diff --git a/src/client/components/app/style.css b/src/client/components/app/style.css index 7dcbcf88..4b3a1997 100644 --- a/src/client/components/app/style.css +++ b/src/client/components/app/style.css @@ -1,5 +1,9 @@ @import url('https://fonts.googleapis.com/css?family=Open+Sans:300,400,500'); +* { + box-sizing: border-box; +} + html, body { margin: 0; diff --git a/src/client/components/configuration/controller.ts b/src/client/components/configuration/controller.ts new file mode 100644 index 00000000..5f672674 --- /dev/null +++ b/src/client/components/configuration/controller.ts @@ -0,0 +1,74 @@ +import { action, observable } from 'mobx' +import { ConfigurationModel } from './model' +import { TreeNode } from './model' +import { ConfigurationField } from './model' + +export class ConfigurationController { + private model: ConfigurationModel + + constructor(opts: { model: ConfigurationModel }) { + Object.assign(this, opts) + + console.log(this.model) + } + + public static of(opts: { model: ConfigurationModel }) { + return new ConfigurationController(opts) + } + + @action + public updateSaveOnChange = (saveOnChange: boolean): void => { + this.model.saveOnChange = saveOnChange + } + + @action + public onNodeClick = (node: TreeNode): void => { + if (node.leaf) { + this.selectNode(node) + } else { + this.toggleNodeExpansion(node) + } + } + + @action + public selectNode = (node: TreeNode) => { + if (this.model.selectedFile) { + this.model.selectedFile.selected = false + + if (!this.model.selectedFile.status.changed) { + this.model.selectedFile.status.lastRevision = null + } + } + + node.selected = true + node.status.lastRevision = JSON.stringify(node.data) + + this.model.selectedFile = node + } + + @action + public toggleNodeExpansion = (node: TreeNode) => { + node.expanded = !node.expanded + } + + @action + public onEditorChange = (field: ConfigurationField, newValue: any, e: any) => { + field.value = newValue + + if (this.model.selectedFile !== null) { + this.model.selectedFile.status.changed = true + + const selectedFilePath = this.model.selectedFile.data!.path + + if (!this.model.changedFields[selectedFilePath]) { + this.model.changedFields[selectedFilePath] = {} + } + + this.model.changedFields[selectedFilePath][field.path!] = field + } + + // TODO (Paye): + // If in live (auto save) mode, send new value of field to robot, else + // save it in the list of changes and send in all changes when the user clicks "Save" + } +} diff --git a/src/client/components/configuration/data.ts b/src/client/components/configuration/data.ts new file mode 100644 index 00000000..3d26f794 --- /dev/null +++ b/src/client/components/configuration/data.ts @@ -0,0 +1,87 @@ +import { TreeNode } from './model' +import * as files from './sample-config-files.json' + +interface File { + path: string + content: any +} + +export function createTreeFromFiles(files: any): TreeNode { + // The tree (root node) + const tree: TreeNode = { + label: 'config/', + expanded: true, + leaf: false, + selected: false, + children: [], + status: { + changed: false, + lastRevision: null + } + } + + // A map of file paths to tree nodes + const pathNodeMap = { + 'config/': tree, + } + + // Create a node for each file and add it to the tree + files.forEach((file: File) => { + // Remove consecutive slashes from the path + file.path = file.path.replace(/\/\//g, '/') + + // Remove the first segment ('config/') from the path and pass it as parentPath, + // since we've already created it as the root node - this assumes that every + // config file is in one directory - config/ + createTreeNode(file.path.split('/').slice(1), 'config/', file, pathNodeMap) + }) + + return tree +} + +export function createTreeNode(pathSegments: string[], parentPath: string, file: File, pathNodeMap: any) { + const isFolder = pathSegments.length > 1 + const label = pathSegments[0] + (isFolder ? '/' : '') + const currentPath = parentPath + label + + // Abort if the current path is a file node already in the tree + if (!isFolder && pathNodeMap[currentPath] !== undefined) { + return + } + + // Recurse and abort if the current path is a folder node already in the tree + if (isFolder && pathNodeMap[currentPath] !== undefined) { + createTreeNode(pathSegments.slice(1), currentPath, file, pathNodeMap) + return + } + + // Create the new node + const node: TreeNode = { + label, + expanded: false, + leaf: !isFolder, + selected: false, + data: isFolder ? undefined : file, + children: [], + status: { + changed: false, + lastRevision: null + } + } + + // Add the new node to the tree + pathNodeMap[parentPath].children.push(node) + // pathNodeMap[parentPath].children.sort((a: TreeNode, b: TreeNode) => { + // return (a.leaf === b.leaf ? a.label.toLowerCase() > b.label.toLowerCase() : a.leaf > b.leaf) + // }) + + // Add the new node to the path map + pathNodeMap[currentPath] = node + + // Recurse if the new node is a folder + if (isFolder) { + createTreeNode(pathSegments.slice(1), currentPath, file, pathNodeMap) + } +} + +export const configurationData = createTreeFromFiles(files) diff --git a/src/client/components/configuration/editor/editor.css b/src/client/components/configuration/editor/editor.css new file mode 100644 index 00000000..5c1be5db --- /dev/null +++ b/src/client/components/configuration/editor/editor.css @@ -0,0 +1,21 @@ +.editor { + padding: 18px 0; +} + +.editor, +.editor * { + font-family: