diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index dae80e63..edc864be 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -54,6 +54,18 @@ jobs: bundles/*.js bundles/*.wasm + build-ios: + name: Build for iOS + runs-on: macos-15 + + steps: + - name: Checkout repository + uses: actions/checkout@v4 + - name: Build AdvantageScopeXR + run: xcodebuild -project xr/AdvantageScopeXR.xcodeproj -scheme AdvantageScopeXR -sdk iphonesimulator build + - name: Build AdvantageScopeXRClip + run: xcodebuild -project xr/AdvantageScopeXR.xcodeproj -scheme AdvantageScopeXRClip -sdk iphonesimulator build + build-win: name: Build for Windows (${{ matrix.arch }}) needs: compile diff --git a/.gitignore b/.gitignore index 8a8bb759..14248631 100644 --- a/.gitignore +++ b/.gitignore @@ -111,3 +111,9 @@ $RECYCLE.BIN/ # IDE Specific Files .idea + +# Xcode +build/* +*.pbxuser +*.mode1v3 +xcuserdata \ No newline at end of file diff --git a/.prettierignore b/.prettierignore index b64913e9..80df1c8f 100644 --- a/.prettierignore +++ b/.prettierignore @@ -2,4 +2,5 @@ node_modules dist bundles src/licenses.json -docsSite/build \ No newline at end of file +docsSite/build +xr \ No newline at end of file diff --git a/docsSite/docs/more-features/advantagescope-xr.md b/docsSite/docs/more-features/advantagescope-xr.md new file mode 100644 index 00000000..4512e9c6 --- /dev/null +++ b/docsSite/docs/more-features/advantagescope-xr.md @@ -0,0 +1,88 @@ +--- +sidebar_position: 1 +--- + +import Image1 from "./img/xr-1.png"; +import Image2 from "./img/xr-2.png"; + +# AdvantageScope XR + +:::warning +AdvantageScope XR is an experimental feature, and may not function properly on all devices. Please report any problems via the [GitHub issues page](https://github.com/Mechanical-Advantage/AdvantageScope/issues), though note that during the season we always prioritize bug fixes that affect non-experimental features. +::: + +AdvantageScope XR brings the đź‘€ [3D Field](/tab-reference/3d-field) view to life in augmented reality, enabling you to visualize data in all new ways. See a simulated auto in life size, review match strategy with a tabletop field model, overlay diagnostic information on a real robot, and so much more! The video below demonstrates several use cases for this feature: + + + +## Requirements + +- **Host:** The AdvantageScope desktop application on Windows, macOS, or Linux (v4.1.0 or later). Any firewalls on the device should be [disabled](https://docs.wpilib.org/en/stable/docs/networking/networking-introduction/windows-firewall-configuration.html#disabling-windows-firewall). +- **Client:** An iPhone or iPad running iOS/iPadOS 16 or later. No app installation is required. +- **Network:** Both devices must be connected to the same network (Wi-Fi, USB tethering, etc). Subject to the requirement below, this network does not need to be connected to the internet. +- **Internet:** If AdvantageScope XR has not been used recently, the mobile device must have an internet connection (e.g. cellular data). To eliminate this requirement, check the [offline usage](#offline-usage) section below. + +:::tip +AdvantageScope XR is supported on many iPhone and iPad models, but is more stable for devices with a **LiDAR sensor**. This includes the iPhone Pro (starting with the iPhone 12 Pro) and iPad Pro (spring 2020 or later). +::: + +
+What about other platforms? + +AdvantageScope XR is only supported on iOS and iPadOS. We do not have any immediate plans to support alternative platforms. The client application requires tight integration with native APIs for augmented reality, video recording, web rendering, and more. We chose to prioritize iOS and iPadOS development and support for several reasons: + +- **Consistency:** AdvantageScope XR is a demanding application. While Android devices vary widely in processing power and features, the iPhone and iPad provide a consistent development experience across generations. All recent iOS and iPadOS devices are powerful enough to run AdvantageScope XR, and newer devices support additional features AdvantageScope can utilize (such as LiDAR). + +- **Availability:** The iPhone remains the most common smartphone that students in the United States are likely to own or have easily accessible from peers, and is more widely available than any model of VR or mixed reality headset. Supporting iOS maximizes the number of users who have easy access to AdvantageScope XR. + +- **Tablet Support:** We think many users will want to take advantage of running AdvantageScope XR on a tablet, since tablets provide a larger display that is easier for multiple people to see at once. iPad is the most commonly used tablet worldwide, so supporting iPadOS makes the tablet experience as accessible as possible. + +
+ +## Setup + +1. On the host system, **click the "XR" button** on any 3D field tab. Only one XR host session may be active at the same time, so clicking this button will interrupt any other active sessions. + +XR button + +2. The **XR controls window** will open, with a QR code and [options](#options) to customize the AR experience. To cancel the XR session and disconnect any clients, close the controls window. + +XR window + +3. Scan the QR code using the **built-in camera app** on the client device. No app installation is required. +4. Tap "AdvantageScope XR" and then "Open" to **start the experience** and connect to the host. If prompted, allow AdvantageScope XR to access the **camera and local network**. +5. Follow the instructions on the device to **calibrate and position the field model**. +6. Control the field model as normal using the host device, including **log playback and live streaming**. The state of the field model is displayed live on the client device. +7. To quickly **record a video**, tap the "Record" icon at the top of the screen. Tap it again to stop recording, then edit and save the clip. + +:::warning +Heatmaps, swerve states, and Zebra labels are not available yet in XR. All other object types are supported. +::: + +:::tip +AdvantageScope XR is a demanding application, and may experience performance issues depending on the complexity of the 3D scene. Consider using simpler robot models or fewer objects if necessary. +::: + +## Options + +The XR controls window presents several options that control how the model is displayed in augmented reality: + +- **Calibration:** + - Choose _Miniature_ to visualize a scaled-down version of the field, suitable for tabletop use. + - Choose _Full-Size_ to visualize the field with accurate scaling, positioned based on a real field barrier. Switching between _Blue Alliance_ and _Red Alliance_ controls which side of the field is used for calibration, but the full field is visualized in all cases. +- **Streaming:** + - Choose _Smooth_ for applications where some latency is acceptable in exchange for more reliable streaming, such as simulating auto routines or playing back log files. + - Choose _Low-Latency_ for real-time applications where some jitter is acceptable, such as overlaying data on a real robot or driving a simulated robot in teleop. +- **Show Carpet:** Display the flat carpet model under the field instead of overlaying on a real surface. +- **Show Field:** Display the field model, including the field barrier and game-specific elements. Custom [game piece objects](/tab-reference/3d-field#game-piece-objects) are always displayed. +- **Show Robots:** Display the robot models, can be disabled when overlaying data on a real robot (such as vision targets or 2D mechanisms). + +## Offline Usage + +AdvantageScope XR does not require an internet connection. To ensure that the app is available offline, download AdvantageScope XR from the App Store using the link below. To connect to the AdvantageScope desktop application, scan the QR code using the iOS camera app or tap the "Scan" button in the AdvantageScope XR app. + +[![App Store](./img/app-store.svg)](https://apps.apple.com/us/app/advantagescope-xr/id6739718081) + +:::note +Even when running without an internet connection, the host and client devices **must be connected to the same network** (such as a robot, custom Wi-Fi network, or via USB tethering). +::: diff --git a/docsSite/docs/more-features/custom-assets.md b/docsSite/docs/more-features/custom-assets.md index 04f6e8f9..eeddffa0 100644 --- a/docsSite/docs/more-features/custom-assets.md +++ b/docsSite/docs/more-features/custom-assets.md @@ -1,5 +1,5 @@ --- -sidebar_position: 5 +sidebar_position: 4 --- # Custom Assets diff --git a/docsSite/docs/more-features/gltf-convert.md b/docsSite/docs/more-features/gltf-convert.md index 59e191c7..b91db20e 100644 --- a/docsSite/docs/more-features/gltf-convert.md +++ b/docsSite/docs/more-features/gltf-convert.md @@ -1,5 +1,5 @@ --- -sidebar_position: 6 +sidebar_position: 5 --- # Converting Onshape & STEP Files to glTF diff --git a/docsSite/docs/more-features/img/app-store.svg b/docsSite/docs/more-features/img/app-store.svg new file mode 100755 index 00000000..072b425a --- /dev/null +++ b/docsSite/docs/more-features/img/app-store.svg @@ -0,0 +1,46 @@ + + Download_on_the_App_Store_Badge_US-UK_RGB_blk_4SVG_092917 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docsSite/docs/more-features/img/xr-1.png b/docsSite/docs/more-features/img/xr-1.png new file mode 100644 index 00000000..7a884dee Binary files /dev/null and b/docsSite/docs/more-features/img/xr-1.png differ diff --git a/docsSite/docs/more-features/img/xr-2.png b/docsSite/docs/more-features/img/xr-2.png new file mode 100644 index 00000000..f24312c1 Binary files /dev/null and b/docsSite/docs/more-features/img/xr-2.png differ diff --git a/docsSite/docs/more-features/nt-publishing.md b/docsSite/docs/more-features/nt-publishing.md index 8877dd43..12000d5a 100644 --- a/docsSite/docs/more-features/nt-publishing.md +++ b/docsSite/docs/more-features/nt-publishing.md @@ -1,5 +1,5 @@ --- -sidebar_position: 4 +sidebar_position: 7 --- # Publishing NetworkTables Data diff --git a/docsSite/docs/more-features/zebra.md b/docsSite/docs/more-features/zebra.md index 9796c045..398adc4f 100644 --- a/docsSite/docs/more-features/zebra.md +++ b/docsSite/docs/more-features/zebra.md @@ -1,5 +1,5 @@ --- -sidebar_position: 1 +sidebar_position: 6 --- # Loading Zebra MotionWorks™ Data diff --git a/docsSite/docs/tab-reference/3d-field.md b/docsSite/docs/tab-reference/3d-field.md index b21a98fe..6dec8f41 100644 --- a/docsSite/docs/tab-reference/3d-field.md +++ b/docsSite/docs/tab-reference/3d-field.md @@ -8,7 +8,7 @@ import PrefsImage from '../img/prefs.png'; # 👀 3D Field -The 3D field shows a 3D visualization of the robot and field. It can be used with regular 2D odometry, but is especially helpful when working with 3D calculations (like localizing with AprilTags). Multiple camera views are available, including field relative, robot relative, and fixed. The timeline shows when the robot is enabled and can be used to navigate through the log data. +The 3D field shows a 3D visualization of the robot and field. It can be used with regular 2D odometry, but is especially helpful when working with 3D calculations (like localizing with AprilTags). Multiple camera views are available, including field relative, robot relative, and fixed. [AdvantageScope XR](../more-features/advantagescope-xr.md) allows this tab to be visualized using augmented reality. The timeline shows when the robot is enabled and can be used to navigate through the log data. ![Example of 3D field tab](./img/3d-field-1.png) diff --git a/docsSite/docs/whats-new/full-changelog.md b/docsSite/docs/whats-new/full-changelog.md index 7ba7902d..b01f8e26 100644 --- a/docsSite/docs/whats-new/full-changelog.md +++ b/docsSite/docs/whats-new/full-changelog.md @@ -79,6 +79,7 @@ sidebar_position: 1 ### 👀 3D Field +- Added AdvantageScope XR for 3D visualization in augmented reality. - Supported the combination of 2D and 3D poses. - Improved the UI for configuring poses. - Added the ability to temporarily hide objects. diff --git a/docsSite/docs/whats-new/index.md b/docsSite/docs/whats-new/index.md index 5e32dc7e..1611f863 100644 --- a/docsSite/docs/whats-new/index.md +++ b/docsSite/docs/whats-new/index.md @@ -6,6 +6,12 @@ The 2025 version of AdvantageScope is now in **beta**, and includes over **130 n ![2025 Feature Poster](./img/poster.png) +### 📸 AdvantageScope XR + +AdvantageScope XR brings the 👀 [3D Field](/tab-reference/3d-field) view to life in **augmented reality**, enabling you to visualize data in all new ways. See a simulated auto in life size, review match strategy with a tabletop field model, overlay diagnostic information on a real robot, and so much more! The video below demonstrates several use cases for this feature: + + + ### ⏩ 100x Faster Log Decoding (That's not a typo.) diff --git a/docsSite/docs/xr.md b/docsSite/docs/xr.md deleted file mode 100644 index abfadb17..00000000 --- a/docsSite/docs/xr.md +++ /dev/null @@ -1,9 +0,0 @@ ---- -sidebar_class_name: hidden ---- - -# AdvantageScope XR is coming soon! - -Check the [Littleton Robotics](https://www.youtube.com/@LittletonRobotics/shorts) YouTube channel for a preview of upcoming features. - -![Cookie Monster](./img/xr.webp) diff --git a/docsSite/docusaurus.config.ts b/docsSite/docusaurus.config.ts index 01671250..77b0a315 100644 --- a/docsSite/docusaurus.config.ts +++ b/docsSite/docusaurus.config.ts @@ -39,6 +39,20 @@ const config: Config = { ] ], + plugins: [ + [ + "@docusaurus/plugin-client-redirects", + { + redirects: [ + { + to: "/more-features/advantagescope-xr", + from: "/xr" + } + ] + } + ] + ], + themeConfig: { image: "img/social.png", navbar: { diff --git 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"node_modules/whatwg-url": { "version": "5.0.0", "license": "MIT", @@ -4675,7 +19519,6 @@ }, "node_modules/which": { "version": "2.0.2", - "dev": true, "license": "ISC", "dependencies": { "isexe": "^2.0.0" @@ -4687,9 +19530,73 @@ "node": ">= 