0.5f)\n _fieldForward = _robot.GroundedNode.transform.forward;\n\n Vector3 headingVector = _robot.GroundedNode.transform.forward -\n (Vector3.up * Vector3.Dot(Vector3.up, _robot.GroundedNode.transform.forward));\n float headingVectorY = Vector3.Dot(_fieldForward, headingVector);\n float headingVectorX = Vector3.Dot(Vector3.Cross(_fieldForward, Vector3.up), headingVector);\n float chassisAngle = Mathf.Atan2(headingVectorX, headingVectorY) * Mathf.Rad2Deg;\n\n var forwardInput = InputManager.MappedValueInputs[FORWARD];\n var backwardInput = InputManager.MappedValueInputs[BACKWARD];\n var leftInput = InputManager.MappedValueInputs[LEFT];\n var rightInput = InputManager.MappedValueInputs[RIGHT];\n var turnLeftInput = InputManager.MappedValueInputs[TURN_LEFT];\n var turnRightInput = InputManager.MappedValueInputs[TURN_RIGHT];\n\n float forward = Mathf.Abs(forwardInput.Value) - Mathf.Abs(backwardInput.Value);\n float strafe = Mathf.Abs(rightInput.Value) - Mathf.Abs(leftInput.Value);\n float turn = Mathf.Abs(turnRightInput.Value) - Mathf.Abs(turnLeftInput.Value);\n\n forward = Diff(forward, 0f, 0.1f) ? 0f : forward;\n strafe = Diff(strafe, 0f, 0.1f) ? 0f : strafe;\n turn = Diff(turn, 0f, 0.1f) ? 0f : turn;\n\n // Are the inputs basically zero\n if (forward == 0f && turn == 0f && strafe == 0f) {\n _moduleDrivers.ForEach(x => x.drive.MainInput = 0f);\n return;\n }\n\n // Adjusts how much turning verse translation is favored\n turn *= _turnFavor;\n\n var robotTransform = _robot.GroundedNode.transform;\n\n Vector3 chassisVelocity = robotTransform.forward * forward + robotTransform.right * strafe;\n Vector3 chassisAngularVelocity = robotTransform.up * turn;\n\n // Normalize velocity so its between 1 and 0. Should only max out at like 1 sqrt(2), but still\n if (chassisVelocity.magnitude > 1)\n chassisVelocity = chassisVelocity.normalized;\n\n // Rotate chassis velocity by chassis angle\n chassisVelocity = Quaternion.AngleAxis(chassisAngle, robotTransform.up) * chassisVelocity;\n\n var maxVelocity = Vector3.zero;\n Vector3[] velocities = new Vector3[_moduleDrivers.Length];\n for (int i = 0; i < velocities.Length; i++) {\n // TODO: We should do this only once for all azimuth drivers, but whatever for now\n var driver = _moduleDrivers[i].azimuth;\n var com = robotTransform.localToWorldMatrix.MultiplyPoint3x4(\n robotTransform.GetComponent<Rigidbody>().centerOfMass);\n var radius = driver.Anchor - com;\n // Remove axis component of radius\n radius -= Vector3.Dot(driver.Axis, radius) * driver.Axis;\n\n velocities[i] = Vector3.Cross(chassisAngularVelocity, radius) + chassisVelocity;\n if (velocities[i].magnitude > maxVelocity.magnitude)\n maxVelocity = velocities[i];\n }\n\n // Normalize all if a velocity exceeds 1\n if (maxVelocity.magnitude > 1) {\n for (int i = 0; i < velocities.Length; i++) {\n velocities[i] /= maxVelocity.magnitude;\n }\n }\n\n for (int i = 0; i < velocities.Length; i++) {\n float speed = velocities[i].magnitude;\n var yComponent = Vector3.Dot(robotTransform.forward, velocities[i]);\n var xComponent = Vector3.Dot(robotTransform.right, velocities[i]);\n float angle = Mathf.Atan2(xComponent, yComponent) * Mathf.Rad2Deg;\n _moduleDrivers[i].azimuth.MainInput = angle;\n _moduleDrivers[i].drive.MainInput = speed;\n }\n }\n\n public override void OnRemove() {\n for (int i = 0; i < _moduleDrivers.Length; i++) {\n _moduleDrivers[i].azimuth.ControlMode = RotationalDriver.RotationalControlMode.Velocity;\n _moduleDrivers[i].azimuth.MainInput = 0f;\n _moduleDrivers[i].azimuth.Unreserve();\n }\n }\n\n protected override void OnDisable() {\n _moduleDrivers.ForEach(x => x.drive.MainInput = x.azimuth.MainInput = 0f);\n }\n }\n}\n<file_sep>using System.Collections;\nusing System.Collections.Generic;\nusing Analytics;\nusing Modes.MatchMode;\nusing Synthesis.Runtime;\nusing UnityEngine;\nusing UnityEngine.SceneManagement;\nusing Utilities.ColorManager;\n\nnamespace Synthesis.UI.Dynamic {\n public class ExitSynthesisModal : ModalDynamic {\n public ExitSynthesisModal() : base(new Vector2(350, 0)) {}\n\n public override void Create() {\n bool isOnMainMenu = SceneManager.GetActiveScene().name != \"MainScene\";\n\n Title.SetText(isOnMainMenu ? \"Exit Synthesis\" : \"Leave Simulation\");\n\n AcceptButton\n .AddOnClickedEvent(x => {\n if (isOnMainMenu) {\n Application.Quit();\n } else {\n if (ModeManager.CurrentMode!.GetType() == typeof(MatchMode)) {\n RobotSimObject.RemoveAllRobots();\n FieldSimObject.DeleteField();\n MatchMode.ResetMatchConfiguration();\n }\n\n SimulationRunner.InSim = false;\n DynamicUIManager.CloseAllPanels(true);\n\n ModeManager.CurrentMode = null;\n SceneManager.LoadScene(\"GridMenuScene\", LoadSceneMode.Single);\n\n AnalyticsManager.LogCustomEvent(AnalyticsEvent.ExitedToMenu);\n }\n })\n .StepIntoLabel(l => l.SetText(isOnMainMenu ? \"Exit\" : \"Leave\"));\n\n ModalIcon.SetSprite(SynthesisAssetCollection.GetSpriteByName(\"CloseIcon\"))\n .SetColor(ColorManager.SynthesisColor.MainText);\n }\n\n public override void Update() {}\n\n public override void Delete() {}\n }\n}\n<file_sep>using System.Collections;\nusing System.Collections.Generic;\nusing UnityEngine;\nusing SynthesisAPI.WS;\nusing SynthesisAPI.RoboRIO;\nusing System;\nusing Newtonsoft.Json;\nusing System.IO;\nusing System.Linq;\n\n#nullable enable\n\nnamespace Synthesis.WS {\n public static class WebSocketManager {\n private static bool _initialized = false;\n public static bool Initialized => _initialized;\n private static WebSocketServer? _server;\n public static RoboRIOState RioState = new RoboRIOState();\n\n public static bool HasClient => _server?.Clients.Count > 0;\n\n public static void Init(bool force = false) {\n if (_initialized && !force)\n return;\n\n if (_server != null) {\n _server.Dispose();\n Debug.Log(\"WebSocketServer closed by manager\");\n }\n\n RioState = new RoboRIOState();\n\n try {\n _server = new WebSocketServer(\"127.0.0.1\", 3300);\n } catch (Exception e) {\n Debug.Log(\"WebSocketServer failed to start: \" + e.Message);\n return;\n }\n\n _server.AddOnMessageListener(OnMessage);\n\n _initialized = true;\n }\n\n private static void OnMessage(Guid guid, string message) {\n var jsonData = JsonConvert.DeserializeObject<RioJsonData>(message);\n RioState.UpdateData(jsonData.type, jsonData.device, jsonData.data);\n }\n\n /// <summary>\n /// Get Rio data from the RioState\n /// </summary>\n /// <typeparam name=\"T\">Data requested</typeparam>\n public static T GetData<T>(string device)\n where T : HardwareTypeData {\n return RioState.GetData<T>(device);\n }\n\n /// <summary>\n /// Update data in the RioState and upload it to a currently connected websocket client\n /// </summary>\n /// <typeparam name=\"T\">Type of data</typeparam>\n public static void UpdateData<T>(string device, Action<T> change)\n where T : HardwareTypeData {\n RioState.UpdateData(device, change);\n\n if (_server == null || _server.Clients.Count == 0)\n return;\n\n var copy = new Dictionary<string, object>();\n RioState.GetData<T>(device).GetData().ForEach(kvp => copy[kvp.Key] = kvp.Value);\n\n var data = new RioJsonData { type = HardwareTypeData.GetMetaData<T>().RegisteredTypeName, device = device,\n data = copy };\n var json = JsonConvert.SerializeObject(data);\n _server.SendToClient(_server.Clients[0], json);\n }\n\n public static void ForceUpdate() {\n throw new NotImplementedException();\n }\n\n public static void ForceUpdate(string type, string device) {\n throw new NotImplementedException();\n }\n\n /// <summary>\n /// Execute to prepare the sim for\n /// </summary>\n public static void Teardown() {\n if (_server != null) {\n _server.Dispose();\n }\n _server = null;\n\n _initialized = false;\n\n File.WriteAllText(Environment.GetFolderPath(Environment.SpecialFolder.UserProfile) + \"/riostate.json\",\n JsonConvert.SerializeObject(RioState));\n }\n }\n\n public struct RioJsonData {\n public string type;\n public string device;\n public Dictionary<string, object> data;\n }\n}\n<file_sep>using System;\nusing SynthesisAPI.Runtime;\nusing _UnityScrollView = UnityEngine.UIElements.ScrollView;\n\nnamespace SynthesisAPI.UIManager.VisualElements\n{\n public class ScrollView : VisualElement\n {\n private protected _UnityScrollView Element\n {\n get => (_visualElement as _UnityScrollView)!;\n set => _visualElement = value;\n }\n\n internal ScrollView(_UnityScrollView visualElement)\n {\n Element = visualElement;\n }\n public ScrollView(VisualElement visualElement)\n {\n Element = (_UnityScrollView)visualElement.UnityVisualElement;\n }\n public ScrollView()\n {\n Element = ApiProvider.CreateUnityType<_UnityScrollView>()!;\n if (Element == null)\n throw new Exception();\n }\n public void ScrollTo(VisualElement visualElement) => Element.ScrollTo(visualElement.UnityVisualElement);\n }\n}<file_sep>using System;\nusing System.Collections;\nusing System.Collections.Generic;\nusing System.Linq;\nusing Synthesis.UI;\nusing Synthesis.UI.Dynamic;\nusing UnityEngine;\nusing Utilities.ColorManager;\n\n#nullable enable\n\npublic class RCCreateDeviceModal : ModalDynamic {\n public RCCreateDeviceModal() : base(new Vector2(400, 55)) {}\n\n private Dropdown _typeDropdown;\n\n public Func<UIComponent, UIComponent> VerticalLayout = (u) => {\n var offset = (-u.Parent!.RectOfChildren(u).yMin) + 7.5f;\n u.SetTopStretch<UIComponent>(anchoredY: offset);\n return u;\n };\n\n public static readonly string[] EntryTypes =\n new string[] { RioConfigurationModal.PWM, RioConfigurationModal.ENCODER };\n\n public override void Create() {\n Title.SetText(\"Create Device\");\n Title.SetWidth<Label>(400);\n\n ModalIcon.SetSprite(SynthesisAssetCollection.GetSpriteByName(\"wrench-icon\"));\n ModalIcon.SetColor(ColorManager.SynthesisColor.MainText);\n\n AcceptButton\n .AddOnClickedEvent(b => {\n switch (_typeDropdown.SelectedOption.text) {\n case RioConfigurationModal.PWM:\n DynamicUIManager.CreateModal<RCConfigPwmGroupModal>();\n break;\n case RioConfigurationModal.ENCODER:\n DynamicUIManager.CreateModal<RCConfigEncoderModal>();\n break;\n default:\n break;\n }\n })\n .StepIntoLabel(l => l.SetText(\"Next\"));\n CancelButton.AddOnClickedEvent(b => { DynamicUIManager.CreateModal<RioConfigurationModal>(); });\n\n _typeDropdown = MainContent.CreateDropdown().SetOptions(EntryTypes).SetTopStretch<Dropdown>();\n }\n\n public override void Delete() {}\n\n public override void Update() {}\n}\n\npublic class RCConfigPwmGroupModal : ModalDynamic {\n private const int MODAL_WIDTH = 900, MODAL_HEIGHT = 400;\n\n public RCConfigPwmGroupModal() : base(new Vector2(MODAL_WIDTH, MODAL_HEIGHT)) {}\n\n public RCConfigPwmGroupModal(PWMGroupEntry entry) : base(new Vector2(MODAL_WIDTH, MODAL_HEIGHT)) {\n _entry = entry;\n }\n\n private PWMGroupEntry? _entry;\n\n private InputField _nameInput;\n private ScrollView _signalSelection;\n private Dictionary<string, Toggle> _signalToggles;\n private ScrollView _portSelection;\n private Dictionary<string, Toggle> _portToggles;\n\n private List<(string name, string guid)> _options;\n\n public Func<UIComponent, UIComponent> VerticalLayout = (u) => {\n var offset = (-u.Parent!.RectOfChildren(u).yMin) + 7.5f;\n u.SetTopStretch<UIComponent>(anchoredY: offset);\n return u;\n };\n\n public override void Create() {\n Title.SetText(\"Create Device\");\n Title.SetWidth<Label>(400);\n Description.SetText(\"Create a Motor Controller, Encoder, Etc.\");\n\n ModalIcon.SetSprite(SynthesisAssetCollection.GetSpriteByName(\"wrench-icon\"));\n ModalIcon.SetColor(ColorManager.SynthesisColor.MainText);\n\n AcceptButton\n .AddOnClickedEvent(b => {\n var entry = new PWMGroupEntry(_nameInput.Value,\n _portToggles.Where(x => x.Value.State).Select(x => x.Key).ToArray(),\n _signalToggles.Where(x => x.Value.State).Select(x => x.Key).ToArray());\n if (_entry != null) {\n int n = RioConfigurationModal.Entries.RemoveAll(e => e.Equals(_entry));\n }\n RioConfigurationModal.Entries.Add(entry);\n\n DynamicUIManager.CreateModal<RioConfigurationModal>();\n })\n .StepIntoLabel(l => l.SetText(\"Done\"));\n CancelButton.AddOnClickedEvent(b => { DynamicUIManager.CreateModal<RioConfigurationModal>(); });\n\n _nameInput = MainContent.CreateInputField();\n _nameInput.SetTopStretch<InputField>().StepIntoLabel(l => l.SetText(\"Name\"));\n _nameInput.StepIntoHint(h => h.SetText(\"...\"));\n _nameInput.AddOnValueChangedEvent((i, v) => UpdateAcceptButton());\n\n var subContent = MainContent.CreateSubContent(new Vector2(900, 400));\n subContent.SetStretch<Content>(topPadding: 60f);\n (Content left, Content right) = subContent.SplitLeftRight(445, 10);\n\n // Left Side\n left.SetLeftStretch<Content>();\n var leftLabel = left.CreateLabel(height: 30f);\n leftLabel.SetText(\"Ports\").SetTopStretch<Label>().SetFontSize(20f);\n\n _portSelection = left.CreateScrollView();\n _portSelection.SetHeight<ScrollView>(340);\n _portSelection.SetStretch<Content>(topPadding: 30f);\n _portToggles = new Dictionary<string, Toggle>();\n for (int i = 0; i < 10; i++) {\n var container = _portSelection.Content.CreateSubContent(new Vector2(600, 40));\n container.SetTopStretch<Content>(\n leftPadding: 10, rightPadding: 10, anchoredY: -_portSelection.Content.RectOfChildren(container).yMin);\n\n var toggle = container.CreateToggle(false, label: $\"{i}\");\n toggle.SetStretch<Toggle>();\n\n _portToggles.Add($\"{i}\", toggle);\n }\n _portSelection.Content.SetTopStretch<Content>().SetHeight<Content>(\n -_portSelection.Content.RectOfChildren().yMin);\n\n // Right Side\n right.SetRightStretch<Content>();\n var rightLabel = right.CreateLabel(height: 30f);\n rightLabel.SetText(\"Signals\").SetTopStretch<Label>().SetFontSize(20f);\n\n // Signal Selection\n _signalSelection = right.CreateScrollView();\n _signalSelection.SetHeight<ScrollView>(340);\n _signalSelection.SetStretch<Content>(topPadding: 30f);\n _signalToggles = new Dictionary<string, Toggle>();\n RobotSimObject.GetCurrentlyPossessedRobot()\n .MiraLive.MiraAssembly.Data.Joints.JointInstances.Values\n .Where(x => !x.Info.Name.Equals(\"grounded\") &&\n RobotSimObject.GetCurrentlyPossessedRobot()\n .MiraLive.MiraAssembly.Data.Joints.JointDefinitions[x.JointReference]\n .JointMotionType == Mirabuf.Joint.JointMotion.Revolute)\n .ForEach(j => {\n var container = _signalSelection.Content.CreateSubContent(new Vector2(600, 40));\n container.SetTopStretch<Content>(leftPadding: 10, rightPadding: 10,\n anchoredY: -_signalSelection.Content.RectOfChildren(container).yMin);\n\n var toggle = container.CreateToggle(false, label: $\"{j.Info.Name} ({j.SignalReference})\");\n toggle.SetStretch<Toggle>();\n\n toggle.AddOnStateChangedEvent((t, s) => UpdateAcceptButton());\n\n _signalToggles.Add(j.SignalReference, toggle);\n });\n _signalSelection.Content.SetTopStretch<Content>().SetHeight<Content>(\n -_signalSelection.Content.RectOfChildren().yMin);\n\n if (_entry != null) {\n _nameInput.SetValue(_entry.Name);\n\n _entry.Ports.ForEach(x => _portToggles[x].SetState(true));\n _entry.Signals.ForEach(x => _signalToggles[x].SetState(true));\n }\n\n UpdateAcceptButton();\n }\n\n public void UpdateAcceptButton() {\n if (_nameInput.Value.Length != 0 && _signalToggles.Where(x => x.Value.State).Count() != 0 &&\n _portToggles.Where(x => x.Value.State).Count() != 0) {\n AcceptButton.RootGameObject.SetActive(true);\n } else {\n AcceptButton.RootGameObject.SetActive(false);\n }\n }\n\n public override void Delete() {}\n\n public override void Update() {}\n}\n\npublic class RCConfigEncoderModal : ModalDynamic {\n private const int MODAL_WIDTH = 400, MODAL_HEIGHT = 400;\n\n public RCConfigEncoderModal() : base(new Vector2(MODAL_WIDTH, MODAL_HEIGHT)) {}\n\n public RCConfigEncoderModal(EncoderEntry entry) : base(new Vector2(MODAL_WIDTH, MODAL_HEIGHT)) {\n _entry = entry;\n }\n\n private EncoderEntry? _entry;\n\n private InputField _nameInput;\n private LabeledDropdown _signalDropdown;\n private LabeledDropdown _channelADropdown;\n private LabeledDropdown _channelBDropdown;\n private InputField _modInput;\n\n private List<(string name, string guid)> _signals;\n private string[] _channelPorts = new string[] { \"0\", \"1\", \"2\", \"3\", \"4\", \"5\", \"6\", \"7\", \"8\", \"9\" };\n\n public Func<UIComponent, UIComponent> VerticalLayout = (u) => {\n var offset = (-u.Parent!.RectOfChildren(u).yMin) + 7.5f;\n u.SetTopStretch<UIComponent>(anchoredY: offset);\n return u;\n };\n\n public override void Create() {\n Title.SetText(\"Create Device\");\n Title.SetWidth<Label>(400);\n Description.SetText(\"Create a Motor Controller, Encoder, Etc.\");\n\n ModalIcon.SetSprite(SynthesisAssetCollection.GetSpriteByName(\"wrench-icon\"));\n ModalIcon.SetColor(ColorManager.SynthesisColor.MainText);\n\n AcceptButton\n .AddOnClickedEvent(b => {\n var entry = new EncoderEntry(_nameInput.Value, _signals[_signalDropdown.Dropdown.Value].guid,\n _channelADropdown.Dropdown.SelectedOption.text, _channelBDropdown.Dropdown.SelectedOption.text,\n float.Parse(_modInput.Value));\n if (_entry != null) {\n int n = RioConfigurationModal.Entries.RemoveAll(e => e.Equals(_entry));\n }\n RioConfigurationModal.Entries.Add(entry);\n\n DynamicUIManager.CreateModal<RioConfigurationModal>();\n })\n .StepIntoLabel(l => l.SetText(\"Done\"));\n CancelButton.AddOnClickedEvent(b => { DynamicUIManager.CreateModal<RioConfigurationModal>(); });\n\n _nameInput = MainContent.CreateInputField();\n _nameInput.SetTopStretch<InputField>().StepIntoLabel(l => l.SetText(\"Name\"));\n _nameInput.StepIntoHint(h => h.SetText(\"...\"));\n _nameInput.AddOnValueChangedEvent((i, v) => UpdateAcceptButton());\n\n _signalDropdown = MainContent.CreateLabeledDropdown();\n _signalDropdown.ApplyTemplate(VerticalLayout);\n _signalDropdown.StepIntoLabel(l => l.SetText(\"Signal\"));\n _signals = new List<(string name, string guid)>();\n _signals.AddRange(\n RobotSimObject.GetCurrentlyPossessedRobot()\n .MiraLive.MiraAssembly.Data.Joints.JointInstances.Values\n .Select<Mirabuf.Joint.JointInstance, (string name, string guid)>(x => (x.Info.Name, x.SignalReference))\n .Where(\n x => RobotSimObject.GetCurrentlyPossessedRobot().State.SignalMap.ContainsKey($\"{x.guid}_encoder\"))\n .Select(x => ($\"{x.name} ({x.guid})\", x.guid)));\n _signalDropdown.StepIntoDropdown(d => d.SetOptions(_signals.Select(x => x.name).ToArray()));\n _signalDropdown.Dropdown.AddOnValueChangedEvent((a, b, c) => UpdateAcceptButton());\n\n _channelADropdown = MainContent.CreateLabeledDropdown();\n _channelADropdown.ApplyTemplate(VerticalLayout);\n _channelADropdown.StepIntoLabel(l => l.SetText(\"Channel A\"));\n _channelADropdown.StepIntoDropdown(d => d.SetOptions(_channelPorts));\n _channelADropdown.Dropdown.AddOnValueChangedEvent((a, b, c) => UpdateAcceptButton());\n\n _channelBDropdown = MainContent.CreateLabeledDropdown();\n _channelBDropdown.ApplyTemplate(VerticalLayout);\n _channelBDropdown.StepIntoLabel(l => l.SetText(\"Channel B\"));\n _channelBDropdown.StepIntoDropdown(d => d.SetOptions(_channelPorts));\n _channelBDropdown.Dropdown.AddOnValueChangedEvent((a, b, c) => UpdateAcceptButton());\n\n _modInput = MainContent.CreateInputField();\n _modInput.ApplyTemplate(VerticalLayout);\n _modInput.StepIntoLabel(l => l.SetText(\"Conversion Factor\"));\n _modInput.SetContentType(TMPro.TMP_InputField.ContentType.DecimalNumber);\n _modInput.SetValue(\"1\");\n _modInput.AddOnValueChangedEvent((a, b) => UpdateAcceptButton());\n\n if (_entry != null) {\n _nameInput.SetValue(_entry.Name);\n\n int signalIndex = _signals.FindIndex(0, _signals.Count, x => x.guid == _entry.Signal);\n _signalDropdown.Dropdown.SetValue(signalIndex, true);\n\n int channelAIndex = -1;\n int.TryParse(_entry.ChannelA, out channelAIndex);\n _channelADropdown.Dropdown.SetValue(channelAIndex);\n\n int channelBIndex = -1;\n int.TryParse(_entry.ChannelB, out channelBIndex);\n _channelBDropdown.Dropdown.SetValue(channelBIndex);\n\n _modInput.SetValue(_entry.Mod.ToString());\n }\n\n UpdateAcceptButton();\n }\n\n public void UpdateAcceptButton() {\n if (_nameInput.Value.Length != 0 && _channelADropdown.Dropdown.Value != _channelBDropdown.Dropdown.Value &&\n Mathf.Abs(int.Parse(_modInput.Value)) > 0.001) {\n AcceptButton.RootGameObject.SetActive(true);\n } else {\n AcceptButton.RootGameObject.SetActive(false);\n }\n }\n\n public override void Delete() {}\n\n public override void Update() {}\n}\n<file_sep>#!/bin/bash\n\n# Deploy all WPILib support libraries\n\nWPILIB_DIR=\"./lib/wpilib/src/wpilib\"\nOPENCV_DIR=\"${WPILIB_DIR}/build/tmp/expandedArchives/opencv-cpp-3.4.4-4-linuxathenadebug.zip_fb1838f89a18efba82e3c679b6ef0c3b/linux/athena/shared\"\n\ndeploy(){\n if [ -f $1 ] || [ -d $1 ]; then\n printf \"Copying $1\\n\"\n scp -r -P 10022 $1 lvuser@localhost:/home/lvuser\n else\n printf \"Error: $1 Does not exist\\n\"\n fi\n}\n\n# Deploy all WPILib libaries, C++ and Java\ndeploy \"${WPILIB_DIR}/cameraserver/build/libs/cameraserver/shared/athena/debug/libcameraserverd.so\"\ndeploy \"${WPILIB_DIR}/cscore/build/libs/cscore/shared/athena/debug/libcscored.so\"\ndeploy \"${WPILIB_DIR}/hal/build/libs/hal/shared/athena/debug/libwpiHald.so\"\ndeploy \"${WPILIB_DIR}/ntcore/build/libs/ntcore/shared/athena/debug/libntcored.so\"\ndeploy \"${WPILIB_DIR}/wpilibc/build/libs/wpilibc/shared/athena/debug/libwpilibcd.so\"\ndeploy \"${WPILIB_DIR}/wpiutil/build/libs/wpiutil/shared/athena/debug/libwpiutild.so\"\n\ndeploy \"${WPILIB_DIR}/cameraserver/build/libs/cameraserver.jar\"\ndeploy \"${WPILIB_DIR}/cscore/build/libs/cscore.jar\"\ndeploy \"${WPILIB_DIR}/hal/build/libs/hal.jar\"\ndeploy \"${WPILIB_DIR}/ntcore/build/libs/ntcore.jar\"\ndeploy \"${WPILIB_DIR}/wpilibj/build/libs/wpilibj.jar\"\ndeploy \"${WPILIB_DIR}/wpiutil/build/libs/wpiutil.jar\"\n\n# Deploy all OpenCV libraries\nfor i in ${OPENCV_DIR}/lib*.so.3.4; do\n deploy \"$i\"\ndone\n\nprintf \"Files successfully copied\\n\"\n\n# Deploy HEL\ndeploy \"./lib/libhel.so\"\n<file_sep>using System;\n\nnamespace SynthesisAPI.Utilities\n{\n public class SynthesisException : Exception\n {\n public SynthesisException() { }\n public SynthesisException(string message) : base(message) { }\n public SynthesisException(string message, Exception inner) : base(message, inner) { }\n }\n}\n<file_sep>using System;\nusing System.Collections.Generic;\nusing System.Linq;\nusing SynthesisAPI.InputManager.Inputs;\nusing SynthesisAPI.Utilities;\n\nnamespace SynthesisAPI.Simulation {\n public abstract class SimBehaviour {\n\n protected List<(string key, string displayName)> _reservedInput = new List<(string key, string displayName)>();\n public IReadOnlyCollection<(string key, string displayName)> ReservedInput => _reservedInput.AsReadOnly();\n\n private bool _enabled = false;\n public bool Enabled {\n get => _enabled;\n set {\n if (_enabled != value) {\n _enabled = value;\n if (_enabled)\n OnEnable();\n else\n OnDisable();\n }\n }\n }\n\n public string SimObjectId { get; protected set; }\n \n /// <summary>\n /// Constructor for a SimObject\n /// </summary>\n /// <param name=\"simObjectId\">ID of the SimObject within the SimulationManager</param>\n /// <param name=\"inputs\">A list of reserved inputs by the behaviour, along with a input to assign to each</param>\n public SimBehaviour(string simObjectId) {\n Enabled = true;\n SimObjectId = simObjectId;\n }\n\n public void InitInputs(params (string key, string displayName, Analog defaultInput)[] inputs) {\n inputs.ForEach(x => {\n _reservedInput.Add((x.key, x.displayName));\n InputManager.InputManager.AssignValueInput(x.key, x.defaultInput, true);\n });\n }\n\n ~SimBehaviour() {\n Enabled = false;\n }\n\n protected virtual void OnEnable() { }\n protected virtual void OnDisable() { }\n public virtual void OnRemove() { }\n public abstract void Update();\n public virtual void FixedUpdate() { }\n }\n}<file_sep>using CommandLine;\nusing System;\nusing System.Collections.Generic;\nusing System.Text;\n\nnamespace SynthesisServer\n{\n [Verb(\"stop\", HelpText = \"Stop the Synthesis Server\")]\n public class StopCommand\n {\n public Command CommandType { get; } = Command.STOP;\n }\n}\n<file_sep>using System;\nusing Synthesis.UI.Dynamic;\nusing SynthesisAPI.InputManager;\nusing UnityEngine;\nusing UnityEngine.EventSystems;\n\n#nullable enable\n\npublic class OrbitCameraMode : ICameraMode {\n public static Func<Vector3> FocusPoint = () => Vector3.zero;\n\n public float TargetZoom { get; private set; } = 8.0f;\n public float TargetPitch { get; private set; } = 10.0f;\n public float TargetYaw { get; private set; } = 135.0f;\n public float ActualZoom { get; private set; } = 4.0f;\n public float ActualPitch { get; private set; } = 0.0f;\n\n public float ActualYaw { get; private set; } = 0.0f;\n private bool _useOrbit = false;\n\n public void Start<T>(CameraController cam, T? previousCam)\n where T : ICameraMode {\n if (previousCam != null) {\n if (previousCam.GetType() == typeof(FreeCameraMode)) {\n FreeCameraMode freeCam = (previousCam as FreeCameraMode)!;\n ActualPitch = freeCam.ActualPitch;\n ActualYaw = freeCam.ActualYaw;\n } else if (previousCam.GetType() == typeof(DriverStationCameraMode)) {\n DriverStationCameraMode driverCam = (previousCam as DriverStationCameraMode)!;\n ActualPitch = driverCam.ActualPitch;\n ActualYaw = driverCam.ActualYaw;\n }\n }\n }\n\n public void Update(CameraController cam) {\n // don't allow camera movement when a modal is open\n if (DynamicUIManager.ActiveModal != null)\n return;\n var pitchTest = cam.PitchUpperLimit - cam.PitchLowerLimit;\n if (pitchTest < 0)\n Debug.LogError(\"No range exists for pitch to reside in\");\n else if (pitchTest == 0)\n Debug.Log(\"Pitch is locked\");\n\n float p = 0.0f;\n float y = 0.0f;\n float z = 0.0f;\n\n bool isOverUI = EventSystem.current.IsPointerOverGameObject();\n bool enableOrbit = !isOverUI && !CameraController.isOverGizmo;\n bool isGodMode = InputManager.MappedValueInputs.ContainsKey(GodMode.ENABLED_GOD_MODE_INPUT)\n ? InputManager.MappedValueInputs[GodMode.ENABLED_GOD_MODE_INPUT].Value == 1.0F\n : false;\n\n if (enableOrbit && !isGodMode) {\n z = CameraController.ZoomSensitivity * -Input.mouseScrollDelta.y;\n }\n\n if (!Input.GetKey(KeyCode.Mouse0) || isGodMode) {\n _useOrbit = enableOrbit;\n } else {\n if (_useOrbit) {\n p = -CameraController.PitchSensitivity * Input.GetAxis(\"Mouse Y\");\n y = CameraController.YawSensitivity * Input.GetAxis(\"Mouse X\");\n }\n }\n\n TargetPitch = Mathf.Clamp(TargetPitch + p, cam.PitchLowerLimit, cam.PitchUpperLimit);\n TargetYaw += y;\n TargetZoom = Mathf.Clamp(TargetZoom + z, cam.ZoomLowerLimit, cam.ZoomUpperLimit);\n\n float orbitLerpFactor = Mathf.Clamp((cam.OrbitalAcceleration * Time.deltaTime) / 0.018f, 0.01f, 1.0f);\n ActualPitch = Mathf.Lerp(ActualPitch, TargetPitch, orbitLerpFactor);\n ActualYaw = Mathf.Lerp(ActualYaw, TargetYaw, orbitLerpFactor);\n float zoomLerpFactor = Mathf.Clamp((cam.ZoomAcceleration * Time.deltaTime) / 0.018f, 0.01f, 1.0f);\n ActualZoom = Mathf.Lerp(ActualZoom, TargetZoom, zoomLerpFactor);\n }\n\n public void LateUpdate(CameraController cam) {\n // Construct orientation of the camera\n Vector3 focus = FocusPoint == null ? Vector3.zero : FocusPoint();\n\n cam.GroundRenderer.material.SetVector(\"_GridFocusPoint\", focus);\n\n var t = cam.transform;\n t.localPosition = focus;\n t.localRotation = Quaternion.identity;\n\n var up = t.up;\n t.localRotation = Quaternion.Euler(ActualPitch, 0.0f, 0.0f);\n t.RotateAround(focus, up, ActualYaw);\n t.localPosition = (/*up * 0.5f +*/ t.forward * -ActualZoom) + t.localPosition;\n }\n\n public void End(CameraController cam) {}\n}<file_sep>#ifndef __SYSTEM_HPP_\n#define __SYSTEM_HPP_\n\n#include \"FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h\"\n#include \"FRC_FPGA_ChipObject/tSystem.h\"\n#include \"FRC_FPGA_ChipObject/fpgainterfacecapi/NiFpga.h\"\n\n#endif\n<file_sep>using NUnit.Framework;\n\nnamespace TestApi\n{\n [SetUpFixture]\n public class TestsSetupClass\n {\n [OneTimeSetUp]\n public void GlobalSetup()\n {\n MockApi.MockApi.Init();\n }\n\n [OneTimeTearDown]\n public void GlobalTeardown()\n {\n\n }\n }\n}\n<file_sep>#!/bin/sh\n\n# This script is used to run the FRCUserProgram within the emulator VM\n\nPREFIX=$0 # File name of script running\n\nprintf \"$PREFIX Killing previously running ${0##*/}.\\n\"\nfor pid in $(pidof ${0##*/}); do\n if [ $pid != $$ ]; then\n\tkill -9 $pid &>/dev/null\n fi\ndone\nkillall FRCUserProgram FRCUserProgram.jar &>/dev/null\n\nLOG_DIR=logs\nLOG_FILE=$LOG_DIR/log.log\n\nmkdir -p $LOG_DIR\nprintf \"$PREFIX Clearing last log.\\n\"\necho -n \"\" > $LOG_FILE\n\nwhile true; do\n\tif [ -f /home/lvuser/FRCUserProgram.jar ]; then # Run java user program\n\t\tprintf \"$PREFIX Executing Java FRCUserProgram - output redirected to log.\\n\"\n\t\tLD_LIBRARY_PATH=/home/lvuser LD_PRELOAD=/lib/libhel.so java -jar /home/lvuser/FRCUserProgram.jar &> $LOG_FILE\n\telif [ -f /home/lvuser/FRCUserProgram ]; then # Run cpp user program\n\t\tprintf \"$PREFIX Executing C++ FRCUserProgram - output redirected to log.\\n\"\n\t\tsudo chmod +x /home/lvuser/FRCUserProgram\n\t\tLD_LIBRARY_PATH=/home/lvuser /home/lvuser/FRCUserProgram &> $LOG_FILE\n\telse\n\t\tprintf \"$PREFIX No FRCUserProgram found. Sleeping for 5 seconds and then retrying.\\n\"\n\t\tsleep 5;\n\tfi\ndone\n<file_sep>#ifndef _PWM_SYSTEM_HPP_\n#define _PWM_SYSTEM_HPP_\n\n#include \"FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h\"\n#include \"FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPWM.h\"\n\n#include \"bounds_checked_array.hpp\"\n\nnamespace hel{\n /**\n * \\brief Data model for PWM system.\n * Data model for all PWMS. Holds all internal data for PWMs.\n */\n\n struct PWMSystem{\n /**\n * \\brief The expected loop timing by HAL\n *\n * When loop timing is requested, this should be used to prevent errors\n */\n\n static constexpr const int32_t EXPECTED_LOOP_TIMING = 40;\n\n /**\n * \\brief The number of PWM headers\n */\n\n static constexpr const int32_t NUM_HDRS = nFPGA::nRoboRIO_FPGANamespace::tPWM::kNumHdrRegisters;\n private:\n\n /**\n * \\brief Current PWM system configuration.\n */\n\n nFPGA::nRoboRIO_FPGANamespace::tPWM::tConfig config;\n\n /**\n * \\brief Data model for individual PWM\n * Data model used for storing data about an individual PWM.\n */\n\n struct PWM{\n\n\t\t\t/**\n\t\t\t * \\brief If the zero latch is latched, the PWM generator is guaranteed to output 0\n\t\t\t */\n\n bool zero_latch;\n\n /**\n * \\brief 2 bit PWM signal mask.\n * 2-bit mask for signal masking frequency, effectively scaling the pulse width (0 = 1x 1, = 2x, 3 = 4x)\n */\n\n uint32_t period_scale;\n\n /**\n * \\brief PWM pulse width in microseconds\n */\n\n uint16_t pulse_width;\n\n /**\n * Constructor for PWM\n */\n\n PWM()noexcept;\n\n /**\n * Constructor for PWM\n * \\param source A PWM object to copy\n */\n\n PWM(const PWM&)noexcept;\n };\n\n /**\n * \\brief Array of all PWM Headers on the base RoboRIO board.\n * Array of all PWM headers on the base board of the RoboRIO (not MXP). Numbered 0-10 on the board.\n */\n\n BoundsCheckedArray<PWM, nFPGA::nRoboRIO_FPGANamespace::tPWM::kNumHdrRegisters> hdr;\n\n /**\n * \\brief Array of all PWM Headers on the MXP.\n * Array of all PWM headers on the MXP.\n */\n\n BoundsCheckedArray<PWM, nFPGA::nRoboRIO_FPGANamespace::tPWM::kNumMXPRegisters> mxp;\n\n public:\n\n /**\n * \\fn nFPGA::nRoboRIO_FPGANamespace::tPWM::tConfig getConfig()const noexcept\n * \\brief Get the current PWM system configuration.\n * \\return tConfig representing current PWM system configuration.\n */\n\n nFPGA::nRoboRIO_FPGANamespace::tPWM::tConfig getConfig()const noexcept;\n\n /**\n * \\fn void setConfig(nFPGA::nRoboRIO_FPGANamespace::tPWM::tConfig value)noexcept\n * \\brief Set the PWM system configuration.\n * \\param value The new PWM system configuration to use.\n */\n\n void setConfig(nFPGA::nRoboRIO_FPGANamespace::tPWM::tConfig)noexcept;\n \n\t\t/**\n * \\brief Get the PWM header zero latch value.\n * \\param index The PWM header index\n * \\return The PWM zero latch value\n */\n\n bool getHdrZeroLatch(uint8_t)const;\n\n\t\t/**\n * \\brief Set the PWM header zero latch value.\n * \\param index The PWM header index\n * \\param zero_latch The PWM zero latch value\n */\n\n void setHdrZeroLatch(uint8_t, bool);\n\n\t\t/**\n * \\brief Get the PWM MXP zero latch value.\n * \\param index The PWM MXP index\n * \\return The PWM zero latch value\n */\n\n bool getMXPZeroLatch(uint8_t)const;\n\n\t\t/**\n * \\brief Set the PWM MXP zero latch value.\n * \\param index The PWM MXP index\n * \\param index The zero latch value\n */\n\n void setMXPZeroLatch(uint8_t, bool);\n\n /**\n * \\brief Get current pwm scale for a header based PWM.\n * \\param index The index of the pwm.\n * \\return An unsigned 32-bit integer representing the PWM period scale.\n */\n\n uint32_t getHdrPeriodScale(uint8_t)const ;\n\n /**\n * \\brief Set PWM scale for a header based pwm.\n * \\param index The index of the PWM.\n * \\param value The period scale you wish to set\n */\n\n void setHdrPeriodScale(uint8_t, uint32_t);\n\n /**\n * \\brief Get current pwm scale for a header based pwm.\n * \\param index The index of the pwm.\n * \\return An unsigned 32-bit integer representing the pwm period scale.\n */\n\n uint32_t getMXPPeriodScale(uint8_t)const ;\n\n /**\n * \\brief Set PWM scale for a MXP PWM.\n * \\param index the index of the PWM.\n * \\param value the period scale you wish to set.\n */\n\n void setMXPPeriodScale(uint8_t, uint32_t);\n\n /**\n * \\brief Get current PWM pulse width for RoboRIO headers.\n * \\param index the index of the PWM.\n * \\return Unsigned 32-bit integer representing the PWM pulse width.\n */\n\n uint32_t getHdrPulseWidth(uint8_t)const ;\n\n /**\n * \\brief Sets PWM pulse width for PWMs on the base board.\n * \\param index the index of the PWM.\n * \\param value the new pulse width to write to the PWM.\n */\n\n void setHdrPulseWidth(uint8_t, uint32_t);\n\n /**\n * \\brief Get current PWM pulse width on RoboRIO MXP.\n * \\param index the index of the PWM.\n * \\return Unsigned 32-bit integer representing the PWM pulse width.\n */\n\n uint32_t getMXPPulseWidth(uint8_t)const ;\n\n /**\n * \\brief Sets PWM pulse width for PWMs on the MXP.\n * \\param index the index of the PWM.\n * \\param value the new pulse width to write to the PWM.\n */\n\n void setMXPPulseWidth(uint8_t, uint32_t);\n\n /**\n * \\brief Convert the pulse width to a percent output\n * \\param pulse_width The pulse width to convert\n * \\return The scaled, percent output that the pulse width represents\n */\n\n static double getPercentOutput(uint32_t)noexcept; //TODO use period scale and config?\n\n /**\n * Constructor for PWMSystem\n */\n\n PWMSystem()noexcept;\n\n /**\n * Constructor for PWMSystem\n * \\param source A PWMSystem object to copy\n */\n\n PWMSystem(const PWMSystem&)noexcept;\n };\n\n namespace pwm_pulse_width{\n // All of these values were calculated based off of the WPILib defaults and the math used to calculate their respective fields\n constexpr int32_t MAX = 1499;\n constexpr int32_t CENTER = 999;\n constexpr int32_t MIN = 499;\n\n constexpr int32_t DEADBAND_MAX = CENTER + 1;\n constexpr int32_t DEADBAND_MIN = CENTER - 1;\n\n constexpr int32_t POSITIVE_SCALE_FACTOR = MAX - DEADBAND_MAX;\n constexpr int32_t NEGATIVE_SCALE_FACTOR = DEADBAND_MIN - MIN;\n }\n}\n#endif\n<file_sep>using System;\nusing System.Collections.Generic;\nusing System.Text;\nusing CommandLine;\n\n\nnamespace SynthesisServer\n{\n [Verb(\"start\", HelpText = \"Start the Synthesis Server\")]\n class StartCommand\n {\n #nullable enable\n\n [Option('c', \"config\", Required = false, HelpText = \"Specify a path to an appsettings.json file. Defaults to the same directory as the binary.\")]\n public string? ConfigPath { get; set; } = null;\n\n [Option('p', \"port\", Required = false, HelpText = \"Specify the UDP port you want the server to listen on.\")]\n public int? Port { get; set; } = null;\n\n [Option('l', \"lobby-timeout\", Required = false, HelpText = \"Set the maximum amount of time in seconds that a client can have a lobby up. (-1 for infinite)\")]\n public int? LobbyTimeout { get; set; } = null;\n\n [Option('m', \"max-lobbies\", Required = false, HelpText = \"Set the maximum number of lobbies that can be created on the server. (-1 for infinite)\")]\n public int? MaxHosts { get; set; } = null;\n\n [Option('i', \"heartbeat-interval\", Required = false, HelpText = \"Set the time interval in seconds that a client must send a heartbeat signal by. (-1 for infinite; Not recommended)\")]\n public int? HearbeatInterval { get; set; } = null;\n\n #nullable disable\n\n [Option('n', \"new-config\", Required = false, HelpText = \"Will generate a new config file based on arguments and current configuration if true. (Defaults to false)\")]\n public bool NewConfig { get; set; } = false;\n\n [Option('f', \"force\", Required = false, HelpText = \"Will run even if another instance is running. Defaults to false.\")]\n public bool Force { get; set; } = false;\n\n public Command CommandType { get; } = Command.START;\n }\n}\n<file_sep>#include \"roborio_manager.hpp\"\n#include \"system_interface.hpp\"\n\nusing namespace nFPGA;\nusing namespace nRoboRIO_FPGANamespace;\n\nnamespace hel{\n tPower::tStatus Power::getStatus()const noexcept{\n return status;\n }\n\n void Power::setStatus(tPower::tStatus s)noexcept{\n status = s;\n }\n\n tPower::tFaultCounts Power::getFaultCounts()const noexcept{\n return fault_counts;\n }\n\n void Power::setFaultCounts(tPower::tFaultCounts counts)noexcept{\n fault_counts = counts;\n }\n\n tPower::tDisable Power::getDisabled()const noexcept{\n return disabled;\n }\n\n void Power::setDisabled(tPower::tDisable d)noexcept{\n disabled = d;\n }\n\n Power::Power()noexcept:status(),fault_counts(),disabled(){}\n Power::Power(const Power& source)noexcept{\n#define COPY(NAME) NAME = source.NAME\n COPY(status);\n COPY(fault_counts);\n COPY(disabled);\n#undef COPY\n }\n\n struct PowerManager: public tPower{\n tSystemInterface* getSystemInterface(){ //unnecessary for emulation\n return new SystemInterface();\n }\n\n uint16_t readUserVoltage3V3(tRioStatusCode* /*status*/){\n return (3.3 + 0.01) * 4.096 / 0.004902; //reverse HAL math to return expected value\n }\n\n tStatus readStatus(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->power.getStatus();\n }\n\n uint8_t readStatus_User3V3(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->power.getStatus().User3V3;\n }\n\n uint8_t readStatus_User5V(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->power.getStatus().User5V;\n }\n\n uint8_t readStatus_User6V(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->power.getStatus().User6V;\n }\n\n uint16_t readUserVoltage6V(tRioStatusCode* /*status*/){\n return (6.0 + 0.014) * 4.096 / 0.007019; //reverse HAL math to return expected value\n }\n\n uint16_t readOnChipTemperature(tRioStatusCode* /*status*/){ //unnecessary for emulation\n return 0; \n }\n\n uint16_t readUserVoltage5V(tRioStatusCode* /*status*/){\n return (5.0 + 0.013) * 4.096 / 0.005962; //reverse HAL math to return expected value\n }\n\n void strobeResetFaultCounts(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.first->power.setFaultCounts(*(new tFaultCounts));\n instance.second.unlock();\n }\n\n uint16_t readIntegratedIO(tRioStatusCode* /*status*/){ //unnecessary for emulation\n return 0;\n }\n\n uint16_t readMXP_DIOVoltage(tRioStatusCode* /*status*/){ //unnecessary for emulation\n return 0;\n }\n\n uint16_t readUserCurrent3V3(tRioStatusCode* /*status*/){\n return 0;\n }\n\n uint16_t readVinVoltage(tRioStatusCode* /*status*/){\n return 0;\n }\n\n uint16_t readUserCurrent6V(tRioStatusCode* /*status*/){\n return 0;\n }\n\n uint16_t readUserCurrent5V(tRioStatusCode* /*status*/){\n return 0;\n }\n\n uint16_t readAOVoltage(tRioStatusCode* /*status*/){ //unnecessary for emulation\n return 0;\n }\n\n tFaultCounts readFaultCounts(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->power.getFaultCounts();\n }\n\n uint8_t readFaultCounts_OverCurrentFaultCount3V3(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->power.getFaultCounts().OverCurrentFaultCount3V3;\n }\n\n uint8_t readFaultCounts_OverCurrentFaultCount5V(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->power.getFaultCounts().OverCurrentFaultCount5V;\n }\n\n uint8_t readFaultCounts_OverCurrentFaultCount6V(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->power.getFaultCounts().OverCurrentFaultCount6V;\n }\n\n uint8_t readFaultCounts_UnderVoltageFaultCount5V(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->power.getFaultCounts().UnderVoltageFaultCount5V;\n }\n\n uint16_t readVinCurrent(tRioStatusCode* /*status*/){\n return 0;\n }\n\n void writeDisable(tDisable value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.first->power.setDisabled(value);\n instance.second.unlock();\n }\n\n void writeDisable_User3V3(bool value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tDisable disabled = instance.first->power.getDisabled();\n disabled.User3V3 = value;\n instance.first->power.setDisabled(disabled);\n instance.second.unlock();\n }\n\n void writeDisable_User5V(bool value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tDisable disabled = instance.first->power.getDisabled();\n disabled.User5V = value;\n instance.first->power.setDisabled(disabled);\n instance.second.unlock();\n }\n\n void writeDisable_User6V(bool value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tDisable disabled = instance.first->power.getDisabled();\n disabled.User6V = value;\n instance.first->power.setDisabled(disabled);\n instance.second.unlock();\n }\n\n tDisable readDisable(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->power.getDisabled();\n }\n\n bool readDisable_User3V3(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->power.getDisabled().User3V3;\n }\n\n bool readDisable_User5V(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->power.getDisabled().User5V;\n }\n\n bool readDisable_User6V(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->power.getDisabled().User6V;\n }\n };\n}\n\nnamespace nFPGA{\n namespace nRoboRIO_FPGANamespace{\n tPower* tPower::create(tRioStatusCode* /*status*/){\n return new hel::PowerManager();\n }\n }\n}\n<file_sep>from .src.general_imports import root_logger, gm, INTERNAL_ID, APP_NAME, DESCRIPTION\n\nfrom .src.UI import HUI, Handlers, Camera, Helper, ConfigCommand\nfrom .src.UI.Toolbar import Toolbar\nfrom .src.Types.OString import OString\nfrom .src.configure import setAnalytics, unload_config\n\nfrom shutil import rmtree\nimport logging.handlers, traceback, importlib.util, os\n\nfrom .src.UI import MarkingMenu\nimport adsk.core\n\n\ndef run(_):\n \"\"\"## Entry point to application from Fusion 360.\n\n Arguments:\n **context** *context* -- Fusion 360 context to derive app and UI.\n \"\"\"\n\n try:\n # Remove all items prior to start just to make sure\n unregister_all()\n\n # creates the UI elements\n register_ui()\n\n app = adsk.core.Application.get()\n ui = app.userInterface\n\n MarkingMenu.setupMarkingMenu(ui)\n\n except:\n logging.getLogger(f\"{INTERNAL_ID}\").error(\n \"Failed:\\n{}\".format(traceback.format_exc())\n )\n\n\ndef stop(_):\n \"\"\"## Fusion 360 exit point - deconstructs buttons and handlers\n\n Arguments:\n **context** *context* -- Fusion 360 Data.\n \"\"\"\n try:\n unregister_all()\n\n app = adsk.core.Application.get()\n ui = app.userInterface\n\n MarkingMenu.stopMarkingMenu(ui)\n\n # nm.deleteMe()\n\n # should make a logger class\n handlers = root_logger.handlers[:]\n for handler in handlers:\n handler.close()\n # I think this will clear the file completely\n # root_logger.removeHandler(handler)\n\n unload_config()\n\n for file in gm.files:\n try:\n os.remove(file)\n except OSError:\n pass\n\n # removes path so that proto files don't get confused\n\n import sys\n\n path = os.path.abspath(os.path.dirname(__file__))\n\n path_proto_files = os.path.abspath(\n os.path.join(os.path.dirname(__file__), \"..\", \"proto\", \"proto_out\")\n )\n\n if path in sys.path:\n sys.path.remove(path)\n\n if path_proto_files in sys.path:\n sys.path.remove(path_proto_files)\n\n except:\n logging.getLogger(f\"{INTERNAL_ID}\").error(\n \"Failed:\\n{}\".format(traceback.format_exc())\n )\n\n\ndef unregister_all() -> None:\n \"\"\"Unregisters all UI elements in case any still exist.\n\n - Good place to unregister custom app events that may repeat.\n \"\"\"\n try:\n Camera.clearIconCache()\n\n for element in gm.elements:\n element.deleteMe()\n\n for tab in gm.tabs:\n tab.deleteMe()\n\n except:\n logging.getLogger(f\"{INTERNAL_ID}\").error(\n \"Failed:\\n{}\".format(traceback.format_exc())\n )\n\n\ndef register_ui() -> None:\n \"\"\"#### Generic Function to add all UI objects in a simple non destructive way.\"\"\"\n\n # if A_EP:\n # A_EP.send_view(\"open\")\n\n # toolbar = Toolbar('SketchFab')\n work_panel = Toolbar.getNewPanel(f\"{APP_NAME}\", f\"{INTERNAL_ID}\", \"ToolsTab\")\n\n commandButton = HUI.HButton(\n \"Synthesis Exporter\",\n work_panel,\n Helper.check_solid_open,\n ConfigCommand.ConfigureCommandCreatedHandler,\n description=f\"{DESCRIPTION}\",\n command=True,\n )\n\n gm.elements.append(commandButton)\n<file_sep>using System;\nusing System.Collections.Generic;\nusing System.IO;\nusing System.Linq;\nusing Synthesis.UI.Dynamic;\nusing SynthesisAPI.EventBus;\nusing SynthesisAPI.Utilities;\nusing UnityEngine;\nusing static MatchResultsTracker;\nusing Logger = SynthesisAPI.Utilities.Logger;\n\nnamespace Modes.MatchMode {\n public class MatchMode : IMode {\n public static float MatchTime = 15f;\n\n public static MatchResultsTracker MatchResultsTracker;\n\n /// Integers to represent which robots the user selected in the MatchModeModal\n public static int[] SelectedRobots = new int[6];\n\n /// Whether or not the robot should snap to a grid in positioning mode\n public static bool[] RoundSpawnLocation = new bool[6];\n\n /// The un-rounded spawn position of all robots\n public static (Vector3 position, Quaternion rotation)[] RawSpawnLocations = new(\n Vector3 position, Quaternion rotation)[6];\n\n /// Rounds the robots spawn position if the user chooses to\n public static (Vector3 position, Quaternion rotation) GetSpawnLocation(int robot) {\n if (RoundSpawnLocation[robot])\n return SpawnLocationPanel.RoundSpawnLocation(RawSpawnLocations[robot]);\n\n return RawSpawnLocations[robot];\n }\n\n public static List<RobotSimObject> Robots = new List<RobotSimObject>();\n\n public const string PREVIOUS_SPAWN_LOCATION = \"Previous Spawn Location\";\n public const string PREVIOUS_SPAWN_ROTATION = \"Previous Spawn Rotation\";\n\n private MatchStateMachine _stateMachine;\n\n public void Start() {\n DynamicUIManager.CreateModal<MatchModeModal>();\n EventBus.NewTypeListener<OnScoreUpdateEvent>(HandleScoreEvent);\n\n Array.Fill(SelectedRobots, -1);\n Array.Fill(RawSpawnLocations, (Vector3.zero, Quaternion.identity));\n\n _stateMachine = MatchStateMachine.Instance;\n _stateMachine.SetState(MatchStateMachine.StateName.MatchConfig);\n\n SetupMatchResultTracking();\n MainHUD.SetUpMatch();\n }\n\n private void HandleScoreEvent(IEvent e) {\n if (e.GetType() != typeof(OnScoreUpdateEvent))\n return;\n OnScoreUpdateEvent scoreUpdateEvent = e as OnScoreUpdateEvent;\n if (scoreUpdateEvent == null)\n return;\n\n ScoringZone zone = scoreUpdateEvent.Zone;\n int points = zone.Points * (scoreUpdateEvent.IncreaseScore ? 1 : -1);\n\n switch (zone.Alliance) {\n case Alliance.Blue:\n Scoring.blueScore += points;\n break;\n case Alliance.Red:\n Scoring.redScore += points;\n break;\n }\n }\n\n /// Creates a MatchResultsTracker and event listeners to update it\n public void SetupMatchResultTracking() {\n MatchResultsTracker = new MatchResultsTracker();\n\n EventBus.NewTypeListener<OnScoreUpdateEvent>(e => {\n ScoringZone zone = ((OnScoreUpdateEvent) e).Zone;\n switch (zone.Alliance) {\n case Alliance.Blue:\n ((BluePoints) MatchResultsTracker.MatchResultEntries[typeof(BluePoints)]).Points += zone.Points;\n break;\n case Alliance.Red:\n ((RedPoints) MatchResultsTracker.MatchResultEntries[typeof(RedPoints)]).Points += zone.Points;\n break;\n }\n });\n }\n\n public void Update() {\n if (_stateMachine != null) {\n _stateMachine.Update();\n\n if (MatchTime <= 0 && _stateMachine.CurrentState.StateName is >= MatchStateMachine.StateName.Auto and <=\n MatchStateMachine.StateName.Endgame)\n _stateMachine.AdvanceState();\n }\n }\n\n public void End() {\n Scoring.redScore = 0;\n Scoring.blueScore = 0;\n Robots.Clear();\n EventBus.RemoveTypeListener<OnScoreUpdateEvent>(HandleScoreEvent);\n }\n\n public void OpenMenu() {}\n\n public void CloseMenu() {}\n\n /// Spawns in all of the selected robots and disables physics for spawn location selection\n public static void SpawnAllRobots() {\n var robotsFolder = ParsePath(\"$appdata/Autodesk/Synthesis/Mira\", '/');\n if (!Directory.Exists(robotsFolder))\n Directory.CreateDirectory(robotsFolder);\n var robotFiles =\n Directory.GetFiles(robotsFolder).Where(x => Path.GetExtension(x).Equals(\".mira\")).ToArray();\n\n int i = 0;\n SelectedRobots.ForEach(x => {\n if (x != -1) {\n Vector3 position = new Vector3(2 * i - 6, -2.5f, 0);\n RawSpawnLocations[i].position = position;\n\n RobotSimObject.SpawnRobot(robotFiles[x], position, Quaternion.identity, false);\n Robots.Add(RobotSimObject.GetCurrentlyPossessedRobot());\n } else\n Robots.Add(null);\n i++;\n });\n }\n\n /// Resets the currently selected robots and field\n public static void ResetMatchConfiguration() {\n Robots = new List<RobotSimObject>();\n Array.Fill(SelectedRobots, -1);\n }\n\n public static string ParsePath(string p, char c) {\n string[] a = p.Split(c);\n string b = \"\";\n for (int i = 0; i < a.Length; i++) {\n switch (a[i]) {\n case \"$appdata\":\n b += Environment.GetFolderPath(Environment.SpecialFolder.ApplicationData);\n break;\n default:\n b += a[i];\n break;\n }\n if (i != a.Length - 1)\n b += Path.AltDirectorySeparatorChar;\n }\n return b;\n }\n }\n}\n<file_sep>#include \"system.hpp\"\n\n#include \"error.hpp\"\n\nnamespace nFPGA{\n tSystem::tSystem(tRioStatusCode* /*status*/){}\n\n tSystem::~tSystem(){}\n\n void tSystem::getFpgaGuid(uint32_t* /*guid_ptr*/, tRioStatusCode* /*status*/){\n hel::warnUnsupportedFeature(\"Function call tSystem::getFpgaGuid\");\n }\n\n void tSystem::reset(tRioStatusCode* /*status*/){\n hel::warnUnsupportedFeature(\"Function call tSystem::reset\");\n }\n\n void tSystem::NiFpga_SharedOpen_common(const char* /*bitfile*/){\n hel::warnUnsupportedFeature(\"Function call tSystem::NiFpga_SharedOpen_common\");\n }\n\n NiFpga_Status tSystem::NiFpga_SharedOpen(const char* /*bitfile*/, const char* /*signature*/, const char* /*resource*/, uint32_t /*attribute*/, NiFpga_Session* /*session*/){\n hel::warnUnsupportedFeature(\"Function call tSystem::NiFpga_SharedOpen\");\n return NiFpga_Status_Success;\n }\n\n NiFpga_Status tSystem::NiFpgaLv_SharedOpen(const char* const /*bitfile*/, const char* const /*apiSignature*/, const char* const /*resource*/, const uint32_t /*attribute*/, NiFpga_Session* const /*session*/){\n hel::warnUnsupportedFeature(\"Function call tSystem::NiFpgaLv_SharedOpen\");\n return NiFpga_Status_Success;\n }\n}\n<file_sep>using SynthesisAPI.RoboRIO;\nusing System;\nusing System.Collections.Generic;\nusing System.Linq;\nusing System.Text;\n\nnamespace SynthesisAPI.Utilities\n{\n public static class GeneralHelper\n {\n public static TResult Convert<TResult>(this Enum i) => (TResult)Enum.Parse(typeof(TResult), i.ToString(), true);\n }\n}\n<file_sep>using CommandLine;\nusing Microsoft.Extensions.Configuration;\nusing Microsoft.Extensions.DependencyInjection;\nusing Microsoft.Extensions.Hosting;\nusing Microsoft.Extensions.Logging;\nusing System;\nusing System.Collections.Generic;\nusing System.Linq;\nusing System.Threading.Tasks;\nusing System.Security.Cryptography;\nusing System.Text;\nusing Google.Protobuf;\n\nnamespace SynthesisServer {\n class Program {\n public static void Main(string[] args) {\n\n // Default to start method\n if (args.Length == 0)\n args = new string[] { \"start\" };\n\n string filePath = \"appsettings.json\";\n var builder = new HostBuilder();\n\n builder.ConfigureAppConfiguration((hostingContext, config) =>\n {\n config.AddEnvironmentVariables();\n config.AddJsonFile(filePath, true);\n\n });\n\n builder.ConfigureServices((hostContext, services) =>\n {\n services.AddOptions();\n\n services.Configure<DaemonConfig>(hostContext.Configuration.GetSection(\"Settings\"));\n services.Configure<DaemonConfig>(config => { config.Arguments = args; });\n services.AddSingleton<IHostedService, SynthesisService>();\n });\n\n builder.ConfigureLogging((hostingContext, logging) =>\n {\n logging.AddConfiguration(hostingContext.Configuration.GetSection(\"Logging\"));\n logging.AddConsole();\n });\n\n var host = builder.Build();\n \n \n host.RunAsync().Wait();\n \n }\n }\n}\n<file_sep>using System.Collections;\nusing System.Collections.Generic;\nusing UnityEngine;\nusing SynthesisAPI.Simulation;\nusing Synthesis.PreferenceManager;\nusing Google.Protobuf.WellKnownTypes;\nusing Synthesis.Physics;\n\nnamespace Synthesis {\n public class LinearDriver : Driver {\n public const float LINEAR_TO_MOTOR_VELOCITY = 100f;\n\n public string Signal => _inputs[0];\n\n public ConfigurableJoint JointA { get; private set; }\n public ConfigurableJoint JointB { get; private set; }\n private float _maxSpeed;\n public float MaxSpeed {\n get => _maxSpeed;\n set {\n _maxSpeed = value;\n SimulationPreferences.SetRobotJointSpeed((_simObject as RobotSimObject).MiraGUID, Name, _maxSpeed);\n }\n }\n public float _position = 0f;\n public float Position {\n get => _position;\n private\n set {\n var newPos = Mathf.Clamp(value, Limits.Lower, Limits.Upper);\n JointA.connectedAnchor = JointA.anchor + (JointA.axis * newPos);\n _position = newPos;\n }\n }\n // clang-format off\n private float _velocity = 0f;\n // clang-format on\n public float Velocity => _velocity;\n // Note: only used to save between sessions\n private JointMotor _motor;\n public JointMotor Motor {\n get => _motor;\n set {\n _motor = value;\n SimulationPreferences.SetRobotJointMotor((_simObject as RobotSimObject)!.MiraGUID, Name, _motor);\n }\n }\n public (float Upper, float Lower) Limits { get; private set; }\n\n public double MainInput {\n get {\n if (PhysicsManager.IsFrozen)\n return 0f;\n var val = State.GetValue(_inputs[0]);\n return val == null ? 0.0 : val.NumberValue;\n }\n set => State.SetValue(_inputs[0], Value.ForNumber(value));\n }\n\n public new string Name => State.SignalMap[_inputs[0]].Name;\n\n public readonly string MotorRef;\n\n public LinearDriver(string name, string[] inputs, string[] outputs, SimObject simObject,\n ConfigurableJoint jointA, ConfigurableJoint jointB, float maxSpeed, (float, float) limits,\n string motorRef = \"\")\n : base(name, inputs, outputs, simObject) {\n // Takeover joint configuration and make it more suited to control rather than passive\n var l = jointA.linearLimit;\n l.limit = 0f;\n jointA.linearLimit = l;\n\n JointA = jointA;\n JointB = jointB;\n MaxSpeed = maxSpeed;\n Position = 0f;\n Limits = limits;\n MotorRef = motorRef;\n\n (simObject as RobotSimObject)!.MiraLive.MiraAssembly.Data.Joints.MotorDefinitions.TryGetValue(\n motorRef, out var motor);\n\n if (motor != null && motor.MotorTypeCase == Mirabuf.Motor.Motor.MotorTypeOneofCase.SimpleMotor) {\n _motor = motor!.SimpleMotor.UnityMotor;\n } else {\n Motor = new JointMotor() {\n force = 2000,\n freeSpin = false,\n targetVelocity = 100,\n };\n }\n\n _velocity = MaxSpeed;\n }\n\n public override void Update() {\n // TODO: Velocity?\n\n float value = (float) MainInput;\n\n _velocity = value * MaxSpeed;\n Position += Time.deltaTime * _velocity;\n }\n }\n}\n<file_sep>#include \"robot_output_service.hpp\"\n#include \"robot_outputs.hpp\"\n\n#include <unistd.h>\n#include <utility>\n#include \"util.hpp\"\n\nusing namespace grpc;\nusing namespace EmulationService;\n\nStatus RobotOutputService::RobotOutputs(\n\tServerContext* /*context*/, const RobotOutputsRequest* /*request*/,\n\tServerWriter<RobotOutputsResponse>* stream) {\n\twhile(true) {\n\t\tauto instance = hel::RobotOutputsManager::getInstance();\n\n\t\tauto data = instance.first->syncDeep();\n\t\tinstance.second.unlock();\n\t\tauto res = RobotOutputsResponse{};\n\t\tres.set_api(\"v1\");\n\t\t*res.mutable_output_data() = data;\n\t\tres.set_success(true);\n\t\tstream->Write(res);\n\t\tusleep(50000);\n\t}\n\treturn Status::OK;\n}\n<file_sep>#ifndef _SYS_WATCHDOG_HPP_\n#define _SYS_WATCHDOG_HPP_\n\n#include \"FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h\"\n#include \"FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h\"\n\nnamespace hel{\n\n /**\n * \\brief Manages data associated with Ni FPGA's tSysWatchdog class\n */\n\n struct SysWatchdog{\n private:\n /**\n * \\brief Status information of SysWatchdog\n */\n\n nFPGA::nRoboRIO_FPGANamespace::tSysWatchdog::tStatus status;\n\n public:\n /**\n * \\brief Get the status information\n * \\return The status information of the SysWatchdog\n */\n\n nFPGA::nRoboRIO_FPGANamespace::tSysWatchdog::tStatus getStatus()const noexcept;\n\n /**\n * \\fn void setStatus(nFPGA::nRoboRIO_FPGANamespace::tSysWatchdog::tStatus s)noexcept\n * \\brief Set the status information\n * \\param s The new status information to use\n */\n\n void setStatus(nFPGA::nRoboRIO_FPGANamespace::tSysWatchdog::tStatus)noexcept;\n\n /**\n * Constructor for SysWatchdog\n */\n\n SysWatchdog()noexcept;\n\n /**\n * Constructor for SysWatchdog\n * \\param source A SysWatchdog object to copy\n */\n\n SysWatchdog(const SysWatchdog&)noexcept;\n };\n}\n\n#endif\n<file_sep>using System.Collections;\nusing System.Collections.Generic;\nusing Google.Protobuf.WellKnownTypes;\nusing Synthesis.WS;\nusing Synthesis.WS.Translation;\nusing SynthesisAPI.RoboRIO;\nusing SynthesisAPI.Simulation;\nusing UnityEngine;\n\npublic class WSSimBehavior : SimBehaviour {\n private RioTranslationLayer _translation;\n public RioTranslationLayer Translation {\n get => _translation;\n set { _translation = value; }\n }\n\n public WSSimBehavior(string simObjectId, RioTranslationLayer translation) : base(simObjectId) {\n _translation = translation;\n\n WebSocketManager.Init();\n }\n\n public override void Update() {\n var signalState = SimulationManager.SimulationObjects[SimObjectId].State;\n\n // Motor Groups\n _translation.PWMGroups.ForEach(group => group.Update(WebSocketManager.RioState, signalState));\n\n // Encoders\n _translation.Encoders.ForEach(x => x.Update(signalState));\n }\n}\n<file_sep>using System;\nusing System.Collections;\nusing System.Collections.Generic;\nusing UnityEngine;\n\nnamespace Synthesis.Attributes {\n [AttributeUsage(AttributeTargets.Property)]\n public class ControllableInputAttribute : Attribute {\n public string Name { get; private set; } = string.Empty;\n\n public ControllableInputAttribute() {}\n\n public ControllableInputAttribute(string name) {\n Name = name;\n }\n }\n}\n<file_sep>using SynthesisAPI.AssetManager;\nusing SynthesisAPI.EventBus;\nusing SynthesisAPI.UIManager;\nusing SynthesisAPI.UIManager.UIComponents;\nusing SynthesisAPI.UIManager.VisualElements;\nusing SynthesisAPI.Utilities;\nusing SynthesisCore.Utilities;\n\nnamespace SynthesisCore.UI.Windows\n{\n public class HelpWindow\n {\n public Panel Panel { get; }\n private VisualElement Window;\n private ListView HelpList;\n\n public HelpWindow()\n {\n var helpWindowAsset = AssetManager.GetAsset<VisualElementAsset>(\"/modules/synthesis_core/UI/uxml/Help.uxml\");\n Panel = new Panel(\"Help\", helpWindowAsset, OnWindowOpen);\n\n Button helpButton = (Button)UIManager.RootElement.Get(\"help-button\");\n helpButton.Subscribe(x =>\n {\n UIManager.TogglePanel(\"Help\");\n Analytics.LogEvent(Analytics.EventCategory.Help, Analytics.EventAction.Clicked, \"Help Panel\", 10);\n Analytics.UploadDump();\n });\n\n }\n\n private void OnWindowOpen(VisualElement helpWindow)\n {\n Window = helpWindow;\n Window.SetStyleProperty(\"position\", \"absolute\");\n Window.IsDraggable = true;\n \n HelpList = (ListView)Window.Get(\"help-list\");\n\n LoadWindowContent();\n RegisterButtons();\n }\n\n private void LoadWindowContent()\n {\n Button gettingStartedButton = (Button)Window.Get(\"getting-started-button\");\n gettingStartedButton?.Subscribe(_ => System.Diagnostics.Process.Start(\"https://synthesis.autodesk.com/tutorials.html\"));\n \n Button communityForumButton = (Button)Window.Get(\"community-forum-button\");\n communityForumButton?.Subscribe(_ => System.Diagnostics.Process.Start(\"https://forums.autodesk.com/t5/bxd-synthesis-forum/bd-p/99\"));\n\n Button gitHubButton = (Button)Window.Get(\"github-button\");\n gitHubButton?.Subscribe(_ => System.Diagnostics.Process.Start(\"https://github.com/Autodesk/synthesis\"));\n \n Button reportAnIssueButton = (Button)Window.Get(\"report-an-issue-button\");\n reportAnIssueButton?.Subscribe(_ => System.Diagnostics.Process.Start(\"https://github.com/Autodesk/synthesis/issues/new/choose\"));\n\n Button submitAnIdeaButton = (Button)Window.Get(\"submit-an-idea-button\");\n submitAnIdeaButton?.Subscribe(_ => System.Diagnostics.Process.Start(\"https://forums.autodesk.com/t5/bxd-synthesis-ideas/idb-p/104\"));\n\n Button aboutButton = (Button)Window.Get(\"about-button\");\n aboutButton?.Subscribe(_ => System.Diagnostics.Process.Start(\"https://synthesis.autodesk.com/about.html\"));\n\n Label versionLabel = (Label) Window.Get(\"version-label\");\n versionLabel.Text = \"Synthesis v\" + Updater.GetCurrentVersion().Version;\n }\n\n private void RegisterButtons()\n {\n Button closeButton = (Button)Window.Get(\"close-button\");\n closeButton?.Subscribe(x => UIManager.ClosePanel(Panel.Name));\n } \n }\n}\n<file_sep>using System;\nusing NUnit.Framework;\nusing MathNet.Spatial.Euclidean;\nusing MathNet.Spatial.Units;\nusing SynthesisAPI.Utilities;\n\nnamespace TestApi\n{\n [TestFixture]\n public static class TestMathUtil\n {\n public static double Delta = 0.001;\n\n public static void AssertApproxEquals(EulerAngles expected, EulerAngles actual)\n {\n //Assert.True(expected.Equals(actual, Delta));\n Assert.AreEqual(expected.Alpha.Degrees, actual.Alpha.Degrees, Delta);\n Assert.AreEqual(expected.Beta.Degrees, actual.Beta.Degrees, Delta);\n Assert.AreEqual(expected.Gamma.Degrees, actual.Gamma.Degrees, Delta);\n }\n\n public static void AssertApproxEquals(Quaternion expected, Quaternion actual)\n {\n Assert.AreEqual(expected.Real, actual.Real, Delta);\n Assert.AreEqual(expected.ImagX, actual.ImagX, Delta);\n Assert.AreEqual(expected.ImagY, actual.ImagY, Delta);\n Assert.AreEqual(expected.ImagZ, actual.ImagZ, Delta);\n }\n\n private static double NormalizeAngle(double angle)\n {\n while (angle < 0)\n angle += 2 * System.Math.PI;\n\n while (angle >= (2 * System.Math.PI - Delta))\n angle -= 2 * System.Math.PI;\n\n return angle;\n }\n\n public static void AssertApproxEquals(Angle expected, Angle actual)\n {\n var e = NormalizeAngle(expected.Radians);\n var a = NormalizeAngle(actual.Radians);\n Assert.AreEqual(e, a, Delta);\n }\n\n [Test]\n public static void TestFromEuler()\n {\n var q1 = new Quaternion(1, 0, 0, 0);\n var q2 = MathUtil.FromEuler(q1.ToEulerAngles());\n AssertApproxEquals(q1, q2);\n\n var e = new EulerAngles(Angle.FromDegrees(60), Angle.FromDegrees(40), Angle.FromDegrees(30));\n var q = MathUtil.FromEuler(e);\n AssertApproxEquals(e, q.ToEulerAngles());\n }\n }\n}\n<file_sep>import os, sys, uuid, json\nimport adsk.core, adsk.fusion, traceback\nimport logging.handlers, pathlib\n\nfrom time import time\nfrom datetime import datetime\nfrom types import FunctionType\n\n# hard coded to bypass errors for now\nPROTOBUF = True\nDEBUG = True\n\ntry:\n from .strings import *\n from .GlobalManager import *\n from .logging import setupLogger\n\n (root_logger, log_handler) = setupLogger()\nexcept ImportError as e:\n # nothing to really do here\n print(e)\n\ntry:\n path = os.path.abspath(os.path.join(os.path.dirname(__file__), \"..\"))\n\n path_proto_files = os.path.abspath(\n os.path.join(os.path.dirname(__file__), \"..\", \"proto\", \"proto_out\")\n )\n\n if not path in sys.path:\n sys.path.insert(1, path)\n\n if not path_proto_files in sys.path:\n sys.path.insert(2, path_proto_files)\n\n from proto import deps\n\nexcept:\n logging.getLogger(f\"{INTERNAL_ID}.import_manager\").error(\n \"Failed\\n{}\".format(traceback.format_exc())\n )\n\ntry:\n # simple analytics endpoint\n # A_EP = AnalyticsEndpoint(\"UA-188467590-1\", 1)\n A_EP = None\n\n # Setup the global state\n gm = GlobalManager()\n my_addin_path = os.path.dirname(os.path.realpath(__file__))\nexcept:\n # should also log this\n logging.getLogger(f\"{INTERNAL_ID}.import_manager\").error(\n \"Failed\\n{}\".format(traceback.format_exc())\n )\n<file_sep>\"\"\" Takes in a given function call and times and tests the memory allocations to get data\n\"\"\"\nfrom ..general_imports import *\nfrom time import time\nimport os, inspect\n\n\nclass Timer:\n def __init__(self):\n self.logger = logging.getLogger(f\"{INTERNAL_ID}.Analyzer.Timer\")\n\n (\n self.filename,\n self.line_number,\n self.funcName,\n self.lines,\n _,\n ) = inspect.getframeinfo(\n inspect.currentframe().f_back.f_back\n ) # func name doesn't always work here\n\n self.stopped = False\n\n def start(self):\n self.stopped = False\n self.t0 = time()\n\n def stop(self):\n self.stopped = True\n self.t1 = time()\n\n def _str(self) -> str:\n if not self.stopped:\n self.stop()\n\n # should really just use format and limit the number\n return f\"Timer \\n Location: {os.path.basename(self.filename)} : {self.line_number} -> {str(self.funcName)} \\n \\t - Time taken: {self.t1-self.t0} seconds \\n\"\n\n def log(self):\n self.logger.debug(self._str())\n\n def print(self):\n print(self._str())\n\n\nclass TimeThis:\n def __init__(self, function):\n \"\"\"Function decorater to analyze calls to function\n\n Args:\n function (function): function to be analyzed\n \"\"\"\n self.logger = logging.getLogger(f\"{INTERNAL_ID}.Analyzer.TimeThis\")\n self.function = function\n self.timer = Timer()\n\n def __call__(self, *args, **kwargs):\n if not DEBUG:\n # Basically just executing the same function\n self.function(*args, **kwargs)\n\n if DEBUG:\n # self.logger.debug(f\"Timing: {self.function.__name__}\")\n self.timer.start()\n self.function(*args, **kwargs)\n self.timer.stop()\n self.timer.log()\n<file_sep>using System;\n\nnamespace SynthesisAPI.Modules.Attributes\n{\n\t[AttributeUsage(AttributeTargets.Method | AttributeTargets.Delegate)]\n\tpublic class CallbackAttribute : Attribute\n\t{\n\t\t\n\t}\n}<file_sep>using Newtonsoft.Json;\nusing SynthesisAPI.PreferenceManager;\nusing System;\nusing NUnit.Framework;\nusing System.Threading.Tasks;\n\nnamespace TestApi\n{\n [TestFixture]\n public static class TestPreferenceManager\n {\n [JsonObject(\"CustomStruct\")]\n public struct CustomStruct\n {\n [JsonProperty(\"Name\")]\n public string Name { get; set; }\n }\n\n [Test]\n public static void TestSavingLoading()\n {\n PreferenceManager.SetPreference(Program.TestModuleName, \"name\", \"<NAME>\");\n PreferenceManager.SetPreference(Program.TestModuleName, \"age\", 163);\n\n if (!PreferenceManager.Save()) throw new Exception();\n if (!PreferenceManager.Load()) throw new Exception();\n \n string name = PreferenceManager.GetPreference<string>(Program.TestModuleName, \"name\");\n int age = PreferenceManager.GetPreference<int>(Program.TestModuleName, \"age\");\n\n Assert.AreEqual(name, \"<NAME>\");\n Assert.AreEqual(age, 163);\n }\n\n [Test]\n public static void TestAsyncSaveLoad()\n {\n PreferenceManager.SetPreference(Program.TestModuleName, \"name\", \"<NAME>\");\n PreferenceManager.SetPreference(Program.TestModuleName, \"age\", 163);\n\n Task<bool> saveTask = PreferenceManager.SaveAsync();\n if (!saveTask.Wait(1000)) throw new Exception();\n\n Task<bool> loadTask = PreferenceManager.LoadAsync();\n if (!loadTask.Wait(1000)) throw new Exception();\n\n string name = PreferenceManager.GetPreference<string>(Program.TestModuleName, \"name\");\n int age = PreferenceManager.GetPreference<int>(Program.TestModuleName, \"age\");\n\n Assert.AreEqual(name, \"<NAME>\");\n Assert.AreEqual(age, 163);\n }\n\n [Test]\n public static void TestCustomTypeSavingLoading()\n {\n CustomStruct customOriginal = new CustomStruct() { Name = \"<NAME>\" };\n PreferenceManager.SetPreference(Program.TestModuleName, \"custom_type\", customOriginal);\n\n if (!PreferenceManager.Save()) throw new Exception();\n if (!PreferenceManager.Load()) throw new Exception();\n\n CustomStruct customCopy = PreferenceManager.GetPreference<CustomStruct>(Program.TestModuleName, \"custom_type\");\n\n Assert.AreEqual(customOriginal, customCopy);\n }\n }\n}<file_sep>using SynthesisAPI.AssetManager;\nusing SynthesisAPI.UIManager;\nusing SynthesisAPI.UIManager.UIComponents;\nusing SynthesisAPI.UIManager.VisualElements;\nusing SynthesisAPI.Utilities;\nusing System;\nusing System.IO;\n\nnamespace SynthesisCore.UI.Windows\n{\n public class EntitiesWindow\n {\n public Panel Panel { get; }\n private VisualElement Window;\n private VisualElementAsset EntityAsset;\n private ListView EntityList;\n\n public EntitiesWindow()\n {\n EntityAsset = AssetManager.GetAsset<VisualElementAsset>(\"/modules/synthesis_core/UI/uxml/Entity.uxml\");\n\n var entitiesAsset = AssetManager.GetAsset<VisualElementAsset>(\"/modules/synthesis_core/UI/uxml/Entities.uxml\");\n Panel = new Panel(\"Entities\", entitiesAsset, OnWindowOpen);\n }\n\n private void OnWindowOpen(VisualElement entitiesWindow)\n {\n Window = entitiesWindow;\n Window.SetStyleProperty(\"position\", \"absolute\");\n Window.IsDraggable = true;\n \n EntityList = (ListView) Window.Get(\"entity-list\");\n \n LoadWindowContents();\n RegisterButtons();\n }\n \n private void LoadWindowContents()\n {\n // concrete implementation waiting on file browser, currently just using this stub code to show functionality\n for (int i = 0; i < 20; i++)\n {\n EntityList.Add(new EntityItem(EntityAsset, new FileInfo(\"Godspeed Robot Team 2374\", \"3d\")).EntityElement);\n }\n }\n\n private void RegisterButtons()\n {\n string Entities = \"Robots\";\n\n Button importButton = (Button) Window.Get(\"import-button\");\n importButton?.Subscribe(x =>\n {\n try\n {\n Directory.CreateDirectory(Environment.GetFolderPath(Environment.SpecialFolder.ApplicationData) + Path.DirectorySeparatorChar + \"Autodesk\" + Path.DirectorySeparatorChar + \"Synthesis\" + Path.DirectorySeparatorChar + Entities);\n System.Diagnostics.Process.Start(new System.Diagnostics.ProcessStartInfo()\n {\n FileName = Environment.GetFolderPath(Environment.SpecialFolder.ApplicationData) + Path.DirectorySeparatorChar + \"Autodesk\" + Path.DirectorySeparatorChar + \"Synthesis\" + Path.DirectorySeparatorChar + Entities,\n UseShellExecute = true,\n Verb = \"open\"\n });\n }\n catch(Exception)\n {\n Logger.Log(Entities + \" directory not found\", LogLevel.Warning);\n }\n });\n \n Button okButton = (Button) Window.Get(\"ok-button\");\n okButton?.Subscribe(x => UIManager.ClosePanel(Panel.Name));\n\n Button closeButton = (Button) Window.Get(\"close-button\");\n closeButton?.Subscribe(x => UIManager.ClosePanel(Panel.Name));\n }\n }\n}<file_sep>using System;\nusing System.Collections.Generic;\nusing System.Linq;\nusing System.Text;\n\nnamespace BXDSim.IO.BXDJ\n{\n public class JsonSkeleton\n {\n public string Version;\n public RigidNode_Base.DriveTrainType DriveTrainType;\n public string SoftwareExportedWith;\n public List<JsonSkeletonNode> Nodes = new List<JsonSkeletonNode>();\n }\n\n\n public class JsonSkeletonNode\n {\n public string GUID;\n public string ParentID;\n public string ModelFileName;\n public string ModelID;\n \n public SkeletalJoint_Base joint;\n\n }\n\n\n // JSON Redefintions (Not Nessary as most internal classes are \"json-friendly\")\n\n /*\n public class JsonSkeletonJoint_Base\n {\n public string type = \"BaseJoint\";\n public BXDVector3 basePoint;\n }\n public class JsonSkeletonJoint_Ball : JsonSkeletonJoint_Base\n {\n // Same as parent\n }\n\n public class JsonSkeletonJoint_Cylindrical : JsonSkeletonJoint_Base\n {\n public BXDVector3 Axis;\n public string AngularLowLimit, AngularHighLimit;\n public string LinearStartLimit;\n public string LinearEndLimit;\n public string CurrentLinearPosition;\n public string CurrentAngularPosition;\n\n }\n\n public class JsonSkeletonJoint_Linear : JsonSkeletonJoint_Base\n {\n public BXDVector3 Axis;\n public string LinearLowLimit;\n public string LinearUpperLimit;\n public string CurrentLinearPosition;\n }\n\n public class JsonSkeletonJoint_Planar : JsonSkeletonJoint_Base\n {\n public BXDVector3 normal;\n }\n public class JsonSkeletonJoint_Rotational : JsonSkeletonJoint_Base\n {\n public BXDVector3 Axis;\n public string AngularLowLimit, AngularHighLimit;\n public string CurrentAngularPosition;\n }\n\n public class JsonSkeletonJointDriver\n {\n public string DriverType;\n public string MotorType;\n public string Port1;\n public string Port2;\n public string InputGear;\n public string OutputGear;\n public string LowerLimit;\n public string UpperLimit;\n public string SignalType;\n public string HasBreak;\n public List<JsonSkeletonDriverMeta_Base> Meta = new List<JsonSkeletonDriverMeta_Base>();\n }\n\n public class JsonSkeletonDriverMeta_Base\n {\n public string DriverMetaID;\n }\n\n public class JsonSkeletonDriverMeta_Elevator : JsonSkeletonDriverMeta_Base\n {\n public string ElevatorType;\n }\n public class JsonSkeletonDriverMeta_Pnuematic : JsonSkeletonDriverMeta_Base\n {\n public double WidthMM;\n public double PressurePSI;\n\n }\n public class JsonSkeletonDriverMeta_Wheel : JsonSkeletonDriverMeta_Base\n {\n public string WheelType;\n public string WheelRadius;\n public BXDVector3 WheelCenter;\n public string ForwardAsympSlip;\n public string ForwardAsympValue;\n public string ForwardExtremeSlip;\n public string ForwardExtremeValue;\n public string SideAsympSlip;\n public string SideAsympValue;\n public bool IsDriveWheel;\n }\n\n public class JsonSkeletonSensor\n {\n public string SensorType;\n public int SensorPortNumberA;\n public string SignalTypeA;\n public int SensorPortNumberB;\n public string SignalTypeB;\n public double SensorConversionFactor;\n }\n */\n}\n<file_sep>#include \"testing.hpp\"\n\nTEST(Accelerometer, convertAccel) {\n hel::Accelerometer accelerometer;\n\n std::pair<uint8_t, uint8_t> raw_accel = {0b01100001,0b11010000}; //NI FPGA loses first 4 bits of second byte in conversion, so leave them zero\n std::cout<<\"Raw acceleration: [\"<<((int)raw_accel.first)<<\",\"<<((int)raw_accel.second)<<\"]\\n\";\n\n float acceleration = accelerometer.convertAccel(raw_accel);\n std::cout<<\"Converted: \"<<acceleration<<\"\\n\";\n\n std::pair<uint8_t, uint8_t> converted_accel = accelerometer.convertAccel(acceleration);\n std::cout<<\"Returned: [\"<<((int)converted_accel.first)<<\",\"<<((int)converted_accel.second)<<\"]\\n\";\n\n EXPECT_EQ(raw_accel, converted_accel);\n}\n<file_sep># Synthesis Exporters\n\n## Officially Supported Exporters\n\n### SynthesisFusionAddin\nAn Autodesk® Fusion 360™ add-in to export assemblies into the [mirabuf](https://github.com/HiceS/mirabuf) format.\n\n## Usage Overview\n\nAdd the [addin folder](https://github.com/Autodesk/synthesis/exporter/SynthesisFusionAddin/) in the addin panel inside of Fusion,\nthen run the Synthesis addin.\n\n## Development Overview\n\nAfter running the [init](/) script in the root of the repository, the mirabuf files should automatically be generated. That is the\nonly build step you need to do in order for Fusion to use the addin.\n<file_sep>using BenchmarkDotNet.Attributes;\nusing SynthesisAPI.VirtualFileSystem;\nusing System;\nusing System.Collections.Generic;\nusing System.Linq;\n\nnamespace BenchmarkApi\n{\n [MemoryDiagnoser]\n [Orderer(BenchmarkDotNet.Order.SummaryOrderPolicy.FastestToSlowest)]\n [RankColumn]\n public class BenchmarkVirtualFileSystem\n {\n // public property\n public IEnumerable<string> ValuesForTestPath()\n {\n string path = \"/temp\";\n int inc = 5;\n for (var i = FileSystem.DepthOfPath(path); i < FileSystem.MaxDirectoryDepth; i += inc)\n {\n path += String.Concat(Enumerable.Repeat(\"/newDir\", inc));\n yield return path;\n }\n }\n\n [ParamsSource(nameof(ValuesForTestPath))]\n public string TestPath { get; set; }\n\n [GlobalSetup]\n public void Setup() {\n string path = \"/temp\";\n for (var i = FileSystem.DepthOfPath(path); i < FileSystem.MaxDirectoryDepth; i++)\n {\n path += \"/newDir\";\n }\n FileSystem.CreatePath(path, Permissions.PublicReadWrite);\n }\n\n [Benchmark]\n public void MaximumDepthTraversal()\n {\n var entry = FileSystem.Traverse(TestPath);\n }\n }\n}\n<file_sep>---\nname: Not Sure If It's a Bug\nabout: For when you have a problem but there is no clear single bug\ntitle: ''\nlabels: question\nassignees: matthew17754\n\n---\n\n**Description**\nWhat's going on?\n\n**Screenshots**\nIf applicable drag them in here\n\nThank you for submitting this, it will automatically assign one of our developers to help you out.