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README.md

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+# Capstone
+
+A modular robot control and visualization UI for a modular robotic system. Capstone provides a unified interface to visualize, control, and program robots built from connectable modules (servos, hubs, DC motors, sensors, etc.) through three main modes: Live View, Inverse Kinematics, and Programmed Movements.
+
+---
+
+## Table of Contents
+
+- [Overview](#overview)
+- [Requirements](#requirements)
+- [Getting Started](#getting-started)
+- [Project Structure](#project-structure)
+- [Technical Architecture](#technical-architecture)
+- [Major Features](#major-features)
+- [Data Formats](#data-formats)
+- [Building](#building)
+
+---
+
+## Overview
+
+Capstone is designed for:
+
+- **Visualizing** robots built from modular components (servos, hubs, DC motors, grippers, sensors, etc.)
+- **Controlling** modules in real time via a native C library (`libc_control`) or mock JSON configs
+- **Programming** movement sequences via a timeline-based editor
+
+The application supports both hardware-connected operation (with a native control library) and a **mock mode** for development and testing without physical hardware.
+
+---
+
+## Requirements
+
+
+| Requirement  | Version               |
+| ------------ | --------------------- |
+| **Unity**    | 6000.3.6f1 (Unity 6)  |
+| **Platform** | Windows, macOS, Linux |
+
+
+### Supported Platforms
+
+- Windows (x64)
+- macOS (x64)
+- Linux (x86_64)
+
+---
+
+## Getting Started
+
+### 1. Clone and Open
+
+```bash
+git clone <repository-url>
+cd ui
+```
+
+Open the project in Unity Hub using Unity 6000.3.6f1.
+
+### 2. Run Without Hardware (Mock Mode)
+
+To run without the native control library:
+
+1. Open `ProjectSettings` or locate the `TopologyBuilder` component in your scene.
+2. Enable **Use JSON File** and **Mock Control Library**.
+3. The app will load topology from JSON files in `Assets/Resources/` (e.g. `mockData.json`, `mockDataSimple.json`, `mockDataWithDC.json`).
+
+### 3. Run With Hardware
+
+1. Ensure `libc_control` is built and available in the appropriate platform directory (e.g. `Plugins/`).
+2. Disable mock mode in `TopologyBuilder`.
+3. Use the **Discovery** overlay to select a connected robot leader.
+
+### 4. Main Scene
+
+- **SampleScene** (`Assets/Scenes/SampleScene.unity`) – primary scene for robot control and visualization.
+
+---
+
+## Project Structure
+
+```
+ui/
+├── Assets/
+│   ├── Scenes/                    # Main scenes (SampleScene, Playground)
+│   ├── Resources/                 # JSON configs for mock mode
+│   │   ├── mockData.json
+│   │   ├── mockDataSimple.json
+│   │   ├── mockDataWithDC.json
+│   │   └── ...
+│   ├── Module/                    # Topology, Hub, Discovery
+│   ├── IK/                        # Inverse kinematics
+│   ├── ProgrammedMovements/       # Timeline-based movement
+│   │   └── SavedTimelines/        # Saved timeline JSON files
+│   ├── ControlLibrary/            # P/Invoke bridge to libc_control
+│   ├── FlatBuffers/               # FlatBuffers runtime
+│   ├── Flatbuffers_generated/     # Generated types (RobotConfiguration, etc.)
+│   ├── StarterAssets/             # Third-person controller, input
+│   ├── StandaloneFileBrowser/     # Cross-platform file dialogs
+│   ├── SyntyStudios/              # Polygon assets (PolygonCity, etc.)