8" } }, + "node_modules/widest-line": { + "version": "4.0.1", + "resolved": "https://registry.npmjs.org/widest-line/-/widest-line-4.0.1.tgz", + "integrity": "sha512-o0cyEG0e8GPzT4iGHphIOh0cJOV8fivsXxddQasHPHfoZf1ZexrfeA21w2NaEN1RHE+fXlfISmOE8R9N3u3Qig==", + "dependencies": { + "string-width": "^5.0.1" + }, + "engines": { + "node": ">=12" + }, + "funding": { + "url": "https://github.com/sponsors/sindresorhus" + } + }, + "node_modules/widest-line/node_modules/ansi-regex": { + "version": "6.1.0", + "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-6.1.0.tgz", + "integrity": "sha512-7HSX4QQb4CspciLpVFwyRe79O3xsIZDDLER21kERQ71oaPodF8jL725AgJMFAYbooIqolJoRLuM81SpeUkpkvA==", + "engines": { + "node": ">=12" + }, + "funding": { + "url": "https://github.com/chalk/ansi-regex?sponsor=1" + } + }, + "node_modules/widest-line/node_modules/emoji-regex": { + "version": "9.2.2", + "resolved": "https://registry.npmjs.org/emoji-regex/-/emoji-regex-9.2.2.tgz", + "integrity": "sha512-L18DaJsXSUk2+42pv8mLs5jJT2hqFkFE4j21wOmgbUqsZ2hL72NsUU785g9RXgo3s0ZNgVl42TiHp3ZtOv/Vyg==" + }, + "node_modules/widest-line/node_modules/string-width": { + "version": "5.1.2", + "resolved": "https://registry.npmjs.org/string-width/-/string-width-5.1.2.tgz", + "integrity": "sha512-HnLOCR3vjcY8beoNLtcjZ5/nxn2afmME6lhrDrebokqMap+XbeW8n9TXpPDOqdGK5qcI3oT0GKTW6wC7EMiVqA==", + "dependencies": { + "eastasianwidth": "^0.2.0", + "emoji-regex": "^9.2.2", + "strip-ansi": "^7.0.1" + }, + "engines": { + "node": ">=12" + }, + "funding": { + "url": "https://github.com/sponsors/sindresorhus" + } + }, + "node_modules/widest-line/node_modules/strip-ansi": { + "version": "7.1.0", + "resolved": "https://registry.npmjs.org/strip-ansi/-/strip-ansi-7.1.0.tgz", + "integrity": "sha512-iq6eVVI64nQQTRYq2KtEg2d2uU7LElhTJwsH4YzIHZshxlgZms/wIc4VoDQTlG/IvVIrBKG06CrZnp0qv7hkcQ==", + "dependencies": { + "ansi-regex": "^6.0.1" + }, + "engines": { + "node": ">=12" + }, + "funding": { + "url": "https://github.com/chalk/strip-ansi?sponsor=1" + } + }, + "node_modules/wildcard": { + "version": "2.0.1", + "resolved": "https://registry.npmjs.org/wildcard/-/wildcard-2.0.1.tgz", + "integrity": "sha512-CC1bOL87PIWSBhDcTrdeLo6eGT7mCFtrg0uIJtqJUFyK+eJnzl8A1niH56uu7KMa5XFrtiV+AQuHO3n7DsHnLQ==" + }, "node_modules/wrap-ansi": { "version": "7.0.0", - "dev": true, "license": "MIT", "dependencies": { "ansi-styles": "^4.0.0", @@ -4707,6 +19614,48 @@ "version": "1.0.2", "license": "ISC" }, + "node_modules/write-file-atomic": { + "version": "3.0.3", + "resolved": "https://registry.npmjs.org/write-file-atomic/-/write-file-atomic-3.0.3.tgz", + "integrity": "sha512-AvHcyZ5JnSfq3ioSyjrBkH9yW4m7Ayk8/9My/DD9onKeu/94fwrMocemO2QAJFAlnnDN+ZDS+ZjAR5ua1/PV/Q==", + "dependencies": { + "imurmurhash": "^0.1.4", + "is-typedarray": "^1.0.0", + "signal-exit": "^3.0.2", + "typedarray-to-buffer": "^3.1.5" + } + }, + "node_modules/ws": { + "version": "8.18.0", + "resolved": "https://registry.npmjs.org/ws/-/ws-8.18.0.tgz", + "integrity": "sha512-8VbfWfHLbbwu3+N6OKsOMpBdT4kXPDDB9cJk2bJ6mh9ucxdlnNvH1e+roYkKmN9Nxw2yjz7VzeO9oOz2zJ04Pw==", + "engines": { + "node": ">=10.0.0" + }, + "peerDependencies": { + "bufferutil": "^4.0.1", + "utf-8-validate": ">=5.0.2" + }, + "peerDependenciesMeta": { + "bufferutil": { + "optional": true + }, + "utf-8-validate": { + "optional": true + } + } + }, + "node_modules/xdg-basedir": { + "version": "5.1.0", + "resolved": "https://registry.npmjs.org/xdg-basedir/-/xdg-basedir-5.1.0.tgz", + "integrity": "sha512-GCPAHLvrIH13+c0SuacwvRYj2SxJXQ4kaVTT5xgL3kPrz56XxkF21IGhjSE1+W0aw7gpBWRGXLCPnPby6lSpmQ==", + "engines": { + "node": ">=12" + }, + "funding": { + "url": "https://github.com/sponsors/sindresorhus" + } + }, "node_modules/xmlbuilder": { "version": "15.1.1", "dev": true, @@ -4735,6 +19684,14 @@ "dev": true, "license": "ISC" }, + "node_modules/yaml": { + "version": "1.10.2", + "resolved": "https://registry.npmjs.org/yaml/-/yaml-1.10.2.tgz", + "integrity": "sha512-r3vXyErRCYJ7wg28yvBY5VSoAF8ZvlcW9/BwUzEtUsjvX/DKs24dIkuwjtuprwJJHsbyUbLApepYTR1BN4uHrg==", + "engines": { + "node": ">= 6" + } + }, "node_modules/yargs": { "version": "17.7.2", "dev": true, @@ -4768,12 +19725,32 @@ "fd-slicer": "~1.1.0" } }, + "node_modules/yocto-queue": { + "version": "1.1.1", + "resolved": "https://registry.npmjs.org/yocto-queue/-/yocto-queue-1.1.1.tgz", + "integrity": "sha512-b4JR1PFR10y1mKjhHY9LaGo6tmrgjit7hxVIeAmyMw3jegXR4dhYqLaQF5zMXZxY7tLpMyJeLjr1C4rLmkVe8g==", + "engines": { + "node": ">=12.20" + }, + "funding": { + "url": "https://github.com/sponsors/sindresorhus" + } + }, "node_modules/zlibjs": { "version": "0.3.1", "license": "MIT", "engines": { "node": "*" } + }, + "node_modules/zwitch": { + "version": "2.0.4", + "resolved": "https://registry.npmjs.org/zwitch/-/zwitch-2.0.4.tgz", + "integrity": "sha512-bXE4cR/kVZhKZX/RjPEflHaKVhUVl85noU3v6b8apfQEc1x4A+zBxjZ4lN8LqGd6WZ3dl98pY4o717VFmoPp+A==", + "funding": { + "type": "github", + "url": "https://github.com/sponsors/wooorm" + } } } } diff --git a/package.json b/package.json index 25de33d3..dcb41157 100644 --- a/package.json +++ b/package.json @@ -12,7 +12,7 @@ "main": "bundles/main.js", "scripts": { "start": "electron bundles/main.js", - "compile": "rollup -c --configMain && rollup -c --configLargeRenderers && rollup -c --configSmallRenderers && rollup -c --configWorkers", + "compile": "rollup -c --configMain && rollup -c --configLargeRenderers && rollup -c --configSmallRenderers && rollup -c --configWorkers && rollup -c --configXR", "build": "npm run compile && npm run wasm:compile && npm run docs:build-embed && electron-builder build", "fast-build": "npm run compile && npm run wasm:compile && npm run docs:build-embed && electron-builder build --dir", "watch": "rollup -c -w", @@ -28,13 +28,16 @@ "postinstall": "cd docsSite && npm install && cd .. && node getLicenses.mjs && node tesseractLangDownload.mjs && node ffmpegDownload.mjs && npm run download-owlet" }, "devDependencies": { + "@babel/preset-env": "^7.26.0", "@electron/notarize": "^2.1.0", "@mcap/core": "^1.3.0", "@msgpack/msgpack": "^3.0.0-beta2", + "@rollup/plugin-babel": "^6.0.4", "@rollup/plugin-commonjs": "^25.0.4", "@rollup/plugin-json": "^6.0.0", "@rollup/plugin-node-resolve": "^15.2.1", "@rollup/plugin-replace": "^5.0.2", + "@rollup/plugin-terser": "^0.4.4", "@rollup/plugin-typescript": "12.1.1", "@types/chart.js": "^2.9.38", "@types/color-convert": "^2.0.3", @@ -61,6 +64,7 @@ "prettier": "3.0.3", "prettier-plugin-organize-imports": "^4.0.0", "protobufjs": "^7.2.5", + "qr-code-styling": "^1.8.4", "rollup": "^3.29.2", "rollup-plugin-cleanup": "^3.2.1", "rollup-plugin-re": "^1.0.7", @@ -72,14 +76,17 @@ }, "dependencies": { "@distube/ytdl-core": "^4.14.4", + "@docusaurus/plugin-client-redirects": "^3.6.3", "@types/emscripten": "^1.39.13", + "@types/ws": "^8.5.13", "check-disk-space": "^3.4.0", "download": "^8.0.0", "electron-fetch": "^1.9.1", "jsonfile": "^6.1.0", "pngjs": "^7.0.0", "ssh2": "^1.14.0", - "tesseract.js": "https://github.com/jwbonner/tesseract.js.git" + "tesseract.js": "https://github.com/jwbonner/tesseract.js.git", + "ws": "^8.18.0" }, "prettier": { "printWidth": 120, diff --git a/rollup.config.mjs b/rollup.config.mjs index 0af55904..6c3d10fd 100644 --- a/rollup.config.mjs +++ b/rollup.config.mjs @@ -1,13 +1,15 @@ +import { getBabelOutputPlugin } from "@rollup/plugin-babel"; import commonjs from "@rollup/plugin-commonjs"; import json from "@rollup/plugin-json"; import nodeResolve from "@rollup/plugin-node-resolve"; import replace from "@rollup/plugin-replace"; +import terser from "@rollup/plugin-terser"; import typescript from "@rollup/plugin-typescript"; import fs from "fs"; import cleanup from "rollup-plugin-cleanup"; import replaceRegEx from "rollup-plugin-re"; -function bundle(input, output, isMain, external = []) { +function bundle(input, output, isMain, isXRClient, external = []) { const isWpilib = process.env.ASCOPE_DISTRIBUTOR === "WPILIB"; return { input: "src/" + input, @@ -23,7 +25,16 @@ function bundle(input, output, isMain, external = []) { preferBuiltins: true }), commonjs(), - cleanup(), + ...(isXRClient + ? [ + getBabelOutputPlugin({ + presets: [["@babel/preset-env", { modules: false }]], + compact: true, + targets: "iOS 16" // AdvantageScope XR is built for iOS 16 + }), + terser() + ] + : [cleanup()]), json(), replace({ preventAssignment: true, @@ -68,41 +79,50 @@ function bundle(input, output, isMain, external = []) { } const mainBundles = [ - bundle("main/main.ts", "main.js", true, [ + bundle("main/main.ts", "main.js", true, false, [ "electron", "electron-fetch", "fs", "jsonfile", "net", "os", + "ws", + "http", "path", "ssh2", "download", "ytdl-core", "tesseract.js" ]), - bundle("preload.ts", "preload.js", true, ["electron"]) + bundle("preload.ts", "preload.js", true, false, ["electron"]) +]; +const largeRendererBundles = [ + bundle("hub/hub.ts", "hub.js", false, false), + bundle("satellite.ts", "satellite.js", false, false) ]; -const largeRendererBundles = [bundle("hub/hub.ts", "hub.js", false), bundle("satellite.ts", "satellite.js", false)]; const smallRendererBundles = [ - bundle("editRange.ts", "editRange.js", false), - bundle("unitConversion.ts", "unitConversion.js", false), - bundle("renameTab.ts", "renameTab.js", false), - bundle("editFov.ts", "editFov.js", false), - bundle("sourceListHelp.ts", "sourceListHelp.js", false), - bundle("betaWelcome.ts", "betaWelcome.js", false), - bundle("export.ts", "export.js", false), - bundle("download.ts", "download.js", false), - bundle("preferences.ts", "preferences.js", false), - bundle("licenses.ts", "licenses.js", false) + bundle("editRange.ts", "editRange.js", false, false), + bundle("unitConversion.ts", "unitConversion.js", false, false), + bundle("renameTab.ts", "renameTab.js", false, false), + bundle("editFov.ts", "editFov.js", false, false), + bundle("sourceListHelp.ts", "sourceListHelp.js", false, false), + bundle("betaWelcome.ts", "betaWelcome.js", false, false), + bundle("export.ts", "export.js", false, false), + bundle("download.ts", "download.js", false, false), + bundle("preferences.ts", "preferences.js", false, false), + bundle("licenses.ts", "licenses.js", false, false) ]; const workerBundles = [ - bundle("hub/dataSources/rlog/rlogWorker.ts", "hub$rlogWorker.js", false), - bundle("hub/dataSources/wpilog/wpilogWorker.ts", "hub$wpilogWorker.js", false), - bundle("hub/dataSources/dslog/dsLogWorker.ts", "hub$dsLogWorker.js", false), - bundle("hub/exportWorker.ts", "hub$exportWorker.js", false), - bundle("shared/renderers/threeDimension/workers/loadField.ts", "shared$loadField.js", false), - bundle("shared/renderers/threeDimension/workers/loadRobot.ts", "shared$loadRobot.js", false) + bundle("hub/dataSources/rlog/rlogWorker.ts", "hub$rlogWorker.js", false, false), + bundle("hub/dataSources/wpilog/wpilogWorker.ts", "hub$wpilogWorker.js", false, false), + bundle("hub/dataSources/dslog/dsLogWorker.ts", "hub$dsLogWorker.js", false, false), + bundle("hub/exportWorker.ts", "hub$exportWorker.js", false, false), + bundle("shared/renderers/threeDimension/workers/loadField.ts", "shared$loadField.js", false, false), + bundle("shared/renderers/threeDimension/workers/loadRobot.ts", "shared$loadRobot.js", false, false) +]; +const xrBundles = [ + bundle("xrClient/xrClient.ts", "xrClient.js", false, true), + bundle("xrControls.ts", "xrControls.js", false, false) ]; const runOwletDownload = { input: "src/runOwletDownload.ts", @@ -128,7 +148,8 @@ export default (cliArgs) => { if (cliArgs.configLargeRenderers === true) return largeRendererBundles; if (cliArgs.configSmallRenderers === true) return smallRendererBundles; if (cliArgs.configWorkers === true) return workerBundles; + if (cliArgs.configXR === true) return xrBundles; if (cliArgs.configRunOwletDownload === true) return runOwletDownload; - return [...mainBundles, ...largeRendererBundles, ...smallRendererBundles, ...workerBundles]; + return [...mainBundles, ...largeRendererBundles, ...smallRendererBundles, ...workerBundles, ...xrClientBundles]; }; diff --git a/src/hub/Tabs.ts b/src/hub/Tabs.ts index 9d6573d2..69a2940d 100644 --- a/src/hub/Tabs.ts +++ b/src/hub/Tabs.ts @@ -70,6 +70,7 @@ export default class Tabs { }[] = []; private selectedTab = 0; private activeSatellites: string[] = []; + private activeXRUUID: string | null = null; private controlsHandleActive = false; constructor() { @@ -317,7 +318,8 @@ export default class Tabs { this.tabList.forEach((tab, index) => { let activeLocal = index === this.selectedTab; let activeSatellite = this.activeSatellites.includes(tab.controller.UUID); - if (activeLocal || activeSatellite) { + let activeXR = tab.controller.UUID === this.activeXRUUID; + if (activeLocal || activeSatellite || activeXR) { if (tab.type === TabType.Table) { // Update range from renderer let renderer = tab.renderer as TableRenderer; @@ -336,6 +338,9 @@ export default class Tabs { title: title }); } + if (activeXR) { + window.sendMainMessage("update-xr-command", command); + } } }); @@ -560,14 +565,20 @@ export default class Tabs { } /** Closes the specified tab. */ - close(index: number) { + close(index: number, force = false) { if (index < 1 || index > this.tabList.length - 1) return; - this.RENDERER_CONTENT.removeChild(this.tabList[index].rendererElement); - this.CONTROLS_CONTENT.removeChild(this.tabList[index].controlsElement); - this.tabList.splice(index, 1); - if (this.selectedTab > index) this.selectedTab--; - if (this.selectedTab > this.tabList.length - 1) this.selectedTab = this.tabList.length - 1; - this.updateElements(); + + // If active XR, confirm before closing + if (!force && this.tabList[index].controller.UUID === this.activeXRUUID) { + window.sendMainMessage("confirm-xr-close", this.activeXRUUID); + } else { + this.RENDERER_CONTENT.removeChild(this.tabList[index].rendererElement); + this.CONTROLS_CONTENT.removeChild(this.tabList[index].controlsElement); + this.tabList.splice(index, 1); + if (this.selectedTab > index) this.selectedTab--; + if (this.selectedTab > this.tabList.length - 1) this.selectedTab = this.tabList.length - 1; + this.updateElements(); + } } /** Returns the index of the selected tab. */ @@ -605,6 +616,16 @@ export default class Tabs { this.activeSatellites = activeSatellites; } + /** Updates the UUID for the tab broadcasting to XR. */ + setActiveXRUUID(uuid: string | null) { + this.activeXRUUID = uuid; + this.tabList.forEach((tab) => { + if (tab.type === TabType.ThreeDimension) { + (tab.controller as ThreeDimensionController).setXRActive(tab.controller.UUID === uuid); + } + }); + } + /** Check whether the UUID is associated with a tab. */ isValidUUID(uuid: string) { for (let i = 0; i < this.tabList.length; i++) { diff --git a/src/hub/WorkerManager.ts b/src/hub/WorkerManager.ts index 862d9572..49ed40d9 100644 --- a/src/hub/WorkerManager.ts +++ b/src/hub/WorkerManager.ts @@ -30,24 +30,25 @@ export default abstract class WorkerManager { private static handleResponse(event: any) { let message = event.data; - let finalResponse = false; + let deleteWorker = () => { + WorkerManager.workers[message.id].worker.terminate(); + delete WorkerManager.workers[message.id]; + }; if (message.id in WorkerManager.workers) { if ("payload" in message) { - finalResponse = true; - WorkerManager.workers[message.id].resolve(message.payload); + let resolve = WorkerManager.workers[message.id].resolve; + deleteWorker(); + resolve(message.payload); } else if ("progress" in message) { let progress = WorkerManager.workers[message.id].progress; if (progress !