\n<file_sep>using SynthesisAPI.Runtime;\nusing System;\nusing System.Collections.Generic;\nusing SynthesisAPI.EventBus;\nusing _UnityButton = UnityEngine.UIElements.Button;\nusing SynthesisAPI.Utilities;\n\n#nullable enable\n\nnamespace SynthesisAPI.UIManager.VisualElements\n{\n public class Button : VisualElement\n {\n private EventBus.EventBus.EventCallback? _callback;\n\n internal _UnityButton Element\n {\n get => (_visualElement as _UnityButton)!;\n set => _visualElement = value;\n }\n\n private static int Id = 0;\n private int id;\n\n public string EventTag\n {\n get => $\"button/{Element.name}-{id}\";\n }\n\n public string Text {\n get => Element.text;\n set => Element.text = value;\n }\n\n public Button()\n {\n _visualElement = ApiProvider.CreateUnityType<_UnityButton>()!;\n if (_visualElement == null)\n throw new Exception();\n id = Id;\n Id++;\n }\n\n internal Button(_UnityButton element)\n {\n Element = element;\n id = Id;\n Id++;\n }\n\n // Unsure if this is needed\n ~Button()\n {\n /*if (EventBus.EventBus.HasTagSubscriber(EventTag))\n EventBus.EventBus.RemoveTagListener(EventTag, _callback);*/\n }\n\n public override IEnumerable<object> PostUxmlLoad()\n {\n Element.clickable.clicked += () => EventBus.EventBus.Push(EventTag, new ButtonClickableEvent(Name));\n base.PostUxmlLoad();\n return null!;\n }\n\n public void Subscribe(Action<IEvent> action)\n {\n _callback = e => action(e);\n EventBus.EventBus.NewTagListener(EventTag, _callback);\n PostUxmlLoad();\n }\n }\n}\n<file_sep>using System;\nusing System.IO;\nusing System.Xml;\nusing System.Xml.Schema;\n\npublic partial class BXDFProperties\n{\n #region XSD Markup\n\n /// <summary>\n /// The XSD markup to ensure valid document reading.\n /// </summary>\n private const string BXDF_XSD_2_2 =\n @\"<xs:schema xmlns:xs='http://www.w3.org/2001/XMLSchema'>\n\n <!-- definition of simple elements -->\n\n <xs:element name='X' type='xs:decimal'/>\n <xs:element name='Y' type='xs:decimal'/>\n <xs:element name='Z' type='xs:decimal'/>\n <xs:element name='W' type='xs:decimal'/>\n <xs:element name='Mass' type='xs:decimal'/>\n <xs:element name='SubMeshID' type='xs:integer'/>\n <xs:element name='CollisionMeshID' type='xs:integer'/>\n <xs:element name='PropertySetID' type='xs:string'/>\n <xs:element name='Scale' type='xs:decimal'/>\n <xs:element name='Convex' type='xs:boolean'/>\n\n <xs:element name='Friction'>\n <xs:simpleType>\n <xs:restriction base='xs:decimal'>\n <xs:minInclusive value='0'/>\n <xs:maxInclusive value='100'/>\n </xs:restriction>\n </xs:simpleType>\n </xs:element>\n\n <!-- definition of attributes -->\n\n <xs:attribute name='GUID' type='xs:string'/>\n <xs:attribute name='ID' type='xs:string'/>\n\n <xs:attribute name='Version'>\n <xs:simpleType>\n <xs:restriction base='xs:string'>\n <xs:pattern value='2\\.2\\.\\d+'/>\n </xs:restriction>\n </xs:simpleType>\n </xs:attribute>\n\n <!-- definition of complex elements -->\n\n <xs:element name='BXDVector3'>\n <xs:complexType>\n <xs:sequence>\n <xs:element ref='X'/>\n <xs:element ref='Y'/>\n <xs:element ref='Z'/>\n </xs:sequence>\n <xs:attribute ref='ID' use='required'/>\n </xs:complexType>\n </xs:element>\n\n <xs:element name='BXDQuaternion'>\n <xs:complexType>\n <xs:sequence>\n <xs:element ref='X'/>\n <xs:element ref='Y'/>\n <xs:element ref='Z'/>\n <xs:element ref='W'/>\n </xs:sequence>\n <xs:attribute ref='ID' use='required'/>\n </xs:complexType>\n </xs:element>\n\n <xs:element name='NodeGroup'>\n <xs:complexType>\n <xs:sequence>\n <xs:choice minOccurs='0' maxOccurs='unbounded'>\n <xs:element ref='NodeGroup'/>\n <xs:element ref='Node'/>\n </xs:choice>\n </xs:sequence>\n <xs:attribute ref='ID' use='required'/>\n </xs:complexType>\n </xs:element>\n\n <xs:element name='BoxCollider'>\n <xs:complexType>\n <xs:sequence>\n <xs:element ref='BXDVector3'/>\n </xs:sequence>\n </xs:complexType>\n </xs:element>\n\n <xs:element name='SphereCollider'>\n <xs:complexType>\n <xs:sequence>\n <xs:element ref='Scale'/>\n </xs:sequence>\n </xs:complexType>\n </xs:element>\n\n <xs:element name='MeshCollider'>\n <xs:complexType>\n <xs:sequence>\n <xs:element ref='Convex'/>\n </xs:sequence>\n </xs:complexType>\n </xs:element>\n\n <xs:element name='PropertySet'>\n <xs:complexType>\n <xs:sequence>\n <xs:choice minOccurs='0' maxOccurs='1'>\n <xs:element ref='BoxCollider'/>\n <xs:element ref='SphereCollider'/>\n <xs:element ref='MeshCollider'/>\n </xs:choice>\n <xs:element ref='Friction'/>\n <xs:element ref='Mass'/>\n </xs:sequence>\n <xs:attribute ref='ID' use='required'/>\n </xs:complexType>\n </xs:element>\n\n <xs:element name='Node'>\n <xs:complexType>\n <xs:sequence>\n <xs:element ref='BXDVector3'/>\n <xs:element ref='BXDQuaternion'/>\n <xs:element ref='SubMeshID'/>\n <xs:element ref='CollisionMeshID' minOccurs='0' maxOccurs='1'/>\n <xs:element ref='PropertySetID' minOccurs='0' maxOccurs='1'/>\n </xs:sequence>\n <xs:attribute ref='ID' use='required'/>\n </xs:complexType>\n </xs:element>\n\n <xs:element name='BXDF'>\n <xs:complexType>\n <xs:sequence>\n <xs:element ref='PropertySet' minOccurs='0' maxOccurs='unbounded'/>\n <xs:element ref='NodeGroup'/>\n </xs:sequence>\n <xs:attribute ref='Version' use='required'/>\n <xs:attribute ref='GUID' use='required'/>\n </xs:complexType>\n </xs:element>\n\n </xs:schema>\";\n\n #endregion\n\n /// <summary>\n /// Reads the properties contained in the XML BXDF file specified and returns\n /// the corresponding FieldDefinition.\n /// </summary>\n /// <param name=\"path\"></param>\n /// <param name=\"useValidation\"></param>\n /// <returns></returns>\n private static FieldDefinition ReadProperties_2_2(string path, out string result, bool useValidation = true)\n {\n // The FieldDefinition to be returned.\n FieldDefinition fieldDefinition = null;\n\n XmlReaderSettings settings = new XmlReaderSettings();\n\n if (useValidation)\n {\n settings.Schemas.Add(XmlSchema.Read(new StringReader(BXDF_XSD_2_2), null));\n settings.ValidationType = ValidationType.Schema;\n }\n else\n {\n settings.ValidationType = ValidationType.None;\n }\n\n XmlReader reader = XmlReader.Create(path, settings);\n\n try\n {\n foreach (string name in IOUtilities.AllElements(reader))\n {\n switch (name)\n {\n case \"BXDF\":\n // Assign a value to fieldDefinition with the given GUID attribute.\n fieldDefinition = FieldDefinition.Factory(new Guid(reader[\"GUID\"]));\n break;\n case \"PropertySet\":\n // Reads the current element as a PropertySet.\n ReadPropertySet_2_2(reader.ReadSubtree(), fieldDefinition);\n break;\n case \"NodeGroup\":\n // Reads the root FieldNodeGroup.\n ReadFieldNodeGroup_2_2(reader.ReadSubtree(), fieldDefinition.NodeGroup);\n break;\n }\n }\n\n result = \"Success.\";\n\n return fieldDefinition;\n }\n catch (Exception e)// A variety of exceptions can take place if the file is invalid, but we will always want to return null.\n {\n result = e.Message;\n\n // If the file is invalid, return null.\n return null;\n }\n finally\n {\n // Closes the reader.\n reader.Close();\n }\n }\n\n /// <summary>\n /// Reads a BXDVector3 with the given XmlReader and returns the reading.\n /// </summary>\n /// <param name=\"reader\"></param>\n /// <returns></returns>\n private static BXDVector3 ReadBXDVector3_2_2(XmlReader reader)\n {\n BXDVector3 vec = new BXDVector3();\n\n foreach (string name in IOUtilities.AllElements(reader))\n {\n switch (name)\n {\n case \"X\":\n // Assign the x value.\n vec.x = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"Y\":\n // Assign the y value.\n vec.y = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"Z\":\n // Assign the z value.\n vec.z = float.Parse(reader.ReadElementContentAsString());\n break;\n }\n }\n\n return vec;\n }\n\n /// <summary>\n /// Reads a BXDQuaternion with the given XmlReader and returns the reading.\n /// </summary>\n /// <param name=\"reader\"></param>\n /// <returns></returns>\n private static BXDQuaternion ReadBXDQuaternion_2_2(XmlReader reader)\n {\n BXDQuaternion quat = new BXDQuaternion();\n\n foreach (string name in IOUtilities.AllElements(reader))\n {\n switch (name)\n {\n case \"X\":\n // Assign the X value.\n quat.X = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"Y\":\n // Assign the Y value.\n quat.Y = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"Z\":\n // Assign the Z value.\n quat.Z = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"W\":\n // Assign the W value.\n quat.W = float.Parse(reader.ReadElementContentAsString());\n break;\n }\n }\n\n return quat;\n }\n\n /// <summary>\n /// Reads a BoxCollider with the given XmlReader.\n /// </summary>\n /// <param name=\"reader\"></param>\n /// <returns></returns>\n private static PropertySet.BoxCollider ReadBoxCollider_2_2(XmlReader reader)\n {\n // Create the BoxCollider.\n PropertySet.BoxCollider boxCollider = null;\n\n foreach (string name in IOUtilities.AllElements(reader))\n {\n switch (name)\n {\n case \"BXDVector3\":\n // Reads the scale properties and initializes the BoxCollider.\n boxCollider = new PropertySet.BoxCollider(ReadBXDVector3_2_2(reader.ReadSubtree()));\n break;\n }\n }\n\n return boxCollider;\n }\n\n /// <summary>\n /// Reads a SphereCollider with the given XmlReader.\n /// </summary>\n /// <param name=\"reader\"></param>\n /// <returns></returns>\n private static PropertySet.SphereCollider ReadSphereCollider_2_2(XmlReader reader)\n {\n // Create the SphereCollider.\n PropertySet.SphereCollider sphereCollider = null;\n\n foreach (string name in IOUtilities.AllElements(reader))\n {\n switch (name)\n {\n case \"Scale\":\n // Reads the scale property and initializes the SphereCollider.\n sphereCollider = new PropertySet.SphereCollider(float.Parse(reader.ReadElementContentAsString()));\n break;\n }\n }\n\n return sphereCollider;\n }\n\n /// <summary>\n /// Reads a MeshCollider with the given XmlReader.\n /// </summary>\n /// <param name=\"reader\"></param>\n /// <returns></returns>\n private static PropertySet.MeshCollider ReadMeshCollider_2_2(XmlReader reader)\n {\n // Create the MeshCollider.\n PropertySet.MeshCollider meshCollider = null;\n\n foreach (string name in IOUtilities.AllElements(reader))\n {\n switch (name)\n {\n case \"Convex\":\n // Reads the convex property and initializes the MeshCollider.\n meshCollider = new PropertySet.MeshCollider(reader.ReadElementContentAsBoolean());\n break;\n }\n }\n\n return meshCollider;\n }\n\n /// <summary>\n /// Reads the subtree of a PropertySet element.\n /// </summary>\n /// <param name=\"reader\"></param>\n /// <param name=\"fieldDefinition\"></param>\n private static void ReadPropertySet_2_2(XmlReader reader, FieldDefinition fieldDefinition)\n {\n // Creates a new PropertySet.\n PropertySet propertySet = new PropertySet();\n\n foreach (string name in IOUtilities.AllElements(reader))\n {\n switch (name)\n {\n case \"PropertySet\":\n // Assigns the ID attribute value to the PropertySetID property.\n propertySet.PropertySetID = reader[\"ID\"];\n break;\n case \"BoxCollider\":\n // Assigns the BoxCollider read by the XmlReader to the PropertySet's Collider property.\n propertySet.Collider = ReadBoxCollider_2_2(reader.ReadSubtree());\n break;\n case \"SphereCollider\":\n // Assigns the SphereCollider read by the XmlReader to the PropertySet's Collider property.\n propertySet.Collider = ReadSphereCollider_2_2(reader.ReadSubtree());\n break;\n case \"MeshCollider\":\n // Assigns the MeshCollider read by the XmlReader to the PropertySet's Collider property.\n propertySet.Collider = ReadMeshCollider_2_2(reader.ReadSubtree());\n break;\n case \"Friction\":\n // Assings the Friction attribute value to the Friction property.\n propertySet.Friction = reader.ReadElementContentAsInt();\n break;\n case \"Mass\":\n // Assings the Mass attribute value to the Mass property.\n propertySet.Mass = float.Parse(reader.ReadElementContentAsString());\n break;\n }\n }\n\n // Adds the PropertySet to the fieldDefinition.\n fieldDefinition.AddPropertySet(propertySet);\n }\n\n /// <summary>\n /// Reads the subtree of a FieldNode and returns the result.\n /// </summary>\n /// <param name=\"reader\"></param>\n /// <returns></returns>\n private static FieldNode ReadFieldNode_2_2(XmlReader reader)\n {\n FieldNode node = null;\n\n foreach (string name in IOUtilities.AllElements(reader))\n {\n switch (name)\n {\n case \"Node\":\n node = new FieldNode(reader[\"ID\"]);\n break;\n case \"BXDVector3\":\n // Read the BXDVector3 as the node's position.\n node.Position = ReadBXDVector3_2_2(reader.ReadSubtree());\n break;\n case \"BXDQuaternion\":\n // Read the BXDVector3 as the node's rotation.\n node.Rotation = ReadBXDQuaternion_2_2(reader.ReadSubtree());\n break;\n case \"SubMeshID\":\n // Assign the MeshID attribute value to the SubMeshID property.\n node.SubMeshID = reader.ReadElementContentAsInt();\n break;\n case \"CollisionMeshID\":\n // Assign the CollisionMeshID attribute value to the CollisionMeshID property.\n node.CollisionMeshID = reader.ReadElementContentAsInt();\n break;\n case \"PropertySetID\":\n // Assign the PropertySetID attribute value to the PropertySetID property.\n node.PropertySetID = reader.ReadElementContentAsString();\n break;\n }\n }\n\n return node;\n }\n\n /// <summary>\n /// Iterates through each child FieldNodeGroup and adds all FieldNodes to the given FieldNodeGroup.\n /// </summary>\n /// <param name=\"reader\"></param>\n /// <param name=\"fieldNodeGroup\"></param>\n private static void ReadFieldNodeGroup_2_2(XmlReader reader, FieldNodeGroup fieldNodeGroup)\n {\n foreach (string name in IOUtilities.AllElements(reader))\n {\n switch (name)\n {\n case \"Node\":\n // Add the FieldNode to fieldNodeGroup.\n fieldNodeGroup.AddNode(ReadFieldNode_2_2(reader.ReadSubtree()));\n break;\n case \"NodeGroup\":\n // If an ID has not been assigned to the current FieldNodeGroup.\n if (fieldNodeGroup.NodeGroupID.Equals(BXDFProperties.BXDF_DEFAULT_NAME))\n {\n // Assign the ID attribute value to the NodeGroupID property.\n fieldNodeGroup.NodeGroupID = reader[\"ID\"];\n }\n else\n {\n // Creates a new FieldNodeGroup.\n FieldNodeGroup childNodeGroup = new FieldNodeGroup(BXDFProperties.BXDF_DEFAULT_NAME);\n\n // Re-iterate as the childNodeGroup.\n ReadFieldNodeGroup_2_2(reader.ReadSubtree(), childNodeGroup);\n\n // Add the processed FieldNodeGroup to fieldNodeGroup.\n fieldNodeGroup.AddNodeGroup(childNodeGroup);\n }\n break;\n }\n }\n }\n}\n<file_sep>\nusing Synthesis.UI.Dynamic;\nusing SynthesisAPI.InputManager;\nusing SynthesisAPI.InputManager.Inputs;\nusing UnityEngine;\nusing Input = UnityEngine.Input;\n\n#nullable enable\n\npublic class FreeCameraMode : ICameraMode {\n public float TargetZoom { get; private set; } = 15.0f;\n public float TargetPitch { get; private set; } = 10.0f;\n public float TargetYaw { get; private set; } = 135.0f;\n public float ActualZoom { get; private set; } = 15.0f;\n public float ActualPitch { get; private set; } = 10.0f;\n public float ActualYaw { get; private set; } = 135.0f;\n\n private const string FORWARD_KEY = \"FREECAM_FORWARD\";\n private const string BACK_KEY = \"FREECAM_BACK\";\n private const string LEFT_KEY = \"FREECAM_LEFT\";\n private const string RIGHT_KEY = \"FREECAM_RIGHT\";\n private const string LEFT_YAW_KEY = \"FREECAM_LEFT_YAW\";\n private const string RIGHT_YAW_KEY = \"FREECAM_RIGHT_YAW\";\n private const string DOWN_PITCH_KEY = \"FREECAM_DOWN_PITCH\";\n private const string UP_PITCH_KEY = \"FREECAM_UP_PITCH\";\n\n private bool isActive = false;\n\n private CameraController _controller;\n\n public void Start<T>(CameraController cam, T? previousCam)\n where T : ICameraMode {\n // only assign inputs once\n if (!InputManager.MappedDigitalInputs.ContainsKey(FORWARD_KEY)) {\n InputManager.AssignDigitalInput(FORWARD_KEY, new Digital(\"W\"));\n InputManager.AssignDigitalInput(BACK_KEY, new Digital(\"S\"));\n InputManager.AssignDigitalInput(LEFT_KEY, new Digital(\"A\"));\n InputManager.AssignDigitalInput(RIGHT_KEY, new Digital(\"D\"));\n }\n\n if (previousCam != null) {\n if (previousCam.GetType() == typeof(OrbitCameraMode)) {\n OrbitCameraMode orbitCam = (previousCam as OrbitCameraMode)!;\n TargetPitch = orbitCam.TargetPitch;\n TargetYaw = orbitCam.TargetYaw;\n ActualPitch = orbitCam.ActualPitch;\n ActualYaw = orbitCam.ActualYaw;\n } else if (previousCam.GetType() == typeof(DriverStationCameraMode)) {\n DriverStationCameraMode driverStationCam = (previousCam as DriverStationCameraMode)!;\n TargetPitch = driverStationCam.TargetPitch;\n TargetYaw = driverStationCam.TargetYaw;\n ActualPitch = driverStationCam.ActualPitch;\n ActualYaw = driverStationCam.ActualYaw;\n }\n }\n\n _controller = cam;\n }\n\n public void Update(CameraController cam) {\n if (Input.GetKeyDown(KeyCode.Mouse1)) {\n SetActive(true);\n } else if (Input.GetKeyUp(KeyCode.Mouse1)) {\n SetActive(false);\n }\n\n // don't allow camera movement when a modal is open\n if (DynamicUIManager.ActiveModal != null)\n return;\n float p = 0.0f;\n float y = 0.0f;\n float z = 0.0f;\n\n if (isActive) {\n p = -CameraController.PitchSensitivity * Input.GetAxis(\"Mouse Y\");\n y = CameraController.YawSensitivity * Input.GetAxis(\"Mouse X\");\n }\n\n // make it so the user can't rotate the camera upside down\n TargetPitch = Mathf.Clamp(TargetPitch + p, -90, 90);\n TargetYaw += y;\n TargetZoom = Mathf.Clamp(TargetZoom + z, cam.ZoomLowerLimit, cam.ZoomUpperLimit);\n\n float orbitLerpFactor = Mathf.Clamp((cam.OrbitalAcceleration * Time.deltaTime) / 0.018f, 0.01f, 1.0f);\n ActualPitch = Mathf.Lerp(ActualPitch, TargetPitch, orbitLerpFactor);\n ActualYaw = Mathf.Lerp(ActualYaw, TargetYaw, orbitLerpFactor);\n float zoomLerpFactor = Mathf.Clamp((cam.ZoomAcceleration * Time.deltaTime) / 0.018f, 0.01f, 1.0f);\n ActualZoom = Mathf.Lerp(ActualZoom, TargetZoom, zoomLerpFactor);\n\n var t = cam.transform;\n\n float speed = 10.0F;\n\n // transform forwards and backwards when forward and backward inputs are pressed\n // left and right when left and right are pressed\n\n Vector3 forward = Vector3.zero, right = Vector3.zero;\n\n if (isActive) {\n forward = t.forward * (InputManager.MappedDigitalInputs[FORWARD_KEY][0].Value -\n InputManager.MappedDigitalInputs[BACK_KEY][0].Value) +\n t.forward * (TargetZoom - ActualZoom) * CameraController.ZoomSensitivity;\n\n right = t.right * (InputManager.MappedDigitalInputs[RIGHT_KEY][0].Value -\n InputManager.MappedDigitalInputs[LEFT_KEY][0].Value);\n\n t.Translate(Time.deltaTime * speed * (forward + right), Space.World);\n\n // we don't want the user to be able to move the camera under the map or so high they can't see the field\n t.position = new Vector3(t.position.x, Mathf.Clamp(t.position.y, 0, 100), t.position.z);\n\n t.localRotation = Quaternion.Euler(ActualPitch, ActualYaw, 0.0f);\n }\n }\n\n public void LateUpdate(CameraController cam) {\n cam.GroundRenderer.material.SetVector(\"_GridFocusPoint\", cam.transform.position);\n }\n\n public void SetTransform(Vector3 position, Quaternion rotation) {\n _controller.transform.position = position;\n _controller.transform.rotation = rotation;\n var euler = rotation.eulerAngles;\n TargetPitch = ActualPitch = euler.x;\n TargetYaw = ActualYaw = euler.y;\n }\n\n public void SetActive(bool active) {\n isActive = active;\n if (active) {\n Cursor.lockState = CursorLockMode.Locked;\n Cursor.visible = false;\n if (RobotSimObject.CurrentlyPossessedRobot != string.Empty)\n RobotSimObject.GetCurrentlyPossessedRobot().BehavioursEnabled = false;\n } else {\n Cursor.lockState = CursorLockMode.None;\n Cursor.visible = true;\n if (RobotSimObject.CurrentlyPossessedRobot != string.Empty)\n RobotSimObject.GetCurrentlyPossessedRobot().BehavioursEnabled = true;\n }\n }\n\n public void End(CameraController cam) {\n SetActive(false);\n }\n}<file_sep>using UnityEngine;\nusing System.Linq;\n\nnamespace Mirabuf {\n public partial class PartInstance {\n\n // public Matrix4x4 GlobalTransform = Matrix4x4.identity;\n\n // public bool IsJointed(Assembly assembly) {\n // var res = false;\n // Joints.ForEach(x => {\n // if (assembly.Data.Joints.Joints_.ContainsKey(x))\n // res = true;\n // });\n // return res;\n // }\n }\n}\n<file_sep>using System;\nusing System.Collections.Generic;\nusing System.IO;\nusing System.Xml;\nusing System.Xml.Schema;\n\n/// <summary>\n/// Utility functions for reading/writing BXDJ files in the engine\n/// </summary>\npublic partial class BXDJSkeleton\n{\n #region BXDJ Schema\n\n /// <summary>\n /// The XSD markup to ensure valid document reading.\n /// This is the schema that the engine reads against when reading back the BXDJ\n /// </summary>\n private const string BXDJ_XSD_4_1 =\n @\"\n <xs:schema xmlns:xs='http://www.w3.org/2001/XMLSchema'>\n \n <!-- definition of simple elements -->\n <xs:element name='ParentID' type='xs:integer'/>\n <xs:element name='ModelFileName' type='xs:string'/>\n <xs:element name='ModelID' type='xs:string'/>\n <xs:element name='X' type='xs:decimal'/>\n <xs:element name='Y' type='xs:decimal'/>\n <xs:element name='Z' type='xs:decimal'/>\n <xs:element name='AngularLowLimit' type='xs:decimal'/>\n <xs:element name='AngularHighLimit' type='xs:decimal'/>\n <xs:element name='LinearStartLimit' type='xs:decimal'/>\n <xs:element name='LinearEndLimit' type='xs:decimal'/>\n <xs:element name='LinearLowLimit' type='xs:decimal'/>\n <xs:element name='LinearUpperLimit' type='xs:decimal'/>\n <xs:element name='CurrentLinearPosition' type='xs:decimal'/>\n <xs:element name='CurrentAngularPosition' type='xs:decimal'/>\n <xs:element name='WidthMM' type='xs:decimal'/>\n <xs:element name='PressurePSI' type='xs:decimal'/>\n <xs:element name='WheelRadius' type='xs:decimal'/>\n <xs:element name='WheelWidth' type='xs:decimal'/>\n <xs:element name='ForwardAsympSlip' type='xs:decimal'/>\n <xs:element name='ForwardAsympValue' type='xs:decimal'/>\n <xs:element name='ForwardExtremeSlip' type='xs:decimal'/>\n <xs:element name='ForwardExtremeValue' type='xs:decimal'/>\n <xs:element name='SideAsympSlip' type='xs:decimal'/>\n <xs:element name='SideAsympValue' type='xs:decimal'/>\n <xs:element name='SideExtremeSlip' type='xs:decimal'/>\n <xs:element name='SideExtremeValue' type='xs:decimal'/>\n <xs:element name='IsDriveWheel' type='xs:boolean'/>\n <xs:element name='HasBrake' type='xs:boolean'/>\n <xs:element name='Port1' type='xs:integer'/>\n <xs:element name='Port2' type='xs:integer'/>\n <xs:element name='InputGear' type='xs:double'/>\n <xs:element name='OutputGear' type='xs:double'/>\n <xs:element name='LowerLimit' type='xs:float'/>\n <xs:element name='UpperLimit' type='xs:float'/>\n <xs:element name='SensorPortNumberA' type='xs:integer'/>\n <xs:element name='SensorPortNumberB' type='xs:integer'/>\n <xs:element name='SensorConversionFactor' type='xs:double'/>\n <xs:element name='ElevatorType'>\n <xs:simpleType>\n <xs:restriction base='xs:string'>\n <xs:enumeration value='NOT_MULTI'/>\n <xs:enumeration value='CASCADING_STAGE_1'/>\n <xs:enumeration value='CASCADING_STAGE_2'/>\n <xs:enumeration value='CONTINUOUS_STAGE_1'/>\n <xs:enumeration value='CONTINUOUS_STAGE_2'/>\n </xs:restriction>\n </xs:simpleType>\n </xs:element>\n <xs:element name='DriveType'>\n <xs:simpleType>\n <xs:restriction base='xs:string'>\n <xs:enumeration value='MOTOR'/>\n <xs:enumeration value='SERVO'/>\n <xs:enumeration value='WORM_SCREW'/>\n <xs:enumeration value='BUMPER_PNEUMATIC'/>\n <xs:enumeration value='RELAY_PNEUMATIC'/>\n <xs:enumeration value='DUAL_MOTOR'/>\n <xs:enumeration value='ELEVATOR'/>\n </xs:restriction>\n </xs:simpleType>\n </xs:element>\n <xs:element name='DriveTrainType'>\n <xs:simpleType>\n <xs:restriction base='xs:string'>\n <xs:enumeration value='TANK'/>\n <xs:enumeration value='HDRIVE'/>\n <xs:enumeration value='MECANUM'/>\n <xs:enumeration value='SWERVE'/>\n <xs:enumeration value='CUSTOM'/>\n <xs:enumeration value='NONE'/>\n </xs:restriction>\n </xs:simpleType>\n </xs:element>\n <xs:element name='SignalType'>\n <xs:simpleType>\n <xs:restriction base='xs:string'>\n <xs:enumeration value='CAN'/>\n <xs:enumeration value='PWM'/>\n </xs:restriction>\n </xs:simpleType>\n </xs:element>\n <xs:element name='WheelType'>\n <xs:simpleType>\n <xs:restriction base='xs:string'>\n <xs:enumeration value='NOT_A_WHEEL'/>\n <xs:enumeration value='NORMAL'/>\n <xs:enumeration value='OMNI'/>\n <xs:enumeration value='MECANUM'/>\n </xs:restriction>\n </xs:simpleType>\n </xs:element>\n <xs:element name='SensorType'>\n <xs:simpleType>\n <xs:restriction base='xs:string'>\n <xs:enumeration value='LIMIT'/>\n <xs:enumeration value='ENCODER'/>\n <xs:enumeration value='POTENTIOMETER'/>\n <xs:enumeration value='LIMIT_HALL'/>\n <xs:enumeration value='ACCELEROMETER'/>\n <xs:enumeration value='MAGNETOMETER'/>\n <xs:enumeration value='GYRO'/>\n <xs:enumeration value='IMU'/>\n <xs:enumeration value='BEAM_BREAK'/>\n <xs:enumeration value='ULTRASONIC'/>\n </xs:restriction>\n </xs:simpleType>\n </xs:element>\n <xs:element name='SensorSignalTypeA'>\n <xs:simpleType>\n <xs:restriction base='xs:string'>\n <xs:enumeration value='DIO'/>\n <xs:enumeration value='ANALOG'/>\n <xs:enumeration value='SPI'/>\n <xs:enumeration value='I2C'/>\n <xs:enumeration value='RS232'/>\n <xs:enumeration value='UART'/>\n <xs:enumeration value='USB'/>\n <xs:enumeration value='ETHERNET'/>\n </xs:restriction>\n </xs:simpleType>\n </xs:element>\n <xs:element name='SensorSignalTypeB'>\n <xs:simpleType>\n <xs:restriction base='xs:string'>\n <xs:enumeration value='DIO'/>\n <xs:enumeration value='ANALOG'/>\n <xs:enumeration value='SPI'/>\n <xs:enumeration value='I2C'/>\n <xs:enumeration value='RS232'/>\n <xs:enumeration value='UART'/>\n <xs:enumeration value='USB'/>\n <xs:enumeration value='ETHERNET'/>\n </xs:restriction>\n </xs:simpleType>\n </xs:element>\n <!-- definition of attributes -->\n <xs:attribute name='GUID' type='xs:string'/>\n <xs:attribute name='VectorID' type='xs:string'/>\n <xs:attribute name='DriverMetaID' type='xs:integer'/>\n <xs:attribute name='Version'>\n <xs:simpleType>\n <xs:restriction base='xs:string'>\n <xs:pattern value='4\\.1\\.\\d+'/>\n </xs:restriction>\n </xs:simpleType>\n </xs:attribute>\n <!-- definition of complex elements -->\n \n <xs:element name='BXDVector3'>\n <xs:complexType>\n <xs:sequence>\n <xs:element ref='X'/>\n <xs:element ref='Y'/>\n <xs:element ref='Z'/>\n </xs:sequence>\n <xs:attribute ref='VectorID' use='required'/>\n </xs:complexType>\n </xs:element>\n <xs:element name='BallJoint'>\n <xs:complexType>\n <xs:sequence>\n <xs:element ref='BXDVector3'/>\n </xs:sequence>\n </xs:complexType>\n </xs:element>\n <xs:element name='CylindricalJoint'>\n <xs:complexType>\n <xs:sequence>\n <xs:element ref='BXDVector3' minOccurs='2' maxOccurs='2'/>\n <xs:element ref='AngularLowLimit' minOccurs='0' maxOccurs='1'/>\n <xs:element ref='AngularHighLimit' minOccurs='0' maxOccurs='1'/>\n <xs:element ref='LinearStartLimit' minOccurs='0' maxOccurs='1'/>\n <xs:element ref='LinearEndLimit' minOccurs='0' maxOccurs='1'/>\n <xs:element ref='CurrentLinearPosition'/>\n <xs:element ref='CurrentAngularPosition'/>\n </xs:sequence>\n </xs:complexType>\n </xs:element>\n <xs:element name='LinearJoint'>\n <xs:complexType>\n <xs:sequence>\n <xs:element ref='BXDVector3' minOccurs='2' maxOccurs='2'/>\n <xs:element ref='LinearLowLimit' minOccurs='0' maxOccurs='1'/>\n <xs:element ref='LinearUpperLimit' minOccurs='0' maxOccurs='1'/>\n <xs:element ref='CurrentLinearPosition'/>\n </xs:sequence>\n </xs:complexType>\n </xs:element>\n <xs:element name='PlanarJoint'>\n <xs:complexType>\n <xs:sequence>\n <xs:element ref='BXDVector3' minOccurs='2' maxOccurs='2'/>\n </xs:sequence>\n </xs:complexType>\n </xs:element>\n <xs:element name='RotationalJoint'>\n <xs:complexType>\n <xs:sequence>\n <xs:element ref='BXDVector3' minOccurs='2' maxOccurs='2'/>\n <xs:element ref='AngularLowLimit' minOccurs='0' maxOccurs='1'/>\n <xs:element ref='AngularHighLimit' minOccurs='0' maxOccurs='1'/>\n <xs:element ref='CurrentAngularPosition'/>\n </xs:sequence>\n </xs:complexType>\n </xs:element>\n <xs:element name='ElevatorDriverMeta'>\n <xs:complexType>\n <xs:sequence>\n <xs:element ref='ElevatorType'/>\n </xs:sequence>\n <xs:attribute ref='DriverMetaID' use='required'/>\n </xs:complexType>\n </xs:element>\n <xs:element name='PneumaticDriverMeta'>\n <xs:complexType>\n <xs:sequence>\n <xs:element ref='WidthMM'/>\n <xs:element ref='PressurePSI'/>\n </xs:sequence>\n <xs:attribute ref='DriverMetaID' use='required'/>\n </xs:complexType>\n </xs:element>\n <xs:element name='WheelDriverMeta'>\n <xs:complexType>\n <xs:sequence>\n <xs:element ref='WheelType'/>\n <xs:element ref='WheelRadius'/>\n <xs:element ref='WheelWidth'/>\n <xs:element ref='BXDVector3'/>\n <xs:element ref='ForwardAsympSlip'/>\n <xs:element ref='ForwardAsympValue'/>\n <xs:element ref='ForwardExtremeSlip'/>\n <xs:element ref='ForwardExtremeValue'/>\n <xs:element ref='SideAsympSlip'/>\n <xs:element ref='SideAsympValue'/>\n <xs:element ref='SideExtremeSlip'/>\n <xs:element ref='SideExtremeValue'/>\n <xs:element ref='IsDriveWheel'/>\n </xs:sequence>\n <xs:attribute ref='DriverMetaID' use='required'/>\n </xs:complexType>\n </xs:element>\n <xs:element name='JointDriver'>\n <xs:complexType>\n <xs:sequence>\n <xs:element ref='DriveType'/>\n <xs:element ref='Port1'/>\n <xs:element ref='Port2'/>\n <xs:element ref='InputGear'/>\n <xs:element ref='OutputGear'/>\n <xs:element ref='LowerLimit'/>\n <xs:element ref='UpperLimit'/>\n <xs:element ref='SignalType'/>\n <xs:element ref='HasBrake'/>\n <xs:choice maxOccurs='unbounded' minOccurs='0'>\n <xs:element ref='ElevatorDriverMeta'/>\n <xs:element ref='PneumaticDriverMeta'/>\n <xs:element ref='WheelDriverMeta'/>\n </xs:choice>\n </xs:sequence>\n </xs:complexType>\n </xs:element>\n <xs:element name='RobotSensor'>\n <xs:complexType>\n <xs:sequence>\n <xs:element ref='SensorType'/>\n <xs:element ref='SensorPortNumberA'/>\n <xs:element ref='SensorSignalTypeA'/>\n <xs:element ref='SensorPortNumberB'/>\n <xs:element ref='SensorSignalTypeB'/>\n <xs:element ref='SensorConversionFactor'/>\n </xs:sequence>\n </xs:complexType>\n </xs:element>\n <xs:element name='Node'>\n <xs:complexType>\n <xs:sequence>\n <xs:element ref='ParentID'/>\n <xs:element ref='ModelFileName'/>\n <xs:element ref='ModelID'/>\n <xs:choice maxOccurs='1' minOccurs='0'>\n <xs:element ref='BallJoint'/>\n <xs:element ref='CylindricalJoint'/>\n <xs:element ref='LinearJoint'/>\n <xs:element ref='PlanarJoint'/>\n <xs:element ref='RotationalJoint'/>\n </xs:choice>\n <xs:element ref='JointDriver' minOccurs='0' maxOccurs='1'/>\n <xs:element ref='RobotSensor' minOccurs='0' maxOccurs='unbounded'/>\n </xs:sequence> \n <xs:attribute ref='GUID' use='required'/>\n </xs:complexType>\n </xs:element>\n <xs:element name='BXDJ'>\n <xs:complexType>\n <xs:sequence>\n <xs:element ref='Node' minOccurs='0' maxOccurs='unbounded'/>\n <xs:element ref='DriveTrainType' minOccurs='1' maxOccurs='1'/>\n </xs:sequence>\n <xs:attribute ref='Version' use='required'/>\n </xs:complexType>\n </xs:element>\n \n </xs:schema>\";\n\n #endregion\n\n /// <summary>\n /// Reads the skeleton contained in the XML BXDJ file specified and\n /// returns the corresponding RigidNode_Base.\n /// </summary>\n /// <param name=\"path\"></param>\n /// <param name=\"useValidation\"></param>\n private static RigidNode_Base ReadSkeleton_4_1(string path, bool useValidation = true)\n {\n RigidNode_Base root = null;\n List<RigidNode_Base> nodes = new List<RigidNode_Base>();\n\n XmlReaderSettings settings = new XmlReaderSettings();\n\n if (useValidation)// if the schema should be validated, then run the BXDJ against the schema to make sure all the value are there, oftentimes robot instace invalid issues are found here\n {\n settings.Schemas.Add(XmlSchema.Read(new StringReader(BXDJ_XSD_4_1), null));\n settings.ValidationType = ValidationType.Schema;\n }\n else\n {\n settings.ValidationType = ValidationType.None;\n }\n \n XmlReader reader = XmlReader.Create(path, settings);\n\n try\n {\n foreach (string name in IOUtilities.AllElements(reader))// iterates over all the top level data\n {\n switch (name)// handles reading the different XML tags\n {\n case \"DriveTrainType\":\n // Reads the current element as a drive train type.\n root.driveTrainType = (RigidNode_Base.DriveTrainType)Enum.Parse(typeof(RigidNode_Base.DriveTrainType), reader.ReadElementContentAsString());\n break;\n case \"Node\":\n // Reads the current element as a node.\n ReadNode_4_1(reader.ReadSubtree(), nodes, ref root);\n break;\n }\n }\n }\n catch (Exception)// A variety of exceptions can take place if the file is invalid, but we will always want to return null.\n {\n // If the file is invalid, return null.\n return null;\n }\n finally\n {\n // Closes the reader.\n reader.Close();\n }\n\n return nodes[0];// returns the base node of the skeleton\n }\n\n /// <summary>\n /// Reads a RigidNode_Base with the given reader, list of nodes, and root node reference.\n /// </summary>\n /// <param name=\"reader\"></param>\n /// <param name=\"nodes\"></param>\n /// <param name=\"root\"></param>\n private static void ReadNode_4_1(XmlReader reader, List<RigidNode_Base> nodes, ref RigidNode_Base root)\n {\n int parentID = -1;\n\n foreach (string name in IOUtilities.AllElements(reader))\n {\n switch (name)\n {\n case \"Node\":\n // Adds a new node to the list of RigidNode_Bases.\n nodes.Add(RigidNode_Base.NODE_FACTORY(new Guid(reader[\"GUID\"])));\n break;\n case \"ParentID\":\n // Stores this ID for later use.\n parentID = reader.ReadElementContentAsInt();\n\n if (parentID == -1) // If this is the root...\n root = nodes[nodes.Count - 1];\n break;\n case \"ModelFileName\":\n // Assigns the ModelFileName property to the ModelFileName element value.\n nodes[nodes.Count - 1].ModelFileName = reader.ReadElementContentAsString();\n break;\n case \"ModelID\":\n // Assigns the ModelFullID property to the ModelID element value.\n nodes[nodes.Count - 1].ModelFullID = reader.ReadElementContentAsString();\n break;\n case \"BallJoint\":\n // Reads the current element as a BallJoint.\n nodes[parentID].AddChild(ReadBallJoint_4_1(reader.ReadSubtree()), nodes[nodes.Count - 1]);\n break;\n case \"CylindricalJoint\":\n // Reads the current element as a CylindricalJoint.\n nodes[parentID].AddChild(ReadCylindricalJoint_4_1(reader.ReadSubtree()), nodes[nodes.Count - 1]);\n break;\n case \"LinearJoint\":\n // Reads the current element as a LinearJoint.\n nodes[parentID].AddChild(ReadLinearJoint_4_1(reader.ReadSubtree()), nodes[nodes.Count - 1]);\n break;\n case \"PlanarJoint\":\n // Reads the current element as a PlanarJoint.\n nodes[parentID].AddChild(ReadPlanarJoint_4_1(reader.ReadSubtree()), nodes[nodes.Count - 1]);\n break;\n case \"RotationalJoint\":\n // Reads the current elemenet as a RotationalJoint.\n nodes[parentID].AddChild(ReadRotationalJoint_4_1(reader.ReadSubtree()), nodes[nodes.Count - 1]);\n break;\n case \"JointDriver\":\n // Add a joint driver to the skeletal joint of the current node.\n nodes[nodes.Count - 1].GetSkeletalJoint().cDriver = ReadJointDriver_4_1(reader.ReadSubtree());\n break;\n case \"RobotSensor\":\n // Add a sensor to the skeletal joint of the current node.\n nodes[nodes.Count - 1].GetSkeletalJoint().attachedSensors.Add(ReadRobotSensor_4_1(reader.ReadSubtree()));\n break;\n }\n }\n }\n\n /// <summary>\n /// Reads a BallJoint_Base from the given XmlReader.\n /// </summary>\n /// <param name=\"reader\"></param>\n /// <returns></returns>\n private static BallJoint_Base ReadBallJoint_4_1(XmlReader reader)\n {\n // Create a new BallJoint_Base.\n BallJoint_Base ballJoint = (BallJoint_Base)SkeletalJoint_Base.JOINT_FACTORY(SkeletalJointType.BALL);\n\n foreach (string name in IOUtilities.AllElements(reader))\n {\n switch (name)\n {\n case \"BXDVector3\":\n // Read the BXDVector3 as the basePoint.\n ballJoint.basePoint = ReadBXDVector4_1(reader.ReadSubtree());\n break;\n }\n }\n\n return ballJoint;\n }\n\n /// <summary>\n /// Reads a CylindricalJoint_Base from the given XmlReader.\n /// </summary>\n /// <param name=\"reader\"></param>\n /// <returns></returns>\n private static CylindricalJoint_Base ReadCylindricalJoint_4_1(XmlReader reader)\n {\n // Create a new CylindricalJoint_Base.\n CylindricalJoint_Base cylindricalJoint = (CylindricalJoint_Base)SkeletalJoint_Base.JOINT_FACTORY(SkeletalJointType.CYLINDRICAL);\n\n foreach (string name in IOUtilities.AllElements(reader))\n {\n switch (name)\n {\n case \"BXDVector3\":\n switch (reader[\"VectorID\"])\n {\n case \"BasePoint\":\n // Assign the BXDVector3 to the basePoint.\n cylindricalJoint.basePoint = ReadBXDVector4_1(reader.ReadSubtree());\n break;\n case \"Axis\":\n // Assign the BXDVector3 to the axis.\n cylindricalJoint.axis = ReadBXDVector4_1(reader.ReadSubtree());\n break;\n }\n break;\n case \"AngularLowLimit\":\n // Assign a value to the angularLimitLow.\n cylindricalJoint.hasAngularLimit = true;\n cylindricalJoint.angularLimitLow = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"AngularHighLimit\":\n // Assign a value to the angularLimitHigh.\n cylindricalJoint.angularLimitHigh = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"LinearStartLimit\":\n // Assign a value to the linearLimitStart.\n cylindricalJoint.hasLinearStartLimit = true;\n cylindricalJoint.linearLimitStart = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"LinearEndLimit\":\n // Assign a value to the linearLimitEnd.\n cylindricalJoint.hasLinearEndLimit = true;\n cylindricalJoint.linearLimitEnd = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"CurrentLinearPosition\":\n // Assign a value to the currentLinearPosition.\n cylindricalJoint.currentLinearPosition = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"CurrentAngularPosition\":\n // Assign a value to the currentAngularPosition.\n cylindricalJoint.currentAngularPosition = float.Parse(reader.ReadElementContentAsString());\n break;\n }\n }\n\n return cylindricalJoint;\n }\n\n /// <summary>\n /// Reads a LinearJoint_Base from the given XmlReader.\n /// </summary>\n /// <param name=\"reader\"></param>\n /// <returns></returns>\n private static LinearJoint_Base ReadLinearJoint_4_1(XmlReader reader)\n {\n // Create a new LinearJoint_Base.\n LinearJoint_Base linearJoint = (LinearJoint_Base)SkeletalJoint_Base.JOINT_FACTORY(SkeletalJointType.LINEAR);\n\n foreach (string name in IOUtilities.AllElements(reader))\n {\n switch (name)\n {\n case \"BXDVector3\":\n switch (reader[\"VectorID\"])\n {\n case \"BasePoint\":\n // Assign the BXDVector3 to the basePoint.\n linearJoint.basePoint = ReadBXDVector4_1(reader.ReadSubtree());\n break;\n case \"Axis\":\n // Assign the BXDVector3 to the axis.\n linearJoint.axis = ReadBXDVector4_1(reader.ReadSubtree());\n break;\n }\n break;\n case \"LinearLowLimit\":\n // Assign a value to the linearLimitLow.\n linearJoint.hasLowerLimit = true;\n linearJoint.linearLimitLow = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"LinearUpperLimit\":\n // Assign a value to the linearLimitHigh.\n linearJoint.hasUpperLimit = true;\n linearJoint.linearLimitHigh = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"CurrentLinearPosition\":\n // Assign a value to the currentLinearPosition.\n linearJoint.currentLinearPosition = float.Parse(reader.ReadElementContentAsString());\n break;\n }\n }\n\n return linearJoint;\n }\n\n /// <summary>\n /// Reads a PlanarJoint_Base from the given XmlReader.\n /// </summary>\n /// <param name=\"reader\"></param>\n /// <returns></returns>\n private static PlanarJoint_Base ReadPlanarJoint_4_1(XmlReader reader)\n {\n // Create a new PlanarJoint_Base.\n PlanarJoint_Base planarJoint = (PlanarJoint_Base)SkeletalJoint_Base.JOINT_FACTORY(SkeletalJointType.PLANAR);\n\n foreach (string name in IOUtilities.AllElements(reader))\n {\n switch (name)\n {\n case \"BXDVector3\":\n switch (reader[\"VectorID\"])\n {\n case \"Normal\":\n // Assign the BXDVector3 to the normal.\n planarJoint.normal = ReadBXDVector4_1(reader.ReadSubtree());\n break;\n case \"BasePoint\":\n // Assign the BXDVector3 to the basePoint.s\n planarJoint.basePoint = ReadBXDVector4_1(reader.ReadSubtree());\n break;\n }\n break;\n }\n }\n\n return planarJoint;\n }\n\n /// <summary>\n /// Reads a RotationalJoint_Base from the given XmlReader.\n /// </summary>\n /// <param name=\"reader\"></param>\n /// <returns></returns>\n private static RotationalJoint_Base ReadRotationalJoint_4_1(XmlReader reader)\n {\n // Create a new RotationalJoint_Base.\n RotationalJoint_Base rotationalJoint = (RotationalJoint_Base)SkeletalJoint_Base.JOINT_FACTORY(SkeletalJointType.ROTATIONAL);\n\n foreach (string name in IOUtilities.AllElements(reader))\n {\n switch (name)\n {\n case \"BXDVector3\":\n switch (reader[\"VectorID\"])\n {\n case \"BasePoint\":\n // Read the BXDVector3 as the basePoint.\n rotationalJoint.basePoint = ReadBXDVector4_1(reader.ReadSubtree());\n break;\n case \"Axis\":\n // Read the BXDVector3 as the axis.\n rotationalJoint.axis = ReadBXDVector4_1(reader.ReadSubtree());\n break;\n }\n break;\n case \"AngularLowLimit\":\n // Assign the current element value to angularLimitLow.\n rotationalJoint.hasAngularLimit = true;\n rotationalJoint.angularLimitLow = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"AngularHighLimit\":\n // Assign the current element value to angularLimitHigh.\n rotationalJoint.angularLimitHigh = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"CurrentAngularPosition\":\n // Assign the current element value to currentAngularPosition.\n rotationalJoint.currentAngularPosition = float.Parse(reader.ReadElementContentAsString());\n break;\n }\n }\n\n return rotationalJoint;\n }\n\n /// <summary>\n /// Reads a BXDVector3 with the given XmlReader and returns the reading.\n /// </summary>\n /// <param name=\"reader\"></param>\n /// <returns></returns>\n private static BXDVector3 ReadBXDVector4_1(XmlReader reader)\n {\n BXDVector3 vec = new BXDVector3();\n\n foreach (string name in IOUtilities.AllElements(reader))\n {\n switch (name)\n {\n case \"X\":\n // Assign the x value.\n vec.x = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"Y\":\n // Assign the y value.\n vec.y = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"Z\":\n // Assign the z value.\n vec.z = float.Parse(reader.ReadElementContentAsString());\n break;\n }\n }\n\n return vec;\n }\n\n /// <summary>\n /// Reads a JointDriver from the given XmlReader.\n /// </summary>\n /// <param name=\"reader\"></param>\n /// <returns></returns>\n private static JointDriver ReadJointDriver_4_1(XmlReader reader)\n {\n JointDriver driver = null;\n\n foreach (string name in IOUtilities.AllElements(reader))\n {\n switch (name)\n {\n case \"DriveType\":\n // Initialize the driver.\n driver = new JointDriver((JointDriverType)Enum.Parse(typeof(JointDriverType), reader.ReadElementContentAsString()));\n break;\n case \"Port1\":\n // Assign a value to port1.\n driver.port1 = reader.ReadElementContentAsInt();\n break;\n case \"Port2\":\n // Assign a value to port2.\n driver.port2 = reader.ReadElementContentAsInt();\n break;\n\n case \"InputGear\":\n // Assign a value to InputGear\n driver.InputGear = reader.ReadElementContentAsDouble();\n break;\n\n case \"OutputGear\":\n // Assign a value to OutputGear\n driver.OutputGear = reader.ReadElementContentAsDouble();\n break;\n\n case \"LowerLimit\":\n // Assign a value to the lowerLimit.\n driver.lowerLimit = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"UpperLimit\":\n // Assign a value to the upperLimit.\n driver.upperLimit = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"HasBrake\":\n // Assign a value to the upperLimit.\n driver.hasBrake = reader.ReadElementContentAsBoolean();\n break;\n case \"SignalType\":\n // Assign a value to isCan.\n driver.isCan = reader.ReadElementContentAsString().Equals(\"CAN\") ? true : false;\n break;\n case \"ElevatorDriverMeta\":\n // Add an ElevatorDriverMeta.\n driver.AddInfo(ReadElevatorDriverMeta_4_1(reader.ReadSubtree()));\n break;\n case \"PneumaticDriverMeta\":\n // Add a PneumaticsDriverMeta.\n driver.AddInfo(ReadPneumaticDriverMeta_4_1(reader.ReadSubtree()));\n break;\n case \"WheelDriverMeta\":\n // Add a WheelDriverMeta.\n driver.AddInfo(ReadWheelDriverMeta_4_1(reader.ReadSubtree()));\n break;\n }\n }\n\n return driver;\n }\n\n /// <summary>\n /// Reads an ElevatorDriverMeta from the given XmlReader.\n /// </summary>\n /// <param name=\"reader\"></param>\n /// <returns></returns>\n private static ElevatorDriverMeta ReadElevatorDriverMeta_4_1(XmlReader reader)\n {\n // Create a new ElevatorDriveMeta.\n ElevatorDriverMeta elevatorDriverMeta = new ElevatorDriverMeta();\n\n foreach (string name in IOUtilities.AllElements(reader))\n {\n switch (name)\n {\n case \"ElevatorType\":\n // Assign the type to the current element value.\n elevatorDriverMeta.type = (ElevatorType)Enum.Parse(typeof(ElevatorType), reader.ReadElementContentAsString());\n break;\n }\n }\n\n return elevatorDriverMeta;\n }\n\n /// <summary>\n /// Reads a PneumaticDriverMeta from the given XmlReader.\n /// </summary>\n /// <param name=\"reader\"></param>\n /// <returns></returns>\n private static PneumaticDriverMeta ReadPneumaticDriverMeta_4_1(XmlReader reader)\n {\n // Create a new pneumaticDriverMeta.\n PneumaticDriverMeta pneumaticDriverMeta = new PneumaticDriverMeta();\n\n foreach (string name in IOUtilities.AllElements(reader))\n {\n switch (name)\n {\n case \"WidthMM\":\n // Assign the current element value to widthMM.\n pneumaticDriverMeta.widthMM = reader.ReadElementContentAsInt();\n break;\n case \"PressurePSI\":\n // Assign the current element value to pressurePSI.\n pneumaticDriverMeta.pressurePSI = float.Parse(reader.ReadElementContentAsString());\n break;\n }\n }\n\n return pneumaticDriverMeta;\n }\n\n /// <summary>\n /// Reads a WheelDriverMeta from the given XmlReader.\n /// </summary>\n /// <param name=\"reader\"></param>\n /// <returns></returns>\n private static WheelDriverMeta ReadWheelDriverMeta_4_1(XmlReader reader)\n {\n // Create new WheelDriveMeta.\n WheelDriverMeta wheelDriverMeta = new WheelDriverMeta();\n\n foreach (string name in IOUtilities.AllElements(reader))\n {\n switch (name)\n {\n case \"WheelType\":\n // Assign a value to the type.\n wheelDriverMeta.type = (WheelType)Enum.Parse(typeof(WheelType), reader.ReadElementContentAsString());\n break;\n case \"WheelRadius\":\n // Assign a value to the radius.\n wheelDriverMeta.radius = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"WheelWidth\":\n // Assign a value to the width.\n wheelDriverMeta.width = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"BXDVector3\":\n // Assign a value to the center.\n wheelDriverMeta.center = ReadBXDVector4_1(reader.ReadSubtree());\n break;\n case \"ForwardAsympSlip\":\n // Assign a value to the forwardAsympSlip.\n wheelDriverMeta.forwardAsympSlip = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"ForwardAsympValue\":\n // Assign a value to the forwardAsympValue.\n wheelDriverMeta.forwardAsympValue = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"ForwardExtremeSlip\":\n // Assign a value to the forwardExtremeSlip.\n wheelDriverMeta.forwardExtremeSlip = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"ForwardExtremeValue\":\n // Assign a value to the forwardExtremeValue.\n wheelDriverMeta.forwardExtremeValue = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"SideAsympSlip\":\n // Assign a value to the sideAsympSlip.\n wheelDriverMeta.sideAsympSlip = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"SideAsympValue\":\n // Assign a value to the sideAsympValue.\n wheelDriverMeta.sideAsympValue = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"SideExtremeSlip\":\n // Assign a value to the sideExtremeSlip.\n wheelDriverMeta.sideExtremeSlip = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"SideExtremeValue\":\n // Assign a value to the sideExtremeValue.\n wheelDriverMeta.sideExtremeValue = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"IsDriveWheel\":\n // Assign a value to isDriveWheel.\n wheelDriverMeta.isDriveWheel = reader.ReadElementContentAsBoolean();\n break;\n }\n }\n\n return wheelDriverMeta;\n }\n\n /// <summary>\n /// Read a RobotSensor from the given XmlReader.\n /// </summary>\n /// <param name=\"reader\"></param>\n /// <returns></returns>\n private static RobotSensor ReadRobotSensor_4_1(XmlReader reader)\n {\n RobotSensor robotSensor = null;\n //throw (new Exception(\"Reading thing\"));\n foreach (string name in IOUtilities.AllElements(reader))\n {\n switch (name)\n {\n case \"SensorType\":\n // Initialize the RobotSensor.\n robotSensor = new RobotSensor((RobotSensorType)Enum.Parse(typeof(RobotSensorType), reader.ReadElementContentAsString()));\n break;\n case \"SensorPortNumberA\":\n // Assign a value to the 1st port.\n robotSensor.portA = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"SensorSignalTypeA\":\n // Assign a value to the 2nd port.\n robotSensor.conTypePortA = (SensorConnectionType)Enum.Parse(typeof(SensorConnectionType), reader.ReadElementContentAsString());\n break;\n case \"SensorPortNumberB\":\n // Assign a port type to the 1st port\n robotSensor.portB = float.Parse(reader.ReadElementContentAsString());\n break;\n case \"SensorSignalTypeB\":\n // Assign a port type to the 1st port\n robotSensor.conTypePortB = (SensorConnectionType)Enum.Parse(typeof(SensorConnectionType), reader.ReadElementContentAsString());\n break;\n case \"SensorConversionFactor\":\n // assings the generic conversion facter, this is a different type/ unit for every robot (CPR in encoders)\n robotSensor.conversionFactor = double.Parse(reader.ReadElementContentAsString());\n if(robotSensor.conversionFactor == 0)\n {\n robotSensor.conversionFactor = 1;\n }\n break;\n }\n }\n\n return robotSensor;\n }\n}\n<file_sep>using System;\nusing System.Collections;\nusing System.Collections.Generic;\nusing System.Reflection;\nusing SynthesisAPI.EventBus;\nusing SynthesisAPI.Runtime;\nusing _SelectionType = UnityEngine.UIElements.SelectionType;\nusing _UnityListView = UnityEngine.UIElements.ListView;\n\n#nullable enable\n\nnamespace SynthesisAPI.UIManager.VisualElements\n{\n public class ListView: VisualElement\n {\n /*\n /// <summary>\n /// Wrapper for the Unity ListView\n /// This is necessary because these methods are currently protected and we need access to them\n /// </summary>\n public class _UnityListViewWrapper : _UnityListView\n {\n public new void AddToSelection(int index) => base.AddToSelection(index);\n public new void ClearSelection() => base.ClearSelection();\n public new void RemoveFromSelection(int index) => base.RemoveFromSelection(index);\n public new void SetSelection(int index) => base.SetSelection(index);\n }\n */\n\n private EventBus.EventBus.EventCallback? _callback;\n\n private protected _UnityListView Element\n {\n get => (_visualElement as _UnityListView)!;\n set => _visualElement = value;\n }\n \n // internal static explicit operator UnityListViewWrapper(ListView e) => e.Element;\n // internal static explicit operator ListView(UnityListViewWrapper e) => new ListView(e);\n // public static explicit operator SynListView(VisualElement e) => new SynListView((e as UnityListView)!);\n\n private (IList Source, Func<VisualElement> MakeItem, Action<VisualElement, int> BindItem) PopulateParams =\n (new List<object>(), () => null!, (element, i) => { });\n\n public ListView()\n {\n // Element = ApiProvider.InstantiateFocusable<UnityListView>()!;\n Element = ApiProvider.CreateUnityType<_UnityListView>()!;\n if (Element == null)\n throw new Exception();\n Element.selectionType = _SelectionType.Single;\n }\n\n internal ListView(_UnityListView element)\n {\n Element = element;\n }\n\n // Unsure if this is needed\n ~ListView()\n {\n /*if (EventBus.EventBus.HasTagSubscriber(EventTag))\n EventBus.EventBus.RemoveTagListener(EventTag, _callback);*/\n }\n\n public void Populate(IList source, Func<VisualElement> makeItem, Action<VisualElement, int> bindItem)\n {\n PopulateParams = (source, makeItem, bindItem);\n PostUxmlLoad();\n }\n\n public void Refresh()\n {\n Element.Refresh();\n }\n\n public int SelectedIndex => Element.selectedIndex;\n public object SelectedItem => Element.selectedItem;\n public int ItemHeight\n {\n get => Element.itemHeight;\n set => Element.itemHeight = value;\n }\n // public void ClearSelection() => Element.ClearSelection();\n public void ScrollTo(VisualElement visualElement) => Element.ScrollTo(visualElement.UnityVisualElement);\n public void ScrollToItem(int index) => Element.ScrollToItem(index);\n\n public string SelectedEventTag => $\"listview-button/{Element.name}\";\n public string ItemChosenEventTag => $\"item-chosen/{Element.name}\";\n\n public class SelectionChangedEvent: IEvent\n {\n public List<object> SelectedObjects { get; private set; }\n public SelectionChangedEvent(List<object> selectedObjects)\n {\n SelectedObjects = selectedObjects;\n }\n }\n\n public class ItemChosenEvent : IEvent\n {\n public object Item{ get; private set; }\n public ItemChosenEvent(object item)\n {\n Item = item;\n }\n }\n\n public void SubscribeOnSelectionChanged(Action<IEvent> callback)\n {\n if (_callback != null)\n EventBus.EventBus.RemoveTagListener(SelectedEventTag, _callback);\n _callback = e => callback(e);\n EventBus.EventBus.NewTagListener(SelectedEventTag, _callback);\n \n Element.onSelectionChange += l => EventBus.EventBus.Push(SelectedEventTag, new SelectionChangedEvent((List<object>)l));\n }\n\n public void SubscribeOnItemChosen(Action<IEvent> callback)\n {\n if (_callback != null)\n EventBus.EventBus.RemoveTagListener(ItemChosenEventTag, _callback);\n _callback = e => callback(e);\n EventBus.EventBus.NewTagListener(ItemChosenEventTag, _callback);\n\n Element.onItemsChosen += o => EventBus.EventBus.Push(ItemChosenEventTag, new ItemChosenEvent(o));\n }\n\n public override IEnumerable<Object> PostUxmlLoad()\n {\n Element.makeItem = () => PopulateParams.MakeItem().UnityVisualElement;\n Type t = PopulateParams.MakeItem().GetType();\n BindingFlags flags = BindingFlags.Public | BindingFlags.NonPublic | BindingFlags.Instance;\n Element.bindItem = (element, index) => PopulateParams.BindItem(\n (VisualElement)Activator.CreateInstance(t, flags, null, new object[] { element }, null),\n index);\n Element.itemsSource = PopulateParams.Source;\n base.PostUxmlLoad();\n return null!;\n }\n }\n}<file_sep>using SynthesisAPI.AssetManager;\nusing SynthesisAPI.Modules;\nusing SynthesisAPI.UIManager.VisualElements;\n\nnamespace SynthesisCore.UI.Windows\n{\n public class ModuleItem\n {\n public VisualElement ModuleElement { get; }\n\n public ModuleItem(VisualElementAsset moduleAsset, ModuleManager.ModuleInfo moduleInfo)\n {\n ModuleElement = moduleAsset.GetElement(\"module\");\n \n SetInformation(moduleInfo);\n RegisterButtons();\n }\n \n private void SetInformation(ModuleManager.ModuleInfo moduleInfo)\n {\n var titleLabel = (Label) ModuleElement.Get(\"title\");\n var authorLabel = (Label) ModuleElement.Get(\"author\");\n var descriptionLabel = (Label) ModuleElement.Get(\"description\");\n\n titleLabel.Text = titleLabel.Text\n .Replace(\"%name%\", moduleInfo.Name)\n .Replace(\"%version%\", moduleInfo.Version);\n\n authorLabel.Text = authorLabel.Text.Replace(\"%author%\",\n string.IsNullOrEmpty(moduleInfo.Author) ? \"Unknown\" : moduleInfo.Author);\n descriptionLabel.Text = descriptionLabel.Text.Replace(\"%description%\",\n string.IsNullOrEmpty(moduleInfo.Description) ? \"No description\" : moduleInfo.Description);\n }\n \n private void RegisterButtons()\n {\n \n }\n\n }\n}<file_sep>using System;\nusing System.Collections;\nusing System.Collections.Generic;\nusing Newtonsoft.Json;\nusing Synthesis.Physics;\nusing Synthesis.PreferenceManager;\nusing Synthesis.Replay;\nusing Synthesis.Runtime;\nusing Synthesis.UI.Dynamic;\nusing SynthesisAPI.EventBus;\nusing SynthesisAPI.InputManager;\nusing SynthesisAPI.InputManager.InputEvents;\nusing SynthesisAPI.InputManager.Inputs;\nusing UnityEngine;\n\npublic class ReplayRunner : MonoBehaviour {\n public GameObject ContactMarker;\n\n public const string TOGGLE_PLAY = \"input/toggle_play\";\n\n private void Start() {\n ReplayManager.IsRecording = true;\n DynamicUIManager.ReplaySlider.AddOnValueChangedEvent((s, val) => {\n if (PhysicsManager.IsFrozen) {\n var frame = ReplayManager.GetFrameAtTime(val);\n frame?.ApplyFrame();\n ReplayManager.ShowContactsAtTime(val, 1.0f, 1.0f);\n }\n });\n DynamicUIManager.ReplaySlider.RootGameObject.SetActive(false);\n\n EventBus.NewTypeListener<PhysicsFreezeChangeEvent>(PhysChange);\n\n Digital toggleReplayInput;\n if (PreferenceManager.ContainsPreference(TOGGLE_PLAY)) {\n toggleReplayInput = (Digital) PreferenceManager.GetPreference<InputData[]>(TOGGLE_PLAY) [0].GetInput();\n toggleReplayInput.ContextBitmask =\n SimulationRunner.RUNNING_SIM_CONTEXT | SimulationRunner.REPLAY_SIM_CONTEXT;\n } else {\n toggleReplayInput = new Digital(Enum.GetName(typeof(KeyCode), KeyCode.Tab),\n context: SimulationRunner.RUNNING_SIM_CONTEXT | SimulationRunner.REPLAY_SIM_CONTEXT);\n }\n InputManager.UnassignDigitalInput(TOGGLE_PLAY);\n InputManager.AssignDigitalInput(TOGGLE_PLAY, toggleReplayInput, TogglePlay);\n\n ReplayManager.SetupDesyncTracker();\n ReplayManager.SetupContactUI(CreateContactMarker, EraseContactMarkers);\n }\n\n private List<GameObject> _contactMarkers = new List<GameObject>();\n\n private void EraseContactMarkers() {\n _contactMarkers.ForEach(x => Destroy(x));\n _contactMarkers.Clear();\n }\n\n private void CreateContactMarker(ContactReport report, float opacity = 1f) {\n var marker = Instantiate(ContactMarker, report.point, Quaternion.identity);\n var mat = marker.GetComponent<Renderer>();\n var color = mat.material.GetColor(\"TRANSPARENT_COLOR\");\n color.a = opacity;\n mat.material.SetColor(\"TRANSPARENT_COLOR\", color);\n _contactMarkers.Add(marker);\n marker.AddComponent<ContactMarkerHandler>();\n }\n\n private void PhysChange(IEvent e) {\n var physInfo = e as PhysicsFreezeChangeEvent;\n }\n\n private void TogglePlay(IEvent e) {\n var de = e as DigitalEvent;\n if (de.State == DigitalState.Down) {\n PhysicsManager.DisableLoadFromStoredDataOnce();\n PhysicsManager.IsFrozen = !PhysicsManager.IsFrozen;\n if (PhysicsManager.IsFrozen) {\n ReplayManager.NewestFrame.ApplyFrame();\n SimulationRunner.AddContext(SimulationRunner.REPLAY_SIM_CONTEXT);\n DynamicUIManager.ReplaySlider.SetValue(0);\n DynamicUIManager.ReplaySlider.RootGameObject.SetActive(true);\n } else {\n ReplayManager.CurrentFrame.ApplyFrame();\n ReplayManager.InvalidateRecording();\n SimulationRunner.RemoveContext(SimulationRunner.REPLAY_SIM_CONTEXT);\n DynamicUIManager.ReplaySlider.RootGameObject.SetActive(false);\n if (ReplayManager.EraseContactMarkers != null)\n ReplayManager.EraseContactMarkers();\n ReplayManager.MakeCurrentNewestFrame();\n }\n }\n }\n\n private void FixedUpdate() {\n if (!PhysicsManager.IsFrozen)\n ReplayManager.RecordFrame();\n }\n}\n\npublic class ContactMarkerHandler : MonoBehaviour {\n public const int LEFT_BOUNDS = 30;\n public const int RIGHT_BOUNDS = 30;\n public const int TOP_BOUNDS = 100;\n public const int BOTTOM_BOUNDS = 150;\n\n private Renderer? _r;\n\n private void Start() {\n _r = GetComponent<Renderer>();\n }\n\n private void FixedUpdate() {\n var sp = Camera.main.WorldToScreenPoint(transform.position);\n // Hate it but whatever\n if (sp.x < LEFT_BOUNDS || sp.x > Screen.currentResolution.width - RIGHT_BOUNDS || sp.y < BOTTOM_BOUNDS ||\n sp.y > Screen.currentResolution.height - TOP_BOUNDS) {\n _r!.enabled = false;\n } else {\n _r!.enabled = true;\n }\n }\n}\n<file_sep>\nclass FileUtilities\n{\n /// <summary>\n /// Removes unsanitary characters from a file name and replaces them with sane ones.\n /// </summary>\n /// <param name=\"fileName\">The filename</param>\n /// <param name=\"sanity\">The optional character to replace with</param>\n /// <returns>The sane filename</returns>\n public static string SanatizeFileName(string fileName, char sanity = '_')\n {\n foreach (char c in System.IO.Path.GetInvalidFileNameChars())\n {\n fileName = fileName.Replace(c, sanity);\n }\n return fileName;\n }\n}\n<file_sep>#include \"testing.hpp\"\n\nusing namespace nFPGA;\nusing namespace nRoboRIO_FPGANamespace;\n\nTEST(EncoderTest, Increment){\n constexpr unsigned PORT_A = 2, PORT_B = 3;\n\n auto instance = hel::RoboRIOManager::getInstance();\n\n instance.first->encoder_managers[0] = hel::EncoderManager{\n PORT_A, hel::EncoderManager::PortType::DI,\n PORT_B, hel::EncoderManager::PortType::DI\n };\n\n frc::Encoder encoder = {PORT_A, PORT_B};\n\n instance.first->encoder_managers[0].get().setTicks(100);\n instance.first->encoder_managers[0].get().update();\n\n EXPECT_EQ(instance.first->encoder_managers[0].get().getTicks(), encoder.GetRaw());\n instance.second.unlock();\n}\n\nTEST(EncoderTest, Incrementk1X){\n constexpr unsigned PORT_A = 12, PORT_B = 2;\n\n auto instance = hel::RoboRIOManager::getInstance();\n\n instance.first->encoder_managers[1] = hel::EncoderManager{\n PORT_A, hel::EncoderManager::PortType::DI,\n PORT_B, hel::EncoderManager::PortType::DI\n };\n\n frc::Encoder encoder = {PORT_A, PORT_B, false, frc::Encoder::EncodingType::k1X};\n\n instance.first->encoder_managers[1].get().setTicks(-100);\n instance.first->encoder_managers[1].get().update();\n\n EXPECT_EQ(instance.first->encoder_managers[1].get().getTicks(), encoder.GetRaw());\n instance.second.unlock();\n}\n<file_sep>\"\"\" SerialCommand module\n\nDefines what is generated by the Fusion 360 Command.\nUse to be protobuf but can only de-serialize from a filestream strangely.\nThis is used to store in the userdata.\n\"\"\"\n\nimport json\nfrom ...Types.OString import OString\n\n\ndef generateFilePath() -> str:\n \"\"\"Generates a temporary file path that can be used to save the file for exporting\n\n Example:\n - \"%appdata%/Roaming/Temp/HellionFiles\"\n\n Returns:\n str: file path\n \"\"\"\n tempPath = OString.TempPath(\"\").getPath()\n return str(tempPath)\n\n\nclass Struct:\n \"\"\"For decoding the dict values into named values\"\"\"\n\n def __init__(self, **entries):\n self.__dict__.update(entries)\n\n\nclass SerialCommand:\n \"\"\"All of the command inputs combined\"\"\"\n\n def __init__(self):\n self.general = General()\n self.advanced = Advanced()\n self.filePath = generateFilePath()\n\n def toJSON(self) -> str:\n \"\"\"Converts this class into a json object that can be written to the object data\n\n Returns:\n str: json version of this object\n \"\"\"\n return json.dumps(self, default=lambda o: o.__dict__, sort_keys=True, indent=1)\n\n\nclass General:\n \"\"\"General Options\"\"\"\n\n def __init__(self):\n # This is the overall export decision point\n self.exportMode = ExportMode.standard\n self.RenderType = RenderType.basic3D\n self.material = BooleanInput(\"material\", True)\n self.joints = BooleanInput(\"joints\", False)\n self.rigidGroups = BooleanInput(\"rigidgroup\", False)\n # self.wheelType =\n self.simpleWheelExport = BooleanInput(\"simplewheelexport\", False)\n\n\nclass Advanced:\n \"\"\"Advanced settings in the command input\"\"\"\n\n def __init__(self):\n self.friction = BooleanInput(\"friction\", True)\n self.density = BooleanInput(\"density\", True)\n self.mass = BooleanInput(\"mass\", True)\n self.volume = BooleanInput(\"volume\", True)\n self.surfaceArea = BooleanInput(\"surfaceArea\", True)\n self.com = BooleanInput(\"com\", True)\n\n\nclass BooleanInput:\n \"\"\"Class to store the value of a boolean input\"\"\"\n\n def __init__(self, name: str, default: bool):\n self.name = name\n self.checked = default\n\n\nclass ExportMode:\n \"\"\"Export Mode defines the type of export\"\"\"\n\n standard = 0\n VR = 1\n Simulation = 2\n\n\nclass RenderType:\n \"\"\"This will modify the type of material shaders used\"\"\"\n\n basic3D = 0\n URP = 1\n HDRP = 2\n<file_sep>#ifndef _ANALOG_INPUTS_HPP_\n#define _ANALOG_INPUTS_HPP_\n\n#include \"FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h\"\n#include \"FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAI.h\"\n\n#include <vector>\n#include \"bounds_checked_array.hpp\"\n\nnamespace hel{\n\n /**\n * \\brief Data model for analog inputs.\n * Holds all internal data needed to model analog inputs on the RoboRIO.\n */\n\n struct AnalogInputs {\n\n /**\n * \\brief The number of analog input pins directly on the RoboRIO\n */\n\n static constexpr int32_t NUM_ANALOG_INPUTS_HDRS = 4;\n\n /**\n * \\brief The number of analog input pins on the MXP\n */\n\n static constexpr int32_t NUM_ANALOG_INPUTS_MXP = 4;\n\n /**\n * \\brief The total number of analog inputs on the RoboRIO\n */\n\n static constexpr int32_t NUM_ANALOG_INPUTS = NUM_ANALOG_INPUTS_HDRS + NUM_ANALOG_INPUTS_MXP; //hal::kNumAnalogInputs\n\n /**\n * \\brief The value in nanovolts of the increment between analog data values\n */\n\n static constexpr uint32_t LSB_WEIGHT = 1.221E6;\n\n\t\t/**\n * \\brief A scalar HAL uses when interpreting analog input values\n *\n * This value converts LSB_WEIGHT to volts\n */\n\n\t\tstatic constexpr double LSB_SCALAR = 1.0E-9;\n\n /**\n * \\brief The offset of the result of the ADC and the actual voltage\n *\n * If 0 is used as the offset, then the analog value and voltage can be used interchangeably\n */\n\n static constexpr int32_t OFFSET = 0;\n\n /**\n * \\brief Data model for individual analog input\n * Holds all internal data for a single analog input.\n */\n\n struct AnalogInput{\n /**\n * \\brief When storing analog value history, keep 2**(oversample_bits + average_bits) samples.\n */\n\n uint8_t oversample_bits;\n\n /**\n * \\brief When averaging, average 2**average_bits samples.\n */\n\n uint8_t average_bits;\n\n /**\n * \\brief Currently unknown functionality.\n */\n uint8_t scan_list;\n\n /**\n * \\brief The history of analog input values\n */\n\n std::vector<int32_t> values;\n\n /**\n * Constructor for AnalogInput\n */\n\n AnalogInput()noexcept;\n\n /**\n * Constructor for AnalogInput\n * \\param source An AnalogInput object to copy\n */\n\n AnalogInput(const AnalogInput&)noexcept;\n };\n\n /**\n * \\fn void setConfig(nFPGA::nRoboRIO_FPGANamespace::tAI::tConfig value)noexcept\n * \\brief Sets analog input configuration.\n * Sets current analog input system to \\b value.\n * \\param value A tConfig object containing new configuration data.\n */\n\n void setConfig(nFPGA::nRoboRIO_FPGANamespace::tAI::tConfig)noexcept;\n\n /**\n * \\brief Get current analog input configuration.\n * Gets current analog system configuration settings.\n * \\return A tConfig object representing current analog system configuration.\n */\n\n nFPGA::nRoboRIO_FPGANamespace::tAI::tConfig getConfig()noexcept;\n\n /**\n * \\fn void setReadSelect(nFPGA::nRoboRIO_FPGANamespace::tAI::tReadSelect value)noexcept\n * \\brief Sets analog input read select.\n * Sets current analog input system to \\b value. This specifies which analog input to read.\n * \\param value A tReadSelect object containing addressing information for the desired analog input.\n */\n\n void setReadSelect(nFPGA::nRoboRIO_FPGANamespace::tAI::tReadSelect)noexcept;\n\n /**\n * \\brief Get current analog input read select.\n * Gets current analog system read select. This specifies which analog input to read.\n * \\return A tReadSelect object representing current analog system read selection.\n */\n\n nFPGA::nRoboRIO_FPGANamespace::tAI::tReadSelect getReadSelect()noexcept;\n\n /**\n * \\brief Sets number of samples to keep beyond those needed for averaging.\n * \\param channel A byte representing the hardware channel of the desired analog input.\n * \\param value A byte representing the number of samples to collect after that need for the average.\n */\n\n void setOversampleBits(uint8_t, uint8_t);\n\n /**\n * \\brief Sets number of sample to average to 2**value.\n * \\param channel A byte representing the hardware channel of the desired analog input.\n * \\param value A byte representing the number of samples to use in averaging.\n */\n\n void setAverageBits(uint8_t, uint8_t);\n\n /**\n * \\brief Sets analog input scan list.\n * Sets a given analog inputs scan list to \\b value.\n * \\param channel A byte representing the hardware channel of the desired analog input.\n * \\param value A byte representing the scan list.\n */\n void setScanList(uint8_t, uint8_t);\n\n /**\n * \\brief Sets the history of analog input values.\n * \\param channel A byte representing the hardware channel of the desired analog input.\n * \\param value A vector history of 32-bit integers representing the value of the input.\n */\n\n void setValues(uint8_t, std::vector<int32_t>);\n\n /**\n * \\brief Get current analog input configuration.\n * Gets current analog system configuration settings.\n * \\param channel A byte representing the hardware channel of the desired analog input.\n * \\return A byte representing the current bits to oversample.\n */\n\n uint8_t getOversampleBits(uint8_t);\n\n /**\n * \\brief Get current analog input configuration.\n * Gets current analog system configuration settings.\n * \\param channel A byte representing the hardware channel of the desired analog input.\n * \\return A byte representing the number of bits per sample for analog input \\b channel.\n */\n\n uint8_t getAverageBits(uint8_t);\n\n /**\n * \\brief Get current analog input configuration.\n * Gets current analog system configuration settings.\n * \\param channel A byte representing the hardware channel of the desired analog input.\n * \\return A byte representing the current scan list for analog input \\b channel.\n */\n\n uint8_t getScanList(uint8_t);\n\n /**\n * \\brief Get the recent history of analog input values.\n * \\param channel A byte representing the hardware channel of the desired analog input.\n * \\return A vector of 32-bit integer representing the recent history of the analog input value for analog input \\b channel.\n */\n\n std::vector<int32_t> getValues(uint8_t);\n\n /**\n * Constructor for AnalogInputs\n */\n\n AnalogInputs()noexcept;\n\n /**\n * Constructor for AnalogInputs\n *\n * \\param source An AnalogInputs object to copy\n */\n\n AnalogInputs(const AnalogInputs&)noexcept;\n\n private:\n\n /**\n * \\brief Array of all analog inputs.\n */\n\n BoundsCheckedArray<AnalogInput, NUM_ANALOG_INPUTS> analog_inputs;\n\n /**\n * \\brief Current analog input configuration.\n */\n\n nFPGA::nRoboRIO_FPGANamespace::tAI::tConfig config;\n\n /**\n * \\brief Current analog input read select configuration.\n */\n\n nFPGA::nRoboRIO_FPGANamespace::tAI::tReadSelect read_select;\n };\n}\n\n#endif\n<file_sep>#include <stdio.h>\n#include <jni.h>\n\n#include \"controller_sys.h\"\n\nJNIEXPORT jint JNICALL Java_ControllerSys_Test(JNIEnv *env, jclass _, jint value, jobject obj){\n\t/*\n\tint error_code = 0;\n\tconst char* error_message = NULL;\n\tconst char* error_data = NULL;\n\n\tint ret = test(value, &error_code, &error_message, &error_data);\n\n\tjclass myclass = env->FindClass(\"ControllerError\");\n\n\tjfieldID fid = env->GetFieldID(myclass,\"error_code\",\"I\");\n\tenv->SetIntField(obj ,fid, error_code);\n\n\tif(error_message != NULL){\n\t\tfid = env->GetFieldID(myclass,\"error_message\",\"Ljava/lang/String;\");\n\t\tenv->SetObjectField(obj ,fid, env->NewStringUTF(error_message));\n\t}\n\tif(error_data != NULL){\n\t\tfid = env->GetFieldID(myclass,\"error_data\",\"Ljava/lang/String;\");\n\t\tenv->SetObjectField(obj ,fid, env->NewStringUTF(error_data));\n\t}\n\t*/\n\treturn 5;//ret;\n}<file_sep>using System.Collections.Generic;\n\nnamespace SynthesisAPI.Utilities\n{\n public static class Text\n {\n /// <summary>\n /// Split a line along new-lines or at the last space before the line exceeds the max line limit\n /// </summary>\n /// <param name=\"text\">The line of text to format</param>\n /// <param name=\"maxLineLength\">Maximum number of characters on a line</param>\n /// <returns></returns>\n public static List<string> SplitLines(string text, int maxLineLength)\n {\n var lines = new List<string>();\n for (var i = 0; i < text.Length;)\n {\n var nextRangeLength = Math.Min(maxLineLength, text.Length - i);\n var newline = text.IndexOf('\\n', i, nextRangeLength);\n if (newline != -1) // If there's a new line character, then break there\n {\n lines.Add(text.Substring(i, newline - i));\n i = newline + 1;\n }\n else if ((i + nextRangeLength) == text.Length) // If this is the last chunk of text, then break there\n {\n lines.Add(text.Substring(i, nextRangeLength));\n i += nextRangeLength;\n }\n else\n {\n var lastSpace = text.LastIndexOf(' ', i + nextRangeLength - 1, nextRangeLength);\n if (lastSpace != -1) // Break at last space on the line\n {\n lines.Add(text.Substring(i, lastSpace - i));\n i = lastSpace + 1;\n }\n else // Break once the line exceeds maxLineLength\n {\n lines.Add(text.Substring(i, nextRangeLength));\n i += nextRangeLength;\n }\n }\n }\n return lines;\n }\n }\n}\n<file_sep>#ifndef _ENCODER_MANAGER_HPP_\n#define _ENCODER_MANAGER_HPP_\n\n#include <cstdint>\n#include <string>\n#include \"util.hpp\"\n\nnamespace hel{\n\n /**\n * \\brief Manager for HEL encoder data\n *\n * The Ni FPGA references either a tCounter or tEncoder object when polling encoder data depending on\n * configuration. This class is used to map engine encoder data to either an FPGAEncoder or a\n * Counter depending on robot model export data to ensure the user code finds encoder data where\n * it expects it\n */\n\n struct EncoderManager{\n /**\n * \\brief The types of ports encoders can use\n */\n\n enum class PortType{\n DI,\n AI\n };\n\n /**\n * \\brief The type of encoder\n *\n * Whether the encoder manager maps to a tCounter, a tEncoder, or there is a misconfiguration\n */\n\n enum class Type{\n UNKNOWN,\n FPGA_ENCODER,\n COUNTER\n };\n\n private:\n /**\n * \\brief The type of encoder\n */\n\n Type type;\n\n /**\n * \\brief The index into the FPGAEncoder or Counter array to map to\n */\n\n uint8_t index;\n\n /**\n * \\brief The port index the encoder a channel is attached to\n */\n\n uint8_t a_channel;\n\n /**\n * \\brief The type of port the encoder a channel is attached to\n */\n\n PortType a_type;\n\n /**\n * \\brief The port index the encoder b channel is attached to\n */\n\n uint8_t b_channel;\n\n /**\n * \\brief The type of port the encoder b channel is attached to\n */\n\n PortType b_type;\n\n /**\n * \\brief The number of ticks the encoder has counted\n */\n\n int32_t ticks;\n\n /**\n * \\brief Check the EncoderManager configuration against tEncoder or tCounter configurations\n * This is used to determine what device to map the EncoderManager to\n * \\param a The configuration's a channel value\n * \\param a_module The configuration's a module value\n * \\param a_analog The configuration's b analog value\n * \\param b The configuration's b channel value\n * \\param b_module The configuration's b module value\n * \\param b_analog The configuration's b analog value\n * \\return True if the devices match\n */\n\n bool checkDevice(uint8_t, bool, bool, uint8_t, bool, bool)const noexcept;\n\n /**\n * \\brief Update the EncoderManager's type and index given the FPGAEncoders and Counters\n */\n\n void updateDevice();\n\n public:\n /**\n * \\brief Get the type of encoder the manager is mapped to\n * \\return The encoder type\n */\n\n Type getType()const noexcept;\n\n /**\n * \\brief Get the index into the FPGAEncoder or Counter array the manager is mapped to\n * \\return The index to reference\n */\n\n uint8_t getIndex()const noexcept;\n\n /**\n * \\brief Get the port of the encoder's a channel\n * \\return The port index\n */\n\n uint8_t getAChannel()const noexcept;\n\n /**\n * \\brief Set the encoder port for the a channel\n * \\param a The port to use as the a channel\n */\n\n void setAChannel(uint8_t)noexcept;\n\n /**\n * \\brief Get the port type channel a is attached to\n * \\return The type of port channel a is attached to\n */\n\n PortType getAType()const noexcept;\n\n /**\n * \\brief Set the port type channel a is attached to\n * \\param a_t The type of port to use for channel a\n */\n\n void setAType(PortType)noexcept;\n\n /**\n * \\brief Get the port of the encoder's b channel\n * \\return The port index\n */\n\n uint8_t getBChannel()const noexcept;\n\n /**\n * \\brief Set the encoder port for the b channel\n * \\param b The port to use as the b channel\n */\n\n void setBChannel(uint8_t)noexcept;\n\n /**\n * \\brief Get the port type channel b is attached to\n * \\return The type of port channel b is attached to\n */\n\n PortType getBType()const noexcept;\n\n /**\n * \\brief Set the port type channel b is attached to\n * \\param b_t The type of port to use for channel b\n */\n\n void setBType(PortType)noexcept;\n\n /**\n * \\brief Set the ticks of the encoder\n * \\param ticks The number of encoders\n */\n\n void setTicks(int32_t)noexcept;\n\n /**\n * \\brief Get the number of ticks the encoder has counted\n * \\return The ticks the encoder has counted\n */\n\n int32_t getTicks()const noexcept;\n\n /**\n * \\brief Updates the EncoderManager's type and index and the ticks of its corresponding FPGAEncoder or Counter\n */\n\n void update();\n\n /**\n * \\brief Format the EncoderManager data as a string\n * \\return The EncoderManager data in string format\n */\n\n std::string toString()const;\n\n /**\n * Constructor for EncoderManager\n */\n\n EncoderManager()noexcept;\n\n /**\n * Constructor for EncoderManager\n * \\param source An EncoderManager object to copy\n */\n\n EncoderManager(const EncoderManager&)noexcept;\n\n /**\n * Constructor for EncoderManager\n * \\param a_channel The port the encoder's a channel is attached to\n * \\param a_type The type of port the encoder's a channel is attached to\n * \\param b_channel The port the encoder's b channel is attached to\n * \\param b_type The type of port the encoder's b channel is attached to\n */\n\n EncoderManager(uint8_t,PortType,uint8_t,PortType)noexcept;\n };\n\n /**\n * \\fn std::string asString(EncoderManager::Type type)\n * \\brief Convert an EncoderManager::Type to a string\n * \\param type The Encoder::Manager::Type to convert\n * \\return The type as a string\n */\n\n std::string asString(EncoderManager::Type);\n\n /**\n * \\fn std::string asString(EncoderManager::PortType port_type)\n * \\brief Convert the EncoderManager::PortType to a string\n * \\param port_type The EncoderManager::PortType to convert\n * \\return The port type as a string\n */\n\n std::string asString(EncoderManager::PortType);\n}\n\n#endif\n<file_sep>namespace Mirabuf.Joint {\n public partial class JointInstance {\n private bool? _isWheel = null;\n public bool IsWheel(Assembly assembly) {\n if (!