", + "name": "WPILib Desktop Debug", + "request": "launch", + "desktop": true + }, + { + "type": "wpilib", + "name": "WPILib roboRIO Debug", + "request": "launch", + "desktop": false + } + ] +} diff --git a/.vscode/settings.json b/.vscode/settings.json index 6ee7a6fa..7dcd604a 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -1,63 +1,75 @@ -{ - "java.configuration.updateBuildConfiguration": "automatic", - "java.server.launchMode": "Standard", - "files.exclude": { - "**/.git": true, - "**/.svn": true, - "**/.hg": true, - "**/CVS": true, - "**/.DS_Store": true, - "bin/": true, - "**/.classpath": true, - "**/.project": true, - "**/.settings": true, - "**/.factorypath": true, - "**/*~": true - }, - "java.test.config": [ - { - "name": "WPIlibUnitTests", - "workingDirectory": "${workspaceFolder}/build/jni/release", - "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ], - "env": { - "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" , - "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" - } - }, - ], - "java.test.defaultConfig": "WPIlibUnitTests", - "editor.formatOnSave": true, - "files.eol": "\n", - "java.format.enabled": false, - "[java]": { - "files.trimTrailingWhitespace": false, - "spotlessGradle.format.enable": true, - "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle", - "editor.codeActionsOnSave": { - "source.fixAll.spotlessGradle": "always" - }, - "editor.detectIndentation": false, - "editor.indentSize": 4 - }, - "[json]": { - "files.insertFinalNewline": true, - "editor.indentSize": 2 - }, - "[jsonc]": { - "files.insertFinalNewline": true, - "editor.indentSize": 2 - }, - "cSpell.words": [ - "Brushless", - "Deadband", - "dtheta", - "Holonomic", - "Odometry", - "Reprojection", - "Setpoint", - "Setpoints", - "teleop", - "Uncomitted", - "WPILOG" - ] -} +{ + "java.configuration.updateBuildConfiguration": "automatic", + "java.server.launchMode": "Standard", + "files.exclude": { + "**/.git": true, + "**/.svn": true, + "**/.hg": true, + "**/CVS": true, + "**/.DS_Store": true, + "bin/": true, + "**/.classpath": true, + "**/.project": true, + "**/.settings": true, + "**/.factorypath": true, + "**/*~": true + }, + "java.test.config": [ + { + "name": "WPIlibUnitTests", + "workingDirectory": "${workspaceFolder}/build/jni/release", + "vmargs": ["-Djava.library.path=${workspaceFolder}/build/jni/release"], + "env": { + "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release", + "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" + } + } + ], + "java.test.defaultConfig": "WPIlibUnitTests", + "editor.formatOnSave": true, + "files.eol": "\n", + "java.format.enabled": false, + "files.associations": { + "*.css": "tailwindcss" + }, + "[java]": { + "files.trimTrailingWhitespace": false, + "spotlessGradle.format.enable": true, + "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle", + "editor.codeActionsOnSave": { + "source.fixAll.spotlessGradle": "explicit" + }, + "editor.detectIndentation": false, + "editor.indentSize": 4 + }, + "[json][jsonc][html][css]": { + "editor.defaultFormatter": "esbenp.prettier-vscode", + "editor.indentSize": 2 + }, + "[javascript][typescript]": { + "editor.defaultFormatter": "esbenp.prettier-vscode", + "editor.indentSize": 2, + "editor.codeActionsOnSave": { + "source.fixAll.eslint": "explicit" + } + }, + "eslint.rules.customizations": [ + { "rule": "*", "severity": "warn" }, + { "rule": "prettier/prettier", "severity": "off" } + ], + "eslint.validate": ["javascript", "typescript", "svelte"], + "cSpell.words": [ + "Brushless", + "Deadband", + "dtheta", + "Holonomic", + "Odometry", + "Reprojection", + "robocub", + "Setpoint", + "Setpoints", + "teleop", + "Uncomitted", + "WPILOG" + ] +} diff --git a/build.gradle b/build.gradle index aec2d798..7fc0df07 100644 --- a/build.gradle +++ b/build.gradle @@ -3,6 +3,7 @@ plugins { id "edu.wpi.first.GradleRIO" version "2024.2.1" id "com.diffplug.spotless" version "6.23.3" id "com.peterabeles.gversion" version "1.10.2" + id "com.github.node-gradle.node" version "7.0.1" } java { @@ -95,6 +96,8 @@ dependencies { testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' testRuntimeOnly 'org.junit.platform:junit-platform-launcher' + implementation "io.javalin:javalin:6.0.0" + def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text) annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version" } @@ -149,7 +152,7 @@ spotless { java { target fileTree('.') { include '**/*.java' - exclude '**/build/**', '**/build-*/**', 'src/main/java/com/team1701/robot/BuildConstants.java', 'bin/generated-sources/**' + exclude '.*/**', '**/build/**', '**/build-*/**', 'src/main/java/com/team1701/robot/BuildConstants.java', 'bin/generated-sources/**', 'src/main/deploy/**', '**/dist/**', '**/node_modules/**' } removeUnusedImports() palantirJavaFormat() @@ -159,7 +162,7 @@ spotless { groovyGradle { target fileTree('.') { include '**/*.gradle' - exclude '**/build/**', '**/build-*/**' + exclude '.*/**', '**/build/**', '**/build-*/**', 'src/main/deploy/**', '**/node_modules/**' } greclipse() indentWithSpaces(4) @@ -169,7 +172,7 @@ spotless { format 'xml', { target fileTree('.') { include '**/*.xml' - exclude '**/build/**', '**/build-*/**' + exclude '.*/**', '**/build/**', '**/build-*/**', 'src/main/deploy/**', '**/dist/**', '**/node_modules/**' } eclipseWtp('xml') trimTrailingWhitespace() @@ -179,10 +182,81 @@ spotless { format 'misc', { target fileTree('.') { include '**/*.md', '**/.gitignore' - exclude '**/build/**', '**/build-*/**' + exclude '.*/**', '**/build/**', '**/build-*/**', 'src/main/deploy/**', '**/dist/**', '**/node_modules/**' } trimTrailingWhitespace() indentWithSpaces(2) endWithNewline() } } + +// NPM Bundles +node { + download = true + version = '20.11.0' + npmInstallCommand = System.getenv('CI') ? 'ci' : 'install'; +} + +npmInstall { + args = System.getenv('CI') ? [] : ['--workspaces'] + inputs.files 'package.json', 'package-lock.json' + inputs.dir fileTree('.') { + include 'node_modules/**' + exclude 'node_modules/.cache/**' + } +} + +task npmRunLint(type: NpmTask) { + dependsOn npmInstall + args = ['run', 'lint'] + inputs.files '.eslintrc.json', '.prettierrc', '.prettierignore' + inputs.dir fileTree('src/main/ts') { + exclude '**/dist/**', '**/node_modules/**' + } + outputs.upToDateWhen { true } +} + +task npmRunLintCi(type: NpmTask) { + dependsOn npmInstall + args = ['run', 'lint:ci'] +} + +task npmRunBuild(type: NpmTask) { + dependsOn npmInstall + args = ['run', 'build:deploy'] + inputs.dir fileTree('src/main/ts') { + exclude '**/dist/**', '**/node_modules/.vite/**' + } + outputs.dir 'src/main/deploy/web' +} + +compileJava.dependsOn(npmRunBuild) + +// Prettier formatting +task prettierApply(type: NpxTask) { + dependsOn(npmInstall) + command = 'prettier' + args = ['.', '--write'] + inputs.files '.prettierrc', '.prettierignore' + inputs.dir fileTree('.') { + include '**/*.json', '**/*.js', '**/*.ts', '**/*.css', '**/*.html' + exclude '**/build/**', '**/build-*/**', 'src/main/deploy/**', '**/dist/**', '**/node_modules/**' + } + outputs.upToDateWhen { true } +} + +compileJava.dependsOn(prettierApply) + +task prettierCheck(type: NpxTask) { + dependsOn(npmInstall) + command = 'prettier' + args = ['.', '--check'] +} + + +// Task groups +task lint() { + dependsOn System.getenv('CI') ? spotlessCheck : spotlessApply + dependsOn System.getenv('CI') ? prettierCheck : prettierApply + dependsOn System.getenv('CI') ? npmRunLintCi : npmRunLint +} diff --git a/package-lock.json b/package-lock.json new file mode 100644 index 00000000..50da6aaf --- /dev/null +++ b/package-lock.json @@ -0,0 +1,7170 @@ +{ + "name": "@frc-team-1701/2024-robot-code", + "version": "0.0.0", + "lockfileVersion": 3, + "requires": true, + "packages": { + "": { + "name": "@frc-team-1701/2024-robot-code", + "version": "0.0.0", + "license": "MIT", + "workspaces": [ + 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"@frc-web-components/app", + "version": "0.2.0", + "extraneous": true, + "dependencies": { + "@frc-web-components/fwc": "^2.3.1", + "@frc-web-components/svelte": "^0.3.0", + "@webbitjs/store": "^5.7.0" + }, + "devDependencies": { + "@sveltejs/vite-plugin-svelte": "^2.4.2", + "@tsconfig/svelte": "^5.0.0", + "svelte": "^4.0.5", + "svelte-check": "^3.4.6", + "tslib": "^2.6.0", + "typescript": "^5.0.2", + "vite": "^4.4.5" + } + }, + "src/main/ts/svelte": { + "name": "@frc-team-1701/svelte", + "version": "1.0.0", + "extraneous": true, + "license": "MIT", + "dependencies": { + "@frc-web-components/fwc": "^2.3.1", + "@frc-web-components/svelte": "^0.3.0", + "@webbitjs/store": "^5.7.0" + }, + "devDependencies": { + "@sveltejs/vite-plugin-svelte": "^2.4.2", + "@tsconfig/svelte": "^5.0.0", + "svelte": "^4.0.5", + "svelte-check": "^3.4.6", + "tslib": "^2.6.0", + "typescript": "^5.0.2", + "vite": "^4.4.5" + } + } + } +} diff --git a/package.json b/package.json new file mode 100644 index 00000000..622c3fc4 --- /dev/null +++ b/package.json @@ -0,0 +1,25 @@ +{ + "name": "@frc-team-1701/2024-robot-code", + "version": "0.0.0", + "license": "MIT", + "description": "", + "scripts": { + "lint": "npm run lint --workspaces --if-present", + "lint:ci": "npm run lint:ci --workspaces --if-present", + "build": "npm run build --workspaces --if-present", + "build:deploy": "npm run build:deploy --workspaces --if-present" + }, + "workspaces": [ + "src/main/ts/dashboard" + ], + "devDependencies": { + "@types/node": "^20.11.10", + "@typescript-eslint/eslint-plugin": "^6.19.1", + "@typescript-eslint/parser": "^6.19.1", + "eslint": "^8.56.0", + "eslint-config-prettier": "^9.1.0", + "eslint-plugin-import": "^2.29.1", + "eslint-plugin-prettier": "^5.1.3", + "prettier": "^3.2.4" + } +} diff --git a/src/main/java/com/team1701/robot/Robot.java b/src/main/java/com/team1701/robot/Robot.java index 8f6de8c4..48a41cff 100644 --- a/src/main/java/com/team1701/robot/Robot.java +++ b/src/main/java/com/team1701/robot/Robot.java @@ -4,13 +4,17 @@ package com.team1701.robot; +import java.nio.file.Paths; import java.util.Optional; import com.team1701.robot.Configuration.Mode; import edu.wpi.first.hal.AllianceStationID; +import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.simulation.DriverStationSim; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; +import io.javalin.Javalin; +import io.javalin.http.staticfiles.Location; import org.littletonrobotics.junction.LogFileUtil; import org.littletonrobotics.junction.LoggedRobot; import org.littletonrobotics.junction.Logger; @@ -91,7 +95,18 @@ private void initializeAdvantageKit() { // Start AdvantageKit logger setUseTiming(Configuration.getMode() != Configuration.Mode.REPLAY); Logger.start(); + + // Build robot container mRobotContainer = new RobotContainer(); + + // Launch web server + Javalin.create(config -> { + config.staticFiles.add( + Paths.get(Filesystem.getDeployDirectory().getAbsolutePath(), "web") + .toString(), + Location.EXTERNAL); + }) + .start(5800); } @Override diff --git a/src/main/ts/dashboard/index.css b/src/main/ts/dashboard/index.css new file mode 100644 index 00000000..b5c61c95 --- /dev/null +++ b/src/main/ts/dashboard/index.css @@ -0,0 +1,3 @@ +@tailwind base; +@tailwind components; +@tailwind utilities; diff --git a/src/main/ts/dashboard/index.html b/src/main/ts/dashboard/index.html new file mode 100644 index 00000000..caa67470 --- /dev/null +++ b/src/main/ts/dashboard/index.html @@ -0,0 +1,13 @@ + + + + + + FWC Dashboard + + + + + + + diff --git a/src/main/ts/dashboard/package.json b/src/main/ts/dashboard/package.json new file mode 100644 index 00000000..fc14410e --- /dev/null +++ b/src/main/ts/dashboard/package.json @@ -0,0 +1,32 @@ +{ + "name": "@frc-team-1701/lit", + "private": true, + "version": "0.0.0", + "license": "MIT", + "type": "module", + "scripts": { + "lint": "eslint . --fix", + "lint:ci": "eslint .", + "dev": "vite", + "build": "vite build", + "build:deploy": "DASHBOARD_BASE='dashboard' DASHBOARD_OUT_DIR='../../deploy/web/dashboard' vite build", + "watch": "vite build --watch", + "preview": "vite preview", + "check": "svelte-check --tsconfig ./tsconfig.json" + }, + "devDependencies": { + "autoprefixer": "^10.4.17", + "postcss": "^8.4.33", + "tailwindcss": "^3.4.1", + "typescript": "^5.0.2", + "vite": "^4.4.5" + }, + "dependencies": { + "@frc-web-components/fwc": "^2.3.1", + "@lit/context": "^1.1.0", + "@lit/reactive-element": "^2.0.0", + "@webbitjs/store": "^5.7.0", + "@webbitjs/webbit": "^5.11.0", + "lit": "^3.0.1" + } +} diff --git a/src/main/ts/dashboard/postcss.config.js b/src/main/ts/dashboard/postcss.config.js new file mode 100644 index 00000000..2aa7205d --- /dev/null +++ b/src/main/ts/dashboard/postcss.config.js @@ -0,0 +1,6 @@ +export default { + plugins: { + tailwindcss: {}, + autoprefixer: {}, + }, +}; diff --git a/src/main/ts/dashboard/public/field-images/2024-field.jpg b/src/main/ts/dashboard/public/field-images/2024-field.jpg new file mode 100644 index 00000000..3c695a76 Binary files /dev/null and b/src/main/ts/dashboard/public/field-images/2024-field.jpg differ diff --git a/src/main/ts/dashboard/src/dashboard.ts b/src/main/ts/dashboard/src/dashboard.ts new file mode 100644 index 00000000..f97169eb --- /dev/null +++ b/src/main/ts/dashboard/src/dashboard.ts @@ -0,0 +1,58 @@ +import { DashboardThemes, darkTheme } from '@frc-web-components/fwc/themes'; +import { provide } from '@lit/context'; +import { LitElement, css, html } from 'lit'; +import { customElement } from 'lit/decorators.js'; +import { NetworkTables, nt4Context } from './network-tables/network-tables'; +import { ensureSendableChooserInitialized } from './network-tables/util'; +import { globalStylesCss } from './styles/styles'; + +@customElement('team1701-dashboard') +export class Dashboard extends LitElement { + @provide({ context: nt4Context }) + private nt = new NetworkTables('localhost'); + + constructor() { + super(); + + const themes = new DashboardThemes(); + themes.addThemeRules('dark', darkTheme); + themes.setTheme(document.body, 'dark'); + } + + protected firstUpdated(): void { + this.nt.bindConnection(this.renderRoot.querySelector('#dashboard-root')!); + ensureSendableChooserInitialized(this.nt, '/SmartDashboard/Auto Mode'); + } + + render() { + return html` +
+
+
+
+
+ +
+
+ + + +
+ `; + } + + static styles = [globalStylesCss, css``]; +} + +declare global { + interface HTMLElementTagNameMap { + 'team1701-dashboard': Dashboard; + } +} diff --git a/src/main/ts/dashboard/src/globals.d.ts b/src/main/ts/dashboard/src/globals.d.ts new file mode 100644 index 00000000..a03a5923 --- /dev/null +++ b/src/main/ts/dashboard/src/globals.d.ts @@ -0,0 +1 @@ +declare module '*.css?inline'; diff --git a/src/main/ts/dashboard/src/index.ts b/src/main/ts/dashboard/src/index.ts new file mode 100644 index 00000000..dd8809d0 --- /dev/null +++ b/src/main/ts/dashboard/src/index.ts @@ -0,0 +1,2 @@ +import '@frc-web-components/fwc/components'; +export * from './dashboard'; diff --git a/src/main/ts/dashboard/src/network-tables/directives.ts b/src/main/ts/dashboard/src/network-tables/directives.ts new file mode 100644 index 00000000..09c690e8 --- /dev/null +++ b/src/main/ts/dashboard/src/network-tables/directives.ts @@ -0,0 +1,60 @@ +import { Store } from '@webbitjs/store'; +import { AsyncDirective } from 'lit/async-directive.js'; +import { directive } from 'lit/directive.js'; + +export class SourceValue extends AsyncDirective { + static getSourceValue(store: Store, provider: string, key: string, defaultValue: unknown): unknown { + const source = store.getSource(provider, key); + const value = source?.hasValue() ? source.getValue() : defaultValue; + return typeof value === 'string' ? value : JSON.stringify(value); + } + + render(store: Store, provider: string, key: string, defaultValue: unknown) { + store.subscribe( + provider, + key, + () => { + this.setValue(SourceValue.getSourceValue(store, provider, key, defaultValue)); + }, + false + ); + return SourceValue.getSourceValue(store, provider, key, defaultValue); + } +} + +export const sourceValue = directive(SourceValue); + +export const ntValueDirective = (store: Store) => (key: string, defaultValue: unknown) => sourceValue(store, 'NetworkTables', key, defaultValue); + +export class SourcePose2d extends AsyncDirective { + static getSourceValue(store: Store, provider: string, key: string, defaultValue: number[]): unknown { + const source = store.getSource(provider, key); + if (!source?.hasValue()) { + return defaultValue; + } + + const view = new DataView(new Uint8Array(source.getValue() as Uint8Array).buffer); + const pose = []; + for (let i = 0; i < 3; i++) { + pose.push(view.getFloat64(i * 8, true)); + } + + return pose; + } + + render(store: Store, provider: string, key: string, defaultValue: number[]) { + store.subscribe( + provider, + key, + () => { + this.setValue(SourcePose2d.getSourceValue(store, provider, key, defaultValue)); + }, + false + ); + return SourcePose2d.getSourceValue(store, provider, key, defaultValue); + } +} + +export const sourcePose2d = directive(SourcePose2d); + +export const ntPose2dDirective = (store: Store) => (key: string, defaultValue: number[]) => sourcePose2d(store, 'NetworkTables', key, defaultValue); diff --git a/src/main/ts/dashboard/src/network-tables/network-tables.ts b/src/main/ts/dashboard/src/network-tables/network-tables.ts new file mode 100644 index 00000000..892dca6d --- /dev/null +++ b/src/main/ts/dashboard/src/network-tables/network-tables.ts @@ -0,0 +1,75 @@ +import { dashboardElementConfigs } from '@frc-web-components/fwc/components'; +import { Nt4Provider } from '@frc-web-components/fwc/source-providers'; +import { createContext } from '@lit/context'; +import { Store } from '@webbitjs/store'; +import { WebbitConfig, WebbitConnector } from '@webbitjs/webbit'; +import { DirectiveResult } from 'lit/directive.js'; +import { SourcePose2d, SourceValue, ntPose2dDirective, ntValueDirective } from './directives'; + +export class NetworkTables { + private readonly store: Store; + private readonly provider: Nt4Provider; + private readonly nt4ValueDirective; + private readonly nt4Pose2dDirective; + + constructor(address: string) { + this.provider = new Nt4Provider(); + this.store = new Store(); + this.store.addSourceProvider('NetworkTables', this.provider); + this.store.setDefaultSourceProvider('NetworkTables'); + this.provider.connect(address); + + this.nt4ValueDirective = ntValueDirective(this.store); + this.nt4Pose2dDirective = ntPose2dDirective(this.store); + } + + bindConnection(rootElement: HTMLElement) { + new WebbitConnector(rootElement, this.store).addElementConfigs(dashboardElementConfigs as Record>, 'FRC'); + } + + getValue(key: string, defaultValue: T): T { + if (!this.store.getSource('NetworkTables', key)?.hasValue()) { + return defaultValue; + } + return this.store.getSourceValue('NetworkTables', key) as T; + } + + setValue(key: string, value: unknown) { + this.provider.userUpdate(key, value); + } + + addKeyListener(key: string, callback: (key: string, value: T) => unknown, immediateNotify: boolean) { + return this.store.subscribe( + 'NetworkTables', + key, + (value: unknown) => { + callback(key, value as T); + }, + immediateNotify + ); + } + + addGlobalListener(callback: (key: string, value: unknown) => unknown, immediateNotify: boolean) { + return this.store.subscribeAll( + 'NetworkTables', + (value: unknown, key: string) => { + callback(key, value); + }, + immediateNotify + ); + } + + getStore() { + return