== undefined) { progress(message.progress as number); } } else { - finalResponse = true; - WorkerManager.workers[message.id].reject(null); + let reject = WorkerManager.workers[message.id].reject; + deleteWorker(); + reject(null); } } - if (finalResponse) { - WorkerManager.workers[message.id].worker.terminate(); - delete WorkerManager.workers[message.id]; - } } } diff --git a/src/hub/controllers/ThreeDimensionController.ts b/src/hub/controllers/ThreeDimensionController.ts index 0f56f59e..11d03a9c 100644 --- a/src/hub/controllers/ThreeDimensionController.ts +++ b/src/hub/controllers/ThreeDimensionController.ts @@ -52,7 +52,7 @@ export default class ThreeDimensionController implements TabController { // Set up XR button this.XR_BUTTON.addEventListener("click", () => { - window.sendMainMessage("open-xr"); + window.sendMainMessage("open-xr", this.UUID); }); // Set up game select @@ -70,6 +70,15 @@ export default class ThreeDimensionController implements TabController { this.updateOriginSwitcher(); } + /** Sets whether XR streamling is currently active for this tab. */ + setXRActive(active: boolean) { + if (active) { + this.XR_BUTTON.classList.add("active"); + } else { + this.XR_BUTTON.classList.remove("active"); + } + } + /** Updates game select with the latest options. */ private updateGameOptions() { let value = this.GAME_SELECT.value; diff --git a/src/hub/hub.ts b/src/hub/hub.ts index 8d287465..29bd6a04 100644 --- a/src/hub/hub.ts +++ b/src/hub/hub.ts @@ -606,6 +606,10 @@ async function handleMainMessage(message: NamedMessage) { window.tabs.setActiveSatellites(message.data); break; + case "set-active-xr-uuid": + window.tabs.setActiveXRUUID(message.data); + break; + case "call-selection-setter": let uuid: string = message.data.uuid; let name: string = message.data.name; @@ -826,7 +830,7 @@ async function handleMainMessage(message: NamedMessage) { break; case "close-tab": - window.tabs.close(window.tabs.getSelectedTab()); + window.tabs.close(window.tabs.getSelectedTab(), message.data); break; case "rename-tab": diff --git a/src/main/Constants.ts b/src/main/Constants.ts index 881ae5b3..04cdcfaa 100644 --- a/src/main/Constants.ts +++ b/src/main/Constants.ts @@ -42,6 +42,7 @@ export const DEFAULT_PREFS: Preferences = { skipHootNonProWarning: false, skipFrcLogFolderDefault: false, skipNumericArrayDeprecationWarning: false, + skipXRExperimentalWarning: false, ctreLicenseAccepted: false }; export const HUB_DEFAULT_WIDTH = 1100; @@ -49,6 +50,14 @@ export const HUB_DEFAULT_HEIGHT = 650; export const SATELLITE_DEFAULT_WIDTH = 900; export const SATELLITE_DEFAULT_HEIGHT = 500; +// XR Server +export const XR_NATIVE_HOST_COMPATIBILITY = 0; +export const XR_URL_PREFIX = + "https://appclip.apple.com/id?p=org.littletonrobotics.advantagescopexr.Clip&c=" + + XR_NATIVE_HOST_COMPATIBILITY + + "&a="; +export const XR_SERVER_PORT = 56328; + // Live RLOG export const RLOG_CONNECT_TIMEOUT_MS = 3000; // How long to wait when connecting export const RLOG_DATA_TIMEOUT_MS = 3000; // How long with no data until timeout diff --git a/src/main/XRControls.ts b/src/main/XRControls.ts new file mode 100644 index 00000000..00a6b92b --- /dev/null +++ b/src/main/XRControls.ts @@ -0,0 +1,116 @@ +import { BrowserWindow, dialog, MessageChannelMain, MessagePortMain } from "electron"; +import path from "path"; +import NamedMessage from "../shared/NamedMessage"; +import { WINDOW_ICON } from "./Constants"; +import { XRServer } from "./XRServer"; + +export namespace XRControls { + let sourceUUID: string | null = null; + let sourceUUIDCallbacks: ((uuid: string | null) => void)[] = []; + let window: BrowserWindow | null = null; + let windowPort: MessagePortMain | null = null; + let qrTextInterval: NodeJS.Timeout | null = null; + let hasConfirmedClose = false; + + function setSourceUUID(newSourceUUID: string | null) { + if (sourceUUID === null && newSourceUUID !== null) { + XRServer.start(); + } else if (sourceUUID !== null && newSourceUUID === null) { + XRServer.stop(); + } + sourceUUID = newSourceUUID; + sourceUUIDCallbacks.forEach((callback) => callback(sourceUUID)); + } + + export function addSourceUUIDCallback(callback: (uuid: string | null) => void) { + sourceUUIDCallbacks.push(callback); + } + + function sendQRText() { + if (windowPort !== null) { + let message: NamedMessage = { + name: "qr-text", + data: XRServer.getQRText() + }; + windowPort.postMessage(message); + } + } + + export function open(newSourceUUID: string, parentWindow: BrowserWindow) { + setSourceUUID(newSourceUUID); + + if (window !== null && !window.isDestroyed()) { + window.focus(); + return; + } + + const width = 700; + const height = process.platform === "win32" ? 365 : 325; + window = new BrowserWindow({ + width: width, + height: height, + x: Math.floor(parentWindow.getBounds().x + parentWindow.getBounds().width / 2 - width / 2), + y: Math.floor(parentWindow.getBounds().y + parentWindow.getBounds().height / 2 - height / 2), + resizable: false, + useContentSize: true, + icon: WINDOW_ICON, + show: false, + fullscreenable: false, + webPreferences: { + preload: path.join(__dirname, "preload.js") + } + }); + + // Message handling + window.webContents.on("dom-ready", () => { + // Create ports on reload + if (window === null) return; + const { port1, port2 } = new MessageChannelMain(); + window.webContents.postMessage("port", null, [port1]); + windowPort = port2; + port2.on("message", (event) => { + let message = event.data as NamedMessage; + switch (message.name) { + case "xr-settings": + XRServer.setXRSettings(message.data); + break; + } + }); + port2.start(); + sendQRText(); + }); + + // Start periodic QR code send + if (qrTextInterval !== null) clearInterval(qrTextInterval); + qrTextInterval = setInterval(sendQRText, 1000); + + // Finish setup + window.setMenu(null); + window.once("ready-to-show", window.show); + hasConfirmedClose = false; + window.on("close", (event) => { + if (window === null || hasConfirmedClose) return; + event.preventDefault(); + let response = dialog.showMessageBoxSync(window, { + type: "question", + title: "Alert", + message: "Stop XR Server?", + detail: "Closing this window will stop the XR server and disconnect all devices.", + buttons: ["Don't Close", "Close"], + defaultId: 1, + icon: WINDOW_ICON + }); + if (response === 1) { + close(); + } + }); + window.loadFile(path.join(__dirname, "../www/xrControls.html")); + } + + export function close() { + hasConfirmedClose = true; + window?.close(); + setSourceUUID(null); + if (qrTextInterval !== null) clearInterval(qrTextInterval); + } +} diff --git a/src/main/XRServer.ts b/src/main/XRServer.ts new file mode 100644 index 00000000..b83012ba --- /dev/null +++ b/src/main/XRServer.ts @@ -0,0 +1,188 @@ +import { Encoder } from "@msgpack/msgpack"; +import fs from "fs"; +import http from "http"; +import { networkInterfaces } from "os"; +import path from "path"; +import { WebSocketServer } from "ws"; +import { AdvantageScopeAssets } from "../shared/AdvantageScopeAssets"; +import { ThreeDimensionRendererCommand } from "../shared/renderers/ThreeDimensionRenderer"; +import { XRPacket, XRSettings } from "../shared/XRTypes"; +import { XR_SERVER_PORT, XR_URL_PREFIX } from "./Constants"; + +export namespace XRServer { + let httpServer: http.Server | null = null; + let wsServer: WebSocketServer | null = null; + let xrSettings: XRSettings | null = null; + const msgpackEncoder = new Encoder(); + export let assetsSupplier: () => AdvantageScopeAssets; + + export function getQRText(): string { + const interfaces = networkInterfaces(); + let ipAddresses: Set = new Set(); + Object.values(interfaces).forEach((addressSet) => { + if (addressSet === undefined) return; + addressSet.forEach((addressData) => { + if (!addressData.internal && addressData.family === "IPv4") { + ipAddresses.add(addressData.address); + } + }); + }); + return XR_URL_PREFIX + Array.from(ipAddresses).join("_"); + } + + export function start() { + // Create HTTP server + httpServer = http + .createServer(async (request, response) => { + if (request.url !== undefined) { + let url: URL; + try { + url = new URL("http://localhost" + request.url); + } catch { + response.writeHead(400, { "Content-Type": "text/html" }); + response.end("Bad request"); + return; + } + switch (url.pathname) { + case "/": + response.writeHead(200, { "Content-Type": "text/html" }); + response.end(fs.readFileSync(path.join(__dirname, "../www/xrClient.html"), { encoding: "utf-8" })); + return; + case "/index.css": + response.writeHead(200, { "Content-Type": "text/css" }); + response.end(fs.readFileSync(path.join(__dirname, "../www/xrClient.css"), { encoding: "utf-8" })); + return; + case "/index.js": + response.writeHead(200, { "Content-Type": "text/javascript" }); + response.end(fs.readFileSync(path.join(__dirname, "../bundles/xrClient.js"), { encoding: "utf-8" })); + return; + case "/apriltag": + let family = url.searchParams.get("family"); + let name = url.searchParams.get("name"); + if (family === null || name === null || family.includes("..") || name.includes("..")) { + response.writeHead(400); + response.end("Family or name not provided or invalid"); + return; + } + + const imgPath = path.join(__dirname, "../www/textures/apriltag-" + family + "/" + name + ".png"); + try { + let imgData = fs.readFileSync(imgPath); + response.writeHead(200, { "Content-Type": "image/png" }); + response.end(imgData); + } catch { + response.writeHead(404); + response.end("Texture not found"); + return; + } + return; + case "/asset": + let assetPath = url.searchParams.get("path"); + if (assetPath === null) { + response.writeHead(400); + response.end("Asset path not provided"); + return; + } + + // Clean requested path + if (!assetPath!.endsWith(".glb")) { + response.writeHead(400); + response.end("Asset path is invalid"); + return; + } + let assetPathSimplified = assetPath!.substring(0, assetPath!.length - ".glb".length); + while ( + assetPathSimplified.length > 0 && + !isNaN(Number(assetPathSimplified[assetPathSimplified.length - 1])) + ) { + assetPathSimplified = assetPathSimplified.substring(0, assetPathSimplified.length - 1); + } + if (assetPathSimplified.endsWith("_")) { + assetPathSimplified = assetPathSimplified.substring(0, assetPathSimplified.length - 1); + } + + // Check if path is for a valid 3D asset + // (Prevent requests for other files) + let allAssets = assetsSupplier(); + let isValid = false; + [...allAssets.field3ds, ...allAssets.robots].forEach((fieldConfig) => { + let referencePathNoExtension = fieldConfig.path.substring(0, fieldConfig.path!.length - ".glb".length); + if (assetPathSimplified === referencePathNoExtension) { + isValid = true; + } + }); + if (!isValid) { + response.writeHead(400); + response.end("Asset path is invalid"); + return; + } + + // Read file + response.writeHead(200, { "Content-Type": "application/octet-stream" }); + response.end(fs.readFileSync(decodeURIComponent(assetPath))); + return; + } + } + + response.writeHead(404); + response.end("Not found"); + }) + .listen(XR_SERVER_PORT); + + // Create WebSocket server + wsServer = new WebSocketServer({ server: httpServer, path: "/ws" }); + wsServer.on("connection", (socket) => { + // Send current settings + if (xrSettings !