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motorchecker works mostly
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@AlphaPranav9102
AlphaPranav9102 committed May 6, 2023
1 parent 18dfa0d commit aa69e18
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Showing 11 changed files with 1,439 additions and 760 deletions.
194 changes: 185 additions & 9 deletions bundles/hub.js
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Original file line number Diff line number Diff line change
Expand Up @@ -621,19 +621,17 @@ function convertWithPreset(value, preset) {

const ENABLED_KEYS = [
"/DriverStation/Enabled",
"/AdvantageKit/DriverStation/Enabled",
"NT:/AdvantageKit/DriverStation/Enabled",
"DS:enabled",
"/FMSInfo/FMSControlData",
"NT:/FMSInfo/FMSControlData",
"/DSLog/Status/DSDisabled"
];
const ALLIANCE_KEYS = [
"/DriverStation/AllianceStation",
"/AdvantageKit/DriverStation/AllianceStation",
"/FMSInfo/IsRedAlliance",
"NT:/AdvantageKit/DriverStation/AllianceStation",
"NT:/FMSInfo/IsRedAlliance"
];
const JOYSTICK_KEYS = ["/DriverStation/Joystick", "/AdvantageKit/DriverStation/Joystick", "DS:joystick"];
const JOYSTICK_KEYS = ["/DriverStation/Joystick", "NT:/AdvantageKit/DriverStation/Joystick", "DS:joystick"];
const TYPE_KEY = ".type";
const MECHANISM_KEY = "Mechanism2d";
function getLogValueText(value, type) {
Expand Down Expand Up @@ -1993,6 +1991,7 @@ const Schemas = new Map();
Schemas.set("rawBytes", process);

class NT4Source extends LiveDataSource {
WPILOG_PREFIX = "NT:";
AKIT_PREFIX = "/AdvantageKit";
akitMode;
log = null;
Expand Down Expand Up @@ -2052,7 +2051,7 @@ class NT4Source extends LiveDataSource {
activeFields.add(this.AKIT_PREFIX + subscribeKey);
}
else {
activeFields.add(subscribeKey);
activeFields.add(subscribeKey.slice(this.WPILOG_PREFIX.length));
}
}
});
Expand Down Expand Up @@ -2237,7 +2236,7 @@ class NT4Source extends LiveDataSource {
return topic.name.slice(this.AKIT_PREFIX.length);
}
else {
return topic.name;
return this.WPILOG_PREFIX + topic.name;
}
}
getLogType(ntType) {
Expand Down Expand Up @@ -2829,6 +2828,10 @@ class Sidebar {
}
this.selectGroupClearCallbacks = [];
let tree = window.log.getFieldTree();
let rootKeys = Object.keys(tree);
if (rootKeys.length == 1 && tree[rootKeys[0]].fullKey === null) {
tree = tree[rootKeys[0]].children;
}
Object.keys(tree)
.filter((key) => !this.HIDDEN_KEYS.includes(key))
.sort((a, b) => this.sortKeys(a, b, true))
Expand Down Expand Up @@ -3032,6 +3035,7 @@ var TabType;
TabType[TabType["Mechanism"] = 10] = "Mechanism";
TabType[TabType["Points"] = 11] = "Points";
TabType[TabType["Metadata"] = 12] = "Metadata";
TabType[TabType["MotorChecker"] = 13] = "MotorChecker";
})(TabType || (TabType = {}));
var TabType$1 = TabType;
const TIMELINE_VIZ_TYPES = [
Expand Down Expand Up @@ -3071,6 +3075,8 @@ function getDefaultTabTitle(type) {
return "Points";
case TabType.Metadata:
return "Metadata";
case TabType.MotorChecker:
return "MotorChecker";
default:
return "";
}
Expand Down Expand Up @@ -3103,6 +3109,8 @@ function getTabIcon(type) {
return "🔵";
case TabType.Metadata:
return "🔍";
case TabType.MotorChecker:
return "🏍️";
default:
return "";
}
Expand Down Expand Up @@ -9613,9 +9621,12 @@ let JoysticksController$1 = class JoysticksController extends TimelineVizControl
}
getAdditionalActiveFields() {
let activeFields = [];
this.CONFIG_IDS.forEach((element) => {
this.CONFIG_IDS.forEach((element, index) => {
let joystickId = Number(element.value);
activeFields = activeFields.concat(JOYSTICK_KEYS.map((key) => key + joystickId.toString()));