monospace; +} + +.editorLine { + margin-bottom: 4px; + min-height: 24px; + display: flex; + align-items: center; + /*border-bottom: 1px solid #EEE;*/ +} + +.editorLine__nestedList { + margin-bottom: 0; + /*border-bottom: 0;*/ +} diff --git a/src/client/components/configuration/editor/editor.tsx b/src/client/components/configuration/editor/editor.tsx new file mode 100644 index 00000000..c8f60536 --- /dev/null +++ b/src/client/components/configuration/editor/editor.tsx @@ -0,0 +1,37 @@ +import { observer } from 'mobx-react' +import * as React from 'react' +import * as style from './editor.css' + +import { ListField } from './fields/list_field' +import { MapField } from './fields/map_field' +import { ScalarField } from './fields/scalar_field' +import { ConfigurationField, ConfigurationFile } from '../model' + +export interface FieldProps { + data: ConfigurationField, + onChange?(field: ConfigurationField, newValue: any, e: any): void +} + +export interface EditorProps { + data: ConfigurationFile, + onChange?(field: ConfigurationField, newValue: any, e: any): void +} + +@observer +export class Editor extends React.Component { + public render(): JSX.Element { + const field = this.props.data.content + return ( +
+ { field.type === 'MAP_VALUE' && } + { field.type === 'LIST_VALUE' && } + { (field.type === 'BOOL_VALUE' || + field.type === 'INT_VALUE' || + field.type === 'DOUBLE_VALUE' || + field.type === 'STRING_VALUE') && + + } +
+ ) + } +} diff --git a/src/client/components/configuration/editor/fields/list_field.css b/src/client/components/configuration/editor/fields/list_field.css new file mode 100644 index 00000000..d9bdfc5d --- /dev/null +++ b/src/client/components/configuration/editor/fields/list_field.css @@ -0,0 +1,28 @@ +.listField { + padding: 0; + list-style: none; + margin: 0; + width: 100%; +} + +.listField__header { + color: #63a35c; + cursor: default; +} + +.listField__header::after { + display: inline-block; + content: ':'; +} + +.listField__subFields { + padding-left: 22px; +} + +.listField__subFields .listField__subField::before { + display: inline-block; + content: '-'; + margin-right: 8px; + color: rgba(0,0,0,0.5); + align-self: flex-start; +} diff --git a/src/client/components/configuration/editor/fields/list_field.tsx b/src/client/components/configuration/editor/fields/list_field.tsx new file mode 100644 index 00000000..6c0debeb --- /dev/null +++ b/src/client/components/configuration/editor/fields/list_field.tsx @@ -0,0 +1,54 @@ +import { observer } from 'mobx-react' +import * as React from 'react' +import * as style from './list_field.css' +import * as editorStyle from '../editor.css' +import * as classnames from 'classnames' + +import { ConfigurationField } from '../../model' +import { FieldProps } from '../editor' +import { MapField } from './map_field' +import { NumberValue } from '../values/number_value' +import { StringValue } from '../values/string_value' + +@observer +export class ListField extends React.Component { + public render(): JSX.Element { + return ( + + ) + } +} diff --git a/src/client/components/configuration/editor/fields/map_field.css b/src/client/components/configuration/editor/fields/map_field.css new file mode 100644 index 00000000..cb647316 --- /dev/null +++ b/src/client/components/configuration/editor/fields/map_field.css @@ -0,0 +1,17 @@ +.mapField { + +} + +.mapField__header { + color: #63a35c; + cursor: default; +} + +.mapField__header::after { + display: inline-block; + content: ':'; +} + +.mapField__subFields { + padding-left: 22px; +} diff --git a/src/client/components/configuration/editor/fields/map_field.tsx b/src/client/components/configuration/editor/fields/map_field.tsx new file mode 100644 index 00000000..1cdf2081 --- /dev/null +++ b/src/client/components/configuration/editor/fields/map_field.tsx @@ -0,0 +1,43 @@ +import { observer } from 'mobx-react' +import * as React from 'react' +import * as style from './map_field.css' +import * as editorStyle from '../editor.css' + +import { ConfigurationField } from '../../model' +import { FieldProps } from '../editor' +import { ListField } from './list_field' +import { ScalarField } from './scalar_field' + +@observer +export class MapField extends React.Component { + public render(): JSX.Element { + return ( +
+ { this.props.data.name && +
{ this.props.data.name }
+ } + +
+ { Object.keys(this.props.data.value).map(fieldName => { + const field: ConfigurationField = this.props.data.value[fieldName] + + switch (field.type) { + case 'MAP_VALUE': + return + case 'LIST_VALUE': + return + case 'BOOL_VALUE': + case 'INT_VALUE': + case 'DOUBLE_VALUE': + case 'STRING_VALUE': + return + default: + // do nothing + } + }) + } +
+