== null) { + let packet: XRPacket = { + type: "settings", + time: new Date().getTime(), + value: xrSettings + }; + socket.send(msgpackEncoder.encode(packet)); + } + + // Send assets + let packet: XRPacket = { + type: "assets", + time: new Date().getTime(), + value: assetsSupplier() + }; + socket.send(msgpackEncoder.encode(packet)); + }); + } + + export function stop() { + httpServer?.close(); + wsServer?.close(); + xrSettings = null; + } + + export function setXRSettings(settings: XRSettings) { + xrSettings = settings; + + // Broadcast to all clients + let packet: XRPacket = { + type: "settings", + time: new Date().getTime(), + value: settings + }; + let message = msgpackEncoder.encode(packet); + wsServer?.clients.forEach((client) => { + client.send(message); + }); + } + + export function setHubCommand(command: ThreeDimensionRendererCommand) { + // Broadcast to all clients + let packet: XRPacket = { + type: "command", + time: new Date().getTime(), + value: command + }; + let message = msgpackEncoder.encode(packet); + wsServer?.clients.forEach((client) => { + client.send(message); + }); + } +} diff --git a/src/main/main.ts b/src/main/main.ts index c2b5a9a6..ffc7b375 100644 --- a/src/main/main.ts +++ b/src/main/main.ts @@ -69,6 +69,8 @@ import { import StateTracker, { ApplicationState, SatelliteWindowState, WindowState } from "./StateTracker"; import UpdateChecker from "./UpdateChecker"; import { VideoProcessor } from "./VideoProcessor"; +import { XRControls } from "./XRControls"; +import { XRServer } from "./XRServer"; import { getAssetDownloadStatus, startAssetDownloadLoop } from "./assetsDownload"; import { convertLegacyAssets, createAssetFolders, getUserAssetsPath, loadAssets } from "./assetsUtil"; import { @@ -88,7 +90,6 @@ let hubWindows: BrowserWindow[] = []; // Ordered by last focus time (recent firs let downloadWindow: BrowserWindow | null = null; let prefsWindow: BrowserWindow | null = null; let licensesWindow: BrowserWindow | null = null; -let xrWindow: BrowserWindow | null = null; let satelliteWindows: { [id: string]: BrowserWindow[] } = {}; let windowPorts: { [id: number]: MessagePortMain } = {}; let hubTouchBarSliders: { [id: number]: TouchBarSlider } = {}; @@ -106,6 +107,7 @@ let advantageScopeAssets: AdvantageScopeAssets = { joysticks: [], loadFailures: [] }; +XRServer.assetsSupplier = () => advantageScopeAssets; // Live RLOG variables let rlogSockets: { [id: number]: net.Socket } = {}; @@ -192,6 +194,13 @@ function sendActiveSatellites() { }); } +// Send XR state to all hub windows +XRControls.addSourceUUIDCallback((uuid) => { + hubWindows.forEach((window) => { + sendMessage(window, "set-active-xr-uuid", uuid); + }); +}); + /** * Process a message from a hub window. * @param window The source hub window @@ -1125,7 +1134,61 @@ async function handleHubMessage(window: BrowserWindow, message: NamedMessage) { break; case "open-xr": - openXR(window); + { + let startXR = () => XRControls.open(message.data, window); + let prefs: Preferences = jsonfile.readFileSync(PREFS_FILENAME); + if (prefs.skipXRExperimentalWarning) { + startXR(); + } else { + dialog + .showMessageBox(window, { + type: "info", + title: "Alert", + message: "Experimental Feature", + detail: + "AdvantageScope XR is an experimental feature, and may not function properly on all devices. Please report any problems via the GitHub issues page.", + buttons: ["Continue", "Cancel"], + defaultId: 0, + checkboxLabel: "Don't Show Again", + icon: WINDOW_ICON + }) + .then((response) => { + if (response.response === 0) { + if (response.checkboxChecked) { + prefs.skipXRExperimentalWarning = true; + jsonfile.writeFileSync(PREFS_FILENAME, prefs); + sendAllPreferences(); + } + startXR(); + } + }); + } + } + break; + + case "confirm-xr-close": + { + dialog + .showMessageBox(window, { + type: "question", + title: "Alert", + message: "Stop XR Server?", + detail: "Closing this tab will stop the XR server and disconnect all devices.", + buttons: ["Don't Close", "Close"], + defaultId: 1, + icon: WINDOW_ICON + }) + .then((response) => { + if (response.response === 1) { + sendMessage(window, "close-tab", true); + XRControls.close(); + } + }); + } + break; + + case "update-xr-command": + XRServer.setHubCommand(message.data); break; default: @@ -1976,7 +2039,7 @@ function setupMenu() { const window = baseWindow as BrowserWindow | undefined; if (window === undefined) return; if (hubWindows.includes(window)) { - sendMessage(window, "close-tab"); + sendMessage(window, "close-tab", false); } else { window.destroy(); } @@ -2921,7 +2984,6 @@ function openPreferences(parentWindow: Electron.BrowserWindow) { // Finish setup prefsWindow.setMenu(null); - prefsWindow.setFullScreenable(false); // Call separately b/c the normal behavior is broken: https://github.com/electron/electron/pull/39086 prefsWindow.once("ready-to-show", prefsWindow.show); prefsWindow.webContents.on("dom-ready", () => { // Create ports on reload @@ -2971,7 +3033,6 @@ function openDownload(parentWindow: Electron.BrowserWindow) { // Finish setup downloadWindow.setMenu(null); - downloadWindow.setFullScreenable(false); // Call separately b/c the normal behavior is broken: https://github.com/electron/electron/pull/39086 downloadWindow.once("ready-to-show", downloadWindow.show); downloadWindow.once("close", downloadStop); downloadWindow.webContents.on("dom-ready", () => { @@ -3024,52 +3085,11 @@ function openLicenses(parentWindow: Electron.BrowserWindow) { // Finish setup licensesWindow.setMenu(null); - licensesWindow.setFullScreenable(false); // Call separately b/c the normal behavior is broken: https://github.com/electron/electron/pull/39086 licensesWindow.once("ready-to-show", licensesWindow.show); licensesWindow.once("close", downloadStop); licensesWindow.loadFile(path.join(__dirname, "../www/licenses.html")); } -/** - * Creates a new XR window if it doesn't already exist. - * @param parentWindow The parent window to use for alignment - */ -function openXR(parentWindow: Electron.BrowserWindow) { - if (xrWindow !== null && !xrWindow.isDestroyed()) { - xrWindow.focus(); - return; - } - - const width = 400; - const height = 350; - xrWindow = new BrowserWindow({ - width: width, - height: height, - x: Math.floor(parentWindow.getBounds().x + parentWindow.getBounds().width / 2 - width / 2), - y: Math.floor(parentWindow.getBounds().y + parentWindow.getBounds().height / 2 - height / 2), - resizable: false, - icon: WINDOW_ICON, - show: false, - fullscreenable: false, - webPreferences: { - preload: path.join(__dirname, "preload.js") - } - }); - - // Open URLs in browser - xrWindow.webContents.setWindowOpenHandler((details) => { - shell.openExternal(details.url); - return { action: "deny" }; - }); - - // Finish setup - xrWindow.setMenu(null); - xrWindow.setFullScreenable(false); // Call separately b/c the normal behavior is broken: https://github.com/electron/electron/pull/39086 - xrWindow.once("ready-to-show", xrWindow.show); - xrWindow.once("close", downloadStop); - xrWindow.loadFile(path.join(__dirname, "../www/xr.html")); -} - /** * Creates a new source list help window. * @param parentWindow The parent window to use for alignment @@ -3097,7 +3117,6 @@ function openSourceListHelp(parentWindow: Electron.BrowserWindow, config: Source // Finish setup helpWindow.setMenu(null); - helpWindow.setFullScreenable(false); // Call separately b/c the normal behavior is broken: https://github.com/electron/electron/pull/39086 helpWindow.once("ready-to-show", helpWindow.show); helpWindow.once("close", downloadStop); helpWindow.webContents.on("dom-ready", () => { @@ -3137,7 +3156,6 @@ function openBetaWelcome(parentWindow: Electron.BrowserWindow) { }); // Finish setup betaWelcome.setMenu(null); - betaWelcome.setFullScreenable(false); // Call separately b/c the normal behavior is broken: https://github.com/electron/electron/pull/39086 betaWelcome.once("ready-to-show", betaWelcome.show); betaWelcome.on("close", () => { app.quit(); @@ -3294,6 +3312,9 @@ app.whenReady().then(() => { if ("skipFrcLogFolderDefault" in oldPrefs && typeof oldPrefs.skipFrcLogFolderDefault === "boolean") { prefs.skipFrcLogFolderDefault = oldPrefs.skipFrcLogFolderDefault; } + if ("skipXRExperimentalWarning" in oldPrefs && typeof oldPrefs.skipXRExperimentalWarning === "boolean") { + prefs.skipXRExperimentalWarning = oldPrefs.skipXRExperimentalWarning; + } if ("ctreLicenseAccepted" in oldPrefs && typeof oldPrefs.ctreLicenseAccepted === "boolean") { prefs.ctreLicenseAccepted = oldPrefs.ctreLicenseAccepted; } diff --git a/src/preferences.ts b/src/preferences.ts index aee5d8d1..a156deb1 100644 --- a/src/preferences.ts +++ b/src/preferences.ts @@ -96,6 +96,7 @@ window.addEventListener("message", (event) => { skipHootNonProWarning: oldPrefs.skipHootNonProWarning, skipFrcLogFolderDefault: oldPrefs.skipFrcLogFolderDefault, skipNumericArrayDeprecationWarning: oldPrefs.skipNumericArrayDeprecationWarning, + skipXRExperimentalWarning: oldPrefs.skipXRExperimentalWarning, ctreLicenseAccepted: oldPrefs.ctreLicenseAccepted }; messagePort.postMessage(newPrefs); diff --git a/src/shared/Preferences.ts b/src/shared/Preferences.ts index 5e3b54e4..fcde7e76 100644 --- a/src/shared/Preferences.ts +++ b/src/shared/Preferences.ts @@ -15,6 +15,7 @@ export default interface Preferences { skipHootNonProWarning: boolean; skipNumericArrayDeprecationWarning: boolean; skipFrcLogFolderDefault: boolean; + skipXRExperimentalWarning: boolean; ctreLicenseAccepted: boolean; usb?: boolean; } diff --git a/src/shared/XRTypes.ts b/src/shared/XRTypes.ts new file mode 100644 index 00000000..509d94f0 --- /dev/null +++ b/src/shared/XRTypes.ts @@ -0,0 +1,45 @@ +import { AdvantageScopeAssets } from "./AdvantageScopeAssets"; +import { Translation3d } from "./geometry"; +import { ThreeDimensionRendererCommand } from "./renderers/ThreeDimensionRenderer"; + +export type XRSettings = { + calibration: XRCalibrationMode; + streaming: XRStreamingMode; + showCarpet: boolean; + showField: boolean; + showRobots: boolean; +}; + +export enum XRCalibrationMode { + Miniature = 0, + FullSizeBlue = 1, + FullSizeRed = 2 +} + +export enum XRStreamingMode { + Smooth = 0, + LowLatency = 1 +} + +export type XRPacket = + | { type: "settings"; time: number; value: XRSettings } + | { type: "command"; time: number; value: ThreeDimensionRendererCommand } + | { type: "assets"; time: number; value: AdvantageScopeAssets }; + +export type XRFrameState = { + camera: { projection: number[]; worldInverse: number[]; position: Translation3d }; + frameSize: [number, number]; + lighting: LightingState; + raycast: RaycastResult; + anchors: AnchorResult; +}; + +export type LightingState = { + grain: number; + intensity: number; + temperature: number; +}; + +export type RaycastResult = { isValid: false } | { isValid: true; position: Translation3d; anchorId: string }; + +export type AnchorResult = { [key: string]: Translation3d }; diff --git a/src/shared/renderers/ThreeDimensionRendererImpl.ts b/src/shared/renderers/ThreeDimensionRendererImpl.ts index 2437a9d3..7ddb7bd3 100644 --- a/src/shared/renderers/ThreeDimensionRendererImpl.ts +++ b/src/shared/renderers/ThreeDimensionRendererImpl.ts @@ -420,6 +420,7 @@ export default class ThreeDimensionRendererImpl implements TabRenderer { this.MATERIAL_SPECULAR, this.MATERIAL_SHININESS, this.mode, + false, () => (this.shouldRender = true) ] as const; let manager: ObjectManager; diff --git a/src/shared/renderers/threeDimension/ObjectManager.ts b/src/shared/renderers/threeDimension/ObjectManager.ts index fb6cacb7..ca83af75 100644 --- a/src/shared/renderers/threeDimension/ObjectManager.ts +++ b/src/shared/renderers/threeDimension/ObjectManager.ts @@ -6,6 +6,7 @@ export default abstract class ObjectManager void; protected resolution = new THREE.Vector2(); @@ -14,12 +15,14 @@ export default abstract class ObjectManager void ) { this.root = root; this.materialSpecular = materialSpecular; this.materialShininess = materialShininess; this.mode = mode; + this.isXR = isXR; this.requestRender = requestRender; } diff --git a/src/shared/renderers/threeDimension/OptimizeGeometries.ts b/src/shared/renderers/threeDimension/OptimizeGeometries.ts index 12da8d0d..94eb4b1d 100644 --- a/src/shared/renderers/threeDimension/OptimizeGeometries.ts +++ b/src/shared/renderers/threeDimension/OptimizeGeometries.ts @@ -3,6 +3,11 @@ import * as BufferGeometryUtils from "three/examples/jsm/utils/BufferGeometryUti import { getSpiralIndex } from "../../util"; import { disposeObject } from "../ThreeDimensionRendererImpl"; +export const XR_MAX_RADIUS = 0.08; +export const LOW_POWER_MAX_RADIUS = 0.08; +export const STANDARD_MAX_RADIUS = 0.04; +export const CINEMATIC_MAX_RADIUS = 0.02; + export default async function optimizeGeometries( object: THREE.Object3D, mode: "low-power" | "standard" | "cinematic", @@ -158,13 +163,13 @@ function getGeometries( if (enableSimplification && !mesh.name.includes("NOSIMPLIFY")) { switch (mode) { case "low-power": - if (maxRadius < 0.08) include = false; + if (maxRadius < LOW_POWER_MAX_RADIUS) include = false; break; case "standard": - if (maxRadius < 0.04) include = false; + if (maxRadius < STANDARD_MAX_RADIUS) include = false; break; case "cinematic": - if (maxRadius < 0.02) include = false; + if (maxRadius < CINEMATIC_MAX_RADIUS) include = false; break; } } diff --git a/src/shared/renderers/threeDimension/objectManagers/AprilTagManager.ts b/src/shared/renderers/threeDimension/objectManagers/AprilTagManager.ts index 0d8d6c99..55a6f4d9 100644 --- a/src/shared/renderers/threeDimension/objectManagers/AprilTagManager.ts +++ b/src/shared/renderers/threeDimension/objectManagers/AprilTagManager.ts @@ -54,14 +54,14 @@ export default class AprilTagManager extends ObjectManager { texture.minFilter = THREE.NearestFilter; texture.magFilter = THREE.NearestFilter; diff --git a/src/shared/renderers/threeDimension/objectManagers/AxesManager.ts b/src/shared/renderers/threeDimension/objectManagers/AxesManager.ts index 88418e3b..82cb8d51 100644 --- a/src/shared/renderers/threeDimension/objectManagers/AxesManager.ts +++ b/src/shared/renderers/threeDimension/objectManagers/AxesManager.ts @@ -13,9 +13,10 @@ export default class AxesManager extends ObjectManager void ) { - super(root, materialSpecular, materialShininess, mode, requestRender); + super(root, materialSpecular, materialShininess, mode, isXR, requestRender); let axes = makeAxesTemplate(this.materialSpecular, this.materialShininess); axes.scale.set(0.25, 0.25, 0.25); diff --git a/src/shared/renderers/threeDimension/objectManagers/ConeManager.ts b/src/shared/renderers/threeDimension/objectManagers/ConeManager.ts index 505be898..1ecfc69e 100644 --- a/src/shared/renderers/threeDimension/objectManagers/ConeManager.ts +++ b/src/shared/renderers/threeDimension/objectManagers/ConeManager.ts @@ -22,9 +22,10 @@ export default class ConeManager extends ObjectManager void ) { - super(root, materialSpecular, materialShininess, mode, requestRender); + super(root, materialSpecular, materialShininess, mode, isXR, requestRender); this.geometry = new THREE.ConeGeometry(0.06, 0.25, 16, 32); this.geometry.rotateZ(-Math.PI / 2); diff --git a/src/shared/renderers/threeDimension/objectManagers/GamePieceManager.ts b/src/shared/renderers/threeDimension/objectManagers/GamePieceManager.ts index aaf7edc3..be881a7f 100644 --- a/src/shared/renderers/threeDimension/objectManagers/GamePieceManager.ts +++ b/src/shared/renderers/threeDimension/objectManagers/GamePieceManager.ts @@ -13,10 +13,11 @@ export default class GamePieceManager extends ObjectManager void, gamePieces: { [key: string]: THREE.Mesh } ) { - super(root, materialSpecular, materialShininess, mode, requestRender); + super(root, materialSpecular, materialShininess, mode, isXR, requestRender); this.gamePieces = gamePieces; } diff --git a/src/shared/renderers/threeDimension/objectManagers/HeatmapManager.ts b/src/shared/renderers/threeDimension/objectManagers/HeatmapManager.ts index 039f9b90..4ef87575 100644 --- a/src/shared/renderers/threeDimension/objectManagers/HeatmapManager.ts +++ b/src/shared/renderers/threeDimension/objectManagers/HeatmapManager.ts @@ -8,7 +8,7 @@ import { disposeObject } from "../../ThreeDimensionRendererImpl"; import ObjectManager from "../ObjectManager"; export default class HeatmapManager extends ObjectManager { - private HEIGHT_PIXELS = 800; + private HEIGHT_PIXELS: number; private getFieldConfig: () => Config3dField | null; private container = document.createElement("div"); @@ -21,11 +21,14 @@ export default class HeatmapManager extends ObjectManager void, getFieldConfig: () => Config3dField | null ) { - super(root, materialSpecular, materialShininess, mode, requestRender); + super(root, materialSpecular, materialShininess, mode, isXR, requestRender); this.getFieldConfig = getFieldConfig; + this.isXR = isXR; + this.HEIGHT_PIXELS = isXR ? 