let joystickLayout = this.CONFIG_LAYOUTS[index].value;
if (joystickLayout !== "None") {
activeFields = activeFields.concat(JOYSTICK_KEYS.map((key) => key + joystickId.toString()));
}
});
return activeFields;
}
Expand Down Expand Up @@ -10758,6 +10769,167 @@ class MetadataController {
}
}

class MotorCheckerController {
NO_DATA_ALERT;
MOTOR_CONTAINER;
lastDataString = "";
uiTree = {};
constructor(content) {
this.NO_DATA_ALERT = content.getElementsByClassName("tab-prompt")[0];
this.MOTOR_CONTAINER = content.getElementsByClassName("motor-checker-table-container")[0];
this.refresh();
}
saveState() {
return { type: TabType$1.MotorChecker };
}
restoreState(state) { }
getActiveFields() {
return ["/RealOutputs", "/AdvantageKit/RealOutputs"];
}
periodic() {
let ntKeys = Object.keys(this.uiTree);
for (const key of ntKeys) {
let keyType = window.log.getType(key);
if (keyType == LoggableType$1.Number) {
let ntValue = (window.log.getNumber(key, Infinity, Infinity)?.values.at(-1) || 0.0).toFixed(2);
this.uiTree[key](ntValue);
}
else if (keyType == LoggableType$1.String) {
let ntValue = (window.log.getString(key, Infinity, Infinity)?.values.at(-1) || "");
console.log(ntValue);
this.uiTree[key](ntValue);
}
else if (keyType == LoggableType$1.StringArray) {
let ntValue = window.log.getStringArray(key, Infinity, Infinity)?.values.at(-1) || [];
this.uiTree[key](ntValue);
}
}
console.log("_________");
}
refresh() {
window.log.getFieldKeys();
let tree = window.log.getFieldTree();
let data = {};
if ("RealOutputs" in tree) {
let realOutputTable = tree["RealOutputs"].children;
if ("MotorChecker" in realOutputTable) {
data = realOutputTable["MotorChecker"];
}
}
if ("NT" in tree) {
let ntTable = tree["NT"].children;
if ("AdvantageKit" in ntTable) {
let akitTable = ntTable["AdvantageKit"].children;
if ("RealOutputs" in akitTable) {
let realOutputTable = akitTable["RealOutputs"].children;
if ("MotorChecker" in realOutputTable) {
data = realOutputTable["MotorChecker"];
}
}
}
}
if ("AdvantageKit" in tree) {
let akitTable = tree["AdvantageKit"].children;
if ("RealOutputs" in akitTable) {
let realOutputTable = akitTable["RealOutputs"].children;
if ("MotorChecker" in realOutputTable) {
data = realOutputTable["MotorChecker"];
}
}
}
let dataString = JSON.stringify(data);
if (dataString === this.lastDataString || Object.keys(data).length == 0) {
return;
}
this.lastDataString = dataString;
while (this.MOTOR_CONTAINER.childElementCount > 1) {
this.MOTOR_CONTAINER.removeChild(this.MOTOR_CONTAINER.lastChild);
}
data = data["children"];
this.uiTree = {};
if ("subsystemNames" in data) {
let subsystems = window.log.getStringArray(data["subsystemNames"]["fullKey"], 0, Object.keys(data).length - 2);
console.log(subsystems);
for (const subsystemID of subsystems?.values[0] || []) {
let subsystem = document.createElement("div");
subsystem.classList.add("rounded-lg", "bg-black", "h-58", "mr-10", "p-4");
let subsystemTitle = document.createElement("h1");
subsystemTitle.classList.add("text-white", "mb-4", "text-xl", "font-semibold");
subsystemTitle.innerText = subsystemID;
subsystem.appendChild(subsystemTitle);
let subsystemMotorCards = document.createElement("div");
subsystemMotorCards.classList.add("flex", "flex-row", "gap-4", "overflow-x-scroll", "flex-wrap");
subsystem.appendChild(subsystemMotorCards);
let subsystemMotors = window.log.getStringArray(data[subsystemID]["children"]["motorNames"]["fullKey"], 0, Object.keys(data[subsystemID]["children"]["motorNames"]).length - 2);
for (const motor of subsystemMotors?.values[0] || []) {
console.log(motor);