+ ) + } +} diff --git a/src/client/components/configuration/editor/fields/scalar_field.css b/src/client/components/configuration/editor/fields/scalar_field.css new file mode 100644 index 00000000..f5e82951 --- /dev/null +++ b/src/client/components/configuration/editor/fields/scalar_field.css @@ -0,0 +1,21 @@ +.scalarField { + +} + +.scalarField__label { + margin-right: 8px; + color: #63a35c; +} + +.scalarField__label::after { + display: inline-block; + content: ':'; +} + +.scalarField__input { + background-color: #EEE; + border: none; + color: #183691; + min-width: 212px; + padding: 2px 4px; +} diff --git a/src/client/components/configuration/editor/fields/scalar_field.tsx b/src/client/components/configuration/editor/fields/scalar_field.tsx new file mode 100644 index 00000000..78b5a9d2 --- /dev/null +++ b/src/client/components/configuration/editor/fields/scalar_field.tsx @@ -0,0 +1,30 @@ +import { observer } from 'mobx-react' +import * as React from 'react' +import * as style from './scalar_field.css' +import * as editorStyle from '../editor.css' + +import { BoolValue } from '../values/bool_value' +import { FieldProps } from '../editor' +import { NumberValue } from '../values/number_value' +import { StringValue } from '../values/string_value' + +@observer +export class ScalarField extends React.Component { + public render(): JSX.Element { + const field = this.props.data + return ( + + ) + } +} diff --git a/src/client/components/configuration/editor/values/bool_value.css b/src/client/components/configuration/editor/values/bool_value.css new file mode 100644 index 00000000..406eec10 --- /dev/null +++ b/src/client/components/configuration/editor/values/bool_value.css @@ -0,0 +1,12 @@ +.boolValue { + display: flex; + align-items: center; +} + +.boolValue__input { + +} + +.boolValue__value { + color: #008080; +} diff --git a/src/client/components/configuration/editor/values/bool_value.tsx b/src/client/components/configuration/editor/values/bool_value.tsx new file mode 100644 index 00000000..04553301 --- /dev/null +++ b/src/client/components/configuration/editor/values/bool_value.tsx @@ -0,0 +1,31 @@ +import { observer } from 'mobx-react' +import * as React from 'react' +import * as style from './bool_value.css' + +import { FieldProps } from '../editor' + +@observer +export class BoolValue extends React.Component { + public render(): JSX.Element { + return ( +
+ + + + { this.props.data.value ? 'true' : 'false' } + +
+ ) + } + + public onChange = (e: any) => { + if (this.props.onChange) { + this.props.onChange(this.props.data, e.target.checked, e) + } + } +} diff --git a/src/client/components/configuration/editor/values/number_value.css b/src/client/components/configuration/editor/values/number_value.css new file mode 100644 index 00000000..fc1c5680 --- /dev/null +++ b/src/client/components/configuration/editor/values/number_value.css @@ -0,0 +1,11 @@ +.numberValue { + +} + +.numberValue__input { + color: #183691; + border: none; + background-color: #EEE; + padding: 2px 4px; + min-width: 212px; +} diff --git a/src/client/components/configuration/editor/values/number_value.tsx b/src/client/components/configuration/editor/values/number_value.tsx new file mode 100644 index 00000000..4f6afd2c --- /dev/null +++ b/src/client/components/configuration/editor/values/number_value.tsx @@ -0,0 +1,27 @@ +import { observer } from 'mobx-react' +import * as React from 'react' +import * as style from './number_value.css' + +import { FieldProps } from '../editor' + +@observer +export class NumberValue extends React.Component { + public render(): JSX.Element { + return ( +
+ +
+ ) + } + + public onChange = (e: any) => { + if (this.props.onChange) { + this.props.onChange(this.props.data, e.target.value, e) + } + } +} diff --git a/src/client/components/configuration/editor/values/string_value.css b/src/client/components/configuration/editor/values/string_value.css new file mode 100644 index 00000000..e63d3808 --- /dev/null +++ b/src/client/components/configuration/editor/values/string_value.css @@ -0,0 +1,11 @@ +.stringValue { + +} + +.stringValue__input { + color: #183691; + border: none; + background-color: #EEE; + padding: 2px 4px; + min-width: 212px; +} diff --git a/src/client/components/configuration/editor/values/string_value.tsx b/src/client/components/configuration/editor/values/string_value.tsx new file mode 100644 index 00000000..6f55b303 --- /dev/null +++ b/src/client/components/configuration/editor/values/string_value.tsx @@ -0,0 +1,27 @@ +import { observer } from 'mobx-react' +import * as React from 'react' +import * as style from './string_value.css' + +import { FieldProps } from '../editor' + +@observer +export class StringValue extends React.Component { + public render(): JSX.Element { + return ( +
+ +
+ ) + } + + public onChange = (e: any) => { + if (this.props.onChange) { + this.props.onChange(this.props.data, e.target.value, e) + } + } +} diff --git a/src/client/components/configuration/model.ts b/src/client/components/configuration/model.ts new file mode 100644 index 00000000..076b1619 --- /dev/null +++ b/src/client/components/configuration/model.ts @@ -0,0 +1,52 @@ +import { action, observable } from 'mobx' + +export interface ConfigurationField { + type: string + value: any + tag?: string + name?: string + uid?: string + path?: string +} + +export interface ConfigurationFile { + path: string, + content: ConfigurationField +} + +interface FileStatus { + changed: boolean + lastRevision?: string | null +} + +export interface TreeNode { + label: string + expanded: boolean + leaf: boolean + selected: boolean + data?: ConfigurationFile + status: FileStatus + children?: TreeNode[] +} + +export class ConfigurationModel { + @observable + public files: TreeNode + + @observable + public selectedFile: TreeNode | null = null + + @observable + public changedFields: any = {} + + @observable + public saveOnChange: boolean = false + + constructor(opts: { files: TreeNode }) { + Object.assign(this, opts) + } + + public static of(opts: { files: TreeNode }) { + return new ConfigurationModel(opts) + } +} diff --git a/src/client/components/configuration/panel/panel.tsx b/src/client/components/configuration/panel/panel.tsx new file mode 100644 index 00000000..78efa919 --- /dev/null +++ b/src/client/components/configuration/panel/panel.tsx @@ -0,0 +1,25 @@ +import * as React from 'react' +import * as style from './style.css' + +export interface PanelProps { + title: string + className?: string +} + +export class Panel extends React.Component { + public static defaultProps: Partial = { + className: '', + } + + public render(): JSX.Element { + return ( +