25 : 800; // Canvas texture updates are very slow in XR this.container.hidden = true; document.body.appendChild(this.container); } diff --git a/src/shared/renderers/threeDimension/objectManagers/RobotManager.ts b/src/shared/renderers/threeDimension/objectManagers/RobotManager.ts index ad2a5b2b..3865fc9d 100644 --- a/src/shared/renderers/threeDimension/objectManagers/RobotManager.ts +++ b/src/shared/renderers/threeDimension/objectManagers/RobotManager.ts @@ -2,7 +2,9 @@ import * as THREE from "three"; import { Line2 } from "three/examples/jsm/lines/Line2.js"; import { LineGeometry } from "three/examples/jsm/lines/LineGeometry.js"; import { LineMaterial } from "three/examples/jsm/lines/LineMaterial.js"; +import { GLTF, GLTFLoader } from "three/examples/jsm/loaders/GLTFLoader.js"; import WorkerManager from "../../../../hub/WorkerManager"; +import { AdvantageScopeAssets } from "../../../AdvantageScopeAssets"; import { SwerveState } from "../../../geometry"; import { convert } from "../../../units"; import { transformPx } from "../../../util"; @@ -16,13 +18,14 @@ import { rotation3dToQuaternion } from "../../ThreeDimensionRendererImpl"; import ObjectManager from "../ObjectManager"; +import { XR_MAX_RADIUS } from "../OptimizeGeometries"; import ResizableInstancedMesh from "../ResizableInstancedMesh"; export default class RobotManager extends ObjectManager< ThreeDimensionRendererCommand_RobotObj | ThreeDimensionRendererCommand_GhostObj > { - private SWERVE_CANVAS_PX = 2000; - private SWERVE_CANVAS_METERS = 4; + private SWERVE_CANVAS_PX = 1000; + private SWERVE_CANVAS_METERS = 3; private SWERVE_BUMPER_OFFSET = 0.15; private loadingStart: () => void; @@ -45,9 +48,9 @@ export default class RobotManager extends ObjectManager< material: THREE.MeshPhongMaterial; }[] = []; - private swerveContainer = document.createElement("div"); - private swerveCanvas = document.createElement("canvas"); - private swerveTexture = new THREE.CanvasTexture(this.swerveCanvas); + private swerveContainer: HTMLElement | null = null; + private swerveCanvas: HTMLCanvasElement | null = null; + private swerveTexture: THREE.CanvasTexture | null = null; private loadingCounter = 0; private shouldLoadNewModel = false; @@ -55,30 +58,41 @@ export default class RobotManager extends ObjectManager< private dummyConfigPose = new THREE.Object3D(); private dummyUserPose = new THREE.Group().add(this.dummyConfigPose); private dummyRobotPose = new THREE.Group().add(this.dummyUserPose); + private assetsOverride: AdvantageScopeAssets | null = null; + private hideRobotModels = false; private hasNewAssets = false; private lastModel = ""; private lastColor = ""; + private lastHadSwerveStates = false; + private lastHideRobotModels = false; constructor( root: THREE.Object3D, materialSpecular: THREE.Color, materialShininess: number, mode: "low-power" | "standard" | "cinematic", + isXR: boolean, requestRender: () => void, loadingStart: () => void, loadingEnd: () => void ) { - super(root, materialSpecular, materialShininess, mode, requestRender); + super(root, materialSpecular, materialShininess, mode, isXR, requestRender); this.loadingStart = loadingStart; this.loadingEnd = loadingEnd; - this.swerveContainer.hidden = true; - this.swerveContainer.appendChild(this.swerveCanvas); - this.swerveContainer.style.width = this.SWERVE_CANVAS_PX.toString() + "px"; - this.swerveContainer.style.height = this.SWERVE_CANVAS_PX.toString() + "px"; - this.swerveCanvas.width = this.SWERVE_CANVAS_PX; - this.swerveCanvas.height = this.SWERVE_CANVAS_PX; - document.body.appendChild(this.swerveContainer); + if (!isXR) { + this.swerveContainer = document.createElement("div"); + this.swerveCanvas = document.createElement("canvas"); + this.swerveTexture = new THREE.CanvasTexture(this.swerveCanvas); + + this.swerveContainer.hidden = true; + this.swerveContainer.appendChild(this.swerveCanvas); + this.swerveContainer.style.width = this.SWERVE_CANVAS_PX.toString() + "px"; + this.swerveContainer.style.height = this.SWERVE_CANVAS_PX.toString() + "px"; + this.swerveCanvas.width = this.SWERVE_CANVAS_PX; + this.swerveCanvas.height = this.SWERVE_CANVAS_PX; + document.body.appendChild(this.swerveContainer); + } } dispose(): void { @@ -94,7 +108,10 @@ export default class RobotManager extends ObjectManager< this.root.remove(this.visionLines[0]); this.visionLines.shift(); } - this.swerveTexture.dispose(); + this.swerveTexture?.dispose(); + if (!this.isXR) { + document.body.removeChild(this.swerveContainer!); + } } setResolution(resolution: THREE.Vector2) { @@ -106,18 +123,28 @@ export default class RobotManager extends ObjectManager< this.hasNewAssets = true; } + setAssetsOverride(assets: AdvantageScopeAssets | null) { + this.assetsOverride = assets; + } + + setHideRobotModels(hide: boolean) { + this.hideRobotModels = hide; + } + getModel(): string { return this.lastModel; } setObjectData(object: ThreeDimensionRendererCommand_RobotObj | ThreeDimensionRendererCommand_GhostObj): void { - let robotConfig = window.assets?.robots.find((robotData) => robotData.name === object.model); + let assets = this.assetsOverride ?? window.assets; + let robotConfig = assets?.robots.find((robotData) => robotData.name === object.model); // Load new robot model - if (object.model !== this.lastModel || this.hasNewAssets) { + if (object.model !== this.lastModel || this.hideRobotModels !== this.lastHideRobotModels || this.hasNewAssets) { this.shouldLoadNewModel = true; this.lastModel = object.model; this.hasNewAssets = false; + this.lastHideRobotModels = this.hideRobotModels; } if (this.shouldLoadNewModel && !this.isLoading) { this.shouldLoadNewModel = false; @@ -126,75 +153,179 @@ export default class RobotManager extends ObjectManager< }); this.meshes = []; - if (robotConfig !== undefined) { + if (robotConfig !== undefined && !this.hideRobotModels) { this.loadingCounter++; let loadingCounter = this.loadingCounter; this.loadingStart(); if (this.isLoading) this.loadingEnd(); this.isLoading = true; - WorkerManager.request("../bundles/shared$loadRobot.js", { - robotConfig: robotConfig!, - mode: this.mode, - materialSpecular: this.materialSpecular.toArray(), - materialShininess: this.materialShininess - }).then((result: THREE.MeshJSON[][]) => { - if (loadingCounter !== this.loadingCounter) { - // Model was switched, throw away the data :( - return; - } - const loader = new THREE.ObjectLoader(); - this.meshes = []; - this.dimensions = [0, 0, 0, 0]; + if (this.isXR) { + // XR, load models directly + const urlTransformer: (path: string) => string = (url) => "/asset?path=" + encodeURIComponent(url); + const gltfLoader = new GLTFLoader(); + Promise.all([ + new Promise((resolve) => { + gltfLoader.load(urlTransformer(robotConfig.path), resolve); + }), + ...robotConfig.components.map( + (_, index) => + new Promise((resolve) => { + gltfLoader.load( + urlTransformer(robotConfig.path.slice(0, -4) + "_" + index.toString() + ".glb"), + resolve + ); + }) + ) + ]).then(async (gltfs) => { + if (loadingCounter !== this.loadingCounter) { + // Model was switched, throw away the data :( + return; + } - result.forEach((sceneMeshJSONs, index) => { - // Load meshes - let sceneMeshes: THREE.Mesh[] = sceneMeshJSONs.map((json) => loader.parse(json) as THREE.Mesh); - sceneMeshes.forEach((mesh) => { + this.meshes = []; + this.dimensions = [0, 0, 0, 0]; + + let gltfScenes = (gltfs as GLTF[]).map((gltf) => gltf.scene); + for (let index = 0; index < gltfScenes.length; index++) { + let scene = gltfScenes[index]; if (index === 0) { - mesh.geometry.computeBoundingBox(); - let box = mesh.geometry.boundingBox; - if (box !== null) { - this.dimensions[0] = Math.max(this.dimensions[0], box.max.x); - this.dimensions[1] = Math.max(this.dimensions[1], box.max.y); - this.dimensions[2] = Math.max(this.dimensions[2], -box.min.x); - this.dimensions[3] = Math.max(this.dimensions[3], -box.min.y); - } + scene.rotation.setFromQuaternion(getQuaternionFromRotSeq(robotConfig.rotations)); + scene.position.set(...robotConfig.position); } - if (object.type === "ghost") { - if (!Array.isArray(mesh.material)) { - mesh.material.dispose(); + let sceneMeshes: THREE.Mesh[] = []; + scene.traverse((object) => { + let mesh = object as THREE.Mesh; + if (!mesh.isMesh) return; + if (mesh.material instanceof THREE.MeshStandardMaterial) { + mesh.material.metalness = 0; + mesh.material.roughness = 1; } - mesh.material = this.ghostMaterial; - } - }); - // Add swerve mesh - if (index === 0) { - let swerveMesh = new THREE.Mesh( - new THREE.PlaneGeometry(this.SWERVE_CANVAS_METERS, this.SWERVE_CANVAS_METERS).translate(0, 0, 0.1), - new THREE.MeshPhongMaterial({ - map: this.swerveTexture, - transparent: true, - side: THREE.DoubleSide - }) - ); - swerveMesh.renderOrder = 999; - swerveMesh.material.depthTest = false; - swerveMesh.material.transparent = true; - sceneMeshes.push(swerveMesh); + // Check if too small + let vertices: THREE.Vector3[] = []; + let center = new THREE.Vector3(); + for (let i = 0; i < mesh.geometry.attributes.position.count; i++) { + let vertex = new THREE.Vector3( + mesh.geometry.attributes.position.getX(i), + mesh.geometry.attributes.position.getY(i), + mesh.geometry.attributes.position.getZ(i) + ); + vertices.push(vertex); + center.add(vertex); + } + center.divideScalar(vertices.length); + let maxRadius = vertices.reduce((prev, vertex) => { + let dist = vertex.distanceTo(center); + return dist > prev ? dist : prev; + }, 0); + let enableSimplification = !robotConfig.disableSimplification && !mesh.name.includes("NOSIMPLIFY"); + if (maxRadius >= XR_MAX_RADIUS || !enableSimplification) { + // Apply world matrix to geometry + let geometry = mesh.geometry.clone(); + mesh.updateWorldMatrix(true, false); + geometry.applyMatrix4(mesh.matrixWorld); + mesh.geometry = geometry; + sceneMeshes.push(mesh); + } + }); + + sceneMeshes.forEach((mesh) => { + if (index === 0) { + mesh.geometry.computeBoundingBox(); + let box = mesh.geometry.boundingBox; + if (box !== null) { + this.dimensions[0] = Math.max(this.dimensions[0], box.max.x); + this.dimensions[1] = Math.max(this.dimensions[1], box.max.y); + this.dimensions[2] = Math.max(this.dimensions[2], -box.min.x); + this.dimensions[3] = Math.max(this.dimensions[3], -box.min.y); + } + } + + if (object.type === "ghost") { + if (!Array.isArray(mesh.material)) { + mesh.material.dispose(); + } + mesh.material = this.ghostMaterial; + } + }); + + let castShadow = new Array(sceneMeshes.length).fill(true); + castShadow[castShadow.length - 1] = false; + this.meshes.push(new ResizableInstancedMesh(this.root, sceneMeshes, castShadow)); } - let castShadow = new Array(sceneMeshes.length).fill(true); - castShadow[castShadow.length - 1] = false; - this.meshes.push(new ResizableInstancedMesh(this.root, sceneMeshes, castShadow)); + this.requestRender(); + this.loadingEnd(); + this.isLoading = false; }); + } else { + // Desktop, load models with worker and mesh merging + WorkerManager.request("../bundles/shared$loadRobot.js", { + robotConfig: robotConfig!, + mode: this.mode, + materialSpecular: this.materialSpecular.toArray(), + materialShininess: this.materialShininess + }).then((result: THREE.MeshJSON[][]) => { + if (loadingCounter !== this.loadingCounter) { + // Model was switched, throw away the data :( + return; + } - this.requestRender(); - this.loadingEnd(); - this.isLoading = false; - }); + const loader = new THREE.ObjectLoader(); + this.meshes = []; + this.dimensions = [0, 0, 0, 0]; + + result.forEach((sceneMeshJSONs, index) => { + // Load meshes + let sceneMeshes: THREE.Mesh[] = sceneMeshJSONs.map((json) => loader.parse(json) as THREE.Mesh); + sceneMeshes.forEach((mesh) => { + if (index === 0) { + mesh.geometry.computeBoundingBox(); + let box = mesh.geometry.boundingBox; + if (box !