_isWheel.HasValue) {\n _isWheel = Info.Name != \"grounded\"\n && assembly.Data.Joints.JointDefinitions[JointReference].UserData != null\n && assembly.Data.Joints.JointDefinitions[JointReference].UserData.Data\n .TryGetValue(\"wheel\", out var isWheel)\n && isWheel == \"true\";\n }\n return _isWheel.Value;\n }\n }\n}\n<file_sep>#!/bin/bash\n\n# If connected to the VM, kill all FRC programs and runners\n\nif ! ssh -q -p 10022 lvuser@localhost exit; then\n\techo \"Not connected\"\nelse \n\tssh -p 10022 lvuser@localhost << EOF\n\t\tsudo killall frc_program_runner.sh >/dev/null 2>&1\n\t\tsudo killall java >/dev/null 2>&1\n\t\tsudo killall FRCUserProgram >/dev/null 2>&1\nEOF\n\techo \"FRC programs and runner stopped\"\nfi\n<file_sep># Code Formatting with `clang-format`\n\n## Installing `clang-format`\n\n### Windows\n\n- Click [here](https://github.com/llvm/llvm-project/releases/download/llvmorg-16.0.6/LLVM-16.0.6-win64.exe) to download the latest version of `llvm` for windows.\n- Run the installer and follow the instructions.\n- When prompted to choose to link to the system `PATH` skip this step, `link_llvm.bat` will do this for you.\n- Once done run `link_llvm.bat` as administrator to link `clang-format` to the system `PATH`. \n\n### Linux\n\n- Run the following commands to install `clang-format` on your system:\n\n```Text\nsudo wget -qO- https://apt.llvm.org/llvm-snapshot.gpg.key | sudo tee /etc/apt/trusted.gpg.d/apt.llvm.org.asc\nsudo add-apt-repository \"deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-16 main\"\nsudo apt-get update\nsudo apt-get install -y clang-format-16\n```\n\n### MacOS\n\n- Ensure you have [Homebrew](https://brew.sh/) installed.\n- Run the following command to install `clang-format` on your system:\n\n```Text\nbrew install clang-format\n```\n\n## How to run `clang-format` with the Visual Studio IDE\n\n- Open the root project folder in Visual Studio.\n- Ensure you are at the root of the project.\n- Open the terminal in the IDE (`` Ctrl + ` `` by default) or press \"View\" and then \"Terminal\" in the menu bar.\n- Copy and paste the following command into the terminal depending on your os and press enter.\n - Windows: `.\\scripts\\format\\format_all.ps1`\n - OSX `./scripts/format/format_all.sh`\n\n## How to run `clang-format` from the Command Line\n\n- Open the root project folder in your terminal.\n- Copy and paste the following command into the terminal depending on your os and press enter.\n - Windows: `.\\scripts\\format\\format_all.ps1`\n - OSX / Linux: `./scripts/format/format_all.sh`\n<file_sep>#include \"testing.hpp\"\n\n#include <vector>\n\nusing namespace nFPGA;\nusing namespace nRoboRIO_FPGANamespace;\n\nTEST(UtilTest, findMostSignificantBit){\n constexpr uint32_t LOC = 9;\n uint32_t a = 1u << LOC;\n\n EXPECT_EQ(LOC, hel::findMostSignificantBit(a));\n}\n\nTEST(UtilTest, checkBitHigh){\n const std::vector<unsigned> locs = {0, 5, 9};\n\n uint32_t a = 0;\n for(const unsigned& loc: locs){\n a |= 1u << loc;\n }\n\n for(unsigned i = 0; i < sizeof(a) * 8; i++){\n if(std::find(locs.begin(), locs.end(), i) != locs.end()){\n EXPECT_TRUE(hel::checkBitHigh(a, i));\n } else {\n EXPECT_FALSE(hel::checkBitHigh(a, i));\n }\n }\n}\n\nTEST(UtilTest, setBit){\n constexpr unsigned I1 = 3, I2 = 4;\n uint32_t a = 0;\n\n\ta = hel::setBit(a, true, I1);\n\n EXPECT_TRUE(hel::checkBitHigh(a, I1));\n\n\ta = hel::setBit(a, true, I2);\n\n EXPECT_TRUE(hel::checkBitHigh(a, I1));\n EXPECT_TRUE(hel::checkBitHigh(a, I2));\n\n a = hel::setBit(a, false, I1);\n\n EXPECT_TRUE(hel::checkBitLow(a, I1));\n}\n\nTEST(UtilTest, containsBits){\n uint32_t a = 0b11000;\n uint32_t b = 0b11001;\n uint32_t c = 0b01001;\n uint32_t bit_mask = 0b11000;\n\n EXPECT_TRUE(hel::containsBits(a,bit_mask));\n EXPECT_TRUE(hel::containsBits(b,bit_mask));\n EXPECT_FALSE(hel::containsBits(c,bit_mask));\n}\n\nTEST(UtilTest, Maybe){\n hel::Maybe<int> a;\n\n EXPECT_FALSE(a.isValid());\n EXPECT_DEATH(a.get(), \"Assertion\");\n\n constexpr int VAL = 5;\n a = VAL;\n\n EXPECT_TRUE(a.isValid());\n EXPECT_EQ(VAL, a.get());\n\n const std::function<int(int)> f = [](int x){ return x + 5; };\n const auto lifted = hel::Maybe<int>::lift<int>(f);\n\n EXPECT_EQ(f(VAL), a.fmap(lifted).get());\n}\n<file_sep>#include \"roborio_manager.hpp\"\n#include \"robot_outputs.hpp\"\n#include \"system_interface.hpp\"\n#include \"util.hpp\"\n\n#include <unistd.h>\n\nusing namespace nFPGA;\nusing namespace nRoboRIO_FPGANamespace;\n\nnamespace hel{\n tDIO::tDO DigitalSystem::getOutputs()const noexcept{\n return outputs;\n }\n\n void DigitalSystem::setOutputs(tDIO::tDO out)noexcept{\n outputs = out;\n auto instance = RobotOutputsManager::getInstance();\n instance.first->updateDeep();\n instance.second.unlock();\n }\n\n tDIO::tOutputEnable DigitalSystem::getEnabledOutputs()const noexcept{\n return enabled_outputs;\n }\n\n void DigitalSystem::setEnabledOutputs(tDIO::tOutputEnable enabled_out)noexcept{\n enabled_outputs = enabled_out;\n auto instance = RobotOutputsManager::getInstance();\n instance.first->updateDeep();\n instance.second.unlock();\n }\n\n tDIO::tPulse DigitalSystem::getPulses()const noexcept{\n return pulses;\n }\n\n void DigitalSystem::setPulses(tDIO::tPulse value)noexcept{\n pulses = value;\n auto instance = RobotOutputsManager::getInstance();\n instance.first->updateDeep();\n instance.second.unlock();\n }\n\n tDIO::tDI DigitalSystem::getInputs()const noexcept{\n return inputs;\n }\n\n void DigitalSystem::setInputs(tDIO::tDI in)noexcept{\n inputs = in;\n }\n\n uint16_t DigitalSystem::getMXPSpecialFunctionsEnabled()const noexcept{\n return mxp_special_functions_enabled;\n }\n\n void DigitalSystem::setMXPSpecialFunctionsEnabled(uint16_t enabled_mxp_special_functions)noexcept{\n mxp_special_functions_enabled = enabled_mxp_special_functions;\n auto instance = RobotOutputsManager::getInstance();\n instance.first->updateShallow();\n instance.second.unlock();\n }\n\n\tvoid DigitalSystem::setMXPConfig(const unsigned index){\n\t\tmxp_configurations[index] = [&](){\n\t\t\tif(checkBitHigh(getMXPSpecialFunctionsEnabled(), index)){\n\t\t\t\tif(\n\t\t\t\t index == 4 || index == 5 ||\n\t\t\t\t index == 6 || index == 7\n\t\t\t\t ){\n\t\t\t\t\treturn MXPData::Config::SPI;\n\t\t\t\t}\n\t\t\t\tif(index == 14 || index == 15){\n\t\t\t\t\treturn MXPData::Config::I2C;\n\t\t\t\t}\n\t\t\t\t/* One of these must be true if the above are false\n\t\t\t\t index == 0 || index == 1 ||\n\t\t\t\t index == 2 || index == 3 ||\n\t\t\t\t index == 8 || index == 9 ||\n\t\t\t\t index == 10 || index == 11 ||\n\t\t\t\t index == 12 || index == 13\n\t\t\t\t*/\n\t\t\t\treturn MXPData::Config::PWM;\n\t\t\t}\n\t\t\tif(checkBitHigh(getEnabledOutputs().MXP,index)){\n\t\t\t\treturn MXPData::Config::DO;\n\t\t\t}\n\t\t\treturn MXPData::Config::DI;\n\t\t}();\n\t}\n\n\tMXPData::Config DigitalSystem::getMXPConfig(const unsigned i)const{\n\t\treturn mxp_configurations[i];\n\t}\n\n uint8_t DigitalSystem::getPulseLength()const noexcept{\n return pulse_length;\n }\n\n void DigitalSystem::setPulseLength(uint8_t length)noexcept{\n pulse_length = length;\n }\n\n uint8_t DigitalSystem::getPWMPulseWidth(uint8_t index)const{\n return pwm[index];\n }\n\n void DigitalSystem::setPWMPulseWidth(uint8_t index, uint8_t pulse_width){\n pwm[index] = pulse_width;\n }\n\n DigitalSystem::DigitalSystem()noexcept:\n outputs(),\n enabled_outputs(),\n pulses(),\n inputs(),\n mxp_special_functions_enabled(0),\n pulse_length(0),\n pwm(0),\n\t\tmxp_configurations(MXPData::Config::DI)\n {}\n\n DigitalSystem::DigitalSystem(const DigitalSystem& source)noexcept:DigitalSystem(){\n#define COPY(NAME) NAME = source.NAME\n COPY(outputs);\n COPY(enabled_outputs);\n COPY(pulses);\n COPY(inputs);\n COPY(mxp_special_functions_enabled);\n COPY(pulse_length);\n COPY(pwm);\n#undef COPY\n }\n\n std::string asString(DigitalSystem::DIOConfigurationException::Config config){\n switch(config){\n case DigitalSystem::DIOConfigurationException::Config::DI:\n return \"digital input\";\n case DigitalSystem::DIOConfigurationException::Config::DO:\n return \"digital output\";\n case DigitalSystem::DIOConfigurationException::Config::MXP_SPECIAL_FUNCTION:\n return \"mxp special function\";\n default:\n throw UnhandledEnumConstantException(\"hel::DIOManager::DIOConfigurationException::Config\");\n }\n }\n\n\tstd::string asString(DigitalSystem::HeaderConfig config){\n switch(config){\n case DigitalSystem::HeaderConfig::DI:\n return \"DI\";\n case DigitalSystem::HeaderConfig::DO:\n return \"DO\";\n default:\n throw UnhandledEnumConstantException(\"hel::DIOManager::HeaderConfig\");\n }\n }\n\n const char* DigitalSystem::DIOConfigurationException::what()const throw(){\n return makeExceptionMessage(\"Digital IO failed attempting \" + asString(expected_configuration) + \" but configured for \" + asString(actual_configuration) + \" on digital port \" + std::to_string(port)).c_str();\n }\n\n DigitalSystem::DIOConfigurationException::DIOConfigurationException(Config expected, Config actual, uint8_t index)noexcept: actual_configuration(actual), expected_configuration(expected), port(index){}\n\n struct DIOManager: public tDIO{\n tSystemInterface* getSystemInterface() override{\n return new SystemInterface();\n }\n\n private:\n template<typename T>\n void ensureDigitalOutputAllowed(T output){\n auto instance = RoboRIOManager::getInstance();\n\t\t\tfor(int i = 0; i <= findMostSignificantBit(output.MXP); i++){\n\t\t\t\tif(checkBitHigh(output.MXP, i) && instance.first->digital_system.getMXPConfig(i) != MXPData::Config::DO){\n\t\t\t\t\tthrow DigitalSystem::DIOConfigurationException(DigitalSystem::DIOConfigurationException::Config::DO, DigitalSystem::DIOConfigurationException::Config::MXP_SPECIAL_FUNCTION, i + DigitalSystem::NUM_DIGITAL_HEADERS);\n\t\t\t\t}\n\t\t\t}\n\t\t\tfor(int i = 0; i <= findMostSignificantBit(output.Headers); i++){\n\t\t\t\tif(checkBitHigh(output.Headers, i) && checkBitLow(instance.first->digital_system.getEnabledOutputs().Headers, i)){\n\t\t\t\t\tthrow DigitalSystem::DIOConfigurationException(DigitalSystem::DIOConfigurationException::Config::DO, DigitalSystem::DIOConfigurationException::Config::DI, i);\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\n public:\n\n void writeDO(tDIO::tDO value, tRioStatusCode* /*status*/){\n\t\t\tensureDigitalOutputAllowed(value);\n\t\t\tauto instance = RoboRIOManager::getInstance();\n\t\t\tinstance.first->digital_system.setOutputs(value);\n\t\t\tinstance.second.unlock();\n }\n\n void writeDO_Headers(uint16_t value, tRioStatusCode* status){\n auto instance = RoboRIOManager::getInstance();\n tDIO::tDO outputs = instance.first->digital_system.getOutputs();\n outputs.Headers = value;\n writeDO(outputs, status);\n instance.second.unlock();\n }\n\n void writeDO_SPIPort(uint8_t value, tRioStatusCode* status){\n auto instance = RoboRIOManager::getInstance();\n tDIO::tDO outputs = instance.first->digital_system.getOutputs();\n outputs.SPIPort = value;\n writeDO(outputs, status);\n instance.second.unlock();\n }\n\n void writeDO_Reserved(uint8_t value, tRioStatusCode* status){\n auto instance = RoboRIOManager::getInstance();\n tDIO::tDO outputs = instance.first->digital_system.getOutputs();\n outputs.Reserved = value;\n writeDO(outputs, status);\n instance.second.unlock();\n }\n\n void writeDO_MXP(uint16_t value, tRioStatusCode* status){\n auto instance = RoboRIOManager::getInstance();\n tDIO::tDO outputs = instance.first->digital_system.getOutputs();\n outputs.MXP = value;\n writeDO(outputs, status);\n instance.second.unlock();\n }\n\n tDO readDO(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->digital_system.getOutputs();\n }\n\n uint16_t readDO_Headers(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->digital_system.getOutputs().Headers;\n }\n\n uint8_t readDO_SPIPort(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->digital_system.getOutputs().SPIPort;\n }\n\n uint8_t readDO_Reserved(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->digital_system.getOutputs().Reserved;\n }\n\n uint16_t readDO_MXP(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->digital_system.getOutputs().MXP;\n }\n\n void writePWMDutyCycleA(uint8_t /*bitfield_index*/, uint8_t /*value*/, tRioStatusCode* /*status*/){\n warnUnsupportedFeature(\"Function call tDIO::writePWMDutyCycleA\");\n }\n\n uint8_t readPWMDutyCycleA(uint8_t /*bitfield_index*/, tRioStatusCode* /*status*/){\n warnUnsupportedFeature(\"Function call tDIO::readPWMDutyCycleA\");\n return 0;\n }\n\n void writePWMDutyCycleB(uint8_t /*bitfield_index*/, uint8_t /*value*/, tRioStatusCode* /*status*/){\n warnUnsupportedFeature(\"Function call tDIO::writePWMDutyCycleB\");\n //no need to reimplement writePWMDutyCycleA, they do the same thing\n }\n\n uint8_t readPWMDutyCycleB(uint8_t /*bitfield_index*/, tRioStatusCode* /*status*/){\n warnUnsupportedFeature(\"Function call tDIO::readPWMDutyCycleB\");\n //no need to reimplement readPWMDutyCycleA, they do the same thing\n return 0;\n }\n\n void writeFilterSelectHdr(uint8_t /*bitfield_index*/, uint8_t /*value*/, tRioStatusCode* /*status*/){}//unnecessary for emulation\n\n\n uint8_t readFilterSelectHdr(uint8_t /*bitfield_index*/, tRioStatusCode* /*status*/){\n return 0;//unnecessary for emulation (0 implies no active filter)\n }\n\n void writeOutputEnable(tDIO::tOutputEnable value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.first->digital_system.setEnabledOutputs(value);\n for(int i = 0; i <= findMostSignificantBit(value.MXP); i++){\n\t\t\t\tinstance.first->digital_system.setMXPConfig(i);\n }\n instance.second.unlock();\n }\n\n void writeOutputEnable_Headers(uint16_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tDIO::tOutputEnable enabled_outputs = instance.first->digital_system.getEnabledOutputs();\n enabled_outputs.Headers = value;\n instance.first->digital_system.setEnabledOutputs(enabled_outputs);\n instance.second.unlock();\n }\n\n void writeOutputEnable_SPIPort(uint8_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tDIO::tOutputEnable enabled_outputs = instance.first->digital_system.getEnabledOutputs();\n enabled_outputs.SPIPort = value;\n instance.first->digital_system.setEnabledOutputs(enabled_outputs);\n instance.second.unlock();\n }\n\n void writeOutputEnable_Reserved(uint8_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tDIO::tOutputEnable enabled_outputs = instance.first->digital_system.getEnabledOutputs();\n enabled_outputs.Reserved = value;\n instance.first->digital_system.setEnabledOutputs(enabled_outputs);\n instance.second.unlock();\n }\n\n void writeOutputEnable_MXP(uint16_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tDIO::tOutputEnable enabled_outputs = instance.first->digital_system.getEnabledOutputs();\n enabled_outputs.MXP = value;\n instance.first->digital_system.setEnabledOutputs(enabled_outputs);\n instance.second.unlock();\n }\n\n tOutputEnable readOutputEnable(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->digital_system.getEnabledOutputs();\n }\n\n uint16_t readOutputEnable_Headers(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->digital_system.getEnabledOutputs().Headers;\n }\n\n uint8_t readOutputEnable_SPIPort(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->digital_system.getEnabledOutputs().SPIPort;\n }\n\n uint8_t readOutputEnable_Reserved(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->digital_system.getEnabledOutputs().Reserved;\n }\n\n uint16_t readOutputEnable_MXP(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->digital_system.getEnabledOutputs().MXP;\n }\n\n void writePWMOutputSelect(uint8_t bitfield_index, uint8_t /*value*/, tRioStatusCode* /*status*/){\n //note: bitfield_index is mxp remapped dio address corresponding to the mxp pwm output\n auto instance = RoboRIOManager::getInstance();\n tDIO::tOutputEnable enabled_outputs = instance.first->digital_system.getEnabledOutputs();\n enabled_outputs.MXP = setBit(enabled_outputs.MXP, true, bitfield_index);\n instance.first->digital_system.setEnabledOutputs(enabled_outputs);\n instance.second.unlock();\n }\n\n uint8_t readPWMOutputSelect(uint8_t /*bitfield_index*/, tRioStatusCode* /*status*/){\n return 0;//unnecessary for emulation\n }\n\n private:\n void pulse(tPulse value, uint8_t length){\n auto instance = RoboRIOManager::getInstance();\n instance.first->digital_system.setPulses(value);\n instance.second.unlock();\n\n usleep(length);\n\n\t\t\ttPulse new_pulse;\n\t\t\tnew_pulse.value = 0;\n\n\t\t\tinstance.second.lock();\n instance.first->digital_system.setPulses(new_pulse);\n instance.second.unlock();\n }\n\n public:\n\n void writePulse(tPulse value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n if(instance.first->digital_system.getPulses().value != 0){\n warn(\"Multiple digital output pulses are not allowed at once\");\n return;\n }\n\t\t\tensureDigitalOutputAllowed(value);\n\t\t\tinstance.second.unlock();\n\t\t\tstd::thread(&DIOManager::pulse, this, value, instance.first->digital_system.getPulseLength()).detach();\n }\n\n void writePulse_Headers(uint16_t value, tRioStatusCode* status){\n tPulse pulse;\n pulse.Headers = value;\n writePulse(pulse, status);\n }\n\n void writePulse_SPIPort(uint8_t value, tRioStatusCode* status){\n tPulse pulse;\n pulse.SPIPort = value;\n writePulse(pulse, status);\n }\n\n void writePulse_Reserved(uint8_t value, tRioStatusCode* status){\n tPulse pulse;\n pulse.Reserved = value;\n writePulse(pulse, status);\n }\n\n void writePulse_MXP(uint16_t value, tRioStatusCode* status){\n tPulse pulse;\n pulse.MXP = value;\n writePulse(pulse, status);\n }\n\n tPulse readPulse(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->digital_system.getPulses();\n }\n\n uint16_t readPulse_Headers(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->digital_system.getPulses().Headers;\n }\n\n uint8_t readPulse_SPIPort(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->digital_system.getPulses().SPIPort;\n }\n\n uint8_t readPulse_Reserved(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->digital_system.getPulses().Reserved;\n }\n\n uint16_t readPulse_MXP(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->digital_system.getPulses().MXP;\n }\n\n tDI readDI(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n\t\t\treturn instance.first->digital_system.getInputs();\n }\n\n uint16_t readDI_Headers(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->digital_system.getInputs().Headers;\n }\n\n uint8_t readDI_SPIPort(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->digital_system.getInputs().SPIPort;\n }\n\n uint8_t readDI_Reserved(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->digital_system.getInputs().Reserved;\n }\n\n uint16_t readDI_MXP(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->digital_system.getInputs().MXP;\n }\n\n void writeEnableMXPSpecialFunction(uint16_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.first->digital_system.setMXPSpecialFunctionsEnabled(value);\n\n\t\t\twriteDO_MXP(this->readDO_MXP(nullptr) & ~value, nullptr); // HAL enables MXP special functions for DIOs when they're freed, so here we'll just reset the digital output for them\n\n\t\t\tfor(int i = 0; i <= findMostSignificantBit(value); i++){\n\t\t\t\tinstance.first->digital_system.setMXPConfig(i);\n\t\t\t\tconst MXPData::Config& config = instance.first->digital_system.getMXPConfig(i);\n if(\n\t\t\t\t config == MXPData::Config::I2C ||\n\t\t\t\t config == MXPData::Config::SPI\n\t\t\t\t ){\n\t\t\t\t\twarnUnsupportedFeature(\"Configuring digital MXP DIO \" + std::to_string(i) + \" for \" + asString(config));\n }\n }\n\n instance.second.unlock();\n }\n\n uint16_t readEnableMXPSpecialFunction(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n\t\t\treturn instance.first->digital_system.getMXPSpecialFunctionsEnabled();\n }\n\n void writeFilterSelectMXP(uint8_t /*bitfield_index*/, uint8_t /*value*/, tRioStatusCode* /*status*/){}//unnecessary for emulation\n\n uint8_t readFilterSelectMXP(uint8_t /*bitfield_index*/, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n return 0;//unnecessary for emulation\n }\n\n void writePulseLength(uint16_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.first->digital_system.setPulseLength(value);\n instance.second.unlock();\n }\n\n uint16_t readPulseLength(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->digital_system.getPulseLength();\n }\n\n void writePWMPeriodPower(uint16_t /*value*/, tRioStatusCode* /*status*/){}//unnecessary for emulation\n\n\n uint16_t readPWMPeriodPower(tRioStatusCode* /*status*/){\n return 0;//unnecessary for emulation\n }\n\n void writeFilterPeriodMXP(uint8_t /*reg_index*/, uint32_t /*value*/, tRioStatusCode* /*status*/){}//unnecessary for emulation\n\n\n uint32_t readFilterPeriodMXP(uint8_t /*reg_index*/, tRioStatusCode* /*status*/){\n return 0;//unnecessary for emulation\n }\n\n void writeFilterPeriodHdr(uint8_t /*reg_index*/, uint32_t /*value*/, tRioStatusCode* /*status*/){}//unnecessary for emulation\n\n uint32_t readFilterPeriodHdr(uint8_t /*reg_index*/, tRioStatusCode* /*status*/){\n return 0;//unnecessary for emulation\n }\n\n };\n}\n\nnamespace nFPGA{\n namespace nRoboRIO_FPGANamespace{\n tDIO* tDIO::create(tRioStatusCode* /*status*/){\n return new hel::DIOManager();\n }\n }\n}\n<file_sep>using Newtonsoft.Json;\nusing Newtonsoft.Json.Linq;\nusing SynthesisAPI.Runtime;\nusing SynthesisAPI.Utilities;\nusing System;\nusing System.Collections.Generic;\nusing System.Linq;\nusing System.Reflection;\n\nnamespace Controller.Rpc\n{\n public static class RpcManager\n {\n public static string JsonRpcVersion = \"2.0\";\n\n public delegate object HandlerFunc(params object[] args);\n\n private static Dictionary<string, MethodInfo> handlers = new Dictionary<string, MethodInfo>();\n\n internal static readonly JsonSerializerSettings JsonSettings = new JsonSerializerSettings()\n {\n ReferenceLoopHandling = ReferenceLoopHandling.Ignore\n };\n\n private static bool Initialized = false;\n\n static RpcManager()\n {\n Init();\n }\n\n public static void Init()\n {\n if (!Initialized)\n {\n Initialized = true;\n var assembly = AppDomain.CurrentDomain.GetAssemblies().First(a => a.GetName().Name == \"Controller\");\n RegisterAll(assembly);\n }\n }\n\n public static void RegisterAll(Assembly assembly)\n {\n foreach (var type in assembly.GetTypes())\n {\n foreach (var method in type.GetMethods().Where(m => m.GetCustomAttribute<RpcMethodAttribute>() != null))\n {\n if (method.IsStatic)\n {\n Register(method.GetCustomAttribute<RpcMethodAttribute>()?.RpcMessageMethodName ?? method.Name, method);\n }\n else\n {\n throw new Exception($\"Non-static RPC method {method.Name}\");\n }\n }\n }\n }\n\n public static void Register(HandlerFunc handler)\n {\n Register(handler.Method);\n }\n\n public static void Register(string methodName, HandlerFunc handler)\n {\n Register(methodName, handler.Method);\n }\n\n public static void Register(MethodInfo handler)\n {\n Register(handler.Name, handler);\n }\n\n private static bool IsPrimitive(Type type)\n {\n if (type.IsPrimitive || type.IsEnum || type == typeof(string) || type == typeof(void))\n return true;\n if (type.IsArray)\n return IsPrimitive(type.GetElementType());\n return false;\n }\n\n public static void Register(string methodName, MethodInfo handler)\n {\n if (handlers.ContainsKey(methodName))\n {\n throw new Exception($\"Registering method with existing name {methodName}\");\n }\n if (handler.IsGenericMethod)\n {\n throw new Exception($\"Registering generic method {methodName}\");\n }\n foreach (var p in handler.GetParameters().Where(p => !IsPrimitive(p.ParameterType)))\n {\n throw new Exception($\"Registering method {methodName} that has parameter {p.Name} with non-primitive type {p.ParameterType.Name}\");\n }\n if(!IsPrimitive(handler.ReturnType))\n {\n throw new Exception($\"Registering method {methodName} that returns non-primitive type {handler.ReturnType.Name}\");\n }\n handlers[methodName] = handler;\n }\n\n public static Result<T, RpcError> Invoke<T>(string methodName, params object[] args)\n {\n return Invoke(methodName, args).MapResult<T>((res) => (T)res);\n }\n\n private static readonly Type[] IntegerTypes = new[] {\n typeof(ulong),\n typeof(uint),\n typeof(ushort),\n typeof(sbyte),\n typeof(long),\n typeof(int),\n typeof(byte),\n typeof(short)\n };\n\n private static object[] FixArguments(MethodInfo method, params object[] args)\n {\n var args_i = 0;\n foreach (var param in method.GetParameters())\n {\n if (args_i >= args.Length)\n {\n if (param.HasDefaultValue)\n {\n args = args.Concat(new[] { Type.Missing }).ToArray();\n }\n else\n {\n throw new InvalidParams(\"RPC method call missing arguments\");\n }\n }\n else if (param.ParameterType != args[args_i].GetType())\n {\n args[args_i] = FixType(param.ParameterType, args[args_i]);\n }\n args_i++;\n }\n return args;\n }\n\n internal static object FixType(Type type, object value)\n {\n if (value is JObject jObject)\n {\n value = jObject.ToObject(type);\n }\n if (value is JArray jArray && type.IsArray)\n {\n value = jArray.ToObject(type);\n }\n if (type.IsEnum)\n {\n if (value is long)\n {\n value = Enum.ToObject(type, value);\n }\n else if (value is string)\n {\n value = Enum.Parse(type, (string)value);\n }\n }\n else if (value is long && type.IsPrimitive && IntegerTypes.Contains(type))\n {\n value = Convert.ChangeType(value, type);\n }\n return value;\n }\n\n public static Result<object, RpcError> Invoke(string methodName, params object[] args)\n {\n try\n {\n if (!handlers.ContainsKey(methodName))\n {\n return new Result<object, RpcError>(new MethodNotFound($\"Missing RPC function: {methodName}\"));\n }\n var handler = handlers[methodName];\n args = FixArguments(handler, args);\n\n if (handler.ReturnType == typeof(void))\n {\n handler.Invoke(null, args);\n return new Result<object, RpcError>(new Void());\n }\n return new Result<object, RpcError>(handler.Invoke(null, args));\n }\n catch (TargetInvocationException e)\n {\n return new Result<object, RpcError>(new InternalError($\"Error while calling method {methodName}\", e.InnerException));\n }\n catch (Exception e)\n {\n return new Result<object, RpcError>(new InternalError($\"Failed to invoke method {methodName}\", e));\n }\n }\n\n public static bool IsRegistered(string methodName)\n {\n return handlers.ContainsKey(methodName);\n }\n }\n}<file_sep>\"\"\" Takes in a given function call and times and tests the memory allocations to get data\n\"\"\"\nfrom ..general_imports import *\nfrom time import time\nimport tracemalloc, time, linecache, os, inspect\n\n\nclass Sniffer:\n def __init__(self):\n self.logger = logging.getLogger(f\"{INTERNAL_ID}.Analyzer.Sniffer\")\n\n (self.filename, self.line_number, _, self.lines, _) = inspect.getframeinfo(\n inspect.currentframe().f_back.f_back\n )\n\n self.stopped = False\n\n def start(self):\n self.stopped = False\n self.t0 = time.time()\n tracemalloc.start(5)\n\n def stop(self):\n self.stopped = True\n self.mem_size, self.mem_peak = tracemalloc.get_traced_memory()\n self.snapshot = tracemalloc.take_snapshot()\n self.t1 = time.time()\n tracemalloc.stop()\n\n def _str(self) -> str:\n if not self.stopped:\n self.stop()\n\n return f\"Analyzer \\n Location: {os.path.basename(self.filename)} : {self.line_number} \\n \\t - Time taken: {self.t1-self.t0} seconds \\n \\t - Memory Allocated: {self.mem_size / 1024} Kb \\n\"\n\n def log(self):\n \"\"\"Logs the memory usage and time taken\"\"\"\n self.logger.debug(self._str())\n\n def print(self):\n \"\"\"Prints the memory usage and time taken\"\"\"\n print(self._str())\n\n def print_top(self):\n \"\"\"Prints out the info on the top 10 memory blocks\"\"\"\n if not self.stopped:\n self.stop()\n print(display_top(self.snapshot))\n\n def log_top(self):\n \"\"\"Logs out the info on the top 10 memory blocks\"\"\"\n if not self.stopped:\n self.stop()\n out = self._str() + \"\\n\"\n self.logger.debug(out + display_top(self.snapshot))\n\n\n# this prints the top 10 memory usages in snapchat for the process\n# found on : https://docs.python.org/3/library/tracemalloc.html#functions\ndef display_top(snapshot, key_type=\"lineno\", limit=10):\n snapshot = snapshot.filter_traces(\n (\n tracemalloc.Filter(False, \"<frozen importlib._bootstrap>\"),\n tracemalloc.Filter(False, \"<unknown>\"),\n )\n )\n top_stats = snapshot.statistics(key_type)\n\n out = \"\"\n\n out += \"Top %s lines \\n\" % limit\n for index, stat in enumerate(top_stats[:limit], 1):\n frame = stat.traceback[0]\n out += \"#%s: %s:\\n\\t%s: %.1f KiB\" % (\n index,\n frame.filename,\n frame.lineno,\n stat.size / 1024,\n )\n line = linecache.getline(frame.filename, frame.lineno).strip()\n if line:\n out += \" %s \\n\" % line\n\n other = top_stats[limit:]\n if other:\n size = sum(stat.size for stat in other)\n out += \"%s other: %.1f KiB \\n\" % (len(other), size / 1024)\n total = sum(stat.size for stat in top_stats)\n out += \"Total allocated size: %.1f KiB \\n\" % (total / 1024)\n return out\n\n\ndef sniff(func, positional_arguments, keyword_arguments):\n \"\"\"sniffs the current func with the positional and keyword arguments\n\n ex.\n method2(method1, ['spam'], {'ham': 'ham'})\n\n Args:\n func (function reference): Called function\n positional_arguments (positional args): args that are position dependent\n keyword_arguments (keyword args): args that are defined by keywords\n\n Returns:\n Any: result of func\n \"\"\"\n t0 = time.time()\n tracemalloc.start()\n\n ret = func(*positional_arguments, **keyword_arguments)\n\n mem_size, mem_peak = tracemalloc.get_traced_memory()\n t1 = time.time()\n tracemalloc.stop()\n\n logging.getLogger(f\"{INTERNAL_ID}.Analyzer\").debug(\n f\"Analyzer result on : {func.__name__} \\n \\t - Time taken: {t1-t0} \\n \\t - Memory Allocated: {mem_size} \\n\"\n )\n\n return ret\n\n\nclass Analyze:\n def __init__(self, function):\n \"\"\"Function decorater to analyze calls to function\n\n Args:\n function (function): function to be analyzed\n \"\"\"\n self.logger = logging.getLogger(f\"{INTERNAL_ID}.Analyzer.Analyze\")\n self.function = function\n self.sniffer = Sniffer()\n\n def __call__(self, *args, **kwargs):\n if not DEBUG:\n # Basically just executing the same function\n self.function(*args, **kwargs)\n\n if DEBUG:\n self.logger.debug(f\"Analyzing: {self.function.__name__}\")\n self.sniffer.start()\n self.function(*args, **kwargs)\n self.sniffer.stop()\n self.sniffer.log_top()\n<file_sep>using SynthesisAPI.EnvironmentManager.Components;\n\nnamespace SynthesisCore.EntityMovement\n{\n public abstract class MarkerBase\n {\n public Sprite Sprite { get; protected set; }\n\n public abstract void Update();\n\n public abstract void MoveEntityTransform(Transform targetTransform, float xMod, float yMod);\n }\n}\n<file_sep>using System;\nusing System.Linq;\nusing System.Collections;\nusing System.Collections.Generic;\nusing Newtonsoft.Json;\nusing Synthesis.Physics;\nusing SynthesisAPI.EventBus;\nusing UnityEngine;\n\n#nullable enable\n\nnamespace Synthesis.Replay {\n public static class ReplayManager {\n private static bool _isRecording = false;\n public static bool IsRecording {\n get => _isRecording;\n set { _isRecording = value; }\n }\n // clang-format off\n private static float _timeSpan = 5f;\n public static float TimeSpan => _timeSpan;\n private static ReplayFrame? _newestFrame = null;\n public static ReplayFrame? NewestFrame => _newestFrame;\n private static ReplayFrame? _oldestFrame = null;\n public static ReplayFrame CurrentFrame = null!;\n\n private static float _desyncTime = 0;\n public static float DesyncTime => _desyncTime;\n // clang-format on\n\n private static Action<ContactReport, float>? _createContactMarker;\n public static Action<ContactReport, float>? CreateContactMarker => _createContactMarker;\n private static Action? _eraseContactMarkers;\n public static Action? EraseContactMarkers => _eraseContactMarkers;\n\n private static SortedList<float, ContactReport> _contactReports = new SortedList<float, ContactReport>();\n\n private static float _startDesync = float.NaN;\n\n public static void SetupDesyncTracker() {\n EventBus.NewTypeListener<PhysicsFreezeChangeEvent>(e => {\n var pe = e as PhysicsFreezeChangeEvent;\n\n if (pe!.IsFrozen) {\n _startDesync = Time.realtimeSinceStartup;\n } else {\n if (float.IsNaN(_startDesync))\n return;\n _desyncTime += Time.realtimeSinceStartup - _startDesync;\n _startDesync = float.NaN;\n }\n });\n }\n\n public static void SetupContactUI(Action<ContactReport, float> create, Action erase) {\n _createContactMarker = create;\n _eraseContactMarkers = erase;\n }\n\n public static void PushContactReport(ContactReport r) {\n if (_contactReports.ContainsKey(r.TimeStamp))\n return;\n _contactReports.Add(r.TimeStamp, r);\n }\n\n public static void InvalidateRecording() {\n _newestFrame = null;\n _oldestFrame = null;\n }\n\n /// <summary>\n /// MARK: Bug in here I think\n /// </summary>\n public static void RecordFrame() {\n if (!IsRecording || PhysicsManager.IsFrozen)\n return;\n\n var newFrame = ReplayFrame.RecordFrame();\n if (_newestFrame == null) {\n _newestFrame = newFrame;\n _oldestFrame = newFrame;\n } else {\n newFrame.LastFrame = _newestFrame;\n _newestFrame.NextFrame = newFrame;\n _newestFrame = newFrame;\n while (_newestFrame.TimeStamp - _oldestFrame?.TimeStamp > _timeSpan) {\n _oldestFrame = _oldestFrame?.NextFrame;\n _oldestFrame.LastFrame = null!;\n // Debug.Log(\"Frame dropped\");\n if (_oldestFrame == _newestFrame)\n break;\n }\n }\n\n while (\n _contactReports.Count > 0 &&\n (Time.realtimeSinceStartup - _desyncTime) - _contactReports.ElementAt(0).Value.TimeStamp > _timeSpan) {\n _contactReports.RemoveAt(0);\n }\n }\n\n /// <summary>\n ///\n /// </summary>\n /// <param name=\"t\">Use negative range to show relative to the latest frame</param>\n public static ReplayFrame? GetFrameAtTime(float t) {\n if (_newestFrame == null)\n return null;\n\n if (t > 0) {\n throw new NotImplementedException();\n } else {\n // Time relative to the latest frame\n ReplayFrame? a = _newestFrame, b = null;\n while (a.TimeStamp > _newestFrame.TimeStamp + t) {\n if (a.LastFrame == null) {\n break;\n }\n a = a.LastFrame;\n }\n if (a.NextFrame == null)\n return a;\n b = a.NextFrame;\n return ReplayFrame.Lerp(\n a, b, ((_newestFrame.TimeStamp + t) - a.TimeStamp) / (b.TimeStamp - a.TimeStamp));\n }\n }\n\n public static void ShowContactsAtTime(float t, float giveOrTake = 0.25f, float impulseThreshold = 10f) {\n if (_newestFrame == null || _contactReports.Count < 1 || CreateContactMarker == null ||\n EraseContactMarkers == null)\n return;\n\n EraseContactMarkers();\n\n var targetTimeStamp = t > 0 ? t : _newestFrame.TimeStamp + t;\n\n // locate closest index using binary search (NOTE FOR FUTURE DEVS: I was too lazy to google a binary search\n // algo so I made this in like a minute)\n int a = 0, b = _contactReports.Count - 1;\n int index = (a + b) / 2;\n while (a != b) {\n var tmpIndex = (a + b) / 2;\n if (tmpIndex == index)\n break;\n index = tmpIndex;\n if (_contactReports.ElementAt(index).Value.TimeStamp > t) {\n b = index;\n } else if (_contactReports.ElementAt(index).Value.TimeStamp < t) {\n a = index;\n } else {\n break;\n }\n }\n\n // Before Markers\n int indexBefore = index;\n while (indexBefore > -1) {\n var dist = Math.Abs(_contactReports.ElementAt(indexBefore).Value.TimeStamp - targetTimeStamp);\n if (dist >= giveOrTake)\n break;\n if (_contactReports.ElementAt(indexBefore).Value.Impulse.magnitude >= impulseThreshold)\n CreateContactMarker(_contactReports.ElementAt(indexBefore).Value, (giveOrTake - dist) / giveOrTake);\n indexBefore--;\n }\n int indexAfter = index + 1;\n while (indexAfter < _contactReports.Count) {\n var dist = Math.Abs(_contactReports.ElementAt(indexAfter).Value.TimeStamp - targetTimeStamp);\n if (dist >= giveOrTake)\n break;\n if (_contactReports.ElementAt(indexAfter).Value.Impulse.magnitude >= impulseThreshold)\n CreateContactMarker(_contactReports.ElementAt(indexAfter).Value, (giveOrTake - dist) / giveOrTake);\n indexAfter++;\n }\n }\n\n public static void MakeCurrentNewestFrame() {\n if (_newestFrame == null || CurrentFrame == null)\n return;\n\n var originalNewestTimestamp = _newestFrame.TimeStamp;\n\n while (_newestFrame.TimeStamp > CurrentFrame.TimeStamp) {\n if (_newestFrame == _oldestFrame) {\n throw new Exception(\"Current Frame is too outdated\");\n }\n _newestFrame = _newestFrame.LastFrame;\n }\n\n _desyncTime += originalNewestTimestamp - CurrentFrame.TimeStamp;\n\n while (_contactReports.Count > 0 &&\n _contactReports.ElementAt(_contactReports.Count - 1).Value.TimeStamp > CurrentFrame.TimeStamp) {\n _contactReports.RemoveAt(_contactReports.Count - 1);\n }\n\n _newestFrame.NextFrame = CurrentFrame;\n CurrentFrame.LastFrame = _newestFrame;\n CurrentFrame.NextFrame = null!;\n _newestFrame = CurrentFrame;\n\n CurrentFrame = null!;\n }\n\n public static void Teardown() {\n _startDesync = float.NaN;\n _desyncTime = 0;\n InvalidateRecording();\n CurrentFrame = null!;\n _isRecording = false;\n }\n }\n\n public class ReplayFrame {\n public float TimeStamp;\n public Dictionary<Rigidbody, RigidbodyFrameData> RigidbodyData =\n new Dictionary<Rigidbody, RigidbodyFrameData>();\n\n [JsonConstructor]\n private ReplayFrame() {}\n\n /// <summary>\n /// Record the current simulation into a <see cref=\"Synthesis.Replay.ReplayFrame\">Replay Frame</see>\n /// </summary>\n /// <returns></returns>\n public static ReplayFrame RecordFrame() {\n var frame = new ReplayFrame();\n frame.TimeStamp = Time.realtimeSinceStartup - ReplayManager.DesyncTime;\n PhysicsManager.GetAllOverridable().ForEach(x => {\n x.GetAllRigidbodies().ForEach(y => {\n var data = new RigidbodyFrameData { Position = y.transform.position,\n Rotation = y.transform.rotation, Velocity = y.velocity, AngularVelocity = y.angularVelocity };\n frame.RigidbodyData[y] = data;\n });\n });\n return frame;\n }\n\n [JsonIgnore]\n public ReplayFrame NextFrame;\n [JsonIgnore]\n public ReplayFrame LastFrame;\n\n /// <summary>\n /// Lerps between two frames\n /// </summary>\n /// <param name=\"a\">From Frame</param>\n /// <param name=\"b\">To Frame</param>\n /// <param name=\"t\">t is between 0.0 to 1.0</param>\n /// <returns></returns>\n public static ReplayFrame Lerp(ReplayFrame a, ReplayFrame b, float t) {\n var c = new ReplayFrame();\n c.TimeStamp = Mathf.Lerp(a.TimeStamp, b.TimeStamp, t);\n a.RigidbodyData.ForEach(x => {\n if (b.RigidbodyData.ContainsKey(x.Key)) {\n var data = new RigidbodyFrameData { Position = Vector3.Lerp(\n x.Value.Position, b.RigidbodyData[x.Key].Position, t),\n Rotation = Quaternion.Lerp(x.Value.Rotation, b.RigidbodyData[x.Key].Rotation, t),\n Velocity = Vector3.Lerp(x.Value.Velocity, b.RigidbodyData[x.Key].Velocity, t),\n AngularVelocity =\n Vector3.Lerp(x.Value.AngularVelocity, b.RigidbodyData[x.Key].AngularVelocity, t) };\n c.RigidbodyData[x.Key] = data;\n }\n });\n return c;\n }\n\n /// <summary>\n /// Apply this frame to current simulation\n /// </summary>\n public void ApplyFrame() => ApplyFrame(this);\n\n /// <summary>\n /// Apply a frame to the current simulation\n /// </summary>\n /// <param name=\"a\">Frame to apply</param>\n public static void ApplyFrame(ReplayFrame a) {\n a.RigidbodyData.ForEach(x => {\n x.Key.transform.position = x.Value.Position;\n x.Key.transform.rotation = x.Value.Rotation;\n x.Key.velocity = x.Value.Velocity;\n x.Key.angularVelocity = x.Value.AngularVelocity;\n });\n ReplayManager.CurrentFrame = a;\n }\n }\n\n public struct RigidbodyFrameData {\n public Vector3 Position;\n public Quaternion Rotation;\n public Vector3 Velocity;\n public Vector3 AngularVelocity;\n public List<ContactReport> ContactReports;\n }\n}\n<file_sep>using System.Collections.Generic;\nusing MathNet.Spatial.Euclidean;\nusing SynthesisAPI.Utilities;\nusing System.ComponentModel;\nusing System.Runtime.CompilerServices;\n\n#nullable enable\n\nnamespace SynthesisAPI.EnvironmentManager.Components\n{\n\tpublic class Mesh : Component\n\t{\n\t\tpublic Mesh() { }\n\n\t\tinternal Mesh(UnityEngine.Mesh mesh)\n\t\t{\n\t\t\tTriangles = new List<int>(mesh.triangles);\n\n\t\t\tforeach (var v in mesh.vertices)\n\t\t\t\tVertices.Add(v.Map());\n\t\t\tforeach (var u in mesh.uv)\n\t\t\t\tUVs.Add(u.Map());\n\t\t}\n\n\t\tinternal List<Vector3D> _vertices = new List<Vector3D>();\n\t\tinternal List<Vector2D> _uvs = new List<Vector2D>();\n\t\tinternal List<int> _triangles = new List<int>();\n\t\tinternal (float r, float g, float b, float a) _color;\n\n\t\tpublic (float r, float g, float b, float a) Color {\n\t\t\tget => _color;\n\t\t\tset {\n\t\t\t\t_color = value;\n\t\t\t\tOnPropertyChanged();\n\t\t\t}\n\t\t}\n\n\t\tpublic List<Vector3D> Vertices\n\t\t{\n\t\t\tget => _vertices;\n\t\t\tset {\n\t\t\t\t_vertices = value;\n\t\t\t OnPropertyChanged();\n\t\t\t}\n\t\t}\n\t\tpublic List<Vector2D> UVs\n\t\t{\n\t\t\tget => _uvs;\n\t\t\tset {\n\t\t\t\t_uvs = value;\n\t\t\t OnPropertyChanged();\n\t\t\t}\n\t\t}\n\n\t\tpublic List<int> Triangles\n\t\t{\n\t\t\tget => _triangles;\n\t\t\tset {\n\t\t\t\t_triangles = value;\n\t\t\t OnPropertyChanged();\n\t\t\t}\n\t\t}\n\n\t\tpublic void RecalculateNormals() => OnPropertyChanged(name: \"recalculate\");\n\n\t\tinternal static Mesh FromUnity(UnityEngine.Mesh mesh) => new Mesh(mesh);\n\t\tinternal UnityEngine.Mesh ToUnity()\n\t\t{\n\t\t\tUnityEngine.Mesh m = new UnityEngine.Mesh();\n\t\t\tvar verts = new UnityEngine.Vector3[Vertices.Count];\n\t\t\tvar uvs = new UnityEngine.Vector2[UVs.Count];\n\t\t\tvar tris = Triangles.ToArray();\n\n\t\t\tfor (int i = 0; i < verts.Length; i++)\n\t\t\t\tverts[i] = Vertices[i].Map();\n\t\t\tfor (int i = 0; i < uvs.Length; i++)\n\t\t\t\tuvs[i] = UVs[i].Map();\n\n\t\t\tm.vertices = verts;\n\t\t\tm.uv = uvs;\n\t\t\tm.triangles = tris;\n\n\t\t\treturn m;\n\t\t}\n\n\t\tpublic bool Changed { get; private set; }\n\t\tinternal void ProcessedChanges() => Changed = false;\n\n\t\tpublic event PropertyChangedEventHandler? PropertyChanged;\n\n protected void OnPropertyChanged([CallerMemberName] string? name = null)\n {\n PropertyChanged?.Invoke(this, new PropertyChangedEventArgs(name));\n }\n\t}\n}<file_sep>using SynthesisAPI.AssetManager;\nusing SynthesisAPI.PreferenceManager;\nusing SynthesisAPI.UIManager.VisualElements;\n\nnamespace SynthesisCore.UI.Windows\n{\n public class ToggleItem\n {\n public VisualElement Element;\n private Toggle Toggle;\n private Label NameLabel;\n private VisualElement ModifierContainer;\n private string PreferenceName;\n \n public ToggleItem(VisualElementAsset optionAsset, string preferenceName, Toggle toggle)\n {\n Element = optionAsset.GetElement(\"option\");\n Toggle = toggle;\n\n NameLabel = (Label) Element.Get(\"option-name\");\n ModifierContainer = Element.Get(\"modifier-container\");\n PreferenceName = preferenceName;\n \n NameLabel.SetStyleProperty(\"width\", \"280px\");\n ModifierContainer.SetStyleProperty(\"width\", \"20px\");\n \n SetInformation();\n RegisterButtons();\n }\n\n private void SetInformation()\n {\n NameLabel.Text = NameLabel.Text.Replace(\"%name%\", PreferenceName);\n Toggle.Enabled = GetPreference();\n ModifierContainer.Add(Toggle);\n }\n\n private void RegisterButtons()\n {\n Toggle.OnValueChanged += value =>\n {\n SettingsWindow.AddPendingChange(PreferenceName, value);\n };\n }\n\n private bool GetPreference()\n {\n return PreferenceManager.GetPreference<bool>(\"SynthesisCore\", PreferenceName);\n }\n\n public void UpdateInformation()\n {\n SetInformation();\n }\n \n }\n}<file_sep>import adsk.core, adsk.fusion\nimport traceback, gzip\n\nfrom ...general_imports import *\n\nfrom google.protobuf.json_format import MessageToJson\n\nfrom proto.proto_out import assembly_pb2, types_pb2\n\nfrom ...UI.Camera import captureThumbnail, clearIconCache\n\n# from . import Joints, Materials, Components, Utilities\n\nfrom . import Materials, Components, Joints, JointHierarchy, PDMessage\n\nfrom .Utilities import *\n\n\nclass Parser:\n def __init__(self, options: any):\n \"\"\"Creates a new parser with the supplied options\n\n Args:\n options (ParserOptions): parser options\n \"\"\"\n self.parseOptions = options\n self.logger = logging.getLogger(f\"{INTERNAL_ID}.Parser\")\n\n def export(self) -> bool:\n try:\n app = adsk.core.Application.get()\n design = app.activeDocument.design\n\n assembly_out = assembly_pb2.Assembly()\n fill_info(\n assembly_out,\n design.rootComponent,\n override_guid=design.parentDocument.name,\n )\n\n # set int to 0 in dropdown selection for dynamic\n assembly_out.dynamic = self.parseOptions.mode == 0\n\n # Physical Props here when ready\n\n # ts = time()\n\n progressDialog = app.userInterface.createProgressDialog()\n progressDialog.cancelButtonText = \"Cancel\"\n progressDialog.isBackgroundTranslucent = False\n progressDialog.isCancelButtonShown = True\n\n totalIterations = design.rootComponent.allOccurrences.count + 1\n\n progressDialog.title = \"Exporting to Synthesis Format\"\n progressDialog.minimumValue = 0\n progressDialog.maximumValue = totalIterations\n progressDialog.show(\n \"Synthesis Export\", \"Currently on %v of %m\", 0, totalIterations\n )\n\n # this is the formatter for the progress dialog now\n self.pdMessage = PDMessage.PDMessage(\n assembly_out.info.name,\n design.allComponents.count,\n design.rootComponent.allOccurrences.count,\n design.materials.count,\n design.appearances.count, # this is very high for some reason\n progressDialog,\n )\n\n Materials._MapAllAppearances(\n design.appearances,\n assembly_out.data.materials,\n self.parseOptions,\n self.pdMessage,\n )\n\n Materials._MapAllPhysicalMaterials(\n design.materials,\n assembly_out.data.materials,\n self.parseOptions,\n self.pdMessage,\n )\n\n Components._MapAllComponents(\n design,\n self.parseOptions,\n self.pdMessage,\n assembly_out.data.parts,\n assembly_out.data.materials,\n )\n\n rootNode = types_pb2.Node()\n\n Components._ParseComponentRoot(\n design.rootComponent,\n self.pdMessage,\n self.parseOptions,\n assembly_out.data.parts,\n assembly_out.data.materials.appearances,\n rootNode,\n )\n\n Components._MapRigidGroups(design.rootComponent, assembly_out.data.joints)\n\n assembly_out.design_hierarchy.nodes.append(rootNode)\n\n # Problem Child\n Joints.populateJoints(\n design,\n assembly_out.data.joints,\n assembly_out.data.signals,\n self.pdMessage,\n self.parseOptions,\n assembly_out,\n )\n\n # add condition in here for advanced joints maybe idk\n # should pre-process to find if there are any grounded joints at all\n # that or add code to existing parser to determine leftovers\n\n Joints.createJointGraph(\n self.parseOptions.joints,\n self.parseOptions.wheels,\n assembly_out.joint_hierarchy,\n self.pdMessage,\n )\n\n JointHierarchy.BuildJointPartHierarchy(\n design, assembly_out.data.joints, self.parseOptions, self.pdMessage\n )\n\n # These don't have an effect, I forgot how this is suppose to work\n # progressDialog.message = \"Taking Photo for thumbnail...\"\n # progressDialog.title = \"Finishing Export\"\n self.pdMessage.currentMessage = \"Taking Photo for Thumbnail...\"\n self.pdMessage.update()\n\n # default image size\n imgSize = 250\n\n # Can only save, cannot get the bytes directly\n thumbnailLocation = captureThumbnail(imgSize)\n\n if thumbnailLocation != None:\n # Load bytes into memory and write them to proto\n binaryImage = None\n with open(thumbnailLocation, \"rb\") as in_file:\n binaryImage = in_file.read()\n\n if binaryImage != None:\n # change these settings in the captureThumbnail Function\n assembly_out.thumbnail.width = imgSize\n assembly_out.thumbnail.height = imgSize\n assembly_out.thumbnail.transparent = True\n assembly_out.thumbnail.data = binaryImage\n assembly_out.thumbnail.extension = \"png\"\n # clear the icon cache - src/resources/Icons\n clearIconCache()\n\n self.pdMessage.currentMessage = \"Compressing File...\"\n self.pdMessage.update()\n\n # check if entire path exists and create if not since gzip doesn't do that.\n path = pathlib.Path(self.parseOptions.fileLocation).parent\n path.mkdir(parents=True, exist_ok=True)\n\n if self.parseOptions.compress:\n self.logger.debug(\"Compressing file\")\n with gzip.open(self.parseOptions.fileLocation, \"wb\", 9) as f:\n self.pdMessage.currentMessage = \"Saving File...\"\n self.pdMessage.update()\n f.write(assembly_out.SerializeToString())\n else:\n f = open(self.parseOptions.fileLocation, \"wb\")\n f.write(assembly_out.SerializeToString())\n f.close()\n\n progressDialog.hide()\n\n if DEBUG:\n part_defs = assembly_out.data.parts.part_definitions\n parts = assembly_out.data.parts.part_instances\n joints = assembly_out.data.joints.joint_definitions\n signals = assembly_out.data.signals.signal_map\n\n joint_hierarchy_out = \"Joint Hierarchy :\\n\"\n\n # This is just for testing\n for node in assembly_out.joint_hierarchy.nodes:\n if node.value == \"ground\":\n joint_hierarchy_out = f\"{joint_hierarchy_out} |- ground\\n\"\n else:\n newnode = assembly_out.data.joints.joint_instances[node.value]\n jointdefinition = assembly_out.data.joints.joint_definitions[\n newnode.joint_reference\n ]\n\n wheel_ = (\n \" wheel : true\"\n if (jointdefinition.user_data.data[\"wheel\"] != \"\")\n else \"\"\n )\n\n joint_hierarchy_out = f\"{joint_hierarchy_out} |- {jointdefinition.info.name} type: {jointdefinition.joint_motion_type} {wheel_}\\n\"\n\n for child in node.children:\n if child.value == \"ground\":\n joint_hierarchy_out = f\"{joint_hierarchy_out} |---> ground\\n\"\n else:\n newnode = assembly_out.data.joints.joint_instances[\n child.value\n ]\n jointdefinition = assembly_out.data.joints.joint_definitions[\n newnode.joint_reference\n ]\n wheel_ = (\n \" wheel : true\"\n if (jointdefinition.user_data.data[\"wheel\"] != \"\")\n else \"\"\n )\n joint_hierarchy_out = f\"{joint_hierarchy_out} |---> {jointdefinition.info.name} type: {jointdefinition.joint_motion_type} {wheel_}\\n\"\n\n joint_hierarchy_out += \"\\n\\n\"\n\n debug_output = f\"Appearances: {len(assembly_out.data.materials.appearances)} \\nMaterials: {len(assembly_out.data.materials.physicalMaterials)} \\nPart-Definitions: {len(part_defs)} \\nParts: {len(parts)} \\nSignals: {len(signals)} \\nJoints: {len(joints)}\\n {joint_hierarchy_out}\"\n\n gm.ui.messageBox(\n debug_output,\n \"DEBUG - Fusion Synthesis\",\n )\n\n self.logger.debug(debug_output)\n\n except:\n self.logger.error(\"Failed:\\n{}\".format(traceback.format_exc()))\n\n if DEBUG:\n gm.ui.messageBox(\"Failed:\\n{}\".format(traceback.format_exc()))\n else:\n gm.ui.messageBox(\"An error occurred while exporting.\")\n\n return False\n\n return True\n<file_sep>#include \"roborio_manager.hpp\"\n#include \"system_interface.hpp\"\n\nusing namespace nFPGA;\nusing namespace nRoboRIO_FPGANamespace;\n\nnamespace hel{\n bool Alarm::getEnabled()const noexcept{\n return enabled;\n }\n\n void Alarm::setEnabled(bool a)noexcept{\n enabled = a;\n }\n\n uint32_t Alarm::getTriggerTime()const noexcept{\n return trigger_time;\n }\n\n void Alarm::setTriggerTime(uint32_t time)noexcept{\n trigger_time = time;\n }\n\n Alarm::Alarm()noexcept:enabled(false),trigger_time(0){}\n\n Alarm::Alarm(const Alarm& source)noexcept{\n#define COPY(NAME) NAME = source.NAME\n COPY(enabled);\n COPY(trigger_time);\n#undef COPY\n }\n\n struct AlarmManager: public tAlarm{ //TODO implement full logic\n tSystemInterface* getSystemInterface(){\n return new SystemInterface();\n }\n\n void writeEnable(bool value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.first->alarm.setEnabled(value);\n instance.second.unlock();\n }\n\n bool readEnable(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->alarm.getEnabled();\n }\n\n void writeTriggerTime(uint32_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.first->alarm.setTriggerTime(value);\n instance.second.unlock();\n }\n\n uint32_t readTriggerTime(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->alarm.getTriggerTime();\n }\n };\n}\n\nnamespace nFPGA{\n namespace nRoboRIO_FPGANamespace{\n tAlarm* tAlarm::create(tRioStatusCode* /*status*/){\n return new hel::AlarmManager();\n }\n }\n}\n<file_sep>using System;\nusing System.Collections.Generic;\nusing System.IO;\nusing SynthesisAPI.Utilities;\nusing SynthesisAPI.VirtualFileSystem;\n\n#nullable enable\n\nnamespace SynthesisAPI.AssetManager\n{\n /// <summary>\n /// API for managing asset types and importing and fetching loaded assets\n /// </summary>\n public static class AssetManager\n {\n /// <summary>\n /// Asset-type-specific function delegate used to process asset data on import\n /// </summary>\n /// <param name=\"name\"></param>\n /// <param name=\"perm\"></param>\n /// <param name=\"sourcePath\"></param>\n /// <param name=\"args\"></param>\n /// <returns></returns>\n public delegate Asset? HandlerFunc(string name, Permissions perm,\n string sourcePath, params object[] args);\n\n /// <summary>\n /// Register a handler for importing a new type of asset\n /// </summary>\n /// <param name=\"assetType\"></param>\n /// <param name=\"fileExtensions\"></param>\n /// <param name=\"handler\"></param>\n [ExposedApi]\n public static void RegisterAssetType(string assetType, string[] fileExtensions, HandlerFunc handler)\n {\n using var _ = ApiCallSource.StartExternalCall();\n RegisterAssetTypeInner(assetType, fileExtensions, handler);\n }\n\n internal static void RegisterAssetTypeInner(string assetType, string[] fileExtensions, HandlerFunc handler)\n {\n InnerInstance.RegisterAssetType(assetType, fileExtensions, handler);\n }\n\n /// <summary>\n /// Register a handler for importing a new type of asset\n /// </summary>\n /// <param name=\"type\"></param>\n /// <param name=\"subtype\"></param>\n /// <param name=\"fileExtensions\"></param>\n /// <param name=\"handler\"></param>\n [ExposedApi]\n public static void RegisterAssetType(string type, string subtype, string[] fileExtensions, HandlerFunc handler)\n {\n using var _ = ApiCallSource.StartExternalCall();\n RegisterAssetTypeInner(type, subtype, fileExtensions, handler);\n }\n\n internal static void RegisterAssetTypeInner(string type, string subtype, string[] fileExtensions, HandlerFunc handler)\n {\n InnerInstance.RegisterAsset(type, subtype, fileExtensions, handler);\n }\n\n /// <summary>\n /// Fetch an Asset from the virtual file system\n /// </summary>\n /// <param name=\"targetPath\"></param>\n /// <returns></returns>\n [ExposedApi]\n public static Asset? GetAsset(string targetPath)\n {\n using var _ = ApiCallSource.StartExternalCall();\n return GetAssetInner(targetPath);\n }\n\n internal static Asset? GetAssetInner(string targetPath)\n {\n return InnerInstance.GetAsset(targetPath);\n }\n\n /// <summary>\n /// Fetch an Asset from the virtual file system\n /// </summary>\n /// <typeparam name=\"TAsset\"></typeparam>\n /// <param name=\"targetPath\"></param>\n /// <returns></returns>\n [ExposedApi]\n public static TAsset? GetAsset<TAsset>(string targetPath) where TAsset : Asset\n {\n using var _ = ApiCallSource.StartExternalCall();\n return GetAssetInner<TAsset>(targetPath);\n }\n\n internal static TAsset? GetAssetInner<TAsset>(string targetPath) where TAsset : Asset\n {\n return (TAsset?)InnerInstance.GetAsset(targetPath);\n }\n\n #region Search\n\n /// <summary>\n /// Recursively search the virtual file system for an asset with a given name\n /// </summary>\n /// <typeparam name=\"TAsset\"></typeparam>\n /// <param name=\"name\"></param>\n /// <returns></returns>\n [ExposedApi]\n public static TAsset? Search<TAsset>(string name) where TAsset : Asset\n {\n using var _ = ApiCallSource.StartExternalCall();\n return SearchInner<TAsset>(name);\n }\n\n internal static TAsset? SearchInner<TAsset>(string name) where TAsset : Asset\n {\n return FileSystem.SearchInner<TAsset>(name);\n }\n\n /// <summary>\n /// Recursively search a directory for an asset with a given name\n /// </summary>\n /// <typeparam name=\"TAsset\"></typeparam>\n /// <param name=\"parent\"></param>\n /// <param name=\"name\"></param>\n /// <returns></returns>\n [ExposedApi]\n public static TAsset? Search<TAsset>(VirtualFileSystem.Directory parent, string name) where TAsset : Asset\n {\n using var _ = ApiCallSource.StartExternalCall();\n return SearchInner<TAsset>(parent, name);\n }\n\n internal static TAsset? SearchInner<TAsset>(VirtualFileSystem.Directory parent, string name) where TAsset : Asset\n {\n return FileSystem.SearchInner<TAsset>(parent, name);\n }\n\n /// <summary>\n /// Recursively search the virtual file system for an asset with a given name\n /// </summary>\n /// <param name=\"name\"></param>\n /// <returns></returns>\n [ExposedApi]\n public static Asset? Search(string name)\n {\n using var _ = ApiCallSource.StartExternalCall();\n return SearchInner(name);\n }\n\n internal static Asset? SearchInner(string name)\n {\n return (Asset?)FileSystem.SearchInner(name);\n }\n\n /// <summary>\n /// Recursively search a directory for an asset with a given name\n /// </summary>\n /// <param name=\"parent\"></param>\n /// <param name=\"name\"></param>\n /// <returns></returns>\n [ExposedApi]\n public static Asset? Search(VirtualFileSystem.Directory parent, string name)\n {\n using var _ = ApiCallSource.StartExternalCall();\n return SearchInner(parent, name);\n }\n\n internal static Asset? SearchInner(VirtualFileSystem.Directory parent, string name)\n {\n return (Asset?)FileSystem.SearchInner(parent, name);\n }\n\n #endregion\n\n #region Import from File\n\n /// <summary>\n /// Import a new asset into the virtual file system and create it if import fails\n /// </summary>\n /// <param name=\"assetType\"></param>\n /// <param name=\"targetPath\"></param>\n /// <param name=\"name\"></param>\n /// <param name=\"perm\"></param>\n /// <param name=\"sourcePath\"></param>\n /// <param name=\"args\"></param>\n /// <returns></returns>\n [ExposedApi]\n public static Asset? Import(string assetType, bool createOnFail, string targetPath, string name, Permissions perm, string sourcePath, params object[] args)\n {\n using var _ = ApiCallSource.StartExternalCall();\n return ImportInner(assetType, createOnFail, targetPath, name, perm, sourcePath, args);\n }\n\n internal static Asset? ImportInner(string assetType, bool createOnFail, string targetPath, string name, Permissions perm, string sourcePath, params object[] args)\n {\n return InnerInstance.Import(assetType, createOnFail, false, null, targetPath, name, perm, sourcePath, args);\n }\n\n /// <summary>\n /// Import a new asset into the virtual file system and create it if import fails\n /// </summary>\n /// <typeparam name=\"TAsset\"></typeparam>\n /// <param name=\"assetType\"></param>\n /// <param name=\"targetPath\"></param>\n /// <param name=\"name\"></param>\n /// <param name=\"perm\"></param>\n /// <param name=\"sourcePath\"></param>\n /// <param name=\"args\"></param>\n /// <returns></returns>\n [ExposedApi]\n public static TAsset? Import<TAsset>(string assetType, bool createOnFail, string targetPath, string name, Permissions perm, string sourcePath, params object[] args) where TAsset : Asset\n {\n using var _ = ApiCallSource.StartExternalCall();\n return ImportInner<TAsset>(assetType, createOnFail, targetPath, name, perm, sourcePath, args);\n }\n\n internal static TAsset? ImportInner<TAsset>(string assetType, bool createOnFail, string targetPath, string name, Permissions perm, string sourcePath, params object[] args) where TAsset : Asset\n {\n return (TAsset?)ImportInner(assetType, createOnFail, targetPath, name, perm, sourcePath, args);\n }\n\n #endregion\n\n #region Import from Stream\n\n /// <summary>\n /// Import a new asset into the virtual file system\n /// </summary>\n /// <param name=\"assetType\"></param>\n /// <param name=\"perm\"></param>\n /// <param name=\"sourcePath\"></param>\n /// <param name=\"stream\"></param>\n /// <param name=\"targetPath\"></param>\n /// <param name=\"args\"></param>\n /// <param name=\"name\"></param>\n /// <returns></returns>\n [ExposedApi]\n public static Asset? Import(string assetType, Stream stream, string targetPath, string name,\n Permissions perm, string sourcePath, params object[] args)\n {\n using var _ = ApiCallSource.StartExternalCall();\n return ImportInner(assetType, stream, targetPath, name, perm, sourcePath, args);\n }\n\n internal static Asset? ImportInner(string assetType, Stream stream, string targetPath, string name,\n Permissions perm, string sourcePath, params object[] args)\n {\n return InnerInstance.Import(assetType, false, false, stream, targetPath, name, perm, sourcePath, args);\n }\n\n /// <summary>\n /// Import a new asset into the virtual file system\n /// </summary>\n /// <typeparam name=\"TAsset\"></typeparam>\n /// <param name=\"assetType\"></param>\n /// <param name=\"perm\"></param>\n /// <param name=\"sourcePath\"></param>\n /// <param name=\"stream\"></param>\n /// <param name=\"targetPath\"></param>\n /// <param name=\"args\"></param>\n /// <param name=\"name\"></param>\n /// <returns></returns>\n [ExposedApi]\n public static TAsset? Import<TAsset>(string assetType, Stream stream, string targetPath, string name,\n Permissions perm, string sourcePath, params object[] args) where TAsset : Asset\n {\n using var _ = ApiCallSource.StartExternalCall();\n return ImportInner<TAsset>(assetType, stream, targetPath, name, perm, sourcePath, args);\n }\n\n internal static TAsset? ImportInner<TAsset>(string assetType, Stream stream, string targetPath, string name,\n Permissions perm, string sourcePath, params object[] args) where TAsset : Asset\n {\n return (TAsset?)ImportInner(assetType, stream, targetPath, name, perm, sourcePath, args);\n }\n\n #region Lazy Imports\n\n [ExposedApi]\n public static LazyAsset? ImportLazy(string assetType, bool createOnFail, string targetPath, string name, Permissions perm, string sourcePath, params object[] args)\n {\n using var _ = ApiCallSource.StartExternalCall();\n return ImportLazyInner(assetType, createOnFail, targetPath, name, perm, sourcePath, args);\n }\n\n internal static LazyAsset? ImportLazyInner(string assetType, bool createOnFail, string targetPath, string name, Permissions perm, string sourcePath, params object[] args)\n {\n return (LazyAsset?)InnerInstance.Import(assetType, createOnFail, true, null, targetPath, name, perm, sourcePath, args);\n }\n\n [ExposedApi]\n public static LazyAsset? ImportLazy(string assetType, Stream stream, string targetPath, string name,\n Permissions perm, string sourcePath, params object[] args)\n {\n using var _ = ApiCallSource.StartExternalCall();\n return ImportLazyInner(assetType, stream, targetPath, name, perm, sourcePath, args);\n }\n\n internal static LazyAsset? ImportLazyInner(string assetType, Stream stream, string targetPath, string name,\n Permissions perm, string sourcePath, params object[] args)\n {\n return (LazyAsset?)InnerInstance.Import(assetType, false, true, stream, targetPath, name, perm, sourcePath, args);\n }\n\n #endregion\n\n #endregion\n\n public static string? GetTypeFromFileExtension(string fileName)\n {\n return InnerInstance.GetTypeFromFileExtension(fileName);\n }\n\n /// <summary>\n /// Implementation of the public API of the AssetManager\n /// </summary>\n private class Inner\n {\n private Inner()\n {\n AssetHandlers = new Dictionary<string, Dictionary<string, HandlerFunc>>();\n FileExtensionAssetTypes = new Dictionary<string, string>();\n\n RegisterAssetType(\"text/plain\", new[]{\".txt\"},\n (name, perms, sourcePath, args) =>\n {\n if (args.Length != 0)\n throw new Exception(\"Import of text/plain asset: wrong number of arguments\");\n return new TextAsset(name, perms, sourcePath);\n });\n\n RegisterAssetType(\"text/xml\", new[] { \".xml\" },\n (name, perm, sourcePath, args) =>\n {\n if (args.Length != 0)\n throw new Exception(\"Import of text/xml asset: wrong number of arguments\");\n return new XmlAsset(name, perm, sourcePath);\n });\n\n RegisterAssetType(\"text/json\", new[] { \".json\" },\n (name, perm, sourcePath, args) =>\n {\n if (args.Length != 0)\n throw new Exception(\"Import of text/json asset: wrong number of arguments\");\n return new JsonAsset(name, perm, sourcePath);\n });\n\n RegisterAssetType(\"text/uss\", new[] { \".uss\" },\n (name, perm, sourcePath, args) =>\n {\n if (args.Length != 0)\n throw new Exception(\"Import of text/uss asset: wrong number of arguments\");\n return new UssAsset(name, perm, sourcePath);\n });\n\n RegisterAssetType(\"image/sprite\", new[] { \".png\", \".jpeg\" },\n (name, perm, sourcePath, args) =>\n {\n if (args.Length != 0)\n throw new Exception(\"Import of image/sprite asset: wrong number of arguments\");\n return new SpriteAsset(name, perm, sourcePath);\n });\n \n RegisterAssetType(\"text/uxml\", new[] { \".uxml\" },\n (name, perm, sourcePath, args) =>\n {\n if (args.Length != 0)\n throw new Exception(\"Import of text/uxml asset: wrong number of arguments\");\n return new VisualElementAsset(name, perm, sourcePath);\n });\n\n // RegisterAssetType(\"text/gltf\", new[] { \".gltf\", \".glb\" },\n // (name, perm, sourcePath, args) =>\n // {\n // if (args.Length != 0)\n // throw new Exception(\"Import of text/gltf asset: wrong number of arguments\");\n // return new GltfAsset(name, perm, sourcePath);\n // });\n RegisterAssetType(\"audio/wav\", new[] { \".wav\" },\n (name, perm, sourcePath, args) =>\n {\n if (args.Length != 0)\n throw new Exception(\"Import of audio/wav asset: wrong number of arguments\");\n return new AudioClipAsset(name, perm, sourcePath);\n });\n }\n\n private Dictionary<string, Dictionary<string, HandlerFunc>> AssetHandlers { get; }\n private Dictionary<string, string> FileExtensionAssetTypes { get; }\n\n /// <summary>\n /// Split a media type into type and subtype\n /// \n /// Example: \"text/plain\" => \"test\" \"plain\"\n /// </summary>\n /// <param name=\"assetType\"></param>\n /// <returns></returns>\n private string[] SplitAssetType(string assetType)\n {\n var types = assetType.Split('/');\n if (types.Length != 2)\n {\n throw new Exception(\"Splitting asset type: wrong type format\");\n }\n return types;\n }\n\n public void RegisterAssetType(string assetType, string[] fileExtensions, HandlerFunc handler)\n {\n string[] types = SplitAssetType(assetType);\n RegisterAsset(types[0], types[1], fileExtensions, handler);\n }\n\n public void RegisterAsset(string type, string subtype, string[] fileExtensions, HandlerFunc handler)\n {\n if(AssetHandlers.ContainsKey(type) && AssetHandlers[type].ContainsKey(subtype))\n {\n throw new Exception($\"Registering duplicate handler for {type}/{subtype}\");\n }\n\n if (!AssetHandlers.ContainsKey(type))\n {\n AssetHandlers[type] = new Dictionary<string, HandlerFunc>();\n }\n\n foreach (var fileExtension in fileExtensions)\n {\n if (FileExtensionAssetTypes.ContainsKey(fileExtension))\n {\n throw new Exception($\"Registering duplicate handler for asset type with file extension {fileExtension}\");\n }\n FileExtensionAssetTypes[fileExtension] = type + \"/\" + subtype;\n }\n\n AssetHandlers[type][subtype] = handler;\n }\n\n public Asset? GetAsset(string targetPath) => (Asset?)FileSystem.TraverseInner(targetPath);\n\n public string? GetTypeFromFileExtension(string fileName)\n {\n return FileExtensionAssetTypes.TryGetValue(Path.GetExtension(fileName), out string type) ? type : null;\n }\n\n public Asset? Import(string assetType, bool createOnFail, bool lazyImport, Stream? sourceStream, string targetPath, string name,\n Permissions perm, string sourcePath, params object[] args)\n {\n var types = SplitAssetType(assetType);\n return Import(types[0], types[1], createOnFail, lazyImport, sourceStream, targetPath, name, perm, sourcePath, args);\n }\n\n public Asset? Import(string type, string subtype, bool createOnFail, bool lazyImport, Stream? sourceStream, string targetPath,\n string name, Permissions perm, string sourcePath, params object[] args)\n {\n if (!AssetHandlers.ContainsKey(type) || !AssetHandlers[type].ContainsKey(subtype))\n {\n throw new Exception($\"Importing asset with unregistered type {type}/{subtype}\");\n }\n\n string path = FileSystem.BasePath + sourcePath;\n\n if (sourceStream == null && sourcePath != \"\") // We need to read it\n {\n if (!File.Exists(path))\n {\n if (createOnFail)\n {\n System.IO.Directory.CreateDirectory(Path.GetDirectoryName(path));\n sourceStream = File.Create(path);\n }\n }\n else\n {\n sourceStream = File.Open(path, FileMode.Open, FileAccess.ReadWrite);\n }\n\n if (sourceStream == null)\n {\n throw new SynthesisException(\"Source stream for import is empty\");\n }\n }\n\n Asset? newAsset = AssetHandlers[type][subtype](name, perm, path, args);\n\n if (newAsset == null)\n {\n return null;\n }\n\n EventBus.EventBus.Push(AssetImportEvent.Tag, new AssetImportEvent(name, targetPath, type + \"/\" + subtype));\n\n if (lazyImport)\n {\n if (sourceStream == null) {\n // I have no clue if this is true but apparently so.\n throw new Exception(\"Cannot load a lazy asset without a source stream.\");\n }\n LazyAsset lazyAsset = new LazyAsset(newAsset, sourceStream, targetPath);\n return (Asset?)FileSystem.AddEntry(targetPath, lazyAsset.Load(new byte[0]));\n }\n\n byte[] data = new byte[0];\n if (sourceStream != null)\n {\n int streamLength = (int)sourceStream.Length;\n\n data = new byte[streamLength];\n sourceStream.Read(data, 0, streamLength);\n\n sourceStream.Close();\n }\n\n // TODO make it so we don't have to allocate twice the size of the asset every\n // time we import it (i.e. a 500 KB asset will result in 1000 KB of allocation)\n return (Asset?)FileSystem.AddEntry(targetPath, newAsset.Load(data));\n }\n\n public static readonly Inner InnerInstance = new Inner();\n }\n private static Inner InnerInstance => Inner.InnerInstance;\n }\n}<file_sep>using System;\nusing SynthesisAPI.AssetManager;\nusing SynthesisAPI.UIManager.VisualElements;\n\n#nullable enable\n\nnamespace SynthesisAPI.UIManager.UIComponents\n{\n public struct Tab\n {\n public string Name { get; private set; }\n public VisualElementAsset ToobarAsset { get; private set; }\n public BindToolbarDelegate BindToolbar { get; set; }\n public bool CacheToolbar { get; set; }\n internal VisualElement? ToolbarElement;\n internal Button? buttonElement;\n\n public delegate void BindToolbarDelegate(VisualElement toolbarElement);\n\n public Tab(string name, VisualElementAsset toolbarAsset, BindToolbarDelegate bindToolbar, bool cacheToolbar = true)\n {\n Name = name;\n BindToolbar = bindToolbar;\n ToobarAsset = toolbarAsset;\n CacheToolbar = cacheToolbar;\n ToolbarElement = null;\n buttonElement = null;\n }\n }\n}<file_sep>from .Utilities import guid_component, guid_occurrence\nfrom ...general_imports import *\nimport adsk.core, adsk.fusion, traceback, logging, enum\nfrom typing import *\nfrom .. import ParseOptions\nfrom .PDMessage import PDMessage\nfrom proto.proto_out import types_pb2, joint_pb2\n\n\n# ____________________________ DATA TYPES __________________\n\n\n# this is more of a tree - todo rewrite\nclass GraphNode:\n def __init__(self, data: any):\n self.data = data\n self.previous = None\n self.edges = list()\n\n def iter(self, filter_relationship=[]):\n \"\"\"Generator for Node Iterator that does not have the given relationship\n\n Args:\n filter_relationship (list): list of all unwanted relationships\n\n Yields:\n GraphNode: node instance\n \"\"\"\n yield self\n for edge in self.edges:\n if edge.relationship not in filter_relationship:\n yield from edge.node.iter(filter_relationship=filter_relationship)\n\n def __iter__(self):\n for edge in self.edges:\n yield edge.node\n\n def allChildren(self):\n nodes = [self]\n for edge in self.edges:\n nodes.extend(edge.node.allNodes())\n return nodes\n\n\nclass GraphEdge:\n def __init__(self, relationship: enum.Enum, node: GraphNode):\n \"\"\"A GraphEdge representing a edge in the GraphNode\n\n Args:\n relationship (enum.Enum): Relationship that can be used as a filter\n node (GraphNode): Node to be linked\n \"\"\"\n self.relationship = relationship\n self.node = node\n\n def print(self):\n print(f\"Edge Containing {self.relationship.name} -> {self.node}\")\n\n def __iter__(self):\n \"\"\"Iterator for Edges within this edge\n\n Yields:\n GraphEdge: Edges in the node connected\n \"\"\"\n return (edge for edge in self.node.edges)\n\n\nclass OccurrenceRelationship(enum.Enum):\n TRANSFORM = 1 # As in hierarchy parenting\n CONNECTION = 2 # As in a rigid joint or other designator\n GROUP = 3 # As in a Rigid Grouping\n NEXT = 4 # As in next_joint in list\n END = 5 # Orphaned child relationship\n\n\nclass JointRelationship(enum.Enum):\n GROUND = 1 # This currently has no bearing\n ROTATIONAL = 2 # This currently has no bearing\n\n\n# ______________________ INDIVIDUAL JOINT CHAINS ____________________________\n\n\nclass DynamicOccurrenceNode(GraphNode):\n def __init__(self, occurrence: adsk.fusion.Occurrence, isGround=False, previous=None):\n super().__init__(occurrence)\n self.isGround = isGround\n self.name = occurrence.name\n\n def print(self):\n print(f\"\\n\\t-------{self.data.name}-------\")\n for edge in self.edges:\n edge.print()\n\n def getConnectedAxis(self) -> list:\n \"\"\"Gets all Axis with the NEXT relationship\n\n Returns:\n list: list of Occurrences\n \"\"\"\n nextItems = list()\n for edge in self.edges:\n if edge.relationship == OccurrenceRelationship.NEXT:\n nextItems.append(edge.node.data)\n else:\n nextItems.extend(edge.node.getConnectedAxis())\n return nextItems\n\n def getConnectedAxisTokens(self) -> list:\n \"\"\"Gets all Axis with the NEXT relationship\n\n Returns:\n list: list of Occurrences\n \"\"\"\n nextItems = list()\n for edge in self.edges:\n if edge.relationship == OccurrenceRelationship.NEXT:\n nextItems.append(edge.node.data.entityToken)\n else:\n nextItems.extend(edge.node.getConnectedAxisTokens())\n return nextItems\n\n\nclass DynamicEdge(GraphEdge):\n def __init__(self, relationship: OccurrenceRelationship, node: DynamicOccurrenceNode):\n super().__init__(relationship, node)\n\n # should print all in this class\n def print(self):\n print(f\"\\t\\t - {self.relationship.name} -> {self.node.data.name}\")\n self.node.print()\n\n\n# ______________________ ENTIRE SIMULATION STRUCTURE _______________________\n\n\nclass SimulationNode(GraphNode):\n def __init__(\n self,\n dynamicJoint: DynamicOccurrenceNode,\n joint: adsk.fusion.Joint,\n grounded=False,\n ):\n super().__init__(dynamicJoint)\n self.joint = joint\n self.grounded = grounded\n\n if self.grounded:\n self.name = \"Grounded\"\n else:\n self.name = self.joint.name\n\n def print(self):\n print(f\"Simulation Node for joint : {self.name} \")\n\n def printLink(self):\n if self.grounded:\n print(f\"GROUND -- {self.data.data.name}\")\n else:\n print(f\"--> {self.data.data.name}\")\n\n for edge in self.edges:\n edge.node.printLink()\n\n\nclass SimulationEdge(GraphEdge):\n def __init__(self, relationship: JointRelationship, node: SimulationNode):\n super().__init__(relationship, node)\n\n\n# ______________________________ PARSER ___________________________________\n\n\nclass JointParser:\n def __init__(self, design):\n # Create hierarchy with just joint assembly\n # - Assembly\n # - Grounded\n # - Axis 1\n # - Axis 2\n # - Axis 3\n\n # 1. Find all Dynamic joint items to isolate [o]\n # 2. Find the grounded component [x] (possible - not optimized)\n # 3. Populate tree with all items from each set of joints [x] (done with grounding)\n # - 3. a) Each Child element with no joints [x]\n # - 3. b) Each Rigid Joint Connection [x]\n # 4. Link Joint trees by discovery from root [x]\n # 5. Record which trees have no children for creating end effectors [x] (next up) - this kinda already exists\n\n # Need to investigate creating an additional button for end effector possibly\n # It might be possible to have multiple end effectors\n # Total Number of final elements\n\n self.current = None\n self.previousJoint = None\n\n self.design = design\n\n # this can be dynamically assigned if we want\n self.grounded = searchForGrounded(design.rootComponent)\n\n if self.grounded is None:\n gm.ui.messageBox(\n \"There is not currently a Grounded Component in the assembly, stopping kinematic export.