+
+
{ this.props.title }
+
+ +
{ this.props.children }
+
+ ) + } +} diff --git a/src/client/components/configuration/panel/style.css b/src/client/components/configuration/panel/style.css new file mode 100644 index 00000000..97422687 --- /dev/null +++ b/src/client/components/configuration/panel/style.css @@ -0,0 +1,21 @@ +.panel { + display: flex; + flex-direction: column; +} + +.panel__header { + background-color: #EEE; + border-bottom: 1px solid #DDD; + padding: 4px 8px; + flex-shrink: 0; +} + +.panel__title { + font-size: 14px; + font-weight: bold; +} + +.panel__body { + flex-grow: 1; + overflow: auto; +} diff --git a/src/client/components/configuration/sample-config-files.json b/src/client/components/configuration/sample-config-files.json new file mode 100644 index 00000000..02063145 --- /dev/null +++ b/src/client/components/configuration/sample-config-files.json @@ -0,0 +1,14675 @@ +[ + { + "path": "config/BalanceKinematicResponse.yaml", + "content": { + "value": null, + "tag": "", + "type": "NULL_VALUE" + } + }, + { + "path": "config/darwin1/GlobalConfig.yaml", + "content": { + "type": "MAP_VALUE", + "value": { + "teamId": { + "value": { + "low": 9, + "high": 0, + "unsigned": false + }, + "tag": "?", + "type": "INT_VALUE", + "name": "teamId", + "uid": "413292388", + "path": ".teamId" + }, + "playerId": { + "value": { + "low": 1, + "high": 0, + "unsigned": false + }, + "tag": "?", + "type": "INT_VALUE", + "name": "playerId", + "uid": "1290210280", + "path": ".playerId" + } + } + } + }, + { + "path": "config/darwin1/KinematicsConfiguration.yaml", + "content": { + "type": "MAP_VALUE", + "value": { + "mass_model": { + "type": "MAP_VALUE", + "value": { + "mass_representation_dimension": { + "value": { + "low": 4, + "high": 0, + "unsigned": false + }, + "tag": "?", + "type": "INT_VALUE", + "name": "mass_representation_dimension", + "uid": "1990117084", + "path": ".mass_model.mass_representation_dimension" + }, + "masses": { + "tag": "", + "type": "LIST_VALUE", + "value": [ + { + "tag": "", + "type": "LIST_VALUE", + "value": [ + { + "value": -0.011264, + "tag": "?", + "type": "DOUBLE_VALUE", + "uid": "-708176123", + "path": ".mass_model.masses[0][0]" + }, + { + "value": 0.0109774, + "tag": "?", + "type": "DOUBLE_VALUE", + "uid": "-708176092", + "path": ".mass_model.masses[0][1]" + }, + { + "value": -0.00139357, + "tag": "?", + "type": "DOUBLE_VALUE", + "uid": "-708176061", + "path": ".mass_model.masses[0][2]" + }, + { + "value": 0.025913, + "tag": "?", + "type": "DOUBLE_VALUE", + "uid": "-708176030", + "path": ".mass_model.masses[0][3]" + } + ], + "uid": "-100510237", + "path": ".mass_model.masses[0]" + }, + { + "tag": "", + "type": "LIST_VALUE", + "value": [ + { + "value": -0.011264, + "tag": "?", + "type": "DOUBLE_VALUE", + "uid": "-707252602", + "path": ".mass_model.masses[1][0]" + }, + { + "value": -0.0109774, + "tag": "?", + "type": "DOUBLE_VALUE", + "uid": "-707252571", + "path": ".mass_model.masses[1][1]" + }, + { + "value": -0.00139357, + "tag": "?", + "type": "DOUBLE_VALUE", + "uid": "-707252540", + "path": ".mass_model.masses[1][2]" + }, + { + "value": 0.025913, + "tag": "?", + "type": "DOUBLE_VALUE", + "uid": "-707252509", + "path": ".mass_model.masses[1][3]" + } + ], + "uid": "-100510206", + "path": ".mass_model.masses[1]" + }, + { + "tag": "", + "type": "LIST_VALUE", + "value": [ + { + "value": -0.025261, + "tag": "?", + "type": "DOUBLE_VALUE", + "uid": "-706329081", + "path": ".mass_model.masses[2][0]" + }, + { + "value": -0.000659787, + "tag": "?", + "type": "DOUBLE_VALUE", + "uid": "-706329050", + "path": ".mass_model.masses[2][1]" + }, + { + "value": 0.000734065, + "tag": "?", + "type": "DOUBLE_VALUE", + "uid": "-706329019", + "path": ".mass_model.masses[2][2]" + }, + { + "value": 0.168377, + "tag": "?", + "type": "DOUBLE_VALUE", + "uid": "-706328988", + "path": ".mass_model.masses[2][3]" + } + ], + "uid": "-100510175", + "path": ".mass_model.masses[2]" + }, + { + "tag": "", + "type": "LIST_VALUE", + "value": [ + { + "value": -0.025261, + "tag": "?", + "type": "DOUBLE_VALUE", + "uid": "-705405560", + "path": ".mass_model.masses[3][0]" + }, + { + "value": 0.000659787, + "tag": "?", + "type": "DOUBLE_VALUE", + "uid": "-705405529", + "path": ".mass_model.masses[3][1]" + }, + { + "value": 0.000734065, + "tag": "?", + "type": "DOUBLE_VALUE", + "uid": "-705405498", + "path": ".mass_model.masses[3][2]" + }, + { + "value": 0.168377, + "tag": "?", + "type": "DOUBLE_VALUE", + "uid": "-705405467", + "path": ".mass_model.masses[3][3]" + } + ], + "uid": "-100510144", + "path": ".mass_model.masses[3]" + }, + { + "tag": "", + "type": "LIST_VALUE", + "value": [ + { + "value": -0.0841618, + "tag": "?", + "type": "DOUBLE_VALUE", + "uid": "-704482039", + "path": ".mass_model.masses[4][0]" + }, + { + "value": -0.00666564, + "tag": "?", + "type": "DOUBLE_VALUE", + "uid": "-704482008", + "path": ".mass_model.masses[4][1]" + }, + { + "value": -0.0134901, + "tag": "?", + "type": "DOUBLE_VALUE", + "uid": "-704481977", + "path": ".mass_model.masses[4][2]" + 