== null) { + this.dimensions[0] = Math.max(this.dimensions[0], box.max.x); + this.dimensions[1] = Math.max(this.dimensions[1], box.max.y); + this.dimensions[2] = Math.max(this.dimensions[2], -box.min.x); + this.dimensions[3] = Math.max(this.dimensions[3], -box.min.y); + } + } + + if (object.type === "ghost") { + if (!Array.isArray(mesh.material)) { + mesh.material.dispose(); + } + mesh.material = this.ghostMaterial; + } + }); + + // Add swerve mesh + if (index === 0) { + let swerveMesh = new THREE.Mesh( + new THREE.PlaneGeometry(this.SWERVE_CANVAS_METERS, this.SWERVE_CANVAS_METERS).translate(0, 0, 0.1), + new THREE.MeshPhongMaterial({ + map: this.swerveTexture, + transparent: true, + side: THREE.DoubleSide + }) + ); + swerveMesh.renderOrder = 999; + swerveMesh.material.depthTest = false; + swerveMesh.material.transparent = true; + sceneMeshes.push(swerveMesh); + } + + let castShadow = new Array(sceneMeshes.length).fill(true); + castShadow[castShadow.length - 1] = false; + this.meshes.push(new ResizableInstancedMesh(this.root, sceneMeshes, castShadow)); + }); + + this.requestRender(); + this.loadingEnd(); + this.isLoading = false; + }); + } } } @@ -372,67 +503,71 @@ export default class RobotManager extends ObjectManager< } } - // Update swerve canvas - let context = this.swerveCanvas.getContext("2d")!; - context.clearRect(0, 0, this.SWERVE_CANVAS_PX, this.SWERVE_CANVAS_PX); - const pxPerMeter = this.SWERVE_CANVAS_PX / this.SWERVE_CANVAS_METERS; - const moduleX = (Math.min(this.dimensions[0], this.dimensions[2]) - this.SWERVE_BUMPER_OFFSET) * pxPerMeter; - const moduleY = (Math.min(this.dimensions[1], this.dimensions[3]) - this.SWERVE_BUMPER_OFFSET) * pxPerMeter; - const centerPx = [this.SWERVE_CANVAS_PX / 2, this.SWERVE_CANVAS_PX / 2]; - ( - [ - [1, 1], - [1, -1], - [-1, 1], - [-1, -1] - ] as const - ).forEach((cornerMultipliers, index) => { - let moduleCenterPx = [ - centerPx[0] + moduleX * cornerMultipliers[0], - centerPx[1] - moduleY * cornerMultipliers[1] - ] as [number, number]; - - // Draw module data - let drawModuleData = (state: SwerveState, color: string) => { - context.lineWidth = 0.03 * pxPerMeter; - context.strokeStyle = color; - context.lineCap = "round"; - context.lineJoin = "round"; - - // Draw speed - if (Math.abs(state.speed) <= 0.001) return; - let vectorSpeed = state.speed / 5; - let vectorRotation = state.angle; - if (state.speed < 0) { - vectorSpeed *= -1; - vectorRotation += Math.PI; - } - if (vectorSpeed < 0.05) return; - let vectorLength = pxPerMeter * convert(36, "inches", "meters") * vectorSpeed; - let arrowBack = transformPx(moduleCenterPx, vectorRotation, [0, 0]); - let arrowFront = transformPx(moduleCenterPx, vectorRotation, [vectorLength, 0]); - let arrowLeft = transformPx(moduleCenterPx, vectorRotation, [ - vectorLength - pxPerMeter * 0.1, - pxPerMeter * 0.1 - ]); - let arrowRight = transformPx(moduleCenterPx, vectorRotation, [ - vectorLength - pxPerMeter * 0.1, - pxPerMeter * -0.1 - ]); - context.beginPath(); - context.moveTo(...arrowBack); - context.lineTo(...arrowFront); - context.moveTo(...arrowLeft); - context.lineTo(...arrowFront); - context.lineTo(...arrowRight); - context.stroke(); - }; - object.swerveStates.forEach((set) => { - if (index < set.values.length) { - drawModuleData(set.values[index], set.color); - } + // Update swerve canvas (disabled in XR) + if (!this.isXR) { + let context = this.swerveCanvas?.getContext("2d")!; + context.clearRect(0, 0, this.SWERVE_CANVAS_PX, this.SWERVE_CANVAS_PX); + const pxPerMeter = this.SWERVE_CANVAS_PX / this.SWERVE_CANVAS_METERS; + const moduleX = (Math.min(this.dimensions[0], this.dimensions[2]) - this.SWERVE_BUMPER_OFFSET) * pxPerMeter; + const moduleY = (Math.min(this.dimensions[1], this.dimensions[3]) - this.SWERVE_BUMPER_OFFSET) * pxPerMeter; + const centerPx = [this.SWERVE_CANVAS_PX / 2, this.SWERVE_CANVAS_PX / 2]; + ( + [ + [1, 1], + [1, -1], + [-1, 1], + [-1, -1] + ] as const + ).forEach((cornerMultipliers, index) => { + let moduleCenterPx = [ + centerPx[0] + moduleX * cornerMultipliers[0], + centerPx[1] - moduleY * cornerMultipliers[1] + ] as [number, number]; + + // Draw module data + let drawModuleData = (state: SwerveState, color: string) => { + context.lineWidth = 0.03 * pxPerMeter; + context.strokeStyle = color; + context.lineCap = "round"; + context.lineJoin = "round"; + + // Draw speed + if (Math.abs(state.speed) <= 0.001) return; + let vectorSpeed = state.speed / 5; + let vectorRotation = state.angle; + if (state.speed < 0) { + vectorSpeed *= -1; + vectorRotation += Math.PI; + } + if (vectorSpeed < 0.05) return; + let vectorLength = pxPerMeter * convert(36, "inches", "meters") * vectorSpeed; + let arrowBack = transformPx(moduleCenterPx, vectorRotation, [0, 0]); + let arrowFront = transformPx(moduleCenterPx, vectorRotation, [vectorLength, 0]); + let arrowLeft = transformPx(moduleCenterPx, vectorRotation, [ + vectorLength - pxPerMeter * 0.1, + pxPerMeter * 0.1 + ]); + let arrowRight = transformPx(moduleCenterPx, vectorRotation, [ + vectorLength - pxPerMeter * 0.1, + pxPerMeter * -0.1 + ]); + context.beginPath(); + context.moveTo(...arrowBack); + context.lineTo(...arrowFront); + context.moveTo(...arrowLeft); + context.lineTo(...arrowFront); + context.lineTo(...arrowRight); + context.stroke(); + }; + object.swerveStates.forEach((set) => { + if (index < set.values.length) { + drawModuleData(set.values[index], set.color); + } + }); }); - }); - this.swerveTexture.needsUpdate = true; + let hasSwerveStates = object.swerveStates.length > 0; + this.swerveTexture!.needsUpdate = hasSwerveStates || this.lastHadSwerveStates; + this.lastHadSwerveStates = hasSwerveStates; + } } } diff --git a/src/shared/renderers/threeDimension/objectManagers/TrajectoryManager.ts b/src/shared/renderers/threeDimension/objectManagers/TrajectoryManager.ts index cd7ce1b2..35e30654 100644 --- a/src/shared/renderers/threeDimension/objectManagers/TrajectoryManager.ts +++ b/src/shared/renderers/threeDimension/objectManagers/TrajectoryManager.ts @@ -14,9 +14,10 @@ export default class TrajectoryManager extends ObjectManager void ) { - super(root, materialSpecular, materialShininess, mode, requestRender); + super(root, materialSpecular, materialShininess, mode, isXR, requestRender); this.line = new Line2( new LineGeometry(), diff --git a/src/shared/renderers/threeDimension/objectManagers/ZebraManager.ts b/src/shared/renderers/threeDimension/objectManagers/ZebraManager.ts index 9586a77a..c3b1ecc7 100644 --- a/src/shared/renderers/threeDimension/objectManagers/ZebraManager.ts +++ b/src/shared/renderers/threeDimension/objectManagers/ZebraManager.ts @@ -19,9 +19,10 @@ export default class ZebraManager extends ObjectManager void ) { - super(root, materialSpecular, materialShininess, mode, requestRender); + super(root, materialSpecular, materialShininess, mode, isXR, requestRender); this.mesh.castShadow = true; this.root.add(this.mesh, this.label); } diff --git a/src/shared/renderers/threeDimension/workers/loadField.ts b/src/shared/renderers/threeDimension/workers/loadField.ts index 798879a8..0f3159f6 100644 --- a/src/shared/renderers/threeDimension/workers/loadField.ts +++ b/src/shared/renderers/threeDimension/workers/loadField.ts @@ -75,6 +75,9 @@ self.onmessage = (event) => { scene.rotation.setFromQuaternion(getQuaternionFromRotSeq(fieldConfig.rotations)); let fieldMeshes = await optimizeGeometries(scene, mode, materialSpecular, materialShininess, true, 1); field = new THREE.Group(); + fieldMeshes.carpet.forEach((mesh) => { + mesh.name = "carpet"; + }); [...fieldMeshes.normal, ...fieldMeshes.transparent, ...fieldMeshes.carpet].forEach((mesh) => field.add(mesh)); } else { let gamePieceConfig = fieldConfig.gamePieces[index - 1]; diff --git a/src/xrClient/XRCamera.ts b/src/xrClient/XRCamera.ts new file mode 100644 index 00000000..5c69531d --- /dev/null +++ b/src/xrClient/XRCamera.ts @@ -0,0 +1,26 @@ +import * as THREE from "three"; + +export default class XRCamera extends THREE.Camera { + type = "Camera"; + matrixWorldInverse = new THREE.Matrix4(); + projectionMatrix = new THREE.Matrix4(); + + getWorldDirection(target: THREE.Vector3): THREE.Vector3 { + return target.set(0, 0, -1).applyQuaternion(this.getWorldQuaternion(new THREE.Quaternion())); + } + + updateMatrixWorld(_: boolean): void {} + + copy(object: THREE.Object3D, recursive?: boolean) { + super.copy(object, recursive); + if (object.type === "Camera") { + this.matrixWorldInverse.copy((object as THREE.Camera).matrixWorldInverse); + this.projectionMatrix.copy((object as THREE.Camera).projectionMatrix); + } + return this; + } + + clone(_: boolean): any { + return new XRCamera().copy(this); + } +} diff --git a/src/xrClient/XRRenderer.ts b/src/xrClient/XRRenderer.ts new file mode 100644 index 00000000..05fe9abf --- /dev/null +++ b/src/xrClient/XRRenderer.ts @@ -0,0 +1,792 @@ +import * as THREE from "three"; +import { Line2 } from "three/examples/jsm/lines/Line2.js"; +import { LineGeometry } from "three/examples/jsm/lines/LineGeometry.js"; +import { LineMaterial } from "three/examples/jsm/lines/LineMaterial.js"; +import { GLTF, GLTFLoader } from "three/examples/jsm/loaders/GLTFLoader.js"; +import { EffectComposer } from "three/examples/jsm/postprocessing/EffectComposer.js"; +import { FilmPass } from "three/examples/jsm/postprocessing/FilmPass.js"; +import { OutputPass } from "three/examples/jsm/postprocessing/OutputPass.js"; +import { RenderPass } from "three/examples/jsm/postprocessing/RenderPass.js"; +import { + AdvantageScopeAssets, + Config3dField, + DEFAULT_DRIVER_STATIONS, + STANDARD_FIELD_LENGTH, + STANDARD_FIELD_WIDTH +} from "../shared/AdvantageScopeAssets"; +import { RaycastResult, XRCalibrationMode, XRFrameState, XRSettings } from "../shared/XRTypes"; +import { + ThreeDimensionRendererCommand, + ThreeDimensionRendererCommand_AnyObj +} from "../shared/renderers/ThreeDimensionRenderer"; +import { disposeObject, getQuaternionFromRotSeq } from "../shared/renderers/ThreeDimensionRendererImpl"; +import makeAxesField from "../shared/renderers/threeDimension/AxesField"; +import makeEvergreenField from "../shared/renderers/threeDimension/EvergreenField"; +import ObjectManager from "../shared/renderers/threeDimension/ObjectManager"; +import optimizeGeometries, { XR_MAX_RADIUS } from "../shared/renderers/threeDimension/OptimizeGeometries"; +import AprilTagManager from "../shared/renderers/threeDimension/objectManagers/AprilTagManager"; +import AxesManager from "../shared/renderers/threeDimension/objectManagers/AxesManager"; +import ConeManager from "../shared/renderers/threeDimension/objectManagers/ConeManager"; +import GamePieceManager from "../shared/renderers/threeDimension/objectManagers/GamePieceManager"; +import HeatmapManager from "../shared/renderers/threeDimension/objectManagers/HeatmapManager"; +import RobotManager from "../shared/renderers/threeDimension/objectManagers/RobotManager"; +import TrajectoryManager from "../shared/renderers/threeDimension/objectManagers/TrajectoryManager"; +import ZebraManager from "../shared/renderers/threeDimension/objectManagers/ZebraManager"; +import { convert } from "../shared/units"; +import { clampValue, wrapRadians } from "../shared/util"; +import XRCamera from "./XRCamera"; +import { sendHostMessage } from "./xrClient"; + +export default class XRRenderer { + private MATERIAL_SPECULAR: THREE.Color = new THREE.Color(0x000000); + private MATERIAL_SHININESS = 0; + + private canvas: HTMLCanvasElement; + private spinner: HTMLElement; + private renderer: THREE.WebGLRenderer; + private composer: EffectComposer; + private flimPass: FilmPass; + private resolution = new THREE.Vector2(); + + private lastCalibrationMode: XRCalibrationMode | null = null; + private lastInvalidRaycast = 0; + private lastRaycastResult: RaycastResult = { isValid: false }; + private lastIsCalibrating = false; + + private scene: THREE.Scene; + private camera: XRCamera; + private ambientLight: THREE.AmbientLight; + private spotLight: THREE.SpotLight; + private anchors: { [key: string]: THREE.Object3D } = {}; + private markedPoints: THREE.Object3D[] = []; + private cursor: THREE.Object3D; + private fieldRoot: THREE.Object3D; + private fieldSizingReference: THREE.Object3D; + private wpilibCoordinateGroup: THREE.Object3D; + private wpilibFieldCoordinateGroup: THREE.Group; // Field coordinates (origin at driver stations and flipped based on alliance) + private field: THREE.Object3D | null = null; + private fieldCarpet: THREE.Object3D | null = null; + private fieldStagedPieces: THREE.Object3D | null = null; + private fieldPieces: { [key: string]: THREE.Mesh } = {}; + + private objectManagers: { + type: ThreeDimensionRendererCommand_AnyObj["type"]; + manager: ObjectManager; + active: boolean; + }[] = []; + + private fieldConfigCache: Config3dField | null = null; + private robotLoadingCount = 0; + private shouldLoadNewField = false; + private isFieldLoading = false; + private lastFieldTitle: string = ""; + private lastAssetsString: string = ""; + + constructor() { + this.canvas = document.getElementsByTagName("canvas")[0] as HTMLCanvasElement; + this.spinner = document.getElementsByClassName("spinner-cubes-container")[0] as HTMLElement; + this.renderer = new THREE.WebGLRenderer({ canvas: this.canvas, alpha: true }); + this.scene = new THREE.Scene(); + this.camera = new XRCamera(); + this.composer = new EffectComposer(this.renderer); + this.composer.addPass(new RenderPass(this.scene, this.camera)); + this.flimPass = new FilmPass(1, false); + this.composer.addPass(this.flimPass); + this.composer.addPass(new OutputPass()); + + // Create coordinate groups + this.fieldRoot = new THREE.Group(); + this.scene.add(this.fieldRoot); + this.wpilibCoordinateGroup = new THREE.Group(); + this.fieldRoot.add(this.wpilibCoordinateGroup); + this.wpilibCoordinateGroup.rotateX(-Math.PI / 2); + this.wpilibFieldCoordinateGroup = new THREE.Group(); + this.wpilibCoordinateGroup.add(this.wpilibFieldCoordinateGroup); + + // Add lights + this.ambientLight = new THREE.AmbientLight(0xd4d4d4); + this.scene.add(this.ambientLight); + this.spotLight = new THREE.SpotLight(0xffffff, 1, 30, 45 * (Math.PI / 180), 0.2, 2); + this.spotLight.position.set(0, 15, 0); + this.spotLight.target.position.set(0, 0, 0); + this.fieldRoot.add(this.spotLight, this.spotLight.target); + + // Create cursor + this.cursor = new THREE.Group(); + this.scene.add(this.cursor); + this.cursor.add( + new THREE.Mesh( + new THREE.SphereGeometry(0.005, 32, 16, 0, Math.PI * 2, 0, Math.PI / 2), + new THREE.MeshPhongMaterial({ color: "yellow" }) + ) + ); + this.cursor.add( + new THREE.Mesh( + new THREE.CircleGeometry(0.05, 64), + new THREE.MeshPhongMaterial({ color: "yellow", transparent: true, opacity: 0.02, side: THREE.DoubleSide }) + ).rotateX(Math.PI / 2) + ); + this.cursor.add(new THREE.HemisphereLight(0xffffff, 0x444444, 2)); + + // Create field sizing reference + this.fieldSizingReference = new THREE.Group(); + this.fieldRoot.add(this.fieldSizingReference); + this.fieldSizingReference.rotateX(-Math.PI / 2); + let referenceCorners = [ + [-0.5, -0.5], + [-0.5, 0.5], + [0.5, 0.5], + [0.5, -0.5] + ] as const; + let referenceColors = ["blue", "white", "red", "white"] as const; + for (let i = 0; i < 4; i++) { + this.fieldSizingReference.add( + new Line2( + new LineGeometry().setPositions([ + referenceCorners[i][0], + referenceCorners[i][1], + 0, + referenceCorners[(i + 1) % 4][0], + referenceCorners[(i + 1) % 4][1], + 0 + ]), + new LineMaterial({ + linewidth: 3, + resolution: this.resolution, + color: referenceColors[i] + }) + ) + ); + } + } + + resetCalibration() { + Object.values(this.anchors).forEach((anchor) => { + this.scene.remove(anchor); + }); + this.anchors = {}; + this.markedPoints = []; + sendHostMessage("recalibrate"); + } + + userTap() { + // Add a new marked point + if (this.lastRaycastResult.isValid) { + let markedPoint = new THREE.Object3D(); + markedPoint.position.set(...this.lastRaycastResult.position); + this.markedPoints.push(markedPoint); + this.anchors[this.lastRaycastResult.anchorId].add(markedPoint); + } + } + + /** Updates the field position based on reference points. */ + private updateFieldRootMiniature(fieldLength: number, blueReference: THREE.Vector3, redReference: THREE.Vector3) { + this.fieldRoot.position.copy(blueReference.clone().add(redReference).divideScalar(2)); + let blueToRed = redReference.clone().sub(blueReference); + let scale = blueToRed.length() / fieldLength; + this.fieldRoot.scale.set(scale, scale, scale); + this.fieldRoot.rotation.set(0, Math.atan2(blueToRed.x, blueToRed.z) - Math.PI / 2, 0); + } + + /** Updates the field position based on reference points. */ + private updateFieldRootFullSize( + isRed: boolean, + fieldLength: number, + fieldWidth: number, + allianceReference1: THREE.Vector3, + allianceReference2: THREE.Vector3, + wallReference?: THREE.Vector3 + ) { + this.fieldRoot.scale.set(1, 1, 1); + let height = allianceReference1.y; + + let yShift = 0; + if (wallReference !