+│   └── Editor/                    # Build scripts
+├── ProjectSettings/
+├── Packages/
+└── README.md
+```
+
+---
+
+## Technical Architecture
+
+### Unity Version & Packages
+
+
+| Package                         | Version |
+| ------------------------------- | ------- |
+| Cinemachine                     | 2.10.3  |
+| Input System                    | 1.14.0  |
+| Universal Render Pipeline (URP) | 14.0.12 |
+| TextMeshPro                     | 3.0.7   |
+| Timeline                        | 1.7.7   |
+| UGUI                            | 1.0.0   |
+| Visual Scripting                | 1.9.4   |
+| Collab Proxy                    | 2.8.2   |
+| Development                     | 1.0.1   |
+
+
+### Native Integration
+
+The `ControlLibrary` communicates with the native C library `libc_control` via P/Invoke:
+
+
+| Function                                 | Purpose                               |
+| ---------------------------------------- | ------------------------------------- |
+| `init()`                                 | Initialize the control library        |
+| `cleanup()`                              | Cleanup resources                     |
+| `send_angle_control(module_id, angle)`   | Send angle command to a servo module  |
+| `send_string_control(module_id, s)`      | Send string command to a module       |
+| `get_distance_control(module_id)`        | Get distance sensor reading           |
+| `get_configuration(out size, leader_id)` | Get robot configuration (FlatBuffers) |
+| `get_leaders(out length)`                | Get list of connected robot leaders   |
+| `control_sentry_*`                       | Sentry error reporting integration    |
+
+
+If `libc_control` is missing, native calls are disabled and the app falls back to mock/JSON mode.
+
+### Data Flow
+
+```
+┌──────────────────────────────────────────────────────────────────┐
+│                     ViewBannerUI (3 modes)                       │
+├─────────────────┬─────────────────────┬──────────────────────────┤
+│   Live View     │ Inverse Kinematics  │  Programmed Movements    │
+│ LiveViewPanel   │ IKController +      │  ProgrammedMovementsCtrl │
+│ ModuleSelector  │ PositionControlGizmo│  Timeline (4 tracks)     │
+└────────┬────────┴──────────┬──────────┴──────────────┬───────────┘
+         │                   │                         │
+         ▼                   ▼                         ▼
+┌─────────────────────────────────────────────────────────────────┐
+│              ModuleBase (Servo, DC, Hub, Sensor, etc.)          │
+│                    SendToControlLibrary()                       │
+└─────────────────────────────────────────────────────────────────┘
+                              │
+                              ▼
+┌─────────────────────────────────────────────────────────────────┐
+│  ControlLibrary (P/Invoke)  ←→  libc_control (native C library) │
+│  getRobotConfiguration, send_angle_control, get_leaders, etc.   │
+└─────────────────────────────────────────────────────────────────┘
+```
+
+---
+
+## Major Features
+
+### 1. View Modes
+
+The top banner (`ViewBannerUI`) provides three modes:
+
+
+| Mode                     | Description                                                      |
+| ------------------------ | ---------------------------------------------------------------- |
+| **Live**                 | Real-time control of individual modules (sliders, buttons)       |
+| **Inverse Kinematics**   | Drag a 3D gizmo to move the end-effector; IK solves joint angles |
+| **Programmed Movements** | Timeline-based sequences (up to 10 seconds, 4 tracks)            |
+
+
+### 2. Module System
+
+
+| Module Type       | Description                                                                          |
+| ----------------- | ------------------------------------------------------------------------------------ |
+| **ModuleBase**    | Base class for all modules; sends commands via `ControlLibrary`                      |
+| **Hub modules**   | `HubModule_MMMM`, `TriangleHubModule_MMF`, `TriangleHubModule_MMM`, `HubModule_MMMF` |
+| **Servo modules** | `ServoBendModule`, `ServoStraightModule`, `GripperModule`                            |
+| **Actuators**     | `DCMotorModule`                                                                      |
+| **Sensors**       | `DistanceSensorModule`, `IMUSensorModule`                                            |
+| **Other**         | `DisplayModule`, `SpeakerModule`, `PowerModule`, `Battery`                           |
+
+
+### 3. Topology Builder
+
+- Builds the robot graph from JSON or from `ControlLibrary.getRobotConfiguration()`.
+- Uses `ModuleSpawner` to instantiate prefabs and connect them.
+- Options: `useJsonFile`, `skipControlLibraryCalls`, `mockControlLibrary`.
+
+### 4. Discovery
+
+- Lists robot leaders from `ControlLibrary.getRobotLeaders()`.
+- Mock mode uses JSON files in `Resources/`.
+- Selecting a leader loads its topology.
+
+### 5. Live View
+
+- Side panel for the selected module.
+- **Servo**: angle slider (0–180°).
+- **DC motor**: direction and rotation controls.
+- **Sensors**: readouts (e.g. distance).
+- Uses `ModuleSelector` for selection.
+
+### 6. Inverse Kinematics
+
+- CCD-based IK solver for kinematic chains.
+- Builds chain from selected module to root (`GeneratedTopology`).
+- `PositionControlGizmo`: 3D gizmo for dragging end-effector position.
