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Added control library call in IK mode + camera focus on discover

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This commit is contained in:
Leo Qu
2026-02-20 20:50:35 -05:00
parent ece7bb6634
commit 9f85494d82
9 changed files with 131 additions and 123 deletions
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10
Assets/Module/DiscoveryButton.cs
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@@ -3,6 +3,8 @@ using UnityEngine;
public class DiscoveryButton : MonoBehaviour
{
public TopologyBuilder topologyBuilder;
[Tooltip("If set, camera focuses on GeneratedTopology after Discover. If null, will FindObjectOfType.")]
public UserCameraControl cameraController;
void Start()
{
@@ -21,6 +23,7 @@ public class DiscoveryButton : MonoBehaviour
{
Debug.Log("Discovery button pressed.");
topologyBuilder.BuildTopologyFromJson();
FocusCameraOnTopology();
}
else
{
@@ -28,6 +31,13 @@ public class DiscoveryButton : MonoBehaviour
}
}
void FocusCameraOnTopology()
{
UserCameraControl cam = cameraController != null ? cameraController : FindObjectOfType<UserCameraControl>();
if (cam != null)
cam.FindModuleStructure();
}
void OnDestroy()
{
Debug.Log("Cleaning up native resources");

142
Assets/Module/TopologyBuilder.cs
View File

@@ -4,59 +4,122 @@ using System;
using System.Linq;
using Frontend;
[System.Serializable]
public class JsonTopologyGraph { public List<JsonModuleData> Modules; public List<JsonConnection> Connections; }
[System.Serializable]
public class JsonModuleData { public string Id; public string Type; public float Degree; }
[System.Serializable]
public class JsonConnection { public string FromModuleId; public string ToModuleId; public string FromSocket; public string ToSocket; public int Orientation; }
public class TopologyBuilder : MonoBehaviour
{
public ModuleSpawner spawner;
[Header("Topology Selection")]
[Tooltip("Set to true to load from JSON file (for local testing). Set to false to use ControlLibrary.")]
public bool useJsonFile = false;
[Tooltip("When true, angle commands are not sent to native ControlLibrary - use only for local testing without hardware.")]
public bool skipControlLibraryCalls = false;
[Tooltip("JSON file name (without .json) in Resources folder. e.g. 'mockData' or 'mockDataSimple'")]
public string jsonFileName = "mockData";
public static Dictionary<string, GameObject> idToInstance = new();
public static bool _skipControlLibraryCalls = false;
public static bool SkipControlLibraryCalls => _skipControlLibraryCalls;
public void BuildTopologyFromJson()
{
// todo: this is some really bad temporary code
TopologyGraph graph = new TopologyGraph();
RobotConfiguration config = ControlLibrary.getRobotConfiguration();
Dictionary<int, ModuleType> idToType = new();
int moduleCount = config.ModulesLength;
for (int i = 0; i < moduleCount; i++)
if (useJsonFile)
{
var n_module = config.Modules(i);
if (n_module != null)
TextAsset jsonAsset = Resources.Load<TextAsset>(jsonFileName);
if (jsonAsset == null) { Debug.LogError($"JSON not found: Resources/{jsonFileName}.json"); return; }
JsonTopologyGraph jsonGraph = JsonUtility.FromJson<JsonTopologyGraph>(jsonAsset.text);
if (jsonGraph?.Modules == null || jsonGraph.Modules.Count == 0) { Debug.LogError("JSON has no modules"); return; }
Dictionary<string, int> stringToIntId = new Dictionary<string, int>();
int nextIntId = 1;
foreach (var m in jsonGraph.Modules)
{
var module = n_module.Value;
Debug.Log("Adding module " + module.Id);
graph.Modules.Add(new ModuleData
{
Id = module.Id,
Type = module.ModuleType.ToString(),
Degree = module.ConfigurationAsMotorState().Angle