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"?", + "type": "STRING_VALUE", + "name": "hip_roll_compensation", + "uid": "-894874569", + "path": ".walk_cycle.hip_roll_compensation" + } + }, + "name": "walk_cycle", + "uid": "-1104212935", + "path": ".walk_cycle" + }, + "stance": { + "type": "MAP_VALUE", + "value": { + "body_height": { + "value": 0.265, + "tag": "?", + "type": "DOUBLE_VALUE", + "name": "body_height", + "uid": "-411229969", + "path": ".stance.body_height" + }, + "limit_margin_y": { + "value": 0.015, + "tag": "?", + "type": "DOUBLE_VALUE", + "name": "limit_margin_y", + "uid": "1259384769", + "path": ".stance.limit_margin_y" + }, + "arms": { + "type": "MAP_VALUE", + "value": { + "right": { + "type": "MAP_VALUE", + "value": { + "end": { + "tag": "", + "type": "LIST_VALUE", + "value": [ + { + "value": "135 * pi / 180", + "tag": "?", + "type": "STRING_VALUE", + "uid": "-1325988255", + "path": ".stance.arms.right.end[0]" + }, + { + "value": "0 * pi / 180", + "tag": "?", + "type": "STRING_VALUE", + "uid": "-1325988224", + "path": ".stance.arms.right.end[1]" + }, + { + "value": "-140 * pi / 180", + "tag": "?", + "type": "STRING_VALUE", + "uid": "-1325988193", + "path": ".stance.arms.right.end[2]" + } + ], + "name": "end", + "uid": "-1937832953", + "path": ".stance.arms.right.end" + }, + "start": { + "tag": "", + "type": "LIST_VALUE", + "value": [ + { + "value": "135 * pi / 180", + "tag": "?", + "type": "STRING_VALUE", + "uid": "927548538", + "path": ".stance.arms.right.start[0]" + }, + { + "value": "0 * pi / 180", + "tag": "?", + "type": "STRING_VALUE", + "uid": "927548569", + "path": ".stance.arms.right.start[1]" + }, + { + "value": "-140 * pi / 180", + "tag": "?", + "type": "STRING_VALUE", + "uid": "927548600", + "path": ".stance.arms.right.start[2]" + } + ], + "name": "start", + "uid": "1771447438", + "path": ".stance.arms.right.start" + } + }, + "name": "right", + "uid": "-982929638", + "path": ".stance.arms.right" + }, + "left": { + "type": "MAP_VALUE", + "value": { + "end": { + "tag": "", + "type": "LIST_VALUE", + "value": [ + { + "value": "135 * pi / 180", + "tag": "?", + "type": "STRING_VALUE", + "uid": "1274435410", + "path": ".stance.arms.left.end[0]" + }, + { + "value": "0 * pi / 180", + "tag": "?", + "type": "STRING_VALUE", + "uid": "1274435441", + "path": ".stance.arms.left.end[1]" + }, + { + "value": "-140 * pi / 180", + "tag": "?", + "type": "STRING_VALUE", + "uid": "1274435472", + "path": ".stance.arms.left.end[2]" + } + ], + "name": "end", + "uid": "-511328074", + "path": ".stance.arms.left.end" + }, + "start": { + "tag": "", + "type": "LIST_VALUE", + "value": [ + { + "value": "135 * pi / 180", + "tag": "?", + "type": "STRING_VALUE", + "uid": "263724331", + "path": ".stance.arms.left.start[0]" + }, + { + "value": "0 * pi / 180", + "tag": "?", + "type": "STRING_VALUE", + "uid": "263724362", + "path": ".stance.arms.left.start[1]" + }, + { + "value": "-140 * pi / 180", + "tag": "?", + "type": "STRING_VALUE", + "uid": "263724393", + "path": ".stance.arms.left.start[2]" + } + ], + "name": "start", + "uid": "-1746898563", + "path": ".stance.arms.left.start" + } + }, + "name": "left", + "uid": "1492130633", + "path": ".stance.arms.left" + } + }, + "name": "arms", + "uid": "-2128166548", + "path": ".stance.arms" + }, + "gains": { + "type": "MAP_VALUE", + "value": { + "legs": { + "value": { + "low": 30, + "high": 0, + "unsigned": false + }, + "tag": "?", + "type": "INT_VALUE", + "name": "legs", + "uid": "1888785684", + "path": ".stance.gains.legs" + }, + "arms": { + "value": { + "low": 30, + "high": 0, + "unsigned": false + }, + "tag": "?", + "type": "INT_VALUE", + "name": "arms", + "uid": "1888470662", + "path": ".stance.gains.arms" + } + }, + "name": "gains", + "uid": "-1543622753", + "path": ".stance.gains" + }, + "foot_offset": { + "tag": "", + "type": "LIST_VALUE", + "value": [ + { + "value": -0.025, + "tag": "?", + "type": "DOUBLE_VALUE", + "uid": "2036074841", + "path": ".stance.foot_offset[0]" + }, + { + "value": 0, + "tag": "?", + "type": "DOUBLE_VALUE", + "uid": "2036074872", + "path": ".stance.foot_offset[1]" + } + ], + "name": "foot_offset", + "uid": "-1634098161", + "path": ".stance.foot_offset" + }, + "body_tilt": { + "value": "25 * pi / 180", + "tag": "?", + "type": "STRING_VALUE", + "name": "body_tilt", + "uid": "-429116283", + "path": ".stance.body_tilt" + } + }, + "name": "stance", + "uid": "-1790739207", + "path": ".stance" + }, + "emit_localisation": { + "value": true, + "tag": "?", + "type": "BOOL_VALUE", + "name": "emit_localisation", + "uid": "-1592969789", + "path": ".emit_localisation" + }, + "STAND_SCRIPT_DURATION": { + "value": { + "low": 1, + "high": 0, + "unsigned": false + }, + "tag": "?", + "type": "INT_VALUE", + "name": "STAND_SCRIPT_DURATION", + "uid": "1367778070", + "path": ".STAND_SCRIPT_DURATION" + } + } + } + } +] diff --git a/src/client/components/configuration/style.css b/src/client/components/configuration/style.css new file mode 100644 index 00000000..fb226fc3 --- /dev/null +++ b/src/client/components/configuration/style.css @@ -0,0 +1,27 @@ +.configuration { + font-weight: normal; +} + +.configuration__body { + display: flex; +} + +.configuration__sidebar { + width: 256px; + border-right: 1px solid #DDD; +} + +.configuration__content { + flex-grow: 