this.store; + } + + $value(key: string, value: unknown): DirectiveResult { + return this.nt4ValueDirective(key, value); + } + + $pose2d(key: string, value: number[]): DirectiveResult { + return this.nt4Pose2dDirective(key, value); + } +} + +export const nt4Context = createContext('nt4'); diff --git a/src/main/ts/dashboard/src/network-tables/util.ts b/src/main/ts/dashboard/src/network-tables/util.ts new file mode 100644 index 00000000..b881c22b --- /dev/null +++ b/src/main/ts/dashboard/src/network-tables/util.ts @@ -0,0 +1,22 @@ +import { NetworkTables } from './network-tables'; + +export function ensureSendableChooserInitialized(nt: NetworkTables, key: string) { + // TODO: handle restarts of robot after initial page load + let selectedAutoMode = ''; + nt.addKeyListener( + key, + (_, value: { default: string; selected: string }) => { + if (value && (selectedAutoMode ?? '') === '') { + if (value && Object.hasOwn(value, 'selected')) { + selectedAutoMode = value.selected; + } else if (Object.hasOwn(value, 'default')) { + selectedAutoMode = value.default; + } + } + if (value && (!Object.hasOwn(value, 'selected') || value.selected === '') && Object.hasOwn(value, 'default')) { + nt.setValue(`${key}/selected`, (selectedAutoMode ?? '') !== '' ? selectedAutoMode : value.default); + } + }, + true + ); +} diff --git a/src/main/ts/dashboard/src/styles/global-styles.css b/src/main/ts/dashboard/src/styles/global-styles.css new file mode 100644 index 00000000..b5c61c95 --- /dev/null +++ b/src/main/ts/dashboard/src/styles/global-styles.css @@ -0,0 +1,3 @@ +@tailwind base; +@tailwind components; +@tailwind utilities; diff --git a/src/main/ts/dashboard/src/styles/styles.ts b/src/main/ts/dashboard/src/styles/styles.ts new file mode 100644 index 00000000..0dc21b90 --- /dev/null +++ b/src/main/ts/dashboard/src/styles/styles.ts @@ -0,0 +1,4 @@ +import { unsafeCSS } from 'lit'; +import globalStyles from './global-styles.css?inline'; + +export const globalStylesCss = unsafeCSS(globalStyles); diff --git a/src/main/ts/dashboard/tailwind.config.js b/src/main/ts/dashboard/tailwind.config.js new file mode 100644 index 00000000..16aee316 --- /dev/null +++ b/src/main/ts/dashboard/tailwind.config.js @@ -0,0 +1,8 @@ +/** @type {import('tailwindcss').Config} */ +export default { + content: ['./index.html', './src/**/*.{js,ts,html,css}'], + theme: { + extend: {}, + }, + plugins: [], +}; diff --git a/src/main/ts/dashboard/tsconfig.json b/src/main/ts/dashboard/tsconfig.json new file mode 100644 index 00000000..9bf0fa1b --- /dev/null +++ b/src/main/ts/dashboard/tsconfig.json @@ -0,0 +1,26 @@ +{ + "compilerOptions": { + "target": "ES2022", + "experimentalDecorators": true, + "useDefineForClassFields": false, + "module": "ESNext", + "lib": ["ES2022", "DOM", "DOM.Iterable"], + "skipLibCheck": true, + + /* Bundler mode */ + "moduleResolution": "bundler", + "allowImportingTsExtensions": true, + "resolveJsonModule": true, + "isolatedModules": true, + "declaration": true, + "declarationDir": "dist", + "emitDeclarationOnly": true, + + /* Linting */ + "strict": true, + "noUnusedLocals": true, + "noUnusedParameters": true, + "noFallthroughCasesInSwitch": true, + }, + "include": ["vite.config.ts", "src"], +} diff --git a/src/main/ts/dashboard/vite.config.ts b/src/main/ts/dashboard/vite.config.ts new file mode 100644 index 00000000..00b5577e --- /dev/null +++ b/src/main/ts/dashboard/vite.config.ts @@ -0,0 +1,19 @@ +import { defineConfig } from 'vite'; + +export default defineConfig({ + base: process.env.DASHBOARD_BASE ?? '/', + build: { + outDir: process.env.DASHBOARD_OUT_DIR ?? 'dist', + emptyOutDir: true, + chunkSizeWarningLimit: 1000, + rollupOptions: { + output: { + manualChunks: { + 'fwc-components': ['@frc-web-components/fwc/components'], + 'fwc-source-providers': ['@frc-web-components/fwc/source-providers'], + 'fwc': ['@frc-web-components/fwc'], + }, + }, + }, + }, +});