});
idToType.Add(module.Id, module.ModuleType);
if (!stringToIntId.ContainsKey(m.Id)) stringToIntId[m.Id] = nextIntId++;
int intId = stringToIntId[m.Id];
ModuleType mt = ParseModuleType(m.Type);
idToType[intId] = mt;
graph.Modules.Add(new ModuleData { Id = intId, Type = mt.ToString(), Degree = m.Degree });
}
if (jsonGraph.Connections != null)
foreach (var c in jsonGraph.Connections)
{
if (!stringToIntId.TryGetValue(c.FromModuleId, out int fromId) || !stringToIntId.TryGetValue(c.ToModuleId, out int toId)) continue;
Orientation o = c.Orientation == 90 ? Orientation.Deg90 : c.Orientation == 180 ? Orientation.Deg180 : c.Orientation == 270 ? Orientation.Deg270 : Orientation.Deg0;
graph.Connections.Add(new Connection { FromModuleId = fromId, ToModuleId = toId, FromSocket = c.FromSocket ?? "MaleSocket", ToSocket = c.ToSocket ?? "FemaleSocket", Orientation = o });
}
Debug.Log($"[TopologyBuilder] Built from JSON: {jsonFileName}");
_skipControlLibraryCalls = skipControlLibraryCalls;
}
else
{
RobotConfiguration config = ControlLibrary.getRobotConfiguration();
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;
Debug.Log("Adding module " + module.Id);
graph.Modules.Add(new ModuleData
{
Id = module.Id,
Type = module.ModuleType.ToString(),
Degree = module.ConfigurationAsMotorState().Angle
});
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;
Debug.Log("orientation: " + connection.Orientation);
graph.Connections.Add(new Connection
{
FromModuleId = connection.FromModuleId,
FromSocket = idToType[connection.FromModuleId] == ModuleType.SPLITTER ? "MaleSocket" + (connection.FromSocket == 0 ? "" : connection.FromSocket) : "MaleSocket",
ToModuleId = connection.ToModuleId,
ToSocket = "FemaleSocket",
Orientation = connection.Orientation
});
}
}
_skipControlLibraryCalls = false;
}
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;
Debug.Log("orientation: " + connection.Orientation);
graph.Connections.Add(new Connection
{
FromModuleId = connection.FromModuleId,
FromSocket = idToType[connection.FromModuleId] == ModuleType.SPLITTER ? "MaleSocket" + (connection.FromSocket == 0 ? "" : connection.FromSocket) : "MaleSocket",
ToModuleId = connection.ToModuleId,
ToSocket = "FemaleSocket",
Orientation = connection.Orientation
});
}
}
BuildTopologyFromGraph(graph);
}
private static ModuleType ParseModuleType(string typeString)
{
if (string.IsNullOrEmpty(typeString)) return ModuleType.SPLITTER;
switch (typeString)
{
case "Servo1": return ModuleType.SERVO_1;
case "Servo2": return ModuleType.SERVO_2;
case "DC": return ModuleType.DC_MOTOR;
case "Hub": return ModuleType.SPLITTER;
case "Battery": return ModuleType.BATTERY;
default: return ModuleType.SPLITTER;
}
}
private void BuildTopologyFromGraph(TopologyGraph graph)
{
// Destroy previous topology root if it exists
GameObject oldRoot = GameObject.Find("GeneratedTopology");
if (oldRoot != null)
@@ -101,10 +164,11 @@ public class TopologyBuilder : MonoBehaviour
if (baseScript != null)
{
baseScript.moduleID = module.Id.ToString();
if (module.Type.Contains("Servo") && module.Degree != null)
ModuleType parsedType = Enum.Parse<ModuleType>(module.Type);
if ((parsedType == ModuleType.SERVO_1 || parsedType == ModuleType.SERVO_2))
{
ServoMotorModule servo;
if (module.Type == "Servo1")
if (parsedType == ModuleType.SERVO_1)
{
servo = instance.GetComponent<ServoBendModule>();
}
@@ -112,8 +176,6 @@ public class TopologyBuilder : MonoBehaviour
{
servo = instance.GetComponent<ServoStraightModule>();
}
//ServoBendModule servo = instance.GetComponent<ServoBendModule>();
// servo.SetInitialAngle(module.Degree);
servo.InitialSetAngle(module.Degree);
}
}