1; +} + +.configuration__contentPlaceholder { + padding-top: 32px; + text-align: center; +} + +.configuration__saveCheckboxLabel { + display: inline-flex; + align-items: center; + margin-right: 12px; +} diff --git a/src/client/components/configuration/tree/file.svg b/src/client/components/configuration/tree/file.svg new file mode 100644 index 00000000..8f19e81a --- /dev/null +++ b/src/client/components/configuration/tree/file.svg @@ -0,0 +1,3 @@ + + + diff --git a/src/client/components/configuration/tree/folder-open.svg b/src/client/components/configuration/tree/folder-open.svg new file mode 100644 index 00000000..6b4b5d8e --- /dev/null +++ b/src/client/components/configuration/tree/folder-open.svg @@ -0,0 +1,3 @@ + + + diff --git a/src/client/components/configuration/tree/folder.svg b/src/client/components/configuration/tree/folder.svg new file mode 100644 index 00000000..fc84416d --- /dev/null +++ b/src/client/components/configuration/tree/folder.svg @@ -0,0 +1,3 @@ + + + diff --git a/src/client/components/configuration/tree/style.css b/src/client/components/configuration/tree/style.css new file mode 100644 index 00000000..0b3d6d14 --- /dev/null +++ b/src/client/components/configuration/tree/style.css @@ -0,0 +1,54 @@ +.treenode { + display: flex; + flex-direction: column; + list-style-type: none; + margin: 0; + padding: 0; +} + +.treenode__header { + display: flex; + align-items: center; + height: 28px; + padding: 4px 8px; + cursor: pointer; + user-select: none; +} + +.treenode__icon { + margin-right: 4px; +} + +.treenode__icon svg { + display: block; + width: 18px; + height: 18px; +} + +.treenode__label { + flex-grow: 1; +} + +.treenode--changed .treenode__header { + background-color: #FFF9C4; + color: #4d4d4d; +} + +.treenode__header:hover { + background-color: #EEE; + color: #1197d3; +} + +.treenode--selected .treenode__header { + color: white; + background-color: #1197d3; +} + +.treenode--selected .treenode__header svg { + fill: rgba(255, 255, 255, 0.75); +} + +.treenode--changed.treenode--selected .treenode__header { + color: white; + background-color: #1197d3; +} diff --git a/src/client/components/configuration/tree/tree.tsx b/src/client/components/configuration/tree/tree.tsx new file mode 100644 index 00000000..da4e9624 --- /dev/null +++ b/src/client/components/configuration/tree/tree.tsx @@ -0,0 +1,61 @@ +import * as classnames from 'classnames' +import { observer } from 'mobx-react' +import * as React from 'react' +import { TreeNode } from '../model' + +import FileIcon from './file.svg' +import FolderIconOpen from './folder-open.svg' +import FolderIcon from './folder.svg' +import * as style from './style.css' + +export interface TreeProps { + data: TreeNode + level?: number + onClick(node: TreeNode): void +} + +@observer +export class Tree extends React.Component { + public render(): JSX.Element { + const children = this.props.data.children || [] + const hasChildren = children.length > 0 + const level = this.props.level || 0 + const classes = classnames( + style.treenode, + { [style['treenode--selected']]: this.props.data.selected }, + { [style['treenode--changed']]: this.props.data.status.changed }, + ) + + // We're using inline paddingLeft to indent so that the hover and selected background indicators + // are full width. Padding is the default 8px plus each level's indent of 22px. + const headerInlineStyle = { + paddingLeft: 8 + (level * 22) + 'px' + } + + return ( +
    +
  • +
    +
    + { + hasChildren ? + (this.props.data.expanded ? : ) : + + } +
    + +
    { this.props.data.label }
    +
    + + {this.props.data.expanded && + children.map((child, i) => ) + } +
    • +
+ ) + } + + private onClick = (e: any) => { + this.props.onClick(this.props.data) + } +} diff --git a/src/client/components/configuration/view.tsx b/src/client/components/configuration/view.tsx new file mode 100644 index 00000000..67c6473c --- /dev/null +++ b/src/client/components/configuration/view.tsx @@ -0,0 +1,66 @@ +import { observer } from 'mobx-react' +import * as React from 'react' +import * as style from './style.css' + +import { ConfigurationController } from './controller' +import { Editor } from './editor/editor' +import { ConfigurationModel } from './model' +import { Panel } from './panel/panel' +import { Tree } from './tree/tree' +import { View } from './view/view' + +interface ConfigurationViewProps { + controller: ConfigurationController + model: ConfigurationModel +} + +@observer +export class ConfigurationView extends React.Component { + private model: ConfigurationModel + private controller: ConfigurationController + + public constructor(props: ConfigurationViewProps, context: any) { + super(props, context) + this.model = this.props.model + this.controller = this.props.controller + } + + public onSaveOnChangeChange = (e: any) => { + this.controller.updateSaveOnChange(e.target.checked) + } + + public render(): JSX.Element { + const ConfigurationMenu =
+ + + { !this.model.saveOnChange && + + } +
+ + return ( + + + + + +
+ { this.model.selectedFile === null ? +
Select a file to edit
: + + + + } +