\"\n )\n raise RuntimeWarning(\"There is no grounded component\")\n return\n\n self.logger = logging.getLogger(\"{INTERNAL_ID}.Parser.Joints.Parser\")\n\n self.currentTraversal = dict()\n self.groundedConnections = []\n\n # populate the rigidJoints connected to a given occurrence\n self.rigidJoints = dict()\n # populate all joints\n self.dynamicJoints = dict()\n\n self.simulationNodesRef = dict()\n\n # TODO: need to look through every single joint and find the starting point that is connected to ground\n # Next add that occurrence to the graph and then traverse down that path etc\n self.__getAllJoints()\n\n # dynamic joint node for grounded components and static components\n rootNode = self._populateNode(self.grounded, None, None, is_ground=True)\n self.groundSimNode = SimulationNode(rootNode, None, grounded=True)\n\n self.simulationNodesRef[\"GROUND\"] = self.groundSimNode\n\n # combine all ground prior to this possibly\n self._lookForGroundedJoints()\n\n # creates the axis elements - adds all elements to axisNodes\n for key, value in self.dynamicJoints.items():\n self._populateAxis(key, value)\n\n self._linkAllAxis()\n\n # self.groundSimNode.printLink()\n\n def __getAllJoints(self):\n for joint in list(self.design.rootComponent.allJoints) + list(\n self.design.rootComponent.allAsBuiltJoints\n ):\n try:\n if joint and joint.occurrenceOne and joint.occurrenceTwo:\n occurrenceOne = joint.occurrenceOne\n occurrenceTwo = joint.occurrenceTwo\n else:\n return None\n\n if occurrenceOne is None:\n try:\n occurrenceOne = (\n joint.geometryOrOriginOne.entityOne.assemblyContext\n )\n except:\n pass\n\n if occurrenceTwo is None:\n try:\n occurrenceTwo = (\n joint.geometryOrOriginTwo.entityOne.assemblyContext\n )\n except:\n pass\n\n oneEntityToken = \"\"\n twoEntityToken = \"\"\n\n try:\n oneEntityToken = occurrenceOne.entityToken\n except:\n oneEntityToken = occurrenceOne.name\n\n try:\n twoEntityToken = occurrenceTwo.entityToken\n except:\n twoEntityToken = occurrenceTwo.name\n\n typeJoint = joint.jointMotion.jointType\n\n if typeJoint != 0:\n if oneEntityToken not in self.dynamicJoints.keys():\n self.dynamicJoints[oneEntityToken] = joint\n\n if occurrenceTwo is None and occurrenceOne is None:\n self.logger.error(\n f\"Occurrences that connect joints could not be found\\n\\t1: {occurrenceOne}\\n\\t2: {occurrenceTwo}\"\n )\n return None\n else:\n if oneEntityToken == self.grounded.entityToken:\n self.groundedConnections.append(occurrenceTwo)\n elif twoEntityToken == self.grounded.entityToken:\n self.groundedConnections.append(occurrenceOne)\n\n except:\n self.logger.error(\"Failed:\\n{}\".format(traceback.format_exc()))\n continue\n\n def _linkAllAxis(self):\n # looks through each simulation nood starting with ground and orders them using edges\n # self.groundSimNode is ground\n self._recurseLink(self.groundSimNode)\n\n def _recurseLink(self, simNode: SimulationNode):\n connectedAxisNodes = [\n self.simulationNodesRef.get(componentKeys, None)\n for componentKeys in simNode.data.getConnectedAxisTokens()\n ]\n for connectedAxis in connectedAxisNodes:\n # connected is the occurrence\n if connectedAxis is not None:\n edge = SimulationEdge(JointRelationship.GROUND, connectedAxis)\n simNode.edges.append(edge)\n self._recurseLink(connectedAxis)\n\n def _lookForGroundedJoints(self):\n grounded_token = self.grounded.entityToken\n rootDynamicJoint = self.groundSimNode.data\n\n for grounded_connect in self.groundedConnections:\n self.currentTraversal = dict()\n self._populateNode(\n grounded_connect,\n rootDynamicJoint,\n OccurrenceRelationship.CONNECTION,\n is_ground=False,\n )\n\n def _populateAxis(self, occ_token: str, joint: adsk.fusion.Joint):\n occ = self.design.findEntityByToken(occ_token)[0]\n\n if occ is None:\n return\n\n self.currentTraversal = dict()\n\n rootNode = self._populateNode(occ, None, None)\n\n if rootNode is not None:\n axisNode = SimulationNode(rootNode, joint)\n self.simulationNodesRef[occ_token] = axisNode\n\n def _populateNode(\n self,\n occ: adsk.fusion.Occurrence,\n prev: DynamicOccurrenceNode,\n relationship: OccurrenceRelationship,\n is_ground=False,\n ):\n if occ.isGrounded and not is_ground:\n return\n elif (relationship == OccurrenceRelationship.NEXT) and (prev is not None):\n node = DynamicOccurrenceNode(occ)\n edge = DynamicEdge(relationship, node)\n prev.edges.append(edge)\n return\n elif (\n (occ.entityToken in self.dynamicJoints.keys()) and (prev is not None)\n ) or self.currentTraversal.get(occ.entityToken) is not None:\n return\n\n node = DynamicOccurrenceNode(occ)\n\n self.currentTraversal[occ.entityToken] = True\n\n for occurrence in occ.childOccurrences:\n self._populateNode(\n occurrence, node, OccurrenceRelationship.TRANSFORM, is_ground=is_ground\n )\n\n # if not is_ground: # THIS IS A BUG - OCCURRENCE ACCESS VIOLATION\n try:\n for joint in occ.joints:\n if joint and joint.occurrenceOne and joint.occurrenceTwo:\n occurrenceOne = joint.occurrenceOne\n occurrenceTwo = joint.occurrenceTwo\n connection = None\n rigid = joint.jointMotion.jointType == 0\n\n if rigid:\n if joint.occurrenceOne == occ:\n connection = joint.occurrenceTwo\n if joint.occurrenceTwo == occ:\n connection = joint.occurrenceOne\n else:\n if joint.occurrenceOne != occ:\n connection = joint.occurrenceOne\n\n if connection is not None:\n if (\n prev is None\n or connection.entityToken != prev.data.entityToken\n ):\n self._populateNode(\n connection,\n node,\n (\n OccurrenceRelationship.CONNECTION\n if rigid\n else OccurrenceRelationship.NEXT\n ),\n is_ground=is_ground,\n )\n else:\n continue\n except:\n pass # This is to temporarily bypass the bug\n\n if prev is not None:\n edge = DynamicEdge(relationship, node)\n prev.edges.append(edge)\n\n self.currentTraversal[occ.entityToken] = node\n return node\n\n\ndef searchForGrounded(occ: adsk.fusion.Occurrence) -> Union[adsk.fusion.Occurrence, None]:\n \"\"\"Search for a grounded component or occurrence in the assembly\n\n Args:\n occ (adsk.fusion.Occurrence): start point\n\n Returns:\n Union(adsk.fusion.Occurrence, None): Either a grounded part or nothing\n \"\"\"\n if occ.objectType == \"adsk::fusion::Component\":\n # this makes it possible to search an object twice (unoptimized)\n collection = occ.allOccurrences\n\n # components cannot be grounded technically\n\n else: # Object is an occurrence\n if occ.isGrounded:\n return occ\n\n collection = occ.childOccurrences\n\n for occ in collection:\n searched = searchForGrounded(occ)\n\n if searched != None:\n return searched\n\n return None\n\n\n# ________________________ Build implementation ______________________ #\n\n\ndef BuildJointPartHierarchy(\n design: adsk.fusion.Design,\n joints: joint_pb2.Joints,\n options: ParseOptions,\n progressDialog: PDMessage,\n):\n try:\n progressDialog.currentMessage = f\"Constructing Simulation Hierarchy\"\n progressDialog.update()\n\n jointParser = JointParser(design)\n rootSimNode = jointParser.groundSimNode\n\n populateJoint(rootSimNode, joints, progressDialog)\n\n # 1. Get Node\n # 2. Get Transform of current Node\n # 3. Set Transform\n # 4. SimNode.data contains list of all affected bodies\n # 5. Occurrence Relationship indicates how this SimNode is connected (for instance is this a rigid connection or directly parented)\n # 6.\n # 4. For each child\n\n # now add each wheel to the root I believe\n\n if progressDialog.wasCancelled():\n raise RuntimeError(\"User canceled export\")\n\n except Warning:\n return False\n except:\n logging.getLogger(f\"{INTERNAL_ID}.JointHierarchy\").error(\n \"Failed:\\n{}\".format(traceback.format_exc())\n )\n\n\ndef populateJoint(simNode: SimulationNode, joints: joint_pb2.Joints, progressDialog):\n if progressDialog.wasCancelled():\n raise RuntimeError(\"User canceled export\")\n\n if not simNode.joint:\n proto_joint = joints.joint_instances[\"grounded\"]\n else:\n proto_joint = joints.joint_instances[simNode.joint.entityToken]\n\n progressDialog.currentMessage = f\"Linking Parts to Joint: {proto_joint.info.name}\"\n progressDialog.update()\n\n if not proto_joint:\n logging.getLogger(f\"{INTERNAL_ID}.JointHierarchy\").error(\n f\"Could not find protobuf joint for {simNode.name}\"\n )\n return\n\n root = types_pb2.Node()\n\n # if DEBUG:\n # print(f\"Configuring {proto_joint.info.name}\")\n\n # construct body tree if possible\n createTreeParts(simNode.data, OccurrenceRelationship.CONNECTION, root, progressDialog)\n\n proto_joint.parts.nodes.append(root)\n\n # next in line to be populated\n for edge in simNode.edges:\n populateJoint(edge.node, joints, progressDialog)\n\n\ndef createTreeParts(\n dynNode: DynamicOccurrenceNode,\n relationship: OccurrenceRelationship,\n node: types_pb2.Node,\n progressDialog,\n):\n if progressDialog.wasCancelled():\n raise RuntimeError(\"User canceled export\")\n\n # if it's the next part just exit early for our own sanity\n if relationship == OccurrenceRelationship.NEXT or dynNode.data.isLightBulbOn == False:\n return\n\n # set the occurrence / component id to reference the part\n\n try:\n objectType = dynNode.data.objectType\n except:\n objectType = \"\"\n\n if objectType == \"adsk::fusion::Occurrence\":\n node.value = guid_occurrence(dynNode.data)\n elif objectType == \"adsk::fusion::Component\":\n node.value = guid_component(dynNode.data)\n else:\n try:\n node.value = dynNode.data.entityToken\n except RuntimeError:\n node.value = dynNode.data.name\n\n # if DEBUG:\n # print(f\" -- {dynNode.data.name} + rel : {relationship}\\n\")\n\n # possibly add additional information for the type of connection made\n # recurse and add all children connections\n for edge in dynNode.edges:\n child_node = types_pb2.Node()\n createTreeParts(edge.node, edge.relationship, child_node, progressDialog)\n node.children.append(child_node)\n<file_sep>'''\nfrom curses.textpad import Textbox\nimport adsk.fusion, adsk.core, traceback\nfrom ..general_imports import *\nfrom . import IconPaths, OsHelper\nfrom . ConfigCommand import *\n\ndef addWheelToTable(wheel: adsk.fusion.Joint) -> None:\n \"\"\"### Adds a wheel joint to its global list and wheel table.\n\n Args:\n wheel (adsk.fusion.Joint): wheel Joint object to be added.\n \"\"\"\n try:\n onSelect = gm.handlers[3]\n wheelTableInput = INPUTS_ROOT.itemById(\"wheel_table\")\n \n # def addPreselections(child_occurrences):\n # for occ in child_occurrences:\n # onSelect.allWheelPreselections.append(occ.entityToken)\n\n # if occ.childOccurrences:\n # addPreselections(occ.childOccurrences)\n\n # if wheel.childOccurrences: \n # addPreselections(wheel.childOccurrences)\n # else:\n # onSelect.allWheelPreselections.append(wheel.entityToken)\n onSelect.allWheelPreselections.append(wheel.entityToken)\n\n WheelListGlobal.append(wheel)\n cmdInputs = adsk.core.CommandInputs.cast(wheelTableInput.commandInputs)\n\n icon = cmdInputs.addImageCommandInput(\n \"placeholder_w\", \"Placeholder\", IconPaths.wheelIcons[\"standard\"]\n )\n\n name = cmdInputs.addTextBoxCommandInput(\n \"name_w\", \"Joint name\", wheel.name, 1, True\n )\n name.tooltip = wheel.name\n\n wheelType = cmdInputs.addDropDownCommandInput(\n \"wheel_type_w\",\n \"Wheel Type\",\n dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle,\n )\n wheelType.listItems.add(\"Standard\", True, \"\")\n wheelType.listItems.add(\"Omni\", False, \"\")\n wheelType.listItems.add(\"Mecanum\", False, \"\")\n wheelType.tooltip = \"Wheel type\"\n wheelType.tooltipDescription = \"<Br>Omni-directional wheels can be used just like regular drive wheels but they have the advantage of being able to roll freely perpendicular to the drive direction.</Br>\"\n wheelType.toolClipFilename = OsHelper.getOSPath(\".\", \"src\", \"Resources\") + os.path.join(\"WheelIcons\", \"omni-wheel-preview.png\")\n\n signalType = cmdInputs.addDropDownCommandInput(\n \"signal_type_w\",\n \"Signal Type\",\n dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle,\n )\n signalType.isFullWidth = True\n signalType.listItems.add(\"\", True, IconPaths.signalIcons[\"PWM\"])\n signalType.listItems.add(\"\", False, IconPaths.signalIcons[\"CAN\"])\n signalType.listItems.add(\"\", False, IconPaths.signalIcons[\"PASSIVE\"])\n signalType.tooltip = \"Signal type\"\n\n row = wheelTableInput.rowCount\n\n wheelTableInput.addCommandInput(icon, row, 0)\n wheelTableInput.addCommandInput(name, row, 1)\n wheelTableInput.addCommandInput(wheelType, row, 2)\n wheelTableInput.addCommandInput(signalType, row, 3)\n\n except:\n logging.getLogger(\"{INTERNAL_ID}.UI.ConfigCommand.addWheelToTable()\").error(\n \"Failed:\\n{}\".format(traceback.format_exc())\n )\n\ndef addJointToTable(joint: adsk.fusion.Joint) -> None:\n \"\"\"### Adds a Joint object to its global list and joint table.\n\n Args:\n joint (adsk.fusion.Joint): Joint object to be added\n \"\"\"\n try:\n JointListGlobal.append(joint)\n jointTableInput = INPUTS_ROOT.itemById(\"joint_table\")\n cmdInputs = adsk.core.CommandInputs.cast(jointTableInput.commandInputs)\n\n # joint type icons\n if joint.jointMotion.jointType == adsk.fusion.JointTypes.RigidJointType:\n icon = cmdInputs.addImageCommandInput(\n \"placeholder\", \"Rigid\", IconPaths.jointIcons[\"rigid\"]\n )\n icon.tooltip = \"Rigid joint\"\n\n elif joint.jointMotion.jointType == adsk.fusion.JointTypes.RevoluteJointType:\n icon = cmdInputs.addImageCommandInput(\n \"placeholder\", \"Revolute\", IconPaths.jointIcons[\"revolute\"]\n )\n icon.tooltip = \"Revolute joint\"\n\n elif joint.jointMotion.jointType == adsk.fusion.JointTypes.SliderJointType:\n icon = cmdInputs.addImageCommandInput(\n \"placeholder\", \"Slider\", IconPaths.jointIcons[\"slider\"]\n )\n icon.tooltip = \"Slider joint\"\n\n elif joint.jointMotion.jointType == adsk.fusion.JointTypes.PlanarJointType:\n icon = cmdInputs.addImageCommandInput(\n \"placeholder\", \"Planar\", IconPaths.jointIcons[\"planar\"]\n )\n icon.tooltip = \"Planar joint\"\n\n elif joint.jointMotion.jointType == adsk.fusion.JointTypes.PinSlotJointType:\n icon = cmdInputs.addImageCommandInput(\n \"placeholder\", \"Pin Slot\", IconPaths.jointIcons[\"pin_slot\"]\n )\n icon.tooltip = \"Pin slot joint\"\n\n elif joint.jointMotion.jointType == adsk.fusion.JointTypes.CylindricalJointType:\n icon = cmdInputs.addImageCommandInput(\n \"placeholder\", \"Cylindrical\", IconPaths.jointIcons[\"cylindrical\"]\n )\n icon.tooltip = \"Cylindrical joint\"\n\n elif joint.jointMotion.jointType == adsk.fusion.JointTypes.BallJointType:\n icon = cmdInputs.addImageCommandInput(\n \"placeholder\", \"Ball\", IconPaths.jointIcons[\"ball\"]\n )\n icon.tooltip = \"Ball joint\"\n\n # joint name\n name = cmdInputs.addTextBoxCommandInput(\n \"name_j\", \"Occurrence name\", \"\", 1, True\n )\n name.tooltip = joint.name\n name.formattedText = \"<p style='font-size:11px'>{}</p>\".format(joint.name)\n\n jointType = cmdInputs.addDropDownCommandInput(\n \"joint_parent\",\n \"Joint Type\",\n dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle,\n )\n jointType.isFullWidth = True\n jointType.listItems.add(\"Root\", True)\n\n # after each additional joint added, add joint to the dropdown of all preview rows/joints\n for row in range(jointTableInput.rowCount):\n if row != 0:\n dropDown = jointTableInput.getInputAtPosition(row, 2)\n dropDown.listItems.add(JointListGlobal[-1].name, False)\n\n # add all parent joint options to added joint dropdown\n for j in range(len(JointListGlobal) - 1):\n jointType.listItems.add(JointListGlobal[j].name, False)\n\n jointType.tooltip = \"Possible parent joints\"\n jointType.tooltipDescription = \"<hr>The root component is usually the parent.\"\n\n signalType = cmdInputs.addDropDownCommandInput(\n \"signal_type\",\n \"Signal Type\",\n dropDownStyle=adsk.core.DropDownStyles.LabeledIconDropDownStyle,\n )\n signalType.listItems.add(\"\", True, IconPaths.signalIcons[\"PWM\"])\n signalType.listItems.add(\"\", False, IconPaths.signalIcons[\"CAN\"])\n signalType.listItems.add(\"\", False, IconPaths.signalIcons[\"PASSIVE\"])\n signalType.tooltip = \"Signal type\"\n\n defaultMotorSpeed = adsk.core.ValueInput()\n defaultMotorSpeed.realValue = 90\n testMotorSpeed = cmdInputs.addTextBoxCommandInput(\n \"test_j\", \"Omfg\", \"\", 1, True\n )\n testMotorSpeed.formattedText = 'j'\n\n row = jointTableInput.rowCount\n\n jointTableInput.addCommandInput(icon, row, 0)\n jointTableInput.addCommandInput(name, row, 1)\n jointTableInput.addCommandInput(jointType, row, 2)\n jointTableInput.addCommandInput(signalType, row, 3)\n jointTableInput.addCommandInput(testMotorSpeed, row, 4)\n except:\n logging.getLogger(\"{INTERNAL_ID}.UI.ConfigCommand.addJointToTable()\").error(\n \"Failed:\\n{}\".format(traceback.format_exc())\n )\n\ndef addGamepieceToTable(gamepiece: adsk.fusion.Occurrence) -> None:\n \"\"\"### Adds a gamepiece occurrence to its global list and gamepiece table.\n\n Args:\n gamepiece (adsk.fusion.Occurrence): Gamepiece occurrence to be added\n \"\"\"\n try:\n onSelect = gm.handlers[3]\n gamepieceTableInput = INPUTS_ROOT.itemById(\"gamepiece_table\")\n def addPreselections(child_occurrences):\n for occ in child_occurrences:\n onSelect.allGamepiecePreselections.append(occ.entityToken)\n \n if occ.childOccurrences:\n addPreselections(occ.childOccurrences)\n\n if gamepiece.childOccurrences:\n addPreselections(gamepiece.childOccurrences)\n else:\n onSelect.allGamepiecePreselections.append(gamepiece.entityToken)\n\n GamepieceListGlobal.append(gamepiece)\n cmdInputs = adsk.core.CommandInputs.cast(gamepieceTableInput.commandInputs)\n blankIcon = cmdInputs.addImageCommandInput(\n \"blank_gp\", \"Blank\", IconPaths.gamepieceIcons[\"blank\"]\n )\n\n type = cmdInputs.addTextBoxCommandInput(\n \"name_gp\", \"Occurrence name\", gamepiece.name, 1, True\n )\n\n value = 0.0\n physical = gamepiece.component.getPhysicalProperties(\n adsk.fusion.CalculationAccuracy.LowCalculationAccuracy\n )\n value = physical.mass\n\n # check if dropdown unit is kg or lbs. bool value taken from ConfigureCommandInputChanged\n massUnitInString = \"\"\n onInputChanged = gm.handlers[1]\n if onInputChanged.isLbs_f:\n value = round(\n value * 2.2046226218, 2 # lbs\n )\n massUnitInString = \"<tt>(in pounds)</tt>\"\n else:\n value = round(\n value, 2 # kg\n )\n massUnitInString = \"<tt>(in kilograms)</tt>\"\n\n weight = cmdInputs.addValueInput(\n \"weight_gp\", \"Weight Input\", \"\", adsk.core.ValueInput.createByString(str(value))\n )\n\n valueList = [1]\n for i in range(20):\n valueList.append(i / 20)\n\n friction_coeff = cmdInputs.addFloatSliderListCommandInput(\n \"friction_coeff\", \"\", \"\", valueList\n )\n friction_coeff.valueOne = 0.5\n \n type.tooltip = gamepiece.name\n\n weight.tooltip = \"Weight of field element\"\n weight.tooltipDescription = massUnitInString\n\n friction_coeff.tooltip = \"Friction coefficient of field element\"\n friction_coeff.tooltipDescription = (\n \"<i>Friction coefficients range from 0 (ice) to 1 (rubber).</i>\"\n )\n row = gamepieceTableInput.rowCount\n\n gamepieceTableInput.addCommandInput(blankIcon, row, 0)\n gamepieceTableInput.addCommandInput(type, row, 1)\n gamepieceTableInput.addCommandInput(weight, row, 2)\n gamepieceTableInput.addCommandInput(friction_coeff, row, 3)\n except:\n logging.getLogger(\"{INTERNAL_ID}.UI.ConfigCommand.addGamepieceToTable()\").error(\n \"Failed:\\n{}\".format(traceback.format_exc())\n )\n\ndef removeWheelFromTable(index: int) -> None:\n \"\"\"### Removes a wheel occurrence from its global list and wheel table.\n\n Args:\n index (int): index of wheel item in its global list\n \"\"\"\n try:\n onSelect = gm.handlers[3]\n wheelTableInput = INPUTS_ROOT.itemById(\"wheel_table\")\n wheel = WheelListGlobal[index]\n\n def removePreselections(child_occurrences):\n for occ in child_occurrences:\n onSelect.allWheelPreselections.remove(occ.entityToken)\n\n if occ.childOccurrences:\n removePreselections(occ.childOccurrences)\n\n if wheel.childOccurrences:\n removePreselections(wheel.childOccurrences)\n else:\n onSelect.allWheelPreselections.remove(wheel.entityToken)\n\n del WheelListGlobal[index]\n wheelTableInput.deleteRow(index + 1)\n\n #updateJointTable(wheel)\n except IndexError:\n pass\n except:\n logging.getLogger(\"{INTERNAL_ID}.UI.ConfigCommand.removeWheelFromTable()\").error(\n \"Failed:\\n{}\".format(traceback.format_exc())\n )\n\ndef removeJointFromTable(joint: adsk.fusion.Joint) -> None:\n \"\"\"### Removes a joint occurrence from its global list and joint table.\n\n Args:\n joint (adsk.fusion.Joint): Joint object to be removed\n \"\"\"\n try:\n index = JointListGlobal.index(joint)\n jointTableInput = INPUTS_ROOT.itemById(\"joint_table\")\n JointListGlobal.remove(joint)\n\n jointTableInput.deleteRow(index + 1)\n\n for row in range(jointTableInput.rowCount):\n if row == 0:\n continue\n\n dropDown = jointTableInput.getInputAtPosition(row, 2)\n listItems = dropDown.listItems\n\n if row > index:\n if listItems.item(index + 1).isSelected:\n listItems.item(index).isSelected = True\n listItems.item(index + 1).deleteMe()\n else:\n listItems.item(index + 1).deleteMe()\n else:\n if listItems.item(index).isSelected:\n listItems.item(index - 1).isSelected = True\n listItems.item(index).deleteMe()\n else:\n listItems.item(index).deleteMe()\n except:\n logging.getLogger(\"{INTERNAL_ID}.UI.ConfigCommand.removeJointFromTable()\").error(\n \"Failed:\\n{}\".format(traceback.format_exc())\n )\n\ndef removeGamePieceFromTable(index: int) -> None:\n \"\"\"### Removes a gamepiece occurrence from its global list and gamepiece table.\n\n Args:\n index (int): index of gamepiece item in its global list.\n \"\"\"\n onSelect = gm.handlers[3]\n gamepieceTableInput = INPUTS_ROOT.itemById(\"gamepiece_table\")\n gamepiece = GamepieceListGlobal[index]\n\n def removePreselections(child_occurrences):\n for occ in child_occurrences:\n onSelect.allGamepiecePreselections.remove(occ.entityToken)\n \n if occ.childOccurrences:\n removePreselections(occ.childOccurrences)\n try:\n if gamepiece.childOccurrences:\n removePreselections(GamepieceListGlobal[index].childOccurrences)\n else:\n onSelect.allGamepiecePreselections.remove(gamepiece.entityToken)\n\n del GamepieceListGlobal[index]\n gamepieceTableInput.deleteRow(index + 1)\n except IndexError:\n pass\n except:\n logging.getLogger(\"{INTERNAL_ID}.UI.ConfigCommand.removeGamePieceFromTable()\").error(\n \"Failed:\\n{}\".format(traceback.format_exc())\n )\n'''\n<file_sep>using System;\nusing System.Collections.Generic;\nusing System.Linq;\nusing Synthesis.UI.Dynamic;\nusing UnityEngine;\nusing UnityEngine.Rendering;\n\npublic class PracticeSettingsModal : ModalDynamic {\n private static Dictionary<string, PracticeMode.GamepieceData> _gamepieceMap =\n new Dictionary<string, PracticeMode.GamepieceData>();\n private static List<PracticeMode.GamepieceData> _gamepieceSimObjects = new List<PracticeMode.GamepieceData>();\n\n private static string lastField = \"\";\n\n private const float VERTICAL_PADDING = 10f;\n\n public Func<UIComponent, UIComponent> VerticalLayout = (u) => {\n var offset = (-u.Parent!.RectOfChildren(u).yMin) + VERTICAL_PADDING;\n u.SetTopStretch<UIComponent>(anchoredY: offset, leftPadding: 0f); // used to be 15f\n return u;\n };\n\n public PracticeSettingsModal() : base(new Vector2(500, 315)) {}\n\n public override void Create() {\n Title.SetText(\"Practice Settings\");\n AcceptButton.RootGameObject.SetActive(false);\n CancelButton.StepIntoLabel(l => l.SetText(\"Close\")).AddOnClickedEvent(b => { ModeManager.ModalClosed(); });\n\n ModalIcon.SetSprite(SynthesisAssetCollection.GetSpriteByName(\"settings\"));\n\n var gamepieceLabel = MainContent.CreateLabel()\n .SetText(\"Gamepiece Spawning\")\n .ApplyTemplate(Label.BigLabelTemplate)\n .ApplyTemplate(VerticalLayout);\n\n float leftRightPadding = 8;\n var top = MainContent.CreateSubContent(new Vector2(MainContent.Size.x, 110f))\n .ApplyTemplate(VerticalLayout)\n .SetPivot<Content>(new Vector2(0.5f, 1f));\n\n (Content topleft, Content topRight) =\n top.SplitLeftRight((top.Size.x - leftRightPadding) / 2f, leftRightPadding);\n\n var spawnButton = topRight.CreateButton()\n .StepIntoLabel(l => l.SetText(\"Spawn\"))\n .SetTopStretch<Button>()\n .ShiftOffsetMax<Button>(new Vector2(-7.5f, 0f))\n .AddOnClickedEvent(b => PracticeMode.SpawnGamepiece(1f, PracticeMode.ChosenPrimitive));\n\n var gamepieceDropdown = topleft.CreateDropdown()\n .SetHeight<Dropdown>(spawnButton.Size.y)\n .SetTopStretch<Dropdown>()\n .ShiftOffsetMin<Dropdown>(new Vector2(7.5f, 0f));\n\n FieldSimObject field = FieldSimObject.CurrentField;\n\n if (field == null) {\n string[] primitives = Enum.GetNames(typeof(PrimitiveType));\n gamepieceDropdown.SetOptions(primitives).SetValue(0).AddOnValueChangedEvent((d, i, data) => {\n PracticeMode.ChosenPrimitive = (PrimitiveType) Enum.Parse(typeof(PrimitiveType), data.text);\n });\n PracticeMode.ChosenPrimitive = (PrimitiveType) Enum.Parse(typeof(PrimitiveType), primitives[0]);\n } else {\n if (field.MiraLive.MiraAssembly.Info.GUID != lastField) {\n _gamepieceSimObjects.Clear();\n _gamepieceMap.Clear();\n lastField = field.MiraLive.MiraAssembly.Info.GUID;\n }\n if (_gamepieceSimObjects.Count == 0 && field.Gamepieces.Count > 0) {\n // group the gamepieces by their types, found via the name of the first child before :\n var groups = field.Gamepieces.GroupBy(g => {\n if (g.GamepieceObject.transform.childCount > 0)\n return g.GamepieceObject.transform.GetChild(0).name.Split(':')[0];\n return g.GamepieceObject.name;\n });\n var uniqueGamepieces = groups.Select(g => g.First()).ToList();\n\n _gamepieceSimObjects = uniqueGamepieces.Map(g => new PracticeMode.GamepieceData(g.GamepieceObject));\n _gamepieceSimObjects.ForEach(g => _gamepieceMap.Add(g.Name, g));\n }\n gamepieceDropdown.SetOptions(_gamepieceSimObjects.Map(g => g.Name).ToArray())\n .SetValue(0)\n\n .AddOnValueChangedEvent((d, i, data) => { PracticeMode.ChosenGamepiece = _gamepieceMap[data.text]; });\n PracticeMode.ChosenGamepiece = _gamepieceMap.First().Value;\n }\n\n topleft.CreateButton()\n .ApplyTemplate(VerticalLayout)\n .ShiftOffsetMin<Button>(new Vector2(7.5f, 0f))\n .StepIntoLabel(l => l.SetText(\"Gamepiece Spawnpoint\"))\n .AddOnClickedEvent(b => {\n DynamicUIManager.CloseActiveModal();\n ModeManager.ModalClosed();\n PracticeMode.ConfigureGamepieceSpawnpoint();\n });\n\n var resetLabel = MainContent.CreateLabel()\n .SetText(\"Reset\")\n .ApplyTemplate(Label.BigLabelTemplate)\n .ApplyTemplate(VerticalLayout);\n\n var bottom = MainContent.CreateSubContent(new Vector2(MainContent.Size.x, 110f))\n .ApplyTemplate(VerticalLayout)\n .SetPivot<Content>(new Vector2(0.5f, 1f));\n\n (Content bottomLeft, Content bottomRight) =\n bottom.SplitLeftRight((bottom.Size.x - leftRightPadding) / 2f, leftRightPadding);\n\n bottomLeft.CreateButton()\n .SetTopStretch<Button>()\n .ShiftOffsetMin<Button>(new Vector2(7.5f, 0f))\n .StepIntoLabel(label => label.SetText(\"Reset All\"))\n .AddOnClickedEvent(b => PracticeMode.ResetAll());\n\n // don't hide when field is not loaded because the user can still spawn gamepieces\n bottomRight.CreateButton()\n .SetTopStretch<Button>()\n .ShiftOffsetMax<Button>(new Vector2(-7.5f, 0f))\n .StepIntoLabel(label => label.SetText(\"Reset Gamepieces\"))\n .AddOnClickedEvent(b => PracticeMode.ResetGamepieces());\n\n if (RobotSimObject.CurrentlyPossessedRobot != string.Empty) {\n var resetFieldButton = bottomLeft.CreateButton()\n .ApplyTemplate(VerticalLayout)\n .ShiftOffsetMax<Button>(new Vector2(7.5f, 0f))\n .StepIntoLabel(label => label.SetText(\"Reset Robot\"))\n .AddOnClickedEvent(b => PracticeMode.ResetRobot());\n\n resetFieldButton.SetTopStretch<Button>(\n anchoredY: -resetFieldButton.Parent!.RectOfChildren(resetFieldButton).yMin + VERTICAL_PADDING,\n leftPadding: 7.5f);\n }\n }\n\n public override void Update() {}\n\n public override void Delete() {}\n}<file_sep>#ifndef _ROBOT_OUTPUTS_HPP_\n#define _ROBOT_OUTPUTS_HPP_\n\n#include <map>\n#include <memory>\n#include <mutex>\n#include <string>\n\n#include \"analog_outputs.hpp\"\n#include \"can_motor_controller.hpp\"\n#include \"digital_system.hpp\"\n#include \"mxp_data.hpp\"\n#include \"pwm_system.hpp\"\n#include \"relay_system.hpp\"\n#include \"robot_output_service.hpp\"\n\nnamespace hel {\n\n/**\n * \\brief Container for all the data to send to the Synthesis engine\n * Contains functions to interpret RoboRIO data and prepare it for transmission\n */\n\nstruct RobotOutputs {\n private:\n\t/**\n\t * \\brief Whether the robot is enabled and RobotOutputs should send outputs\n\t */\n\n\tbool enabled;\n\n\t/**\n\t * \\brief Generate zeroed-output packet when disabled\n\t */\n\n\tconst inline EmulationService::RobotOutputs generateZeroedOutput()const;\n\n\t/**\n\t * \\brief The interpreted states of all the PWM header outputs\n\t */\n\n BoundsCheckedArray<double, PWMSystem::NUM_HDRS> pwm_hdrs;\n\n /**\n\t * \\brief The interpreted states of all the relay outputs\n\t */\n\n\tBoundsCheckedArray<RelaySystem::State, RelaySystem::NUM_RELAY_HEADERS>\n\t\trelays;\n\n\t/**\n\t * \\brief The interpreted states of all the analog outputs\n\t */\n\n\tBoundsCheckedArray<double, AnalogOutputs::NUM_ANALOG_OUTPUTS>\n\t\tanalog_outputs;\n\n\t/**\n\t * \\brief The interpreted states of all the digital MXP outputs\n\t */\n\n\tBoundsCheckedArray<MXPData, DigitalSystem::NUM_DIGITAL_MXP_CHANNELS>\n\t\tdigital_mxp;\n\n\t/**\n\t * \\brief The interpreted states of all the digital header outputs\n\t */\n\n\tBoundsCheckedArray<std::pair<DigitalSystem::HeaderConfig, bool>, DigitalSystem::NUM_DIGITAL_HEADERS> digital_hdrs;\n\n\t/**\n\t * \\brief All the CAN motor controller outputs\n\t */\n\n std::map<uint32_t, std::shared_ptr<CANMotorControllerBase>> can_motor_controllers;\n\n\t/**\n\t * \\brief The cached robot outputs state for transmission\n\t */\n\n\tEmulationService::RobotOutputs output;\n\n public:\n\t/**\n\t * \\brief Constructor for RobotOutputs\n\t */\n\n\tRobotOutputs();\n\n\t/**\n\t * \\brief Update the data held by RobotOutputs from a copy of the RoboRIO\n\t * instance This only updates the data supported by Synthesis's engine\n\t */\n\n\tvoid updateShallow();\n\n\t/**\n\t * \\brief Update the data held by RobotOutputs from a copy of the RoboRIO\n\t * instance This updates all the data supported by HEL\n\t */\n\n\tvoid updateDeep();\n\n\t/**\n\t * \\brief Set output enable\n\t * If RobotOutputs is disabled, it outputs zeroed outputs until it is re-enabled\n\t * \\param e The new value to use for enabled\n\t */\n\n\tvoid setEnable(bool);\n\n\t/**\n\t * \\brief Format RobotOutputs as a string\n\t * \\return A string containing all the values held by RobotOutputs\n\t */\n\n\tstd::string toString() const;\n\n\t/**\n\t * \\brief Update the gRPC robot outputs state for transmission\n\t *\n\t * Only update core outputs\n\t */\n\t\n\tEmulationService::RobotOutputs syncShallow();\n\t\n\t/**\n\t * \\brief Update the gRPC robot outputs state for transmission\n\t *\n\t * Update all outputs\n\t */\n\t\n\tEmulationService::RobotOutputs syncDeep();\n\n\t/**\n\t * \\brief Get if RobotOutputs has new data\n\t * \\return True if RobotOutputs has been updated since last serialization\n\t */\n\n\tbool hasNewData() const;\n};\n\nclass RobotOutputsManager { // TODO move to separate file\n public:\n\tstatic std::pair<std::shared_ptr<RobotOutputs>,\n\t\t\t\t\t std::unique_lock<std::recursive_mutex>>\n\tgetInstance() {\n\t\tstd::unique_lock<std::recursive_mutex> lock(send_data_mutex);\n\t\tif (instance == nullptr) {\n\t\t\tinstance = std::make_shared<RobotOutputs>();\n\t\t}\n\t\treturn std::make_pair(instance, std::move(lock));\n\t}\n\n private:\n\tstatic std::shared_ptr<RobotOutputs> instance;\n\tstatic std::recursive_mutex send_data_mutex;\n};\n} // namespace hel\n\n#endif\n<file_sep>#include \"robot_mode.hpp\"\n\n#include \"error.hpp\"\n#include \"robot_outputs.hpp\"\n#include \"util.hpp\"\n\nnamespace hel{\n RobotMode::Mode RobotMode::getMode()const noexcept{\n return mode;\n }\n\n void RobotMode::setMode(RobotMode::Mode m)noexcept{\n mode = m;\n }\n\n bool RobotMode::getEnabled()const noexcept{\n return enabled;\n }\n\n void RobotMode::setEnabled(bool e)noexcept{\n enabled = e; \n auto instance = RobotOutputsManager::getInstance();\n instance.first->setEnable(e);\n instance.second.unlock();\n }\n\n bool RobotMode::getEmergencyStopped()const noexcept{\n return emergency_stopped;\n }\n\n void RobotMode::setEmergencyStopped(bool e)noexcept{\n emergency_stopped = e;\n }\n\n bool RobotMode::getFMSAttached()const noexcept{\n return fms_attached;\n }\n\n void RobotMode::setFMSAttached(bool attached)noexcept{\n fms_attached = attached;\n }\n\n bool RobotMode::getDSAttached()const noexcept{\n return ds_attached;\n }\n\n void RobotMode::setDSAttached(bool attached)noexcept{\n ds_attached = attached;\n }\n\n ControlWord_t RobotMode::toControlWord()const noexcept{\n ControlWord_t control_word;\n control_word.enabled = enabled;\n control_word.autonomous = mode == Mode::AUTONOMOUS;\n control_word.test = mode == Mode::TEST;\n control_word.eStop = emergency_stopped;\n control_word.fmsAttached = fms_attached;\n control_word.dsAttached = ds_attached;\n //controlWord->autonomous = instance.first->robot_mode.getMode()==RobotMode::Mode::AUTONOMOUS?1:0;\n //controlWord->test = instance.first->robot_mode.getMode()==RobotMode::Mode::TEST?1:0;\n return control_word;\n }\n\n std::string asString(RobotMode::Mode mode){\n switch(mode){\n case RobotMode::Mode::AUTONOMOUS:\n return \"AUTONOMOUS\";\n case RobotMode::Mode::TELEOPERATED:\n return \"TELEOPERATED\";\n case RobotMode::Mode::TEST:\n return \"TEST\";\n default:\n throw UnhandledEnumConstantException(\"hel::RobotMode::Mode\");\n }\n }\n\n RobotMode::Mode s_to_robot_mode(std::string s){\n switch(hasher(s.c_str())){\n case hasher(\"AUTONOMOUS\"):\n return RobotMode::Mode::AUTONOMOUS;\n case hasher(\"TELEOPERATED\"):\n return RobotMode::Mode::TELEOPERATED;\n case hasher(\"TEST\"):\n return RobotMode::Mode::TEST;\n default:\n throw UnhandledCase();\n }\n }\n\n std::string RobotMode::toString()const{\n std::string s = \"(\";\n s += \"mode:\" + asString(mode) + \", \";\n s += \"enabled:\" + asString(enabled) + \", \";\n s += \"emergency_stopped:\" + asString(emergency_stopped) + \", \";\n s += \"fms_attached:\" + asString(fms_attached) + \", \";\n s += \"ds_attached:\" + asString(ds_attached);\n s += \")\";\n return s;\n }\n\n RobotMode::RobotMode()noexcept:mode(RobotMode::Mode::TELEOPERATED),\n enabled(false),\n emergency_stopped(false),\n fms_attached(false),\n ds_attached(false){}\n\n RobotMode::RobotMode(const RobotMode& source)noexcept{\n#define COPY(NAME) NAME = source.NAME\n COPY(mode);\n COPY(enabled);\n COPY(emergency_stopped);\n COPY(fms_attached);\n COPY(ds_attached);\n#undef COPY\n }\n}\n<file_sep>using System;\nusing System.Collections.Generic;\nusing System.Linq;\nusing System.Text;\nusing System.Threading.Tasks;\nusing Microsoft.Win32;\n\nnamespace Assets.Scripts.Engine.Util {\n public static class IEnumerableExtensions {\n public static T PopAt<T>(this IList<T> list, int index) {\n T r = list.ElementAt(index);\n list.RemoveAt(index);\n return r;\n }\n }\n}\n<file_sep>using System.Collections;\nusing System.Collections.Generic;\nusing UnityEngine;\nusing TMPro;\nusing System;\n\nnamespace Synthesis.UI.Dynamic {\n public class RobotDetailsPanel : PanelDynamic {\n public const string ROBOTO_BOLD = \"Roboto-Bold SDF\";\n public const string ROBOTO_REGULAR = \"Roboto-Regular SDF\";\n\n public RobotDetailsPanel() : base(new Vector2(200, 100)) {}\n\n private Label X, Y, Z;\n\n public override bool Create() {\n CancelButton.RootGameObject.SetActive(false);\n AcceptButton.StepIntoLabel(l => l.SetText(\"Close\"));\n AcceptButton.AddOnClickedEvent(b => DynamicUIManager.ClosePanel<RobotDetailsPanel>());\n\n var normalFont = SynthesisAssetCollection.GetFont(ROBOTO_REGULAR);\n Func<Label, Label> nonHighlightedLabel = l => l.SetFont(normalFont)\n .SetFontSize(14)\n .SetVerticalAlignment(VerticalAlignmentOptions.Middle)\n .SetHorizontalAlignment(HorizontalAlignmentOptions.Left);\n\n MainContent.CreateLabel(15f).ApplyTemplate(nonHighlightedLabel).SetTopStretch().SetText(\"Position\");\n X = MainContent.CreateLabel(15f)\n .ApplyTemplate(nonHighlightedLabel)\n .SetTopStretch(leftPadding: 10f, anchoredY: 15f)\n .SetText(\"X: 0.0\");\n Y = MainContent.CreateLabel(15f)\n .ApplyTemplate(nonHighlightedLabel)\n .SetTopStretch(leftPadding: 10f, anchoredY: 30f)\n .SetText(\"Y: 0.0\");\n Z = MainContent.CreateLabel(15f)\n .ApplyTemplate(nonHighlightedLabel)\n .SetTopStretch(leftPadding: 10f, anchoredY: 45f)\n .SetText(\"Z: 0.0\");\n\n return true;\n }\n\n public override void Update() {\n Vector3 robotPosition = new Vector3();\n if (RobotSimObject.CurrentlyPossessedRobot != string.Empty) {\n robotPosition = RobotSimObject.GetCurrentlyPossessedRobot().GroundedNode.transform.position;\n }\n\n X.SetText($\"X: {Math.Round(robotPosition.x, 1)}\");\n Y.SetText($\"Y: {Math.Round(robotPosition.y, 1)}\");\n Z.SetText($\"Z: {Math.Round(robotPosition.z, 1)}\");\n }\n\n public override void Delete() {}\n }\n}\n<file_sep>from ..general_imports import *\n\nfrom typing import Sequence, Tuple\nimport logging.handlers\n\n\"\"\" # This file is Special\n It links all function names to command requests that palletes can make automatically\n If you create a function you can automatically call it from a javascript request or the palette js code.\n\"\"\"\n\n\ndef updateDocument(*argv: Sequence[str]):\n pass\n\n\ndef updateConnection(_) -> str:\n \"\"\"Updates the JS side connection with the Network Manager connected()\n\n Args:\n _ (Any): Any\n\n Returns:\n str: Json formatted connected: true | false\n \"\"\"\n return json.dumps(\"\")\n\n\ndef focusJoint(json_data: str) -> str:\n \"\"\"Called from JS to focus on the joint clicked\n\n Args:\n json_data (str): Joint identifiable data\n\n Returns:\n str: Empty Response\n \"\"\"\n data = json.loads(json_data)\n data = data[\"arguments\"]\n gm.ui.messageBox(f\"Attempting to focus on a joint: {data}\\n TODO: Implement\")\n return \"\"\n\n\ndef openDocument(json_data: str) -> str:\n \"\"\"Opens a specific document in from the current active doc list\n\n Args:\n json_data (str): Identifiable Document Design data\n\n Returns:\n str: Empty Response\n \"\"\"\n data = json.loads(json_data)\n data = data[\"arguments\"]\n gm.ui.messageBox(\n f\"Attempting to open and focus on a given document: {data}\\n TODO: Implement\"\n )\n logging.getLogger(f\"{INTERNAL_ID}.Events.openDocument\").info(\n f\"Attempting to open and focus on a given document: {data}\\n TODO: Implement\"\n )\n return \"\"\n\n\ndef example(palette):\n app = adsk.core.Application.get()\n app.userInterface(f\"{Helper.getDocName()}\")\n<file_sep>#ifndef _ACCELEROMETER_HPP_\n#define _ACCELEROMETER_HPP_\n\n#include <cstdint>\n#include <utility>\n\nnamespace hel{\n\n /**\n * \\brief Data model for on-board RoboRIO accelerometer\n */\n\n struct Accelerometer{\n\n /**\n * \\brief Copy of HAL enumeration specifying target for Accelerometer function call\n */\n\n enum Register: uint8_t {\n kReg_Status = 0x00,\n kReg_OutXMSB = 0x01,\n kReg_OutXLSB = 0x02,\n kReg_OutYMSB = 0x03,\n kReg_OutYLSB = 0x04,\n kReg_OutZMSB = 0x05,\n kReg_OutZLSB = 0x06,\n kReg_Sysmod = 0x0B,\n kReg_IntSource = 0x0C,\n kReg_WhoAmI = 0x0D,\n kReg_XYZDataCfg = 0x0E,\n kReg_HPFilterCutoff = 0x0F,\n kReg_PLStatus = 0x10,\n kReg_PLCfg = 0x11,\n kReg_PLCount = 0x12,\n kReg_PLBfZcomp = 0x13,\n kReg_PLThsReg = 0x14,\n kReg_FFMtCfg = 0x15,\n kReg_FFMtSrc = 0x16,\n kReg_FFMtThs = 0x17,\n kReg_FFMtCount = 0x18,\n kReg_TransientCfg = 0x1D,\n kReg_TransientSrc = 0x1E,\n kReg_TransientThs = 0x1F,\n kReg_TransientCount = 0x20,\n kReg_PulseCfg = 0x21,\n kReg_PulseSrc = 0x22,\n kReg_PulseThsx = 0x23,\n kReg_PulseThsy = 0x24,\n kReg_PulseThsz = 0x25,\n kReg_PulseTmlt = 0x26,\n kReg_PulseLtcy = 0x27,\n kReg_PulseWind = 0x28,\n kReg_ASlpCount = 0x29,\n kReg_CtrlReg1 = 0x2A,\n kReg_CtrlReg2 = 0x2B,\n kReg_CtrlReg3 = 0x2C,\n kReg_CtrlReg4 = 0x2D,\n kReg_CtrlReg5 = 0x2E,\n kReg_OffX = 0x2F,\n kReg_OffY = 0x30,\n kReg_OffZ = 0x31\n };\n\n /**\n * \\brief Represents which data the accelerometer model will modify\n */\n\n enum class ControlMode{SET_COMM_TARGET,SET_DATA};\n private:\n\n /**\n * \\brief Changes what value Ni FPGA accelerometer writes data to\n */\n\n ControlMode control_mode;\n\n /**\n * \\brief The type of target to open communication with\n */\n\n uint8_t comm_target_reg;\n\n /**\n * \\brief Whether the accelerometer is active or not\n */\n\n bool active;\n\n /**\n * \\brief The range of the accelerometer\n * The ranges map as such: 0 is 2G, 1 is 4G, and 3 is 8G\n */\n\n uint8_t range;\n\n /**\n * \\brief The x component of acceleration in g's\n */\n\n float x_accel;\n\n /**\n * \\brief The y component of acceleration in g's\n */\n\n float y_accel;\n\n /**\n * \\brief The z component of acceleration in g's\n */\n\n float z_accel;\n\n public:\n\n /**\n * \\brief Fetches the active control mode\n * \\return The active control mode specifying the data for modification\n */\n\n ControlMode getControlMode()const noexcept;\n\n /**\n * \\brief Sets the active control mode\n * \\param mode The data to specify for modification\n */\n\n void setControlMode(ControlMode)noexcept;\n\n /**\n * \\brief Get the current data target for communication\n * \\return The data target for communication\n */\n\n uint8_t getCommTargetReg()const noexcept;\n\n /**\n * \\brief Set the current data target for communication\n * \\param reg The data target for communication\n */\n\n void setCommTargetReg(uint8_t)noexcept;\n\n /**\n * \\brief Get if the accelerometer is active\n * \\return True if the accelerometer is set to active\n */\n\n bool getActive()const noexcept;\n\n /**\n * \\brief Enable the accelerometer\n * \\param a True to enable the accelerometer\n */\n\n void setActive(bool)noexcept;\n\n /**\n * \\brief Get the operating range of the accelerometer\n * \\return A byte representing the operating range of the accelerometer\n */\n\n uint8_t getRange()const noexcept;\n\n /**\n * \\brief Set the operating range for accelerometer\n * \\param r The operating range of the accelerometer\n */\n\n void setRange(uint8_t)noexcept;\n\n /**\n * \\brief Get the acceleration in the x direction\n * \\return A float representing the acceleration in the x direction\n */\n\n float getXAccel()const noexcept;\n\n /**\n * \\brief Set the acceleration in the x direction\n * \\param accel A float to set the acceleration in the x direction\n */\n\n void setXAccel(float)noexcept;\n\n /**\n * \\brief Get the acceleration in the y direction\n * \\return A float representing the acceleration in the y direction\n */\n\n float getYAccel()const noexcept;\n\n /**\n * \\brief Set the acceleration in the y direction\n * \\param accel A float to set the acceleration in the y direction\n */\n\n void setYAccel(float)noexcept;\n\n /**\n * \\brief Get the acceleration in the z direction\n * \\return A float representing the acceleration in the z direction\n */\n\n float getZAccel()const noexcept;\n\n /**\n * \\brief Set the acceleration in the z direction\n * \\param accel A float to set the acceleration in the z direction\n */\n\n void setZAccel(float)noexcept;\n\n /**\n * \\brief Converts the format of acceleration the Ni FPGA would generate to acceleration in g's\n * \\param accel A pair of bytes that when concatenated represent the value of acceleration without scaling from range configuration\n * \\return A float representing acceleration in g's\n */\n\n float convertAccel(std::pair<uint8_t,uint8_t>)noexcept;\n\n /**\n * \\brief Converts acceleration in g's to the format of acceleration the Ni FPGA would generate\n * \\param accel A float representing acceleration in g's\n * \\return A pair of bytes that when concatenated represent the value of acceleration without scaling from range configuration\n */\n\n std::pair<uint8_t, uint8_t> convertAccel(float)noexcept;\n\n /**\n * Constructor for an Accelerometer\n */\n\n Accelerometer()noexcept;\n\n /**\n * Constructor for an Accelerometer\n *\n * \\param source An accelerometer object to copy\n */\n\n Accelerometer(const Accelerometer&)noexcept;\n };\n}\n\n#endif\n<file_sep>using System;\nusing System.Collections;\nusing System.Collections.Generic;\nusing System.Linq;\nusing Analytics;\nusing Synthesis.UI.Dynamic;\nusing UnityEngine;\nusing SynthesisAPI.Utilities;\n\nusing Logger = SynthesisAPI.Utilities.Logger;\n\npublic class ChangeDrivetrainModal : ModalDynamic {\n public const float MODAL_WIDTH = 400f;\n public const float MODAL_HEIGHT = 55;\n\n private RobotSimObject.DrivetrainType _selectedType;\n\n public ChangeDrivetrainModal() : base(new Vector2(MODAL_WIDTH, MODAL_HEIGHT)) {}\n\n public override void Create() {\n if (RobotSimObject.CurrentlyPossessedRobot == string.Empty) {\n return;\n }\n\n Title.SetText(\"Change Drivetrain\");\n\n ModalIcon.SetSprite(SynthesisAssetCollection.GetSpriteByName(\"wrench-icon\"));\n\n AcceptButton.AddOnClickedEvent(b => {\n MainHUD.ConfigRobot.ConfiguredDrivetrainType = _selectedType;\n AnalyticsManager.LogCustomEvent(AnalyticsEvent.DrivetrainSwitched, (\"DrivetrainType\", _selectedType.Name));\n\n DynamicUIManager.CloseActiveModal();\n\n RobotSimObject.GetCurrentlyPossessedRobot().CreateDrivetrainTooltip();\n });\n\n _selectedType = MainHUD.ConfigRobot.ConfiguredDrivetrainType;\n\n MainContent.CreateDropdown()\n .SetTopStretch<Dropdown>()\n .SetOptions(RobotSimObject.DRIVETRAIN_TYPES.Select(x => x.Name).ToArray())\n .AddOnValueChangedEvent((d, i, o) => _selectedType = RobotSimObject.DRIVETRAIN_TYPES[i])\n .SetValue(_selectedType.Value);\n }\n\n public override void Update() {\n if (RobotSimObject.CurrentlyPossessedRobot == string.Empty) {\n Logger.Log(\"Must spawn a robot first\", LogLevel.Info);\n DynamicUIManager.CloseActiveModal();\n }\n }\n\n public override void Delete() {}\n}\n<file_sep>// Very Sad -Hunter\n//using System;\n//using System.Collections.Generic;\n//using System.IO;\n//using System.Text;\n//using System.Threading.Tasks;\n//using Google.Protobuf;\n//using SynthesisAPI.Proto;\n//using System.Linq;\n//using System.Net;\n//using System.Security.Cryptography;\n//using System.Threading;\n//using System.Xml;\n//using Google.Protobuf.Reflection;\n//using UnityEngine;\n//using Material = SynthesisAPI.Proto.Material;\n//using Mesh = SynthesisAPI.Proto.Mesh;\n//using UQuat = UnityEngine.Quaternion;\n//using UVec3 = UnityEngine.Vector3;\n//using Logger = SynthesisAPI.Utilities.Logger;\n\n//namespace SynthesisAPI.Translation {\n \n// /// <summary>\n// /// The Translator translates other serialized data into another form of serialized data.\n// /// We use this to support legacy exported robots and fields\n// /// </summary>\n// public static class Translator {\n\n// public const string SERIALIZER_SIGNATURE = \"PTL\";\n\n// public delegate Task<string> TranslationFuncString(string path, string output = null);\n// public delegate Task<byte[]> TranslationFuncBuffer(byte[] buf);\n\n// public static Dictionary<TranslationType, (TranslationFuncString strFunc, TranslationFuncBuffer bufFunc)> Translations\n// = new Dictionary<TranslationType, (TranslationFuncString strFunc, TranslationFuncBuffer bufFunc)>() {\n// { TranslationType.BXDF_TO_PROTO_FIELD, (BXDFToProtoFieldAsync, null) },\n// { TranslationType.BXDJ_TO_PROTO_ROBOT, (BXDJToProtoRobotAsync, null) }\n// };\n\n// #region Waited Functions\n \n// /// <summary>\n// /// Loads serialized file and translates it to a different format\n// /// </summary>\n// /// <param name=\"source\">Path to original file</param>\n// /// <param name=\"output\">Optional path to where to write the new data to</param>\n// /// <returns>Path to the newly translated file</returns>\n// public static string Translate(string path, TranslationType transType, string output = null) {\n// var a = TranslateAsync(path, transType, output);\n// a.Start();\n// a.Wait();\n// return a.Result;\n// }\n\n// public static string Translate(string path, TranslationFuncString transFunc, string output = null) {\n// var a = TranslateAsync(path, transFunc, output);\n// a.Start();\n// a.Wait();\n// return a.Result;\n// }\n// public static byte[] Translate(byte[] buf, TranslationType transType) {\n// var a = TranslateAsync(buf, transType);\n// a.Start();\n// a.Wait();\n// return a.Result;\n// }\n\n// public static byte[] Translate(byte[] buf, TranslationFuncBuffer transFunc) {\n// var a = TranslateAsync(buf, transFunc);\n// a.Start();\n// a.Wait();\n// return a.Result;\n// }\n \n// #endregion\n\n// #region Asynchronous Functions\n\n// /// <summary>\n// /// Loads serialized file and translates it to a different format\n// /// </summary>\n// /// <param name=\"source\">Path to original file</param>\n// /// <param name=\"output\">Optional path to where to write the new data to</param>\n// /// <returns>Task that results in a path to the newly translated file</returns>\n// public static Task<string> TranslateAsync(string path, TranslationType transType, string output = null) {\n// if (!Translations.ContainsKey(transType))\n// return Task.FromResult(string.Empty);\n\n// return TranslateAsync(path, Translations[transType].strFunc, output);\n// }\n\n// public static Task<string> TranslateAsync(string path, TranslationFuncString transFunc, string output = null) {\n// return transFunc(path, output);\n// }\n \n// public static Task<byte[]> TranslateAsync(byte[] buf, TranslationType transType) {\n// if (!Translations.ContainsKey(transType))\n// return Task.FromResult(new byte[0]);\n\n// return TranslateAsync(buf, Translations[transType].bufFunc);\n// }\n\n// public static Task<byte[]> TranslateAsync(byte[] buf, TranslationFuncBuffer transFunc) {\n// return transFunc(buf);\n// }\n \n// #endregion\n\n// #region ToProto\n// private static bool CPU_OPTIMIZE = false;\n\n// public static Task<string> BXDFToProtoFieldAsync(string source, string output = null) {\n// var myTask = new Task<string>(() => {\n\n// var protoField = new ProtoField();\n// var protoNode = new Node();\n\n// BXDAMesh mesh = new BXDAMesh();\n// mesh.ReadFromFile(source + Path.AltDirectorySeparatorChar + \"mesh.bxda\");\n\n// var fieldDef =\n// BXDFProperties.ReadProperties(source + Path.AltDirectorySeparatorChar + \"definition.bxdf\");\n\n// var fieldData = new XmlDocument();\n// fieldData.LoadXml(File.ReadAllText(source + Path.AltDirectorySeparatorChar + \"field_data.xml\"));\n// var gamepieceDefinitions = ParseFieldData(fieldData);\n// protoField.GamepieceDefinitions.AddRange(gamepieceDefinitions);\n\n// var instances = new Dictionary<int, List<(FieldNode node, BXDVector3 position, BXDQuaternion rotation)>>();\n\n// foreach (var node in fieldDef.NodeGroup.EnumerateAllLeafFieldNodes()) {\n// if (node.SubMeshID != -1) {\n// if (!instances.ContainsKey(node.SubMeshID))\n// instances[node.SubMeshID] = new List<(FieldNode node, BXDVector3 position, BXDQuaternion rotation)>();\n\n// instances[node.SubMeshID].Add((node, node.Position, node.Rotation));\n// }\n// }\n\n// #region VisualMesh & Colliders\n\n// var meshColliders = new List<Mesh>();\n// // var boxColliders = new List<Box>(); // TODO: Box collider support\n// var sphereColliders = new List<Sphere>();\n// var v = new List<Vec3>();\n// var t = new List<int>();\n// var materials = new List<Material>();\n// var subMeshes = new List<SubMeshDescription>();\n// var materialsAndSubMeshes = new Dictionary<Material, List<(int start, int length)>>();\n// for (int j = 0; j < mesh.meshes.Count; j++) {\n// var sub = mesh.meshes[j];\n\n// for (int h = 0; h < instances[j].Count; h++) {\n\n// var colV = new List<Vec3>();\n// var colT = new List<int>();\n// var gpMats = new List<Material>();\n// var gpSubMeshes = new List<SubMeshDescription>();\n\n// int initVertCount = v.Count;\n\n// for (int k = 0; k < sub.surfaces.Count; k++) {\n// var surf = sub.surfaces[k];\n// var cpy = new int[surf.indicies.Length];\n// Array.Copy(surf.indicies, cpy, cpy.Length);\n// Array.Reverse(cpy);\n// var start = t.Count + colT.Count;\n// foreach (int a in cpy) {\n// colT.Add(a);\n// }\n\n// var mat = (Material)surf;\n// if (CPU_OPTIMIZE) {\n// if (!materialsAndSubMeshes.ContainsKey(mat))\n// materialsAndSubMeshes[mat] = new List<(int start, int length)>();\n// materialsAndSubMeshes[mat].Add((start, (t.Count + colT.Count) - start));\n// }\n\n// var subMesh = new SubMeshDescription() { Start = start, Count = (t.Count + colT.Count) - start };\n// gpSubMeshes.Add(subMesh);\n// gpMats.Add(mat);\n// }\n\n// for (int k = 0; k < sub.verts.Length; k += 3) {\n// var vec = new BXDVector3() {\n// x = (float)sub.verts[k], y = (float)sub.verts[k + 1], z = (float)sub.verts[k + 2]\n// };\n// var moddedVec = ModVec(instances[j][h].rotation, vec, instances[j][h].position);\n// colV.Add(moddedVec);\n// }\n\n// Gamepiece gamepiece = null;\n// var isGamepiece = false;\n\n// if (fieldDef.GetPropertySets().ContainsKey(instances[j][h].node.PropertySetID)) {\n// var propertySet = fieldDef.GetPropertySets()[instances[j][h].node.PropertySetID];\n// var colliderType = propertySet\n// .Collider\n// .CollisionType;\n \n// gamepiece = new Gamepiece();\n// isGamepiece = gamepieceDefinitions.Exists(x => x.Name == propertySet.PropertySetID);\n// if (isGamepiece) {\n// gamepiece.Definition = gamepieceDefinitions.Find(x => x.Name == propertySet.PropertySetID);\n// var bounds = colV.Bounds();\n// gamepiece.Position = (bounds.min + bounds.max) / 2;\n// colV = colV.Map<Vec3>(x => x - gamepiece.Position);\n// gpSubMeshes = gpSubMeshes.Map<SubMeshDescription>(x => new SubMeshDescription() {\n// Start = x.Start - t.Count,\n// Count = x.Count\n// });\n// gamepiece.VisualMaterials.AddRange(gpMats);\n// Mesh vm = new Mesh();\n// vm.Vertices.AddRange(colV);\n// vm.Triangles.AddRange(colT);\n// vm.SubMeshes.AddRange(gpSubMeshes);\n// gamepiece.VisualMesh = vm;\n// gamepiece.PhysicalProperties = new PhysProps {\n// Mass = propertySet.Mass, DynamicFriction = (propertySet.Friction / 100.0f),\n// StaticFriction = (propertySet.Friction / 100.0f), CenterOfMass = new Vec3()\n// };\n\n// // Logger.Log()\n// Logger.Log(\"Found Existing Gamepiece\");\n// }\n \n// switch (colliderType) {\n// case PropertySet.PropertySetCollider.PropertySetCollisionType.BOX: // MARK: Wow, are box colliders annoying\n// case PropertySet.PropertySetCollider.PropertySetCollisionType.MESH:\n// Mesh colliderMesh = new Mesh();\n// colliderMesh.Vertices.AddRange(colV);\n// colliderMesh.Triangles.AddRange(colT);\n// colliderMesh.SubMeshes.Add(new SubMeshDescription()\n// { Start = 0, Count = colT.Count });\n// if (isGamepiece) {\n// // gamepiece.ColliderCase = Gamepiece.ColliderOneofCase.MeshCollider;\n// gamepiece.MeshCollider = colliderMesh;\n// } else {\n// meshColliders.Add(colliderMesh);\n// }\n// break;\n// case PropertySet.PropertySetCollider.PropertySetCollisionType.SPHERE:\n// if (isGamepiece) {\n// gamepiece.SphereCollider = Sphere.CreateFromVerts(colV);\n// } else {\n// sphereColliders.Add(Sphere.CreateFromVerts(colV));\n// }\n// break;\n// }\n// }\n\n// if (isGamepiece) {\n// protoField.Gamepieces.Add(gamepiece);\n// } else {\n// v.AddRange(colV);\n// t.AddRange(colT.Map<int>(x => x + initVertCount));\n// subMeshes.AddRange(gpSubMeshes);\n// materials.AddRange(gpMats);\n// }\n// }\n// }\n\n// Mesh m = new Mesh();\n\n// // Organize indices and materials. This should hopefully perform better\n// if (CPU_OPTIMIZE) {\n// var organizedIndices = new List<int>();\n// var organizedSubMeshes = new List<SubMeshDescription>();\n// var organizedMaterials = new List<Material>();\n// int vertTotal = 0;\n// foreach (var kvp in materialsAndSubMeshes) {\n// organizedMaterials.Add(kvp.Key);\n// var subMesh = new SubMeshDescription() { Start = organizedIndices.Count };\n// int indicesCountForMaterial = 0;\n\n// kvp.Value.ForEach(x => {\n// indicesCountForMaterial += x.length;\n// vertTotal += x.length / 3;\n// organizedIndices.AddRange(t.Skip(x.start).Take(x.length));\n// });\n// subMesh.Count = indicesCountForMaterial;\n// Logger.Log($\"{subMesh.Count / 3} verts in sub mesh\");\n// organizedSubMeshes.Add(subMesh);\n// }\n\n// Logger.Log($\"{vertTotal} total vertices\");\n\n// m.Vertices.AddRange(v);\n// // Logger.Log($\"{m.Vertices.Count} verts\");\n// m.Triangles.AddRange(organizedIndices);\n// m.SubMeshes.AddRange(organizedSubMeshes);\n// protoNode.VisualMaterials.AddRange(organizedMaterials);\n// } else {\n// m.Vertices.AddRange(v);\n// Logger.Log($\"{m.Vertices.Count} verts\");\n// m.Triangles.AddRange(t);\n// m.SubMeshes.AddRange(subMeshes);\n// protoNode.VisualMaterials.AddRange(materials);\n// }\n\n// protoNode.VisualMesh = m;\n\n// protoNode.MeshColliders.AddRange(meshColliders);\n// protoNode.SphereColliders.AddRange(sphereColliders);\n\n// Logger.Log($\"{meshColliders.Count} Mesh Colliders\");\n// Logger.Log($\"{sphereColliders.Count} Sphere Colliders\");\n// #endregion\n\n// protoNode.PhysicalProperties = new PhysProps { Mass = 1, CenterOfMass = new Vec3() };\n// protoNode.Guid = mesh.GUID;\n// protoNode.ParentGuid = null;\n// protoNode.IsStatic = true;\n\n// #region Serialization\n// DynamicObject dyno = new DynamicObject();\n// dyno.Nodes.Add(protoNode);\n// string name = source.Substring(source.LastIndexOf(Path.AltDirectorySeparatorChar) + 1);\n// dyno.Name = name;\n\n// protoField.Object = dyno;\n// protoField.SerializerSignature = SERIALIZER_SIGNATURE;\n\n// return protoField.Serialize(output);\n\n// #endregion\n// });\n// return myTask;\n// }\n\n// public static Task<string> BXDJToProtoRobotAsync(string source, string output = null) {\n// Logger.Log(\"Creating Task\");\n\n// var myTask = new Task<string>(() => {\n\n// Logger.Log(\"Starting Translation from BXDJ to Proto\");\n// var rootNode = ReadSkeletonSafe(source + Path.AltDirectorySeparatorChar + \"skeleton\");\n// var nodes = rootNode.ListAllNodes();\n\n// var protoNodes = new Node[nodes.Count];\n// var nodeTasks = new List<Task>();\n\n// var bxdMeshes = new Dictionary<Guid, BXDAMesh>();\n// var collectivePhysProps = new Dictionary<Guid, PhysProps>();\n// var childrenDirectory = new Dictionary<Guid, List<Guid>>();\n// var collectiveMasses = new Dictionary<Guid, float>();\n\n// for (int i = 0; i < nodes.Count; i++) {\n// var mesh = new BXDAMesh();\n// mesh.ReadFromFile(source + Path.AltDirectorySeparatorChar + nodes[i].ModelFileName);\n// bxdMeshes.Add(nodes[i].GUID, mesh);\n\n// var physProps = new PhysProps {\n// Mass = mesh.physics.mass, CenterOfMass = mesh.physics.centerOfMass\n// };\n\n// if (nodes[i].GetParent() != null) {\n// if (childrenDirectory.ContainsKey(nodes[i].GetParent().GUID))\n// childrenDirectory[nodes[i].GetParent().GUID].Add(nodes[i].GUID);\n// else\n// childrenDirectory.Add(nodes[i].GetParent().GUID, new List<Guid>(new Guid[] { nodes[i].GUID }));\n// }\n\n// collectivePhysProps.Add(nodes[i].GUID, physProps);\n// Logger.Log($\"All physical properties saved for node {i + 1}\");\n// }\n// foreach (var n in nodes) {\n// float collectMass = bxdMeshes[n.GUID].physics.mass + GetCollectiveMass(n.GUID, bxdMeshes, childrenDirectory);\n// collectiveMasses[n.GUID] = collectMass;\n// }\n// Logger.Log(\"Cached all mesh data\");\n\n// object wheelAxisLock = new object();\n// Vec3 wheelAxis = null;\n\n// for (int _i = 0; _i < nodes.Count; _i++) {\n// int i = _i;\n// Logger.Log($\"Creating node task {_i + 1}\");\n// nodeTasks.Add(new Task(() => {\n\n// try {\n\n// var mesh = bxdMeshes.Values.ElementAt(i);\n// Logger.Log($\"Starting node {i + 1} translation\");\n// var protoNode = new Node {\n// Guid = nodes[i].GUID\n// };\n// if (nodes[i].GetParent() == null)\n// protoNode.ParentGuid = null;\n// else\n// protoNode.ParentGuid = nodes[i].GetParent().GUID;\n\n// protoNode.PhysicalProperties = collectivePhysProps[nodes[i].GUID];\n\n// #region Visual Mesh\n \n// var v = new List<Vec3>();\n// var t = new List<int>();\n// var materials = new List<Material>();\n// var subMeshes = new List<SubMeshDescription>();\n// for (int j = 0; j < mesh.meshes.Count; j++) {\n// var sub = mesh.meshes[j];\n\n// for (int k = 0; k < sub.surfaces.Count; k++) {\n// var surf = sub.surfaces[k];\n// var cpy = new int[surf.indicies.Length];\n// Array.Copy(surf.indicies, cpy, cpy.Length);\n// Array.Reverse(cpy);\n// var start = t.Count;\n// foreach (int a in cpy) {\n// t.Add(a + v.Count);\n// }\n// subMeshes.Add(new SubMeshDescription() { Start = start, Count = t.Count - start });\n\n// materials.Add((Material)surf);\n// }\n// for (int k = 0; k < sub.verts.Length; k += 3) {\n// v.Add(new Vec3 { X = (float)(sub.verts[k] * -0.01), Y = (float)(sub.verts[k + 1] * 0.01), Z = (float)(sub.verts[k + 2] * 0.01) });\n// }\n// }\n// Mesh m = new Mesh();\n// m.Vertices.AddRange(v);\n// m.Triangles.AddRange(t);\n// m.SubMeshes.AddRange(subMeshes);\n// protoNode.VisualMesh = m;\n// protoNode.VisualMaterials.AddRange(materials);\n// #endregion\n// Logger.Log($\"Completed Visual Mesh for node {i + 1}\");\n\n// #region Collision Meshes\n \n// var colliders = new List<Mesh>();\n// for (int j = 0; j < mesh.colliders.Count; j++) {\n// var sub = mesh.colliders[j];\n// v.Clear();\n// t.Clear();\n// subMeshes.Clear();\n\n// for (int k = 0; k < sub.surfaces.Count; k++) {\n// var cpy = new int[sub.surfaces[k].indicies.Length];\n// Array.Copy(sub.surfaces[k].indicies, cpy, cpy.Length);\n// Array.Reverse(cpy);\n// var start = t.Count;\n// t.AddRange(cpy);\n// subMeshes.Add(new SubMeshDescription() { Start = start, Count = t.Count - start });\n// }\n// for (int k = 0; k < sub.verts.Length; k += 3) {\n// v.Add(new Vec3 { X = (float)(sub.verts[k] * -0.01), Y = (float)(sub.verts[k + 1] * 0.01), Z = (float)(sub.verts[k + 2] * 0.01) });\n// }\n\n// m = new Mesh();\n// m.Vertices.AddRange(v);\n// m.Triangles.AddRange(t);\n// m.SubMeshes.AddRange(subMeshes);\n// colliders.Add(m);\n// }\n// protoNode.MeshColliders.AddRange(colliders);\n// #endregion\n// Logger.Log($\"Completed Colliders for node {i + 1}\");\n\n// #region Joint\n// // Joint\n// var skeletalJoint = nodes[i].GetSkeletalJoint();\n// if (skeletalJoint != null) {\n// var jointType = skeletalJoint.GetJointType();\n\n// switch (jointType) {\n// case SkeletalJointType.ROTATIONAL:\n\n// var jointData = skeletalJoint as RotationalJoint_Base;\n// var rotationalJoint = new RotationalJoint();\n// rotationalJoint.ConnectedBody = nodes[i].GetParent().GUID;\n// rotationalJoint.Anchor = jointData.basePoint;\n// rotationalJoint.Axis = ((Vec3)jointData.axis).Normalize();\n// if (jointData.hasAngularLimit) {\n// rotationalJoint.UseLimits = true;\n// rotationalJoint.CurrentAngle = RadiansToDegrees(jointData.currentAngularPosition);\n// rotationalJoint.LowerLimit = RadiansToDegrees(jointData.angularLimitLow);\n// rotationalJoint.UpperLimit = RadiansToDegrees(jointData.angularLimitHigh);\n// } else {\n// rotationalJoint.UseLimits = false;\n// }\n// rotationalJoint.MassScale = collectiveMasses[nodes[i].GetParent().GUID] / collectiveMasses[nodes[i].GUID];\n\n// rotationalJoint.IsWheel = HasDriverMeta<WheelDriverMeta>(nodes[i]) && GetDriverMeta<WheelDriverMeta>(nodes[i]).type != WheelType.NOT_A_WHEEL;\n// if (rotationalJoint.IsWheel) {\n// // TODO: Axis correction?\n// switch (GetDriverMeta<WheelDriverMeta>(nodes[i]).type) {\n// case WheelType.NORMAL:\n// rotationalJoint.WheelType =\n// RotationalJoint.Types.ProtoWheelType.Normal;\n// break;\n// case WheelType.OMNI:\n// rotationalJoint.WheelType =\n// RotationalJoint.Types.ProtoWheelType.Omni;\n// break;\n// case WheelType.MECANUM:\n// rotationalJoint.WheelType =\n// RotationalJoint.Types.ProtoWheelType.Mecanum;\n// break;\n// }\n\n// var bounds = protoNode.VisualMesh.Vertices.Bounds();\n// var center = (bounds.min + bounds.max) / 2;\n// var radius = (bounds.max - bounds.min).Magnitude / 2;\n// protoNode.MeshColliders.Clear();\n// protoNode.SphereColliders.Add(new Sphere() {Center = center, Radius = radius});\n// protoNode.PhysicalProperties.StaticFriction = 2.2f;\n// protoNode.PhysicalProperties.DynamicFriction = 0.9f;\n\n// lock (wheelAxisLock) {\n// if (wheelAxis == null) {\n// wheelAxis = rotationalJoint.Axis;\n// Logger.Log(\n// $\"Axis Choosen: {wheelAxis.X}, {wheelAxis.Y}, {wheelAxis.Z}\");\n// } else if ((wheelAxis - rotationalJoint.Axis).Magnitude > 0.05f) {\n// Logger.Log(\n// $\"Axis Replaced: {rotationalJoint.Axis.X}, {rotationalJoint.Axis.Y}, {rotationalJoint.Axis.Z}\");\n// rotationalJoint.Axis = wheelAxis;\n// }\n \n// }\n// }\n\n// protoNode.RotationalJoint = rotationalJoint; // I think?\n\n// break;\n// default:\n// protoNode.OtherJoint = new OtherJoint() {\n// ConnectedBody = nodes[i].GetParent().GUID,\n// MassScale = collectiveMasses[nodes[i].GetParent().GUID] / collectiveMasses[nodes[i].GUID]\n// };\n// break;\n// }\n// }\n// #endregion\n// Logger.Log($\"Completed Joint for node {i + 1}\");\n\n// protoNodes[i] = protoNode;\n\n// } catch (Exception e) {\n// Logger.Log($\"Node {i} has a whoopsie\");\n// Logger.Log(e.Message);\n// Logger.Log(e.StackTrace);\n// throw new Exception();\n// }\n\n// }));\n// }\n\n// nodeTasks.ForEach(x => x.Start());\n// Logger.Log(\"All node tasks created. Waiting...\");\n// nodeTasks.ForEach(x => x.Wait());\n// Logger.Log(\"Finished all node task\");\n\n// #region Serialization\n \n// var dyno = new DynamicObject();\n// dyno.Nodes.AddRange(protoNodes);\n// dyno.Name = source.Substring(source.LastIndexOf(Path.AltDirectorySeparatorChar) + 1);\n\n// var protoRobot = new ProtoRobot();\n// protoRobot.Object = dyno;\n// protoRobot.SerializerSignature = SERIALIZER_SIGNATURE;\n\n// string o = protoRobot.Serialize(output);\n \n// #endregion\n\n// Logger.Log(\" === BXDJ to Proto translation complete === \");\n// return o;\n// });\n\n// Logger.Log(\"Task created\");\n// return myTask;\n// }\n\n// private static List<GamepieceDefinition> ParseFieldData(XmlDocument doc) {\n// var root = doc.FirstChild;\n \n// Logger.Log(doc.OuterXml);\n\n// var gamepieceXmls = doc.SelectNodes(\"/FieldData/General/Gamepieces/gamepiece\").ToList();\n\n// var gamepieceDefinitions = new List<GamepieceDefinition>();\n// gamepieceXmls.ForEach(x => {\n// Logger.Log(\"Checking for Gamepiece\");\n// if (x.Attributes.Count != 0) { // WHY\n// var id = x.Attributes[\"id\"].Value;\n// // TODO: Holding limit?\n// var X = float.Parse(x.Attributes[\"x\"].Value);\n// var Y = float.Parse(x.Attributes[\"y\"].Value);\n// var Z = float.Parse(x.Attributes[\"z\"].Value);\n// Vec3 spawnPoint = new Vec3 { X = X, Y = Y, Z = Z };\n// gamepieceDefinitions.Add(new GamepieceDefinition { Name = id, SpawnLocation = spawnPoint });\n// Logger.Log($\"Registering Gamepiece: {id}\");\n// }\n// });\n// return gamepieceDefinitions;\n// }\n\n// public static Vec3 ModVec(BXDQuaternion q, BXDVector3 original, BXDVector3 offset) {\n// var uvec = new UVec3(original.x * -0.01f, original.y * 0.01f, original.z * 0.01f);\n// var uquat = new UQuat(-q.X, q.Y, q.Z, -q.W).normalized;\n// var v = uquat * uvec;\n// return new Vec3() { X = v.x + (offset.x * -0.01f), Y = v.y + (offset.y * 0.01f), Z = v.z + (offset.z * 0.01f) };\n// }\n\n// private static float GetCollectiveMass(Guid a, Dictionary<Guid, BXDAMesh> meshes, Dictionary<Guid, List<Guid>> children) {\n// if (!children.ContainsKey(a))\n// return 0;\n// float sum = 0.0f;\n// foreach (var child in children[a]) {\n// sum += meshes[child].physics.mass;\n// sum += GetCollectiveMass(child, meshes, children);\n// }\n// return sum;\n// }\n\n// private static RigidNode_Base GetRoot(RigidNode_Base a) {\n// RigidNode_Base b;\n// while ((b = a.GetParent()) != null)\n// a = b;\n// return a;\n// }\n\n// private static RigidNode_Base ReadSkeletonSafe(string path) {\n// string jsonPath = path + \".json\";\n// string xmlPath = path + \".bxdj\";\n// RigidNode_Base node = null;\n// if (File.Exists(jsonPath)) {\n// node = BXDJSkeletonJson.ReadSkeleton(jsonPath);\n// } else {\n// node = BXDJSkeleton.ReadSkeleton(xmlPath);\n// }\n// return node;\n// }\n\n// public static T GetDriverMeta<T>(RigidNode_Base node) where T : JointDriverMeta {\n// return node != null && node.GetSkeletalJoint() != null && node.GetSkeletalJoint().cDriver != null ? node.GetSkeletalJoint().cDriver.GetInfo<T>() : null;\n// }\n\n// public static bool HasDriverMeta<T>(RigidNode_Base node) where T : JointDriverMeta {\n// return GetDriverMeta<T>(node) != null;\n// }\n// #endregion\n \n// #region Misc\n \n// public static float RadiansToDegrees(float a) => (a * 180.0f) / (float)Math.PI;\n\n// public struct TranslationType {\n\n// public static readonly TranslationType BXDJ_TO_PROTO_ROBOT = new TranslationType(\"bxdj_proto_robot\");\n// public static readonly TranslationType BXDF_TO_PROTO_FIELD = new TranslationType(\"bxdf_proto_field\");\n \n// public string Indentifier { get; private set; }\n\n// public TranslationType(string indentifier) {\n// Indentifier = indentifier;\n// }\n// }\n\n// private static HashAlgorithm sha = SHA256.Create();\n// /// <summary>\n// /// Hashes the contents of a file at a path\n// /// </summary>\n// /// <param name=\"path\">Path to file to generate hash</param>\n// /// <returns>Hash</returns>\n// public static byte[] TempFileHash(string path) => sha.ComputeHash(File.ReadAllBytes(path));\n// /// <summary>\n// /// Hashes a byte buffer\n// /// </summary>\n// /// <param name=\"content\">Content to hash</param>\n// /// <returns>Hash</returns>\n// public static byte[] TempFileHash(byte[] content) => sha.ComputeHash(content);\n// /// <summary>\n// /// Hashes the contents of a file at a path\n// /// </summary>\n// /// <param name=\"path\">Path to file to generate hash</param>\n// /// <returns>File name</returns>\n// public static string TempFileName(string path) => TempFileHash(File.ReadAllBytes(path)).ToHexString();\n// /// <summary>\n// /// Hashes a byte buffer\n// /// </summary>\n// /// <param name=\"content\">Content to hash</param>\n// /// <returns>File name</returns>\n// public static string TempFileName(byte[] content) => TempFileHash(content).ToHexString();\n\n// #endregion\n\n// }\n//}\n<file_sep>using System.Collections;\nusing System.Collections.Generic;\nusing UnityEngine;\nusing UnityEngine.UI;\n\npublic class SignalsOverlayRenderer : MonoBehaviour {\n public static SignalsOverlayRenderer Instance { get; private set; }\n\n public Font GuiFont;\n [SerializeField]\n private Transform Canvas;\n [SerializeField]\n private GameObject LinePrefab;\n\n public void Awake() {\n Instance = this;\n }\n\n public void OnGUI() {\n var style = new GUIStyle() {\n alignment = TextAnchor.MiddleCenter,\n font = GuiFont,\n fontSize = 36,\n normal = new GUIStyleState() { textColor = Color.white },\n };\n\n GUI.contentColor = Color.white;\n\n GUI.Label(new Rect(100f, 100f, 50f, 50f), \"0\", style);\n }\n\n public static GameObject BuildNewLinePrefab() => Instantiate(Instance.LinePrefab, Instance.Canvas);\n}\n\npublic class Line {\n private const string POINT_A = \"_PointA\";\n private const string POINT_B = \"_PointB\";\n private const string COLOR = \"_Color\";\n private const string STROKE = \"_Stroke\";\n private const string ACTUAL_SCREEN_PARAMS = \"_ActualScreenParams\";\n\n private Material _lineMaterial;\n private GameObject _lineObject;\n\n private Vector2 _pointA = new Vector2(0, 0);\n public Vector2 PointA {\n get => _pointA;\n set {\n _pointA = value;\n _lineMaterial.SetVector(POINT_A, new Vector4(_pointA.x, _pointA.y, 0f, 1f));\n }\n }\n private Vector2 _pointB = new Vector2(0, 0);\n public Vector2 PointB {\n get => _pointB;\n set {\n _pointB = value;\n _lineMaterial.SetVector(POINT_B, new Vector4(_pointB.x, _pointB.y, 0f, 1f));\n }\n }\n private Color _color = Color.white;\n public Color Color {\n get => _color;\n set {\n _color = value;\n _lineMaterial.SetColor(COLOR, _color);\n }\n }\n private float _stroke = 1.0f;\n public float Stroke {\n get => _stroke;\n set {\n _stroke = value;\n _stroke = Mathf.Clamp(_stroke, 1.0f, 100.0f);\n _lineMaterial.SetFloat(STROKE, _stroke);\n }\n }\n private Vector2 _ASP = new Vector2(1920, 1080);\n public Vector2 ActualScreenParams {\n get => _ASP;\n set {\n _ASP = value;\n _lineMaterial.SetVector(ACTUAL_SCREEN_PARAMS, new Vector4(_ASP.x, _ASP.y, 0f, 1f));\n }\n }\n\n public Line(Vector2 a, Vector2 b) {\n _lineObject = SignalsOverlayRenderer.BuildNewLinePrefab();\n var img = _lineObject.GetComponent<Image>();\n _lineMaterial = new Material(img.material);\n img.material = _lineMaterial;\n\n // Init\n PointA = a;\n PointB = b;\n Color = _color;\n Stroke = _stroke;\n ActualScreenParams = _ASP;\n }\n\n public void DeleteLine() {\n _lineMaterial = null;\n GameObject.Destroy(_lineObject);\n }\n}\n<file_sep>using System.Collections.Generic;\n\n#nullable enable\n\nnamespace Mirabuf {\n public partial class Assembly {\n\n private Dictionary<string, List<string>>? _partJointMap = null;\n\n private void LoadPartJointMap() {\n _partJointMap = new Dictionary<string, List<string>>();\n Data.Parts.PartInstances.ForEach(x => {\n _partJointMap[x.Key] = new List<string>();\n Data.Joints.JointInstances.ForEach(y => {\n if (y.Value.ChildPart == x.Key || y.Value.ParentPart == x.Key)\n _partJointMap[x.Key].Add(y.Key);\n });\n });\n }\n \n public List<string> GetPartJoints(string partInstance) {\n if (_partJointMap == null)\n LoadPartJointMap();\n // The previous line should fill this I guess ?