== undefined) { + const allianceReference2d = new THREE.Vector2(allianceReference1.z, allianceReference1.x); + const wallReference2d = new THREE.Vector2(wallReference.z, wallReference.x); + const allianceWallNormalized = new THREE.Vector2(allianceReference2.z, allianceReference2.x) + .sub(allianceReference2d) + .normalize(); + const distance = wallReference2d.clone().sub(allianceReference2d).dot(allianceWallNormalized); + if (distance > 0) { + yShift = fieldWidth / 2 - distance; + } else { + yShift = -fieldWidth / 2 - distance; + } + } + + let yaw = Math.atan2(allianceReference2.x - allianceReference1.x, allianceReference2.z - allianceReference1.z); + if (wallReference !== undefined) { + let yawToCursor = Math.atan2(wallReference.x - allianceReference1.x, wallReference.z - allianceReference1.z); + let isFlipped = wrapRadians(yaw - yawToCursor) > 0; + if (isFlipped) { + yaw += Math.PI; + yShift *= -1; + } + } + let centerX = allianceReference1.x + Math.sin(yaw + Math.PI / 2) * (fieldLength / 2) - Math.sin(yaw) * yShift; + let centerZ = allianceReference1.z + Math.cos(yaw + Math.PI / 2) * (fieldLength / 2) - Math.cos(yaw) * yShift; + + this.fieldRoot.position.set(centerX, height, centerZ); + this.fieldRoot.rotation.set(0, yaw + (isRed ? Math.PI : 0), 0); + } + + private getFieldConfig( + command: ThreeDimensionRendererCommand, + assets: AdvantageScopeAssets | null + ): Config3dField | null { + let fieldTitle = command.game; + if (fieldTitle === "Evergreen") { + return { + name: "Evergreen", + path: "", + rotations: [], + widthInches: convert(STANDARD_FIELD_LENGTH, "meters", "inches"), + heightInches: convert(STANDARD_FIELD_WIDTH, "meters", "inches"), + defaultOrigin: "auto", + driverStations: DEFAULT_DRIVER_STATIONS, + gamePieces: [] + }; + } else if (fieldTitle === "Axes") { + return { + name: "Axes", + path: "", + rotations: [], + widthInches: convert(STANDARD_FIELD_LENGTH, "meters", "inches"), + heightInches: convert(STANDARD_FIELD_WIDTH, "meters", "inches"), + defaultOrigin: "blue", + driverStations: DEFAULT_DRIVER_STATIONS, + gamePieces: [] + }; + } else { + let fieldConfig = assets?.field3ds.find((fieldData) => fieldData.name === fieldTitle); + if (fieldConfig === undefined) return null; + return fieldConfig; + } + } + + /** Make a new object manager for the provided type. */ + private makeObjectManager( + type: ThreeDimensionRendererCommand_AnyObj["type"] + ): ObjectManager { + let args = [ + this.wpilibFieldCoordinateGroup, + this.MATERIAL_SPECULAR, + this.MATERIAL_SHININESS, + "standard", + true, + () => {} + ] as const; + let manager: ObjectManager; + switch (type) { + case "robot": + case "ghost": + manager = new RobotManager( + ...args, + () => this.robotLoadingCount++, + () => this.robotLoadingCount-- + ); + break; + case "gamePiece": + manager = new GamePieceManager(...args, this.fieldPieces); + break; + case "trajectory": + manager = new TrajectoryManager(...args); + break; + case "heatmap": + manager = new HeatmapManager(...args, () => this.fieldConfigCache); + break; + case "aprilTag": + manager = new AprilTagManager(...args); + break; + case "axes": + manager = new AxesManager(...args); + break; + case "cone": + manager = new ConeManager(...args); + break; + case "zebra": + manager = new ZebraManager(...args); + break; + } + manager.setResolution(this.resolution); + return manager; + } + + /** Draws a new frame based on an updated camera position. */ + render( + renderState: XRFrameState, + settings: XRSettings, + command: ThreeDimensionRendererCommand, + assets: AdvantageScopeAssets | null + ) { + // Reset marked points when changing calibration mode + if (settings.calibration !== this.lastCalibrationMode) { + this.lastCalibrationMode = settings.calibration; + this.resetCalibration(); + } + + // Update anchors + Object.entries(renderState.anchors).forEach(([anchorId, translation]) => { + if (!(anchorId in this.anchors)) { + this.anchors[anchorId] = new THREE.Group(); + this.scene.add(this.anchors[anchorId]); + } + this.anchors[anchorId].position.set(...translation); + }); + + // Update raycast status + this.lastRaycastResult = renderState.raycast; + if (!renderState.raycast.isValid) { + this.lastInvalidRaycast = new Date().getTime(); + } + const raycastUnreliable = new Date().getTime() - this.lastInvalidRaycast < 500; + + // Get field config + let fieldTitle = command.game; + let fieldConfigTmp = this.getFieldConfig(command, assets); + this.fieldConfigCache = fieldConfigTmp; + if (fieldConfigTmp === null) return; + let fieldConfig = fieldConfigTmp; + + // Update field reference size + const fieldLength = convert(fieldConfig.widthInches, "inches", "meters"); + const fieldWidth = convert(fieldConfig.heightInches, "inches", "meters"); + this.fieldSizingReference.scale.set(fieldLength, fieldWidth, 0); + + // Update calibration + let calibrationText = ""; + let isCalibrating = false; + switch (settings.calibration) { + case XRCalibrationMode.Miniature: + isCalibrating = this.markedPoints.length < 2; + switch (this.markedPoints.length) { + case 0: + calibrationText = "Tap to place the blue alliance wall."; + this.fieldRoot.visible = false; + break; + case 1: + calibrationText = "Tap to place the red alliance wall."; + this.fieldRoot.visible = !raycastUnreliable; + if (this.fieldRoot.visible && renderState.raycast.isValid) { + this.updateFieldRootMiniature( + fieldLength, + this.markedPoints[0].getWorldPosition(new THREE.Vector3()), + new THREE.Vector3(...renderState.raycast.position).add( + new THREE.Vector3(...renderState.anchors[renderState.raycast.anchorId]) + ) + ); + } + break; + default: + this.fieldRoot.visible = true; + this.updateFieldRootMiniature( + fieldLength, + this.markedPoints[0].getWorldPosition(new THREE.Vector3()), + this.markedPoints[1].getWorldPosition(new THREE.Vector3()) + ); + break; + } + break; + + case XRCalibrationMode.FullSizeBlue: + case XRCalibrationMode.FullSizeRed: + isCalibrating = this.markedPoints.length < 3; + let colorText = settings.calibration === XRCalibrationMode.FullSizeBlue ? "blue" : "red"; + let isRed = settings.calibration === XRCalibrationMode.FullSizeRed; + switch (this.markedPoints.length) { + case 0: + calibrationText = `Tap to select the base of the ${colorText} alliance wall.`; + this.fieldRoot.visible = false; + break; + case 1: + calibrationText = `Tap to select another point on the base of the ${colorText} alliance wall, at least 6 feet away from the previous point.`; + this.fieldRoot.visible = !raycastUnreliable; + if (this.fieldRoot.visible && renderState.raycast.isValid) { + let position1 = this.markedPoints[0].getWorldPosition(new THREE.Vector3()); + let position2 = new THREE.Vector3(...renderState.raycast.position).add( + new THREE.Vector3(...renderState.anchors[renderState.raycast.anchorId]) + ); + this.fieldRoot.visible = position1.distanceTo(position2) > convert(6, "inches", "meters"); + if (this.fieldRoot.visible) { + this.updateFieldRootFullSize(isRed, fieldLength, fieldWidth, position1, position2); + } + } + break; + case 2: + calibrationText = `Tap to select the base of one of the long field barriers.`; + this.fieldRoot.visible = !raycastUnreliable; + if (this.fieldRoot.visible && renderState.raycast.isValid) { + this.updateFieldRootFullSize( + isRed, + fieldLength, + fieldWidth, + this.markedPoints[0].getWorldPosition(new THREE.Vector3()), + this.markedPoints[1].getWorldPosition(new THREE.Vector3()), + new THREE.Vector3(...renderState.raycast.position).add( + new THREE.Vector3(...renderState.anchors[renderState.raycast.anchorId]) + ) + ); + } + break; + default: + this.fieldRoot.visible = true; + this.updateFieldRootFullSize( + isRed, + fieldLength, + fieldWidth, + this.markedPoints[0].getWorldPosition(new THREE.Vector3()), + this.markedPoints[1].getWorldPosition(new THREE.Vector3()), + this.markedPoints[2].getWorldPosition(new THREE.Vector3()) + ); + break; + } + break; + } + if (isCalibrating && raycastUnreliable) { + calibrationText = "$TRACKING_WARNING"; // Special indicator to display warning about poor tracking + } + sendHostMessage("setCalibrationText", calibrationText); + if (!isCalibrating && this.lastIsCalibrating) { + sendHostMessage("showControls", false); + } + this.lastIsCalibrating = isCalibrating; + + // Update cursor position + this.cursor.visible = isCalibrating && !raycastUnreliable && renderState.raycast.isValid; + if (renderState.raycast.isValid) { + let anchorTranslation = renderState.anchors[renderState.raycast.anchorId]; + this.cursor.position.set( + renderState.raycast.position[0] + anchorTranslation[0], + renderState.raycast.position[1] + anchorTranslation[1], + renderState.raycast.position[2] + anchorTranslation[2] + ); + } + + // Update field visibility + this.fieldSizingReference.visible = isCalibrating; + this.spotLight.visible = !isCalibrating; + this.wpilibCoordinateGroup.visible = !isCalibrating; + + // Update field coordinates + if (fieldConfig) { + let isBlue = command.origin === "blue"; + this.wpilibFieldCoordinateGroup.setRotationFromAxisAngle(new THREE.Vector3(0, 0, 1), isBlue ? 0 : Math.PI); + this.wpilibFieldCoordinateGroup.position.set( + convert(fieldConfig.widthInches / 2, "inches", "meters") * (isBlue ? -1 : 1), + convert(fieldConfig.heightInches / 2, "inches", "meters") * (isBlue ? -1 : 1), + 0 + ); + } + + // Update field + let assetsString = JSON.stringify(assets); + let newAssets = assetsString !== this.lastAssetsString; + if (fieldTitle !== this.lastFieldTitle || newAssets) { + this.shouldLoadNewField = true; + this.lastFieldTitle = fieldTitle; + this.lastAssetsString = assetsString; + } + if (this.shouldLoadNewField && !this.isFieldLoading) { + this.shouldLoadNewField = false; + + // Remove old field + if (this.field) { + this.wpilibCoordinateGroup.remove(this.field); + disposeObject(this.field); + } + if (this.fieldCarpet) { + this.wpilibCoordinateGroup.remove(this.fieldCarpet); + disposeObject(this.fieldCarpet); + } + if (this.fieldStagedPieces) { + this.wpilibCoordinateGroup.remove(this.fieldStagedPieces); + disposeObject(this.fieldStagedPieces); + } + + // Insert new field + let newFieldPieces: typeof this.fieldPieces = {}; + let newFieldReady = () => { + // Add new field + if (this.field) { + this.wpilibCoordinateGroup.add(this.field); + if (this.fieldCarpet !== null) this.wpilibCoordinateGroup.add(this.fieldCarpet); + if (this.fieldStagedPieces !== null) this.wpilibCoordinateGroup.add(this.fieldStagedPieces); + } + + // Reset game piece objects + this.objectManagers.filter((entry) => entry.type === "gamePiece").forEach((entry) => entry.manager.dispose()); + this.objectManagers = this.objectManagers.filter((entry) => entry.type !== "gamePiece"); + Object.values(this.fieldPieces).forEach((mesh) => { + disposeObject(mesh); + }); + this.fieldPieces = newFieldPieces; + }; + + // Load new field + if (fieldTitle === "Evergreen") { + this.isFieldLoading = false; + let fullField = makeEvergreenField(this.MATERIAL_SPECULAR, this.MATERIAL_SHININESS); + let carpet = fullField.getObjectByName("carpet")!; + carpet.removeFromParent(); + this.field = fullField; + this.fieldCarpet = carpet; + this.fieldStagedPieces = new THREE.Object3D(); + newFieldReady(); + } else if (fieldTitle === "Axes") { + this.isFieldLoading = false; + this.field = makeAxesField(this.MATERIAL_SPECULAR, this.MATERIAL_SHININESS); + this.fieldCarpet = new THREE.Object3D(); + this.fieldStagedPieces = new THREE.Object3D(); + newFieldReady(); + } else { + this.isFieldLoading = true; + const loader = new GLTFLoader(); + const urlTransformer: (path: string) => string = (url) => "/asset?path=" + encodeURIComponent(url); + Promise.all([ + new Promise((resolve) => { + loader.load(urlTransformer(fieldConfig.path), resolve); + }), + ...fieldConfig.gamePieces.map( + (_, index) => + new Promise((resolve) => { + loader.load(urlTransformer(fieldConfig.path.slice(0, -4) + "_" + index.toString() + ".glb"), resolve); + }) + ) + ]).then((gltfs) => { + let gltfScenes = (gltfs as GLTF[]).map((gltf) => gltf.scene); + if (fieldConfig === undefined) return; + gltfScenes.forEach(async (scene, index) => { + // Apply adjustments + scene.traverse((node: any) => { + let mesh = node as THREE.Mesh; // Traverse function returns Object3d or Mesh + if (mesh.isMesh) { + // Remove if too small + let vertices: THREE.Vector3[] = []; + let center = new THREE.Vector3(); + for (let i = 0; i < mesh.geometry.attributes.position.count; i++) { + let vertex = new THREE.Vector3( + mesh.geometry.attributes.position.getX(i), + mesh.geometry.attributes.position.getY(i), + mesh.geometry.attributes.position.getZ(i) + ); + vertices.push(vertex); + center.add(vertex); + } + center.divideScalar(vertices.length); + let maxRadius = vertices.reduce((prev, vertex) => { + let dist = vertex.distanceTo(center); + return dist > prev ? dist : prev; + }, 0); + if (maxRadius < XR_MAX_RADIUS) { + // Dispose mesh + mesh.visible = false; + mesh.geometry.dispose(); + if (mesh.material instanceof THREE.MeshStandardMaterial) { + mesh.material.dispose(); + } + } else { + // Adjust material + if (mesh.material instanceof THREE.MeshStandardMaterial) { + mesh.material.metalness = 0; + mesh.material.roughness = 1; + } + } + } + }); + + // Add to scene + if (index === 0) { + // Separate staged pieces + let stagedPieces = new THREE.Group(); + fieldConfig.gamePieces.forEach((gamePieceConfig) => { + gamePieceConfig.stagedObjects.forEach((stagedName) => { + let stagedObject = scene.getObjectByName(stagedName); + if (stagedObject !