+ + ) + } +} diff --git a/src/client/components/configuration/view/style.css b/src/client/components/configuration/view/style.css new file mode 100644 index 00000000..13132967 --- /dev/null +++ b/src/client/components/configuration/view/style.css @@ -0,0 +1,33 @@ +.view { + display: flex; + flex-direction: column; + flex-grow: 1; + flex-shrink: 1; +} + +.view__header { + align-items: center; + border-bottom: 1px solid #DDD; + display: flex; + flex-shrink: 0; + height: 61px; + padding: 0 8px; +} + +.view__title { + font-size: 18px; + margin-right: 12px; +} + +.view__leftMenu { + +} + +.view__rightMenu { + margin-left: auto; +} + +.view__body { + flex-grow: 1; + position: relative; +} diff --git a/src/client/components/configuration/view/view.tsx b/src/client/components/configuration/view/view.tsx new file mode 100644 index 00000000..7435ff35 --- /dev/null +++ b/src/client/components/configuration/view/view.tsx @@ -0,0 +1,41 @@ +import * as React from 'react' +import * as style from './style.css' + +export interface ViewProps { + title: string + className?: string + headerClassName?: string + bodyClassName?: string + leftMenu?: JSX.Element + rightMenu?: JSX.Element +} + +export class View extends React.Component { + public static defaultProps: Partial = { + className: '', + headerClassName: '', + bodyClassName: '', + } + + public render(): JSX.Element { + return ( +
+
+
{ this.props.title }
+ + { this.props.leftMenu !== undefined && +
{ this.props.leftMenu }
+ } + + { this.props.rightMenu !== undefined && +
{ this.props.rightMenu }
+ } +
+ +
+ { this.props.children } +
+
+ ) + } +} diff --git a/src/client/components/navigation/view.tsx b/src/client/components/navigation/view.tsx index b237c33e..abb27ef2 100644 --- a/src/client/components/navigation/view.tsx +++ b/src/client/components/navigation/view.tsx @@ -40,6 +40,7 @@ export const NavigationView = () => ( Classifier Subsumption GameState + Configuration ) diff --git a/src/client/components/select/dropdown.svg b/src/client/components/select/dropdown.svg new file mode 100644 index 00000000..70bfe6e9 --- /dev/null +++ b/src/client/components/select/dropdown.svg @@ -0,0 +1,3 @@ + + + diff --git a/src/client/components/select/style.css b/src/client/components/select/style.css new file mode 100644 index 00000000..8ded6e70 --- /dev/null +++ b/src/client/components/select/style.css @@ -0,0 +1,103 @@ +.select { + display: flex; + align-items: center; + user-select: none; + cursor: default; +} + +.selectDisabled { + opacity: 0.75; +} + +.selectLabel { + padding-left: 4px; + margin-right: 8px; +} + +.selectContainer { + position: relative; +} + +.selectInput { + display: flex; + border-width: 1px; + border-style: solid; + border-color: #DDD; + padding: 3px 3px 3px 6px; + align-items: center; + border-radius: 2px; + font-size: 13px; + transition: border-color 0.2s; + min-width: 80px; +} + +.select:not(.selectDisabled) .selectInput:hover { + border-color: #BBB; + cursor: pointer; +} + +.selectFocused .selectInput { + border-color: #57A3F3!important; /* Override specificity of :not() + :hover selectors above */ + box-shadow: 0 0 0 2px rgba(45, 140, 240, 0.2); +} + +.selectPlaceholder { + color: rgba(0, 0, 0, 0.5); + flex-grow: 1; +} + +.selectValue { + flex-grow: 1; +} + +.selectDropdownIcon { + width: 18px; + height: 18px; + margin-left: 4px; + fill: #999; +} + +.selectOpen .selectDropdownIcon { + transform: rotate(180deg); +} + +.selectDropdown { + display: none; + position: absolute; + max-height: 200px; + overflow: auto; + margin-top: 4px; + padding: 4px 0; + background-color: #FFF; + border-radius: 2px; + box-shadow: 0px 1px 5px 0px rgba(0, 0, 0, 0.35); + width: 100%; + min-width: 100px; + z-index: 1; +} + +.selectOpen .selectDropdown { + display: block; +} + +.selectDropdownList { + padding: 0; + margin: 0; + list-style: none; + width: 100%; +} + +.selectDropdownItem { + padding: 4px 10px; + font-size: 13px; + cursor: pointer; +} + +.selectDropdownItem:hover { + background-color: #EEE; +} + +.selectDropdownItemSelected { + background: rgba(45, 140, 240, 0.9)!important; /* Override specificity of :hover selector above */ + color: #FFF; +} diff --git a/src/client/components/select/view.tsx b/src/client/components/select/view.tsx new file mode 100644 index 00000000..3842962a --- /dev/null +++ b/src/client/components/select/view.tsx @@ -0,0 +1,127 @@ +import * as classNames from 'classnames' +import * as React from 'react' +import * as style from './style.css' +import DropdownIcon from './dropdown.svg' + +export interface SelectOption { + label: string + value: string + data?: any +} + +export interface SelectProps { + options: SelectOption[] + label?: string + placeholder?: string + disabled?: boolean + onChange: (selectedOption: SelectOption) => void +} + +interface SelectState { + open: boolean + focused: boolean + selectedLabel: null | string + selectedValue: null | string +} + +export class Select extends React.Component { + public state: SelectState + public props: SelectProps + public selectContainer: HTMLDivElement + + public constructor(props: SelectProps, context: any) { + super(props, context) + + this.state = { + open: false, + focused: false, + selectedLabel: null, + selectedValue: null, + } + + this.toggleDropdown = this.toggleDropdown.bind(this) + this.handleExternalClick = this.handleExternalClick.bind(this) + } + + public render(): JSX.Element { + const classes = classNames(style.select, { + [style.selectOpen]: this.state.open, + [style.selectFocused]: this.state.focused, + [style.selectDisabled]: Boolean(this.props.disabled) + }) + + return ( +
+ { this.props.label && +
{ this.props.label }
+ } + +
{this.selectContainer = input}}> +
+ { this.state.selectedLabel === null + ?