+- Supports `ServoStraightModule` joints with configurable deadzone and smoothing.
+
+### 7. Programmed Movements
+
+- Timeline: 4 tracks, 0–10 seconds.
+- Movement blocks per second per track.
+- **Run**: plays timeline and sends commands to modules.
+- **Save/Load**: JSON files in `Assets/ProgrammedMovements/SavedTimelines/`.
+- Uses `StandaloneFileBrowser` for cross-platform file dialogs.
+
+### 8. File Browser
+
+- **StandaloneFileBrowser** – cross-platform open/save dialogs (Windows, Mac, Linux).
+
+---
+
+## Data Formats
+
+### Topology JSON
+
+```json
+{
+  "Modules": [
+    { "Id": "splitter1", "Type": "Splitter4", "Degree": null },
+    { "Id": "servo1", "Type": "Servo1", "Degree": 45 }
+  ],
+  "Connections": [
+    {
+      "FromModuleId": "splitter1",
+      "ToModuleId": "servo1",
+      "FromSocket": "MaleSocket1",
+      "ToSocket": "FemaleSocket",
+      "Orientation": 0
+    }
+  ]
+}
+```
+
+### Programmed Movement Timeline JSON
+
+```json
+{
+  "Timeline": [
+    {
+      "Second": 0,
+      "Movements": [
+        {
+          "ModuleId": "11",
+          "ModuleType": "Servo",
+          "Degree": 180.0,
+          "Direction": 1,
+          "Track": 0
+        }
+      ]
+    }
+  ]
+}
+```
+
+### Robot Configuration
+
+- **FlatBuffers** format: `RobotConfiguration`, `RobotModule`, `MotorState`, `ModuleConnection`, etc.
+- Generated types in `Assets/Flatbuffers_generated/`.
+
+---
+
+## Building
+
+Build targets are configured in `Assets/Editor/BuildScript.cs`:
+
+
+| Platform | Output                         |
+| -------- | ------------------------------ |
+| Windows  | `Builds/Windows/botchain.exe`  |
+| Linux    | `Builds/Linux/botchain.x86_64` |
+| macOS    | `Builds/macOS/botchain.app`    |
+
+
+### Default Resolution
+
+- 1920×1080 (configurable in Project Settings)
+
+---
+
+## Key Scripts Reference
+
+
+| Script                             | Purpose                                                |
+| ---------------------------------- | ------------------------------------------------------ |
+| `ModuleBase.cs`                    | Base for all modules; sends commands to ControlLibrary |
+| `ModuleSpawner.cs`                 | Spawns module prefabs by type                          |
+| `TopologyBuilder.cs`               | Builds topology from JSON or native config             |
+| `TopologyGraphModel.cs`            | Graph data structures                                  |
+| `ModuleSelector.cs`                | Tracks selected module                                 |
+| `ControlLibrary.cs`                | P/Invoke bridge to `libc_control`                      |
+| `ViewBannerUI.cs`                  | Top banner and view switching                          |
+| `LiveViewModulePanel.cs`           | Live view side panel                                   |
+| `InverseKinematicsController.cs`   | CCD IK solver                                          |
+| `PositionControlGizmo.cs`          | 3D drag gizmo for IK                                   |
+| `ProgrammedMovementsController.cs` | Timeline UI and playback                               |
+| `DiscoverOverlayController.cs`     | Discovery overlay UI                                   |
+
+

convert_tmp_to_text.py

@@ -0,0 +1,127 @@
+#!/usr/bin/env python3
+"""Bulk-convert TextMeshProUGUI components to Unity UI Text in a .unity scene file."""