let motorTree = data[subsystemID]["children"][motor]["children"];
let motorCard = document.createElement("div");
motorCard.classList.add("text-white", "w-72", "h-40", "rounded-lg", "border-2", "p-4");
let motorStage = (window.log.getString(motorTree["CurrentLimitStage"]["fullKey"], 0, 255)?.values[0] ||
"");
let motorErrors = window.log.getStringArray(motorTree["Errors"]["fullKey"], 0, 255)?.values[0] || [];
this.uiTree[motorTree["Errors"]["fullKey"]] = function (motorErrors) {
if (motorErrors.length != 0) {
motorCard.classList.remove("border-[#30363D]", "bg-[#0f1317]");
motorCard.classList.add("border-[#c21919]", "bg-[#170f0f]");
}
else {
motorCard.classList.remove("border-[#c21919]", "bg-[#170f0f]");
motorCard.classList.add("border-[#30363D]", "bg-[#0f1317]");
}
};
this.uiTree[motorTree["CurrentLimitStage"]["fullKey"]] = function (motorStage) {
if (motorStage != "BASE") {
motorCard.classList.remove("border-[#30363D]", "bg-[#0f1317]");
motorCard.classList.add("border-[#c21919]", "bg-[#170f0f]");
}
else {
motorCard.classList.remove("border-[#c21919]", "bg-[#170f0f]");
motorCard.classList.add("border-[#30363D]", "bg-[#0f1317]");
}
};
this.uiTree[motorTree["Errors"]["fullKey"]](motorErrors);
this.uiTree[motorTree["CurrentLimitStage"]["fullKey"]](motorStage);
subsystemMotorCards.appendChild(motorCard);
let motorCardTitle = document.createElement("h1");
motorCardTitle.classList.add("text-lg", "font-semibold", "mb-2");
motorCardTitle.innerText = motor;
motorCard.appendChild(motorCardTitle);
let motorIDBox = document.createElement("span");
motorIDBox.classList.add("ml-2", "rounded-md", "border-[#ffffff]", "border-2", "px-1");
console.log(window.log.getNumber(motorTree["MotorID"]["fullKey"], 0, 2));
motorIDBox.innerText = (window.log.getNumber(motorTree["MotorID"]["fullKey"], 0, 2)?.values[0] ||
"4");
motorCardTitle.appendChild(motorIDBox);
let motorCardTemp = document.createElement("h1");
let motorTemp = window.log
.getNumber(motorTree["TemperatureCelsius"]["fullKey"], 0, 255)
?.values[0].toFixed(2);
motorCardTemp.classList.add("text-md", "font-semibold", "mb-1");
this.uiTree[motorTree["TemperatureCelsius"]["fullKey"]] = function (temperature) {
motorCardTemp.innerText = "Temperature: " + temperature;
};
this.uiTree[motorTree["TemperatureCelsius"]["fullKey"]](motorTemp);
motorCard.appendChild(motorCardTemp);
let motorCardStator = document.createElement("h1");
motorCardStator.classList.add("text-md", "font-semibold");
this.uiTree[motorTree["StatorCurrentAmps"]["fullKey"]] = function (amps) {
motorCardStator.innerText = "Stator: " + amps;
};
motorCard.appendChild(motorCardStator);
this.uiTree[motorTree["StatorCurrentAmps"]["fullKey"]](window.log.getNumber(motorTree["StatorCurrentAmps"]["fullKey"], 0, 255)?.values[0].toFixed(2));
}
this.MOTOR_CONTAINER.appendChild(subsystem);
console.log(subsystem);
}
}
let showMotorChecker = Object.keys(data).length > 0;
this.MOTOR_CONTAINER.hidden = !showMotorChecker;
this.NO_DATA_ALERT.hidden = showMotorChecker;
}
}

class OdometryVisualizer {
CONTAINER;
CANVAS;
Expand Down Expand Up @@ -50044,6 +50216,10 @@ class Tabs {
contentElement = this.CONTENT_TEMPLATES.children[13].cloneNode(true);
controller = new MetadataController(contentElement);
break;
case TabType$1.MotorChecker:
contentElement = this.CONTENT_TEMPLATES.children[14].cloneNode(true);
controller = new MotorCheckerController(contentElement);
break;
}
let titleElement = document.createElement("div");
titleElement.classList.add("tab");
Expand Down
30 changes: 23 additions & 7 deletions bundles/main.js
View file
Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@ var TabType;
TabType[TabType["Mechanism"] = 10] = "Mechanism";
TabType[TabType["Points"] = 11] = "Points";
TabType[TabType["Metadata"] = 12] = "Metadata";
TabType[TabType["MotorChecker"] = 13] = "MotorChecker";
})(TabType || (TabType = {}));
[
TabType.Odometry,
Expand Down Expand Up @@ -66,6 +67,8 @@ function getDefaultTabTitle(type) {
return "Points";
case TabType.Metadata:
return "Metadata";
case TabType.MotorChecker:
return "MotorChecker";
default:
return "";
}
Expand Down Expand Up @@ -98,6 +101,8 @@ function getTabIcon(type) {
return "🔵";
case TabType.Metadata:
return "🔍";
case TabType.MotorChecker:
return "🏍️";
default:
return "";
}
Expand Down Expand Up @@ -142,10 +147,10 @@ const WINDOW_ICON = (() => {
})();
const DEFAULT_PREFS = {
theme: process.platform == "linux" ? "light" : "system",
rioAddress: "10.40.99.2",
rioAddress: "10.63.28.2",
rioPath: "/media/sda1/",
liveMode: "nt4",
liveSubscribeMode: "logging",
liveSubscribeMode: "low-bandwidth",
rlogPort: 5800,
threeDimensionMode: "quality"
};
Expand Down Expand Up @@ -2244,25 +2249,36 @@ electron.app.whenReady().then(() => {
else {
let oldPrefs = jsonfile.readFileSync(PREFS_FILENAME);
let prefs = DEFAULT_PREFS;
if ("theme" in oldPrefs && (oldPrefs.theme == "light" || oldPrefs.theme == "dark" || oldPrefs.theme == "system")) {
if ("theme" in oldPrefs &&
(oldPrefs.theme === "light" || oldPrefs.theme === "dark" || oldPrefs.theme === "system")) {
prefs.theme = oldPrefs.theme;
}
if ("rioAddress" in oldPrefs && typeof oldPrefs.rioAddress == "string") {
if ("rioAddress" in oldPrefs && typeof oldPrefs.rioAddress === "string") {
prefs.rioAddress = oldPrefs.rioAddress;
}
if ("address" in oldPrefs && typeof oldPrefs.address == "string") {
if ("address" in oldPrefs && typeof oldPrefs.address === "string") {
prefs.rioAddress = oldPrefs.address;
}
if ("rioPath" in oldPrefs && typeof oldPrefs.rioPath == "string") {
if ("rioPath" in oldPrefs && typeof oldPrefs.rioPath === "string") {
prefs.rioPath = oldPrefs.rioPath;
}
if ("liveMode" in oldPrefs &&
(oldPrefs.liveMode == "nt4" || oldPrefs.liveMode == "nt4-akit" || oldPrefs.liveMode == "rlog")) {
(oldPrefs.liveMode === "nt4" || oldPrefs.liveMode === "nt4-akit" || oldPrefs.liveMode === "rlog")) {
prefs.liveMode = oldPrefs.liveMode;
}
if ("liveSubscribeMode" in oldPrefs &&
(oldPrefs.liveSubscribeMode === "low-bandwidth" || oldPrefs.liveSubscribeMode === "logging")) {
prefs.liveSubscribeMode = oldPrefs.liveSubscribeMode;
}
if ("rlogPort" in oldPrefs && typeof oldPrefs.rlogPort == "number") {
prefs.rlogPort = oldPrefs.rlogPort;
}
if ("threeDimensionMode" in oldPrefs &&
(oldPrefs.threeDimensionMode === "quality" ||
oldPrefs.threeDimensionMode === "efficiency" ||
oldPrefs.threeDimensionMode === "auto")) {
prefs.threeDimensionMode = oldPrefs.threeDimensionMode;
}
jsonfile.writeFileSync(PREFS_FILENAME, prefs);
electron.nativeTheme.themeSource = prefs.theme;
}
Expand Down
3 changes: 3 additions & 0 deletions bundles/satellite.js
View file
Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@ var TabType;
TabType[TabType["Mechanism"] = 10] = "Mechanism";
TabType[TabType["Points"] = 11] = "Points";
TabType[TabType["Metadata"] = 12] = "Metadata";
TabType[TabType["MotorChecker"] = 13] = "MotorChecker";
})(TabType || (TabType = {}));
var TabType$1 = TabType;
[
Expand Down Expand Up @@ -54,6 +55,8 @@ function getTabIcon(type) {
return "🔵";
case TabType.Metadata:
return "🔍";
case TabType.MotorChecker:
return "🏍️";
default:
return "";
}
Expand Down
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