\n _partJointMap!.TryGetValue(partInstance, out List<string> joints);\n return joints;\n }\n }\n}<file_sep>using System;\nusing Api.InputManager;\nusing SynthesisAPI.EnvironmentManager;\nusing SynthesisAPI.EventBus;\nusing SynthesisAPI.InputManager;\nusing SynthesisAPI.Modules.Attributes;\n\nnamespace SynthesisCore\n{\n [InitializationPriority(1)]\n public class InputSystem : SystemBase\n {\n public static bool IsAwaitingKey = false;\n \n public InputSystem() { }\n\n public override void Setup() { }\n\n public override void OnPhysicsUpdate() { }\n\n public override void OnUpdate()\n {\n InputManager.UpdateInputs();\n }\n\n public override void OnKeyPress(string kc)\n {\n if (IsAwaitingKey)\n {\n EventBus.Push(new KeyEvent(kc));\n }\n }\n\n public override void Teardown() { }\n }\n}\n<file_sep>#if false\nusing SynthesisAPI.Runtime;\n\nnamespace Controller.Rpc\n{\n public static class ExampleApi\n {\n [RpcMethod]\n public static long Add(long a, long b)\n {\n return a + b;\n }\n\n [RpcMethod]\n public static void PrintMessage(string msg, LogLevel logLevel = LogLevel.Info)\n {\n ApiProvider.Log(msg, logLevel);\n }\n\n [RpcMethod]\n public static void PrintArray(string[] msg)\n {\n foreach (var m in msg)\n {\n ApiProvider.Log(m);\n }\n }\n\n [RpcMethod]\n public static string ReturnString(string msg)\n {\n return msg;\n }\n\n [RpcMethod]\n public static void ThrowException(string msg)\n {\n throw new System.Exception(msg);\n }\n }\n}\n#endif<file_sep>using System.Linq;\nusing Synthesis.Gizmo;\nusing Synthesis.UI.Dynamic;\nusing SynthesisAPI.Simulation;\nusing UI.Dynamic.Modals.Spawning;\n\nnamespace Synthesis.UI.Tabs {\n public class HomeTab : Tab {\n public override void Create() {\n CreateButton(\"Load Robot\", SynthesisAssetCollection.GetSpriteByName(\"robotimport\"),\n () => DynamicUIManager.CreateModal<AddRobotModal>());\n CreateButton(\"Load Field\", SynthesisAssetCollection.GetSpriteByName(\"fieldimport\"),\n () => DynamicUIManager.CreateModal<AddFieldModal>());\n CreateDivider();\n CreateButton(\"Details\", SynthesisAssetCollection.GetSpriteByName(\"Multiplayer1-Gray\"),\n () => DynamicUIManager.CreatePanel<RobotDetailsPanel>());\n CreateButton(\"Change View\", SynthesisAssetCollection.GetSpriteByName(\"fieldimport\"),\n () => DynamicUIManager.CreateModal<ChangeViewModal>());\n CreateDivider();\n CreateButton(\"Scoreboard\", SynthesisAssetCollection.GetSpriteByName(\"fieldimport\"),\n () => LayoutManager.OpenPanel(SynthesisAssetCollection.GetPanelByName(\"Scoreboard-Panel\")));\n CreateButton(\"Test Modal\", SynthesisAssetCollection.GetSpriteByName(\"fieldimport\"),\n () => { DynamicUIManager.CreateModal<ScrollViewTestModal>(); });\n CreateButton(\"Pickup\", SynthesisAssetCollection.GetSpriteByName(\"fieldimport\"),\n () => { DynamicUIManager.CreatePanel<ConfigureGamepiecePickupPanel>(); });\n CreateButton(\"Shooting\", SynthesisAssetCollection.GetSpriteByName(\"fieldimport\"),\n () => { DynamicUIManager.CreatePanel<ConfigureShotTrajectoryPanel>(); });\n }\n }\n}\n<file_sep>using System;\nusing System.Collections.Generic;\nusing System.Threading;\nusing UnityEngine;\n\n#nullable enable\n\nnamespace SynthesisAPI.Utilities {\n /// <summary>\n /// The Unity Resyncer schedules actions to be run on the main thread. Unity requires an annoying\n /// amount to be run on the main thread, and this should help\n ///\n /// TODO: TEST THIS\n /// </summary>\n public static class UnityResyncer {\n\n /// <summary>\n /// Queue an action to be run on the main thread\n /// </summary>\n /// <param name=\"act\">Action you wish to run on the main thread</param>\n /// <returns>Handler for the action</returns>\n public static ResyncHandler Resync(Action act) {\n\n if (Instance == null)\n throw new Exception(\"Instance doesn't exist yet\");\n\n var handler = new ResyncHandler();\n Instance.queueTasks.Enqueue((act, handler));\n return handler;\n }\n\n public static UnityResyncerComponent? Instance = null;\n }\n\n /// <summary>\n /// The actual Unity component to schedule actions to run on the main thread\n /// </summary>\n public class UnityResyncerComponent : MonoBehaviour {\n public float MaxExecuteTimeS = 0.1f;\n\n public Queue<(Action act, ResyncHandler handler)> queueTasks = new Queue<(Action act, ResyncHandler handler)>();\n\n private void Awake() {\n UnityResyncer.Instance = this;\n }\n\n private void Update() {\n float start = Time.realtimeSinceStartup;\n while (Time.realtimeSinceStartup - start < MaxExecuteTimeS && queueTasks.Count > 0) {\n var q = queueTasks.Dequeue();\n q.act();\n q.handler.IsDone = true;\n }\n }\n }\n\n /// <summary>\n /// Handler class for checking on the status of a resynced task\n ///\n /// TODO: TEST THIS\n /// </summary>\n public class ResyncHandler {\n private readonly object threadLock = new object();\n private bool isDone = false;\n public bool IsDone {\n get => isDone;\n set {\n lock (threadLock) {\n isDone = value;\n }\n }\n }\n\n public void Wait(double timeOutS) {\n double start = DateTimeOffset.UtcNow.ToUnixTimeSeconds();\n while (!isDone && DateTimeOffset.UtcNow.ToUnixTimeSeconds() - start < timeOutS) {\n Thread.Sleep(5);\n }\n }\n }\n}\n<file_sep>using System.Collections.Generic;\nusing MathNet.Spatial.Euclidean;\nusing SynthesisAPI.AssetManager;\nusing SynthesisAPI.EnvironmentManager;\nusing SynthesisAPI.EnvironmentManager.Components;\nusing SynthesisAPI.InputManager;\nusing SynthesisAPI.InputManager.Inputs;\nusing SynthesisCore.UI;\nusing SynthesisCore.Components;\nusing SynthesisAPI.Modules.Attributes;\nusing SynthesisAPI.InputManager.InputEvents;\nusing SynthesisAPI.Utilities;\nusing SynthesisCore.Simulation;\nusing SynthesisCore.Meshes;\n\nnamespace SynthesisCore\n{\n public class SampleSystem : SystemBase\n {\n private Entity testBody;\n\n private MotorAssemblyManager motorManager;\n private MotorAssembly frontLeft, frontRight, backLeft, backRight, arm;\n\n private PowerSupply powerSupply;\n\n // private const double LoadTorque = 22 * 9.81 * 1.1 * 0.0508; // m * g * μ * r\n \n public override void Setup()\n {\n Entity cube = EnvironmentManager.AddEntity();\n\n cube.AddComponent<Transform>().Position = new Vector3D(0, 5, 5);\n Mesh m = cube.AddComponent<Mesh>();\n Cube.Make(m);\n cube.AddComponent<MeshCollider>();\n cube.AddComponent<Rigidbody>();\n var cubeSelectable = cube.AddComponent<Selectable>();\n //e.AddComponent<Moveable>().Channel = 5;\n\n powerSupply = new PowerSupply(12); // V\n \n testBody = EnvironmentManager.AddEntity();\n\n GltfAsset g = AssetManager.GetAsset<GltfAsset>(\"/modules/synthesis_core/Test.glb\");\n Bundle o = g.Parse();\n testBody.AddBundle(o);\n SynthesisCoreData.ModelsDict.Add(\"TestBody\", testBody);\n var body = testBody.GetComponent<Joints>().AllJoints;\n\n var selectable = testBody.AddComponent<Selectable>();\n\n testBody.AddComponent<Moveable>().Channel = 5;\n\n motorManager = testBody.AddComponent<MotorAssemblyManager>();\n\n frontLeft = motorManager.AllMotorAssemblies[3];\n frontRight = motorManager.AllMotorAssemblies[4];\n backLeft = motorManager.AllMotorAssemblies[1];\n backRight = motorManager.AllMotorAssemblies[2];\n arm = motorManager.AllMotorAssemblies[0];\n\n frontLeft.Configure(MotorTypes.Get(\"CIM\"), gearReduction: 9.29);\n frontRight.Configure(MotorTypes.Get(\"CIM\"), gearReduction: 9.29);\n backLeft.Configure(MotorTypes.Get(\"CIM\"), gearReduction: 9.29);\n backRight.Configure(MotorTypes.Get(\"CIM\"), gearReduction: 9.29);\n arm.Configure(MotorTypes.Get(\"CIM\"), gearReduction: 9.29);\n\n InputManager.AssignAxis(\"vert\", new Analog(\"Vertical\"));\n InputManager.AssignAxis(\"hori\", new Analog(\"Horizontal\"));\n\n InputManager.AssignDigitalInput(\"move_arm_up\", new Digital(\"t\"));\n InputManager.AssignDigitalInput(\"move_arm_down\", new Digital(\"y\"));\n\n foreach (var i in EnvironmentManager.GetComponentsWhere<Rigidbody>(_ => true))\n {\n i.AngularDrag = 0;\n }\n\n //Entity jointTest = EnvironmentManager.AddEntity();\n //Mesh m = new Mesh();\n //Bundle b = new Bundle();\n //b.Components.Add(selectable);\n //Transform t = new Transform();\n //t.Position = new Vector3D(10, 10, 10); //joint anchor position\n //b.Components.Add(t);\n //b.Components.Add(cube(m)); //replace the cube function with your mesh creation\n //jointTest.AddBundle(b);\n ////when done\n //jointTest.RemoveEntity();\n }\n\n public override void OnUpdate()\n {\n float forward = InputManager.GetAxisValue(\"vert\");\n float turn = InputManager.GetAxisValue(\"hori\");\n\n var percent = forward + turn;\n frontLeft.SetVoltage(powerSupply.VoltagePercent(percent));\n percent = forward - turn;\n frontRight.SetVoltage(powerSupply.VoltagePercent(percent));\n percent = forward + turn;\n backLeft.SetVoltage(powerSupply.VoltagePercent(percent));\n percent = forward - turn;\n backRight.SetVoltage(powerSupply.VoltagePercent(percent));\n \n frontLeft.Update();\n frontRight.Update();\n backLeft.Update();\n backRight.Update();\n arm.Update();\n }\n\n [TaggedCallback(\"input/move_arm_up\")]\n public void MoveArmUp(DigitalEvent e)\n {\n if(e.State == DigitalState.Held)\n arm.SetVoltage(powerSupply.VoltagePercent(0.25));\n else\n arm.SetVoltage(powerSupply.VoltagePercent(0));\n }\n\n [TaggedCallback(\"input/move_arm_down\")]\n public void MoveArmDown(DigitalEvent e)\n {\n if (e.State == DigitalState.Held)\n arm.SetVoltage(powerSupply.VoltagePercent(-0.25));\n else\n arm.SetVoltage(powerSupply.VoltagePercent(0));\n }\n\n public override void Teardown() { }\n\n public override void OnPhysicsUpdate() { }\n }\n}\n<file_sep>#!/bin/bash\n\nPREFIX=$0 # File name of script running\n\nTEST_DIR=./tests\n\nif [ -z \"$(ls -A $TEST_DIR)\" ]; then\n printf \"$PREFIX: Test binary folder is empty.\\n\"\nelse\n for test in $TEST_DIR/*; do\n if ! $test --gtest_color=yes --gtest_catch_exceptions=0; then\n printf \"\\n\\n$PREFIX: A test failed - exiting\\n\"\n exit 1\n fi\n done\nfi\n<file_sep>#include \"robot_inputs.hpp\"\n#include \"roborio_manager.hpp\"\n#include \"util.hpp\"\n\n#include <algorithm>\n\nusing namespace nFPGA;\nusing namespace nRoboRIO_FPGANamespace;\n\nnamespace hel {\n\nRobotInputs::RobotInputs()\n\t: digital_hdrs({DigitalSystem::HeaderConfig::DI, false}),\n\t digital_mxp({}),\n\t joysticks({}),\n\t match_info({}),\n\t robot_mode({}),\n\t encoder_managers({}),\n\t analog_inputs(0) {}\n\nvoid RobotInputs::updateShallow() const {\n\tif (!hal_is_initialized) {\n\t\treturn;\n\t}\n\tauto instance = RoboRIOManager::getInstance();\n\n\tinstance.first->joysticks = joysticks;\n\tinstance.first->match_info = match_info;\n\tinstance.first->robot_mode = robot_mode;\n\tinstance.first->encoder_managers = encoder_managers;\n\tfor (Maybe<EncoderManager>& a : instance.first->encoder_managers) {\n\t\tif (a.isValid()) {\n\t\t\ta.get().update();\n\t\t}\n\t}\n\tinstance.second.unlock();\n}\n\nvoid RobotInputs::updateDeep() const {\n\tif (!hal_is_initialized) {\n\t\treturn;\n\t}\n\tupdateShallow();\n\tauto instance = RoboRIOManager::getInstance();\n\n\ttDIO::tDI di = instance.first->digital_system.getInputs();\n\tfor (unsigned i = 0; i < digital_hdrs.size(); i++) {\n\t\tif (digital_hdrs[i].first == DigitalSystem::HeaderConfig::DI) { // if set for input, then read in the inputs\n\t\t\tdi.Headers = setBit(di.Headers, digital_hdrs[i].second, i);\n\t\t} else {\n\t\t\tdi.Headers = setBit(di.Headers, false, i);\n\t\t}\n\t}\n\n\tfor (auto i = 0u; i < digital_mxp.size(); i++) {\n\t\tswitch (digital_mxp[i].config) {\n\t\tcase MXPData::Config::DI:\n\t\t\tdi.MXP = setBit(di.MXP, digital_mxp[i].value, i);\n\t\t\tbreak;\n\t\tdefault:\n\t\t\tbreak;\n\t\t}\n\t}\n\tinstance.first->digital_system.setInputs(di);\n\n\tconst double ANALOG_SCALAR = 1.0 / (AnalogInputs::LSB_WEIGHT * AnalogInputs::LSB_SCALAR);\n\tfor (unsigned i = 0; i < analog_inputs.size(); i++) {\n\t\tinstance.first->analog_inputs.setValues(i, {(int32_t)(ANALOG_SCALAR * analog_inputs[i])});\n\t}\n\tinstance.first->user_button = user_button;\n\tinstance.second.unlock();\n}\n\nstd::string RobotInputs::toString() const {\n\tstd::string s = \"(\";\n\ts += \"digital_hdrs:\" +\n\t\tasString(digital_hdrs, [](auto d) { return \"(\" + asString(d.first) + \" \" + std::to_string(d.second) + \")\"; }) +\n\t\t \", \";\n\ts += \"joysticks:\" +\n\t\t asString(joysticks, [](auto j) { return j.toString(); }) + \", \";\n\ts += \"digital_mxp:\" +\n\t\t asString(digital_mxp, [](auto m) { return m.toString(); }) + \", \";\n\ts += \"match_info:\" + match_info.toString() + \", \";\n\ts += \"robot_mode:\" + robot_mode.toString() + \", \";\n\ts += \"encoder_managers:\" +\n\t\t asString(encoder_managers, [&](Maybe<EncoderManager> a) {\n\t\t\t if (a.isValid()) {\n\t\t\t\t return a.get().toString();\n\t\t\t }\n\t\t\t return std::string(\"null\");\n\t\t }) + \", \";\n\ts += \"user_button: \" + std::to_string((int)user_button);\n\ts += \")\";\n\treturn s;\n}\nvoid RobotInputs::sync(const EmulationService::RobotInputs& req) {\n\tfor (size_t i = 0;\n\t\t i < std::min(this->joysticks.size(), (size_t) req.joysticks_size());\n\t\t i++) {\n\t\tauto joystick = &this->joysticks[i];\n\t\tauto joystick_data = req.joysticks(i);\n\n\t\tjoystick->setIsXBox(joystick_data.is_xbox());\n\t\tjoystick->setType((uint8_t) joystick_data.type());\n\t\tjoystick->setName(joystick_data.name());\n\t\tjoystick->setButtons(joystick_data.buttons());\n\t\tjoystick->setButtonCount((uint8_t) joystick_data.button_count());\n\t\tjoystick->setAxes(joystick_data.axes());\n\t\tjoystick->setAxisCount(joystick_data.axis_count());\n\t\tjoystick->setAxisTypes(joystick_data.axis_types());\n\t\tjoystick->setPOVs(joystick_data.povs());\n\t\tjoystick->setPOVCount(joystick_data.pov_count());\n\t\tjoystick->setOutputs(joystick_data.outputs());\n\t\tjoystick->setLeftRumble(joystick_data.left_rumble());\n\t\tjoystick->setRightRumble(joystick_data.right_rumble());\n\t}\n\n\tauto match_info = &this->match_info;\n\tmatch_info->setEventName(req.match_info().event_name());\n\tmatch_info->setGameSpecificMessage(\n\t\treq.match_info().game_specific_message());\n\tmatch_info->setMatchType(\n\t\tstatic_cast<MatchType_t>(req.match_info().match_type()));\n\tmatch_info->setMatchNumber(req.match_info().match_number());\n\tmatch_info->setReplayNumber(req.match_info().replay_number());\n\tmatch_info->setAllianceStationID(static_cast<AllianceStationID_t>(\n\t\treq.match_info().alliance_station_id()));\n\tmatch_info->setMatchTime(req.match_info().match_time());\n\n\tauto robot_mode = &this->robot_mode;\n\trobot_mode->setEnabled(req.robot_mode().enabled());\n\trobot_mode->setEmergencyStopped(req.robot_mode().is_emergency_stopped());\n\trobot_mode->setFMSAttached(req.robot_mode().is_fms_attached());\n\trobot_mode->setDSAttached(req.robot_mode().is_ds_attached());\n\trobot_mode->setMode(static_cast<RobotMode::Mode>(req.robot_mode().mode()));\n\n\tfor (size_t i = 0; i < std::min(this->encoder_managers.size(),\n\t\t\t\t\t\t\t\t\t(size_t) req.encoder_managers_size());\n\t\t i++) {\n\t\tauto encoder = &this->encoder_managers[i];\n\t\tauto encoder_data = req.encoder_managers(i);\n\t\tif (!encoder->isValid()) {\n\t\t\tauto new_encoder = EncoderManager(\n\t\t\t\tencoder_data.a_channel(),\n\t\t\t\tstatic_cast<EncoderManager::PortType>(encoder_data.a_type()),\n\t\t\t\tencoder_data.b_channel(),\n\t\t\t\tstatic_cast<EncoderManager::PortType>(encoder_data.b_type()));\n\t\t\tencoder->set(new_encoder);\n\t\t} else {\n\t\t\tencoder->get().setAChannel(encoder_data.a_channel());\n\t\t\tencoder->get().setAType(static_cast<EncoderManager::PortType>(\n\t\t\t\tencoder_data.a_channel()));\n\t\t\tencoder->get().setBChannel(encoder_data.b_channel());\n\t\t\tencoder->get().setBType(static_cast<EncoderManager::PortType>(\n\t\t\t\tencoder_data.b_channel()));\n\t\t}\n\t}\n}\n\nvoid RobotInputs::syncDeep(const EmulationService::RobotInputs& req) {\n\tsync(req);\n\n\tauto instance = RoboRIOManager::getInstance();\n\ttDIO::tOutputEnable output_mode = instance.first->digital_system.getEnabledOutputs(); // Update digital header config from internal state\n\tfor (size_t i = 0; i < digital_hdrs.size(); i++) {\n\t\tdigital_hdrs[i].first = checkBitHigh(output_mode.Headers, i) ? DigitalSystem::HeaderConfig::DO : DigitalSystem::HeaderConfig::DI;\n\t}\n\n\tfor (size_t i = 0; i < std::min(this->digital_hdrs.size(), (size_t) req.digital_headers_size()); i++) {\n\t\tthis->digital_hdrs[i].second = req.digital_headers(i).value();\n\t}\n\n\tfor (size_t i = 0; i < std::min(this->digital_mxp.size(), (size_t) req.mxp_data_size()); i++) {\n\t\tdigital_mxp[i].value = req.mxp_data(i).value();\n\t\t// Don't sync MXP config, let robot code handle that\n\t}\n\n\tfor (size_t i = 0; i < digital_mxp.size(); i++) {\n\t\tdigital_mxp[i].config = instance.first->digital_system.getMXPConfig(i); // Update config from internal state\n\t}\n\n\tfor (size_t i = 0; i < std::min(analog_inputs.size(), (size_t) req.analog_inputs_size()); i++) {\n\t\tanalog_inputs[i] = req.analog_inputs(i);\n\t}\n\n\tuser_button = req.user_button();\n\n\tinstance.second.unlock();\n}\n} // namespace hel\n<file_sep>using System.IO;\n\npublic enum PneumaticPressure : byte\n{\n HIGH = 0,\n MEDIUM = 1,\n LOW = 2\n}\n\n\n/// <summary>\n/// Stores the variables concerning a pneumatic cylinder.\n/// </summary>\npublic class PneumaticDriverMeta : JointDriverMeta\n{\n public float widthMM;\n public float pressurePSI;\n\n #region WHERE IS YOUR _TODD_ NOW\n public double width;\n\n\n public PneumaticPressure pressureEnum\n {\n get\n {\n if (pressurePSI == 20)\n return PneumaticPressure.LOW;\n if (pressurePSI == 40)\n return PneumaticPressure.MEDIUM;\n return PneumaticPressure.HIGH;\n }\n set\n {\n switch (value)\n {\n case PneumaticPressure.MEDIUM:\n pressurePSI = 40;\n break;\n case PneumaticPressure.LOW:\n pressurePSI = 20;\n break;\n default:\n case PneumaticPressure.HIGH:\n pressurePSI = 60;\n break;\n }\n }\n }\n #endregion\n\n\n protected override void WriteDataInternal(BinaryWriter writer)\n {\n writer.Write(widthMM);\n writer.Write(pressurePSI);\n }\n protected override void ReadDataInternal(BinaryReader reader)\n {\n widthMM = reader.ReadSingle();\n pressurePSI = reader.ReadSingle();\n }\n}<file_sep>using System;\nusing System.Collections;\nusing System.Collections.Generic;\nusing Synthesis.Util;\nusing SynthesisAPI.Utilities;\nusing UnityEngine;\nusing UnityEngine.UI;\nusing TMPro;\nusing UI;\nusing UI.EventListeners;\nusing UnityEngine.EventSystems;\nusing UnityEngine.PlayerLoop;\nusing Utilities.ColorManager;\nusing UButton = UnityEngine.UI.Button;\nusing UToggle = UnityEngine.UI.Toggle;\nusing USlider = UnityEngine.UI.Slider;\nusing UImage = UnityEngine.UI.Image;\nusing UScrollbar = UnityEngine.UI.Scrollbar;\nusing UScrollView = UnityEngine.UI.ScrollRect;\n\nusing Logger = SynthesisAPI.Utilities.Logger;\nusing Math = System.Math;\n\n#nullable enable\n\nnamespace Synthesis.UI.Dynamic {\n\n#region Abstracts\n\n public abstract class PanelDynamic {\n public const float MAIN_CONTENT_HORZ_PADDING = 25f;\n public Vector2 TweenDirection = Vector2.right;\n public bool IsClosing = false;\n\n private float _leftContentPadding, _rightContentPadding;\n public float LeftContentPadding => _leftContentPadding;\n public float RightContentPadding => _rightContentPadding;\n\n private Vector2 _mainContentSize; // Shouldn't really be used after init is called\n private GameObject _unityObject;\n public GameObject UnityObject => _unityObject;\n // Default for Modal\n private Transform _footer;\n protected Transform Footer => _footer;\n private Button _cancelButton;\n private RectTransform _headerRt;\n protected RectTransform HeaderRt => _headerRt;\n protected Button CancelButton => _cancelButton;\n private Button _acceptButton;\n protected Button AcceptButton => _acceptButton;\n\n private Image _panelIcon;\n protected Image PanelIcon => _panelIcon;\n\n private Button _middleButton;\n\n private Image _panelBackground;\n protected Image PanelBackground => _panelBackground;\n private Label _title;\n protected Label Title => _title;\n\n private Content _mainContent;\n protected Content MainContent => _mainContent;\n\n private bool _hidden = false;\n public bool Hidden {\n get => _hidden;\n set {\n if (value != _hidden) {\n _hidden = value;\n if (_unityObject != null)\n _unityObject.SetActive(!_hidden);\n OnVisibilityChange();\n }\n }\n }\n\n protected Button MiddleButton {\n get {\n if (_middleButton == null) {\n GameObject buttonPrefab = SynthesisAssetCollection.GetUIPrefab(\"dynamic-panel-base\")\n .transform.Find(\"Footer\")\n .Find(\"Accept\")\n .gameObject;\n RectTransform buttonTransform =\n GameObject.Instantiate(buttonPrefab, Footer).GetComponent<RectTransform>();\n\n buttonTransform.anchorMin = new Vector2(0.5f, 0f);\n buttonTransform.anchorMax = new Vector2(0.5f, 0f);\n buttonTransform.pivot = new Vector2(1f, 0f);\n\n buttonTransform.localPosition = new Vector3(\n buttonTransform.rect.width / 2f, AcceptButton.RootGameObject.transform.localPosition.y, 0);\n\n Button middleButton = new Button(null!, buttonTransform.gameObject, null);\n middleButton.Image.SetColor(ColorManager.SynthesisColor.AcceptButton);\n middleButton.Label?.SetColor(ColorManager.SynthesisColor.AcceptCancelButtonText);\n\n _middleButton = middleButton;\n return middleButton;\n }\n\n return _middleButton;\n }\n }\n\n public Action OnAccepted;\n\n protected PanelDynamic(Vector2 mainContentSize, float leftContentPadding = MAIN_CONTENT_HORZ_PADDING,\n float rightContentPadding = MAIN_CONTENT_HORZ_PADDING) {\n _mainContentSize = mainContentSize;\n _leftContentPadding = leftContentPadding;\n _rightContentPadding = rightContentPadding;\n }\n\n public void Create_Internal(GameObject unityObject) {\n _unityObject = unityObject;\n\n var header = _unityObject.transform.Find(\"Header\");\n _headerRt = header.GetComponent<RectTransform>();\n\n _panelIcon = new Image(null, header.Find(\"Image\").gameObject);\n _panelIcon.SetColor(ColorManager.SynthesisColor.MainText);\n _panelIcon.RootGameObject.SetActive(false);\n\n _panelBackground = new Image(null, unityObject);\n _panelBackground.SetColor(ColorManager.GetColor(ColorManager.SynthesisColor.Background));\n _panelBackground.SetCornerRadius(20);\n\n _title = new Label(null, header.Find(\"Title\").gameObject, null);\n\n _footer = _unityObject.transform.Find(\"Footer\");\n var footerRt = _footer.GetComponent<RectTransform>();\n\n _cancelButton = new Button(null!, _footer.Find(\"Cancel\").gameObject, null);\n _cancelButton.AddOnClickedEvent(b => {\n if (!DynamicUIManager.ClosePanel(this.GetType()))\n Logger.Log(\"Failed to Close Panel\", LogLevel.Error);\n });\n _cancelButton.Image.SetColor(ColorManager.GetColor(ColorManager.SynthesisColor.CancelButton));\n\n _cancelButton.Label?.SetColor(ColorManager.GetColor(ColorManager.SynthesisColor.AcceptCancelButtonText));\n _acceptButton = new Button(null!, _footer.Find(\"Accept\").gameObject, null);\n\n _acceptButton.Image.SetColor(ColorManager.GetColor(ColorManager.SynthesisColor.AcceptButton));\n _acceptButton.Label!.SetColor(ColorManager.GetColor(ColorManager.SynthesisColor.AcceptCancelButtonText));\n _acceptButton.AddOnClickedEvent(b => {\n if (OnAccepted != null)\n OnAccepted.Invoke();\n });\n\n // Create Inital Content Component\n var hiddenContentT = _unityObject.transform.Find(\"Content\");\n var hiddenRt = hiddenContentT.GetComponent<RectTransform>();\n hiddenRt.sizeDelta = new Vector2(hiddenRt.sizeDelta.x, _mainContentSize.y);\n hiddenRt.anchorMin = new Vector2(0, 1);\n hiddenRt.anchorMax = new Vector2(1, 1);\n hiddenRt.pivot = new Vector2(0.5f, 1);\n hiddenRt.anchoredPosition = new Vector2(0, -_headerRt.sizeDelta.y);\n var actualContentObj =\n GameObject.Instantiate(SynthesisAssetCollection.GetUIPrefab(\"content-base\"), hiddenContentT);\n actualContentObj.name = \"CentralContent\";\n var contentRt = actualContentObj.GetComponent<RectTransform>();\n contentRt.offsetMax = new Vector2(-_rightContentPadding, contentRt.offsetMax.y);\n contentRt.offsetMin = new Vector2(_leftContentPadding, contentRt.offsetMin.y);\n var modalRt = _unityObject.GetComponent<RectTransform>();\n modalRt.sizeDelta = new Vector2(_mainContentSize.x + (_leftContentPadding + _rightContentPadding),\n hiddenRt.sizeDelta.y + _headerRt.sizeDelta.y + footerRt.sizeDelta.y);\n _mainContent = new Content(null!, actualContentObj, _mainContentSize);\n }\n\n public abstract bool Create();\n public abstract void Update();\n public abstract void Delete();\n\n protected virtual void OnVisibilityChange() {}\n\n public void Delete_Internal() {\n GameObject.Destroy(_unityObject);\n }\n\n protected Content Strip(Vector2? newContentSize = null, float leftPadding = 0f, float rightPadding = 0f,\n float topPadding = 0f, float bottomPadding = 0f) {\n CancelButton.RootGameObject.SetActive(false);\n AcceptButton.RootGameObject.SetActive(false);\n Title.RootGameObject.SetActive(false);\n PanelIcon.RootGameObject.SetActive(false);\n\n var panel = new Content(null, UnityObject, null);\n if (newContentSize.HasValue) {\n panel.SetSize<Content>(new Vector2(newContentSize.Value.x + leftPadding + rightPadding,\n newContentSize.Value.y + topPadding + bottomPadding));\n }\n panel.SetAnchors<Content>(new Vector2(0.5f, 0.0f), new Vector2(0.5f, 0.0f));\n panel.SetPivot<Content>(new Vector2(0.5f, 0.0f));\n panel.SetAnchoredPosition<Content>(new Vector2(0.0f, 10.0f));\n var newMainContent =\n panel.CreateSubContent(newContentSize ?? new Vector2(panel.Size.x - (rightPadding + leftPadding),\n panel.Size.y - (topPadding + bottomPadding)));\n newMainContent.SetStretch<Content>(leftPadding, rightPadding, topPadding, bottomPadding);\n\n return newMainContent;\n }\n }\n\n public abstract class ModalDynamic {\n public const float MAIN_CONTENT_HORZ_PADDING = 35f;\n\n private Vector2 _mainContentSize; // Shouldn't really be used after init is called\n private GameObject _unityObject;\n\n public GameObject UnityObject => _unityObject;\n\n // Default for Modal\n private Button _cancelButton;\n protected Button CancelButton => _cancelButton;\n private Button _acceptButton;\n protected Button AcceptButton => _acceptButton;\n private Image _modalIcon;\n protected Image ModalIcon => _modalIcon;\n private Image _modalBackground;\n protected Image ModalBackground => _modalBackground;\n\n private Label _title;\n protected Label Title => _title;\n private Label _description;\n protected Label Description => _description;\n private Transform _footer;\n protected Transform Footer => _footer;\n private Content _mainContent;\n protected Content MainContent => _mainContent;\n private Button? _middleButton;\n\n public Action OnAccepted;\n public Action OnCancelled;\n\n protected Button MiddleButton {\n get {\n if (_middleButton == null) {\n GameObject buttonPrefab = SynthesisAssetCollection.GetUIPrefab(\"dynamic-modal-base\")\n .transform.Find(\"Footer\")\n .Find(\"Accept\")\n .gameObject;\n RectTransform buttonTransform =\n GameObject.Instantiate(buttonPrefab, Footer).GetComponent<RectTransform>();\n\n buttonTransform.anchorMin = new Vector2(0.5f, 0f);\n buttonTransform.anchorMax = new Vector2(0.5f, 0f);\n buttonTransform.pivot = new Vector2(1f, 0f);\n\n buttonTransform.localPosition = new Vector3(\n buttonTransform.rect.width / 2f, AcceptButton.RootGameObject.transform.localPosition.y, 0);\n\n Button middleButton = new Button(null!, buttonTransform.gameObject, null);\n middleButton.Image.SetColor(ColorManager.SynthesisColor.AcceptButton);\n middleButton.Label?.SetColor(ColorManager.SynthesisColor.AcceptCancelButtonText);\n\n _middleButton = middleButton;\n return middleButton;\n }\n\n return _middleButton;\n }\n }\n\n protected ModalDynamic(Vector2 mainContentSize) {\n _mainContentSize = mainContentSize;\n }\n\n public void Create_Internal(GameObject unityObject) {\n _unityObject = unityObject;\n\n // Grab Customizable Modal Components\n var header = _unityObject.transform.Find(\"Header\");\n var headerRt = header.GetComponent<RectTransform>();\n _modalIcon = new Image(null, header.Find(\"Image\").gameObject);\n _modalIcon.SetColor(ColorManager.SynthesisColor.MainText);\n\n _modalBackground = new Image(null, unityObject);\n _modalBackground.SetColor(ColorManager.GetColor(ColorManager.SynthesisColor.Background));\n _modalBackground.SetCornerRadius(35);\n\n _title = new Label(null, header.Find(\"Title\").gameObject, null);\n _title.SetColor(ColorManager.GetColor(ColorManager.SynthesisColor.MainText));\n\n _description = new Label(null, header.Find(\"Description\").gameObject, null);\n _description.SetColor(ColorManager.GetColor(ColorManager.SynthesisColor.MainText));\n\n _footer = _unityObject.transform.Find(\"Footer\");\n\n var footerRt = _footer.GetComponent<RectTransform>();\n _cancelButton = new Button(null!, _footer.Find(\"Cancel\").gameObject, null);\n _cancelButton.AddOnClickedEvent(b => {\n if (!DynamicUIManager.CloseActiveModal())\n Logger.Log(\"Failed to Close Modal\", LogLevel.Error);\n });\n _cancelButton.Image.SetColor(ColorManager.GetColor(ColorManager.SynthesisColor.CancelButton));\n _cancelButton.Label.SetColor(ColorManager.GetColor(ColorManager.SynthesisColor.AcceptCancelButtonText));\n _acceptButton = new Button(null!, _footer.Find(\"Accept\").gameObject, null);\n _acceptButton.Image.SetColor(ColorManager.GetColor(ColorManager.SynthesisColor.AcceptButton));\n _acceptButton.Label.SetColor(ColorManager.GetColor(ColorManager.SynthesisColor.AcceptCancelButtonText));\n\n _cancelButton.AddOnClickedEvent(b => {\n if (OnCancelled != null)\n OnCancelled.Invoke();\n });\n _acceptButton.AddOnClickedEvent(b => {\n if (OnAccepted != null)\n OnAccepted.Invoke();\n });\n\n // Create Inital Content Component\n var hiddenContentT = _unityObject.transform.Find(\"Content\");\n var hiddenRt = hiddenContentT.GetComponent<RectTransform>();\n hiddenRt.sizeDelta = new Vector2(hiddenRt.sizeDelta.x, _mainContentSize.y);\n hiddenRt.anchorMin = new Vector2(0, 1);\n hiddenRt.anchorMax = new Vector2(1, 1);\n hiddenRt.pivot = new Vector2(0.5f, 1);\n hiddenRt.anchoredPosition = new Vector2(0, -headerRt.sizeDelta.y);\n var actualContentObj =\n GameObject.Instantiate(SynthesisAssetCollection.GetUIPrefab(\"content-base\"), hiddenContentT);\n actualContentObj.name = \"CentralContent\";\n var contentRt = actualContentObj.GetComponent<RectTransform>();\n contentRt.offsetMax = new Vector2(-MAIN_CONTENT_HORZ_PADDING, contentRt.offsetMax.y);\n contentRt.offsetMin = new Vector2(MAIN_CONTENT_HORZ_PADDING, contentRt.offsetMin.y);\n var modalRt = _unityObject.GetComponent<RectTransform>();\n modalRt.sizeDelta = new Vector2(_mainContentSize.x + (MAIN_CONTENT_HORZ_PADDING * 2),\n hiddenRt.sizeDelta.y + headerRt.sizeDelta.y + footerRt.sizeDelta.y);\n _mainContent = new Content(null!, actualContentObj, _mainContentSize);\n }\n\n public abstract void Create();\n public abstract void Update();\n public abstract void Delete();\n\n public void Delete_Internal() {\n GameObject.Destroy(_unityObject);\n }\n }\n\n public abstract class UIComponent {\n public static Func<UIComponent, UIComponent> VerticalLayout = (u) => {\n var offset = (-u.Parent!.RectOfChildren(u).yMin) + 7.5f;\n u.SetTopStretch<UIComponent>(anchoredY: offset);\n return u;\n };\n\n public static Func<UIComponent, UIComponent> VerticalLayoutNoSpacing = (u) => {\n var offset = (-u.Parent!.RectOfChildren(u).yMin);\n u.SetTopStretch<UIComponent>(anchoredY: offset);\n return u;\n };\n\n public static Func<UIComponent, UIComponent> VerticalLayoutBigSpacing = (u) => {\n var offset = (-u.Parent!.RectOfChildren(u).yMin + 15f);\n u.SetTopStretch<UIComponent>(anchoredY: offset);\n return u;\n };\n\n public float HeightOfChildren {\n get {\n float sum = 0f;\n Children.ForEach(x => sum += x.Size.y);\n return sum;\n }\n }\n public float WidthOfChildren {\n get {\n float sum = 0f;\n Children.ForEach(x => sum += x.Size.x);\n return sum;\n }\n }\n\n public Rect RectOfChildren(UIComponent negate = null!) {\n if (Children.Count == 0)\n return new Rect();\n bool hasInital = false;\n Rect r = new Rect();\n for (int i = 0; i < Children.Count; i++) {\n if (Children[i] == negate)\n continue;\n if (!hasInital) {\n r = Children[i].RootRectTransform.GetOffsetRect();\n continue;\n }\n var childTrans = Children[i].RootRectTransform;\n var childRect = childTrans.GetOffsetRect();\n\n if (childRect.xMin < r.xMin)\n r.xMin = childRect.xMin;\n if (childRect.xMax > r.xMax)\n r.xMax = childRect.xMax;\n if (childRect.yMin < r.yMin)\n r.yMin = childRect.yMin;\n if (childRect.yMax > r.yMax)\n r.yMax = childRect.yMax;\n }\n return r;\n }\n\n public void DeleteAllChildren() {\n Children.ForEach(x => { GameObject.Destroy(x.RootGameObject); });\n Children.Clear();\n }\n\n protected bool _eventsActive = true;\n // clang-format off\n public bool EventsActive => _eventsActive;\n // clang-format on\n\n public Vector2 Size { get; protected set; }\n public GameObject RootGameObject { get; protected set; }\n public RectTransform RootRectTransform { get; protected set; }\n public UIComponent? Parent { get; protected set; }\n protected List<UIComponent> Children = new List<UIComponent>();\n\n public IReadOnlyList<UIComponent> ChildrenReadOnly => Children.AsReadOnly();\n\n public UIComponent(UIComponent? parentComponent, GameObject rootGameObject) {\n Parent = parentComponent;\n RootGameObject = rootGameObject;\n RootRectTransform = rootGameObject.GetComponent<RectTransform>();\n Size = RootRectTransform.sizeDelta;\n }\n\n private void SetAnchorOffset(Vector2 aMin, Vector2 aMax, Vector2 oMin, Vector2 oMax) {\n RootRectTransform.anchorMin = aMin;\n RootRectTransform.anchorMax = aMax;\n RootRectTransform.offsetMin = oMin;\n RootRectTransform.offsetMax = oMax;\n }\n public T SetTopStretch<T>(float leftPadding = 0f, float rightPadding = 0f, float anchoredY = 0f)\n where T : UIComponent {\n SetAnchorOffset(\n new Vector2(0, 1), new Vector2(1, 1), new Vector2(leftPadding, -Size.y), new Vector2(-rightPadding, 0));\n RootRectTransform.pivot = new Vector2(RootRectTransform.pivot.x, 1);\n RootRectTransform.anchoredPosition = new Vector2(RootRectTransform.anchoredPosition.x, -anchoredY);\n return (this as T)!;\n }\n public T SetBottomStretch<T>(float leftPadding = 0f, float rightPadding = 0f, float anchoredY = 0f)\n where T : UIComponent {\n SetAnchorOffset(\n new Vector2(0, 0), new Vector2(1, 0), new Vector2(leftPadding, 0), new Vector2(-rightPadding, Size.y));\n RootRectTransform.pivot = new Vector2(RootRectTransform.pivot.x, 0);\n RootRectTransform.anchoredPosition = new Vector2(RootRectTransform.anchoredPosition.x, anchoredY);\n return (this as T)!;\n }\n public T SetLeftStretch<T>(float topPadding = 0f, float bottomPadding = 0f, float anchoredX = 0f)\n where T : UIComponent {\n SetAnchorOffset(\n new Vector2(0, 0), new Vector2(0, 1), new Vector2(0, bottomPadding), new Vector2(Size.x, -topPadding));\n RootRectTransform.pivot = new Vector2(0, RootRectTransform.pivot.y);\n RootRectTransform.anchoredPosition = new Vector2(anchoredX, RootRectTransform.anchoredPosition.y);\n return (this as T)!;\n }\n public T SetRightStretch<T>(float topPadding = 0f, float bottomPadding = 0f, float anchoredX = 0f)\n where T : UIComponent {\n SetAnchorOffset(\n new Vector2(1, 0), new Vector2(1, 1), new Vector2(-Size.x, bottomPadding), new Vector2(0, -topPadding));\n RootRectTransform.pivot = new Vector2(1, RootRectTransform.pivot.y);\n RootRectTransform.anchoredPosition = new Vector2(-anchoredX, RootRectTransform.anchoredPosition.y);\n return (this as T)!;\n }\n public T SetStretch<T>(\n float leftPadding = 0f, float rightPadding = 0f, float topPadding = 0f, float bottomPadding = 0f)\n where T : UIComponent {\n SetAnchorOffset(new Vector2(0, 0), new Vector2(1, 1), new Vector2(leftPadding, bottomPadding),\n new Vector2(-rightPadding, -topPadding));\n return (this as T)!;\n }\n public T SetPivot<T>(Vector2 pivot)\n where T : UIComponent {\n RootRectTransform.pivot = pivot;\n return (this as T)!;\n }\n public T SetAnchoredPosition<T>(Vector2 pos)\n where T : UIComponent {\n RootRectTransform.anchoredPosition = pos;\n return (this as T)!;\n }\n public T SetAnchor<T>(Vector2 anchorMin, Vector2 anchorMax)\n where T : UIComponent {\n RootRectTransform.anchorMin = anchorMin;\n RootRectTransform.anchorMax = anchorMax;\n return (this as T)!;\n }\n public T SetSize<T>(Vector2 size)\n where T : UIComponent {\n Size = size;\n RootRectTransform.sizeDelta = size;\n return (this as T)!;\n }\n public T SetWidth<T>(float width)\n where T : UIComponent {\n Size = new Vector2(width, Size.y);\n RootRectTransform.sizeDelta = Size;\n return (this as T)!;\n }\n public T SetHeight<T>(float height)\n where T : UIComponent {\n Size = new Vector2(Size.x, height);\n RootRectTransform.sizeDelta = Size;\n return (this as T)!;\n }\n public T ShiftOffsetMax<T>(Vector2 shift)\n where T : UIComponent {\n RootRectTransform.offsetMax += shift;\n return (this as T)!;\n }\n public T ShiftOffsetMin<T>(Vector2 shift)\n where T : UIComponent {\n RootRectTransform.offsetMin += shift;\n return (this as T)!;\n }\n public T EnableEvents<T>()\n where T : UIComponent {\n _eventsActive = true;\n return (this as T)!;\n }\n public T DisableEvents<T>()\n where T : UIComponent {\n _eventsActive = false;\n return (this as T)!;\n }\n public T SetAnchors<T>(Vector2 min, Vector2 max)\n where T : UIComponent {\n RootRectTransform.anchorMin = min;\n RootRectTransform.anchorMax = max;\n return (this as T)!;\n }\n public T SetAnchorCenter<T>()\n where T : UIComponent {\n RootRectTransform.anchorMin = new Vector2(0.5f, 0.5f);\n RootRectTransform.anchorMax = new Vector2(0.5f, 0.5f);\n return (this as T)!;\n }\n public T SetAnchorTop<T>()\n where T : UIComponent {\n RootRectTransform.anchorMin = new Vector2(0.5f, 1);\n RootRectTransform.anchorMax = new Vector2(0.5f, 1);\n return (this as T)!;\n }\n\n public T SetAnchorLeft<T>()\n where T : UIComponent {\n RootRectTransform.anchorMin = new Vector2(0, 0.5f);\n RootRectTransform.anchorMax = new Vector2(1, 0.5f);\n return (this as T)!;\n }\n\n public T SetBackgroundColor<T>(ColorManager.SynthesisColor c)\n where T : UIComponent {\n return SetBackgroundColor<T>(ColorManager.GetColor(c));\n }\n\n public T SetBackgroundColor<T>(ColorManager.SynthesisColor start, ColorManager.SynthesisColor end)\n where T : UIComponent {\n return SetBackgroundColor<T>(ColorManager.GetColor(start), ColorManager.GetColor(end));\n }\n\n public T SetBackgroundColor<T>(Color color)\n where T : UIComponent {\n return SetBackgroundColor<T>(color, color);\n }\n\n public T SetBackgroundColor<T>(Color start, Color end)\n where T : UIComponent {\n GradientImageUpdater gradientImage = RootGameObject.GetComponent<GradientImageUpdater>();\n UnityEngine.UI.Image image = RootGameObject.GetComponent<UnityEngine.UI.Image>();\n\n if (gradientImage) {\n gradientImage.StartColor = start;\n gradientImage.EndColor = end;\n\n if (image)\n RootGameObject.GetComponent<UImage>().color = Color.white;\n gradientImage.Refresh();\n } else {\n if (image)\n image.color = start;\n }\n\n return (this as T)!;\n }\n\n public T SetHorizontalGradient<T>(bool horizontal)\n where T : UIComponent {\n GradientImageUpdater gradientImage = RootGameObject.GetComponent<GradientImageUpdater>();\n if (gradientImage) {\n gradientImage.GradientAngle = Mathf.PI * (horizontal ? 0 : 1) * (3f / 2f);\n gradientImage.Refresh();\n }\n\n return (this as T)!;\n }\n\n public T? CheckIfNull<T>()\n where T : UIComponent {\n return RootGameObject == null ? null : (this as T)!;\n }\n }\n\n#endregion\n\n#region Components\n\n public class Content : UIComponent {\n private Image? _image;\n public Image? Image => _image;\n\n /// <summary>\n /// Creates a Content UIComponent from an existing GameObject with a set parent\n /// </summary>\n /// <param name=\"parent\"></param>\n /// <param name=\"unityObject\"></param>\n /// <param name=\"size\"></param>\n /// <returns></returns>\n public Content(UIComponent? parent, GameObject unityObject, Vector2? size) : base(parent, unityObject) {\n if (size != null) {\n RootRectTransform.sizeDelta = size.Value;\n Size = size.Value;\n } else {\n Size = RootRectTransform.sizeDelta;\n }\n\n var uImg = unityObject.GetComponent<UImage>();\n if (uImg != null) {\n _image = new Image(this, unityObject);\n }\n }\n\n public (Content left, Content right) SplitLeftRight(float leftWidth, float padding) {\n var leftContentObject = GameObject.Instantiate(\n SynthesisAssetCollection.GetUIPrefab(\"content-base\"), base.RootGameObject.transform);\n var leftRt = leftContentObject.GetComponent<RectTransform>();\n leftRt.anchorMax = new Vector2(0f, 0.5f);\n leftRt.anchorMin = new Vector2(0f, 0.5f);\n leftRt.pivot = new Vector2(0f, 0.5f);\n leftRt.anchoredPosition = new Vector2(0f, 0f);\n var leftContent = new Content(this, leftContentObject, new Vector2(leftWidth, Size.y));\n\n var rightContentObject = GameObject.Instantiate(\n SynthesisAssetCollection.GetUIPrefab(\"content-base\"), base.RootGameObject.transform);\n var rightRt = rightContentObject.GetComponent<RectTransform>();\n rightRt.anchorMax = new Vector2(1f, 0.5f);\n rightRt.anchorMin = new Vector2(1f, 0.5f);\n float rightWidth = (Size.x - leftWidth) - padding;\n rightRt.pivot = new Vector2(1f, 0.5f);\n rightRt.anchoredPosition = new Vector2(0f, 0f);\n var rightContent = new Content(this, rightContentObject, new Vector2(rightWidth, Size.y));\n\n base.Children.Add(leftContent);\n base.Children.Add(rightContent);\n\n return (leftContent, rightContent);\n }\n\n public (Content top, Content bottom) SplitTopBottom(float topHeight, float padding) {\n var topContentObject = GameObject.Instantiate(\n SynthesisAssetCollection.GetUIPrefab(\"content-base\"), base.RootGameObject.transform);\n var topRt = topContentObject.GetComponent<RectTransform>();\n topRt.anchorMax = new Vector2(0.5f, 1f);\n topRt.anchorMin = new Vector2(0.5f, 1f);\n topRt.pivot = new Vector2(0.5f, 1f);\n topRt.anchoredPosition = new Vector2(0f, 0);\n var topContent = new Content(this, topContentObject, new Vector2(Size.x, topHeight));\n\n var bottomContentObject = GameObject.Instantiate(\n SynthesisAssetCollection.GetUIPrefab(\"content-base\"), base.RootGameObject.transform);\n var bottomRt = bottomContentObject.GetComponent<RectTransform>();\n bottomRt.anchorMax = new Vector2(0.5f, 0f);\n bottomRt.anchorMin = new Vector2(0.5f, 0f);\n float bottomHeight = (Size.y - topHeight) - padding;\n bottomRt.pivot = new Vector2(0.5f, 0f);\n bottomRt.anchoredPosition = new Vector2(0f, 0);\n // rightRt.sizeDelta = new Vector2(rightWidth, rightRt.sizeDelta.y);\n var bottomContent = new Content(this, bottomContentObject, new Vector2(Size.x, bottomHeight));\n\n base.Children.Add(topContent);\n base.Children.Add(bottomContent);\n\n return (topContent, bottomContent);\n }\n\n public Label CreateLabel(float height = 15f) {\n var labelObj = GameObject.Instantiate(\n SynthesisAssetCollection.GetUIPrefab(\"label-base\"), base.RootGameObject.transform);\n var label = new Label(this, labelObj, new Vector2(Size.x, height));\n base.Children.Add(label);\n return label;\n }\n\n public Toggle CreateToggle(bool radioSelect = false, bool isOn = false, string label = \"New Toggle\") {\n var toggleObj = GameObject.Instantiate(\n SynthesisAssetCollection.GetUIPrefab((radioSelect) ? \"radio-select-base\" : \"toggle-base\"),\n base.RootGameObject.transform);\n var toggle = new Toggle(this, toggleObj, isOn, label, radioSelect);\n base.Children.Add(toggle);\n return toggle;\n }\n\n public Slider CreateSlider(string label = \"New Slider\", string unitSuffix = \"\", float minValue = 0,\n float maxValue = 1, float currentValue = 0) {\n var sliderObj = GameObject.Instantiate(\n SynthesisAssetCollection.GetUIPrefab(\"slider-base\"), base.RootGameObject.transform);\n var slider = new Slider(this, sliderObj, label, unitSuffix, minValue, maxValue, currentValue);\n base.Children.Add(slider);\n return slider;\n }\n\n public Button CreateButton(string text = \"New Button\") {\n var buttonObj = GameObject.Instantiate(\n SynthesisAssetCollection.GetUIPrefab(\"button-base\"), base.RootGameObject.transform);\n var button = new Button(this, buttonObj, null);\n button.StepIntoLabel(l => l.SetText(text));\n base.Children.Add(button);\n return button;\n }\n\n public LabeledButton CreateLabeledButton() {\n var lButtonObj = GameObject.Instantiate(\n SynthesisAssetCollection.GetUIPrefab(\"labeled-button-base\"), base.RootGameObject.transform);\n var lButton = new LabeledButton(this, lButtonObj);\n base.Children.Add(lButton);\n return lButton;\n }\n\n public Dropdown CreateDropdown() {\n var dropdownObj = GameObject.Instantiate(\n SynthesisAssetCollection.GetUIPrefab(\"dropdown-base\"), base.RootGameObject.transform);\n var dropdown = new Dropdown(this, dropdownObj, null);\n base.Children.Add(dropdown);\n return dropdown;\n }\n\n public LabeledDropdown CreateLabeledDropdown() {\n var lDropdownObj = GameObject.Instantiate(\n SynthesisAssetCollection.GetUIPrefab(\"labeled-dropdown-base\"), base.RootGameObject.transform);\n var lDropdown = new LabeledDropdown(this, lDropdownObj);\n base.Children.Add(lDropdown);\n return lDropdown;\n }\n\n public InputField CreateInputField() {\n var inputFieldObj = GameObject.Instantiate(\n SynthesisAssetCollection.GetUIPrefab(\"input-field-base\"), base.RootGameObject.transform);\n var inputField = new InputField(this, inputFieldObj);\n base.Children.Add(inputField);\n return inputField;\n }\n\n public ScrollView CreateScrollView() {\n var scrollViewObj = GameObject.Instantiate(\n SynthesisAssetCollection.GetUIPrefab(\"scroll-view-base\"), base.RootGameObject.transform);\n var scrollView = new ScrollView(this, scrollViewObj);\n base.Children.Add(scrollView);\n return scrollView;\n }\n\n public Content CreateSubContent(Vector2 size) {\n var contentObj = GameObject.Instantiate(\n SynthesisAssetCollection.GetUIPrefab(\"content-base\"), base.RootGameObject.transform);\n var content = new Content(this, contentObj, size);\n base.Children.Add(content);\n return content;\n }\n\n public NumberInputField CreateNumberInputField() {\n var numberInputFieldObj = GameObject.Instantiate(\n SynthesisAssetCollection.GetUIPrefab(\"number-input-field-base\"), base.RootGameObject.transform);\n var numberInputField = new NumberInputField(this, numberInputFieldObj);\n base.Children.Add(numberInputField);\n return numberInputField;\n }\n\n public Content StepIntoImage(Action<Image> mod) {\n if (_image != null)\n mod(_image);\n return this;\n }\n\n public Content EnsureImage() {\n if (_image == null) {\n base.RootGameObject.AddComponent<UImage>();\n _image = new Image(this, base.RootGameObject);\n _image.SetSprite(SynthesisAssetCollection.GetSpriteByName(\"250r-rounded\"));\n _image.SetMultiplier(50);\n }\n return this;\n }\n }\n\n public class ScrollView : UIComponent {\n private UScrollView _unityScrollView;\n private Image _backgroundImage;\n private Content _content;\n public Content Content => _content;\n\n public ScrollView(UIComponent? parent, GameObject unityObject) : base(parent, unityObject) {\n _unityScrollView = unityObject.GetComponent<UScrollView>();\n\n _content = new Content(this, unityObject.transform.Find(\"Viewport\").Find(\"Content\").gameObject, null);\n\n _backgroundImage = new Image(this, unityObject);\n _backgroundImage.SetColor(ColorManager.GetColor(ColorManager.SynthesisColor.BackgroundSecondary))\n .SetCornerRadius(12);\n }\n\n public ScrollView StepIntoContent(Action<Content> mod) {\n mod(_content);\n return this;\n }\n }\n\n public class Label : UIComponent {\n private TMP_Text _unityText;\n\n public string Text => _unityText.text;\n public FontStyles FontStyle => _unityText.fontStyle;\n public bool IsFontSizeAutomatic => _unityText.enableAutoSizing;\n\n public static readonly Func<Label, Label> VerticalLayoutTemplate = (Label label) => {\n return label.SetTopStretch(anchoredY: label.Parent!.HeightOfChildren - label.Size.y + 15f);\n };\n public static readonly Func<Label, Label> BigLabelTemplate = (Label label) => {\n return label.SetHeight<Label>(30)\n .SetFontSize(24)\n .ApplyTemplate(VerticalLayoutTemplate)\n .SetHorizontalAlignment(HorizontalAlignmentOptions.Left)\n .SetVerticalAlignment(VerticalAlignmentOptions.Middle);\n };\n\n public Label(UIComponent? parent, GameObject unityObject, Vector2? size) : base(parent, unityObject) {\n _unityText = unityObject.GetComponent<TMP_Text>();\n if (size.HasValue) {\n Size = size.Value;\n RootRectTransform.anchoredPosition = Vector2.zero;\n RootRectTransform.sizeDelta = Size;\n } else {\n size = RootRectTransform.sizeDelta;\n }\n\n SetColor(ColorManager.GetColor(ColorManager.SynthesisColor.MainText));\n }\n\n public Label SetAutomaticFontSize(bool a) {\n _unityText.enableAutoSizing = a;\n return this;\n }\n\n public Label SetText(string text) {\n _unityText.text = text;\n return this;\n }\n\n public Label SetFontSize(float fontSize) {\n _unityText.fontSize = fontSize;\n return this;\n }\n\n public Label SetFontMinMaxSize(float min, float max) {\n _unityText.fontSizeMin = min;\n _unityText.fontSizeMax = max;\n return this;\n }\n\n public Label SetHorizontalAlignment(HorizontalAlignmentOptions alignment) {\n _unityText.horizontalAlignment = alignment;\n return this;\n }\n\n public Label SetVerticalAlignment(VerticalAlignmentOptions alignment) {\n _unityText.verticalAlignment = alignment;\n return this;\n }\n\n public Label SetFont(TMP_FontAsset font) {\n _unityText.font = font;\n return this;\n }\n\n public Label SetFontStyle(FontStyles styles) {\n _unityText.fontStyle = styles;\n return this;\n }\n\n public Label SetColor(ColorManager.SynthesisColor c) => SetColor(ColorManager.GetColor(c));\n\n public Label SetColor(Color c) {\n _unityText.color = c;\n return this;\n }\n\n public Label SetOverflowMode(TextOverflowModes mode) {\n _unityText.overflowMode = mode;\n return this;\n }\n\n public Label SetWrapping(bool wrappingEnabled) {\n _unityText.enableWordWrapping = wrappingEnabled;\n return this;\n }\n\n public Label SetTopStretch(float leftPadding = 0f, float rightPadding = 0f,\n float anchoredY = 0f) => base.SetTopStretch<Label>(leftPadding, rightPadding, anchoredY);\n public Label SetBottomStretch(float leftPadding = 0f, float rightPadding = 0f,\n float anchoredY = 0f) => base.SetBottomStretch<Label>(leftPadding, rightPadding, anchoredY);\n public Label SetLeftStretch(float topPadding = 0f, float bottomPadding = 0f,\n float anchoredX = 0f) => base.SetLeftStretch<Label>(topPadding, bottomPadding, anchoredX);\n public Label SetRightStretch(float topPadding = 0f, float bottomPadding = 0f,\n float anchoredX = 0f) => base.SetRightStretch<Label>(topPadding, bottomPadding, anchoredX);\n public Label SetStretch(float leftPadding = 0f, float rightPadding = 0f, float topPadding = 0f,\n float bottomPadding = 0f) => base.SetStretch<Label>(leftPadding, rightPadding, topPadding, bottomPadding);\n }\n\n public class Toggle : UIComponent {\n public static readonly Func<Toggle, Toggle> VerticalLayoutTemplate = (Toggle toggle) =>\n toggle.SetTopStretch<Toggle>(\n leftPadding: 15f, anchoredY: toggle.Parent!.HeightOfChildren - toggle.Size.y + 15f);\n\n public event Action<Toggle, bool> OnStateChanged;\n private GameObject _unityObject;\n private Label _titleLabel;\n public Label TitleLabel => _titleLabel;\n private UToggle _unityToggle;\n\n private Image _disabledImage;\n public Image DisabledImage => _disabledImage;\n private Image _enabledImage;\n public Image EnabledImage => _enabledImage;\n\n private Color _disabledColor;\n public Color DisabledColor {\n get => _disabledColor;\n set {\n _disabledColor = value;\n _disabledImage.SetColor(_disabledColor);\n }\n }\n private (ColorManager.SynthesisColor left, ColorManager.SynthesisColor right) _enabledColor;\n public (ColorManager.SynthesisColor left, ColorManager.SynthesisColor right) EnabledColor {\n get => _enabledColor;\n set {\n _enabledColor = value;\n _enabledImage.SetColor(_enabledColor.left, _enabledColor.right);\n }\n }\n\n public bool State {\n get => _unityToggle.isOn;\n set { SetState(value); }\n }\n\n public Toggle(UIComponent? parent, GameObject unityObject, bool isOn, string text, bool radioSelect)\n : base(parent, unityObject) {\n _unityObject = unityObject;\n\n if (unityObject.transform.Find(\"Toggle\").TryGetComponent<ToggleTweener>(out var tweener)) {\n tweener._synthesisToggle = this;\n }\n\n _titleLabel = new Label(this, RootGameObject.transform.Find(\"Label\").gameObject, null);\n _unityToggle = RootGameObject.transform.Find(\"Toggle\").GetComponent<UToggle>();\n _unityToggle.onValueChanged.AddListener(x => {\n {\n if (_eventsActive && OnStateChanged != null)\n OnStateChanged(this, x);\n }\n });\n DisableEvents<Toggle>().SetState(isOn).EnableEvents<Toggle>();\n _titleLabel.SetText(text);\n\n _disabledImage = new Image(this, _unityToggle.transform.Find(\"Background\").gameObject);\n _disabledImage.SetCornerRadius((radioSelect) ? 10 : 2);\n\n _enabledImage = new Image(this, _unityToggle.transform.Find(\"Background\").Find(\"Checkmark\").gameObject);\n _enabledImage.SetCornerRadius((radioSelect) ? 10 : 2);\n\n DisabledColor = ColorManager.GetColor(ColorManager.SynthesisColor.InteractiveBackground);\n EnabledColor = (ColorManager.SynthesisColor.InteractiveElementLeft,\n ColorManager.SynthesisColor.InteractiveElementRight);\n }\n\n public Toggle SetState(bool state, bool notify = true) {\n if (notify)\n _unityToggle.isOn = state;\n else\n _unityToggle.SetIsOnWithoutNotify(state);\n return this;\n }\n\n public Toggle AddOnStateChangedEvent(Action<Toggle, bool> callback) {\n OnStateChanged += callback;\n return this;\n }\n\n public Toggle SetEnabledColor(ColorManager.SynthesisColor left, ColorManager.SynthesisColor right) {\n EnabledColor = (left, right);\n return this;\n }\n\n public Toggle SetDisabledColor(Color c) {\n DisabledColor = c;\n return this;\n }\n\n public Toggle SetDisabledColor(ColorManager.SynthesisColor s) {\n DisabledColor = ColorManager.GetColor(s);\n return this;\n }\n\n public Toggle StepIntoLabel(Action<Label> mod) {\n mod(TitleLabel);\n return this;\n }\n\n public void SetStateWithoutEvents(bool state) {\n DisableEvents<Toggle>();\n SetState(state);\n if (_unityObject.transform.Find(\"Toggle\").TryGetComponent<ToggleTweener>(out var tweener)) {\n tweener.OnStateChanged();\n }\n EnableEvents<Toggle>();\n }\n }\n\n public class Slider : UIComponent {\n public static readonly Func<Slider, Slider> VerticalLayoutTemplate = (Slider slider) =>\n slider.SetTopStretch<Slider>(\n leftPadding: 15f, anchoredY: slider.Parent!.HeightOfChildren - slider.Size.y + 15f);\n\n public event Action<Slider, float> OnValueChanged;\n private Func<float, string> _customValuePresentation = (x) => Math.Round(x, 2).ToString();\n private USlider _unitySlider;\n public (float min, float max) SlideRange => (_unitySlider.minValue, _unitySlider.maxValue);\n public float Value => _unitySlider.value;\n private Label _titleLabel;\n private Label _valueLabel;\n private string _unitSuffix = string.Empty;\n\n private Image _backgroundImage;\n private Image _fillImage;\n private Image _handleImage;\n\n public Slider(UIComponent? parent, GameObject unityObject, string label, string unitSuffix, float minValue,\n float maxValue, float currentValue)\n : base(parent, unityObject) {\n var infoObj = unityObject.transform.Find(\"Info\");\n _titleLabel = new Label(this, infoObj.Find(\"Label\").gameObject, null);\n _valueLabel = new Label(this, infoObj.Find(\"Value\").gameObject, null);\n _unitySlider = unityObject.transform.Find(\"ScaleAnim\").Find(\"Slider\").GetComponent<USlider>();\n _titleLabel.SetText(label);\n _unitySlider.onValueChanged.AddListener(x => {\n var roundedVal = Math.Round(x, 2);\n _valueLabel.SetText(roundedVal.ToString() + (this._unitSuffix == string.Empty ? \"\" : this._unitSuffix));\n if (_eventsActive && OnValueChanged != null)\n OnValueChanged(this, x);\n });\n\n _backgroundImage = new Image(this, _unitySlider.transform.Find(\"Background\").gameObject);\n _backgroundImage.SetColor(ColorManager.SynthesisColor.InteractiveBackground);\n\n _fillImage = new Image(this, _unitySlider.transform.Find(\"Fill Area\").Find(\"Fill\").gameObject);\n _fillImage.SetColor(ColorManager.SynthesisColor.InteractiveElementLeft,\n ColorManager.SynthesisColor.InteractiveElementRight);\n _fillImage.SetCornerRadius(8);\n\n if (unitSuffix != null)\n _unitSuffix = unitSuffix;\n\n SetRange((minValue, maxValue));\n SetValue(currentValue);\n }\n\n public Slider SetRange((float min, float max) range) => SetRange(range.min, range.max);\n\n public Slider SetRange(float min, float max) {\n _unitySlider.minValue = min;\n _unitySlider.maxValue = max;\n return this;\n }\n\n public Slider SetValue(float value, bool mute = false) {\n var before = _eventsActive;\n if (mute)\n _eventsActive = false;\n _unitySlider.value = value;\n if (mute)\n _eventsActive = before;\n return this;\n }\n\n public Slider AddOnValueChangedEvent(Action<Slider, float> callback) {\n OnValueChanged += callback;\n return this;\n }\n\n public Slider SetSlideDirection(USlider.Direction direction) {\n _unitySlider.direction = direction;\n return this;\n }\n\n public Slider SetCustomValuePresentation(Func<float, string> mod) {\n if (_customValuePresentation == null)\n return this;\n _customValuePresentation = mod;\n return this;\n }\n\n public Slider StepIntoTitleLabel(Action<Label> mod) {\n mod(_titleLabel);\n return this;\n }\n\n public Slider StepIntoValueLabel(Action<Label> mod) {\n mod(_valueLabel);\n return this;\n }\n\n public Slider StepIntoBackgroundImage(Action<Image> mod) {\n mod(_backgroundImage);\n return this;\n }\n\n public Slider StepIntoFillImage(Action<Image> mod) {\n mod(_fillImage);\n return this;\n }\n\n public Slider StepIntoHandleImage(Action<Image> mod) {\n mod(_handleImage);\n return this;\n }\n }\n\n public class InputField : UIComponent {\n public static readonly Func<InputField, InputField> VerticalLayoutTemplate = (InputField inputField) =>\n inputField.SetTopStretch<InputField>(\n leftPadding: 15f, anchoredY: inputField.Parent!.HeightOfChildren - inputField.Size.y + 15f);\n\n public event Action<InputField, string> OnValueChanged;\n private Label _hint;\n public Label Hint => _hint;\n private Label _label;\n public Label Label => _label;\n private Image _backgroundImage;\n public Image BackgroundImage => _backgroundImage;\n private TMP_InputField _tmpInput;\n public TMP_InputField InputText => _tmpInput;\n public string Value => _tmpInput.text;\n\n public InputField(UIComponent? parent, GameObject unityObject) : base(parent, unityObject) {\n var ifObj = unityObject.transform.Find(\"InputField\");\n _tmpInput = ifObj.GetComponent<TMP_InputField>();\n _hint = new Label(this, ifObj.Find(\"Text Area\").Find(\"Placeholder\").gameObject, null);\n _label = new Label(this, unityObject.transform.Find(\"Label\").gameObject, null);\n _tmpInput.onValueChanged.AddListener(x => {\n if (_eventsActive && OnValueChanged != null)\n OnValueChanged(this, x);\n });\n\n _backgroundImage = new Image(this, ifObj.gameObject);\n _backgroundImage.SetColor(ColorManager.SynthesisColor.InteractiveBackground);\n }\n\n public InputField StepIntoHint(Action<Label> mod) {\n mod(_hint);\n return this;\n }\n\n public InputField StepIntoLabel(Action<Label> mod) {\n mod(_label);\n return this;\n }\n\n public InputField AddOnValueChangedEvent(Action<InputField, string> callback) {\n OnValueChanged += callback;\n return this;\n }\n\n public InputField SetContentType(TMP_InputField.ContentType type) {\n _tmpInput.contentType = type;\n return this;\n }\n\n public InputField SetValue(string val) {\n _tmpInput.SetTextWithoutNotify(val);\n return this;\n }\n\n public InputField SetCharacterLimit(int length) {\n _tmpInput.characterLimit = length;\n return this;\n }\n\n public InputField SetValueTextColor(Color color) {\n RootGameObject.transform.Find(\"InputField/Text Area/Text\").GetComponent<TextMeshProUGUI>().color = color;\n return this;\n }\n }\n\n public class LabeledButton : UIComponent {\n public static readonly Func<LabeledButton, LabeledButton> VerticalLayoutTemplate = (LabeledButton lb) => {\n return lb.SetTopStretch<LabeledButton>(\n leftPadding: 15f, anchoredY: lb.Parent!.HeightOfChildren - lb.Size.y + 15f);\n };\n\n private Button _button;\n public Button Button => _button;\n private Label _label;\n public Label Label => _label;\n\n public LabeledButton(UIComponent? parent, GameObject unityObject) : base(parent, unityObject) {\n _button = new Button(this, RootGameObject.transform.Find(\"Button\").gameObject, null);\n _label = new Label(this, RootGameObject.transform.Find(\"Label\").gameObject, null);\n }\n\n public LabeledButton StepIntoButton(Action<Button> mod) {\n mod(_button);\n return this;\n }\n\n public LabeledButton StepIntoLabel(Action<Label> mod) {\n mod(_label);\n return this;\n }\n }\n\n public class Button : UIComponent {\n public static readonly Func<Button, Button> VerticalLayoutTemplate = (Button button) =>\n button.SetTopStretch<Button>(\n leftPadding: 15f, anchoredY: button.Parent!.HeightOfChildren - button.Size.y + 15f);\n\n public event Action<Button> OnClicked;\n private Label? _label;\n public Label? Label => _label;\n private UButton _unityButton;\n private Image _image;\n public Image Image => _image;\n\n public Button(UIComponent? parent, GameObject unityObject, Vector2? size) : base(parent, unityObject) {\n if (size != null) {\n Size = size.Value;\n }\n\n var labelTransform = unityObject.transform.Find(\"Button\").Find(\"Text (TMP)\");\n if (labelTransform != null) {\n _label = new Label(this, labelTransform.gameObject, null);\n _label.SetColor(ColorManager.SynthesisColor.InteractiveElementText);\n }\n\n _unityButton = unityObject.transform.Find(\"Button\").GetComponent<UButton>();\n _unityButton.onClick.AddListener(() => {\n if (_eventsActive && OnClicked != null) {\n OnClicked(this);\n }\n });\n\n _image = new Image(this, unityObject.transform.Find(\"Button\").gameObject)\n .SetColor(ColorManager.SynthesisColor.InteractiveElementLeft,\n ColorManager.SynthesisColor.InteractiveElementRight);\n\n var gradientUpdater = _image.RootGameObject.GetComponent<GradientImageUpdater>();\n\n if (gradientUpdater)\n _image.SetCornerRadius(6);\n }\n\n public Button SetTransition(Selectable.Transition transition) {\n _unityButton.transition = transition;\n return this;\n }\n\n public Button SetInteractableColors(\n ColorManager.SynthesisColor highlightedColor = ColorManager.SynthesisColor.InteractiveHover,\n ColorManager.SynthesisColor pressedColor = ColorManager.SynthesisColor.InteractiveSelect,\n float fadeDuration = 0.1F) {\n _unityButton.colors = new ColorBlock { normalColor = Color.white,\n highlightedColor = ColorManager.GetColor(highlightedColor),\n pressedColor = ColorManager.GetColor(pressedColor),\n selectedColor = ColorManager.GetColor(highlightedColor),\n disabledColor = new Color32(191, 191, 191, 255), fadeDuration = fadeDuration, colorMultiplier = 1F };\n return this;\n }\n\n public Button StepIntoLabel(Action<Label> mod) {\n if (_label != null)\n mod(_label);\n return this;\n }\n\n public Button StepIntoImage(Action<Image> mod) {\n mod(_image);\n return this;\n }\n\n public Button AddOnClickedEvent(Action<Button> callback) {\n OnClicked += callback;\n return this;\n }\n }\n\n public class Dropdown : UIComponent {\n public static readonly Func<Dropdown, Dropdown> VerticalLayoutTemplate = (Dropdown dropdown) =>\n dropdown.SetTopStretch<Dropdown>(\n leftPadding: 15f, anchoredY: dropdown.Parent!.HeightOfChildren - dropdown.Size.y + 15f);\n\n public event Action<Dropdown, int, TMP_Dropdown.OptionData> OnValueChanged;\n private Image _image;\n public Image Image => _image;\n private Content _viewport;\n public Content Viewport => _viewport;\n private TMP_Dropdown _tmpDropdown;\n public IReadOnlyList<TMP_Dropdown.OptionData> Options => _tmpDropdown.options.AsReadOnly();\n public int Value => _tmpDropdown.value;\n public TMP_Dropdown.OptionData SelectedOption => _tmpDropdown.options[Value];\n\n private Image _headerImage;\n public Image HeaderImage => _headerImage;\n private Label _headerLabel;\n public Label HeaderLabel => _headerLabel;\n\n private Image _itemBackgroundImage;\n public Image ItemBackgroundImage => _itemBackgroundImage;\n private Image _itemCheckmarkImage;\n public Image ItemCheckmarkImage => _itemCheckmarkImage;\n private Label _itemLabel;\n public Label ItemLabel => _itemLabel;\n private Image _viewportImage;\n public Image ViewportImage => ViewportImage;\n\n public Dropdown(UIComponent? parent, GameObject unityObject, Vector2? size) : base(parent, unityObject) {\n if (size != null) {\n Size = size.Value;\n }\n\n _image = new Image(this, unityObject.transform.Find(\"Header\").Find(\"Arrow\").gameObject);\n _viewport = new Content(this, unityObject.transform.Find(\"Template\").Find(\"Viewport\").gameObject, null);\n _tmpDropdown = unityObject.transform.GetComponent<TMP_Dropdown>();\n\n _tmpDropdown.onValueChanged.AddListener(x => {\n // TODO?\n if (_eventsActive && OnValueChanged != null)\n OnValueChanged(this, x, this.Options[x]);\n });\n var eventHandler = _tmpDropdown.gameObject.AddComponent<UIEventHandler>();\n\n eventHandler.OnPointerClickedEvent += e => { ShowOnTop(); };\n\n _headerImage = new Image(this, unityObject.transform.Find(\"Header\").gameObject);\n _headerImage.SetColor(ColorManager.SynthesisColor.InteractiveElementLeft,\n ColorManager.SynthesisColor.InteractiveElementRight);\n _headerImage.SetCornerRadius(8);\n\n _headerLabel = new Label(this, unityObject.transform.Find(\"Header\").Find(\"Label\").gameObject, null);\n _headerLabel.SetColor(ColorManager.SynthesisColor.InteractiveElementText);\n\n var itemObj =\n unityObject.transform.Find(\"Template\").Find(\"Viewport\").Find(\"Padding\").Find(\"Content\").Find(\"Item\");\n\n /*_itemCheckmarkImage = new Image(this, itemObj.Find(\"Item Checkmark\").gameObject);\n\n Color bgColor = ColorManager.GetColor(ColorManager.SynthesisColor.Background);\n _itemCheckmarkImage.SetColor(new Color(bgColor.r, bgColor.g, bgColor.b, 0.21f));*/\n\n _itemLabel = new Label(this, itemObj.Find(\"Item Label\").gameObject, null);\n _itemLabel.SetColor(ColorManager.SynthesisColor.InteractiveElementText);\n\n _viewportImage = new Image(this, unityObject.transform.Find(\"Template\").Find(\"Viewport\").gameObject);\n\n _viewportImage.SetColor(ColorManager.SynthesisColor.InteractiveElementRight,\n ColorManager.SynthesisColor.InteractiveElementLeft);\n _viewportImage.SetCornerRadius(15);\n\n var scrollbarBG = new Image(this, unityObject.transform.Find(\"Template\").Find(\"Scrollbar\").gameObject);\n var scrollbarHandle = new Image(this, unityObject.transform.Find(\"Template\")\n .Find(\"Scrollbar\")\n .Find(\"Sliding Area\")\n .Find(\"Handle\")\n .gameObject);\n\n scrollbarBG.SetColor(ColorManager.SynthesisColor.BackgroundSecondary);\n scrollbarBG.SetCornerRadius(10);\n\n // scrollbarHandle.SetColor(ColorManager.SynthesisColor.InteractiveBackground);\n scrollbarHandle.SetColor(ColorManager.SynthesisColor.Scrollbar);\n scrollbarHandle.SetGradientDirection(Mathf.PI * 1.5f);\n scrollbarHandle.SetCornerRadius(6);\n }\n\n public Dropdown SetOptions(string[] options) {\n _tmpDropdown.ClearOptions();\n var optionData = new List<TMP_Dropdown.OptionData>();\n options.ForEach(x => optionData.Add(new TMP_Dropdown.OptionData(x)));\n _tmpDropdown.AddOptions(optionData);\n return this;\n }\n\n public Dropdown SetValue(int index, bool mute = false) {\n var original = _eventsActive;\n if (mute)\n _eventsActive = false;\n _tmpDropdown.value = index;\n if (mute)\n _eventsActive = original;\n return this;\n }\n\n public Dropdown AddOnValueChangedEvent(Action<Dropdown, int, TMP_Dropdown.OptionData> callback) {\n OnValueChanged += callback;\n return this;\n }\n\n public Dropdown ShowOnTop() {\n RootRectTransform.SetAsLastSibling();\n return this;\n }\n\n public Dropdown StepIntoImage(Action<Image> mod) {\n mod(_image);\n return this;\n }\n }\n\n public class LabeledDropdown : UIComponent {\n private Dropdown _dropdown;\n public Dropdown Dropdown => _dropdown;\n private Label _label;\n public Label Label => _label;\n\n public LabeledDropdown(UIComponent? parent, GameObject unityObject) : base(parent, unityObject) {\n _dropdown = new Dropdown(this, unityObject.transform.Find(\"dropdown-base\").gameObject, null);\n _label = new Label(this, unityObject.transform.Find(\"Label\").gameObject, null);\n }\n\n public LabeledDropdown StepIntoDropdown(Action<Dropdown> mod) {\n mod(_dropdown);\n return this;\n }\n\n public LabeledDropdown StepIntoLabel(Action<Label> mod) {\n mod(_label);\n return this;\n }\n }\n\n public class Image : UIComponent {\n private UImage _unityImage;\n private GradientImageUpdater _gradientUpdater;\n\n private bool _hasCustomSprite = true;\n public Sprite Sprite {\n get => _unityImage.sprite;\n set { _unityImage.sprite = value; }\n }\n public Color Color {\n get => _unityImage.color;\n set { _unityImage.color = value; }\n }\n\n public UImage UnityImage => _unityImage;\n\n public Image(UIComponent? parent, GameObject unityObject) : base(parent, unityObject) {\n _unityImage = unityObject.GetComponent<UImage>();\n\n if (_unityImage.sprite != null) {\n return;\n }\n\n _hasCustomSprite = false;\n\n if (unityObject.TryGetComponent<GradientImageUpdater>(out var gradientUpdater)) {\n _gradientUpdater = gradientUpdater;\n } else {\n _gradientUpdater = unityObject.AddComponent<GradientImageUpdater>();\n }\n }\n\n public Image SetSprite(Sprite? s) {\n _hasCustomSprite = s != null;\n Sprite = s;\n if (s == null) {\n RootGameObject.TryGetComponent<GradientImageUpdater>(out var gradientUpdater);\n _gradientUpdater =\n gradientUpdater ? gradientUpdater : RootGameObject.AddComponent<GradientImageUpdater>();\n _unityImage.color = Color.white;\n } else {\n GameObject.Destroy(_gradientUpdater);\n }\n return this;\n }\n\n public Image SetColor(ColorManager.SynthesisColor c) => SetColor(ColorManager.GetColor(c));\n\n public Image SetColor(Color c) => SetColor(c, c);\n\n public Image SetColor(ColorManager.SynthesisColor start, ColorManager.SynthesisColor end) => SetColor(\n ColorManager.GetColor(start), ColorManager.GetColor(end));\n\n public Image SetColor(Color start, Color end) {\n if (_hasCustomSprite) {\n _unityImage.color = start;\n return this;\n }\n\n if (start == Color.clear) {\n _gradientUpdater.enabled = false;\n _unityImage.material = null;\n _unityImage.color = start;\n return this;\n }\n\n _gradientUpdater.StartColor = start;\n _gradientUpdater.EndColor = end;\n _gradientUpdater.Refresh();\n\n return this;\n }\n\n public Image SetCornerRadius(float r) {\n if (_hasCustomSprite)\n _unityImage.pixelsPerUnitMultiplier = 250f / r;\n else {\n _gradientUpdater.Radius = r;\n _gradientUpdater.Refresh();\n }\n return this;\n }\n\n public Image SetMultiplier(float m) {\n if (_hasCustomSprite)\n _unityImage.pixelsPerUnitMultiplier = m;\n\n return this;\n }\n\n public void SetGradientDirection(float angle) {\n if (!_gradientUpdater)\n return;\n\n _gradientUpdater.GradientAngle = angle;\n _gradientUpdater.Refresh();\n }\n }\n\n public class Scrollbar : UIComponent {\n public UScrollbar _unityScrollbar;\n private Image _backgroundImage;\n public Image BackgroundImage => _backgroundImage;\n private Image _handleImage;\n public Image HandleImage => _handleImage;\n\n public Scrollbar(UIComponent? parent, GameObject unityObject) : base(parent, unityObject) {\n _unityScrollbar = unityObject.GetComponent<UScrollbar>();\n\n _backgroundImage = new Image(this, unityObject);\n _backgroundImage.SetColor(ColorManager.GetColor(ColorManager.SynthesisColor.Scrollbar));\n\n _handleImage = new Image(this, unityObject.transform.Find(\"Sliding Area\").Find(\"Handle\").gameObject);\n _handleImage.SetColor(ColorManager.GetColor(ColorManager.SynthesisColor.MainText));\n }\n }\n\n public class NumberInputField : UIComponent {\n public static readonly Func<NumberInputField, NumberInputField> VerticalLayoutTemplate =\n (NumberInputField inputField) => inputField.SetTopStretch<NumberInputField>(\n leftPadding: 15f, anchoredY: inputField.Parent!.HeightOfChildren - inputField.Size.y + 15f);\n\n public event Action<NumberInputField, int> OnValueChanged;\n private Label _hint;\n public Label Hint => _hint;\n private Button _incrementButton;\n public Button IncrementButton => _incrementButton;\n private Button _decrementButton;\n public Button DecrementButton => _decrementButton;\n private Label _label;\n public Label Label => _label;\n private Image _backgroundImage;\n public Image BackgroundImage => _backgroundImage;\n private TMP_InputField _tmpInput;\n public TMP_InputField.ContentType ContentType => _tmpInput.contentType;\n\n private int _value = 0;\n public int Value {\n get => _value;\n set {\n _value = value;\n _tmpInput.text = _value.ToString();\n }\n }\n\n public NumberInputField(UIComponent? parent, GameObject unityObject) : base(parent, unityObject) {\n var ifObj = unityObject.transform.Find(\"InputField\");\n _tmpInput = ifObj.GetComponent<TMP_InputField>();\n _tmpInput.contentType = TMP_InputField.ContentType.IntegerNumber;\n _tmpInput.characterLimit = 9;\n _hint = new Label(this, ifObj.Find(\"Text Area\").Find(\"Placeholder\").gameObject, null);\n _label = new Label(this, unityObject.transform.Find(\"Label\").gameObject, null);\n _tmpInput.onValueChanged.AddListener(x => {\n _value = x == \"\" ? 0 : int.Parse(x);\n if (_eventsActive && OnValueChanged != null)\n OnValueChanged(this, Value);\n });\n\n _incrementButton = new Button(this, unityObject.transform.Find(\"IncrementButton\").gameObject, null)\n .AddOnClickedEvent(b => Value += Value < Int32.MaxValue ? 1 : 0);\n _decrementButton = new Button(this, unityObject.transform.Find(\"DecrementButton\").gameObject, null)\n .AddOnClickedEvent(b => Value -= Value > Int32.MinValue ? 1 : 0);\n\n _backgroundImage = new Image(this, ifObj.gameObject);\n _backgroundImage.SetColor(ColorManager.GetColor(ColorManager.SynthesisColor.InteractiveBackground));\n }\n\n public NumberInputField StepIntoHint(Action<Label> mod) {\n mod(_hint);\n return this;\n }\n\n public NumberInputField StepIntoLabel(Action<Label> mod) {\n mod(_label);\n return this;\n }\n\n public NumberInputField StepIntoIncrementButton(Action<Button> mod) {\n mod(_incrementButton);\n return this;\n }\n\n public NumberInputField StepIntoDecrementButton(Action<Button> mod) {\n mod(_decrementButton);\n return this;\n }\n\n public NumberInputField AddOnValueChangedEvent(Action<NumberInputField, int> callback) {\n OnValueChanged += callback;\n return this;\n }\n\n public NumberInputField SetValue(int val) {\n _value = val;\n _tmpInput.text = val.ToString();\n return this;\n }\n }\n\n#endregion\n\n public class UIEventHandler : MonoBehaviour, IPointerClickHandler {\n public event Action<PointerEventData> OnPointerClickedEvent;\n\n public void OnPointerClick(PointerEventData pointerEventData) {\n if (OnPointerClickedEvent != null)\n OnPointerClickedEvent(pointerEventData);\n }\n }\n}<file_sep>using UnityEngine;\nusing Transform = SynthesisAPI.EnvironmentManager.Components.Transform;\nusing SynthesisAPI.Utilities;\nusing System;\n\nusing Quaternion = UnityEngine.Quaternion;\nusing SynQuaternion = MathNet.Spatial.Euclidean.Quaternion;\nusing MathNet.Spatial.Euclidean;\nusing Engine.Util;\nusing System.ComponentModel;\n\nnamespace Engine.ModuleLoader.Adapters {\n public class TransformAdapter : MonoBehaviour, IApiAdapter<Transform> {\n public void SetInstance(Transform transform) {\n instance = transform;\n\n instance.PropertyChanged += UpdateProperty;\n\n unityTransform = gameObject.transform;\n\n unityTransform.localPosition = instance.Position.Map();\n unityTransform.localRotation = instance.Rotation.Map();\n unityTransform.localScale = instance.Scale.Map();\n }\n\n private void UpdateProperty(object sender, PropertyChangedEventArgs args) {\n switch (args.PropertyName) {\n case \"Position\":\n unityTransform.localPosition = instance.Position.Map();\n instance.GlobalPosition = instance.PositionValidator(unityTransform.position.Map());\n break;\n case \"GlobalPosition\":\n unityTransform.position = instance.GlobalPosition.Map();\n instance.position = instance.PositionValidator(unityTransform.localPosition.Map());\n break;\n case \"Rotation\":\n unityTransform.localRotation = instance.Rotation.Map();\n instance.GlobalRotation = instance.RotationValidator(unityTransform.rotation.Map());\n break;\n case \"GlobalRotation\":\n unityTransform.rotation = instance.GlobalRotation.Map();\n instance.rotation = instance.RotationValidator(unityTransform.localRotation.Map());\n break;\n case \"Scale\":\n unityTransform.localScale = instance.Scale.Map();\n break;\n default:\n throw new Exception($\"Property {args.PropertyName} is not setup\");\n }\n }\n\n public void Update() {\n instance.position = instance.PositionValidator(unityTransform.localPosition.Map());\n instance.rotation = instance.RotationValidator(unityTransform.localRotation.Map());\n instance.scale = instance.ScaleValidator(unityTransform.localScale.Map());\n\n instance.globalPosition = instance.PositionValidator(unityTransform.position.Map());\n instance.globalRotation = instance.RotationValidator(unityTransform.rotation.Map());\n }\n\n public static Transform NewInstance() {\n return new Transform();\n }\n\n private Transform instance;\n private UnityEngine.Transform unityTransform;\n }\n}<file_sep>#ifndef _ROBORIO_MANAGER_HPP_\n#define _ROBORIO_MANAGER_HPP_\n\n#include <mutex>\n#include <thread>\n\n#include \"roborio.hpp\"\n\nnamespace hel{\n\n /**\n * \\brief Manager of a global RoboRIO instance using a Singleton pattern\n */\n\n class RoboRIOManager {\n public:\n\n /**\n * \\brief Get the RoboRIO instance for use\n * Locks the current thread and returns both the RoboRIO instance and the lock\n * \\return A pair with the RoboRIO instance and thread lock\n */\n\n static std::pair<std::shared_ptr<RoboRIO>, std::unique_lock<std::recursive_mutex>> getInstance();\n\n /**\n * \\brief Get a copy of the RoboRIO instance\n * \\return The copied RoboRIO object\n */\n\n static RoboRIO getCopy();\n\n private:\n /**\n * Constructor for RoboRIOManager\n */\n\n RoboRIOManager() {}\n\n /**\n * \\brief The RoboRIO instance\n */\n\n static std::shared_ptr<RoboRIO> instance;\n\n /**\n * \\brief The mutex used to lock the thread accessing the RoboRIO instance\n */\n\n static std::recursive_mutex roborio_mutex;\n\n public:\n RoboRIOManager(RoboRIOManager const&) = delete;\n void operator=(RoboRIOManager const&) = delete;\n };\n}\n#endif\n<file_sep>using Google.Protobuf.WellKnownTypes;\nusing Synthesis.UI.Dynamic;\nusing SynthesisAPI.Controller;\nusing SynthesisAPI.Utilities;\nusing System.Collections;\nusing System.Collections.Generic;\nusing UnityEngine;\nusing Utilities.ColorManager;\n\nusing Logger = SynthesisAPI.Utilities.Logger;\n\nnamespace Synthesis.UI.Dynamic {\n\n public class ServerTestModal : ModalDynamic {\n private const float REFRESH_CLIENTS_INTERVAL = 0.3f;\n\n private const float MAIN_CONTENT_WIDTH = 1000f;\n private const float MAIN_CONTENT_HEIGHT = 700f;\n\n private static ServerTestModal _self;\n\n private Label _statusLabel;\n private Button _refreshButton;\n\n private float _lastRefresh = 0f;\n\n private ServerTestMode _mode;\n\n public ServerTestModal() : base(new Vector2(MAIN_CONTENT_WIDTH, MAIN_CONTENT_HEIGHT)) {}\n\n private float _lastSignalValue = 0f;\n\n public override void Create() {\n _mode = (ModeManager.CurrentMode as ServerTestMode)!;\n\n (var left, var right) = MainContent.SplitLeftRight(leftWidth: (MAIN_CONTENT_WIDTH - 20f) / 2, 20f);\n\n left.EnsureImage().StepIntoImage(i => i.SetColor(ColorManager.SynthesisColor.InteractiveBackground));\n\n _statusLabel = left.CreateLabel(30)\n .SetStretch<Label>(15f, 15f, 15f, 15f)\n .SetVerticalAlignment(TMPro.VerticalAlignmentOptions.Top)\n .SetHorizontalAlignment(TMPro.HorizontalAlignmentOptions.Left);\n\n _statusLabel.SetText(\"Press Button...\");\n\n _refreshButton = right.CreateButton(text: \"Refresh\")\n .SetHeight<Button>(30f)\n .SetTopStretch<Button>()\n .AddOnClickedEvent(b => { RefreshClientList(); });\n\n right.CreateButton(text: \"Kill\")\n .SetHeight<Button>(30f)\n .SetTopStretch<Button>(anchoredY: 45f)\n .AddOnClickedEvent(b => { _mode.KillClient(0); });\n\n right.CreateButton(text: \"Kill All\")\n .SetHeight<Button>(30f)\n .SetTopStretch<Button>(anchoredY: 45f * 2f)\n .AddOnClickedEvent(b => { _mode.KillClients(); });\n\n right.CreateButton(text: \"Increment Signal\")\n .SetHeight<Button>(30f)\n .SetTopStretch<Button>(anchoredY: 45f * 3f)\n .AddOnClickedEvent(b => {\n _lastSignalValue += 1;\n var signals = new List<SignalData> {\n new() {SignalGuid = \"test\", Name = \"Test Signal\", Value = Value.ForNumber(_lastSignalValue)}\n };\n _mode.Clients[0]?.UpdateControllableState(signals);\n });\n\n right.CreateButton(text: \"Send Transform\")\n .SetHeight<Button>(30f)\n .SetTopStretch<Button>(anchoredY: 45f * 4f)\n .AddOnClickedEvent(b => {\n _lastSignalValue += 1;\n ServerTransforms transformData = new ServerTransforms();\n transformData.Guid = _mode.Clients[1]?.Guid ?? 