+import re, sys
+
+TMP_GUID = "f4688fdb7df04437aeb418b961361dc5"
+TEXT_GUID = "5f7201a12d95ffc409449d95f23cf332"
+ARIAL_FONT = "{fileID: 10102, guid: 0000000000000000e000000000000000, type: 0}"
+
+# Already converted IDs (skip these)
+ALREADY_DONE = {"960000007", "1501844973", "1385057283"}
+
+def extract_prop(block, key):
+    m = re.search(rf'^\s+{key}:\s*(.+)$', block, re.MULTILINE)
+    return m.group(1).strip() if m else None
+
+def alignment_from_tmp(h_align, v_align):
+    h = int(h_align) if h_align else 1
+    v = int(v_align) if v_align else 256
+    col = {1: 0, 2: 1, 4: 2, 8: 0}.get(h, 0)  # Left=0, Center=1, Right=2
+    row = {256: 0, 512: 1, 1024: 2}.get(v, 0)   # Upper=0, Middle=1, Lower=2
+    return row * 3 + col
+
+def convert_block(block, file_id, game_obj_id):
+    text = extract_prop(block, "m_text") or ""
+    font_size = extract_prop(block, "m_fontSize") or "22"
+    font_style = extract_prop(block, "m_fontStyle") or "0"
+    color_r = color_g = color_b = color_a = None
+    color_match = re.search(r'm_Color:\s*\{r:\s*([\d.]+),\s*g:\s*([\d.]+),\s*b:\s*([\d.]+),\s*a:\s*([\d.]+)\}', block)
+    if color_match:
+        color_r, color_g, color_b, color_a = color_match.groups()
+    raycast = extract_prop(block, "m_RaycastTarget") or "1"
+    h_align = extract_prop(block, "m_HorizontalAlignment")
+    v_align = extract_prop(block, "m_VerticalAlignment")
+    alignment = alignment_from_tmp(h_align, v_align)
+    
+    color_str = f"{{r: {color_r}, g: {color_g}, b: {color_b}, a: {color_a}}}" if color_r else "{r: 1, g: 1, b: 1, a: 1}"
+    
+    font_size_int = int(float(font_size))
+    
+    return f"""--- !u!114 &{file_id}
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {{fileID: 0}}
+  m_PrefabInstance: {{fileID: 0}}
+  m_PrefabAsset: {{fileID: 0}}
+  m_GameObject: {{fileID: {game_obj_id}}}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {{fileID: 11500000, guid: {TEXT_GUID}, type: 3}}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  m_Material: {{fileID: 0}}
+  m_Color: {color_str}
+  m_RaycastTarget: {raycast}
+  m_RaycastPadding: {{x: 0, y: 0, z: 0, w: 0}}
+  m_Maskable: 1
+  m_OnCullStateChanged:
+    m_PersistentCalls:
+      m_Calls: []
+  m_FontData:
+    m_Font: {ARIAL_FONT}
+    m_FontSize: {font_size_int}
+    m_FontStyle: {font_style}
+    m_BestFit: 0
+    m_MinSize: 10
+    m_MaxSize: 40
+    m_Alignment: {alignment}
+    m_AlignByGeometry: 0
+    m_RichText: 1
+    m_HorizontalOverflow: 0
+    m_VerticalOverflow: 0
+    m_LineSpacing: 1
+  m_Text: {text}"""
+
+def main():
+    path = sys.argv[1] if len(sys.argv) > 1 else "Assets/Scenes/SampleScene.unity"
+    with open(path, 'r') as f:
+        content = f.read()
+    
+    # Split into YAML documents (each starting with --- !u!)
+    parts = re.split(r'(--- !u!\d+ &\d+)', content)
+    
+    converted = 0
+    result = []
+    i = 0
+    while i < len(parts):
+        if i + 1 < len(parts) and parts[i].startswith('--- !u!'):
+            header = parts[i]
+            body = parts[i + 1]
+            
+            file_id_match = re.search(r'&(\d+)', header)
+            file_id = file_id_match.group(1) if file_id_match else None
+            
+            if file_id and file_id not in ALREADY_DONE and TMP_GUID in body:
+                game_obj_match = re.search(r'm_GameObject:\s*\{fileID:\s*(\d+)', body)
+                game_obj_id = game_obj_match.group(1) if game_obj_match else "0"
+                
+                full_block = header + body
+                new_block = convert_block(full_block, file_id, game_obj_id)
+                
+                # Find where the next --- !u! starts in body, keep the rest
+                next_header_pos = body.find('\n--- !u!')
+                if next_header_pos >= 0:
+                    remainder = body[next_header_pos:]
+                    result.append(new_block + remainder)
+                else:
+                    result.append(new_block + '\n')
+                
+                converted += 1
+                i += 2
+                continue
+            
+            result.append(header)
+            result.append(body)
+            i += 2
+        else:
+            result.append(parts[i])
+            i += 1
+    
+    output = ''.join(result)
+    with open(path, 'w') as f:
+        f.write(output)
+    
+    print(f"Converted {converted} TMP components to Unity Text")
+
+if __name__ == '__main__':
+    main()