{ this.props.placeholder || 'Select an option' }
+ :
{ this.state.selectedLabel }
+ } + +
+ +
+
    + { + this.props.options.map((option, index) => { + const classes = classNames(style.selectDropdownItem, { + [style.selectDropdownItemSelected]: option.value === this.state.selectedValue + }) + + return
  • {this.selectOption(option)}}> + { option.label } +
    • + }) + } +
+
+
+
+ ) + } + + public componentDidMount(): void | undefined { + document.addEventListener('click', this.handleExternalClick) + } + + public componentWillUnmount(): void | undefined { + document.removeEventListener('click', this.handleExternalClick) + } + + private handleExternalClick(event: MouseEvent): void { + if (this.selectContainer.contains(event.target as Node) || !this.state.focused) { + return + } + + this.setState({ + open: this.state.open ? false : this.state.open, + focused: false, + }) + } + + private toggleDropdown(event: any): void { + if (this.props.disabled) { + return + } + + this.setState({ + open: !this.state.open, + focused: true + }) + } + + private selectOption(option: SelectOption) { + this.setState({ + selectedLabel: option.label, + selectedValue: option.value, + open: false + }) + + this.props.onChange(option) + } +} diff --git a/src/client/index.tsx b/src/client/index.tsx index 24f52160..3e135ed5 100644 --- a/src/client/index.tsx +++ b/src/client/index.tsx @@ -8,6 +8,10 @@ import { Switch } from 'react-router-dom' import { AppView } from './components/app/view' import { Chart } from './components/chart/view' import { Classifier } from './components/classifier/view' +import { ConfigurationController } from './components/configuration/controller' +import { ConfigurationModel } from './components/configuration/model' +import { configurationData } from './components/configuration/data' +import { ConfigurationView } from './components/configuration/view' import { Dashboard } from './components/dashboard/view' import { GameState } from './components/game_state/view' import { LocalisationController } from './components/localisation/controller' @@ -76,6 +80,12 @@ ReactDOM.render( + { + // TODO (Paye): Use the network/simulator for the model data + const configurationModel = ConfigurationModel.of({ files: configurationData }) + const configurationController = ConfigurationController.of({ model: configurationModel }) + return + }}/> , diff --git a/src/shared/proto/message/Geometry.proto b/src/shared/proto/message/Geometry.proto old mode 100755 new mode 100644 diff --git a/src/shared/proto/message/platform/darwin/DarwinSensors.proto b/src/shared/proto/message/platform/darwin/DarwinSensors.proto old mode 100755 new mode 100644 diff --git a/src/shared/proto/message/research/AutoClassifierPixels.proto b/src/shared/proto/message/research/AutoClassifierPixels.proto old mode 100755 new mode 100644 diff --git a/src/shared/proto/message/research/scriptoptimizer/OptimizeScript.proto b/src/shared/proto/message/research/scriptoptimizer/OptimizeScript.proto old mode 100755 new mode 100644 diff --git a/src/shared/proto/message/research/scriptoptimizer/OptimizeScriptResult.proto b/src/shared/proto/message/research/scriptoptimizer/OptimizeScriptResult.proto old mode 100755 new mode 100644 diff --git a/src/shared/proto/message/support/nubugger/Configuration.proto b/src/shared/proto/message/support/nubugger/Configuration.proto new file mode 100644 index 00000000..c498d731 --- /dev/null +++ b/src/shared/proto/message/support/nubugger/Configuration.proto @@ -0,0 +1,56 @@ +/* +* This file is part of the NUbots Codebase. +* +* The NUbots Codebase is free software: you can redistribute it and/or modify +* it under the terms of the GNU General Public License as published by +* the Free Software Foundation, either version 3 of the License, or +* (at your option) any later version. +* +* The NUbots Codebase is distributed in the hope that it will be useful, +* but WITHOUT ANY WARRANTY; without even the implied warranty of +* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +* GNU General Public License for more details. +* +* You should have received a copy of the GNU General Public License +* along with the NUbots Codebase. If not, see . +* +* Copyright 2014 NUbots +*/ + +syntax = "proto3"; + +package message.support.nubugger; + +message Configuration { + message Value { + enum Type { + NULL_VALUE = 0; + INT_VALUE = 1; + DOUBLE_VALUE = 2; + STRING_VALUE = 3; + BOOL_VALUE = 4; + MAP_VALUE = 5; + LIST_VALUE = 6; + } + + int64 int_value = 1; + double double_value = 2; + string string_value = 3; + bool bool_value = 4; + map map_value = 5; + repeated Value list_value = 6; + + Type type = 7; + string tag = 8; + string name = 9; + string uid = 10; + string path = 11; + } + + message File { + Value content = 1; + string path = 2; + } + + repeated File files = 1; +} diff --git a/src/shared/proto/message/support/optimisation/Episode.proto b/src/shared/proto/message/support/optimisation/Episode.proto old mode 100755 new mode 100644 diff --git a/src/shared/proto/message/support/optimisation/Estimate.proto b/src/shared/proto/message/support/optimisation/Estimate.proto old mode 100755 new mode 100644 diff --git a/src/simulators/simulate.ts b/src/simulators/simulate.ts old mode 100755 new mode 100644 diff --git a/yarn.lock b/yarn.lock index 7ca1a349..9e92e471 100644 --- a/yarn.lock +++ b/yarn.lock @@ -6412,13 +6412,7 @@ supports-color@^3.1.0, supports-color@^3.1.1, supports-color@^3.1.2, supports-co dependencies: has-flag "^1.0.0" -supports-color@^4.0.0: - version "4.0.0" - resolved "https://registry.yarnpkg.com/supports-color/-/supports-color-4.0.0.tgz#33a7c680aa512c9d03ef929cacbb974d203d2790" - dependencies: - has-flag "^2.0.0" - -supports-color@^4.1.0: +supports-color@^4.0.0, supports-color@^4.1.0: version "4.2.0" resolved "https://registry.yarnpkg.com/supports-color/-/supports-color-4.2.0.tgz#ad986dc7eb2315d009b4d77c8169c2231a684037" dependencies: