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Implemented new discover flow and implemented unit test for it

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Made-with: Cursor
This commit is contained in:
Leo Qu
2026-03-10 19:37:00 -04:00
parent 7212f692a6
commit 71088de101
4 changed files with 318 additions and 13 deletions
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94
Assets/Module/TopologyBuilder.cs
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@@ -23,6 +23,10 @@ public class TopologyBuilder : MonoBehaviour
[Tooltip("JSON file name (without .json) in Resources folder. e.g. 'mockData' or 'mockDataSimple'")]
public string jsonFileName = "mockDataNewConfig";
[Header("Mock Control Library")]
[Tooltip("When true, Discover overlay shows mock leaders backed by JSON files instead of calling the real native library.")]
public bool mockControlLibrary = false;
public static Dictionary<string, GameObject> idToInstance = new();
public static bool _skipControlLibraryCalls = true;
@@ -126,6 +130,96 @@ public class TopologyBuilder : MonoBehaviour
BuildTopologyFromGraph(graph);
}
public static readonly Dictionary<int, string> MockLeaders = new()
{
{ 1, "mockData" },
{ 2, "mockDataWithDC" }
};
public void BuildTopologyFromJsonFile(string fileName)
{
TopologyGraph graph = new TopologyGraph();
Dictionary<int, ModuleType> idToType = new();
TextAsset jsonAsset = Resources.Load<TextAsset>(fileName);
if (jsonAsset == null) { Debug.LogError($"JSON not found: Resources/{fileName}.json"); return; }
JsonTopologyGraph jsonGraph = JsonUtility.FromJson<JsonTopologyGraph>(jsonAsset.text);
if (jsonGraph?.Modules == null || jsonGraph.Modules.Count == 0) { Debug.LogError("JSON has no modules"); return; }
Dictionary<string, int> stringToIntId = new();
int nextIntId = 1;
foreach (var m in jsonGraph.Modules)
{
if (!stringToIntId.ContainsKey(m.Id)) stringToIntId[m.Id] = nextIntId++;
int intId = stringToIntId[m.Id];
ModuleType mt = ParseModuleType(m.Type);
idToType[intId] = mt;
graph.Modules.Add(new ModuleData { Id = intId, Type = mt.ToString(), Degree = m.Degree });
}
if (jsonGraph.Connections != null)
foreach (var c in jsonGraph.Connections)
{
if (!stringToIntId.TryGetValue(c.FromModuleId, out int fromId) || !stringToIntId.TryGetValue(c.ToModuleId, out int toId)) continue;
Orientation o = c.Orientation == 90 ? Orientation.Deg90 : c.Orientation == 180 ? Orientation.Deg180 : c.Orientation == 270 ? Orientation.Deg270 : Orientation.Deg0;
graph.Connections.Add(new Connection { FromModuleId = fromId, ToModuleId = toId, FromSocket = c.FromSocket ?? "MaleSocket", ToSocket = c.ToSocket ?? "FemaleSocket", Orientation = o });
}
Debug.Log($"[TopologyBuilder] Built from JSON file: {fileName}");
_skipControlLibraryCalls = true;
BuildTopologyFromGraph(graph);
}
public void BuildTopologyFromLeader(int leaderId)
{
TopologyGraph graph = new TopologyGraph();
Dictionary<int, ModuleType> idToType = new();
RobotConfiguration config = ControlLibrary.getRobotConfiguration(leaderId);
int moduleCount = config.ModulesLength;
for (int i = 0; i < moduleCount; i++)
{
var n_module = config.Modules(i);
if (n_module != null)
{
var module = n_module.Value;
ModuleType moduleType = Enum.Parse<ModuleType>(module.ModuleType.ToString());
float degree = module.ConfigurationAsMotorState().Angle;
if (moduleType == ModuleType.SERVO_1 || moduleType == ModuleType.SERVO_2)
degree = 90;
graph.Modules.Add(new ModuleData { Id = module.Id, Type = module.ModuleType.ToString(), Degree = degree });
idToType.Add(module.Id, module.ModuleType);
}
}
int connectionCount = config.ConnectionsLength;
for (int i = 0; i < connectionCount; i++)
{
var n_connection = config.Connections(i);
if (n_connection != null)
{
var connection = n_connection.Value;
if (connection.FromSocket == 0) continue;
graph.Connections.Add(new Connection
{
FromModuleId = connection.FromModuleId,
FromSocket =
idToType[connection.FromModuleId] == ModuleType.SPLITTER ||
idToType[connection.FromModuleId] == ModuleType.SPLITTER_2 ||
idToType[connection.FromModuleId] == ModuleType.SPLITTER_3 ||
idToType[connection.FromModuleId] == ModuleType.SPLITTER_4
? "MaleSocket" + (connection.FromSocket == 0 ? "" : connection.FromSocket)
: "MaleSocket",
ToModuleId = connection.ToModuleId,
ToSocket = "FemaleSocket",
Orientation = connection.Orientation
});
}
}
_skipControlLibraryCalls = false;
Debug.Log($"[TopologyBuilder] Building from leader {leaderId}: {graph.Modules.Count} modules, {graph.Connections.Count} connections");
BuildTopologyFromGraph(graph);
}
private static ModuleType ParseModuleType(string typeString)
{
if (string.IsNullOrEmpty(typeString)) return ModuleType.SPLITTER;