0;\n transformData.Transforms.Add(\"test\", new ServerTransformData());\n _mode.Clients[1]\n ?.UpdateTransforms(new List<ServerTransforms> { transformData })\n .ContinueWith((x, o) => {\n if (x.Result.isError)\n Logger.Log(\"Error\");\n\n var msg = x.Result.GetResult();\n msg?.FromControllableStates.AllUpdates.ForEach(\n y => y.UpdatedSignals.ForEach(z => Logger.Log($\"[{z.SignalGuid}] {z.Value}\")));\n }, null);\n });\n\n right.CreateButton(text: \"Send robot data\")\n .SetHeight<Button>(30f)\n .SetTopStretch<Button>(anchoredY: 45f * 5f)\n .AddOnClickedEvent(b => {\n var robotData = new DataRobot();\n robotData.Guid = _mode.Clients[1]?.Guid ?? 0;\n _mode.Clients[1]?.UploadRobotData(robotData).ContinueWith((x, o) => {\n if (x.Result.isError)\n Logger.Log(\"Error\");\n\n var msg = x.Result.GetResult();\n Logger.Log($\"Received Response: {msg?.FromDataRobot.Guid}\");\n }, null);\n });\n\n _self = this;\n }\n\n public override void Update() {\n if (Time.realtimeSinceStartup - _lastRefresh > REFRESH_CLIENTS_INTERVAL) {\n RefreshClientList();\n }\n }\n\n public override void Delete() {\n _statusLabel = null;\n }\n\n private void RefreshClientList() {\n _lastRefresh = Time.realtimeSinceStartup;\n var clients = _mode.ClientInformation;\n string s = \"\";\n clients.ForEach(x => s += $\"{x}\\n\");\n _statusLabel.SetText(s == string.Empty ? \"Empty...\" : s);\n }\n }\n}\n<file_sep>using System;\nusing Synthesis.Physics;\nusing Synthesis.Runtime;\nusing SynthesisAPI.InputManager;\nusing SynthesisAPI.InputManager.Inputs;\nusing UnityEngine;\n\n#nullable enable\n\nnamespace Synthesis.Gizmo {\n /// <summary>\n /// Manages Gizmos and ensures only one gizmo spawns at a time.\n /// </summary>\n public static class GizmoManager {\n private static GizmoConfig? _currentGizmoConfig;\n public static GizmoConfig? CurrentGizmoConfig => _currentGizmoConfig;\n private static Transform? _currentTargetTransform;\n\n public static void Setup() {\n SimulationRunner.OnUpdate += UpdateGizmo;\n\n InputManager.AssignDigitalInput(\n \"exit-gizmo\", new Digital(\"Return\", context: SimulationRunner.GIZMO_SIM_CONTEXT), e => ExitGizmo());\n }\n\n public static void SpawnGizmo<T>(T gizmoObject)\n where T : IGizmo => SpawnGizmo(new GizmoConfig { Transform = gizmoObject.GetGizmoData(),\n UpdateCallback = gizmoObject.Update,\n EndCallback = gizmoObject.End });\n\n public static void SpawnGizmo(TransformData data, Action<TransformData> update,\n Action<TransformData> end) => SpawnGizmo(new GizmoConfig { Transform = data, UpdateCallback = update,\n EndCallback = end });\n\n public static void SpawnGizmo(Vector3 position, Quaternion rotation, Action<TransformData> update,\n Action<TransformData> end) => SpawnGizmo(new GizmoConfig {\n Transform = new TransformData {Position = position, Rotation = rotation},\n UpdateCallback = update,\n EndCallback = end\n });\n\n public static void SpawnGizmo(GizmoConfig config) {\n if (_currentGizmoConfig.HasValue)\n ExitGizmo();\n\n // Check if modal is opened?\n SimulationRunner.AddContext(SimulationRunner.GIZMO_SIM_CONTEXT);\n _currentGizmoConfig = config;\n\n // Really duct-taped way of doing this\n _currentTargetTransform = new GameObject(\"GIZMO_MARKER\").transform;\n _currentTargetTransform.position = _currentGizmoConfig.Value.Transform.Position;\n _currentTargetTransform.rotation = _currentGizmoConfig.Value.Transform.Rotation;\n\n var gizmo = GameObject.Instantiate(SynthesisAssetCollection.GizmoPrefabStatic, _currentTargetTransform);\n gizmo.name = \"GIZMO\";\n }\n\n private static void UpdateGizmo() {\n if (!_currentGizmoConfig.HasValue || _currentTargetTransform == null)\n return;\n\n _currentGizmoConfig.Value.UpdateCallback(_currentTargetTransform);\n }\n\n public static void ExitGizmo() {\n if (!_currentGizmoConfig.HasValue || _currentTargetTransform == null) {\n return;\n }\n\n SimulationRunner.RemoveContext(SimulationRunner.GIZMO_SIM_CONTEXT);\n\n _currentGizmoConfig.Value.EndCallback(_currentTargetTransform);\n GameObject.Destroy(_currentTargetTransform.gameObject);\n // GameObject.Destroy(gizmo);\n\n _currentGizmoConfig = null;\n _currentTargetTransform = null;\n }\n }\n\n public struct TransformData {\n public static TransformData Default =\n new TransformData { Position = Vector3.zero, Rotation = Quaternion.identity };\n\n public Vector3 Position;\n public Quaternion Rotation;\n\n public static implicit operator TransformData(\n Vector3 position) => new TransformData { Position = position, Rotation = Quaternion.identity };\n public static implicit operator TransformData(\n Quaternion rotation) => new TransformData { Position = Vector3.zero, Rotation = rotation };\n public static implicit operator TransformData(\n (Vector3, Quaternion) data) => new TransformData { Position = data.Item1, Rotation = data.Item2 };\n public static implicit operator TransformData(\n Transform t) => new TransformData { Position = t.position, Rotation = t.rotation };\n }\n\n public struct GizmoConfig {\n public TransformData Transform;\n public Action<TransformData> UpdateCallback;\n public Action<TransformData> EndCallback;\n }\n\n public interface IGizmo {\n public TransformData GetGizmoData();\n public void Update(TransformData data);\n public void End(TransformData data);\n }\n}\n<file_sep>using MathNet.Spatial.Euclidean;\nusing SynthesisAPI.AssetManager;\nusing SynthesisAPI.EnvironmentManager;\nusing SynthesisAPI.EnvironmentManager.Components;\nusing SynthesisAPI.UIManager.VisualElements;\nusing SynthesisAPI.Utilities;\nusing SynthesisCore.Meshes;\nusing SynthesisCore.Simulation;\nusing SynthesisCore.Systems;\nusing System.Collections.Generic;\nusing System.Text.RegularExpressions;\n\nnamespace SynthesisCore.UI\n{\n public class JointItem\n {\n private static List<JointItem> jointItems = new List<JointItem>();\n private bool IsHighlighted = false;\n private Button highlightButton;\n\n public VisualElement JointElement { get; }\n \n public JointItem(VisualElementAsset jointAsset, MotorAssembly assembly) : this(jointAsset)\n {\n RegisterJointButtons(assembly);\n }\n\n public JointItem(VisualElementAsset jointAsset)\n {\n jointItems.Add(this);\n JointElement = jointAsset.GetElement(\"joint\");\n }\n\n private void RegisterJointButtons(MotorAssembly assembly)\n {\n var j = assembly.Joint;\n var jointEntity = assembly.Entity;\n\n highlightButton = (Button)JointElement.Get(\"highlight-button\");\n Dropdown motorTypeDropdown = new Dropdown(\"motor-type-dropdown-container\", MotorTypes.AllTypeNames.IndexOf(assembly.Motor.Name), MotorTypes.AllTypeNames)\n {\n ItemHeight = 15\n };\n JointElement.Get(\"motor-type-dropdown-container\").Add(motorTypeDropdown);\n TextField gearField = (TextField)JointElement.Get(\"motor-gear-field\");\n TextField countField = (TextField)JointElement.Get(\"motor-count-field\");\n \n gearField.SetValueWithoutNotify(assembly.GearReduction.ToString());\n countField.SetValueWithoutNotify(assembly.MotorCount.ToString());\n\n motorTypeDropdown.Subscribe(e =>\n {\n if (e is Dropdown.SelectionEvent selectionEvent)\n {\n if (MotorTypes.Contains(selectionEvent.SelectionName))\n {\n assembly.Motor = MotorTypes.Get(selectionEvent.SelectionName);\n }\n }\n });\n\n gearField.SubscribeOnChange(e =>\n {\n if(e is TextField.TextFieldChangeEvent changeEvent)\n {\n var value = Regex.Replace(changeEvent.NewValue, @\"[^0-9.]\", \"\"); // Only allow integers and .\n var i = value.IndexOf('.');\n if(i != -1)\n {\n value = value.Substring(0, i + 1) + value.Substring(i).Replace(\".\", \"\"); // Only allow one .\n }\n gearField.SetValueWithoutNotify(value);\n }\n });\n\n gearField.SubscribeOnFocusLeave(e =>\n {\n if (e is TextField.TextFieldFocusLeaveEvent)\n {\n if (gearField.Value != \"\")\n {\n assembly.GearReduction = double.Parse(gearField.Value);\n }\n }\n });\n\n countField.SubscribeOnChange(e =>\n {\n if (e is TextField.TextFieldChangeEvent changeEvent)\n {\n var value = Regex.Replace(changeEvent.NewValue, @\"[^0-9]\", \"\"); // Only allow integers\n countField.SetValueWithoutNotify(value);\n }\n });\n\n countField.SubscribeOnFocusLeave(e =>\n {\n if (e is TextField.TextFieldFocusLeaveEvent leaveEvent)\n {\n if (countField.Value != \"\")\n {\n if (uint.Parse(countField.Value) == 0)\n countField.SetValueWithoutNotify(assembly.MotorCount.ToString());\n else\n assembly.MotorCount = uint.Parse(countField.Value);\n }\n }\n });\n\n highlightButton.OnMouseEnter(() =>\n {\n HighlightButton();\n });\n\n highlightButton.OnMouseLeave(() =>\n {\n if(!IsHighlighted)\n UnHighlightButton();\n });\n\n highlightButton.Subscribe(x =>\n {\n //toggle highlight\n if (!IsHighlighted)\n {\n UnHighlightAllButtons();\n HighlightButton(true);\n\n if (JointsWindow.jointHighlightEntity == null)\n {\n JointsWindow.jointHighlightEntity = EnvironmentManager.AddEntity();\n JointsWindow.jointHighlightEntity?.AddComponent<Transform>();\n JointsWindow.jointHighlightEntity?.AddComponent<Mesh>();\n\n // Create mesh\n Mesh m = JointsWindow.jointHighlightEntity?.GetComponent<Mesh>();\n m.Color = (1f, 1f, 0f, 0.5f);\n Cylinder.Make(m, 16, 0.01, 0.25);\n }\n\n // Set highlight entity parent\n var parentComponent = JointsWindow.jointHighlightEntity?.GetComponent<Parent>();\n parentComponent.ParentEntity = jointEntity;\n\n // Set highlight entity transform\n var jointHighlightTransform = JointsWindow.jointHighlightEntity?.GetComponent<Transform>();\n jointHighlightTransform.Position = j.Anchor;\n\n var axis = j.Axis.Normalize();\n jointHighlightTransform.Rotation = MathUtil.LookAt(\n axis.IsParallelTo(UnitVector3D.XAxis) ? axis.CrossProduct(UnitVector3D.YAxis) : axis.CrossProduct(UnitVector3D.XAxis),\n axis);\n\n // Move camera to look at the joint\n var parentPosition = jointEntity.GetComponent<Parent>()?.ParentEntity.GetComponent<Transform>()?.GlobalPosition ?? new Vector3D();\n var cameraOffset = (jointHighlightTransform.GlobalPosition - parentPosition).Normalize().ScaleBy(3);\n CameraController.Instance.cameraTransform.GlobalPosition = jointHighlightTransform.GlobalPosition + cameraOffset;\n\n CameraController.Instance.cameraTransform.LookAt(jointHighlightTransform.GlobalPosition);\n CameraController.Instance.SetNewFocus(jointHighlightTransform.GlobalPosition, false);\n }\n else\n {\n UnHighlightButton();\n if (JointsWindow.jointHighlightEntity?.RemoveEntity() ?? false)\n JointsWindow.jointHighlightEntity = null;\n }\n });\n }\n\n private void HighlightButton(bool stick = false)\n {\n if (stick)\n IsHighlighted = true;\n if(highlightButton != null)\n highlightButton.SetStyleProperty(\"background-color\", \"rgba(255, 255, 0, 1)\");\n }\n\n private void UnHighlightButton()\n {\n IsHighlighted = false;\n if (highlightButton != null)\n highlightButton.SetStyleProperty(\"background-color\", \"rgba(255, 255, 0, 0)\");\n }\n\n public static void UnHighlightAllButtons()\n {\n foreach(var i in jointItems)\n {\n i.UnHighlightButton();\n }\n }\n }\n\n}<file_sep>#include \"testing.hpp\"\n\n#include <numeric>\n\nTEST(BoundsCheckedArrayTest, DefaultConstructor){\n constexpr unsigned LEN = 10;\n\n constexpr unsigned VAL = 20;\n hel::BoundsCheckedArray<int, LEN> b(VAL);\n\n for(unsigned i = 0; i < LEN; i++){\n EXPECT_EQ(VAL, b[i]);\n }\n}\n\nTEST(BoundsCheckedArrayTest, IterableConstructor){\n constexpr unsigned LEN = 10;\n\n std::array<int, LEN> a;\n std::iota(a.begin(), a.end(), 0);\n\n hel::BoundsCheckedArray<int, LEN> b = a;\n\n for(unsigned i = 0; i < LEN; i++){\n EXPECT_EQ(a[i], b[i]);\n }\n}\n\nTEST(BoundsCheckedArrayTest, Equality){\n constexpr unsigned LEN = 10;\n\n hel::BoundsCheckedArray<int, LEN> a(0);\n EXPECT_EQ(a, a);\n\n hel::BoundsCheckedArray<int, LEN> b(1);\n EXPECT_NE(a, b);\n}\n\nTEST(BoundsCheckedArrayTest, Access){\n constexpr unsigned LEN = 10;\n\n constexpr unsigned VAL = 5;\n hel::BoundsCheckedArray<int, LEN> b(VAL);\n EXPECT_EQ(VAL, b[0]);\n EXPECT_EQ(VAL, b.at(0));\n\n EXPECT_THROW(b[LEN], std::out_of_range);\n EXPECT_THROW(b.at(LEN), std::out_of_range);\n}\n<file_sep>using System.Collections.Generic;\nusing SynthesisAPI.Controller;\nusing Mirabuf.Signal;\n\nnamespace SynthesisAPI.Simulation {\n public class SimObject {\n protected string _name;\n public string Name {\n get => _name;\n }\n\n protected ControllableState _state;\n public ControllableState State {\n get => _state;\n }\n\n protected bool _behavioursEnabled = true;\n public bool BehavioursEnabled {\n get => _behavioursEnabled;\n set {\n _behavioursEnabled = value;\n SimulationManager.Behaviours[_name].ForEach(b => {\n b.Enabled = _behavioursEnabled;\n });\n }\n }\n\n protected bool _driversEnabled = true;\n public bool DriversEnabled {\n get => _driversEnabled;\n set {\n _driversEnabled = value;\n SimulationManager.Drivers[_name].ForEach(d => {\n d.Enabled = _driversEnabled;\n });\n }\n }\n\n public SimObject(string name, Signals signalLayout) {\n _name = name;\n _state = new ControllableState(signalLayout);\n }\n\n // This was Init. No idea why but it might need to be\n public SimObject(string name, ControllableState state) {\n _name = name;\n _state = state;\n }\n\n public virtual void Destroy() { }\n\n public List<(string key, string displayName)> GetAllReservedInputs() {\n var res = new List<(string key, string displayName)>();\n SimulationManager.Behaviours[_name].ForEach(x => x.ReservedInput.ForEach(y => res.Add(y)));\n return res;\n }\n\n public override int GetHashCode()\n => _name.GetHashCode() * 482901849;\n }\n}<file_sep>\nusing System.Collections.Generic;\npublic class LinearJoint_Base : SkeletalJoint_Base\n{\n #region LinearDOF_Impl\n private class LinearDOF_Impl : LinearDOF\n {\n private readonly LinearJoint_Base ljb;\n public LinearDOF_Impl(LinearJoint_Base ljb)\n {\n this.ljb = ljb;\n }\n\n public float currentPosition\n {\n get\n {\n return ljb.currentLinearPosition;\n }\n }\n\n public float upperLimit\n {\n get\n {\n ljb.EnforceOrder();\n return ljb.hasUpperLimit ? ljb.linearLimitHigh : float.PositiveInfinity;\n }\n set\n {\n ljb.linearLimitHigh = value;\n ljb.hasUpperLimit = !float.IsInfinity(ljb.linearLimitHigh);\n }\n }\n\n public float lowerLimit\n {\n get\n {\n ljb.EnforceOrder();\n return ljb.hasLowerLimit ? ljb.linearLimitLow : float.NegativeInfinity;\n }\n set\n {\n ljb.linearLimitLow = value;\n ljb.hasLowerLimit = !float.IsInfinity(ljb.linearLimitLow);\n }\n }\n\n public BXDVector3 translationalAxis\n {\n get\n {\n return ljb.axis;\n }\n set\n {\n ljb.axis = value;\n }\n }\n\n public BXDVector3 basePoint\n {\n get\n {\n return ljb.basePoint;\n }\n set\n {\n ljb.basePoint = value;\n }\n }\n }\n #endregion\n\n public BXDVector3 axis;\n public BXDVector3 basePoint;\n\n public float currentLinearPosition;\n public bool hasUpperLimit, hasLowerLimit;\n public float linearLimitLow, linearLimitHigh;\n\n private readonly LinearDOF[] linearDOF;\n\n public LinearJoint_Base() {\n linearDOF = new LinearDOF[]{ new LinearDOF_Impl(this) };\n }\n\n public override SkeletalJointType GetJointType()\n {\n return SkeletalJointType.LINEAR;\n }\n\n protected override void WriteBinaryJointInternal(System.IO.BinaryWriter writer)\n {\n EnforceOrder();\n\n writer.Write(basePoint);\n writer.Write(axis);\n\n writer.Write((byte) ((hasLowerLimit ? 1 : 0) | (hasUpperLimit ? 2 : 0)));\n if (hasLowerLimit)\n {\n writer.Write(linearLimitLow);\n }\n if (hasUpperLimit)\n {\n writer.Write(linearLimitHigh);\n }\n\n writer.Write(currentLinearPosition);\n }\n\n protected override void ReadBinaryJointInternal(System.IO.BinaryReader reader)\n {\n basePoint = reader.ReadRWObject<BXDVector3>();\n axis = reader.ReadRWObject<BXDVector3>();\n\n byte limitFlags = reader.ReadByte();\n hasLowerLimit = (limitFlags & 1) == 1;\n hasUpperLimit = (limitFlags & 2) == 2;\n if (hasLowerLimit)\n {\n linearLimitLow = reader.ReadSingle();\n }\n if (hasUpperLimit)\n {\n linearLimitHigh = reader.ReadSingle();\n }\n currentLinearPosition = reader.ReadSingle();\n\n EnforceOrder();\n }\n\n public void EnforceOrder()\n {\n if (hasLowerLimit && hasUpperLimit && linearLimitLow > linearLimitHigh)\n {\n float temp = linearLimitHigh;\n linearLimitHigh = linearLimitLow;\n linearLimitLow = temp;\n }\n }\n\n public override IEnumerable<AngularDOF> GetAngularDOF()\n {\n return new AngularDOF[0];\n }\n\n public override IEnumerable<LinearDOF> GetLinearDOF()\n {\n return linearDOF;\n }\n}<file_sep>#ifndef _SYSTEM_INTERFACE_HPP_\n#define _SYSTEM_INTERFACE_HPP_\n\n#include \"FRC_FPGA_ChipObject/tSystem.h\"\n#include \"FRC_FPGA_ChipObject/tSystemInterface.h\"\n\nnamespace hel{\n /**\n * \\cond HIDDEN_SYMBOLS\n */\n struct SystemInterface: public nFPGA::tSystemInterface{\n const uint16_t getExpectedFPGAVersion();\n const uint32_t getExpectedFPGARevision();\n\n const uint32_t* const getExpectedFPGASignature();\n\n void getHardwareFpgaSignature(uint32_t*, tRioStatusCode*);\n\n uint32_t getLVHandle(tRioStatusCode*);\n\n uint32_t getHandle();\n\n void reset(tRioStatusCode*);\n\n void getDmaDescriptor(int, tDMAChannelDescriptor*);\n };\n /**\n * \\endcond\n */\n}\n\n#endif\n<file_sep>using System;\nusing System.Collections.Generic;\nusing System.IO;\nusing System.Linq;\nusing Synthesis.UI.Dynamic;\nusing TMPro;\nusing UnityEngine;\nusing SynthesisAPI.Utilities;\nusing Utilities.ColorManager;\nusing Logger = SynthesisAPI.Utilities.Logger;\n\n#nullable enable\n\nnamespace Synthesis.UI.Dynamic {\n public class AddFieldModal : ModalDynamic {\n private string _root;\n private int _selectedIndex = -1;\n private string[] _files;\n\n public string Folder = \"Mira/Fields\";\n\n public AddFieldModal() : base(new Vector2(400, 55)) {}\n\n public override void Create() {\n _root = ParsePath(Path.Combine(\"$appdata/Autodesk/Synthesis\", Folder), '/');\n if (!Directory.Exists(_root))\n Directory.CreateDirectory(_root);\n _files = Directory.GetFiles(_root).Where(x => Path.GetExtension(x).Equals(\".mira\")).ToArray();\n\n Title.SetText(\"Field Selection\");\n\n ModalIcon.SetSprite(SynthesisAssetCollection.GetSpriteByName(\"plus\"))\n .SetColor(ColorManager.SynthesisColor.MainText);\n\n AcceptButton.StepIntoLabel(label => label.SetText(\"Load\")).AddOnClickedEvent(b => {\n if (_selectedIndex != -1) {\n FieldSimObject.DeleteField();\n FieldSimObject.SpawnField(_files[_selectedIndex]);\n DynamicUIManager.CloseActiveModal();\n }\n });\n\n var chooseRobotDropdown = MainContent.CreateDropdown()\n .SetOptions(_files.Select(x => Path.GetFileName(x)).ToArray())\n .AddOnValueChangedEvent((d, i, data) => _selectedIndex = i)\n .SetTopStretch<Dropdown>();\n\n _selectedIndex = _files.Length > 0 ? 0 : -1;\n }\n\n public override void Update() {}\n\n public override void Delete() {}\n\n private string ParsePath(string p, char c) {\n string[] a = p.Split(c);\n string b = \"\";\n for (int i = 0; i < a.Length; i++) {\n switch (a[i]) {\n case \"$appdata\":\n b += Environment.GetFolderPath(Environment.SpecialFolder.ApplicationData);\n break;\n default:\n b += a[i];\n break;\n }\n if (i != a.Length - 1)\n b += Path.AltDirectorySeparatorChar;\n }\n return b;\n }\n }\n}<file_sep>using UI.EventListeners;\nusing UnityEngine;\nusing UnityEngine.UI;\n\nnamespace UI {\n [RequireComponent(typeof(Image))]\n [ExecuteAlways]\n public class GradientImageUpdater : MonoBehaviour {\n private static readonly int Props = Shader.PropertyToID(\"_WidthHeightRadius\");\n private static readonly int StartColorProp = Shader.PropertyToID(\"_StartColor\");\n private static readonly int EndColorProp = Shader.PropertyToID(\"_EndColor\");\n private static readonly int TintColorProp = Shader.PropertyToID(\"_TintColor\");\n private static readonly int OffsetProp = Shader.PropertyToID(\"_Offset\");\n private static readonly int GradientAngleProp = Shader.PropertyToID(\"_GradientAngle\");\n private static readonly int GradientSpreadProp = Shader.PropertyToID(\"_GradientSpread\");\n\n public float Radius = 30;\n public Color StartColor;\n public Color EndColor;\n public float GradientAngle = 0;\n public float GradientSpread = 1;\n public Color TintColor = Color.white;\n public Vector2 Offset = new Vector2();\n\n private Material _material;\n\n private void GetMaterial() {\n if (_material == null)\n _material = _material = new Material(Shader.Find(\"ImageGradient/ImageGradient\"));\n }\n\n private void Start() {\n GetMaterial();\n\n var image = GetComponent<Image>();\n if (image.sprite != null) {\n _material = SynthesisAssetCollection.GetDefaultSpriteMat();\n Destroy(this);\n }\n image.material = _material;\n\n if (TryGetComponent<HoverEventListener>(out var listener))\n listener.ImageUpdater = this;\n\n Refresh();\n }\n\n private void OnRectTransformDimensionsChange() {\n if (enabled && _material != null) {\n Refresh();\n }\n }\n\n private void OnValidate() {\n Refresh();\n }\n\n public void Refresh() {\n GetMaterial();\n\n var rect = ((RectTransform) transform).rect;\n\n GradientAngle %= 2f * Mathf.PI;\n if (GradientAngle < 0)\n GradientAngle += 2f * Mathf.PI;\n\n GradientSpread = Mathf.Clamp(GradientSpread, 0.1f, 2f);\n\n _material.SetVector(Props, new Vector4(rect.width, rect.height, Radius * 2, 0));\n _material.SetColor(StartColorProp, StartColor);\n _material.SetColor(EndColorProp, EndColor);\n _material.SetFloat(\"_GradientAngle\", GradientAngle);\n _material.SetFloat(GradientSpreadProp, GradientSpread);\n _material.SetColor(TintColorProp, TintColor);\n _material.SetVector(OffsetProp, Offset);\n }\n }\n}\n<file_sep>using Synthesis.Runtime;\nusing Synthesis.UI.Dynamic;\nusing SynthesisAPI.Aether.Lobby;\nusing System.Collections.Generic;\nusing System.Threading.Tasks;\n\npublic class ServerHostingMode : IMode {\n private LobbyServer _server;\n\n public IReadOnlyCollection<string> ClientInformation =>\n _server.Clients == null ? new List<string>() : _server.Clients;\n\n public bool IsServerAlive => _server != null;\n\n public void Start() {\n _server = new LobbyServer();\n\n DynamicUIManager.CreateModal<ServerHostingModal>();\n SimulationRunner.OnGameObjectDestroyed += End;\n }\n\n public void End() {\n if (_server == null) {\n return;\n }\n\n Engine.ModuleLoader.Api.ToastLogger.SetEnabled(false);\n _server.Dispose();\n _server = null;\n Engine.ModuleLoader.Api.ToastLogger.SetEnabled(true);\n }\n\n public void KillServer() {\n if (_server != null) {\n _server.Dispose();\n _server = null;\n }\n }\n\n public void Update() {}\n\n public void OpenMenu() {}\n\n public void CloseMenu() {}\n}\n<file_sep>\n\n[](https://github.com/Autodesk/synthesis/actions/workflows/Engine.yml)\n[](https://github.com/Autodesk/synthesis/actions/workflows/API.yml)\n\nSynthesis is a robotics simulator designed to help FIRST Robotics teams design, strategize, test, and practice. Teams can import their own robot and field designs or use preexisting ones into the simulator for a variety of uses, including:\n* Testing robot designs\n* Exploring the field environment\n* Driver practice & strategy\n\nDeveloped solely by FIRST students, Synthesis is built with a direct focus on the FIRST community. We've also made the project completely open source in order to better involve the community. This way contributors can help make Synthesis better or modify Synthesis to better suit their team’s needs.\n\nFor more information on the product itself or the team, visit http://synthesis.autodesk.com/\n\n## Getting Started\n\nSynthesis is comprised of 4 separate components that are mostly developed independently of each other. You will want to clone the entire repository first, then follow a different set of steps depending on which component you wish to work on. The links below will lead you to specific instructions that will get you a copy of that component up and running on your local machine for development and testing purposes.\n\n* [Simulation Engine](/engine/README.md)\n* [Fusion Robot Exporter (Fusion 360 Plugin)](/exporter/SynthesisFusionAddin/)\n* [API](/api/)\n\n## Installing\n\nGet the latest release [here](https://github.com/Autodesk/synthesis/releases/latest/).\nYou can find all of our other releases on the [releases page](https://github.com/Autodesk/synthesis/releases/)\n\n### Windows\n\nDownload and run SynthesisWin[Version Number].exe.\n\n### MacOS\n\nDownload and Unzip SynthesisOSX[Version Number].zip.\nNavigate to the Synthesis.pkg, and use that to install Synthesis.\n\n### Linux\n\nDownload the Synthesis_x86_64.appimage file.\nYou can run that directly or move it to your ~/Applications/ directory to have it registered as an app within ubuntu or whatever debian system you are using.\n\nThe linux installer does not come with the Fusion360 Addin for exporting robots and fields.\n\n**NOTE FOR NON DEBIAN USERS**: Synthesis can be installed and ran on other distros, however our linux package is tailored to Debian.\n\n## Contributing\n\nWhen contributing to this repository, please first discuss the change you wish to make via issue, email, or any other method with the owners of this repository before making a change. This way, we can ensure that there is no overlap between contributions and internal development work. You may contact us at <EMAIL>.\n\nWhen ready to contribute, just submit a pull request and be sure to include a clear and detailed description of the changes you've made so that we can verify them and eventually merge. Feel free to check out our [contributing guidlines](contributing.md) to learn more.\n\n## Contact\n\nIf you have any questions, you can contact us using the email mentioned above.\nWe also have a [community discord](https://www.discord.gg/hHcF9AVgZA) you can join to get updates about Synthesis and consult directly with the students who make it.\n<file_sep>#include \"testing.hpp\"\n\nusing namespace nFPGA;\nusing namespace nRoboRIO_FPGANamespace;\n\nTEST(PWMTest, SetSpeed){\n constexpr unsigned SIZE = nFPGA::nRoboRIO_FPGANamespace::tPWM::kNumHdrRegisters +\n nFPGA::nRoboRIO_FPGANamespace::tPWM::kNumMXPRegisters;\n\n for(unsigned i = 0; i < SIZE; i++){\n double power = 2.0 * i / SIZE - 1.0;\n frc::PWM pwm = frc::PWM(i);\n pwm.SetSpeed(power);\n\n EXPECT_NEAR(power, pwm.GetSpeed(), EPSILON);\n\n auto instance = hel::RoboRIOManager::getInstance();\n EXPECT_NEAR(power, hel::PWMSystem::getPercentOutput(pwm.GetRaw()), EPSILON);\n instance.second.unlock();\n }\n}\n<file_sep>[main]\ndebug = yes\nar = no\nphysics = yes\nstaging = no\nversion = 1011\n\n[analytics]\nanalytics = no\nnotified = yes\nc_id = 6028b99e-17bb-4d39-a9da-7b5432ed155d\n\n[protobuf]\nprotobuf = yes\n\n<file_sep>using SynthesisAPI.Utilities;\nusing System.Collections.Generic;\n\nnamespace SynthesisCore.Simulation\n{\n /// <summary>\n /// A container for types of motors\n /// </summary>\n public static class MotorTypes\n {\n public static List<string> AllTypeNames { get; private set; } = new List<string>();\n private static Dictionary<string, DCMotor> Types = new Dictionary<string, DCMotor>();\n\n public static bool Contains(string name)\n {\n return Types.ContainsKey(name);\n }\n\n public static DCMotor Get(string name)\n {\n return Types[name].Clone();\n }\n\n public static void Add(string name, DCMotor type)\n {\n if (Types.ContainsKey(name))\n {\n throw new SynthesisException($\"Cannot add new motor type with existing name {name}\");\n }\n AllTypeNames.Add(name);\n type.Name = name;\n Types[name] = type;\n }\n\n static MotorTypes()\n {\n Add(\"CIM\", new DCMotor(\n // From CIM documentation\n 0.091, // Ohms\n 0.018803, // N m / Amp\n 0.018803, // V / rad / sec\n // From Chief Delphi post\n 7.754E-05, // kg m^2\n // Trial and error to match speed-torque curve\n 0.00057, // N m s //TODO maybe 8.91E-05\n 0.605 // Determined experimentally in Synthesis\n ));\n // Remainder from https://www.chiefdelphi.com/uploads/default/original/3X/d/2/d2495ff57e402e93bb479171750bb6b05ec8e594.pdf\n Add(\"mini-CIM\", new DCMotor(\n 1.34E-01, // Ohms\n 1.74E-02, // N m / Amp\n 1.74E-02, // V / rad / sec\n 5.54E-05, // kg m^2\n 7.70E-05, // N m s\n 0.35 // Determined experimentally in Synthesis\n ));\n Add(\"BAG\", new DCMotor(\n 2.28E-01, // Ohms\n 8.29E-03, // N m / Amp\n 8.29E-03, // V / rad / sec\n 7.67E-06, // kg m^2\n 1.07E-05, // N m s\n 2.2 // Determined experimentally in Synthesis\n ));\n Add(\"775pro\", new DCMotor(\n 8.98E-02, // Ohms\n 5.30E-03, // N m / Amp\n 5.69E-03, // V / rad / sec\n 1.04E-05, // kg m^2\n 1.89E-06, // N m s\n 5 // Determined experimentally in Synthesis\n ));\n }\n }\n}\n<file_sep>#!/bin/sh\ngit checkout --theirs engine/PlayModeTests.csproj\ngit checkout --theirs engine/EditModeTests.csproj\ngit checkout --theirs engine/CoreEngine.csproj\ngit checkout --theirs engine/Assets/Packages/Api.dll\ngit checkout --theirs engine/Assets/Packages/Aardvark.dll\ngit checkout --theirs engine/Assembly-CSharp.csproj\n\n<file_sep>#include \"roborio_manager.hpp\"\n#include \"system_interface.hpp\"\n\n#include <cmath>\n\nusing namespace nFPGA;\nusing namespace nRoboRIO_FPGANamespace;\n\nnamespace hel {\n void AnalogInputs::setConfig(tAI::tConfig value)noexcept{\n config = value;\n }\n\n tAI::tConfig AnalogInputs::getConfig()noexcept{\n return config;\n }\n\n void AnalogInputs::setReadSelect(tAI::tReadSelect value)noexcept{\n read_select = value;\n }\n\n tAI::tReadSelect AnalogInputs::getReadSelect()noexcept{\n return read_select;\n }\n\n void AnalogInputs::setOversampleBits(uint8_t channel, uint8_t value){\n analog_inputs[channel].oversample_bits = value;\n }\n\n uint8_t AnalogInputs::getOversampleBits(uint8_t channel){\n return analog_inputs[channel].oversample_bits;\n }\n\n void AnalogInputs::setAverageBits(uint8_t channel, uint8_t value){\n analog_inputs[channel].average_bits = value;\n }\n\n uint8_t AnalogInputs::getAverageBits(uint8_t channel){\n return analog_inputs[channel].average_bits;\n }\n\n void AnalogInputs::setScanList(uint8_t channel, uint8_t value){\n analog_inputs[channel].scan_list = value;\n }\n\n uint8_t AnalogInputs::getScanList(uint8_t channel){\n return analog_inputs[channel].scan_list;\n }\n\n std::vector<int32_t> AnalogInputs::getValues(uint8_t channel){\n return analog_inputs[channel].values;\n }\n\n void AnalogInputs::setValues(uint8_t channel, std::vector<int32_t> values){\n analog_inputs[channel].values = values;\n }\n\n AnalogInputs::AnalogInput::AnalogInput()noexcept:oversample_bits(0),average_bits(0),scan_list(0),values({}){}\n\n AnalogInputs::AnalogInput::AnalogInput(const AnalogInput& source)noexcept:AnalogInput(){\n#define COPY(NAME) NAME = source.NAME\n COPY(oversample_bits);\n COPY(average_bits);\n COPY(values);\n#undef COPY\n }\n\n AnalogInputs::AnalogInputs()noexcept:analog_inputs({}),config(),read_select(){}\n\n AnalogInputs::AnalogInputs(const AnalogInputs& source)noexcept:AnalogInputs(){\n#define COPY(NAME) NAME = source.NAME\n COPY(analog_inputs);\n COPY(config);\n COPY(read_select);\n#undef COPY\n }\n\n struct AnalogInputManager: public tAI{\n tSystemInterface* getSystemInterface(){\n return nullptr;\n }\n\n int32_t readOutput(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n AnalogInputs analog_inputs = instance.first->analog_inputs;\n uint8_t channel = analog_inputs.getReadSelect().Channel;\n\n if(analog_inputs.getValues(channel).empty()){\n return 0;\n }\n\n if(analog_inputs.getReadSelect().Averaged){\n float average = 0;\n int8_t start_index = std::max(\n std::min(\n (int)(analog_inputs.getValues(channel).size() - std::pow(2, analog_inputs.getAverageBits(channel) + analog_inputs.getOversampleBits(channel))),\n (int)analog_inputs.getValues(channel).size()\n ),\n 0\n );\n\n for(unsigned i = start_index; i < analog_inputs.getValues(channel).size(); i++){\n average += analog_inputs.getValues(channel)[i];\n }\n\n average /= (analog_inputs.getValues(channel).size() - start_index);\n\n return (int32_t)average;\n }\n instance.second.unlock();\n return analog_inputs.getValues(channel).back();\n }\n\n void writeConfig(tAI::tConfig value, tRioStatusCode*) {\n auto instance = RoboRIOManager::getInstance();\n instance.first->analog_inputs.setConfig(value);\n instance.second.unlock();\n }\n\n void writeConfig_ScanSize(uint8_t value, tRioStatusCode*) {\n auto instance = RoboRIOManager::getInstance();\n auto current_config = instance.first->analog_inputs.getConfig();\n current_config.ScanSize = value;\n instance.first->analog_inputs.setConfig(current_config);\n instance.second.unlock();\n }\n\n void writeConfig_ConvertRate(uint32_t value, tRioStatusCode*) {\n auto instance = RoboRIOManager::getInstance();\n auto current_config = instance.first->analog_inputs.getConfig();\n current_config.ConvertRate = value;\n instance.first->analog_inputs.setConfig(current_config);\n instance.second.unlock();\n }\n\n tAI::tConfig readConfig(tRioStatusCode*) {\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->analog_inputs.getConfig();\n }\n\n uint8_t readConfig_ScanSize(tRioStatusCode*) {\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->analog_inputs.getConfig().ScanSize;\n }\n\n uint32_t readConfig_ConvertRate(tRioStatusCode*) {\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->analog_inputs.getConfig().ConvertRate;\n }\n\n void writeOversampleBits(uint8_t channel, uint8_t value, tRioStatusCode*) {\n auto instance = RoboRIOManager::getInstance();\n instance.first->analog_inputs.setOversampleBits(channel, value);\n instance.second.unlock();\n }\n void writeAverageBits(uint8_t channel, uint8_t value, tRioStatusCode*) {\n auto instance = RoboRIOManager::getInstance();\n instance.first->analog_inputs.setAverageBits(channel, value);\n instance.second.unlock();\n }\n void writeScanList(uint8_t channel, uint8_t value, tRioStatusCode*) {\n auto instance = RoboRIOManager::getInstance();\n instance.first->analog_inputs.setScanList(channel, value);\n instance.second.unlock();\n }\n\n uint8_t readOversampleBits(uint8_t channel, tRioStatusCode*) {\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->analog_inputs.getOversampleBits(channel);\n }\n\n uint8_t readAverageBits(uint8_t channel, tRioStatusCode*) {\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->analog_inputs.getAverageBits(channel);\n }\n\n uint8_t readScanList(uint8_t channel, tRioStatusCode*) {\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->analog_inputs.getScanList(channel);\n }\n\n void writeReadSelect(tAI::tReadSelect value, tRioStatusCode*) {\n auto instance = RoboRIOManager::getInstance();\n instance.first->analog_inputs.setReadSelect(value);\n instance.second.unlock();\n }\n\n void writeReadSelect_Channel(uint8_t value, tRioStatusCode*) {\n auto instance = RoboRIOManager::getInstance();\n auto current_read_select = instance.first->analog_inputs.getReadSelect();\n current_read_select.Channel = value;\n instance.first->analog_inputs.setReadSelect(current_read_select);\n instance.second.unlock();\n }\n\n void writeReadSelect_Averaged(bool value, tRioStatusCode*) {\n auto instance = RoboRIOManager::getInstance();\n auto current_read_select = instance.first->analog_inputs.getReadSelect();\n current_read_select.Channel = value;\n instance.first->analog_inputs.setReadSelect(current_read_select);\n instance.second.unlock();\n }\n\n tAI::tReadSelect readReadSelect(tRioStatusCode*) {\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->analog_inputs.getReadSelect();\n }\n\n uint8_t readReadSelect_Channel(tRioStatusCode*) {\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->analog_inputs.getReadSelect().Channel;\n }\n bool readReadSelect_Averaged(tRioStatusCode*) {\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->analog_inputs.getReadSelect().Averaged;\n }\n\n uint32_t readLoopTiming(tRioStatusCode*) {\n return PWMSystem::EXPECTED_LOOP_TIMING; //this is probably fine\n }\n\n void strobeLatchOutput(tRioStatusCode*) {}\n };\n}\n\nnamespace nFPGA{\n namespace nRoboRIO_FPGANamespace{\n tAI* tAI::create(tRioStatusCode* /*status*/){\n return new hel::AnalogInputManager();\n }\n }\n}\n<file_sep>#include \"can_device.hpp\"\n#include \"error.hpp\"\n#include \"util.hpp\"\n\nnamespace hel{\n\n std::string CANMessageID::toString()const{\n std::string s;\n s += asString(manufacturer) + \" \" + asString(type);\n s += \" (ID \" + std::to_string(id) + \", API ID \" + std::to_string(api_id) + \")\";\n return s;\n }\n\n std::string asString(CANMessageID::Type type){\n switch(type){\n case CANMessageID::Type::TALON_SRX:\n return \"TALON_SRX\";\n case CANMessageID::Type::VICTOR_SPX:\n return \"VICTOR_SPX\";\n case CANMessageID::Type::SPARK_MAX:\n return \"SPARK_MAX\";\n case CANMessageID::Type::PCM:\n return \"PCM\";\n case CANMessageID::Type::PDP:\n return \"SPARK_MAX\";\n case CANMessageID::Type::UNKNOWN:\n return \"UNKNOWN\";\n default:\n throw UnhandledEnumConstantException(\"hel::CANMessageID::Type\");\n }\n }\n\n CANMessageID::Type s_to_can_device_type(std::string input){\n switch(hasher(input.c_str())){\n case hasher(\"TALON_SRX\"):\n return CANMessageID::Type::TALON_SRX;\n case hasher(\"VICTOR_SPX\"):\n return CANMessageID::Type::VICTOR_SPX;\n case hasher(\"SPARK_MAX\"):\n return CANMessageID::Type::SPARK_MAX;\n case hasher(\"PCM\"):\n return CANMessageID::Type::PCM;\n case hasher(\"PDP\"):\n return CANMessageID::Type::PDP;\n case hasher(\"UNKNOWN\"):\n return CANMessageID::Type::UNKNOWN;\n default:\n throw UnhandledCase();\n }\n }\n\n std::string asString(CANMessageID::Manufacturer type){\n switch(type){\n case CANMessageID::Manufacturer::BROADCAST:\n return \"BROADCAST\";\n case CANMessageID::Manufacturer::NI:\n return \"NI\";\n case CANMessageID::Manufacturer::LM:\n return \"LM\";\n case CANMessageID::Manufacturer::DEKA:\n return \"DEKA\";\n case CANMessageID::Manufacturer::CTRE:\n return \"CTRE\";\n case CANMessageID::Manufacturer::REV:\n return \"REV\";\n case CANMessageID::Manufacturer::MS:\n return \"MS\";\n case CANMessageID::Manufacturer::TEAM_USE:\n return \"TEAM_USE\";\n default:\n throw UnhandledEnumConstantException(\"hel::CANMessageID::Manufacturer \" + std::to_string((unsigned)type));\n }\n }\n\n CANMessageID::Type parseDeviceType(CANMessageID::Manufacturer manufacturer, int32_t type){\n // Device type constants determined from testing\n switch(manufacturer){\n case CANMessageID::Manufacturer::CTRE:\n switch(type){\n case 1:\n return CANMessageID::Type::VICTOR_SPX;\n case 2:\n return CANMessageID::Type::TALON_SRX;\n case 8:\n return CANMessageID::Type::PDP;\n case 9:\n return CANMessageID::Type::PCM;\n default:\n return CANMessageID::Type::UNKNOWN;\n }\n break;\n case CANMessageID::Manufacturer::REV:\n switch(type){\n case 2:\n return CANMessageID::Type::SPARK_MAX;\n default:\n return CANMessageID::Type::UNKNOWN;\n }\n break;\n default:\n return CANMessageID::Type::UNKNOWN;\n }\n }\n\n int32_t convertDeviceType(CANMessageID::Type type){\n // Device type constants determined from testing\n switch(type){\n case CANMessageID::Type::VICTOR_SPX:\n return 1;\n case CANMessageID::Type::TALON_SRX:\n return 2;\n case CANMessageID::Type::PDP:\n return 8;\n case CANMessageID::Type::PCM:\n return 9;\n case CANMessageID::Type::SPARK_MAX:\n return 2;\n case CANMessageID::Type::UNKNOWN:\n default:\n throw UnhandledEnumConstantException(\"hel::CANMessageID::Type\");\n }\n }\n\n CANMessageID CANMessageID::parse(uint32_t message_id){\n CANMessageID a;\n a.manufacturer = static_cast<CANMessageID::Manufacturer>((message_id >> 16) & 0xFF);\n a.type = parseDeviceType(a.manufacturer, (message_id >> 24) & 0x1F);\n a.api_id = (message_id >> 6) & 0x3FF;\n a.id = message_id & 0x3F;\n return a;\n }\n\n uint32_t CANMessageID::generate(Type t, Manufacturer m, int32_t a, uint8_t i)noexcept{\n // Logic taken from HAL\n assert(i <= MAX_CAN_BUS_ADDRESS);\n int32_t type_int = convertDeviceType(t);\n uint32_t message = 0;\n message |= (type_int & 0x1F) << 24;\n message |= (static_cast<int32_t>(m) & 0xFF) << 16;\n message |= (a & 0x3FF) << 6;\n message |= (i & 0x3F);\n return message;\n }\n\n CANMessageID::Type CANMessageID::getType()const noexcept{\n return type;\n }\n\n CANMessageID::Manufacturer CANMessageID::getManufacturer()const noexcept{\n return manufacturer;\n }\n\n int32_t CANMessageID::getAPIID()const noexcept{\n return api_id;\n }\n\n uint8_t CANMessageID::getID()const noexcept{\n return id;\n }\n\n CANDevice::CANDevice()noexcept:type(CANMessageID::Type::UNKNOWN),id(0){}\n\n CANDevice::CANDevice(CANMessageID device)noexcept:type(device.getType()),id(device.getID()){}\n\n CANDevice::CANDevice(const CANDevice& source)noexcept{\n#define COPY(NAME) NAME = source.NAME\n COPY(type);\n COPY(id);\n#undef COPY\n }\n CANMessageID::Type CANDevice::getType()const noexcept{\n return type;\n }\n\n uint8_t CANDevice::getID()const noexcept{\n return id;\n }\n}\n<file_sep>#!/bin/bash\n\n# Checks if a project has already been built and builds it if necessary\n\n# First argument is name of project\n# Second argument is the directory to build from\n# Third argument is a string containing the space-separated files to search for\n# Fourth argument is a string containing the build command to run from the build directory\n\nPROJECT_NAME=$1\nSOURCE_DIR=$2\n\n_SPACE_SEPARATED=$3\n_SPACE_SEPARATED=${_SPACE_SEPARATED//;/\\ }\nREQUIRED_FILES=($_SPACE_SEPARATED)\n\nBUILD_COMMAND=$4\n\n# Exit script if any command fails\nset -e\nset -o pipefail\n\nif [ ! -d \"$SOURCE_DIR\" ]; then\n echo -e \"\\e[31m$PROJECT_NAME build directory not found ($SOURCE_DIR)\\e[0m\"\n exit 1\nfi\n\nfor FILE in ${REQUIRED_FILES[@]}; do\n if [ ! -f \"$FILE\" ]; then\n echo -e \"\\e[31m$PROJECT_NAME build file not found ($FILE)\\e[0m\"\n cd $SOURCE_DIR\n $BUILD_COMMAND\n exit 0\n fi\ndone\n\necho -e \"\\e[32m$PROJECT_NAME build files found. Skipping rebuild.\\e[0m\"\n<file_sep>using System;\nusing SynthesisAPI.EventBus;\n\nnamespace SynthesisAPI.UIManager.VisualElements\n{\n public struct ButtonClickableEvent: IEvent\n {\n public readonly string Name;\n\n public ButtonClickableEvent(string name)\n {\n Name = name;\n }\n\n public object[] GetArguments() => new[] { Name };\n }\n}<file_sep>#include \"roborio_manager.hpp\"\n#include \"system_interface.hpp\"\n\nusing namespace nFPGA;\nusing namespace nRoboRIO_FPGANamespace;\n\nnamespace hel{\n void FPGAEncoder::reset()noexcept{\n zeroed_output = output;\n }\n\n tEncoder::tOutput FPGAEncoder::getRawOutput()const noexcept{\n return output;\n }\n\n tEncoder::tOutput FPGAEncoder::getCurrentOutput()const noexcept{\n tEncoder::tOutput out = output;\n out.Value -= zeroed_output.Value;\n return out;\n }\n\n void FPGAEncoder::setRawOutput(tEncoder::tOutput out)noexcept{\n output = out;\n }\n\n tEncoder::tConfig FPGAEncoder::getConfig()const noexcept{\n return config;\n }\n\n void FPGAEncoder::setConfig(tEncoder::tConfig c)noexcept{\n config = c;\n }\n\n tEncoder::tTimerOutput FPGAEncoder::getTimerOutput()const noexcept{\n return timer_output;\n }\n\n void FPGAEncoder::setTimerOutput(tEncoder::tTimerOutput timer_out)noexcept{\n timer_output = timer_out;\n }\n\n tEncoder::tTimerConfig FPGAEncoder::getTimerConfig()const noexcept{\n return timer_config;\n }\n\n void FPGAEncoder::setTimerConfig(tEncoder::tTimerConfig timer_c)noexcept{\n timer_config = timer_c;\n }\n\n FPGAEncoder::FPGAEncoder()noexcept:output(),config(),timer_output(),timer_config(){}\n FPGAEncoder::FPGAEncoder(const FPGAEncoder& source)noexcept{\n#define COPY(NAME) NAME = source.NAME\n COPY(output);\n COPY(config);\n COPY(timer_output);\n COPY(timer_config);\n#undef COPY\n }\n\n struct FPGAEncoderManager: public tEncoder{\n private:\n uint8_t index;\n\n public:\n tSystemInterface* getSystemInterface(){ //unnecessary for emulation\n return new SystemInterface();\n }\n\n uint8_t getSystemIndex(){\n return index;\n }\n\n tOutput readOutput(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getCurrentOutput();\n }\n\n bool readOutput_Direction(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getCurrentOutput().Direction;\n }\n\n int32_t readOutput_Value(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getCurrentOutput().Value;\n }\n\n void writeConfig(tConfig value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.first->fpga_encoders[index].setConfig(value);\n instance.second.unlock();\n }\n\n void writeConfig_ASource_Channel(uint8_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tConfig config = instance.first->fpga_encoders[index].getConfig();\n config.ASource_Channel = value;\n instance.first->fpga_encoders[index].setConfig(config);\n instance.second.unlock();\n }\n\n void writeConfig_ASource_Module(uint8_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tConfig config = instance.first->fpga_encoders[index].getConfig();\n config.ASource_Module = value;\n instance.first->fpga_encoders[index].setConfig(config);\n instance.second.unlock();\n }\n\n void writeConfig_ASource_AnalogTrigger(bool value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tConfig config = instance.first->fpga_encoders[index].getConfig();\n config.ASource_AnalogTrigger = value;\n instance.first->fpga_encoders[index].setConfig(config);\n instance.second.unlock();\n }\n\n void writeConfig_BSource_Channel(uint8_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tConfig config = instance.first->fpga_encoders[index].getConfig();\n config.BSource_Channel = value;\n instance.first->fpga_encoders[index].setConfig(config);\n instance.second.unlock();\n }\n\n void writeConfig_BSource_Module(uint8_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tConfig config = instance.first->fpga_encoders[index].getConfig();\n config.BSource_Module = value;\n instance.first->fpga_encoders[index].setConfig(config);\n instance.second.unlock();\n }\n\n void writeConfig_BSource_AnalogTrigger(bool value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tConfig config = instance.first->fpga_encoders[index].getConfig();\n config.BSource_AnalogTrigger = value;\n instance.first->fpga_encoders[index].setConfig(config);\n instance.second.unlock();\n }\n\n void writeConfig_IndexSource_Channel(uint8_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tConfig config = instance.first->fpga_encoders[index].getConfig();\n config.IndexSource_Channel = value;\n instance.first->fpga_encoders[index].setConfig(config);\n instance.second.unlock();\n }\n\n void writeConfig_IndexSource_Module(uint8_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tConfig config = instance.first->fpga_encoders[index].getConfig();\n config.IndexSource_Module = value;\n instance.first->fpga_encoders[index].setConfig(config);\n instance.second.unlock();\n }\n\n void writeConfig_IndexSource_AnalogTrigger(bool value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tConfig config = instance.first->fpga_encoders[index].getConfig();\n config.IndexSource_AnalogTrigger = value;\n instance.first->fpga_encoders[index].setConfig(config);\n instance.second.unlock();\n }\n\n void writeConfig_IndexActiveHigh(bool value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tConfig config = instance.first->fpga_encoders[index].getConfig();\n config.IndexActiveHigh = value;\n instance.first->fpga_encoders[index].setConfig(config);\n instance.second.unlock();\n }\n\n void writeConfig_IndexEdgeSensitive(bool value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tConfig config = instance.first->fpga_encoders[index].getConfig();\n config.IndexEdgeSensitive = value;\n instance.first->fpga_encoders[index].setConfig(config);\n instance.second.unlock();\n }\n\n void writeConfig_Reverse(bool value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tConfig config = instance.first->fpga_encoders[index].getConfig();\n config.Reverse = value;\n instance.first->fpga_encoders[index].setConfig(config);\n instance.second.unlock();\n }\n\n tConfig readConfig(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getConfig();\n }\n\n uint8_t readConfig_ASource_Channel(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getConfig().ASource_Channel;\n }\n\n uint8_t readConfig_ASource_Module(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getConfig().ASource_Module;\n }\n\n bool readConfig_ASource_AnalogTrigger(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getConfig().ASource_AnalogTrigger;\n }\n\n uint8_t readConfig_BSource_Channel(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getConfig().BSource_Channel;\n }\n\n uint8_t readConfig_BSource_Module(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getConfig().BSource_Module;\n }\n\n bool readConfig_BSource_AnalogTrigger(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getConfig().BSource_AnalogTrigger;\n }\n\n uint8_t readConfig_IndexSource_Channel(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getConfig().IndexSource_Channel;\n }\n\n uint8_t readConfig_IndexSource_Module(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getConfig().IndexSource_Module;\n }\n\n bool readConfig_IndexSource_AnalogTrigger(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getConfig().IndexSource_AnalogTrigger;\n }\n\n bool readConfig_IndexActiveHigh(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getConfig().IndexActiveHigh;\n }\n\n bool readConfig_IndexEdgeSensitive(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getConfig().IndexEdgeSensitive;\n }\n\n bool readConfig_Reverse(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getConfig().Reverse;\n }\n\n tTimerOutput readTimerOutput(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getTimerOutput();\n }\n\n uint32_t readTimerOutput_Period(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getTimerOutput().Period;\n }\n\n int8_t readTimerOutput_Count(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getTimerOutput().Count;\n }\n\n bool readTimerOutput_Stalled(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getTimerOutput().Stalled;\n }\n\n void strobeReset(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.first->fpga_encoders[index].reset();\n instance.second.unlock();\n }\n\n void writeTimerConfig(tTimerConfig value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.first->fpga_encoders[index].setTimerConfig(value);\n instance.second.unlock();\n }\n\n void writeTimerConfig_StallPeriod(uint32_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tTimerConfig config = instance.first->fpga_encoders[index].getTimerConfig();\n config.StallPeriod = value;\n instance.first->fpga_encoders[index].setTimerConfig(config);\n instance.second.unlock();\n }\n\n void writeTimerConfig_AverageSize(uint8_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tTimerConfig config = instance.first->fpga_encoders[index].getTimerConfig();\n config.AverageSize = value;\n instance.first->fpga_encoders[index].setTimerConfig(config);\n instance.second.unlock();\n }\n\n void writeTimerConfig_UpdateWhenEmpty(bool value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tTimerConfig config = instance.first->fpga_encoders[index].getTimerConfig();\n config.UpdateWhenEmpty = value;\n instance.first->fpga_encoders[index].setTimerConfig(config);\n instance.second.unlock();\n }\n\n tTimerConfig readTimerConfig(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getTimerConfig();\n }\n\n uint32_t readTimerConfig_StallPeriod(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getTimerConfig().StallPeriod;\n }\n\n uint8_t readTimerConfig_AverageSize(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getTimerConfig().AverageSize;\n }\n\n bool readTimerConfig_UpdateWhenEmpty(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->fpga_encoders[index].getTimerConfig().UpdateWhenEmpty;\n }\n\n FPGAEncoderManager(uint8_t i):index(0){\n assert(i < FPGAEncoder::NUM_ENCODERS);\n index = i;\n }\n };\n}\n\nnamespace nFPGA{\n namespace nRoboRIO_FPGANamespace{\n tEncoder* tEncoder::create(uint8_t sys_index, tRioStatusCode* /*status*/){\n return new hel::FPGAEncoderManager(sys_index);\n }\n }\n}\n<file_sep>#include \"analog_inputs.hpp\"\n\n#include \"FRC_NetworkCommunication/AICalibration.h\"\n\n\nuint32_t FRC_NetworkCommunication_nAICalibration_getLSBWeight(const uint32_t /*aiSystemIndex*/, const uint32_t /*channel*/, int32_t* /*status*/){\n return hel::AnalogInputs::LSB_WEIGHT;\n}\nint32_t FRC_NetworkCommunication_nAICalibration_getOffset(const uint32_t /*aiSystemIndex*/, const uint32_t /*channel*/, int32_t* /*status*/){\n return hel::AnalogInputs::OFFSET;\n}\n<file_sep>using UnityEngine;\n\nnamespace Utilities.ColorManager {\n /// <summary>Colors of the default synthesis theme</summary>\n public static class DefaultColors {\n public static readonly(ColorManager.SynthesisColor name, Color32 color)[] SYNTHESIS_DEFAULT = {\n (ColorManager.SynthesisColor.InteractiveElementSolid, new Color32(250, 162, 27, 255)),\n (ColorManager.SynthesisColor.InteractiveElementLeft, new Color32(224, 130, 65, 255)),\n (ColorManager.SynthesisColor.InteractiveElementRight, new Color32(218, 102, 89, 255)),\n (ColorManager.SynthesisColor.Background, new Color32(0, 0, 0, 255)),\n (ColorManager.SynthesisColor.BackgroundSecondary, new Color32(30, 30, 30, 255)),\n (ColorManager.SynthesisColor.InteractiveBackground, new Color32(52, 58, 64, 255)),\n (ColorManager.SynthesisColor.MainText, new Color32(255, 255, 255, 255)),\n (ColorManager.SynthesisColor.Scrollbar, new Color32(170, 170, 170, 255)),\n (ColorManager.SynthesisColor.AcceptButton, new Color32(71, 138, 226, 255)),\n (ColorManager.SynthesisColor.CancelButton, new Color32(231, 85, 81, 255)),\n (ColorManager.SynthesisColor.InteractiveElementText, new Color32(255, 255, 255, 255)),\n (ColorManager.SynthesisColor.AcceptCancelButtonText, new Color32(0, 0, 0, 255)),\n (ColorManager.SynthesisColor.BackgroundHUD, new Color32(23, 23, 23, 255)),\n (ColorManager.SynthesisColor.InteractiveHover, new Color32(150, 150, 150, 255)),\n (ColorManager.SynthesisColor.InteractiveSelect, new Color32(100, 100, 100, 255)),\n (ColorManager.SynthesisColor.Icon, new Color32(255, 255, 255, 255)),\n (ColorManager.SynthesisColor.MainHUDIcon, new Color32(0, 0, 0, 255)),\n (ColorManager.SynthesisColor.MainHUDCloseIcon, new Color32(0, 0, 0, 255)),\n (ColorManager.SynthesisColor.HighlightHover, new Color32(89, 255, 133, 255)),\n (ColorManager.SynthesisColor.HighlightSelect, new Color32(255, 89, 133, 255)),\n (ColorManager.SynthesisColor.SkyboxTop, new Color32(255, 255, 255, 255)),\n (ColorManager.SynthesisColor.SkyboxBottom, new Color32(255, 255, 255, 255)),\n (ColorManager.SynthesisColor.FloorGrid, new Color32(93, 93, 93, 255))\n };\n }\n}<file_sep>using SynthesisAPI.AssetManager;\nusing SynthesisAPI.Utilities;\nusing System.Drawing;\n\n#nullable enable\n\nnamespace SynthesisAPI.EnvironmentManager.Components\n{\n\t// [BuiltIn]\n\tpublic class Sprite : Component\n\t{\n\t\tinternal UnityEngine.Sprite? _sprite;\n\t\tinternal bool _flipX = false;\n\t\tinternal bool _flipY = false;\n\t\tinternal Color _color = Color.FromArgb(255, 255, 255, 255);\n\t\tinternal bool _visible = true;\n\n\t\tpublic Sprite() { }\n\n\t\tpublic Sprite(SpriteAsset spriteAsset)\n\t\t{\n\t\t\t_sprite = spriteAsset.Sprite;\n\t\t}\n\n\t\tpublic void SetSprite(SpriteAsset spriteAsset)\n\t\t{\n\t\t\t_sprite = spriteAsset.Sprite;\n\t\t\tChanged = true;\n\t\t}\n\n\t\tpublic bool FlipX\n\t\t{\n\t\t\tget => _flipX;\n\t\t\tset\n\t\t\t{\n\t\t\t\t_flipX = value;\n\t\t\t\tChanged = true;\n\t\t\t}\n\t\t}\n\t\tpublic bool FlipY\n\t\t{\n\t\t\tget => _flipY;\n\t\t\tset\n\t\t\t{\n\t\t\t\t_flipY = value;\n\t\t\t\tChanged = true;\n\t\t\t}\n\t\t}\n\n\t\tpublic bool Visible\n\t\t{\n\t\t\tget => _visible;\n\t\t\tset\n\t\t\t{\n\t\t\t\t_visible = value;\n\t\t\t\tChanged = true;\n\t\t\t}\n\t\t}\n\n\t\tpublic Color Color\n\t\t{\n\t\t\tget => _color;\n\t\t\tset\n\t\t\t{\n\t\t\t\t_color = value;\n\t\t\t\tChanged = true;\n\t\t\t}\n\t\t}\n\n\t\tpublic Bounds Bounds { get; internal set; } = new Bounds();\n\t\tpublic int Width => _sprite != null ? 0 : _sprite!.texture.width;\n\t\tpublic int Height => _sprite != null ? 0 : _sprite!.texture.height;\n\n\t\tpublic bool Changed { get; private set; } = true;\n\t\tinternal void ProcessedChanges() => Changed = false;\n\t}\n}<file_sep>using Newtonsoft.Json;\nusing SynthesisAPI.Runtime;\nusing System.Collections.Generic;\nusing System.Linq;\n\nnamespace Controller.Rpc\n{\n public class MethodCallContext\n {\n [JsonProperty(\"jsonrpc\")]\n public string JsonRpcVersion;\n [JsonProperty(\"method\")]\n public string MethodName;\n [JsonProperty(\"params\")]\n public List<object> Params;\n [JsonProperty(\"id\")]\n public int Id;\n\n public MethodCallContext()\n {\n Params = new List<object>();\n }\n\n public MethodCallContext(string version, string methodName, IEnumerable<object> args = null)\n {\n JsonRpcVersion = version;\n MethodName = methodName;\n Params = args?.ToList() ?? new List<object>();\n }\n\n public static string ToJson(string version, string methodName, params object[] args)\n {\n return new MethodCallContext(version, methodName, args).ToJson();\n }\n\n public string ToJson()\n {\n return JsonConvert.SerializeObject(this, RpcManager.JsonSettings);\n }\n\n public static MethodCallContext FromJson(string json)\n {\n return JsonConvert.DeserializeObject<MethodCallContext>(json, RpcManager.JsonSettings);\n }\n }\n}\n<file_sep>using System;\nusing System.Linq;\nusing UnityEngine;\nusing UMesh = UnityEngine.Mesh;\n\nnamespace Mirabuf {\n public partial class TriangleMesh {\n private UMesh _unityMesh = null;\n private UMesh _colliderMesh = null;\n public UMesh UnityMesh {\n get {\n if (_unityMesh == null) {\n _unityMesh = MakeMesh();\n }\n return _unityMesh;\n }\n }\n public UMesh ColliderMesh {\n get {\n if (_colliderMesh == null) {\n try {\n _colliderMesh = MakeMesh();\n Physics.BakeMesh(_colliderMesh.GetInstanceID(), true);\n } catch (Exception) {\n // TODO: Maybe don't silently fail\n _colliderMesh = new UMesh();\n Debug.LogError(\"Failed to bake physics mesh!\");\n }\n }\n return _colliderMesh;\n }\n }\n\n private UMesh MakeMesh() {\n var m = new UMesh();\n switch (MeshTypeCase) {\n case MeshTypeOneofCase.Mesh:\n m.vertices = this.Mesh.Verts.ToVector3Array();\n m.triangles = this.Mesh.Indices.Reverse().ToArray();\n if (this.Mesh.Normals.Count > 0)\n m.normals = this.Mesh.Normals.ToVector3Array();\n else\n m.RecalculateNormals();\n if (this.Mesh.Uv.Count > 0) // You can leave the uvs blank if you don't have any specifications\n m.uv = this.Mesh.Uv.ToVector2Array();\n break;\n }\n return m;\n }\n }\n}\n<file_sep>using SynthesisAPI.EnvironmentManager;\nusing SynthesisAPI.EnvironmentManager.Components;\nusing UnityEngine;\nusing Sprite = SynthesisAPI.EnvironmentManager.Components.Sprite;\n\nnamespace Engine.ModuleLoader.Adapters {\n public sealed class SpriteAdapter : MonoBehaviour, IApiAdapter<Sprite> {\n private Sprite instance = null;\n private new SpriteRenderer renderer = null;\n private Material defaultMaterial;\n private bool updated = false;\n\n public void Awake() {\n if ((renderer = gameObject.GetComponent<SpriteRenderer>()) == null)\n renderer = gameObject.AddComponent<SpriteRenderer>();\n\n if (instance == null) {\n gameObject.SetActive(false);\n }\n defaultMaterial = renderer.material;\n }\n\n public void Update() {\n if (updated) {\n var collider = instance.Entity?.GetComponent<MeshCollider2D>();\n if (collider != null) {\n collider.Changed = true;\n }\n updated = false;\n }\n if (instance.Changed) {\n renderer.sprite = instance._sprite;\n if (instance.Entity?.GetComponent<AlwaysOnTop>() != null)\n renderer.material = new Material(Shader.Find(\"Custom/AlwaysOnTop\"));\n else\n renderer.material = defaultMaterial;\n\n renderer.flipX = instance._flipX;\n renderer.flipY = instance._flipY;\n renderer.enabled = instance._visible;\n instance.Bounds._bounds = renderer.bounds;\n instance.ProcessedChanges();\n\n updated = true;\n }\n }\n\n public void SetInstance(Sprite sprite) {\n instance = sprite;\n gameObject.SetActive(true);\n }\n\n public static Sprite NewInstance() {\n return new Sprite();\n }\n }\n}<file_sep>#ifndef _PDP_HPP_\n#define _PDP_HPP_\n\n#include \"can_device.hpp\"\n\nnamespace hel{\n\n /**\n * \\brief Data model for the Power Distribution Panel (PDP)\n * Currently unsupported by Synthesis\n */\n\n struct PDP: public CANDevice{\n\n /**\n * \\brief Interpretation definitions for CAN message data bytes\n */\n\n enum MessageData{\n SIZE = 8\n };\n\n\t\t/**\n\t\t * \\brief Format the PDP object as a string\n\t\t * \\return The PDP object as a string\n\t\t */\n\n std::string toString()const;\n\n\t\t/**\n\t\t * \\brief Parse a CAN message and update the PDP state\n\t\t * \\param api_id The API ID\n\t\t * \\param data The CAN data bytes\n\t\t */\n\n void parseCANPacket(const int32_t&, const std::vector<uint8_t>&);\n\n\t\t/**\n\t\t * \\brief Generate a CAN message given an API ID\n\t\t * \\param api_id The API ID to use\n\t\t * \\return The generated data bytes as determined by the API ID\n\t\t */\n\n std::vector<uint8_t> generateCANPacket(const int32_t&)const;\n\n /**\n * Constructor for PDP\n */\n\n PDP()noexcept;\n /**\n * Constructor for PDP\n * \\param source A PDP object to copy\n */\n\n PDP(const PDP&)noexcept;\n };\n}\n\n#endif\n<file_sep>namespace SynthesisCore.UI\n{\n public struct FileInfo\n {\n // this is a temporary class while the file browser is made\n\n public string Name { get; }\n public string LastModified { get; }\n\n public FileInfo(string name, string lastModified)\n {\n Name = name;\n LastModified = lastModified;\n }\n \n }\n}<file_sep>using Synthesis.UI.Dynamic;\nusing SynthesisAPI.Controller;\nusing SynthesisAPI.Utilities;\nusing System.Collections;\nusing System.Collections.Generic;\nusing UnityEngine;\n\nusing Logger = SynthesisAPI.Utilities.Logger;\n\nnamespace Synthesis.UI.Dynamic {\n public class ServerHostingModal : ModalDynamic {\n private const float REFRESH_CLIENTS_INTERVAL = 0.3f;\n\n private const float MAIN_CONTENT_WIDTH = 1000.0f;\n private const float MAIN_CONTENT_HEIGHT = 700.0f;\n\n private float _lastRefresh = 0.0f;\n\n private Label _statusLabel;\n\n private static ServerHostingModal _self;\n private ServerHostingMode _mode;\n\n public ServerHostingModal() : base(new Vector2(MAIN_CONTENT_WIDTH, MAIN_CONTENT_HEIGHT)) {}\n\n public override void Create() {\n _mode = (ModeManager.CurrentMode as ServerHostingMode)!;\n\n Title.SetText(\"Server Hosting\");\n Description.SetText(\"Host a server for other players to join.\");\n\n AcceptButton.RootGameObject.SetActive(false);\n CancelButton.Label.SetText(\"Close\");\n CancelButton.AddOnClickedEvent(b => {\n _mode.KillServer();\n DynamicUIManager.CloseActiveModal();\n });\n\n _statusLabel = MainContent.CreateLabel(30)\n .SetStretch<Label>(15.0f, 15.0f, 15.0f, 15.0f)\n .SetVerticalAlignment(TMPro.VerticalAlignmentOptions.Top)\n .SetHorizontalAlignment(TMPro.HorizontalAlignmentOptions.Left)\n .SetText(\"Waiting for clients...\");\n }\n\n public override void Update() {\n if (Time.realtimeSinceStartup - _lastRefresh > REFRESH_CLIENTS_INTERVAL) {\n RefreshClientList();\n }\n }\n\n private void RefreshClientList() {\n if (!(_mode.IsServerAlive)) {\n return;\n }\n\n _lastRefresh = Time.realtimeSinceStartup;\n var clients = _mode.ClientInformation;\n string s = \"\";\n clients.ForEach(x => s += $\"{x}\\n\");\n _statusLabel.SetText(s == string.Empty ? \"Waiting for clients...\" : s);\n }\n\n public override void Delete() {}\n }\n}\n<file_sep>using Synthesis.Runtime;\nusing Synthesis.UI;\nusing Synthesis.UI.Dynamic;\nusing UnityEngine;\nusing UnityEngine.SceneManagement;\n\npublic class ModeManager {\n // clang-format off\n private static bool _modeHasStarted = false;\n public static bool ModeHasStarted => _modeHasStarted;\n // clang-format on\n\n public static bool isSinglePlayer = true;\n\n private static IMode _currentMode;\n public static IMode CurrentMode {\n get => _currentMode;\n set {\n if (_currentMode != null)\n _currentMode.End();\n _currentMode = value;\n _modeHasStarted = false;\n\n // this is always called in GridMenuScene so _currentMode is never started here\n // it is now started in SimulationRunner::Start\n if (SceneManager.GetActiveScene().name == \"MainScene\" && _currentMode != null) {\n _currentMode.Start();\n _modeHasStarted = true;\n }\n }\n }\n\n public static void Start() {\n if (CurrentMode == null) {\n if (isSinglePlayer) {\n DynamicUIManager.CreateModal<ChooseSingleplayerModeModal>();\n } else {\n DynamicUIManager.CreateModal<ChooseMultiplayerModeModal>();\n }\n } else if (!ModeHasStarted) {\n CurrentMode.Start();\n }\n }\n\n public static void Update() {\n CurrentMode?.Update();\n }\n\n public static void ModalClosed() {\n if (CurrentMode != null)\n CurrentMode.CloseMenu();\n }\n\n public static void Teardown() {\n CurrentMode = null;\n }\n}<file_sep>using System;\nusing System.Collections.Generic;\nusing SynthesisAPI.EnvironmentManager;\npublic static class SynthesisCoreData\n{\n public static Dictionary<string, Entity> ModelsDict = new Dictionary<string, Entity>();\n}\n<file_sep>using SynthesisAPI.Utilities;\nusing System;\n\nnamespace SynthesisAPI.VirtualFileSystem\n{\n public class DirectoryException : SynthesisException\n {\n public DirectoryException() { }\n public DirectoryException(string message) : base(message) { }\n public DirectoryException(string message, Exception inner) : base(message, inner) { }\n }\n\n public class DirectroyDepthExpection : DirectoryException\n {\n public DirectroyDepthExpection(int depth) : base($\"FileSystem: traversing path would exceed maximum directory depth of {FileSystem.MaxDirectoryDepth} (Path depth is {depth})\") { }\n }\n}\n<file_sep>using System;\nusing System.Collections;\nusing System.Collections.Generic;\nusing System.Linq;\nusing UnityEngine;\n\npublic class HighlightComponent : MonoBehaviour {\n private Material _material;\n private MeshRenderer[] _renderers;\n private Material[] _originalMaterials;\n\n private Color _color;\n public Color Color {\n get => _color;\n set {\n _color = value;\n OnEnable();\n }\n }\n\n public void Awake() {\n _renderers = gameObject.GetComponentsInChildren<MeshRenderer>();\n _originalMaterials = _renderers.Select(x => x.material).ToArray();\n _material = new Material(Shader.Find(\"Shader Graphs/HighlightShader\"));\n }\n\n public void OnEnable() {\n _material.SetColor(\"_Color\", _color);\n for (int i = 0; i < _renderers.Length; i++) {\n _renderers[i].material = _material;\n }\n }\n\n public void OnDisable() {\n for (int i = 0; i < _renderers.Length; i++) {\n _renderers[i].material = _originalMaterials[i];\n }\n }\n}\n<file_sep>using SynthesisAPI.EventBus;\nusing SynthesisAPI.UIManager.VisualElements;\nusing System;\n\nnamespace SynthesisCore.UI\n{\n public static class ToolbarTools\n {\n public static VisualElement AddButtonCategory(VisualElement toolbarElement, string label)\n {\n var category = Ui.ToolbarCategoryAsset.GetElement($\"toolbar-category-{label}\");\n toolbarElement.Get(className: \"toolbar\").Add(category);\n\n var labelElement = (Label)category.Get(className: \"toolbar-category-label\");\n labelElement.Text = label;\n return category.Get(className: \"toolbar-category-inner\");\n }\n\n public static VisualElement AddButton(VisualElement toolbarCategory, string buttonName, string tooltipText, string iconPath, Action<IEvent> callback)\n {\n var buttonContainer = Ui.ToolbarButtonAsset.GetElement(buttonName);\n toolbarCategory.Get(className: \"toolbar-category-inner\").Add(buttonContainer);\n var button = (Button)buttonContainer.Get(className: \"toolbar-button\");\n button.Name = buttonName;\n button.Subscribe(e => callback(e));\n var iconContainer = button.Get(className: \"toolbar-button-icon\");\n iconContainer.SetStyleProperty(\"background-image\", iconPath);\n\n buttonContainer.Tooltip = tooltipText;\n\n return buttonContainer;\n }\n }\n}\n<file_sep>/*\nThe MIT License (MIT)\nCopyright (c) 2016 Digital Ruby, LLC\nhttp://www.digitalruby.com\nCreated by <NAME>\n\nPermission is hereby granted, free of charge, to any person obtaining a copy of this software and associated\ndocumentation files (the \"Software\"), to deal in the Software without restriction, including without limitation the\nrights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit\npersons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and\nthis permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED\n\"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF\nMERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT\nHOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,\nARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.\n*/\n\n#if UNITY || UNITY_2017_4_OR_NEWER\n\n#define IS_UNITY\n\n#endif\n\nusing System;\nusing System.Collections.Generic;\n\nusing UnityEngine;\n\nnamespace DigitalRuby.Tween {\n /// <summary>\n /// State of an ITween object\n /// </summary>\n public enum TweenState {\n /// <summary>\n /// The tween is running.\n /// </summary>\n Running,\n\n /// <summary>\n /// The tween is paused.\n /// </summary>\n Paused,\n\n /// <summary>\n /// The tween is stopped.\n /// </summary>\n Stopped\n }\n\n /// <summary>\n /// The behavior to use when manually stopping a tween.\n /// </summary>\n public enum TweenStopBehavior {\n /// <summary>\n /// Does not change the current value.\n /// </summary>\n DoNotModify,\n\n /// <summary>\n /// Causes the tween to progress to the end value immediately.\n /// </summary>\n Complete\n }\n\n#if IS_UNITY\n\n /// <summary>\n /// Tween manager - do not add directly as a script, instead call the static methods in your other scripts.\n /// </summary>\n public class TweenFactory : MonoBehaviour {\n private static GameObject root;\n private static readonly List<ITween> tweens = new List<ITween>();\n private static GameObject toDestroy;\n\n private static void EnsureCreated() {\n if (root == null && Application.isPlaying) {\n root = GameObject.Find(\"DigitalRubyTween\");\n if (root == null || root.GetComponent<TweenFactory>() == null) {\n if (root != null) {\n toDestroy = root;\n }\n root = new GameObject { name = \"DigitalRubyTween\", hideFlags = HideFlags.HideAndDontSave };\n root.AddComponent<TweenFactory>().hideFlags = HideFlags.HideAndDontSave;\n }\n if (Application.isPlaying) {\n GameObject.DontDestroyOnLoad(root);\n }\n }\n }\n\n private void Start() {\n UnityEngine.SceneManagement.SceneManager.sceneLoaded += SceneManagerSceneLoaded;\n if (toDestroy != null) {\n GameObject.Destroy(toDestroy);\n toDestroy = null;\n }\n }\n\n private void SceneManagerSceneLoaded(\n UnityEngine.SceneManagement.Scene s, UnityEngine.SceneManagement.LoadSceneMode m) {\n if (ClearTweensOnLevelLoad) {\n tweens.Clear();\n }\n }\n\n private void Update() {\n ITween t;\n\n for (int i = tweens.Count - 1; i >= 0; i--) {\n t = tweens[i];\n if (t.Update(t.TimeFunc()) && i < tweens.Count && tweens[i] == t) {\n tweens.RemoveAt(i);\n }\n }\n }\n\n /// <summary>\n /// Start and add a float tween\n /// </summary>\n /// <param name=\"key\">Key</param>\n /// <param name=\"start\">Start value</param>\n /// <param name=\"end\">End value</param>\n /// <param name=\"duration\">Duration in seconds</param>\n /// <param name=\"scaleFunc\">Scale function</param>\n /// <param name=\"progress\">Progress handler</param>\n /// <param name=\"completion\">Completion handler</param>\n /// <returns>FloatTween</returns>\n public static FloatTween Tween(object key, float start, float end, float duration, Func<float, float> scaleFunc,\n System.Action<ITween<float>> progress, System.Action<ITween<float>> completion = null) {\n FloatTween t = new FloatTween();\n t.Key = key;\n t.Setup(start, end, duration, scaleFunc, progress, completion);\n t.Start();\n AddTween(t);\n\n return t;\n }\n\n /// <summary>\n /// Start and add a Vector2 tween\n /// </summary>\n /// <param name=\"key\">Key</param>\n /// <param name=\"start\">Start value</param>\n /// <param name=\"end\">End value</param>\n /// <param name=\"duration\">Duration in seconds</param>\n /// <param name=\"scaleFunc\">Scale function</param>\n /// <param name=\"progress\">Progress handler</param>\n /// <param name=\"completion\">Completion handler</param>\n /// <returns>Vector2Tween</returns>\n public static Vector2Tween Tween(object key, Vector2 start, Vector2 end, float duration,\n Func<float, float> scaleFunc, System.Action<ITween<Vector2>> progress,\n System.Action<ITween<Vector2>> completion = null) {\n Vector2Tween t = new Vector2Tween();\n t.Key = key;\n t.Setup(start, end, duration, scaleFunc, progress, completion);\n t.Start();\n AddTween(t);\n\n return t;\n }\n\n /// <summary>\n /// Start and add a Vector3 tween\n /// </summary>\n /// <param name=\"key\">Key</param>\n /// <param name=\"start\">Start value</param>\n /// <param name=\"end\">End value</param>\n /// <param name=\"duration\">Duration in seconds</param>\n /// <param name=\"scaleFunc\">Scale function</param>\n /// <param name=\"progress\">Progress handler</param>\n /// <param name=\"completion\">Completion handler</param>\n /// <returns>Vector3Tween</returns>\n public static Vector3Tween Tween(object key, Vector3 start, Vector3 end, float duration,\n Func<float, float> scaleFunc, System.Action<ITween<Vector3>> progress,\n System.Action<ITween<Vector3>> completion = null) {\n Vector3Tween t = new Vector3Tween();\n t.Key = key;\n t.Setup(start, end, duration, scaleFunc, progress, completion);\n t.Start();\n AddTween(t);\n\n return t;\n }\n\n /// <summary>\n /// Start and add a Vector4 tween\n /// </summary>\n /// <param name=\"key\">Key</param>\n /// <param name=\"start\">Start value</param>\n /// <param name=\"end\">End value</param>\n /// <param name=\"duration\">Duration in seconds</param>\n /// <param name=\"scaleFunc\">Scale function</param>\n /// <param name=\"progress\">Progress handler</param>\n /// <param name=\"completion\">Completion handler</param>\n /// <returns>Vector4Tween</returns>\n public static Vector4Tween Tween(object key, Vector4 start, Vector4 end, float duration,\n Func<float, float> scaleFunc, System.Action<ITween<Vector4>> progress,\n System.Action<ITween<Vector4>> completion = null) {\n Vector4Tween t = new Vector4Tween();\n t.Key = key;\n t.Setup(start, end, duration, scaleFunc, progress, completion);\n t.Start();\n AddTween(t);\n\n return t;\n }\n\n /// <summary>\n /// Start and add a Color tween\n /// </summary>\n /// <param name=\"start\">Start value</param>\n /// <param name=\"end\">End value</param>\n /// <param name=\"duration\">Duration in seconds</param>\n /// <param name=\"scaleFunc\">Scale function</param>\n /// <param name=\"progress\">Progress handler</param>\n /// <param name=\"completion\">Completion handler</param>\n /// <returns>ColorTween</returns>\n public static ColorTween Tween(object key, Color start, Color end, float duration, Func<float, float> scaleFunc,\n System.Action<ITween<Color>> progress, System.Action<ITween<Color>> completion = null) {\n ColorTween t = new ColorTween();\n t.Key = key;\n t.Setup(start, end, duration, scaleFunc, progress, completion);\n t.Start();\n AddTween(t);\n\n return t;\n }\n\n /// <summary>\n /// Start and add a Quaternion tween\n /// </summary>\n /// <param name=\"start\">Start value</param>\n /// <param name=\"end\">End value</param>\n /// <param name=\"duration\">Duration in seconds</param>\n /// <param name=\"scaleFunc\">Scale function</param>\n /// <param name=\"progress\">Progress handler</param>\n /// <param name=\"completion\">Completion handler</param>\n /// <returns>QuaternionTween</returns>\n public static QuaternionTween Tween(object key, Quaternion start, Quaternion end, float duration,\n Func<float, float> scaleFunc, System.Action<ITween<Quaternion>> progress,\n System.Action<ITween<Quaternion>> completion = null) {\n QuaternionTween t = new QuaternionTween();\n t.Key = key;\n t.Setup(start, end, duration, scaleFunc, progress, completion);\n t.Start();\n AddTween(t);\n\n return t;\n }\n\n /// <summary>\n /// Add a tween\n /// </summary>\n /// <param name=\"tween\">Tween to add</param>\n public static void AddTween(ITween tween) {\n EnsureCreated();\n if (tween.Key != null) {\n RemoveTweenKey(tween.Key, AddKeyStopBehavior);\n }\n tweens.Add(tween);\n }\n\n /// <summary>\n /// Remove a tween\n /// </summary>\n /// <param name=\"tween\">Tween to remove</param>\n /// <param name=\"stopBehavior\">Stop behavior</param>\n /// <returns>True if removed, false if not</returns>\n public static bool RemoveTween(ITween tween, TweenStopBehavior stopBehavior) {\n tween.Stop(stopBehavior);\n return tweens.Remove(tween);\n }\n\n /// <summary>\n /// Remove a tween by key\n /// </summary>\n /// <param name=\"key\">Key to remove</param>\n /// <param name=\"stopBehavior\">Stop behavior</param>\n /// <returns>True if removed, false if not</returns>\n public static bool RemoveTweenKey(object key, TweenStopBehavior stopBehavior) {\n if (key == null) {\n return false;\n }\n\n bool foundOne = false;\n for (int i = tweens.Count - 1; i >= 0; i--) {\n ITween t = tweens[i];\n if (key.Equals(t.Key)) {\n t.Stop(stopBehavior);\n tweens.RemoveAt(i);\n foundOne = true;\n }\n }\n return foundOne;\n }\n\n /// <summary>\n /// Clear all tweens\n /// </summary>\n public static void Clear() {\n tweens.Clear();\n }\n\n /// <summary>\n /// Stop behavior if you add a tween with a key and tweens already exist with the key\n /// </summary>\n public static TweenStopBehavior AddKeyStopBehavior = TweenStopBehavior.DoNotModify;\n\n /// <summary>\n /// Whether to clear tweens on level load, default is false\n /// </summary>\n public static bool ClearTweensOnLevelLoad { get; set; }\n\n /// <summary>\n /// Default time func\n /// </summary>\n public static Func<float> DefaultTimeFunc = TimeFuncDeltaTime;\n\n /// <summary>\n /// Time func delta time instance\n /// </summary>\n public static readonly Func<float> TimeFuncDeltaTimeFunc = TimeFuncDeltaTime;\n\n /// <summary>\n /// Time func unscaled delta time instance\n /// </summary>\n public static readonly Func<float> TimeFuncUnscaledDeltaTimeFunc = TimeFuncUnscaledDeltaTime;\n\n /// <summary>\n /// Time func that uses Time.deltaTime\n /// </summary>\n /// <returns>Time.deltaTime</returns>\n private static float TimeFuncDeltaTime() {\n return Time.deltaTime;\n }\n\n /// <summary>\n /// Time func that uses Time.unscaledDeltaTime\n /// </summary>\n /// <returns>Time.unscaledDeltaTime</returns>\n private static float TimeFuncUnscaledDeltaTime() {\n return Time.unscaledDeltaTime;\n }\n }\n\n /// <summary>\n /// Extensions for tween for game objects - unity only\n /// </summary>\n public static class GameObjectTweenExtensions {\n /// <summary>\n /// Start and add a float tween\n /// </summary>\n /// <param name=\"obj\">Game object</param>\n /// <param name=\"key\">Key</param>\n /// <param name=\"start\">Start value</param>\n /// <param name=\"end\">End value</param>\n /// <param name=\"duration\">Duration in seconds</param>\n /// <param name=\"scaleFunc\">Scale function</param>\n /// <param name=\"progress\">Progress handler</param>\n /// <param name=\"completion\">Completion handler</param>\n /// <returns>FloatTween</returns>\n public static FloatTween Tween(this GameObject obj, object key, float start, float end, float duration,\n Func<float, float> scaleFunc, System.Action<ITween<float>> progress,\n System.Action<ITween<float>> completion = null) {\n FloatTween t = TweenFactory.Tween(key, start, end, duration, scaleFunc, progress, completion);\n t.GameObject = obj;\n t.Renderer = obj.GetComponent<Renderer>();\n return t;\n }\n\n /// <summary>\n /// Start and add a Vector2 tween\n /// </summary>\n /// <param name=\"obj\">Game object</param>\n /// <param name=\"key\">Key</param>\n /// <param name=\"start\">Start value</param>\n /// <param name=\"end\">End value</param>\n /// <param name=\"duration\">Duration in seconds</param>\n /// <param name=\"scaleFunc\">Scale function</param>\n /// <param name=\"progress\">Progress handler</param>\n /// <param name=\"completion\">Completion handler</param>\n /// <returns>Vector2Tween</returns>\n public static Vector2Tween Tween(this GameObject obj, object key, Vector2 start, Vector2 end, float duration,\n Func<float, float> scaleFunc, System.Action<ITween<Vector2>> progress,\n System.Action<ITween<Vector2>> completion = null) {\n Vector2Tween t = TweenFactory.Tween(key, start, end, duration, scaleFunc, progress, completion);\n t.GameObject = obj;\n t.Renderer = obj.GetComponent<Renderer>();\n return t;\n }\n\n /// <summary>\n /// Start and add a Vector3 tween\n /// </summary>\n /// <param name=\"obj\">Game object</param>\n /// <param name=\"key\">Key</param>\n /// <param name=\"start\">Start value</param>\n /// <param name=\"end\">End value</param>\n /// <param name=\"duration\">Duration in seconds</param>\n /// <param name=\"scaleFunc\">Scale function</param>\n /// <param name=\"progress\">Progress handler</param>\n /// <param name=\"completion\">Completion handler</param>\n /// <returns>Vector3Tween</returns>\n public static Vector3Tween Tween(this GameObject obj, object key, Vector3 start, Vector3 end, float duration,\n Func<float, float> scaleFunc, System.Action<ITween<Vector3>> progress,\n System.Action<ITween<Vector3>> completion = null) {\n Vector3Tween t = TweenFactory.Tween(key, start, end, duration, scaleFunc, progress, completion);\n t.GameObject = obj;\n t.Renderer = obj.GetComponent<Renderer>();\n return t;\n }\n\n /// <summary>\n /// Start and add a Vector4 tween\n /// </summary>\n /// <param name=\"obj\">Game object</param>\n /// <param name=\"key\">Key</param>\n /// <param name=\"start\">Start value</param>\n /// <param name=\"end\">End value</param>\n /// <param name=\"duration\">Duration in seconds</param>\n /// <param name=\"scaleFunc\">Scale function</param>\n /// <param name=\"progress\">Progress handler</param>\n /// <param name=\"completion\">Completion handler</param>\n /// <returns>Vector4Tween</returns>\n public static Vector4Tween Tween(this GameObject obj, object key, Vector4 start, Vector4 end, float duration,\n Func<float, float> scaleFunc, System.Action<ITween<Vector4>> progress,\n System.Action<ITween<Vector4>> completion = null) {\n Vector4Tween t = TweenFactory.Tween(key, start, end, duration, scaleFunc, progress, completion);\n t.GameObject = obj;\n t.Renderer = obj.GetComponent<Renderer>();\n return t;\n }\n\n /// <summary>\n /// Start and add a Color tween\n /// </summary>\n /// <param name=\"obj\">Game object</param>\n /// <param name=\"start\">Start value</param>\n /// <param name=\"end\">End value</param>\n /// <param name=\"duration\">Duration in seconds</param>\n /// <param name=\"scaleFunc\">Scale function</param>\n /// <param name=\"progress\">Progress handler</param>\n /// <param name=\"completion\">Completion handler</param>\n /// <returns>ColorTween</returns>\n public static ColorTween Tween(this GameObject obj, object key, Color start, Color end, float duration,\n Func<float, float> scaleFunc, System.Action<ITween<Color>> progress,\n System.Action<ITween<Color>> completion = null) {\n ColorTween t = TweenFactory.Tween(key, start, end, duration, scaleFunc, progress, completion);\n t.GameObject = obj;\n t.Renderer = obj.GetComponent<Renderer>();\n return t;\n }\n\n /// <summary>\n /// Start and add a Quaternion tween\n /// </summary>\n /// <param name=\"obj\">Game object</param>\n /// <param name=\"start\">Start value</param>\n /// <param name=\"end\">End value</param>\n /// <param name=\"duration\">Duration in seconds</param>\n /// <param name=\"scaleFunc\">Scale function</param>\n /// <param name=\"progress\">Progress handler</param>\n /// <param name=\"completion\">Completion handler</param>\n /// <returns>QuaternionTween</returns>\n public static QuaternionTween Tween(this GameObject obj, object key, Quaternion start, Quaternion end,\n float duration, Func<float, float> scaleFunc, System.Action<ITween<Quaternion>> progress,\n System.Action<ITween<Quaternion>> completion = null) {\n QuaternionTween t = TweenFactory.Tween(key, start, end, duration, scaleFunc, progress, completion);\n t.GameObject = obj;\n t.Renderer = obj.GetComponent<Renderer>();\n return t;\n }\n }\n\n#endif\n\n /// <summary>\n /// Interface for a tween object.