== undefined) { + let rotation = stagedObject.getWorldQuaternion(new THREE.Quaternion()); + let position = stagedObject.getWorldPosition(new THREE.Vector3()); + stagedObject.removeFromParent(); + stagedObject.rotation.setFromQuaternion(rotation); + stagedObject.position.copy(position); + stagedPieces.add(stagedObject); + } + }); + }); + + // Separate carpet + let carpet = new THREE.Group(); + scene.traverse((object) => { + if (!(object as THREE.Mesh).isMesh) return; + if (object.name.toLowerCase().includes("carpet")) { + let rotation = object.getWorldQuaternion(new THREE.Quaternion()); + let position = object.getWorldPosition(new THREE.Vector3()); + let objectClone = object.clone(false); + object.visible = false; + objectClone.rotation.setFromQuaternion(rotation); + objectClone.position.copy(position); + carpet.add(objectClone); + } + }); + + // Save components + scene.rotation.setFromQuaternion(getQuaternionFromRotSeq(fieldConfig.rotations)); + carpet.rotation.setFromQuaternion(getQuaternionFromRotSeq(fieldConfig.rotations)); + stagedPieces.rotation.setFromQuaternion(getQuaternionFromRotSeq(fieldConfig.rotations)); + this.field = scene; + this.fieldCarpet = carpet; + this.fieldStagedPieces = stagedPieces; + } else { + let gamePieceConfig = fieldConfig.gamePieces[index - 1]; + scene.rotation.setFromQuaternion(getQuaternionFromRotSeq(gamePieceConfig.rotations)); + scene.position.set(...gamePieceConfig.position); + let meshes = ( + await optimizeGeometries(scene, "standard", this.MATERIAL_SPECULAR, this.MATERIAL_SHININESS, false) + ).normal; + if (meshes.length > 0) { + newFieldPieces[gamePieceConfig.name] = meshes[0]; + } + } + }); + newFieldReady(); + this.isFieldLoading = false; + }); + } + } + + // Update visible field elements + if (this.field !== null) this.field.visible = settings.showField; + if (this.fieldCarpet !== null) this.fieldCarpet.visible = settings.showCarpet; + if (this.fieldStagedPieces !== null) { + this.fieldStagedPieces.visible = + settings.showField && command.objects.every((object) => object.type !== "gamePiece"); + } + + // Update object managers + this.objectManagers.forEach((entry) => (entry.active = false)); + command.objects.forEach((object) => { + if (object.type === "heatmap") return; // Heatmap disabled in XR + let entry = this.objectManagers.find( + (entry) => + !entry.active && + entry.type === object.type && + ((object.type !== "robot" && object.type !== "ghost") || + object.model === (entry.manager as RobotManager).getModel()) + ); + if (entry === undefined) { + entry = this.objectManagers.find((entry) => !entry.active && entry.type === object.type); + } + if (entry === undefined) { + entry = { + type: object.type, + manager: this.makeObjectManager(object.type), + active: true + }; + this.objectManagers.push(entry); + } else { + entry.active = true; + } + if (entry.type === "robot" || entry.type === "ghost") { + let robotManager = entry.manager as RobotManager; + robotManager.setAssetsOverride(assets); + robotManager.setHideRobotModels(!settings.showRobots); + if (newAssets) { + robotManager.newAssets(); + } + } + entry.manager.setObjectData(object); + }); + this.objectManagers.forEach((entry) => { + if (!entry.active && (entry.type === "robot" || entry.type === "ghost")) { + let model = (entry.manager as RobotManager).getModel(); + if (command.allRobotModels.includes(model)) { + entry.active = true; + entry.manager.setObjectData({ + type: entry.type as "robot" | "ghost", + model: model, + color: "#000000", + poses: [], + components: [], + mechanism: null, + visionTargets: [], + swerveStates: [] + }); + } + } + }); + this.objectManagers + .filter((entry) => !entry.active) + .forEach((entry) => { + entry.manager.dispose(); + }); + this.objectManagers = this.objectManagers.filter((entry) => entry.active); + + // Update spinner + if ((this.robotLoadingCount > 0 || this.isFieldLoading) && !isCalibrating) { + this.spinner.classList.add("visible"); + this.spinner.classList.add("animating"); + } else if (this.spinner.classList.contains("visible")) { + this.spinner.classList.remove("visible"); + window.setTimeout(() => this.spinner.classList.remove("animating"), 250); + } + + // Update rendering options from AR state + this.camera.matrixWorldInverse.fromArray(renderState.camera.worldInverse); + this.camera.projectionMatrix.fromArray(renderState.camera.projection); + (this.flimPass.uniforms as any).intensity.value = renderState.lighting.grain; + this.ambientLight.intensity = renderState.lighting.intensity; + this.spotLight.intensity = + (1 - (1 - renderState.lighting.intensity) * 0.5) * // Lower intensity of lighting changes + 400 * // Base intensity value at source + Math.pow(this.fieldRoot.scale.x, 2); // Constant intensity regardless of distance + const lightColor = this.temperatureToColor(renderState.lighting.temperature); + this.ambientLight.color = lightColor; + this.spotLight.color = lightColor; + + // Calculate effective device pixel ratio + const viewWidthPx = this.canvas.parentElement!.clientWidth; + const viewHeightPx = this.canvas.parentElement!.clientHeight; + const devicePixelRatio = window.devicePixelRatio; + + // Render frame + if ( + this.canvas.width / devicePixelRatio !== viewWidthPx || + this.canvas.height / devicePixelRatio !== viewHeightPx + ) { + this.renderer.setPixelRatio(devicePixelRatio); + this.composer.setPixelRatio(devicePixelRatio); + this.renderer.setSize(viewWidthPx, viewHeightPx, true); + this.composer.setSize(viewWidthPx, viewHeightPx); + this.resolution.set(viewWidthPx, viewHeightPx); + } + this.composer.render(1 / 60); + } + + private temperatureToColor(temperature: number): THREE.Color { + // https://tannerhelland.com/2012/09/18/convert-temperature-rgb-algorithm-code.html + let red, green, blue; + temperature /= 100; + if (temperature <= 66) { + red = 255; + } else { + red = 329.698727446 * Math.pow(temperature - 60, -0.1332047592); + } + if (temperature <= 66) { + green = 99.4708025861 * Math.log(temperature) - 161.1195681661; + } else { + green = 288.1221695283 * Math.pow(temperature - 60, -0.0755148492); + } + if (temperature >= 66) { + blue = 255; + } else { + if (temperature <= 19) { + blue = 0; + } else { + blue = 138.5177312231 * Math.log(temperature - 10) - 305.0447927307; + } + } + red = clampValue(red, 0, 255); + green = clampValue(green, 0, 255); + blue = clampValue(blue, 0, 255); + return new THREE.Color(red / 255, green / 255, blue / 255); + } +} diff --git a/src/xrClient/xrClient.ts b/src/xrClient/xrClient.ts new file mode 100644 index 00000000..2796b51c --- /dev/null +++ b/src/xrClient/xrClient.ts @@ -0,0 +1,84 @@ +import { Decoder } from "@msgpack/msgpack"; +import { AdvantageScopeAssets } from "../shared/AdvantageScopeAssets"; +import NamedMessage from "../shared/NamedMessage"; +import { XRPacket, XRFrameState as XRRenderState, XRSettings, XRStreamingMode } from "../shared/XRTypes"; +import { ThreeDimensionRendererCommand } from "../shared/renderers/ThreeDimensionRenderer"; +import XRRenderer from "./XRRenderer"; + +const bufferLengthMs = 250; +const msgpackDecoder = new Decoder(); + +let renderer: XRRenderer; +let settings: XRSettings | null = null; +let command: ThreeDimensionRendererCommand | null = null; +let assets: AdvantageScopeAssets | null = null; +let isRendering = false; +let serverTimeOffset: number | null = null; + +window.addEventListener("load", () => { + renderer = new XRRenderer(); +}); + +// @ts-expect-error +window.setCommand = (commandRaw: string, isQueued: boolean) => { + let commandBuffer = Uint8Array.from(atob(commandRaw), (c) => c.charCodeAt(0)); + let packet = msgpackDecoder.decode(commandBuffer) as XRPacket; + switch (packet.type) { + case "settings": + settings = packet.value; + break; + case "command": + if (!isQueued && serverTimeOffset === null) { + serverTimeOffset = packet.time - new Date().getTime(); + } + const isBuffered = settings === null || settings.streaming === XRStreamingMode.Smooth; + const timeout = packet.time + (isBuffered ? bufferLengthMs : 0) - new Date().getTime() + (serverTimeOffset ?? 0); + if (timeout < 0 || !isBuffered) { + command = packet.value; + } else { + setTimeout(() => { + const isBuffered = settings === null || settings.streaming === XRStreamingMode.Smooth; + if (isBuffered) { + command = packet.value; + } + }, timeout); + } + break; + case "assets": + assets = packet.value; + break; + } +}; + +// @ts-expect-error +window.render = (renderState: XRRenderState) => { + if (!isRendering) { + isRendering = true; + window.requestAnimationFrame(() => { + if (settings !== null && command !== null) { + renderer.render(renderState, settings, command, assets); + } + isRendering = false; + }); + } +}; + +// @ts-expect-error +window.requestCalibration = () => { + renderer.resetCalibration(); +}; + +// @ts-expect-error +window.userTap = () => { + renderer.userTap(); +}; + +export function sendHostMessage(name: string, data?: any) { + let message: NamedMessage = { name: name, data: data }; + try { + // @ts-expect-error + window.webkit.messageHandlers.asxr.postMessage(message); + } catch (error) { + console.error(error); + } +} diff --git a/src/xrControls.ts b/src/xrControls.ts new file mode 100644 index 00000000..1838beae --- /dev/null +++ b/src/xrControls.ts @@ -0,0 +1,107 @@ +import QRCodeStyling from "qr-code-styling"; +import NamedMessage from "./shared/NamedMessage"; +import { XRSettings } from "./shared/XRTypes"; + +const QR_CONTAINER = document.getElementsByClassName("qr-container")[0] as HTMLElement; +const QR_DIV = document.getElementsByClassName("qr")[0] as HTMLElement; +const CONTROLS_DIV = document.getElementsByClassName("controls")[0] as HTMLElement; +const CALIBRATION_MODE = document.getElementsByName("calibration-mode")[0] as HTMLSelectElement; +const STREAMING_MDOE = document.getElementsByName("streaming-mode")[0] as HTMLSelectElement; +const SHOW_CARPET = document.getElementsByName("show-carpet")[0] as HTMLInputElement; +const SHOW_FIELD = document.getElementsByName("show-field")[0] as HTMLInputElement; +const SHOW_ROBOTS = document.getElementsByName("show-robots")[0] as HTMLInputElement; + +let messagePort: MessagePort | null = null; +let lastQRText = ""; +let lastIsDark: boolean | null = null; + +// Render QR code +function makeQRcode(text: string) { + const isDark = window.matchMedia("(prefers-color-scheme: dark)").matches; + let qrCode = new QRCodeStyling({ + width: QR_CONTAINER.clientWidth, + height: QR_CONTAINER.clientHeight, + margin: 10, + type: "svg", + data: text, + qrOptions: { + errorCorrectionLevel: "M" + }, + dotsOptions: { + type: "rounded", + color: isDark ? "#879de0" : "#2040a0" + }, + cornersSquareOptions: { + type: "dot" + }, + cornersDotOptions: { + type: "dot" + }, + backgroundOptions: { + color: "transparent" + } + }); + while (QR_DIV.firstChild) { + QR_DIV.removeChild(QR_DIV.firstChild); + } + qrCode.append(QR_DIV); +} + +// Send setting updates +function sendSettings() { + let settings: XRSettings = { + calibration: Number(CALIBRATION_MODE.value), + streaming: Number(STREAMING_MDOE.value), + showCarpet: SHOW_CARPET.checked, + showField: SHOW_FIELD.checked, + showRobots: SHOW_ROBOTS.checked + }; + sendMainMessage("xr-settings", settings); +} +[CALIBRATION_MODE, STREAMING_MDOE, SHOW_CARPET, SHOW_FIELD, SHOW_ROBOTS].forEach((input) => + input.addEventListener("change", sendSettings) +); + +// Update layout periodically +let periodic = () => { + let width = window.innerWidth - QR_CONTAINER.clientWidth; + CONTROLS_DIV.style.width = width.toString() + "px"; + const isDark = window.matchMedia("(prefers-color-scheme: dark)").matches; + if (isDark !== lastIsDark && lastQRText.length > 0) { + lastIsDark = isDark; + makeQRcode(lastQRText); + } + window.requestAnimationFrame(periodic); +}; +window.requestAnimationFrame(periodic); + +// Message handling +function sendMainMessage(name: string, data?: any) { + if (messagePort !== null) { + let message: NamedMessage = { name: name, data: data }; + messagePort.postMessage(message); + } +} + +window.addEventListener("message", (event) => { + if (event.source === window && event.data === "port") { + messagePort = event.ports[0]; + messagePort.onmessage = (event) => { + let message: NamedMessage = event.data; + handleMainMessage(message); + }; + sendSettings(); + } +}); + +function handleMainMessage(message: NamedMessage) { + switch (message.name) { + case "qr-text": + let newQRText: string = message.data; + if (newQRText !== lastQRText) { + lastQRText = newQRText; + makeQRcode(newQRText); + } + break; + } +} diff --git a/www/hub.css b/www/hub.css index 6ea89307..656aa1c7 100644 --- a/www/hub.css +++ b/www/hub.css @@ -1524,6 +1524,33 @@ div.three-dimension-settings { border-left: 1px solid black; } } +div.setting-blocks div.split div.xr-button img { + /* https://codepen.io/sosuke/pen/Pjoqqp */ + filter: invert(56%) sepia(51%) saturate(1742%) hue-rotate(225deg) brightness(101%) contrast(101%); +} + +div.setting-blocks div.split div.xr-button.active { + animation: xr-active 1s ease-in-out infinite; +} + +div.setting-blocks div.split div.xr-button.active img { + filter: invert(100%); +} + +@keyframes xr-active { + 0% { + background-color: #800080; + border: 1px solid #500050; + } + 50% { + background-color: #c880ff; + border: 1px solid #9850cf; + } + 100% { + background-color: #800080; + border: 1px solid #500050; + } +} /* Statistics */ diff --git a/www/hub.html b/www/hub.html index e77d89a8..746e9f76 100644 --- a/www/hub.html +++ b/www/hub.html @@ -245,7 +245,7 @@
- +
@@ -528,7 +528,7 @@
-