\n /// </summary>\n public interface ITween {\n /// <summary>\n /// The key that identifies this tween - can be null\n /// </summary>\n object Key { get; }\n\n /// <summary>\n /// Gets the current state of the tween.\n /// </summary>\n TweenState State { get; }\n\n /// <summary>\n /// Time function\n /// </summary>\n System.Func<float> TimeFunc { get; set; }\n\n /// <summary>\n /// Start the tween.\n /// </summary>\n void Start();\n\n /// <summary>\n /// Pauses the tween.\n /// </summary>\n void Pause();\n\n /// <summary>\n /// Resumes the paused tween.\n /// </summary>\n void Resume();\n\n /// <summary>\n /// Stops the tween.\n /// </summary>\n /// <param name=\"stopBehavior\">The behavior to use to handle the stop.</param>\n void Stop(TweenStopBehavior stopBehavior);\n\n /// <summary>\n /// Updates the tween.\n /// </summary>\n /// <param name=\"elapsedTime\">The elapsed time to add to the tween.</param>\n /// <returns>True if done, false if not</returns>\n bool Update(float elapsedTime);\n }\n\n /// <summary>\n /// Interface for a tween object that handles a specific type.\n /// </summary>\n /// <typeparam name=\"T\">The type to tween.</typeparam>\n public interface ITween<T> : ITween\n\n where T : struct {\n /// <summary>\n /// Gets the current value of the tween.\n /// </summary>\n T CurrentValue { get; }\n\n /// <summary>\n /// Gets the current progress of the tween.\n /// </summary>\n float CurrentProgress { get; }\n\n /// <summary>\n /// Initialize a tween.\n /// </summary>\n /// <param name=\"start\">The start value.</param>\n /// <param name=\"end\">The end value.</param>\n /// <param name=\"duration\">The duration of the tween.</param>\n /// <param name=\"scaleFunc\">A function used to scale progress over time.</param>\n /// <param name=\"progress\">Progress callback</param>\n /// <param name=\"completion\">Called when the tween completes</param>\n Tween<T> Setup(T start, T end, float duration, Func<float, float> scaleFunc, System.Action<ITween<T>> progress,\n System.Action<ITween<T>> completion = null);\n }\n\n /// <summary>\n /// An implementation of a tween object.\n /// </summary>\n /// <typeparam name=\"T\">The type to tween.</typeparam>\n public class Tween<T> : ITween<T>\n\n where T : struct {\n private readonly Func<ITween<T>, T, T, float, T> lerpFunc;\n\n private float currentTime;\n private float duration;\n private Func<float, float> scaleFunc;\n private System.Action<ITween<T>> progressCallback;\n private System.Action<ITween<T>> completionCallback;\n private TweenState state;\n\n private T start;\n private T end;\n private T value;\n\n private ITween continueWith;\n\n /// <summary>\n /// The key that identifies this tween - can be null\n /// </summary>\n public object Key { get; set; }\n\n /// <summary>\n /// Gets the current time of the tween.\n /// </summary>\n public float CurrentTime {\n get { return currentTime; }\n }\n\n /// <summary>\n /// Gets the duration of the tween.\n /// </summary>\n public float Duration {\n get { return duration; }\n }\n\n /// <summary>\n /// Delay before starting the tween\n /// </summary>\n public float Delay { get; set; }\n\n /// <summary>\n /// Gets the current state of the tween.\n /// </summary>\n public TweenState State {\n get { return state; }\n }\n\n /// <summary>\n /// Gets the starting value of the tween.\n /// </summary>\n public T StartValue {\n get { return start; }\n }\n\n /// <summary>\n /// Gets the ending value of the tween.\n /// </summary>\n public T EndValue {\n get { return end; }\n }\n\n /// <summary>\n /// Gets the current value of the tween.\n /// </summary>\n public T CurrentValue {\n get { return value; }\n }\n\n /// <summary>\n /// Time function - returns elapsed time for next frame\n /// </summary>\n public System.Func<float> TimeFunc { get; set; }\n\n#if IS_UNITY\n\n /// <summary>\n /// The game object - null if none\n /// </summary>\n public GameObject GameObject { get; set; }\n\n /// <summary>\n /// The renderer - null if none\n /// </summary>\n public Renderer Renderer { get; set; }\n\n /// <summary>\n /// Whether to force update even if renderer is null or not visible or deactivated, default is false\n /// </summary>\n public bool ForceUpdate { get; set; }\n\n#endif\n\n /// <summary>\n /// Gets the current progress of the tween (0 - 1).\n /// </summary>\n public float CurrentProgress { get; private set; }\n\n /// <summary>\n /// Initializes a new Tween with a given lerp function.\n /// </summary>\n /// <remarks>\n /// C# generics are good but not good enough. We need a delegate to know how to\n /// interpolate between the start and end values for the given type.\n /// </remarks>\n /// <param name=\"lerpFunc\">The interpolation function for the tween type.</param>\n public Tween(Func<ITween<T>, T, T, float, T> lerpFunc) {\n this.lerpFunc = lerpFunc;\n state = TweenState.Stopped;\n\n#if IS_UNITY\n\n TimeFunc = TweenFactory.DefaultTimeFunc;\n\n#else\n\n // TODO: Implement your own time functions\n\n#endif\n }\n\n /// <summary>\n /// Initialize a tween.\n /// </summary>\n /// <param name=\"start\">The start value.</param>\n /// <param name=\"end\">The end value.</param>\n /// <param name=\"duration\">The duration of the tween.</param>\n /// <param name=\"scaleFunc\">A function used to scale progress over time.</param>\n /// <param name=\"progress\">Progress callback</param>\n /// <param name=\"completion\">Called when the tween completes</param>\n public Tween<T> Setup(T start, T end, float duration, Func<float, float> scaleFunc,\n System.Action<ITween<T>> progress, System.Action<ITween<T>> completion = null) {\n scaleFunc = (scaleFunc ?? TweenScaleFunctions.Linear);\n currentTime = 0;\n this.duration = duration;\n this.scaleFunc = scaleFunc;\n this.progressCallback = progress;\n this.completionCallback = completion;\n this.start = start;\n this.end = end;\n\n return this;\n }\n\n /// <summary>\n /// Starts a tween. Setup must be called first.\n /// </summary>\n public void Start() {\n if (state != TweenState.Running) {\n if (duration <= 0.0f && Delay <= 0.0f) {\n // complete immediately\n value = end;\n if (progressCallback != null) {\n progressCallback(this);\n }\n if (completionCallback != null) {\n completionCallback(this);\n }\n return;\n }\n\n state = TweenState.Running;\n UpdateValue();\n }\n }\n\n /// <summary>\n /// Pauses the tween.\n /// </summary>\n public void Pause() {\n if (state == TweenState.Running) {\n state = TweenState.Paused;\n }\n }\n\n /// <summary>\n /// Resumes the paused tween.\n /// </summary>\n public void Resume() {\n if (state == TweenState.Paused) {\n state = TweenState.Running;\n }\n }\n\n /// <summary>\n /// Stops the tween.\n /// </summary>\n /// <param name=\"stopBehavior\">The behavior to use to handle the stop.</param>\n public void Stop(TweenStopBehavior stopBehavior) {\n if (state != TweenState.Stopped) {\n state = TweenState.Stopped;\n if (stopBehavior == TweenStopBehavior.Complete) {\n currentTime = duration;\n UpdateValue();\n if (completionCallback != null) {\n completionCallback.Invoke(this);\n completionCallback = null;\n }\n if (continueWith != null) {\n continueWith.Start();\n\n#if IS_UNITY\n\n TweenFactory.AddTween(continueWith);\n\n#else\n\n // TODO: Implement your own continueWith handling\n\n#endif\n\n continueWith = null;\n }\n }\n }\n }\n\n /// <summary>\n /// Updates the tween.\n /// </summary>\n /// <param name=\"elapsedTime\">The elapsed time to add to the tween.</param>\n /// <returns>True if done, false if not</returns>\n public bool Update(float elapsedTime) {\n if (state == TweenState.Running) {\n if (Delay > 0.0f) {\n currentTime += elapsedTime;\n if (currentTime <= Delay) {\n // delay is not over yet\n return false;\n } else {\n // set to left-over time beyond delay\n currentTime = (currentTime - Delay);\n Delay = 0.0f;\n }\n } else {\n currentTime += elapsedTime;\n }\n\n if (currentTime >= duration) {\n Stop(TweenStopBehavior.Complete);\n return true;\n } else {\n UpdateValue();\n return false;\n }\n }\n return (state == TweenState.Stopped);\n }\n\n /// <summary>\n /// Set another tween to execute when this tween finishes. Inherits the Key and if using Unity, GameObject,\n /// Renderer and ForceUpdate properties.\n /// </summary>\n /// <typeparam name=\"TNewTween\">Type of new tween</typeparam>\n /// <param name=\"tween\">New tween</param>\n /// <returns>New tween</returns>\n public Tween<TNewTween> ContinueWith<TNewTween>(Tween<TNewTween> tween)\n\n where TNewTween : struct {\n tween.Key = Key;\n\n#if IS_UNITY\n\n tween.GameObject = GameObject;\n tween.Renderer = Renderer;\n tween.ForceUpdate = ForceUpdate;\n\n#endif\n\n continueWith = tween;\n return tween;\n }\n\n /// <summary>\n /// Helper that uses the current time, duration, and delegates to update the current value.\n /// </summary>\n private void UpdateValue() {\n#if IS_UNITY\n\n if (Renderer == null || Renderer.isVisible || ForceUpdate) {\n#endif\n\n CurrentProgress = scaleFunc(currentTime / duration);\n value = lerpFunc(this, start, end, CurrentProgress);\n if (progressCallback != null) {\n progressCallback.Invoke(this);\n }\n\n#if IS_UNITY\n }\n\n#endif\n }\n }\n\n /// <summary>\n /// Object used to tween float values.\n /// </summary>\n public class FloatTween : Tween<float> {\n private static float LerpFloat(ITween<float> t, float start, float end, float progress) {\n return start + (end - start) * progress;\n }\n\n private static readonly Func<ITween<float>, float, float, float, float> LerpFunc = LerpFloat;\n\n /// <summary>\n /// Initializes a new FloatTween instance.\n /// </summary>\n public FloatTween() : base(LerpFunc) {}\n }\n\n /// <summary>\n /// Object used to tween Vector2 values.\n /// </summary>\n public class Vector2Tween : Tween<Vector2> {\n private static Vector2 LerpVector2(ITween<Vector2> t, Vector2 start, Vector2 end, float progress) {\n return Vector2.Lerp(start, end, progress);\n }\n\n private static readonly Func<ITween<Vector2>, Vector2, Vector2, float, Vector2> LerpFunc = LerpVector2;\n\n /// <summary>\n /// Initializes a new Vector2Tween instance.\n /// </summary>\n public Vector2Tween() : base(LerpFunc) {}\n }\n\n /// <summary>\n /// Object used to tween Vector3 values.\n /// </summary>\n public class Vector3Tween : Tween<Vector3> {\n private static Vector3 LerpVector3(ITween<Vector3> t, Vector3 start, Vector3 end, float progress) {\n return Vector3.Lerp(start, end, progress);\n }\n\n private static readonly Func<ITween<Vector3>, Vector3, Vector3, float, Vector3> LerpFunc = LerpVector3;\n\n /// <summary>\n /// Initializes a new Vector3Tween instance.\n /// </summary>\n public Vector3Tween() : base(LerpFunc) {}\n }\n\n /// <summary>\n /// Object used to tween Vector4 values.\n /// </summary>\n public class Vector4Tween : Tween<Vector4> {\n private static Vector4 LerpVector4(ITween<Vector4> t, Vector4 start, Vector4 end, float progress) {\n return Vector4.Lerp(start, end, progress);\n }\n\n private static readonly Func<ITween<Vector4>, Vector4, Vector4, float, Vector4> LerpFunc = LerpVector4;\n\n /// <summary>\n /// Initializes a new Vector4Tween instance.\n /// </summary>\n public Vector4Tween() : base(LerpFunc) {}\n }\n\n /// <summary>\n /// Object used to tween Color values.\n /// </summary>\n public class ColorTween : Tween<Color> {\n private static Color LerpColor(ITween<Color> t, Color start, Color end, float progress) {\n return Color.Lerp(start, end, progress);\n }\n\n private static readonly Func<ITween<Color>, Color, Color, float, Color> LerpFunc = LerpColor;\n\n /// <summary>\n /// Initializes a new ColorTween instance.\n /// </summary>\n public ColorTween() : base(LerpFunc) {}\n }\n\n /// <summary>\n /// Object used to tween Quaternion values.\n /// </summary>\n public class QuaternionTween : Tween<Quaternion> {\n private static Quaternion LerpQuaternion(\n ITween<Quaternion> t, Quaternion start, Quaternion end, float progress) {\n return Quaternion.Lerp(start, end, progress);\n }\n\n private static readonly Func<ITween<Quaternion>, Quaternion, Quaternion, float, Quaternion> LerpFunc =\n LerpQuaternion;\n\n /// <summary>\n /// Initializes a new QuaternionTween instance.\n /// </summary>\n public QuaternionTween() : base(LerpFunc) {}\n }\n\n /// <summary>\n /// Tween scale functions\n /// Implementations based on http://theinstructionlimit.com/flash-style-tweeneasing-functions-in-c, which are based\n /// on http://www.robertpenner.com/easing/\n /// </remarks>\n public static class TweenScaleFunctions {\n private const float halfPi = Mathf.PI * 0.5f;\n\n /// <summary>\n /// A linear progress scale function.\n /// </summary>\n public static readonly Func<float, float> Linear = LinearFunc;\n\n private static float LinearFunc(float progress) {\n return progress;\n }\n\n /// <summary>\n /// A quadratic (x^2) progress scale function that eases in.\n /// </summary>\n public static readonly Func<float, float> QuadraticEaseIn = QuadraticEaseInFunc;\n\n private static float QuadraticEaseInFunc(float progress) {\n return EaseInPower(progress, 2);\n }\n\n /// <summary>\n /// A quadratic (x^2) progress scale function that eases out.\n /// </summary>\n public static readonly Func<float, float> QuadraticEaseOut = QuadraticEaseOutFunc;\n\n private static float QuadraticEaseOutFunc(float progress) {\n return EaseOutPower(progress, 2);\n }\n\n /// <summary>\n /// A quadratic (x^2) progress scale function that eases in and out.\n /// </summary>\n public static readonly Func<float, float> QuadraticEaseInOut = QuadraticEaseInOutFunc;\n\n private static float QuadraticEaseInOutFunc(float progress) {\n return EaseInOutPower(progress, 2);\n }\n\n /// <summary>\n /// A cubic (x^3) progress scale function that eases in.\n /// </summary>\n public static readonly Func<float, float> CubicEaseIn = CubicEaseInFunc;\n\n private static float CubicEaseInFunc(float progress) {\n return EaseInPower(progress, 3);\n }\n\n /// <summary>\n /// A cubic (x^3) progress scale function that eases out.\n /// </summary>\n public static readonly Func<float, float> CubicEaseOut = CubicEaseOutFunc;\n\n private static float CubicEaseOutFunc(float progress) {\n return EaseOutPower(progress, 3);\n }\n\n /// <summary>\n /// A cubic (x^3) progress scale function that eases in and out.\n /// </summary>\n public static readonly Func<float, float> CubicEaseInOut = CubicEaseInOutFunc;\n\n private static float CubicEaseInOutFunc(float progress) {\n return EaseInOutPower(progress, 3);\n }\n\n /// <summary>\n /// A quartic (x^4) progress scale function that eases in.\n /// </summary>\n public static readonly Func<float, float> QuarticEaseIn = QuarticEaseInFunc;\n\n private static float QuarticEaseInFunc(float progress) {\n return EaseInPower(progress, 4);\n }\n\n /// <summary>\n /// A quartic (x^4) progress scale function that eases out.\n /// </summary>\n public static readonly Func<float, float> QuarticEaseOut = QuarticEaseOutFunc;\n\n private static float QuarticEaseOutFunc(float progress) {\n return EaseOutPower(progress, 4);\n }\n\n /// <summary>\n /// A quartic (x^4) progress scale function that eases in and out.\n /// </summary>\n public static readonly Func<float, float> QuarticEaseInOut = QuarticEaseInOutFunc;\n\n private static float QuarticEaseInOutFunc(float progress) {\n return EaseInOutPower(progress, 4);\n }\n\n /// <summary>\n /// A quintic (x^5) progress scale function that eases in.\n /// </summary>\n public static readonly Func<float, float> QuinticEaseIn = QuinticEaseInFunc;\n\n private static float QuinticEaseInFunc(float progress) {\n return EaseInPower(progress, 5);\n }\n\n /// <summary>\n /// A quintic (x^5) progress scale function that eases out.\n /// </summary>\n public static readonly Func<float, float> QuinticEaseOut = QuinticEaseOutFunc;\n\n private static float QuinticEaseOutFunc(float progress) {\n return EaseOutPower(progress, 5);\n }\n\n /// <summary>\n /// A quintic (x^5) progress scale function that eases in and out.\n /// </summary>\n public static readonly Func<float, float> QuinticEaseInOut = QuinticEaseInOutFunc;\n\n private static float QuinticEaseInOutFunc(float progress) {\n return EaseInOutPower(progress, 5);\n }\n\n /// <summary>\n /// A sine progress scale function that eases in.\n /// </summary>\n public static readonly Func<float, float> SineEaseIn = SineEaseInFunc;\n\n private static float SineEaseInFunc(float progress) {\n return Mathf.Sin(progress * halfPi - halfPi) + 1;\n }\n\n /// <summary>\n /// A sine progress scale function that eases out.\n /// </summary>\n public static readonly Func<float, float> SineEaseOut = SineEaseOutFunc;\n\n private static float SineEaseOutFunc(float progress) {\n return Mathf.Sin(progress * halfPi);\n }\n\n /// <summary>\n /// A sine progress scale function that eases in and out.\n /// </summary>\n public static readonly Func<float, float> SineEaseInOut = SineEaseInOutFunc;\n\n private static float SineEaseInOutFunc(float progress) {\n return (Mathf.Sin(progress * Mathf.PI - halfPi) + 1) / 2;\n }\n\n private static float EaseInPower(float progress, int power) {\n return Mathf.Pow(progress, power);\n }\n\n private static float EaseOutPower(float progress, int power) {\n int sign = power % 2 == 0 ? -1 : 1;\n return (sign * (Mathf.Pow(progress - 1, power) + sign));\n }\n\n private static float EaseInOutPower(float progress, int power) {\n progress *= 2.0f;\n if (progress < 1) {\n return Mathf.Pow(progress, power) / 2.0f;\n } else {\n int sign = power % 2 == 0 ? -1 : 1;\n return (sign / 2.0f * (Mathf.Pow(progress - 2, power) + sign * 2));\n }\n }\n }\n}<file_sep>using SynthesisAPI.AssetManager;\nusing SynthesisAPI.UIManager.VisualElements;\nusing SynthesisAPI.Utilities;\n\nnamespace SynthesisCore.UI.Windows\n{\n public class EnvironmentItem\n {\n public VisualElement EnvironmentElement { get; }\n\n public EnvironmentItem(VisualElementAsset environmentAsset, FileInfo fileInfo)\n {\n EnvironmentElement = environmentAsset.GetElement(\"environment\");\n\n SetInformation(fileInfo);\n RegisterButtons();\n }\n\n private void SetInformation(FileInfo fileInfo)\n {\n var nameLabel = (Label) EnvironmentElement.Get(\"name\");\n var lastModifiedLabel = (Label) EnvironmentElement.Get(\"last-modified-date\");\n \n nameLabel.Text = nameLabel.Text.Replace(\"%name%\", fileInfo.Name);\n lastModifiedLabel.Text = lastModifiedLabel.Text.Replace(\"%time%\", fileInfo.LastModified);\n }\n \n private void RegisterButtons()\n {\n Button deleteButton = (Button) EnvironmentElement.Get(\"delete-button\"); \n Button setButton = (Button) EnvironmentElement.Get(\"set-button\");\n\n // trash can button to delete Environment from imported list\n deleteButton.Subscribe(x =>\n {\n EnvironmentElement.RemoveFromHierarchy();\n // delete from registered environments (to come)\n });\n \n // check mark button to set Environment\n setButton.Subscribe(x =>\n {\n Logger.Log(\"Set environment\");\n // implementation to set environment from file reference (to come)\n });\n }\n\n }\n\n}<file_sep>using System;\nusing System.IO;\nusing UnityEngine;\n\nnamespace Synthesis.FileSystem {\n public static class FileSystem {\n public static string Root = Application.persistentDataPath;\n public static string Robots = Path.Combine(Root, \"Models\");\n public static string Fields = Path.Combine(Root, \"Fields\");\n public static string Preferences = Path.Combine(Root, \"Preferences\");\n\n /// <summary>\n /// Create folders in root on runtime\n /// Note: Root does not have write access but folders in Root do\n /// </summary>\n [RuntimeInitializeOnLoadMethod]\n public static void Init() {\n if (!Directory.Exists(Robots))\n Directory.CreateDirectory(Robots);\n if (!Directory.Exists(Fields))\n Directory.CreateDirectory(Fields);\n if (!Directory.Exists(Preferences))\n Directory.CreateDirectory(Preferences);\n }\n }\n}\n<file_sep>using System;\nusing System.Collections.Generic;\nusing System.IO;\nusing System.Linq;\nusing Google.Protobuf;\nusing Google.Protobuf.Collections;\nusing Google.Protobuf.WellKnownTypes;\nusing Mirabuf;\nusing Mirabuf.Joint;\nusing Mirabuf.Material;\nusing Mirabuf.Signal;\nusing Synthesis.Util;\nusing SynthesisAPI.Simulation;\nusing SynthesisAPI.Utilities;\nusing UnityEngine;\nusing System.IO.Compression;\nusing Synthesis;\nusing Unity.Profiling;\n\nusing UMaterial = UnityEngine.Material;\nusing UMesh = UnityEngine.Mesh;\nusing Logger = SynthesisAPI.Utilities.Logger;\nusing Assembly = Mirabuf.Assembly;\nusing AssemblyData = Mirabuf.AssemblyData;\nusing Enum = System.Enum;\nusing Joint = Mirabuf.Joint.Joint;\nusing Vector3 = Mirabuf.Vector3;\nusing UVector3 = UnityEngine.Vector3;\nusing Node = Mirabuf.Node;\nusing MPhysicalProperties = Mirabuf.PhysicalProperties;\nusing JointMotor = UnityEngine.JointMotor;\nusing UPhysicalMaterial = UnityEngine.PhysicMaterial;\nusing SynthesisAPI.Controller;\n\n#nullable enable\n\nnamespace Synthesis.Import {\n /// <summary>\n /// The Importer class connected functions with string parameters to import an Entity/Model into the Engine\n /// NOTE: This may be moved into the Engine instead of in it's own project.\n /// </summary>\n public static class Importer {\n private static ulong _robotTally = 0; // Just a number to add to the name of the sim object spawned\n\n#region Mirabuf Importer\n\n /// <summary>\n /// Import a mirabuf assembly\n /// </summary>\n /// <param name=\"miraLive\">Path to mirabuf file</param>\n /// <returns>A tuple of the main gameobject that contains the imported assembly, a reference to the live file,\n /// and the simobject controlling the assembly</returns>\n public static (GameObject MainObject, MirabufLive MiraAssembly, SimObject Sim)\n MirabufAssemblyImport(string path) {\n return MirabufAssemblyImport(MirabufLive.OpenMirabufFile(path));\n }\n\n /// <summary>\n /// Import a mirabuf assembly from a live file.\n /// </summary>\n /// <param name=\"miraLive\">Live file for mirabuf data</param>\n /// <returns>A tuple of the main gameobject that contains the imported assembly, a reference to the live file,\n /// and the simobject controlling the assembly</returns>\n public static (GameObject MainObject, MirabufLive miraLive, SimObject Sim)\n MirabufAssemblyImport(MirabufLive miraLive) {\n Assembly assembly = miraLive.MiraAssembly;\n\n if (assembly.Info.Version < MirabufLive.OLDEST_MIRA_EXPORTER_VERSION) {\n Logger.Log(\n $\"Out-of-date Assembly\\nCurrent Version: {MirabufLive.CURRENT_MIRA_EXPORTER_VERSION}\\nVersion of Assembly: {assembly.Info.Version}\",\n LogLevel.Warning);\n } else if (assembly.Info.Version > MirabufLive.CURRENT_MIRA_EXPORTER_VERSION) {\n Logger.Log(\n $\"Hey Dev, the assembly you're importing is using a higher version than the current set version. Please update the CURRENT_MIRA_EXPORTER_VERSION constant\",\n LogLevel.Debug);\n }\n\n UnityEngine.Physics.sleepThreshold = 0;\n\n GameObject assemblyObject = new GameObject(assembly.Info.Name);\n var jointToJointMap = new Dictionary<string, (UnityEngine.Joint a, UnityEngine.Joint b)>();\n float totalMass = 0;\n\n#region Rigid Definitions\n\n var gamepieces = new List<GamepieceSimObject>();\n var rigidDefinitions = miraLive.Definitions;\n\n var groupObjects = miraLive.GenerateDefinitionObjects(assemblyObject, true);\n\n groupObjects.Where(x => miraLive.Definitions.Definitions[x.Key].IsGamepiece).ForEach(x => {\n var gpSim = new GamepieceSimObject(miraLive.Definitions.Definitions[x.Key].Name, x.Value);\n try {\n SimulationManager.RegisterSimObject(gpSim);\n } catch (Exception e) {\n throw e;\n }\n gamepieces.Add(gpSim);\n });\n\n#endregion\n\n#region Joints\n\n var state =\n assembly.Data.Signals == null ? new ControllableState() : new ControllableState(assembly.Data.Signals);\n\n SimObject simObject;\n if (assembly.Dynamic) {\n string name = $\"{assembly.Info.Name}_{_robotTally}\";\n _robotTally++;\n\n simObject = new RobotSimObject(name, state, miraLive, groupObjects[\"grounded\"], jointToJointMap);\n try {\n SimulationManager.RegisterSimObject(simObject);\n } catch {\n // TODO: Fix\n Logger.Log($\"Robot with assembly {name} already exists.\");\n UnityEngine.Object.Destroy(assemblyObject);\n }\n } else {\n simObject =\n new FieldSimObject(assembly.Info.Name, state, miraLive, groupObjects[\"grounded\"], gamepieces);\n try {\n SimulationManager.RegisterSimObject(simObject);\n } catch {\n // TODO: Fix\n Logger.Log($\"Field with assembly {assembly.Info.Name} already exists.\");\n UnityEngine.Object.Destroy(assemblyObject);\n }\n }\n\n foreach (var jointKvp in assembly.Data.Joints.JointInstances) {\n if (jointKvp.Key == \"grounded\")\n continue;\n\n var aKey = rigidDefinitions.PartToDefinitionMap[jointKvp.Value.ParentPart];\n var a = groupObjects[aKey];\n var bKey = rigidDefinitions.PartToDefinitionMap[jointKvp.Value.ChildPart];\n var b = groupObjects[bKey];\n\n MakeJoint(a, b, jointKvp.Value, totalMass, assembly, simObject, jointToJointMap);\n }\n\n#endregion\n\n return (assemblyObject, miraLive, simObject);\n }\n\n#endregion\n\n#region Assistant Functions\n\n private readonly static float TWO_PI = 2f * Mathf.PI;\n\n public static void MakeJoint(GameObject a, GameObject b, JointInstance instance, float totalMass,\n Assembly assembly, SimObject simObject,\n Dictionary<string, (UnityEngine.Joint a, UnityEngine.Joint b)> jointMap) {\n // Stuff I'm gonna use for all joints\n var definition = assembly.Data.Joints.JointDefinitions[instance.JointReference];\n var rbA = a.GetComponent<Rigidbody>();\n var rbB = b.GetComponent<Rigidbody>();\n switch (definition.JointMotionType) {\n case JointMotion.Revolute: // Hinge/Revolution joint\n\n if (instance.IsWheel(assembly)) {\n rbA.transform.GetComponentsInChildren<Collider>().ForEach(x => {\n x.material.dynamicFriction = 0f;\n x.material.staticFriction = 0f;\n x.material.frictionCombine = PhysicMaterialCombine.Multiply;\n });\n\n var wheelA = a.AddComponent<FixedJoint>();\n var originA = (UVector3) (definition.Origin ?? new UVector3());\n UVector3 jointOffset = instance.Offset ?? new Vector3();\n wheelA.anchor = originA + jointOffset;\n\n UVector3 axisWut;\n if (assembly.Info.Version < 5) {\n axisWut = new UVector3(definition.Rotational.RotationalFreedom.Axis.X,\n definition.Rotational.RotationalFreedom.Axis.Y,\n definition.Rotational.RotationalFreedom.Axis.Z);\n } else {\n axisWut = new UVector3(-definition.Rotational.RotationalFreedom.Axis.X,\n definition.Rotational.RotationalFreedom.Axis.Y,\n definition.Rotational.RotationalFreedom.Axis.Z);\n }\n\n wheelA.connectedBody = rbB;\n wheelA.connectedMassScale = rbB.mass / rbA.mass;\n var wheelB = b.AddComponent<FixedJoint>();\n wheelB.anchor = wheelA.anchor;\n wheelB.connectedBody = rbA;\n wheelB.connectedMassScale = rbA.mass / rbB.mass;\n\n // TODO: Technically, a isn't guaranteed to be the wheel\n var customWheel = a.AddComponent<CustomWheel>();\n\n if (instance.HasSignal()) {\n var driver =\n new WheelDriver(assembly.Data.Signals.SignalMap[instance.SignalReference].Info.GUID,\n new string[] { instance.SignalReference, $\"{instance.SignalReference}_mode\" },\n new string[] { $\"{instance.SignalReference}_encoder\",\n $\"{instance.SignalReference}_absolute\" },\n simObject, instance, customWheel, wheelA.anchor, axisWut, float.NaN,\n assembly.Data.Joints.MotorDefinitions.ContainsKey(definition.MotorReference)\n ? definition.MotorReference\n : null);\n SimulationManager.AddDriver(simObject.Name, driver);\n }\n\n jointMap.Add(instance.Info.GUID, (wheelA, wheelB));\n\n } else {\n var revoluteA = a.AddComponent<HingeJoint>();\n\n var parentPartInstance = assembly.Data.Parts.PartInstances[instance.ParentPart];\n var parentPartDefinition =\n assembly.Data.Parts.PartDefinitions[parentPartInstance.PartDefinitionReference];\n\n var originA = (UVector3) (definition.Origin ?? new UVector3());\n UVector3 jointOffset = instance.Offset ?? new Vector3();\n revoluteA.anchor = originA + jointOffset;\n\n UVector3 axisWut;\n if (assembly.Info.Version < 5) {\n axisWut = new UVector3(definition.Rotational.RotationalFreedom.Axis.X,\n definition.Rotational.RotationalFreedom.Axis.Y,\n definition.Rotational.RotationalFreedom.Axis.Z);\n } else {\n axisWut = new UVector3(-definition.Rotational.RotationalFreedom.Axis.X,\n definition.Rotational.RotationalFreedom.Axis.Y,\n definition.Rotational.RotationalFreedom.Axis.Z);\n }\n\n revoluteA.axis = axisWut;\n revoluteA.connectedBody = rbB;\n revoluteA.connectedMassScale = revoluteA.connectedBody.mass / rbA.mass;\n revoluteA.useMotor = true;\n // TODO: Implement and test limits\n var limits = definition.Rotational.RotationalFreedom.Limits;\n if (limits != null && limits.Lower != limits.Upper) {\n var currentPosition = definition.Rotational.RotationalFreedom.Value;\n currentPosition = (currentPosition % (TWO_PI)) -\n ((int) (currentPosition % (TWO_PI) / Mathf.PI) * (TWO_PI));\n var min = -(limits.Upper - currentPosition);\n min = (min % (TWO_PI) -TWO_PI) % (TWO_PI);\n var max = -(limits.Lower - currentPosition);\n max = (max % (TWO_PI) + TWO_PI) % (TWO_PI);\n revoluteA.useLimits = true;\n revoluteA.limits =\n new JointLimits() { min = min * Mathf.Rad2Deg, max = max * Mathf.Rad2Deg };\n revoluteA.extendedLimits = true;\n }\n\n var revoluteB = b.AddComponent<HingeJoint>();\n\n // All of the rigidbodies have the same location and orientation so these are the same for both\n // joints\n revoluteB.anchor = revoluteA.anchor;\n revoluteB.axis = revoluteA.axis; // definition.Rotational.RotationalFreedom.Axis;\n\n revoluteB.connectedBody = rbA;\n revoluteB.connectedMassScale = revoluteB.connectedBody.mass / rbB.mass;\n\n // TODO: Encoder Signals\n if (instance.HasSignal()) {\n var driver = new RotationalDriver(\n assembly.Data.Signals.SignalMap[instance.SignalReference].Info.GUID,\n new string[] { instance.SignalReference, $\"{instance.SignalReference}_mode\" },\n new string[] { $\"{instance.SignalReference}_encoder\",\n $\"{instance.SignalReference}_absolute\" },\n simObject, revoluteA, revoluteB, instance.IsWheel(assembly),\n assembly.Data.Joints.MotorDefinitions.ContainsKey(definition.MotorReference)\n ? definition.MotorReference\n : null);\n SimulationManager.AddDriver(simObject.Name, driver);\n }\n\n jointMap.Add(instance.Info.GUID, (revoluteA, revoluteB));\n }\n\n break;\n case JointMotion.Slider:\n\n UVector3 anchor = definition.Origin ?? new Vector3() + instance.Offset ?? new Vector3();\n UVector3 axis = definition.Prismatic.PrismaticFreedom.Axis;\n axis = axis.normalized;\n axis.x = -axis.x;\n float midRange = ((definition.Prismatic.PrismaticFreedom.Limits.Lower +\n definition.Prismatic.PrismaticFreedom.Limits.Upper) /\n 2) *\n 0.01f;\n\n var sliderA = a.AddComponent<ConfigurableJoint>();\n sliderA.anchor = anchor; // + (axis * midRange);\n sliderA.axis = axis;\n sliderA.autoConfigureConnectedAnchor = false;\n sliderA.connectedAnchor = anchor + (axis * midRange);\n sliderA.secondaryAxis = axis;\n sliderA.angularXMotion = ConfigurableJointMotion.Locked;\n sliderA.angularYMotion = ConfigurableJointMotion.Locked;\n sliderA.angularZMotion = ConfigurableJointMotion.Locked;\n sliderA.xMotion = ConfigurableJointMotion.Limited;\n sliderA.yMotion = ConfigurableJointMotion.Locked;\n sliderA.zMotion = ConfigurableJointMotion.Locked;\n if (Mathf.Abs(midRange) > 0.0001) {\n sliderA.xMotion = ConfigurableJointMotion.Limited;\n\n var ulimitA = sliderA.linearLimit;\n ulimitA.limit = Mathf.Abs(midRange);\n sliderA.linearLimit = ulimitA;\n } else {\n sliderA.xMotion = ConfigurableJointMotion.Free;\n }\n sliderA.connectedBody = rbB;\n sliderA.connectedMassScale = sliderA.connectedBody.mass / rbA.mass;\n\n var sliderB = b.AddComponent<ConfigurableJoint>();\n sliderB.anchor = sliderA.anchor;\n sliderB.axis = sliderA.axis;\n sliderB.angularXMotion = ConfigurableJointMotion.Locked;\n sliderB.angularYMotion = ConfigurableJointMotion.Locked;\n sliderB.angularZMotion = ConfigurableJointMotion.Locked;\n sliderB.xMotion = ConfigurableJointMotion.Free;\n sliderB.yMotion = ConfigurableJointMotion.Locked;\n sliderB.zMotion = ConfigurableJointMotion.Locked;\n sliderB.connectedBody = rbA;\n sliderB.connectedMassScale = sliderB.connectedBody.mass / rbB.mass;\n\n if (instance.HasSignal()) {\n assembly.Data.Joints.MotorDefinitions.TryGetValue(definition.MotorReference, out var motor);\n var currentPosition = definition.Prismatic.PrismaticFreedom.Value;\n var slideDriver = new LinearDriver(\n assembly.Data.Signals.SignalMap[instance.SignalReference].Info.GUID,\n new string[] { instance.SignalReference }, Array.Empty<string>(), simObject, sliderA,\n sliderB, (motor?.SimpleMotor.MaxVelocity ?? 30f) / LinearDriver.LINEAR_TO_MOTOR_VELOCITY,\n ((definition.Prismatic.PrismaticFreedom.Limits.Upper - currentPosition) * 0.01f,\n (definition.Prismatic.PrismaticFreedom.Limits.Lower - currentPosition) * 0.01f),\n assembly.Data.Joints.MotorDefinitions.ContainsKey(definition.MotorReference)\n ? definition.MotorReference\n : null);\n SimulationManager.AddDriver(simObject.Name, slideDriver);\n }\n\n break;\n default: // Make a rigid joint\n var rigidA = a.AddComponent<FixedJoint>();\n rigidA.anchor = (definition.Origin ?? new Vector3()) + (instance.Offset ?? new Vector3());\n rigidA.axis = UVector3.forward;\n rigidA.connectedBody = rbB;\n rigidA.connectedMassScale = rigidA.connectedBody.mass / rbA.mass;\n var rigidB = b.AddComponent<FixedJoint>();\n rigidB.anchor = (definition.Origin ?? new Vector3()) + (instance.Offset ?? new Vector3());\n rigidB.axis = UVector3.forward;\n rigidB.connectedBody = rbA;\n rigidB.connectedMassScale = rigidB.connectedBody.mass / rbB.mass;\n break;\n }\n }\n\n /// <summary>\n /// Gets the change between 2 transformations\n /// </summary>\n /// <param name=\"from\">Starting transformation</param>\n /// <param name=\"to\">End transformation</param>\n /// <returns>Transformation to apply to move from start to end</returns>\n public static Matrix4x4 TransformationDelta(Matrix4x4 from, Matrix4x4 to) {\n return Matrix4x4.TRS(\n to.GetPosition() - from.GetPosition(), to.rotation * Quaternion.Inverse(from.rotation), UVector3.one);\n }\n\n#endregion\n\n#region Debug Functions\n\n public static void DebugGraph(GraphContainer graph) {\n graph.Nodes.ForEach(x => DebugNode(x, 0));\n }\n\n public static void DebugNode(Node node, int level) {\n int a = 0;\n string prefix = \"\";\n while (a != level) {\n prefix += \"-\";\n a++;\n }\n\n Debug.Log($\"{prefix} {node.Value}\");\n node.Children.ForEach(x => DebugNode(x, level + 1));\n }\n\n private static void DebugJoint(Assembly assembly, string joint) {\n var instance = assembly.Data.Joints.JointInstances[joint];\n var definition = assembly.Data.Joints.JointDefinitions[instance.JointReference];\n\n Debug.Log(Enum.GetName(typeof(Joint.JointMotionOneofCase), definition.JointMotionCase));\n }\n\n#endregion\n\n#region Assistant Types\n\n /// <summary>\n /// Stock source type definitions\n /// </summary>\n public struct SourceType {\n public static readonly SourceType MIRABUF_ASSEMBLY = new SourceType(\"mirabuf_assembly\", \"mira\");\n public string FileEnding { get; private set; }\n public string Indentifier { get; private set; }\n\n public SourceType(string indentifier, string fileEnding) {\n Indentifier = indentifier;\n FileEnding = fileEnding;\n }\n }\n\n#endregion\n }\n}<file_sep>using Org.BouncyCastle.Crypto;\nusing Org.BouncyCastle.Crypto.Digests;\nusing Org.BouncyCastle.Crypto.Generators;\nusing Org.BouncyCastle.Crypto.Parameters;\nusing Org.BouncyCastle.Math;\nusing Org.BouncyCastle.Security;\nusing SynthesisAPI.Aether;\nusing System;\nusing System.Collections.Generic;\nusing System.Net;\nusing System.Net.Sockets;\nusing System.Threading;\nusing SynthesisServer.Proto;\n\nusing Client = SynthesisServer.Proto.Client;\n\nnamespace SynthesisServer {\n public class ClientData {\n // The public and private key for the server that corresponds with a client\n // Maybe try implementing ECDH in the future\n\n //public IPEndPoint ClientEndpoint { get; set; }\n public string Name { get; set; } = \"Epic Gamer\";\n public byte[] SymmetricKey { get; private set; }\n public long LastHeartbeat { get; private set; }\n public bool IsReady { get; set; }\n public string CurrentLobby { get; set; } = string.Empty;\n public Socket ClientSocket { get; private set; }\n public IPEndPoint UDPEndPoint { get; set; }\n public string ID { get; private set; }\n\n private AsymmetricCipherKeyPair _keyPair;\n\n private DHParameters _parameters;\n\n public ClientData(Socket socket, string id) {\n ID = id;\n ClientSocket = socket;\n IsReady = false;\n LastHeartbeat = System.DateTimeOffset.Now.ToUnixTimeMilliseconds();\n }\n\n public void GenerateSharedSecret(string importedPublicKey, DHParameters parameters, SymmetricEncryptor encryptor) {\n _parameters = parameters;\n _keyPair = encryptor.GenerateKeys(parameters);\n SymmetricKey = encryptor.GenerateSharedSecret(importedPublicKey, parameters, _keyPair);\n }\n\n public String GetPublicKey() { return ((DHPublicKeyParameters)_keyPair.Public).Y.ToString(); }\n\n public void UpdateHeartbeat() { LastHeartbeat = System.DateTimeOffset.Now.ToUnixTimeMilliseconds(); }\n\n public static implicit operator SynthesisServer.Proto.Client(ClientData data)\n => new SynthesisServer.Proto.Client() { Id = data.ID, Name = data.Name };\n }\n}<file_sep>using SynthesisAPI.EnvironmentManager;\nusing SynthesisAPI.EventBus;\nusing SynthesisAPI.UIManager;\nusing SynthesisAPI.UIManager.UIComponents;\nusing SynthesisCore.UI.Windows;\n\nnamespace SynthesisCore.UI\n{\n public static class EngineToolbar\n {\n private static bool toolbarCreated = false;\n\n public static void CreateToolbar()\n {\n if (toolbarCreated)\n return;\n\n UIManager.AddPanel(new EntitiesWindow().Panel);\n UIManager.AddPanel(new EnvironmentsWindow().Panel);\n\n var engineTab = new Tab(\"Engine\", Ui.ToolbarAsset, toolbarElement =>\n {\n var designCategory = ToolbarTools.AddButtonCategory(toolbarElement, \"ENVIRONMENT\");\n ToolbarTools.AddButton(designCategory, \"add-entity-button\", \"Add Entity\", \"/modules/synthesis_core/UI/images/add-entity-icon-2.png\",\n _ =>\n {\n UIManager.TogglePanel(\"Entities\");\n Analytics.LogEvent(Analytics.EventCategory.EngineToolbar, Analytics.EventAction.Clicked, \"Add Entity Panel\", 10);\n Analytics.UploadDump();\n });\n ToolbarTools.AddButton(designCategory, \"change-environment-button\", \"Change Environment\", \"/modules/synthesis_core/UI/images/environments-icon.png\",\n _ =>\n {\n UIManager.TogglePanel(\"Environments\");\n Analytics.LogEvent(Analytics.EventCategory.EngineToolbar, Analytics.EventAction.Clicked, \"Environments Panel\", 10);\n Analytics.UploadDump();\n });\n });\n\n UIManager.AddTab(engineTab);\n UIManager.SetDefaultTab(engineTab.Name);\n\n toolbarCreated = true;\n }\n }\n}\n<file_sep>// #define DEBUG_ANALYTICS // Uncomment this line to print analytic debug information\n\nusing System.Collections.Generic;\nusing System.Linq;\nusing System.Threading.Tasks;\nusing Synthesis.PreferenceManager;\nusing Unity.Services.Analytics;\nusing Unity.Services.Core;\nusing UnityEngine;\n\nnamespace Analytics {\n /// <summary>\n /// Handles unity analytics initialization and sending custom events.\n /// View analytics on the <a href = \"https://dashboard.unity3d.com/\">Unity Dashboard.</a>\n /// Events will be be sent if the application is running in the editor\n /// </summary>\n public class AnalyticsManager : MonoBehaviour {\n public const string USE_ANALYTICS_PREF = \"analytics/use_analytics\";\n\n private static bool _useAnalytics;\n\n private async void Start() {\n _useAnalytics = PreferenceManager.GetPreference<bool>(USE_ANALYTICS_PREF);\n\n SynthesisAPI.EventBus.EventBus.NewTypeListener<PostPreferenceSaveEvent>(e => {\n bool useAnalytics = PreferenceManager.GetPreference<bool>(USE_ANALYTICS_PREF);\n\n if (useAnalytics == _useAnalytics)\n return;\n\n _useAnalytics = useAnalytics;\n\n if (useAnalytics)\n StartDataCollection();\n else\n StopDataCollection();\n });\n\n if (!Application.isEditor)\n await UnityServices.InitializeAsync();\n\n#if DEBUG_ANALYTICS\n AnalyticsDebug(\"Unity services initialized\");\n#endif\n\n // TODO: check if the user gives consent to collect information\n\n if (PreferenceManager.GetPreference<bool>(USE_ANALYTICS_PREF) && !Application.isEditor)\n StartDataCollection();\n }\n\n /// <summary>Tells unity analytics to start collecting data</summary>\n public static void StartDataCollection() {\n if (!_useAnalytics)\n return;\n\n if (UnityServices.State != ServicesInitializationState.Initialized) {\n Debug.LogError(\n \"<color=#A2D9FF>ANALYTICS:</color> Unity services not yet initialized. Call UnityServices.InitializeAsync() before starting data collection\");\n return;\n }\n\n if (!Application.isEditor)\n AnalyticsService.Instance.StartDataCollection();\n\n#if DEBUG_ANALYTICS\n AnalyticsDebug(\"Data collection started\");\n#endif\n }\n\n /// <summary>Tells unity analytics to stop collecting data</summary>\n public static void StopDataCollection() {\n if (UnityServices.State != ServicesInitializationState.Initialized) {\n Debug.LogError(\n \"<color=#A2D9FF>ANALYTICS:</color> Unity services not yet initialized. Call UnityServices.InitializeAsync() before starting data collection\");\n return;\n }\n\n if (!Application.isEditor)\n AnalyticsService.Instance.StopDataCollection();\n\n#if DEBUG_ANALYTICS\n AnalyticsDebug(\"Data collection stopped\");\n#endif\n }\n\n /// <summary>Records a custom event</summary>\n /// <param name=\"name\">The name of the event</param>\n /// <param name=\"parameters\">The parameters sent with the event</param>\n public static async void LogCustomEvent(AnalyticsEvent name, params(string name, object data)[] parameters) {\n if (!_useAnalytics)\n return;\n\n Dictionary<string, object> parameterDictionary = null;\n if (parameters.Length > 0)\n parameterDictionary = parameters.ToDictionary(x => x.name, x => x.data);\n\n // Wait until unity services are initialized\n while (UnityServices.State != ServicesInitializationState.Initialized)\n await Task.Delay(1000);\n\n#if DEBUG_ANALYTICS\n AnalyticsDebug(\n $\"Logged custom event \\\"{name}\\\"{((parameterDictionary != null) ? $\" with parameters: {string.Join(\", \", parameterDictionary)}\" : \"\")}\");\n#endif\n\n if (Application.isEditor)\n return;\n\n if (parameterDictionary == null)\n AnalyticsService.Instance.CustomData(name.ToString());\n else\n AnalyticsService.Instance.CustomData(name.ToString(), parameterDictionary);\n }\n\n /// <summary>Debug.Log with a template, checks if DEBUG_ANALYTICS is #defined</summary>\n private static void AnalyticsDebug(string message) {\n#if DEBUG_ANALYTICS\n Debug.Log($\"<color=#A2D9FF>ANALYTICS: </color>{message}\");\n#endif\n }\n }\n\n /// <summary>\n /// A specific custom event. <b>Make sure to add new events to the event manager on the\n /// <a href = \"https://dashboard.unity3d.com/\">Unity Dashboard</a></b>\n /// </summary>\n public enum AnalyticsEvent {\n ModalCreated,\n PanelCreated,\n ActiveModalClosed,\n PanelClosed,\n ExitedToMenu,\n SettingsSaved,\n SettingsReset,\n RobotSpawned,\n FieldSpawned,\n MatchStarted,\n MatchEnded,\n DrivetrainSwitched,\n ScoringZoneUpdated\n }\n}\n<file_sep>namespace SynthesisAPI.EventBus\n{\n public interface IEvent \n {\n // public object[] GetArguments(); // TODO delete this?\n }\n\n // ReSharper disable once InconsistentNaming\n public static class IEventExtension\n {\n public static string Name(this IEvent e) => e.GetType().FullName;\n }\n\n}\n<file_sep>using System;\nusing Modes.MatchMode;\nusing SynthesisAPI.InputManager;\nusing SynthesisAPI.InputManager.Inputs;\nusing UI.Dynamic.Panels.Tooltip;\nusing UnityEngine;\nusing UnityEngine.EventSystems;\nusing Utilities.ColorManager;\nusing Input = UnityEngine.Input;\nusing Object = UnityEngine.Object;\n\nnamespace Synthesis.UI.Dynamic {\n public class SpawnLocationPanel : PanelDynamic {\n private const string SNAP_MODE_KEY = \"ROBOT_PLACEMENT_SNAPPING\";\n\n private const float WIDTH = 400f;\n private const float HEIGHT = 130f;\n private const float VERTICAL_PADDING = 15f;\n\n private const float ROBOT_MOVE_SPEED = 7f;\n private const float ROBOT_TILT_AMOUNT = 0.32f;\n private const float MAX_TILT_DEGREES = 10f;\n\n private const float MOVEMENT_SNAPPING_METERS = 0.5f;\n private const float ROTATION_SNAPPING_DEGREES = 22.5f;\n\n private const float ROTATE_ROBOT_SPEED = 17;\n\n private const float SPAWN_HEIGHT_FROM_GROUND = 0.1524f;\n\n private static readonly Color redBoxColor = new Color(1, 0, 0, 0.5f);\n private static readonly Color blueBoxColor = new Color(0, 0, 1, 0.5f);\n\n private static readonly Color redButtonColor = new Color(0.7f, 0, 0);\n private static readonly Color blueButtonColor = new Color(0, 0, 0.7f);\n\n private static readonly Material mat =\n new Material(Shader.Find(\"Shader Graphs/DefaultSynthesisTransparentShader\"));\n private static readonly int shaderColorProperty = Shader.PropertyToID(\"Color_48545d7793c14f3d9e1dd2264f072068\");\n\n private static readonly int fieldLayerMask = 1 << LayerMask.NameToLayer(\"FieldCollisionLayer\");\n\n private readonly Button[] buttons = new Button[6];\n private readonly Transform[] _robotHighlights = new Transform[6];\n\n private readonly Func<Button, Button> DisabledTemplate = b =>\n b.StepIntoImage(i => i.SetColor(ColorManager.SynthesisColor.BackgroundSecondary))\n .StepIntoLabel(l => l.SetColor(ColorManager.SynthesisColor.MainText));\n\n public readonly Func<UIComponent, UIComponent> VerticalLayout = (u) => {\n var offset = (-u.Parent!.RectOfChildren(u).yMin) + VERTICAL_PADDING;\n u.SetTopStretch<UIComponent>(anchoredY: offset, leftPadding: 0f); // used to be 15f\n return u;\n };\n\n public int SelectedButton;\n private bool _renderBoxes = false;\n\n public SpawnLocationPanel() : base(new Vector2(WIDTH, HEIGHT)) {}\n\n public override bool Create() {\n TooltipManager.CreateTooltip((\"Scroll\", \"Rotate Robot\"), (\"Shift\", \"Hold to Snap\"));\n TweenDirection = Vector2.down;\n\n if (!InputManager.MappedDigitalInputs.ContainsKey(SNAP_MODE_KEY))\n InputManager.AssignDigitalInput(\n SNAP_MODE_KEY, (Digital) new Digital(\"LeftShift\").WithModifier((int) ModKey.LeftShift));\n\n Title.SetText(\"Set Spawn Locations\").SetFontSize(25f);\n PanelIcon.RootGameObject.SetActive(false);\n\n Content panel = new Content(null, UnityObject, null);\n\n float padding = 700;\n panel.SetBottomStretch<Content>(padding, padding, 0);\n\n AcceptButton.StepIntoLabel(label => label.SetText(\"Accept\")).AddOnClickedEvent(b => {\n DynamicUIManager.ClosePanel<SpawnLocationPanel>();\n MatchStateMachine.Instance.SetState(MatchStateMachine.StateName.FieldConfig);\n });\n\n CancelButton.RootGameObject.SetActive(false);\n CreateRobotHighlights();\n CreateButtons();\n SelectButton(0);\n return true;\n }\n\n private DigitalState prevInput = DigitalState.None;\n\n public override void Update() {\n if (!MainHUD.isConfig) {\n var currentInput = InputManager.MappedDigitalInputs[SNAP_MODE_KEY][0].State;\n MatchMode.RoundSpawnLocation[SelectedButton] = currentInput == DigitalState.Held;\n\n // True the frame the input is pressed or released\n if (prevInput != currentInput) {\n MatchMode.RawSpawnLocations[SelectedButton] =\n RoundSpawnLocation(MatchMode.RawSpawnLocations[SelectedButton]);\n }\n\n prevInput = currentInput;\n\n FindSpawnPosition();\n RotateRobot();\n MoveRobots();\n }\n }\n\n public override void Delete() {\n _robotHighlights.ForEach(x => {\n if (x != null)\n Object.Destroy(x.gameObject);\n });\n }\n\n /// <summary>\n /// Creates the robot highlight gameobjects and configures them\n /// </summary>\n private void CreateRobotHighlights() {\n for (int i = 0; i < 6; i++) {\n GameObject obj = GameObject.CreatePrimitive(PrimitiveType.Cube);\n\n if (!_renderBoxes)\n obj.SetActive(false);\n\n var rend = obj.GetComponent<Renderer>();\n rend.material = mat;\n rend.material.SetColor(shaderColorProperty, (i < 3) ? redBoxColor : blueBoxColor);\n\n obj.GetComponent<Collider>().isTrigger = true;\n\n RobotSimObject simObject = MatchMode.Robots[i];\n if (simObject != null) {\n obj.transform.localScale = MatchMode.Robots[i].RobotBounds.size;\n }\n\n _robotHighlights[i] = obj.transform;\n }\n }\n\n /// <summary>\n /// Creates the buttons to select which robot to move\n /// </summary>\n private void CreateButtons() {\n float spacing = 15f;\n var (left, rightSection) = MainContent.SplitLeftRight((MainContent.Size.x / 3f) - (spacing / 2f), spacing);\n\n var (center, right) = rightSection.SplitLeftRight((MainContent.Size.x / 3f) - (spacing / 2f), spacing);\n for (int i = 0; i < 6; i++) {\n int buttonIndex = i;\n buttons[i] = ((i % 3 == 0) ? left : ((i % 3 == 1) ? center : right))\n .CreateButton()\n .StepIntoLabel(\n l => l.SetText($\"{((buttonIndex < 3) ? \"Red\" : \"Blue\")} {(buttonIndex % 3 + 1)}\"))\n .ApplyTemplate(VerticalLayout)\n .ApplyTemplate(DisabledTemplate)\n .AddOnClickedEvent(b => { SelectButton(buttonIndex); });\n }\n }\n\n /// <summary>\n /// Sets which button is currently selected and updates button colors\n /// </summary>\n /// <param name=\"index\">the selected buttons index</param>\n private void SelectButton(int index) {\n buttons[SelectedButton].Image.SetColor(\n ColorManager.GetColor(ColorManager.SynthesisColor.BackgroundSecondary));\n SelectedButton = index;\n MainHUD.ConfigRobot = MatchMode.Robots[index];\n\n buttons[index].Image.SetColor((index < 3) ? redButtonColor : blueButtonColor);\n }\n\n /// <summary>\n /// Sets the selected robots spawn position based on where the mouse is pointing\n /// </summary>\n private void FindSpawnPosition() {\n if (!EventSystem.current.IsPointerOverGameObject() && Input.GetMouseButton(0)) {\n // Raycast out from camera to see where the mouse is pointing\n Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);\n if (UnityEngine.Physics.Raycast(ray, out var hit, 100, fieldLayerMask)) {\n Transform selectedPosition = _robotHighlights[SelectedButton];\n\n Vector3 boxHalfSize = selectedPosition.localScale / 2f;\n\n Vector3 rayOrigin =\n (MatchMode.RoundSpawnLocation[SelectedButton])\n ? RoundSpawnLocation((hit.point + Vector3.up * 20f, Quaternion.identity)).position\n : hit.point + Vector3.up * 20f;\n\n // Box cast down towards where the mouse is pointing to find the lowest suitable spawn position for\n // the robot\n if (UnityEngine.Physics.BoxCast(rayOrigin, boxHalfSize, Vector3.down, out var boxHit,\n MatchMode.GetSpawnLocation(SelectedButton).rotation, 30f, fieldLayerMask)) {\n MatchMode.RawSpawnLocations[SelectedButton].position = new Vector3(\n hit.point.x, boxHit.point.y + boxHalfSize.y + SPAWN_HEIGHT_FROM_GROUND, hit.point.z);\n }\n }\n }\n }\n\n /// <summary>\n /// Rotate the robots yaw based on scroll wheel input. On mac, holding shift switches the scroll wheel to\n /// the y axis, so the one line if statement checks for that\n /// </summary>\n private void RotateRobot() {\n Vector2 input = Input.mouseScrollDelta;\n float scrollSpeed = (Mathf.Abs(input.x) > Mathf.Abs(input.y)) ? input.x : input.y;\n if (Mathf.Abs(scrollSpeed) < 0.005f)\n return;\n\n MatchMode.RawSpawnLocations[SelectedButton].rotation.eulerAngles +=\n Vector3.up * (Mathf.Sign(scrollSpeed) * ROTATE_ROBOT_SPEED);\n }\n\n public static (Vector3 position, Quaternion rotation)\n RoundSpawnLocation((Vector3 position, Quaternion rotation) spawnLocation) {\n return (\n new Vector3(Mathf.Round(spawnLocation.position.x / MOVEMENT_SNAPPING_METERS) * MOVEMENT_SNAPPING_METERS,\n spawnLocation.position.y,\n Mathf.Round(spawnLocation.position.z / MOVEMENT_SNAPPING_METERS) * MOVEMENT_SNAPPING_METERS),\n Quaternion.Euler(0,\n Mathf.Round(spawnLocation.rotation.eulerAngles.y / ROTATION_SNAPPING_DEGREES) *\n ROTATION_SNAPPING_DEGREES,\n 0));\n }\n\n /// <summary>\n /// Smoothly lerps all robot objects towards their spawn location and tilts them in the direction they are\n /// moving\n /// </summary>\n private void MoveRobots() {\n for (int i = 0; i < 6; i++) {\n if (MatchMode.Robots[i] == null)\n continue;\n\n var robot = MatchMode.Robots[i].RobotNode.transform;\n var box = _robotHighlights[i];\n\n Vector3 prevPos = box.position;\n Vector3 target = MatchMode.GetSpawnLocation(i).position;\n box.position = Vector3.Lerp(prevPos, target, ROBOT_MOVE_SPEED * Time.deltaTime);\n\n Vector3 robotTilt = (target - prevPos) * (45f * ROBOT_TILT_AMOUNT);\n\n Quaternion robotYaw = MatchMode.GetSpawnLocation(i).rotation;\n\n box.rotation = Quaternion.Euler(Mathf.Clamp(robotTilt.z, -MAX_TILT_DEGREES, MAX_TILT_DEGREES), 0,\n Mathf.Clamp(-robotTilt.x, -MAX_TILT_DEGREES, MAX_TILT_DEGREES)) *\n robotYaw;\n\n RobotSimObject simObject = MatchMode.Robots[i];\n\n robot.rotation = Quaternion.identity;\n robot.position = Vector3.zero;\n\n robot.rotation = box.rotation * Quaternion.Inverse(simObject.GroundedNode.transform.rotation);\n robot.position = box.position - simObject.GroundedNode.transform.localToWorldMatrix.MultiplyPoint(\n simObject.GroundedBounds.center);\n }\n }\n }\n}<file_sep>#!/bin/bash\n\n# Download the emulator VM\n\nFILE_URL=\"https://www.dropbox.com/s/vpycb8e90wh4uqx/vm-package.zip\"\n\nif [ ! -f vm-package.zip ] ; then\n\tprintf \"Begun downloading VM images\\n\"\n\twget -q --show-progress -O vm-package.zip $FILE_URL \n\tprintf \"Images successfully downloaded.\\n\"\nfi\nmkdir vm-package -p;\n\nif [ ! -d ./vm-package ] || [ ! -f vm-package/kernel-native ] || [ ! -f vm-package/rootfs-native.ext4 ] || [ ! -f vm-package/zynq-zed.dtb ] || [ ! -f vm-package/kernel-java ] || [ ! -f vm-package/rootfs-java.ext4 ] || [ ! -f vm-package/grpc-bridge ]; then\n\tprintf \"Please wait while the images are extracted.\\n\"\n\n\tunzip vm-package.zip;\n\n\tprintf \"Successfully extracted the images.\\n\"\nfi\n\nprintf \"VM images ready.\\n\"\n<file_sep>using System.Text.RegularExpressions;\n\nnamespace SynthesisCore.Utilities\n{\n public class StringUtils\n {\n /**\n * Converts ThisIsAnExample to This Is An Example using regex\n */\n public static string ReformatCondensedString(string condensedString)\n {\n return Regex.Replace(condensedString, \"([a-z])([A-Z])\", \"$1 $2\");\n }\n }\n}<file_sep>#include \"roborio.hpp\"\n\nnamespace hel{\n RoboRIO::RoboRIO()noexcept:user_button(false), interrupt_force_number(0), accelerometer(), accumulators(Accumulator()), alarm(), analog_inputs(), analog_outputs(), can_motor_controllers(), counters(Counter()), digital_system(), ds_errors(), match_info(), encoder_managers(Maybe<EncoderManager>()), fpga_encoders(FPGAEncoder()), global(), joysticks(Joystick()), net_comm(), power(), pwm_system(), relay_system(), robot_mode(), pcm(), pdp(), spi_system(), watchdog(){}\n\n RoboRIO::RoboRIO(const RoboRIO& source)noexcept:RoboRIO(){\n#define COPY(NAME) NAME = source.NAME\n COPY(user_button);\n COPY(interrupt_force_number);\n COPY(accelerometer);\n COPY(accumulators);\n COPY(alarm);\n COPY(analog_inputs);\n COPY(analog_outputs);\n COPY(can_motor_controllers);\n COPY(counters);\n COPY(digital_system);\n COPY(ds_errors);\n COPY(match_info);\n COPY(encoder_managers);\n COPY(fpga_encoders);\n COPY(global);\n COPY(joysticks);\n COPY(net_comm);\n COPY(power);\n COPY(pwm_system);\n COPY(relay_system);\n COPY(robot_mode);\n COPY(pcm);\n COPY(pdp);\n COPY(spi_system);\n COPY(watchdog);\n#undef COPY\n }\n RoboRIO& RoboRIO::operator=(const RoboRIO& source){\n if(this != &source){\n#define COPY(NAME) NAME = source.NAME\n COPY(user_button);\n COPY(interrupt_force_number);\n COPY(accelerometer);\n COPY(accumulators);\n COPY(alarm);\n COPY(analog_inputs);\n COPY(analog_outputs);\n COPY(can_motor_controllers);\n COPY(counters);\n COPY(digital_system);\n COPY(ds_errors);\n COPY(match_info);\n COPY(encoder_managers);\n COPY(fpga_encoders);\n COPY(global);\n COPY(joysticks);\n COPY(net_comm);\n COPY(power);\n COPY(pwm_system);\n COPY(relay_system);\n COPY(robot_mode);\n COPY(pcm);\n COPY(pdp);\n COPY(spi_system);\n COPY(watchdog);\n#undef COPY\n }\n return *this;\n }\n}\n<file_sep>using System;\nusing System.Collections;\nusing System.Collections.Generic;\n\nnamespace SynthesisAPI.Utilities\n{\n public class UniqueTypeList<T> : IEnumerable<T>\n {\n private Dictionary<Type, T> entries;\n public UniqueTypeList()\n {\n entries = new Dictionary<Type, T>();\n }\n public U Get<U>() where U : T\n {\n if (entries.ContainsKey(typeof(U)))\n return (U) entries[typeof(U)];\n return default; // TODO indicate error of some kind\n }\n public bool HasType<U>() where U : T => entries.ContainsKey(typeof(U));\n public bool HasType(Type t) => entries.ContainsKey(t);\n public bool Add<U>(U val) where U : T\n {\n if (entries.ContainsKey(typeof(U)))\n return false;\n entries[typeof(U)] = val;\n return true;\n }\n public void ForceAdd<U>(U val) where U : T\n {\n entries[typeof(U)] = val;\n }\n public bool Remove<U>()\n {\n return Remove(typeof(U));\n }\n public bool Remove(Type type)\n {\n return entries.Remove(type);\n }\n\n public IEnumerator<T> GetEnumerator()\n {\n return entries.Values.GetEnumerator();\n }\n\n IEnumerator IEnumerable.GetEnumerator()\n {\n return GetEnumerator();\n }\n\n public IEnumerable<T> Values { get => entries.Values; }\n }\n}\n<file_sep>#!/bin/bash\nmkdir -p ~/Library/Application Support/Autodesk/Autodesk Fusion 360/API/AddIns/\nexit 0\n<file_sep>using SynthesisAPI.EventBus;\n\nnamespace Engine.ModuleLoader {\n public class LoadModuleEvent : IEvent {\n public LoadModuleEvent(string name, string version) {\n Name = name;\n Version = version;\n }\n\n public readonly string Name;\n public readonly string Version;\n\n public object[] GetArguments() => new object[] { Name, Version };\n }\n}<file_sep>\n# Hardware Emulation Layer\n\nHEL is the core of Synthesis's emulation, redirecting robot code hardware communication to the Synthesis simulator. \n\n* [How It Works](#how-it-works)\n* [Scope of Emulation and Simulation](#scope-of-emulation-and-simulation)\n* [Building HEL](#building-hel)\n* [Testing HEL](#testing-hel)\n* [Project Structure](#project-structure)\n\n## How It Works\n\nHEL is emulation of a layer of robot code several levels below that at which users develops. For the easiest user experience, the C++ code is handled inside of a Linux virtual machine emulating an ARM processor, much akin to the environment that runs on a RoboRIO. Java and other JVM code runs in a separate x86 Linux virtual machine.\n\nHEL is a re-implementation of the NI FPGA, which normally runs on the RoboRIO. FRC user code interfaces with WPILib, which is a high-level library built on HAL, the RoboRIO's hardware abstraction layer. In turn, HAL is built on the NI FPGA, which interfaces with hardware. NI FPGA code is available as a set of header files, which can be found on GitHub [here](https://github.com/wpilibsuite/ni-libraries). These headers contain pure abstract classes which HEL re-implements using derived classes. Where HAL would calls NI FPGA functions to communicate with hardware, in Synthesis, those calls use HEL functions which to manage emulated RoboRIO state in a Singleton instance. \n\nThe user program calls functions to set this emulated RoboRIO's outputs, which are then transmitted to the Synthesis engine using [gRPC](https://grpc.io/ \"gRPC Home Page\"). The engine responds with simulated input values, which are likewise mapped into the emulated RoboRIO. \n\n## Scope of Emulation and Simulation\n\n| Library | Supported Version |\n|--------------------|-------------------|\n| WPILib (C++; Java) | v2019.4.1 |\n| NI Libraries | v2019-12 |\n\nSince HEL is a re-implementation of the NI FPGA, it has the potential to support all RoboRIO inputs and outputs, including network data from the FRC Driver Station such as alliance station ID. Currently, HEL and the engine support: \n* Talon SRX, Victor SPX, and Spark MAX CAN motor controller outputs\n* PWM header and MXP outputs to motor controllers\n* Gamepad inputs\n* Encoder inputs (drive train encoders only)\n* Match information \n\t* Robot mode\n\t* Alliance station ID\n\t* Enabling/disabling\n\t* Game specific messages\n\nIn addition, users can view outputs and edit inputs for the following I/O in the Emulation Robot IO Panel:\n* Digital headers and MXP inputs and outputs\n* Analog headers and MXP inputs and outputs\n* Relays\n* The RoboRIO user button \n\nThis panel also gives them access to their user program print-outs.\n\nIn the future, HEL and the engine will be expanded to support more features.\n\n## Building HEL\n\nFor ease of development, the development environment is built around the same operating system as the emulator: Linux. For those seeking to contribute to the Synthesis emulator, it is recommended to either install Linux or look into running Linux on a virtual machine solution with their current system (Ubuntu is recommended). Once the Linux environment is set up, some software must be installed. The first of those is the build system CMake. To install on Ubuntu, the commands are as follows:\n\n```shell\nsudo apt update\nsudo apt-get install cmake;\n\n# For a better CMake experience, a GUI can be installed\nsudo apt-get install cmake-gui;\n\n# Necessary only for Java users\nsudo apt install openjdk-11-jre-headless;\nsudo apt install openjdk-11-jdk;\n\n# Necessary for all users\nsudo apt-add-repository ppa:wpilib/toolchain\nsudo apt-add-repository ppa:wpilib/toolchain-beta\nsudo apt update \nsudo apt install frc-toolchain\nsudo apt install frc2019-toolchain\n```\n\nNow HEL can be built. Navigate to the `hel` directory in a terminal and execute the following command:\n\n```shell\nmkdir -p build && cd build\ncmake ..\nmake hel\n```\n### CMake Flags\n| Flag | Arguments | Description |\n|--------------------|-----------------------------------------------|--------------------------------------------------------------|\n| -DBENCH | ON or OFF | Enable benchmarks |\n| -DBUILD_DOC | ON or OFF | Enable Doxygen documentation (Builds by default for release) |\n| -DCMAKE_BUILD_TYPE | Release, Debug, MinSizeRel, or RelWithDebInfo | Select build type (see table below) |\n| -DNO_ROBOT | ON or OFF | Disable test user programs |\n| -DNO_TESTING | ON or OFF | Disable unit tests |\n| -DX86 | ON or OFF | Cross-compile for x86 (ARM by default) |\n| -DGRPC_VERSION | [version] (e.g. v1.21.1) | Specify gRPC version |\n| -DNILIB_VERSION | [version] (e.g. v2019-12) | Specify NI library version |\n| -DWPILIB_VERSION | [version] (e.g. v2019.4.1) | Specify WPILib version \n\nNote that HAL-, CTRE-, and WPILib-based tests are not supported in x86 mode.\n\n### Build Types\n| Build Type | Description |\n|----------------|----------------------------------------------------|\n| Release | Build with optimizations and Werror |\n| Debug | Build with debug symbols and disable optimizations |\n| MinSizeRel | Build with optimizations for size |\n| RelWithDebInfo | Build with medium optimizations with debug symbols |\n\n\nThe project can be cleaned using the clean script:\n\n```shell\n./clean.sh (all|cmake|emulator|gtest|wpilib|ctre|asio|hel|user-code|docs)\n```\n\n## Testing HEL\n\nWhen built for x86 architecture, HEL's Google Test and Benchmark files can be run natively; though tests will not be able to use WPILib, HAL, or CTRE code. They build to `bin/tests` and `bin/benchmarks` respectively. To test HEL in the emulation environment, either the release emulator or a developer emulator built from scratch (see [here](./../emulator_building.md \"emulator_building.md\")) must be used, and the test files, test projects, user code, and libhel, deployed. To do so, run the following commands:\n\n```shell\n./run_vm.sh # Download and run the release emulator\n\n./scripts/deploy.sh # Deploys libhel, user code, and tests automatically\n./scripts/deploy.sh build/tests/file_name # Or deploy specified files\n./scripts/login.sh # SSH and sign into the emulator instance\n\n# Running user code and tests from the emulator\n./frc_program_runner.sh # Runs user code\n./tests/test_name # Run a given test\n\n# Testing outside of the emulator\n./build/tests/test_name # Run a given test\n./build/bechmarks/benchmark_name # Run a given benchmark\n./scripts/receieve_data.sh # Receive data running user code on emulator sends to engine\n```\n\n## Project Structure\n\n#### benchmarks\nThis directory contains all of the Google Benchmark benchmarking files for HEL.\n\n#### docs\nThis directory contains a Doxygen Doxyfile and acts as the target for the documentation Doxygen generates.\n\n#### external_configs\nThis directory contains configurations for external to modify their build processes for compatibility with HEL and each other. \n\n#### include\nThis directory contains all of HEL's header files.\n\n#### build\nThis directory contains all of the downloaded external projects. When they and HEL are built, the resulting libraries are stored here as well.\n\n#### scripts\nThis directory contains useful bash scripts used in the build process and for ease of use during development.\n\n#### src\nThis directory contains all of HEL's cpp files.\n\n#### tests\nThis directory contains all of the Google Test testing files for HEL.<file_sep>using Controller.Rpc;\nusing MathNet.Spatial.Euclidean;\nusing SynthesisAPI.EnvironmentManager;\nusing SynthesisAPI.EnvironmentManager.Components;\nusing SynthesisAPI.Utilities;\nusing SynthesisCore.Components;\nusing SynthesisCore.Simulation;\n\nnamespace Controller\n{\n public static class ControllerApi\n {\n [RpcMethod(\"log_str\")]\n public static void LogStr(string msg, LogLevel logLevel = LogLevel.Info)\n {\n Logger.Log(msg, logLevel);\n }\n\n #region Transform movement\n\n [RpcMethod(\"forward\")]\n public static void Forward(uint channel, double distance)\n {\n foreach (var e in EnvironmentManager.GetEntitiesWhere(\n e => e.GetComponent<Moveable>()?.Channel == channel))\n {\n e.GetComponent<Transform>().Position += new Vector3D(0, 0, distance);\n }\n }\n\n [RpcMethod(\"backward\")]\n public static void Backward(uint channel, double distance)\n {\n foreach (var e in EnvironmentManager.GetEntitiesWhere(\n e => e.GetComponent<Moveable>()?.Channel == channel))\n {\n e.GetComponent<Transform>().Position += new Vector3D(0, 0, -distance);\n }\n }\n\n [RpcMethod(\"left\")]\n public static void Left(uint channel, double distance)\n {\n foreach (var e in EnvironmentManager.GetEntitiesWhere(\n e => e.GetComponent<Moveable>()?.Channel == channel))\n {\n e.GetComponent<Transform>().Position += new Vector3D(-distance, 0, 0);\n }\n }\n\n [RpcMethod(\"right\")]\n public static void Right(uint channel, double distance)\n {\n foreach (var e in EnvironmentManager.GetEntitiesWhere(\n e => e.GetComponent<Moveable>()?.Channel == channel))\n {\n e.GetComponent<Transform>().Position += new Vector3D(distance, 0, 0);\n }\n }\n\n [RpcMethod(\"up\")]\n public static void Up(uint channel, double distance)\n {\n foreach (var e in EnvironmentManager.GetEntitiesWhere(\n e => e.GetComponent<Moveable>()?.Channel == channel))\n {\n e.GetComponent<Transform>().Position += new Vector3D(0, distance, 0);\n }\n }\n\n [RpcMethod(\"down\")]\n public static void Down(uint channel, double distance)\n {\n foreach (var e in EnvironmentManager.GetEntitiesWhere(\n e => e.GetComponent<Moveable>()?.Channel == channel))\n {\n e.GetComponent<Transform>().Position += new Vector3D(0, -distance, 0);\n }\n }\n\n [RpcMethod(\"set_position\")]\n public static void SetPosition(uint channel, double x, double y, double z)\n {\n foreach (var e in EnvironmentManager.GetEntitiesWhere(\n e => e.GetComponent<Moveable>()?.Channel == channel))\n {\n e.GetComponent<Transform>().Position = new Vector3D(x, y, z);\n }\n }\n\n [RpcMethod(\"rotate_euler_angles\")]\n public static void RotateEulerAngles(uint channel, double x, double y, double z)\n {\n foreach (var e in EnvironmentManager.GetEntitiesWhere(\n e => e.GetComponent<Moveable>()?.Channel == channel))\n {\n e.GetComponent<Transform>().Rotate(new Vector3D(x, y, z));\n }\n }\n\n #endregion\n\n [RpcMethod(\"test\")]\n public static int Test(int test)\n {\n if (test == 25)\n {\n throw new System.Exception(\"Test exception\");\n }\n return test;\n }\n\n [RpcMethod(\"set_motor_percent\")]\n public static void SetMotorPercent(uint channel, int motorIndex, double percent)\n {\n foreach (var e in EnvironmentManager.GetEntitiesWhere(\n e => e.GetComponent<Moveable>()?.Channel == channel && e.GetComponent<MotorAssemblyManager>() != null))\n {\n e.GetComponent<MotorAssemblyManager>().AllMotorAssemblies[motorIndex].SetVoltage((float)percent * 12f);\n }\n }\n }\n}\n<file_sep># Builder Docker build stage\n\nFROM ubuntu:18.04 AS builder\n\nENV WPILIB_VERSION v2021.2.2\nENV SYNTHESIS_BRANCH wpilib-2021\nENV TEMPPATH /temp\nENV PATH $TEMPPATH/bin:$PATH\n\nRUN mkdir $TEMPPATH\n\nRUN apt-get update && apt-get upgrade -y\n\n# This avoids issues with an interactive configuration step for tzdata\nRUN DEBIAN_FRONTEND=\"noninteractive\" apt-get install -y --no-install-recommends tzdata\n\nRUN apt-get install -y --no-install-recommends \\\n gcc \\\n g++ \\\n git \\\n make \\\n zlib1g-dev \\ \n automake \\\n libtool \\\n gdb-multiarch \\\n gdbserver \\\n openjdk-11-jdk \\\n openjdk-11-jre \\\n cmake \\\n curl \\\n unzip \\\n patch\n\n# Build and install protobuf\nRUN cd /root && \\\n git clone https://github.com/protocolbuffers/protobuf.git --branch v3.7.0 --depth=1 && \\\n cd protobuf && \\\n git submodule update --init --recursive && \\\n ./autogen.sh && \\\n ./configure && \\\n make -j12 && \\\n make check && \\\n make install && \\\n ldconfig\n\n# Build Synthesis\nRUN mkdir -p $TEMPPATH/src/github.com/autodesk && \\ \n cd $TEMPPATH/src/github.com/autodesk/ && \\\n git clone https://github.com/Autodesk/synthesis.git --branch ${SYNTHESIS_BRANCH} --depth=1\n\nENV ENTER_HEL cd $TEMPPATH/src/github.com/autodesk/synthesis/emulation/hel\n\nRUN ${ENTER_HEL} && \\\n mkdir build && \\\n cd build && \\\n cmake .. -DX86=ON -DWPILIB_VERSION=${WPILIB_VERSION} && \\\n make hel\n\n# Build WPILibj\nRUN ${ENTER_HEL}/../java_vm/wpi_cross && \\\n git clone https://github.com/wpilibsuite/allwpilib --branch ${WPILIB_VERSION} --depth=1 && \\\n cd allwpilib && \\\n rm -rf hal/src/main/native/sim && \\\n cp ../../../hel/build/lib/ni-libraries/src/ni-libraries/src/include hal/src/main/native/ -r && \\\n cp wpiutil/src/main/native/include hal/src/main/native/ -r && \\\n mv hal/src/main/native/athena hal/src/main/native/sim && \\\n cat ../shim_hal.cpp >> hal/src/main/native/sim/HAL.cpp && \\\n cat ../shim_jni.cpp >> hal/src/main/native/cpp/jni/HALUtil.cpp && \\\n patch -p0 < ../AddressableLED.patch && \\\n patch -p0 < ../FRCDriverStation.patch && \\\n ./gradlew halBaseLinuxx86-64ReleaseSharedLibrary halJNILinuxx86-64ReleaseSharedLibrary :wpilibj:assemble && \\\n (./gradlew wpilibj:build || true)\nRUN ${ENTER_HEL}/../java_vm/wpi_cross/allwpilib && \\\n cp wpilibc/src/main/native/include/frc wpilibOldCommands/src/main/native/include -r -f && \\\n cp wpilibc/src/main/native/include/frc2 wpilibOldCommands/src/main/native/include -r -f && \\\n cp wpiutil/src/main/native/include/wpi wpilibOldCommands/src/main/native/include -r -f && \\\n cp ntcore/src/main/native/include/* wpilibOldCommands/src/main/native/include -r -f && \\\n cp hal/src/main/native/include/* wpilibOldCommands/src/main/native/include -r -f && \\\n cp wpimath/src/main/native/include/* wpilibOldCommands/src/main/native/include -r -f && \\\n cp hal/build/generated/headers/* wpilibOldCommands/src/main/native/include -r -f && \\\n ./gradlew wpilibOldCommandsBaseLinuxx86-64DebugSharedLibrary\nRUN ${ENTER_HEL}/../java_vm/wpi_cross/allwpilib && \\\ncp wpilibc/src/main/native/include/frc wpilibNewCommands/src/main/native/include -r -f && \\\n cp wpilibc/src/main/native/include/frc2 wpilibNewCommands/src/main/native/include -r -f && \\\n cp wpiutil/src/main/native/include/wpi wpilibNewCommands/src/main/native/include -r -f && \\\n cp ntcore/src/main/native/include/* wpilibNewCommands/src/main/native/include -r -f && \\\n cp hal/src/main/native/include/* wpilibNewCommands/src/main/native/include -r -f && \\\n cp wpimath/src/main/native/include/* wpilibNewCommands/src/main/native/include -r -f && \\\n cp wpimath/src/main/native/eigeninclude/Eigen wpilibNewCommands/src/main/native/include -r -f && \\\n cp hal/build/generated/headers/* wpilibNewCommands/src/main/native/include -r -f && \\\n ./gradlew wpilibNewCommandsBaseLinuxx86-64DebugSharedLibrary\n\n\n# Move needed files into one location\nRUN mkdir $TEMPPATH/to_copy && \\\n ${ENTER_HEL}/../ && \\\n find . -regex \".*\\.\\(so\\)\\(\\.[0-9]*\\)*\" -exec mv {} $TEMPPATH/to_copy \\; && \\\n mv hel/scripts/frc_program_runner.sh $TEMPPATH/to_copy && \\\n mv hel/scripts/docker_runner.sh $TEMPPATH/to_copy\n\n# Final build Docker build stage\n\nFROM ubuntu:18.04\n\nENV WPILIB_VERSION v2020.3.2\nENV SYNTHESIS_BRANCH emulator-restore\nENV TEMPPATH /temp\n\nRUN echo 'root:root' | chpasswd\n\nRUN apt-get -y update\n\nRUN DEBIAN_FRONTEND=\"noninteractive\" apt install -y --no-install-recommends tzdata\n\nRUN apt -y install --no-install-recommends \\\n linux-image-generic:amd64 \\\n systemd-sysv \\\n dbus \\\n openjdk-11-jre \\\n openssh-server \\\n vim \\\n iputils-ping \\\n iproute2 \\\n isc-dhcp-client \\\n network-manager \\\n ifupdown2\n\nRUN adduser --disabled-password --gecos \"\" lvuser && \\\n passwd -d lvuser\n\nWORKDIR /home/lvuser\n\nRUN sed -i '#s/PermitRootLogin\\ prohibit-password/PermitRootLogin\\ yes/' /etc/ssh/sshd_config && \\\n sed -i 's/#PasswordAuthentication/PasswordAuthentication/' /etc/ssh/sshd_config && \\\n sed -i 's/#PermitEmptyPasswords\\ no/PermitEmptyPasswords\\ yes/' /etc/ssh/sshd_config && \\ \n sed -i 's/pam_unix.so nullok_secure/pam_unix.so nullok/' /etc/pam.d/common-auth\n\nRUN printf \"auto enp0s3\\n\\\nallow-hotplug enp0s3\\n\\\niface enp0s3 inet dhcp\" >> /etc/network/interfaces\n\nEXPOSE 22\nEXPOSE 50051\n\nRUN mkdir /run/sshd # TODO is this necessary?\n\n# Copy synthesis dir\nCOPY --from=builder $TEMPPATH/to_copy/* /home/lvuser/\n\n# Move WPILib libraries into /lib/\nRUN mv -n ./libhel.so \\\n ./libwpiHaljni.so \\\n ./libwpiHald.so \\\n ./libwpiutild.so \\\n ./libcscorejni.so \\\n ./libcscored.so \\\n ./libopencv*.so* \\\n ./libwpilib*Commands*.so* \\\n ./libntcorejni.so \\\n ./libntcored.so \\\n /lib/\n\nRUN rm -rf *.so*\n\n# Touch WPILib version file used by wpilibj\nRUN mkdir /tmp/frc_versions && \\\n touch /tmp/frc_versions/FRC_Lib_Version.ini\n\n# Write .vminfo for HEL\nRUN printf \"2.0\\n\\\nv2020.3.2\\n\\\n2020v10-image\" > /home/lvuser/.vminfo\n\n# Login as lvuser automatically\nRUN mkdir -p /etc/systemd/system/getty@tty1.service.d/ && \\\n\tprintf \"[Service]\\n\\\nExecStart=\\n\\\nExecStart=/usr/sbin/agetty --autologin lvuser --noclear %%I $TERM\" > /etc/systemd/system/getty@tty1.service.d/override.conf\n\n# Remove apt lists to reclaim space\nRUN rm -rf /var/lib/apt/lists/*\n\nCMD /usr/sbin/sshd && \\\n while true; do echo \"\"; done\n\n<file_sep>using Google.Protobuf;\nusing Synthesis.Runtime;\nusing Synthesis.UI.Dynamic;\nusing SynthesisAPI.Aether.Lobby;\nusing SynthesisAPI.Controller;\nusing SynthesisAPI.Utilities;\nusing System;\nusing System.Collections.Concurrent;\nusing System.Collections.Generic;\nusing System.IO;\nusing System.Linq;\nusing System.Net.Sockets;\nusing System.Threading;\nusing System.Threading.Tasks;\n\nusing Logger = SynthesisAPI.Utilities.Logger;\n\npublic class ConnectToMultiplayerMode : IMode {\n private const string SERVER_IP = \"127.0.0.1\";\n private const string CLIENT_NAME = \"Client 3.1415\";\n // clang-format off\n private static readonly string[] _robotFolders = {\n \"Mira\",\n \"Mira/Multiplayer\"\n };\n // clang-format on\n private string _multiplayerRobotFolder => _robotFolders[1];\n\n private LobbyClient _client;\n\n public ClientConnectionState ConnectionState { get; private set; } = ClientConnectionState.Disconnected;\n public ClientActionState ActionState { get; private set; } = ClientActionState.Idle;\n\n public List<string> GetAvailableRobots() {\n List<string> robots = new List<string>();\n\n foreach (string folder in _robotFolders) {\n string path = ParsePath(Path.Combine(\"$appdata/Autodesk/Synthesis\", folder), '/');\n if (!Directory.Exists(path)) {\n Directory.CreateDirectory(path);\n }\n\n robots.AddRange(Directory.GetFiles(path).Where(x => Path.GetExtension(x).Equals(\".mira\")));\n }\n\n return robots;\n }\n\n public Task<Result<LobbyMessage?, Exception>> SelectRobot(string pathToRobotMira) {\n if (!File.Exists(pathToRobotMira)) {\n Logger.Log(\"Robot does not exist\", LogLevel.Error);\n return Task.FromResult(new Result<LobbyMessage?, Exception>(new Exception(\"Robot file does not exist.\")));\n }\n\n var robot = new DataRobot {\n Name = Path.GetFileNameWithoutExtension(pathToRobotMira),\n Data = ByteString.CopyFrom(File.ReadAllBytes(pathToRobotMira)),\n // Guid = _client.Guid\n };\n\n ActionState = ClientActionState.UploadingData;\n\n Task < Result < LobbyMessage ?, Exception >> task;\n try {\n task = _client.UploadRobotData(robot);\n } catch (Exception e) {\n Logger.Log(\"Failed to upload robot data\", LogLevel.Error);\n ActionState = ClientActionState.Idle;\n return Task.FromResult(new Result<LobbyMessage?, Exception>(e));\n }\n\n ActionState = ClientActionState.Idle;\n return task;\n }\n\n public void Start() {\n DynamicUIManager.CreateModal<ConnectToMultiplayerModal>();\n SimulationRunner.OnGameObjectDestroyed += End;\n\n ConnectionState = ClientConnectionState.Connecting;\n Task.Factory.StartNew(() => _client = new LobbyClient(SERVER_IP, CLIENT_NAME)).ContinueWith(t => {\n if (t.IsFaulted) {\n Logger.Log(\"Failed to connect to server\", LogLevel.Error);\n ConnectionState = ClientConnectionState.Disconnected;\n } else {\n Logger.Log(\"Test Client connected to server\", LogLevel.Info);\n ConnectionState = ClientConnectionState.Connected;\n }\n });\n }\n\n public void RequestServerRobotData() {\n ActionState = ClientActionState.DownloadingData;\n\n _client.RequestServerRobotData().ContinueWith(t => {\n if (t.IsFaulted) {\n Logger.Log(\"Failed to request robot data from server\", LogLevel.Error);\n ActionState = ClientActionState.Idle;\n return;\n }\n\n string root = ParsePath(Path.Combine(\"$appdata/Autodesk/Synthesis\", _multiplayerRobotFolder), '/');\n\n foreach (DataRobot robot in _client.RobotsFromServer) {\n string path = Path.Combine(root, robot.Name + \".mira\");\n var bytes = robot.Data.ToByteArray();\n if (!File.Exists(path)) {\n File.Create(path);\n }\n\n File.WriteAllBytes(path, bytes);\n }\n });\n\n ActionState = ClientActionState.Idle;\n }\n\n public void Update() {}\n\n public void End() {\n if (_client == null) {\n return;\n }\n\n Engine.ModuleLoader.Api.ToastLogger.SetEnabled(false);\n _client.Dispose();\n _client = null;\n Engine.ModuleLoader.Api.ToastLogger.SetEnabled(true);\n }\n\n public void OpenMenu() {}\n\n public void CloseMenu() {}\n\n public enum ClientConnectionState {\n Disconnected,\n Connecting,\n Connected\n }\n\n public enum ClientActionState {\n Idle,\n UploadingData,\n DownloadingData\n }\n\n private static string ParsePath(string p, char c) {\n string[] a = p.Split(c);\n string b = \"\";\n for (int i = 0; i < a.Length; i++) {\n switch (a[i]) {\n case \"$appdata\":\n b += System.Environment.GetFolderPath(System.Environment.SpecialFolder.ApplicationData);\n break;\n default:\n b += a[i];\n break;\n }\n\n if (i != a.Length - 1) {\n b += System.IO.Path.AltDirectorySeparatorChar;\n }\n }\n\n return b;\n }\n}\n<file_sep>using System;\nusing UnityEngine;\nusing System.Collections.Generic;\nusing System.Collections;\nusing UnityEngine.Events;\nusing UnityEngine.EventSystems;\nusing Synthesis.UI.ContextMenus;\nusing UnityEngine.UI;\nusing Synthesis.Attributes;\nusing Synthesis.Util;\nusing System.Linq;\n\nusing ContextMenu = Synthesis.UI.ContextMenus.ContextMenu;\n\nnamespace Synthesis.UI {\n public class InteractableObject : MonoBehaviour, IPointerClickHandler, IPointerExitHandler, IPointerEnterHandler {\n public bool useReflection = true;\n\n private bool isBeingInteractedWith = false;\n public bool IsBeingInteractedWith {\n get => isBeingInteractedWith;\n set {\n isBeingInteractedWith = value;\n OnInteraction(value);\n if (OnInteractionStateChanged != null)\n OnInteractionStateChanged(value);\n }\n }\n\n public delegate void InteractionStateChange(bool state);\n public event InteractionStateChange OnInteractionStateChanged;\n\n public string ContextMenuUID = string.Empty;\n public List<(string title, Sprite icon, Action<object> callback)> Options =\n new List<(string title, Sprite icon, Action<object> callback)>();\n\n public void OnPointerClick(PointerEventData eventData) {\n if (eventData.button == PointerEventData.InputButton.Right) {\n Vector2 position = new Vector2(eventData.position.x,\n eventData.position.y); // Maybe have that 1080 number adjust but for rn it's fine\n OnPointerClick(position);\n } else {\n ContextMenu.Hide();\n }\n }\n\n public void OnPointerClick(Vector2 position) {\n if (useReflection) {\n ContextMenu.Show(this, position, ContextMenuUID, this);\n } else {\n ContextMenu.Show(this, position, ContextMenuUID, Options);\n }\n }\n\n public void OnPointerEnter(PointerEventData eventData) {\n // open tooltips and highlight on\n }\n\n public void OnPointerExit(PointerEventData eventData) {\n // close tooltips and highlight off\n }\n\n public void AddOption(string title, Sprite icon, Action<object> callback) => Options.Add(\n (title, icon, callback));\n\n protected virtual void OnInteraction(bool isInteractedWith) {}\n\n#region Static Methods\n\n private static Dictionary<Type, List<(string title, Sprite icon, Action<object> callback)>> InteractableTypes =\n new Dictionary<Type, List<(string, Sprite, Action<object>)>>();\n public static List<(string title, Sprite icon, Action<object> callback)> GetInteractableOptions<T>(\n T interactable)\n where T : InteractableObject {\n Type type = interactable.GetType();\n\n if (InteractableTypes.ContainsKey(type)) {\n return InteractableTypes[type];\n\n } else {\n var list = new List<(string title, Sprite icon, Action<object> callback)>();\n type.GetMethods().ForEach(x => {\n if (x.DeclaringType == type) {\n var attrObj = x.GetCustomAttributes(typeof(ContextMenuOptionAttribute), false);\n if (attrObj.Count() > 0 && attrObj[0] is ContextMenuOptionAttribute) {\n ContextMenuOptionAttribute attr = (ContextMenuOptionAttribute) attrObj[0];\n string title;\n Action<object> callback;\n\n if (attr.Title == string.Empty)\n title = x.Name;\n else\n title = attr.Title;\n\n if (attr.Callback == null)\n callback = a => x.Invoke(a, null);\n else\n callback = a => attr.Callback();\n\n list.Add((title, attr.Icon, callback));\n }\n }\n });\n\n InteractableTypes.Add(type, list);\n return list;\n }\n }\n\n#endregion\n }\n}\n<file_sep>#!/bin/bash\n\nprintf \"\\n\"\n\n# Finding protoc\n\nPROTOC=\"\"\nif [[ \"$*\" != *\"--system-protoc\"* ]] ; then\n if [[ $(find . -name protoc -type f | wc -l) == 0 ]] ; then\n echo \"Failed to find local protoc. Checking for system protoc.\"\n if [[ \"$(which protoc)\" != \"\" ]] ; then\n PROTOC=protoc\n echo \"System protoc found. Defaulting to system protoc.\"\n else\n echo \"Failed to find local or system protoc. Cannot continue execution. Exiting.\"\n return -1\n fi\n else\n PROTOC=$(find . -name protoc)\n echo \"Found local protoc. Setting default protoc executable as local copy.\"\n fi\nelif [[ \"$(which protoc)\" == \"\" ]] && [[ \"$*\" == *\"--system-protoc\"* ]] ; then\n echo \"Failed to locate system protoc. Exiting.\"\n return -2\nelse\n PROTOC=\"protoc\"\n echo \"Found protoc in path. Using system protoc.\"\nfi\n\n# Finding gRPC plugin\n\nGRPC_PLUGIN=\"\"\nif [[ \"$*\" != *\"--system-grpc\"* ]] ; then\n if [[ $(find . -name grpc_cpp_plugin -type f | wc -l) == 0 ]] ; then\n echo \"Failed to find local grpc_cpp_plugin. Checking for system grpc_cpp_plugin.\"\n if [[ \"$(which grpc_cpp_plugin)\" != \"\" ]] ; then\n GRPC_PLUGIN=$(which grpc_cpp_plugin)\n echo \"System grpc_cpp_plugin found. Defaulting to system grpc_cpp_plugin.\"\n else\n echo \"Failed to find local and system grpc_cpp_plugin. Cannot continue execution. Exiting.\"\n return -1\n fi\n else\n GRPC_PLUGIN=$(find . -name grpc_cpp_plugin)\n echo \"Found local grpc_cpp_plugin. Setting default gRPC cpp plugin as local copy\"\n fi\nelif [[ \"$(which grpc_cpp_plugin)\" == \"\" ]] && [[ \"$*\" == *\"--system-grpc\"* ]] ; then\n echo \"Failed to locate system grpc_cpp_plugin. Exiting.\"\n return -2\nelse\n GRPC_PLUGIN=$(which grpc_cpp_plugin)\n echo \"Found grpc_cpp_plugin in path. Using system gRPC cpp plugin.\"\nfi\n\nmkdir -p lib/gen\n$PROTOC ../../api/v1/proto/emulator_service.proto -I../../api/v1/proto --cpp_out=./lib/gen\n$PROTOC ../../api/v1/proto/emulator_service.proto -I../../api/v1/proto --grpc_out=./lib/gen --plugin=protoc-gen-grpc=$GRPC_PLUGIN\n\nprintf \"\\n\"\n<file_sep>#include \"roborio_manager.hpp\"\n#include \"system_interface.hpp\"\n\n#include \"FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h\"\n#include \"FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccel.h\"\n\nusing namespace nFPGA;\nusing namespace nRoboRIO_FPGANamespace;\n\nnamespace hel{\n Accelerometer:: ControlMode Accelerometer::getControlMode()const noexcept{\n return control_mode;\n }\n\n void Accelerometer::setControlMode(Accelerometer::ControlMode mode)noexcept{\n control_mode = mode;\n }\n\n uint8_t Accelerometer::getCommTargetReg()const noexcept{\n return comm_target_reg;\n }\n\n void Accelerometer::setCommTargetReg(uint8_t reg)noexcept{\n comm_target_reg = reg;\n }\n\n bool Accelerometer::getActive()const noexcept{\n return active;\n }\n\n void Accelerometer::setActive(bool a)noexcept{\n active = a;\n }\n\n uint8_t Accelerometer::getRange()const noexcept{\n return range;\n }\n\n void Accelerometer::setRange(uint8_t r)noexcept{\n range = r;\n }\n\n float Accelerometer::getXAccel()const noexcept{\n return x_accel;\n }\n\n void Accelerometer::setXAccel(float accel)noexcept{\n x_accel = accel;\n }\n\n float Accelerometer::getYAccel()const noexcept{\n return y_accel;\n }\n\n void Accelerometer::setYAccel(float accel)noexcept{\n y_accel = accel;\n }\n\n float Accelerometer::getZAccel()const noexcept{\n return z_accel;\n }\n\n void Accelerometer::setZAccel(float accel)noexcept{\n z_accel = accel;\n }\n\n float Accelerometer::convertAccel(std::pair<uint8_t, uint8_t> accel)noexcept{\n uint16_t raw = (accel.first << 4) | (accel.second >> 4);\n raw <<= 4; //correctly convert the integer to 2's compliment if negative\n raw >>= 4;\n\n switch(range) { //correctly scale raw to accel using range as done by HAL\n case 0: //2G\n return raw / 1024.0f;\n case 1: //4G\n return raw / 512.0f;\n case 2: //8G\n return raw / 256.0f;\n default:\n return 0.0f;\n }\n }\n\n std::pair<uint8_t, uint8_t> Accelerometer::convertAccel(float accel)noexcept{\n switch(range) { //correctly scale accel to raw using range as expected by HAL\n case 0: //2G\n accel *= 1024.0f;\n break;\n case 1: //4G\n accel *= 512.0f;\n break;\n case 2: //8G\n accel *= 256.0f;\n break;\n default:\n accel = 0.0f;\n break;\n }\n int16_t raw = (int16_t)accel;\n\n uint8_t first = raw >> 4; //split raw into two bytes as expected by HAL\n uint8_t second = raw << 4;\n return {first, second};\n }\n\n Accelerometer::Accelerometer()noexcept:control_mode(ControlMode::SET_COMM_TARGET),comm_target_reg(0),active(false),range(0),x_accel(0.0),y_accel(0.0),z_accel(0.0){}\n\n Accelerometer::Accelerometer(const Accelerometer& source)noexcept{\n#define COPY(NAME) NAME = source.NAME\n COPY(control_mode);\n COPY(comm_target_reg);\n COPY(active);\n COPY(range);\n COPY(x_accel);\n COPY(y_accel);\n COPY(z_accel);\n#undef COPY\n }\n\n struct AccelerometerManager: public tAccel{\n private:\n static constexpr uint8_t ID = 0x2a;\n\n static constexpr uint8_t SEND_ADDRESS = (0x1c << 1) | 0;\n static constexpr uint8_t RECEIVE_ADDRESS = (0x1c << 1) | 1;\n\n static constexpr uint8_t CONTROL_TX_RX = 1;\n static constexpr uint8_t CONTROL_START = 2;\n static constexpr uint8_t CONTROL_STOP = 4;\n public:\n tSystemInterface* getSystemInterface(){\n return new SystemInterface();\n }\n\n uint8_t readSTAT(tRioStatusCode* /*status*/){\n return 0; //since functions are essentially completed instantly, status is always 0, or done\n }\n\n void writeDATO(uint8_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n switch(instance.first->accelerometer.getControlMode()){\n case Accelerometer::ControlMode::SET_COMM_TARGET:\n instance.first->accelerometer.setCommTargetReg(value);\n instance.second.unlock();\n return;\n case Accelerometer::ControlMode::SET_DATA:\n switch(instance.first->accelerometer.getCommTargetReg()){\n case Accelerometer::Register::kReg_CtrlReg1:\n instance.first->accelerometer.setActive(value & 1u); //Gets first bit in value\n instance.second.unlock();\n return;\n case Accelerometer::Register::kReg_XYZDataCfg:\n instance.first->accelerometer.setRange(value & 3u); //Gets first two bits in value\n instance.second.unlock();\n return;\n default:\n instance.second.unlock();\n throw UnhandledEnumConstantException(\"hel::Accelerometer::Register\");\n }\n instance.second.unlock();\n return;\n default:\n instance.second.unlock();\n throw UnhandledEnumConstantException(\"hel::Accelerometer::ControlMode\");\n }\n }\n\n uint8_t readDATO(tRioStatusCode* /*status*/){ //unnecessary for emulation\n return 0;\n }\n\n void writeCNTR(uint8_t /*value*/, tRioStatusCode* /*status*/){} //unnecessary for emulation\n\n uint8_t readCNTR(tRioStatusCode* /*status*/){ //unnecessary for emulation\n return 0;\n }\n\n void writeCNFG(uint8_t /*value*/, tRioStatusCode* /*status*/){} //unnecessary for emulation\n\n uint8_t readCNFG(tRioStatusCode* /*status*/){ //unnecessary for emulation\n return 0;\n }\n\n void writeCNTL(uint8_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n Accelerometer::ControlMode control_mode = [&]{\n if(value == (CONTROL_START | CONTROL_TX_RX)){//HAL sets value to this when setting up write to comm target\n return Accelerometer::ControlMode::SET_COMM_TARGET;\n }\n return Accelerometer::ControlMode::SET_DATA;\n }();\n instance.first->accelerometer.setControlMode(control_mode);\n instance.second.unlock();\n }\n\n uint8_t readCNTL(tRioStatusCode* /*status*/){ //unnecessary for emulation\n return 0;\n }\n\n uint8_t readDATI(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n\n switch(instance.first->accelerometer.getCommTargetReg()){\n case Accelerometer::Register::kReg_WhoAmI:\n instance.second.unlock();\n return ID;\n case Accelerometer::Register::kReg_CtrlReg1:\n instance.second.unlock();\n return instance.first->accelerometer.getActive();\n case Accelerometer::Register::kReg_XYZDataCfg:\n instance.second.unlock();\n return instance.first->accelerometer.getRange();\n case Accelerometer::Register::kReg_OutXMSB:\n instance.second.unlock();\n return instance.first->accelerometer.convertAccel(instance.first->accelerometer.getXAccel()).first;\n case Accelerometer::Register::kReg_OutXLSB:\n instance.second.unlock();\n return instance.first->accelerometer.convertAccel(instance.first->accelerometer.getXAccel()).second;\n case Accelerometer::Register::kReg_OutYMSB:\n instance.second.unlock();\n return instance.first->accelerometer.convertAccel(instance.first->accelerometer.getYAccel()).first;\n case Accelerometer::Register::kReg_OutYLSB:\n instance.second.unlock();\n return instance.first->accelerometer.convertAccel(instance.first->accelerometer.getYAccel()).second;\n case Accelerometer::Register::kReg_OutZMSB:\n instance.second.unlock();\n return instance.first->accelerometer.convertAccel(instance.first->accelerometer.getZAccel()).first;\n case Accelerometer::Register::kReg_OutZLSB:\n instance.second.unlock();\n return instance.first->accelerometer.convertAccel(instance.first->accelerometer.getZAccel()).second;\n default:\n instance.second.unlock();\n throw UnhandledEnumConstantException(\"hel::Accelerometer::Register\");\n }\n }\n\n void strobeGO(tRioStatusCode* /*status*/){} //unnecessary for emulation\n\n void writeADDR(uint8_t /*value*/, tRioStatusCode* /*status*/){} //unnecessary for emulation\n\n uint8_t readADDR(tRioStatusCode* /*status*/){ //unnecessary for emulation\n return 0;\n }\n };\n}\n\nnamespace nFPGA{\n namespace nRoboRIO_FPGANamespace{\n tAccel* tAccel::create(tRioStatusCode* /*status*/){\n return new hel::AccelerometerManager();\n }\n }\n}\n<file_sep>using System;\nusing SynthesisAPI.Runtime;\n\nnamespace Api.GUI\n{\n\tpublic abstract class GUIInstance : IDisposable\n\t{\n\t\tprivate bool _disposed = false;\n\t\tprivate bool _initialized = false;\n\t\tinternal int _id;\n\n\t\tinternal void SetId(int id)\n\t\t{\n\t\t\tif (!_initialized)\n\t\t\t{\n\t\t\t\t_id = id;\n\t\t\t\t_initialized = true;\n\t\t\t}\n\t\t\telse\n\t\t\t{\n\t\t\t\tthrow new Exception(\"Object already initialized\");\n\t\t\t}\n\t\t}\n\n\t\tinternal bool IsInitialized => _initialized;\n\t\tinternal bool IsDisposed => _disposed;\n\n\n\t\tpublic void Dispose() => Dispose(true);\n\n\t\tprotected virtual void Dispose(bool disposing)\n\t\t{\n\t\t\tif (_disposed)\n\t\t\t{\n\t\t\t\treturn;\n\t\t\t}\n\n\t\t\tif (disposing)\n\t\t\t{\n\t\t\t\tApiProvider.GetGUIManager().Free(_id);\n\t\t\t}\n\t\t}\n\t}\n}<file_sep>from ..general_imports import gm\nfrom ..configure import setAnalytics\n\n\ndef showAnalyticsAlert():\n ret = \"<html><h1> Unity File Exporter Addin </h1>\\n<hr>\"\n ret += f\"<font size=5>The Unity File Exporter would like to collect anonymous analytics information from you. You can find the privacy policy at the following address to review the data that is collected for the individual user session and how that data is used.</font> \\n<ul>\"\n ret += f\"<li><a href=https://myshare.autodesk.com/:b:/g/personal/shawn_hice_autodesk_com/EZ9qyyVyIKpOn8jHqJQrK8MBPvHB_n2K0c0PnTc_lJpzXA?e=YLTBbS><font size=5>Privacy Policy Document</font></a></li>\"\n ret += \"</ul>\\n\"\n ret += \"<font size=5>May we collect basic usage information to help improve the user workflow and catch problems?</font></html>\"\n\n res = gm.ui.messageBox(\n ret,\n \"Unity File Exporter Analytics\",\n 3, # This is yes/no\n 1, # This is question icon\n )\n\n setAnalytics(True) if res == 2 else setAnalytics(False)\n<file_sep>.PHONY: all FusionExporter CodeSimulation\n\nall: FusionExporter CodeSimulation\n\n# I could do something fancy but I don't want to google it\nFusionExporter:\n\tclaat export -o ./ FusionExporter.md\n\nCodeSimulation:\n\tclaat export -o ./ CodeSimulation.md\n<file_sep>using Synthesis.UI.Dynamic;\nusing UnityEngine;\n\n#nullable enable\n\npublic class OverviewCameraMode : ICameraMode {\n public void Start<T>(CameraController cam, T? previousCam)\n where T : ICameraMode {\n // camera should be positioned above the field looking down\n cam.transform.position = new Vector3(0, 10, 0);\n cam.transform.rotation = Quaternion.Euler(90, 0, 0);\n }\n\n public void Update(CameraController cam) {\n // don't allow camera movement when a modal or panel is open\n if (DynamicUIManager.ActiveModal != null || DynamicUIManager.AnyPanels)\n return;\n // scrolling up zooms out in all other camera modes\n cam.transform.Translate(0, 0, CameraController.ZoomSensitivity * Input.mouseScrollDelta.y);\n Vector3 position = cam.transform.position;\n\n if (RobotSimObject.CurrentlyPossessedRobot != string.Empty) {\n var robot = RobotSimObject.GetCurrentlyPossessedRobot();\n var focus = robot.GroundedNode.transform.localToWorldMatrix.MultiplyPoint(robot.GroundedBounds.center);\n position.x = focus.x;\n position.z = focus.z;\n }\n\n cam.GroundRenderer.material.SetVector(\"_GridFocusPoint\", position);\n\n // user can't go under the field or too far above that they can't see it\n cam.transform.position = new Vector3(position.x, Mathf.Clamp(position.y, 0, 100), position.z);\n }\n\n public void LateUpdate(CameraController cam) {}\n\n public void End(CameraController cam) {}\n}<file_sep># Synthesis <small>An Autodesk Software</small>\n\n> A foundation for creating better robotics simulation\n\n- Fusion 360\n- Unity\n- GRPC\n\n[Getting Started](#Synthesis)\n[Synthesis](https://synthesis.autodesk.com/)<file_sep>/// <summary>\n/// Contains information about a linear degree of freedom.\n/// </summary>\npublic interface LinearDOF\n{\n float currentPosition\n {\n get;\n }\n float upperLimit\n {\n get;\n set;\n }\n float lowerLimit\n {\n get;\n set;\n }\n\n BXDVector3 translationalAxis\n {\n get;\n set;\n }\n BXDVector3 basePoint\n {\n get;\n set;\n }\n}\n\npublic static class LinearDOFExtensions\n{\n public static bool hasUpperLinearLimit(this LinearDOF dof)\n {\n return !float.IsPositiveInfinity(dof.upperLimit);\n }\n\n public static bool hasLowerLinearLimit(this LinearDOF dof)\n {\n return !float.IsNegativeInfinity(dof.lowerLimit);\n }\n}<file_sep>#!/usr/bin/env python\n\n# This script prints the data sent by HEL to the engine as it receives it\n\nimport socket\nimport os\nimport sys\nimport json\n\ntry:\n from Queue import Queue, Empty\nexcept ImportError:\n from queue import Queue, Empty\n\nRECEIVE_PORT = 11001\nDATA_PREFIX = \"{\\\"roborio\\\":\"\nDATA_SUFFIX = \"\\x1B\"\n\nclient_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)\nclient_socket.connect((\"localhost\",RECEIVE_PORT))\n\ntry:\n while True:\n data = client_socket.recv(4096)\n if not data:\n pass\n msg = data.decode(\"utf-8\")\n if DATA_PREFIX in msg:\n msg = msg[:(-1 * len(DATA_SUFFIX))]\n os.system(\"clear\")\n parsed = json.loads(msg);\n print(json.dumps(parsed, indent = 4, sort_keys = False))\nexcept KeyboardInterrupt:\n client_socket.close()\n<file_sep>using System;\nusing System.Collections;\nusing System.Collections.Generic;\nusing System.Linq;\n\nnamespace SynthesisAPI.Utilities\n{\n public class BiDictionary<A, B> : IEnumerable<KeyValuePair<A, B>>\n {\n private List<KeyValuePair<A, B>> collection = new List<KeyValuePair<A, B>>();\n\n public B this[A query] {\n get {\n var i = collection.FindIndex(x => x.Key.Equals(query));\n if (i == -1)\n throw new ArgumentException($\"BiDictionary does not contain matching item for {query}\");\n return collection[i].Value;\n }\n set {\n collection.RemoveAll(x => x.Key.Equals(query));\n collection.Add(new KeyValuePair<A, B>(query, value));\n }\n }\n public A this[B query] {\n get {\n var i = collection.FindIndex(x => x.Value.Equals(query));\n if (i == -1)\n throw new ArgumentException($\"BiDictionary does not contain matching item for {query}\");\n return collection[i].Key;\n }\n set {\n collection.RemoveAll(x => x.Value.Equals(query));\n collection.Add(new KeyValuePair<A, B>(value, query));\n }\n }\n\n public bool Contains(A query)\n {\n return collection.FindIndex(x => x.Key.Equals(query)) != -1;\n }\n\n public bool Contains(B query)\n {\n return collection.FindIndex(x => x.Value.Equals(query)) != -1;\n }\n\n public void Add(A key, B value)\n {\n if (!Contains(key) && !Contains(value))\n {\n collection.Add(new KeyValuePair<A, B>(key, value));\n }\n else\n {\n throw new ArgumentException($\"BiDictionary: Element already exists with key {key} or value {value}\");\n }\n }\n\n public bool TryGetValue(A key, out B value)\n {\n if (Contains(key))\n {\n value = this[key];\n return true;\n }\n value = default;\n return false;\n }\n\n public bool TryGetValue(B value, out A key)\n {\n if (Contains(value))\n {\n key = this[value];\n return true;\n }\n key = default;\n return false;\n }\n\n public IEnumerator<KeyValuePair<A, B>> GetEnumerator()\n {\n return ((IEnumerable<KeyValuePair<A, B>>)collection).GetEnumerator();\n }\n\n IEnumerator IEnumerable.GetEnumerator()\n {\n return ((IEnumerable<KeyValuePair<A, B>>)collection).GetEnumerator();\n }\n\n public void Add(BiDictionary<A, B> dict)\n {\n collection.AddRange(dict.collection);\n }\n\n public B GetUsingA(A key) => collection.Find(x => x.Key.Equals(key)).Value;\n\n public A GetUsingB(B key) => collection.Find(x => x.Value.Equals(key)).Key;\n }\n}<file_sep>using System.Collections;\nusing System.Collections.Generic;\nusing UnityEngine;\nusing UnityEngine.EventSystems;\nusing Synthesis.UI;\nusing Synthesis.UI.ContextMenus;\n\nusing ContextMenu = Synthesis.UI.ContextMenus.ContextMenu;\n\npublic class Interactable3DDetector : MonoBehaviour {\n private static Interactable3DDetector instance = null;\n\n private void Start() {\n if (instance != null) {\n Destroy(gameObject);\n return;\n }\n instance = this;\n }\n\n private void Update() {\n if (Input.GetKeyDown(KeyCode.Mouse1)) {\n var refResolution = ContextMenu.CanvasScaler.referenceResolution;\n\n Vector2 screen = new Vector2(Screen.currentResolution.width, Screen.currentResolution.height);\n Vector2 mouse = new Vector2(Input.mousePosition.x, Input.mousePosition.y);\n Vector2 adjustedPos =\n new Vector2(refResolution.x * (mouse.x / screen.x), refResolution.y * (mouse.y / screen.y));\n\n var ray = Camera.main.ScreenPointToRay(Input.mousePosition);\n Physics.Raycast(ray, out RaycastHit hit); // TODO: Fix\n if (hit.collider != null) {\n var component = hit.collider.gameObject.GetComponent<InteractableObject>();\n if (component != null) {\n component.OnPointerClick(new Vector2(Input.mousePosition.x, Input.mousePosition.y));\n }\n }\n }\n }\n}\n<file_sep>namespace LinuxDeps {\n public class Class1 { }\n}\n<file_sep>using System;\nusing System.Collections;\nusing System.Collections.Generic;\nusing UnityEngine;\nusing SynthesisAPI.RoboRIO;\nusing Google.Protobuf.WellKnownTypes;\nusing SynthesisAPI.Simulation;\n\nusing Type = System.Type;\nusing SynthesisAPI.Controller;\n\nnamespace Synthesis.WS.Translation {\n public class RioTranslationLayer {\n // I seriously hate json and its like 4am so deal\n public List<PWMGroup> PWMGroups = new List<PWMGroup>();\n public List<Encoder> Encoders = new List<Encoder>();\n\n public class Encoder {\n private string _guid;\n public string GUID => _guid;\n private string _signal;\n public string Signal => _signal;\n private string _channelA;\n public string ChannelA => _channelA;\n private string _channelB;\n public string ChannelB => _channelB;\n private float _mod;\n public float Mod => _mod;\n\n private string _rioDevice = string.Empty;\n\n private (float time, float val) _periodTracker;\n\n public Encoder(string guid, string channelA, string channelB, string signal, float mod) {\n _guid = guid;\n _channelA = channelA;\n _channelB = channelB;\n _signal = signal;\n _mod = mod;\n\n _periodTracker = (Time.realtimeSinceStartup, 0);\n }\n\n public void Update(ControllableState signalState) {\n var signalVal = signalState.GetValue($\"{_signal}_encoder\");\n int val = (int) (signalVal == null ? 0 : signalVal.NumberValue);\n\n // TODO: Update riostate\n if (_rioDevice.Length == 0 && !AquireRioDevice(WebSocketManager.RioState))\n return;\n\n float period;\n var deltaVal = val - _periodTracker.val;\n if (deltaVal == 0)\n period = float.MaxValue;\n else\n period = (Time.realtimeSinceStartup - _periodTracker.time) / deltaVal;\n\n WebSocketManager.UpdateData<EncoderData>(_rioDevice, e => e.Count = val);\n WebSocketManager.UpdateData<EncoderData>(_rioDevice, e => e.Period = period);\n }\n\n private bool AquireRioDevice(RoboRIOState rioState) {\n _rioDevice = string.Empty;\n int i = 0;\n while (i < 8 && _rioDevice.Length == 0) {\n var data = rioState.GetData<EncoderData>(i.ToString());\n if (data != null) {\n if (data.ChannelA.ToString() == _channelA && data.ChannelB.ToString() == _channelB) {\n _rioDevice = i.ToString();\n }\n }\n i++;\n }\n\n return _rioDevice.Length != 0;\n }\n }\n\n /// <summary>\n /// A Grouping of signals in which you can write the value of the the signals\n /// </summary>\n public class PWMGroup {\n private string _name;\n public string Name => _name;\n private List<string> _ports;\n public IReadOnlyList<string> Ports => _ports.AsReadOnly();\n private List<string> _signals;\n public IReadOnlyList<string> Signals => _signals.AsReadOnly();\n\n public PWMGroup(string name, string[] ports, string[] signals) {\n _name = name;\n _signals = new List<string>();\n _ports = new List<string>();\n _signals.AddRange(signals);\n _ports.AddRange(ports);\n }\n\n public void Update(RoboRIOState rioState, ControllableState signalState) {\n if (!WebSocketManager.RioState.GetData<DriverStationData>(\"\").Enabled) {\n _signals.ForEach(x => signalState.SetValue(x, Value.ForNumber(0)));\n } else {\n float avg = 0f;\n _ports.ForEach(x => { avg += (float) rioState.GetData<PWMData>(x).Speed; });\n avg /= _ports.Count;\n _signals.ForEach(x => { signalState.SetValue(x, Value.ForNumber(avg)); });\n }\n }\n }\n }\n}\n<file_sep>using SynthesisAPI.EnvironmentManager.Components;\nusing UnityEngine.EventSystems;\n\nnamespace Engine.ModuleLoader.Adapters {\n public class CameraAdapter : UnityEngine.MonoBehaviour, IApiAdapter<Camera> {\n private Camera instance;\n private new UnityEngine.Camera camera;\n private static UnityEngine.Camera defaultCamera;\n\n public void SetInstance(Camera camera) {\n instance = camera;\n }\n\n public static Camera NewInstance() {\n return new Camera();\n }\n\n public void Awake() {\n camera = gameObject.GetComponent<UnityEngine.Camera>();\n if (camera == null) {\n if (defaultCamera == null) {\n defaultCamera = Util.Misc.FindGameObject(\"Main Camera\").GetComponent<UnityEngine.Camera>();\n // TODO rename Main Camera in scene to something like Default Camera Settings\n }\n camera = gameObject.AddComponent<UnityEngine.Camera>();\n camera.CopyFrom(defaultCamera);\n gameObject.AddComponent<PhysicsRaycaster>();\n camera.tag = \"MainCamera\"; // TODO manage which is main camera?\n\n gameObject.AddComponent<UnityEngine.AudioListener>();\n }\n }\n }\n}<file_sep>using System;\nusing System.Collections.Generic;\n\n\n/// <summary>\n/// Represents a node inside the hierarchy representing how a robot moves.\n/// </summary>\npublic class RigidNode_Base\n{\n /// <summary>\n /// Types of joint drivers.\n /// </summary>\n public enum SoftwareExportedWith : byte\n {\n INVENTOR = 0,\n FUSION_360 = 1\n }\n ///<summary>\n /// The software this model was orginally exported with\n /// </summary>\n public SoftwareExportedWith exportedWith;\n /// <summary>\n /// Generic delegate for creating rigid node instances\n /// </summary>\n public delegate RigidNode_Base RigidNodeFactory(Guid guid);\n\n /// <summary>\n /// By setting this to a custom value skeletons that are read using <see cref=\"BXDJSkeleton.ReadBinarySkeleton(string)\"/> can \n /// be composed of a custom rigid node type.\n /// </summary>\n public static RigidNodeFactory NODE_FACTORY = delegate(Guid guid)\n {\n return new RigidNode_Base(guid);\n };\n\n /// <summary>\n /// How far down in the hierarchy this element is. The higher it is the farther from the root node.\n /// </summary>\n protected int level;\n\n /// <summary>\n /// The node that represents the parent of this node. If this is null then this is a root node.\n /// </summary>\n private RigidNode_Base parent;\n\n /// <summary>\n /// The joint that connects this node to its parent.\n /// </summary>\n private SkeletalJoint_Base parentConnection;\n\n /// <summary>\n /// The name of the file holding this node's model.\n /// </summary>\n public string ModelFileName;\n\n\n /// <summary>\n /// The globally unique identifier.\n /// </summary>\n public Guid GUID\n {\n get;\n private set;\n }\n\n /// <summary>\n /// Contains the drivetrain type for the model, only implemented at the top node\n /// </summary>\n public enum DriveTrainType\n {\n NONE = 0,\n TANK = 1,\n H_DRIVE = 2,\n CUSTOM = 3\n }\n\n public DriveTrainType driveTrainType;\n\n /// <summary>\n /// A very verbose identifier that represents the element this node is in the overall structure.\n /// </summary>\n public string ModelFullID;\n\n /// <summary>\n /// A mapping between each child node of this node and the joint connection between the two.\n /// </summary>\n public Dictionary<SkeletalJoint_Base, RigidNode_Base> Children = new Dictionary<SkeletalJoint_Base, RigidNode_Base>();\n\n /// <summary>\n /// Initializes a new instance of the RigidNode_Base class.\n /// </summary>\n /// <param name=\"guid\"></param>\n public RigidNode_Base(Guid guid)\n {\n GUID = guid;\n }\n\n /// <summary>\n /// Adds the given node as a child of this node.\n /// </summary>\n /// <param name=\"joint\">The joint connecting this node to the child</param>\n /// <param name=\"child\">The child node</param>\n public void AddChild(SkeletalJoint_Base joint, RigidNode_Base child)\n {\n Children.Add(joint, child);\n child.parentConnection = joint;\n child.parent = this;\n child.level = level + 1;\n }\n\n /// <summary>\n /// Gets the parent node for this node.\n /// </summary>\n /// <returns>The parent node, or null if this node is a root node</returns>\n public RigidNode_Base GetParent()\n {\n return parent;\n }\n\n /// <summary>\n /// Gets the skeletal joint connecting this node to its parent.\n /// </summary>\n /// <remarks>\n /// This should always be non-null when the current node isn't a root node.\n /// </remarks>\n /// <returns>The joint connection, or null if no connection exists.</returns>\n public SkeletalJoint_Base GetSkeletalJoint()\n {\n return parentConnection;\n }\n\n /// <summary>\n /// Gets the actual object visually representing this rigid node if such an item exists.\n /// </summary>\n /// <returns>The representation, or null</returns>\n public virtual object GetModel()\n {\n return null;\n }\n\n /// <summary>\n /// Gets a very verbose identifier that represents the element this node is in the overall structure.\n /// </summary>\n /// <returns>The model identifier</returns>\n public virtual string GetModelID()\n {\n return ModelFullID;\n }\n\n public override string ToString()\n {\n string result = new string('\\t', level) + \"Rigid Node\" + System.Environment.NewLine;\n result += new string('\\t', level) + \"ID: \" + ModelFullID + System.Environment.NewLine;\n if (parentConnection != null && parentConnection.cDriver != null)\n {\n result += new string('\\t', level) + \"Driver: \" + (\"\\n\" + parentConnection.cDriver.ToString()).Replace(\"\\n\", \"\\n\" + new string('\\t', level + 1));\n }\n if (Children.Count > 0)\n {\n result += new string('\\t', level) + \"Children: \";\n foreach (KeyValuePair<SkeletalJoint_Base, RigidNode_Base> pair in Children)\n {\n result += System.Environment.NewLine + new string('\\t', level) + \" - \" + pair.Key.ToString();\n result += System.Environment.NewLine + pair.Value.ToString();\n result += \"\\n\";\n }\n }\n return result;\n }\n\n /// <summary>\n /// Gets a list of all the rigid nodes at or below this item in the tree.\n /// </summary>\n /// <returns>The list of nodes</returns>\n public List<RigidNode_Base> ListAllNodes()\n {\n List<RigidNode_Base> list = new List<RigidNode_Base>();\n ListAllNodes(list);\n return list;\n }\n\n /// <summary>\n /// Gets a list of all the rigid nodes at or below this item in the tree.\n /// </summary>\n /// <param name=\"list\">The list to write the nodes to</param>\n public void ListAllNodes(List<RigidNode_Base> list)\n {\n list.Add(this);\n foreach (KeyValuePair<SkeletalJoint_Base, RigidNode_Base> pair in Children)\n {\n pair.Value.ListAllNodes(list);\n }\n }\n}<file_sep>using System;\nusing System.Collections.Generic;\nusing System.IO;\nusing System.IO.Compression;\nusing System.Linq;\nusing System.Reflection;\nusing Assets.Scripts.Engine.Util;\nusing Ionic.Zip;\nusing SynthesisAPI.AssetManager;\nusing SynthesisAPI.EnvironmentManager;\nusing SynthesisAPI.EventBus;\nusing SynthesisAPI.Modules;\nusing SynthesisAPI.Modules.Attributes;\nusing SynthesisAPI.Utilities;\nusing SynthesisAPI.VirtualFileSystem;\nusing Logger = SynthesisAPI.Utilities.Logger;\nusing PreloadedModule = System.ValueTuple<Ionic.Zip.ZipFile, Engine.ModuleLoader.ModuleMetadata>;\n\nusing Directory = System.IO.Directory;\nusing Type = System.Type;\nusing ZipFile = Ionic.Zip.ZipFile;\n\nnamespace Engine.ModuleLoader {\n public static class ModuleLoader {\n private static string _moduleSourcePath;\n private static string _baseModuleTargetPath;\n\n public static void LoadModules(string moduleSourcePath, string baseModuleTargetPath) {\n _moduleSourcePath = moduleSourcePath;\n _baseModuleTargetPath = baseModuleTargetPath;\n\n if (!Directory.Exists(_moduleSourcePath)) {\n Directory.CreateDirectory(_moduleSourcePath);\n }\n var modules = new List<PreloadedModule>();\n try {\n modules = PreloadModules();\n } catch (Exception e) {\n Logger.Log($\"Failed to preload modules\\n{e}\", LogLevel.Error);\n }\n try {\n ResolveDependencies(modules);\n } catch (Exception e) {\n Logger.Log($\"Failed to resolve module dependencies\\n{e}\", LogLevel.Error);\n }\n foreach (var (archive, metadata) in modules) {\n try {\n LoadModule((archive, metadata));\n\n EventBus.Push(new LoadModuleEvent(metadata.Name, metadata.Version));\n ModuleManager.AddToLoadedModuleList(new ModuleManager.ModuleInfo(\n metadata.Name, metadata.Version, metadata.Author, metadata.Description));\n } catch (Exception e) {\n Logger.Log($\"Failed to load module {metadata.Name}\\n{e}\", LogLevel.Error);\n // TODO error screen\n break;\n }\n }\n foreach (var (archive, _) in modules) {\n archive.Dispose();\n }\n ModuleManager.MarkFinishedLoading();\n }\n\n private static List<PreloadedModule> PreloadModules() {\n var modules = new List<PreloadedModule>();\n\n // Discover and preload all modules\n foreach (var file in Directory.GetFiles(_moduleSourcePath).Where(fn => Path.GetExtension(fn) == \".zip\")) {\n var module = PreloadModule(Path.GetFileName(file));\n if (module is null)\n continue;\n foreach (var (_, metadata) in modules) {\n if (metadata.Name == module?.Item2.Name) {\n foreach (var (archive, _) in modules) {\n archive.Dispose();\n }\n throw new LoadModuleException(\n $\"Attempting to load module with duplicate name: {metadata.Name}\");\n }\n if (metadata.TargetPath == module?.Item2.TargetPath) {\n foreach (var (archive, _) in modules) {\n archive.Dispose();\n }\n throw new LoadModuleException(\n $\"Attempting to load modules into same target path: {metadata.TargetPath}\");\n }\n }\n modules.Add(module.Value);\n }\n return modules;\n }\n\n private static PreloadedModule? PreloadModule(string filePath) {\n var fullPath = $\"{_moduleSourcePath}{Path.DirectorySeparatorChar}{filePath}\";\n\n var module = ZipFile.Read(fullPath);\n\n if (module.Entries.All(e => e.FileName != ModuleMetadata.MetadataFilename)) {\n Logger.Log($\"Potential module missing is metadata file: {filePath}\", LogLevel.Warning);\n return null;\n }\n\n // Parse module metadata\n try {\n var tmp = module.Entries.First(e => e.FileName == ModuleMetadata.MetadataFilename);\n var metadata = ModuleMetadata.Deserialize(\n module.Entries.First(e => e.FileName == ModuleMetadata.MetadataFilename).OpenReader());\n return (module, metadata);\n } catch (Exception e) {\n module.Dispose();\n throw new LoadModuleException($\"Failed to deserialize metadata in module: {fullPath}\", e);\n }\n }\n\n public static void ResolveDependencies(List<(ZipFile archive, ModuleMetadata metadata)> moduleList) {\n foreach (var (_, metadata) in moduleList) {\n foreach (var dependency in metadata.Dependencies) {\n if (moduleList.All(m => m.metadata.Name != dependency.Name)) {\n throw new LoadModuleException(\n $\"Module {metadata.Name} is missing dependency module {dependency.Name}\");\n }\n var present_dep = moduleList.First(m => m.metadata.Name == dependency.Name);\n if (present_dep.metadata.Version != dependency.Version) {\n throw new LoadModuleException(\n $\"Module {metadata.Name} requires dependency module {dependency.Name} version {dependency.Version} but its version is {present_dep.metadata.Version}\");\n }\n }\n }\n\n // Use Kahns algorithm to resolve module dependencies, ordering modules in list\n // in the order they should be loaded\n\n // TODO check for cyclic dependencies and throw\n var resolvedEntries = moduleList.Where(t => !t.metadata.Dependencies.Any()).ToList();\n var solutionSet = new Queue<(ZipFile archive, ModuleMetadata metadata)>();\n while (resolvedEntries.Count > 0) {\n var element = resolvedEntries.PopAt(0);\n solutionSet.Enqueue(element);\n foreach (var dep in moduleList\n .Where(t => t.metadata.Dependencies.Any(\n d => d.Name == element.metadata.Name && d.Version == element.metadata.Version))\n .ToList()) {\n dep.metadata.Dependencies.RemoveAll(\n d => d.Name == element.metadata.Name && d.Version == element.metadata.Version);\n if (dep.metadata.Dependencies.Count == 0)\n resolvedEntries.Add(dep);\n }\n }\n\n moduleList.Clear();\n moduleList.AddRange(solutionSet.ToList());\n }\n\n private static string GetPath(string fullName) {\n var i = fullName.LastIndexOf(SynthesisAPI.VirtualFileSystem.Directory.DirectorySeparatorChar,\n fullName.Length - 1, fullName.Length - 2);\n if (i == -1 || i == (fullName.Length - 1)) {\n return \"\";\n }\n return fullName.Substring(0, i + 1);\n }\n\n private static string RemovePath(string metadataPath, string fullName) {\n if (fullName.StartsWith(metadataPath)) {\n return fullName.Substring(metadataPath.Length);\n }\n return fullName;\n }\n\n public static void LoadModule((ZipFile archive, ModuleMetadata metadata) moduleInfo) {\n var fileManifest = new List<string>();\n fileManifest.AddRange(moduleInfo.metadata.FileManifest);\n\n var metadataPath =\n GetPath(moduleInfo.archive.Entries.First(e => e.FileName == ModuleMetadata.MetadataFilename).FileName);\n\n List<(Assembly assembly, string owningModule)> loadedAssemblies =\n new List<(Assembly assembly, string owningModule)>();\n\n foreach (var entry in moduleInfo.archive.Entries.Where(e => {\n var name = RemovePath(metadataPath, e.FileName);\n return name != ModuleMetadata.MetadataFilename &&\n moduleInfo.metadata.FileManifest.Contains(name);\n })) {\n fileManifest.Remove(RemovePath(metadataPath, entry.FileName));\n var extension = Path.GetExtension(entry.FileName);\n var stream = entry.OpenReader();\n if (extension == \".dll\") {\n if (!LoadModuleAssembly(stream, moduleInfo.metadata.Name, loadedAssemblies)) {\n throw new LoadModuleException($\"Failed to load assembly: {entry.FileName}\");\n }\n } else {\n var targetPath = _baseModuleTargetPath +\n SynthesisAPI.VirtualFileSystem.Directory.DirectorySeparatorChar +\n moduleInfo.metadata.TargetPath +\n SynthesisAPI.VirtualFileSystem.Directory.DirectorySeparatorChar +\n GetPath(RemovePath(metadataPath, entry.FileName));\n var perm = Permissions.PublicReadWrite;\n var type = AssetManager.GetTypeFromFileExtension(extension);\n if (type == null) {\n throw new LoadModuleException(\n $\"Failed to determine asset type from file extension of asset: {entry.FileName}\");\n } else if (AssetManager.Import(type, new DeflateStreamWrapper(stream, entry.UncompressedSize),\n targetPath, entry.FileName, perm, \"\") == null) {\n throw new LoadModuleException($\"Failed to import asset: {entry.FileName}\");\n }\n }\n }\n ProcessLoadedAssemblies(loadedAssemblies);\n foreach (var file in fileManifest) {\n Logger.Log(\n $\"Module \\\"{moduleInfo.metadata.Name}\\\" is missing file from manifest: {file}\", LogLevel.Warning);\n }\n }\n\n public static bool PreloadApi() {\n // Set up Api\n try {\n var apiAssembly = AppDomain.CurrentDomain.GetAssemblies().First(a => a.GetName().Name == \"Api\");\n var types =\n apiAssembly.GetTypes()\n .Where(\n t => t.GetCustomAttribute<ModuleOmitAttribute>() == null &&\n (t.IsSubclassOf(typeof(SystemBase)) ||\n t.GetMethods().Any(m => m.GetCustomAttribute<CallbackAttribute>() != null ||\n m.GetCustomAttribute<TaggedCallbackAttribute>() != null)))\n .ToList();\n var prioritizedTypes = ResolveInitializationOrder(types, \"API\");\n var instances = new Dictionary<Type, object>();\n foreach (var (_, system, callback) in prioritizedTypes) {\n if (system != null) {\n var entity = EnvironmentManager.AddEntity();\n _ = entity.AddComponent(system);\n } else if (callback != null) {\n object instance = null;\n var declaringType = callback.DeclaringType;\n if (instances.ContainsKey(declaringType)) {\n instance = instances[declaringType];\n } else {\n instance = Activator.CreateInstance(declaringType);\n instances[declaringType] = instance;\n }\n\n if (callback.GetCustomAttribute<TaggedCallbackAttribute>() != null) {\n RegisterTagCallback(callback, instance);\n }\n\n if (callback.GetCustomAttribute<CallbackAttribute>() != null) {\n RegisterTypeCallback(callback, instance);\n }\n } else {\n throw new LoadModuleException(\"Type prioritization failed\");\n }\n ModuleManager.RegisterModuleAssemblyName(apiAssembly.GetName().Name, \"Api\");\n }\n } catch (Exception e) {\n Logger.Log($\"Failed to load API\\n{e}\", LogLevel.Error);\n }\n\n return true;\n }\n\n public static bool LoadModuleAssembly(\n Stream stream, string owningModule, List<(Assembly assembly, string owningModule)> loadedAssemblies) {\n // Load module assembly\n var memStream = new MemoryStream();\n stream.CopyTo(memStream);\n stream.Close();\n var assembly = Assembly.Load(memStream.ToArray());\n\n loadedAssemblies.Add((assembly, owningModule));\n\n // Set up module\n Type[] types;\n try {\n types = assembly.GetTypes();\n } catch (ReflectionTypeLoadException e) {\n if (e is ReflectionTypeLoadException reflectionTypeLoadException) {\n foreach (var inner in reflectionTypeLoadException.LoaderExceptions) {\n Logger.Log($\"Loading module {owningModule} resulted in type errors\\n{inner}\", LogLevel.Error);\n }\n }\n return false;\n } catch (Exception e) {\n Logger.Log($\"Failed to get types from module {owningModule}\\n{e}\", LogLevel.Error);\n return false;\n }\n\n var exportedModuleClasses =\n types\n .Where(t => t.GetCustomAttribute<ModuleOmitAttribute>() == null &&\n (t.IsSubclassOf(typeof(SystemBase)) ||\n t.GetMethods().Any(m => m.GetCustomAttribute<CallbackAttribute>() != null ||\n m.GetCustomAttribute<TaggedCallbackAttribute>() != null)))\n .ToList();\n var prioritizedInitializations = ResolveInitializationOrder(exportedModuleClasses, owningModule);\n var instances = new Dictionary<Type, object>();\n\n foreach (var (initializer, system, callback) in prioritizedInitializations) {\n try {\n if (initializer != null) {\n var init = initializer.GetMethod(\"Initialize\");\n if (init != null) {\n init.Invoke(null, null);\n } else {\n Logger.Log($\"Initializer for module {owningModule} does not have a valid Initialize method\",\n LogLevel.Warning);\n }\n } else if (system != null) {\n var entity = EnvironmentManager.AddEntity();\n instances[system] = entity.AddComponent(system);\n } else {\n object instance = null;\n var declaringType = callback.DeclaringType;\n if (instances.ContainsKey(declaringType)) {\n instance = instances[declaringType];\n } else {\n instance = Activator.CreateInstance(declaringType);\n instances[declaringType] = instance;\n }\n\n if (callback.GetCustomAttribute<TaggedCallbackAttribute>() != null) {\n RegisterTagCallback(callback, instance);\n }\n\n if (callback.GetCustomAttribute<CallbackAttribute>() != null) {\n RegisterTypeCallback(callback, instance);\n }\n }\n } catch (TypeLoadException e) {\n var errorSource = system == null ? callback.DeclaringType : system;\n Logger.Log(\n $\"Module loader failed to process type {errorSource} from module {owningModule}\\nType: {e.TypeName}, Site: {e.TargetSite}\\n{e}\",\n LogLevel.Error);\n } catch (Exception e) {\n var errorSource = system == null ? callback.DeclaringType : system;\n Logger.Log($\"Module loader failed to process type {errorSource} from module {owningModule}\\n{e}\",\n LogLevel.Error);\n // TODO unload assembly? return false?\n continue;\n }\n }\n\n ModuleManager.RegisterModuleAssemblyName(assembly.GetName().Name, owningModule);\n return true;\n }\n\n private static bool ProcessLoadedAssemblies(List<(Assembly assembly, string owningModule)> assemblies) {\n foreach (var loadedAssembly in assemblies) {\n Type[] types;\n try {\n types = loadedAssembly.assembly.GetTypes();\n } catch (ReflectionTypeLoadException e) {\n if (e is ReflectionTypeLoadException reflectionTypeLoadException) {\n foreach (var inner in reflectionTypeLoadException.LoaderExceptions) {\n Logger.Log($\"Loading module {loadedAssembly.owningModule} resulted in type errors\\n{inner}\",\n LogLevel.Error);\n }\n }\n return false;\n } catch (Exception e) {\n Logger.Log($\"Failed to get types from module {loadedAssembly.owningModule}\\n{e}\", LogLevel.Error);\n return false;\n }\n\n var exportedModuleClasses =\n types\n .Where(\n t => t.GetCustomAttribute<ModuleOmitAttribute>() == null &&\n (t.IsSubclassOf(typeof(SystemBase)) ||\n t.GetMethods().Any(m => m.GetCustomAttribute<CallbackAttribute>() != null ||\n m.GetCustomAttribute<TaggedCallbackAttribute>() != null)))\n .ToList();\n var prioritizedInitializations =\n ResolveInitializationOrder(exportedModuleClasses, loadedAssembly.owningModule);\n var instances = new Dictionary<Type, object>();\n\n foreach (var (initializer, system, callback) in prioritizedInitializations) {\n try {\n if (initializer != null) {\n var init = initializer.GetMethod(\"Initialize\");\n if (init != null) {\n init.Invoke(null, null);\n } else {\n Logger.Log(\n $\"Initializer for module {loadedAssembly.owningModule} does not have a valid Initialize method\",\n LogLevel.Warning);\n }\n } else if (system != null) {\n var entity = EnvironmentManager.AddEntity();\n instances[system] = entity.AddComponent(system);\n } else {\n object instance = null;\n var declaringType = callback.DeclaringType;\n if (instances.ContainsKey(declaringType)) {\n instance = instances[declaringType];\n } else {\n instance = Activator.CreateInstance(declaringType);\n instances[declaringType] = instance;\n }\n\n if (callback.GetCustomAttribute<TaggedCallbackAttribute>() != null) {\n RegisterTagCallback(callback, instance);\n }\n\n if (callback.GetCustomAttribute<CallbackAttribute>() != null) {\n RegisterTypeCallback(callback, instance);\n }\n }\n } catch (TypeLoadException e) {\n var errorSource = system == null ? callback.DeclaringType : system;\n Logger.Log(\n $\"Module loader failed to process type {errorSource} from module {loadedAssembly.owningModule}\\nType: {e.TypeName}, Site: {e.TargetSite}\\n{e}\",\n LogLevel.Error);\n } catch (Exception e) {\n var errorSource = system == null ? callback.DeclaringType : system;\n Logger.Log(\n $\"Module loader failed to process type {errorSource} from module {loadedAssembly.owningModule}\\n{e}\",\n LogLevel.Error);\n // TODO unload assembly? return false?\n continue;\n }\n }\n\n ModuleManager.RegisterModuleAssemblyName(\n loadedAssembly.assembly.GetName().Name, loadedAssembly.owningModule);\n }\n return true;\n }\n\n private static List<(Type initializer, Type system, MethodInfo callback)> ResolveInitializationOrder(\n List<Type> types, string moduleName) {\n var systems = types.Where(t => t.IsSubclassOf(typeof(SystemBase))).ToList();\n var callbacks =\n types\n .Where(t => !t.IsSubclassOf(typeof(SystemBase)) ||\n t.GetMethods().Any(m => m.GetCustomAttribute<CallbackAttribute>() != null ||\n m.GetCustomAttribute<TaggedCallbackAttribute>() != null))\n .SelectMany(\n m => m.GetMethods().Where(m2 => m2.GetCustomAttribute<CallbackAttribute>() != null ||\n m2.GetCustomAttribute<TaggedCallbackAttribute>() != null))\n .ToList();\n var prioritizedSystems = systems.Where(t => t.GetCustomAttribute<InitializationPriorityAttribute>() != null)\n .OrderBy(t => t.GetCustomAttribute<InitializationPriorityAttribute>().Value)\n .ToList();\n var prioritizedCallbacks =\n callbacks.Where(m => m.GetCustomAttribute<InitializationPriorityAttribute>() != null)\n .OrderBy(m => m.GetCustomAttribute<InitializationPriorityAttribute>().Value)\n .ToList();\n var prioritizedElements = new List<(Type, Type, MethodInfo)>();\n var systemIndex = 0;\n var callbackIndex = 0;\n\n byte GetPriority(object o) {\n if (o is Type t)\n return t.GetCustomAttribute<InitializationPriorityAttribute>().Value;\n else if (o is MethodInfo m)\n return m.GetCustomAttribute<InitializationPriorityAttribute>().Value;\n else\n return 255;\n }\n\n for (var i = 0; i < prioritizedSystems.Count + prioritizedCallbacks.Count; ++i) {\n if (GetPriority(prioritizedSystems.ElementAtOrDefault(systemIndex)) - 1 <=\n GetPriority(prioritizedCallbacks.ElementAtOrDefault(callbackIndex)) - 1) {\n prioritizedElements.Add((null, prioritizedSystems.ElementAtOrDefault(systemIndex), null));\n ++systemIndex;\n } else {\n prioritizedElements.Add((null, null, prioritizedCallbacks.ElementAtOrDefault(callbackIndex)));\n ++callbackIndex;\n }\n }\n\n foreach (var system in systems.Where(\n t => t.GetCustomAttribute<InitializationPriorityAttribute>() == null)) {\n prioritizedElements.Add((null, system, null));\n }\n\n foreach (var callback in callbacks.Where(\n m => m.GetCustomAttribute<InitializationPriorityAttribute>() == null)) {\n prioritizedElements.Add((null, null, callback));\n }\n\n var initClass = types.FirstOrDefault(t => t.Name == \"ModuleInitializer\");\n if (initClass != null) {\n if (!(initClass.IsAbstract && initClass.IsSealed)) {\n Logger.Log($\"Initializer for module {moduleName} is not static. Please make this class static.\",\n LogLevel.Warning);\n } else {\n prioritizedElements.Insert(0, (initClass, null, null));\n }\n }\n\n return prioritizedElements;\n }\n\n private static void RegisterTagCallback(MethodInfo callback, object instance) {\n if (instance.GetType() != callback.DeclaringType) // Sanity check\n {\n throw new LoadModuleException(\n $\"Type of instance variable \\\"{instance.GetType()}\\\" does not match declaring type of callback \\\"{callback.Name}\\\" (expected \\\"{callback.DeclaringType}\\\"\");\n }\n var eventType = callback.GetParameters().First().ParameterType;\n var tag = callback.GetCustomAttribute<TaggedCallbackAttribute>().Tag;\n typeof(EventBus)\n .GetMethod(\"NewTagListener\")\n ?.Invoke(null, new object[] { tag, CreateEventCallback(callback, instance, eventType) });\n }\n\n private static void RegisterTypeCallback(MethodInfo callback, object instance) {\n if (instance.GetType() != callback.DeclaringType) // Sanity check\n {\n throw new LoadModuleException(\n $\"Type of instance variable \\\"{instance.GetType()}\\\" does not match declaring type of callback \\\"{callback.Name}\\\" (expected \\\"{callback.DeclaringType}\\\"\");\n }\n var eventType = callback.GetParameters().First().ParameterType;\n typeof(EventBus)\n .GetMethod(\"NewTypeListener\")\n ?.MakeGenericMethod(eventType)\n .Invoke(null, new object[] { CreateEventCallback(callback, instance, eventType) });\n }\n\n private static EventBus.EventCallback CreateEventCallback(MethodInfo m, object instance, Type eventType) {\n return (e) => m.Invoke(instance, new[] { typeof(ReflectHelper)\n .GetMethod(\"CastObject\")\n ?.MakeGenericMethod(eventType)\n .Invoke(null, new object[] { e }) });\n }\n }\n}\n<file_sep>#if false\nusing Controller.Rpc;\nusing SynthesisAPI.EnvironmentManager;\nusing SynthesisAPI.Modules.Attributes;\nusing SynthesisAPI.Runtime;\nusing System;\nusing System.Net.Http;\nusing System.Net.Http.Headers;\nusing System.Threading.Tasks;\n\nnamespace Controller\n{\n [ModuleExport]\n public class ExampleClient : SystemBase\n {\n private static readonly HttpClient client = new HttpClient();\n private static readonly string MyVersion = RpcManager.JsonRpcVersion;\n public override void Setup()\n {\n client.BaseAddress = new Uri(RpcServer.Prefix);\n client.DefaultRequestHeaders.Accept.Clear();\n client.DefaultRequestHeaders.Accept.Add(new MediaTypeWithQualityHeaderValue(\"application/json\"));\n Test();\n }\n public override void OnUpdate() { }\n public override void OnPhysicsUpdate() { }\n\n private async void Test()\n {\n var a = await InvokeAsync<long>(\"Add\", 1, 5);\n ApiProvider.Log($\"Client: result = {a}\");\n\n await InvokeAsync(\"PrintMessage\", \"Hello world!\");\n await InvokeAsync(\"PrintMessage\", \"Warning 1\", LogLevel.Warning);\n await InvokeAsync(\"PrintMessage\", \"Warning 2\", LogLevel.Warning.ToString());\n await InvokeAsync(\"PrintArray\", new[] { new string[] { \"Hello 1\", \"Hello 2\" } });\n\n var b = await InvokeAsync<string>(\"ReturnString\", \"Hello world!\");\n ApiProvider.Log($\"Client: result = {b}\");\n\n var c = await InvokeAsync<string>(\"ReturnString\", \"\");\n ApiProvider.Log($\"Client: result = {c}\");\n\n try\n {\n await InvokeAsync(\"ThrowException\", \"Test error\");\n }\n catch(Exception e)\n {\n ApiProvider.Log($\"Client: error = {e}\");\n }\n }\n\n public static async Task<T> InvokeAsync<T>(string methodName, params object[] args)\n {\n var result = await MakeRequestAsync(methodName, args);\n /*\n if (!result.HasResult)\n {\n throw new Exception($\"Method {methodName} did not return result\");\n }\n */\n object value = result.Result;\n if(value.GetType() != typeof(T))\n {\n value = RpcManager.FixType(typeof(T), value);\n }\n return (T)value;\n }\n\n public static async Task InvokeAsync(string methodName, params object[] args)\n {\n var result = await MakeRequestAsync(methodName, args);\n\n /*\n if (result.HasResult)\n {\n ApiProvider.Log($\"Discarding result value from call to {methodName}\", LogLevel.Warning);\n }\n */\n return;\n }\n\n private static async Task<string> ReadContent(HttpResponseMessage response)\n {\n if (response.IsSuccessStatusCode)\n {\n return await response.Content.ReadAsStringAsync();\n }\n throw new Exception($\"HTTP response status code {response.StatusCode}\");\n }\n\n private static async Task<RpcResponse> MakeRequestAsync(string methodName, params object[] args)\n {\n var response = await client.PostAsync(\"\", new StringContent(MethodCallContext.ToJson(MyVersion, methodName, args)));\n var result = RpcResponse.FromJson(await ReadContent(response));\n if(result.JsonRpcVersion != MyVersion)\n {\n throw new Exception($\"Incompatible RPC versions result {result.JsonRpcVersion} vs current {MyVersion}\");\n }\n if (result.Error != null)\n {\n throw new Exception(result.Error?.Message);\n }\n return result;\n }\n }\n}\n#endif\n<file_sep>APP_NAME = \"Synthesis\"\nAPP_TITLE = \"Synthesis Robot Exporter\"\nDESCRIPTION = \"Exports files from Fusion 360 into the Synthesis Format\"\nINTERNAL_ID = \"synthesis\"\n<file_sep>---\nname: Feature Request\nabout: Suggest an Improvement or Idea\ntitle: ''\nlabels: enhancement\nassignees: matthew17754\n\n---\n\n**Is your feature request related to a problem? Please describe.**\nAre you experiencing an issue? Do you have a good way it can be fixed, please tell us.\n\n**Describe the solution you'd like**\nA clear and concise description of what you want to happen.\n\n**Describe alternatives you've considered**\nA clear and concise description of any alternative solutions or features you've considered.\n\n**Additional context**\nAdd any other context or screenshots about the feature request here.\n\nThank you for requesting a new feature, we take these very seriously and they are all added into our end of year planning for the following year's development cycle.\n<file_sep>[build-system]\nrequires = [\"protobuf\", \"black\", \"pyminifier\"]\n\n[tool.black]\nline-length = 90\ntarget-version = ['py39']\ninclude = '\\.pyi?$'\nexclude = '''\n(\n /(\n \\.git\n | \\.venv\n | build\n | docs\n | logs\n | proto\n | .vscode\n | dist\n | src/proto_out\n )/\n)\n'''<file_sep>using System.Collections.Generic;\nusing Synthesis;\nusing UnityEngine;\nusing Synthesis.Util;\n\npublic class CustomWheel : MonoBehaviour {\n // When enabled, you get weird priority effects. Leave disabled for now.\n public static bool UseKineticFriction = false;\n\n private Rigidbody _rb = null;\n public Rigidbody Rb {\n get {\n if (_rb == null) {\n _rb = GetComponent<Rigidbody>();\n }\n return _rb;\n }\n }\n\n public float ImpulseMax = 100f;\n\n public Vector3 LocalAxis;\n private Vector3 Axis => Rb.transform.localToWorldMatrix.MultiplyVector(LocalAxis);\n\n public Vector3 LocalAnchor;\n private Vector3 Anchor => Rb.transform.localToWorldMatrix.MultiplyPoint3x4(LocalAnchor);\n\n // Friction Constants\n private const float SlidingStaticFriction = 1.3f;\n private const float SlidingKineticFriction = 0.95f;\n // Wheel States\n public float RotationSpeed = 0f; // radians/second\n public float Radius = 0.05f; // meters\n\n private float _startTime;\n\n public bool HasContacts => _collisionDataThisFrame.numCollisions > 0;\n\n public float Inertia => SynthesisUtil.GetInertiaFromAxisVector(Rb, LocalAxis);\n\n private Vector3 _lastImpulseTotal;\n\n public void OnDrawGizmos() {\n Gizmos.color = Color.red;\n Gizmos.DrawSphere(Anchor, 0.05f);\n\n Gizmos.color = Color.green;\n Gizmos.DrawLine(Anchor, Anchor + Axis);\n\n Gizmos.color = Color.cyan;\n Gizmos.DrawLine(Anchor, Anchor + _lastImpulseTotal);\n\n Gizmos.color = Color.blue;\n Gizmos.DrawLine(Anchor, Anchor + (Axis * RotationSpeed));\n }\n\n /// <summary>\n /// Calculates friction forces for the wheel and applies them. Should be run every FixedUpdate\n /// </summary>\n /// <param name=\"mod\">Modifier to account for janky Unity joints</param>\n public void CalculateAndApplyFriction(float mod) {\n if (!HasContacts)\n return;\n\n _lastImpulseTotal = CalculateNetFriction();\n\n Rb.velocity += _lastImpulseTotal * mod; // / Rb.mass;\n }\n\n public void OnCollisionEnter(Collision collision) {\n AddCollisionData(collision);\n }\n\n public void OnCollisionStay(Collision collision) {\n AddCollisionData(collision);\n }\n\n public void AddCollisionData(Collision collision) {\n Vector3 impulse = collision.impulse;\n\n // If impulse vector is suspected of being backwards (happens with mean machine), calculate it manually\n if (impulse.normalized.y < 0.5) {\n impulse = Vector3.zero;\n collision.contacts.ForEach(contact => {\n impulse += (Rb.worldCenterOfMass - contact.point).normalized * contact.impulse.magnitude;\n });\n }\n\n _collisionDataThisFrame.impulse += impulse;\n _collisionDataThisFrame.velocity += collision.relativeVelocity;\n _collisionDataThisFrame.numCollisions++;\n }\n\n private (Vector3 impulse, Vector3 velocity, int numCollisions) _collisionDataThisFrame;\n\n /// <summary>\n /// Compiles contacts and calculates friction forces\n /// </summary>\n /// <returns>The net friction force acting on the wheel from collisions this frame</returns>\n private Vector3 CalculateNetFriction() {\n Vector3 netImpulse = _collisionDataThisFrame.impulse;\n Vector3 netVelocity = _collisionDataThisFrame.velocity;\n\n netVelocity /= _collisionDataThisFrame.numCollisions; // The velocities are different and I don't know why\n\n netImpulse = ClampMag(netImpulse, 0, ImpulseMax);\n\n _collisionDataThisFrame = new(Vector3.zero, Vector3.zero, 0);\n\n return CalculateSlidingFriction(netImpulse, netVelocity) + CalculateRollingFriction(netImpulse, netVelocity);\n }\n\n /// <summary>\n /// Calculates friction forces parallel to the axis of rotation\n /// </summary>\n /// <param name=\"impulse\">Impulse of the collision data</param>\n /// <param name=\"velocity\">Relative velocity of the object to the contacted object</param>\n /// <returns>A vector for sliding friction between the wheel and the ground</returns>\n private Vector3 CalculateSlidingFriction(Vector3 impulse, Vector3 velocity) {\n var dirVelocity = Vector3.Dot(Axis, velocity);\n var dirMomentum = dirVelocity * Rb.mass;\n var staticImpulse = SlidingStaticFriction * impulse.magnitude;\n\n if (UseKineticFriction && dirMomentum > staticImpulse) {\n var dynamicImpulse =\n ClampMag((SlidingKineticFriction * impulse.magnitude * Axis) / Rb.mass, 0f, dirVelocity);\n return dynamicImpulse;\n } else {\n var staticImpulseVec = dirVelocity * Axis;\n return staticImpulseVec;\n }\n }\n\n /// <summary>\n /// Calculates friction forces perpendicular to the axis of rotation\n /// </summary>\n /// <param name=\"impulse\">Impulse of the collision data</param>\n /// <param name=\"velocity\">Relative velocity of the object to the contacted object</param>\n /// <returns>A vector for rolling friction between the wheel and the ground</returns>\n private Vector3 CalculateRollingFriction(Vector3 impulse, Vector3 velocity) {\n var direction = Vector3.Cross(impulse.normalized, Axis).normalized;\n var wheelSurfaceVelocity = Vector3.Cross(impulse.normalized * Radius, Axis * RotationSpeed);\n var groundSurfaceVelocity = Vector3.Dot(direction, wheelSurfaceVelocity) + Vector3.Dot(-direction, velocity);\n\n Vector3 frictionImpulse;\n\n if (UseKineticFriction &&\n SlidingStaticFriction * impulse.magnitude < Mathf.Abs(groundSurfaceVelocity) * Rb.mass) {\n frictionImpulse = ClampMag(\n (SlidingKineticFriction * impulse.magnitude * -direction * Mathf.Sign(groundSurfaceVelocity)) / Rb.mass,\n 0f, Mathf.Abs(groundSurfaceVelocity));\n } else {\n frictionImpulse = groundSurfaceVelocity * -direction;\n }\n\n return frictionImpulse;\n }\n\n /// <summary>\n /// Clamp function for the magnitude of a vector\n /// </summary>\n /// <param name=\"v\">Vector to clamp</param>\n /// <param name=\"min\">Minimum magnitude</param>\n /// <param name=\"max\">Maximum magnitude</param>\n /// <returns>Clamped Vector</returns>\n public static Vector3 ClampMag(Vector3 v, float min, float max) {\n if (v.magnitude > max)\n return v.normalized * max;\n if (v.magnitude < min)\n return v.normalized * min;\n return v;\n }\n\n /// <summary>\n /// Utility function to print Vectors. Shows more detail than Vector.ToString().\n /// </summary>\n /// <param name=\"v\">Vector to print</param>\n /// <returns>Stringified vector</returns>\n public static string Str(Vector3 v) => $\"({v.x},{v.y},{v.z})\";\n}\n<file_sep>#include \"robot_outputs.hpp\"\n#include \"roborio_manager.hpp\"\n#include \"util.hpp\"\n\nusing namespace nFPGA;\nusing namespace nRoboRIO_FPGANamespace;\n\nnamespace hel {\n\nconst inline EmulationService::RobotOutputs RobotOutputs::generateZeroedOutput()const{\n\tauto res = EmulationService::RobotOutputs{};\n\tfor (auto i = 0u; i < pwm_hdrs.size(); i++) {\n\t\tres.add_pwm_headers(0);\n\t}\n\tfor (auto i = 0u; i < digital_mxp.size(); i++) {\n\t\tswitch (digital_mxp[i].config) {\n\t\t\tcase MXPData::Config::DI:\n\t\t\tcase MXPData::Config::DO:\n\t\t\tcase MXPData::Config::PWM:\n\t\t\t\t{\n\t\t\t\t\twhile(i >= (unsigned)res.mxp_data_size()){\n\t\t\t\t\t\tres.add_mxp_data();\n\t\t\t\t\t}\n\t\t\t\t\tauto mxp = res.mutable_mxp_data(i);\n\t\t\t\t\tmxp->set_config(static_cast<EmulationService::MXPData::Config>(digital_mxp[i].config));\n\t\t\t\t\tmxp->set_value(0);\n\t\t\t\t\tbreak;\n\t\t\t\t}\n\t\t\tdefault:\n\t\t\t\tbreak;\n\t\t}\n\t}\n\tfor (auto i = 0u; i < can_motor_controllers.size(); i++) {\n\t\tres.add_can_motor_controllers();\n\t\tauto can = res.mutable_can_motor_controllers(i);\n\t\tcan->set_can_type(static_cast<EmulationService::RobotOutputs::CANType>(can_motor_controllers.at(i)->getType()));\n\t\tcan->set_id(can_motor_controllers.at(i)->getID());\n\t\tcan->set_percent_output(0);\n\t}\n\n\tfor (auto i = 0u; i < relays.size(); i++) {\n\t\tres.add_relays(EmulationService::RobotOutputs_RelayState_OFF);\n\t}\n\tfor (auto i = 0u; i < analog_outputs.size(); i++) {\n\t\tres.add_analog_outputs(0);\n\t}\n\tfor (auto i = 0u; i < digital_hdrs.size(); i++) {\n\t\tres.add_digital_headers();\n\t\tauto dio = res.mutable_digital_headers(i);\n\t\tdio->set_config(static_cast<EmulationService::DIOData::Config>(digital_hdrs[i].first));\n\t\tdio->set_value(false);\n\t}\n\treturn res;\n}\n\n\nRobotOutputs::RobotOutputs()\n\t: enabled(RobotMode::DEFAULT_ENABLED_STATUS),\n\t pwm_hdrs(0.0),\n\t relays(RelaySystem::State::OFF),\n\t analog_outputs(0.0),\n\t digital_mxp({}),\n\t digital_hdrs({DigitalSystem::HeaderConfig::DI, false}),\n\t can_motor_controllers({}) {\n\t\t output = generateZeroedOutput();\n\t }\n\nEmulationService::RobotOutputs RobotOutputs::syncShallow() {\n\tif(!enabled){\n\t\toutput = generateZeroedOutput();\n\t\treturn output;\n\t}\n\n\tfor (auto i = 0u; i < pwm_hdrs.size(); i++) {\n\t\twhile(i >= (unsigned)output.pwm_headers_size()){\n\t\t\toutput.add_pwm_headers(0);\n\t\t}\n\t\toutput.set_pwm_headers(i, pwm_hdrs[i]);\n\t}\n\tfor (auto i = 0u; i < digital_mxp.size(); i++) {\n\t\tswitch (digital_mxp[i].config) {\n\t\t\tcase MXPData::Config::DI:\n\t\t\tcase MXPData::Config::DO:\n\t\t\tcase MXPData::Config::PWM:\n\t\t\t\t{\n\t\t\t\t\tEmulationService::MXPData mxp;\n\t\t\t\t\twhile(i >= (unsigned)output.mxp_data_size()){\n\t\t\t\t\t\toutput.add_mxp_data();\n\t\t\t\t\t}\n\t\t\t\t\tmxp.set_config(static_cast<EmulationService::MXPData::Config>(digital_mxp[i].config));\n\t\t\t\t\tmxp.set_value(digital_mxp[i].value);\n\t\t\t\t\t*output.mutable_mxp_data(i) = mxp;\n\t\t\t\t\tbreak;\n\t\t\t\t}\n\t\t\tdefault:\n\t\t\t\tbreak;\n\t\t}\n\t}\n\n\tfor (auto i = 0u; i < can_motor_controllers.size(); i++) {\n\t\tEmulationService::RobotOutputs::CANMotorController can;\n\t\tcan.set_can_type(static_cast<EmulationService::RobotOutputs::CANType>(\n\t\t\tcan_motor_controllers[i]->getType()));\n\t\tcan.set_id(can_motor_controllers[i]->getID());\n\t\tcan.set_percent_output(can_motor_controllers[i]->getPercentOutput());\n\t\twhile(i >= (unsigned)output.can_motor_controllers_size()){\n\t\t\toutput.add_can_motor_controllers();\n\t\t}\n\t\t*output.mutable_can_motor_controllers(i) = can;\n\t}\n\n\treturn output;\n}\n\nvoid RobotOutputs::updateShallow() {\n\tif (!hal_is_initialized) {\n\t\treturn;\n\t}\n\n\tRoboRIO roborio = RoboRIOManager::getCopy();\n\n\tfor (unsigned i = 0; i < pwm_hdrs.size(); i++) {\n\t\tpwm_hdrs[i] = PWMSystem::getPercentOutput(roborio.pwm_system.getHdrPulseWidth(i));\n\t}\n\n\tfor (unsigned i = 0; i < digital_mxp.size(); i++) {\n\t\tdigital_mxp[i].config = roborio.digital_system.getMXPConfig(i);\n\n\t\tswitch (digital_mxp[i].config) {\n\t\t\tcase MXPData::Config::DO:\n\t\t\t\tdigital_mxp[i].value =\n\t\t\t\t\t(checkBitHigh(roborio.digital_system.getOutputs().MXP, i) |\n\t\t\t\t\t checkBitHigh(roborio.digital_system.getPulses().MXP, i));\n\t\t\t\tbreak;\n\t\t\tcase MXPData::Config::PWM: {\n\t\t\t\tint remapped_i = i;\n\t\t\t\tif (remapped_i >= 4) { // digital ports 0-3 line up with mxp pwm ports 0-3, the rest are offset by 4\n\t\t\t\t\tremapped_i -= 4;\n\t\t\t\t}\n\t\t\t\tdigital_mxp[i].value = PWMSystem::getPercentOutput(roborio.pwm_system.getMXPPulseWidth(remapped_i));\n\t\t\t\tbreak;\n\t\t\t}\n\t\t\tcase MXPData::Config::SPI:\n\t\t\tcase MXPData::Config::I2C:\n\t\t\tdefault:\n\t\t\t\tbreak; // do nothing\n\t\t}\n\t}\n\tcan_motor_controllers = roborio.can_motor_controllers;\n}\n\nEmulationService::RobotOutputs RobotOutputs::syncDeep() {\n\tif(!enabled){\n\t\toutput = generateZeroedOutput();\n\t\treturn output;\n\t}\n\tsyncShallow();\n\tfor (auto i = 0u; i < relays.size(); i++) {\n\t\twhile(i >= (unsigned)output.relays_size()){\n\t\t\toutput.add_relays(EmulationService::RobotOutputs_RelayState_OFF);\n\t\t}\n\t\toutput.set_relays(i, static_cast<EmulationService::RobotOutputs::RelayState>(relays[i]));\n\t}\n\tfor (auto i = 0u; i < analog_outputs.size(); i++) {\n\t\twhile(i >= (unsigned)output.analog_outputs_size()){\n\t\t\toutput.add_analog_outputs(0);\n\t\t}\n\t\toutput.set_analog_outputs(i, analog_outputs[i]);\n\t}\n\tfor (auto i = 0u; i < digital_hdrs.size(); i++) {\n\t\twhile(i >= (unsigned)output.digital_headers_size()){\n\t\t\toutput.add_digital_headers();\n\t\t}\n\t\tEmulationService::DIOData dio;\n\t\tdio.set_config(static_cast<EmulationService::DIOData::Config>(digital_hdrs[i].first));\n\t\tdio.set_value(digital_hdrs[i].second);\n\t\t*output.mutable_digital_headers(i) = dio;\n\t}\n\treturn output;\n}\n\nvoid RobotOutputs::updateDeep() {\n\tupdateShallow();\n\n\tRoboRIO roborio = RoboRIOManager::getCopy();\n\n\tfor (unsigned i = 0; i < relays.size(); i++) {\n\t\trelays[i] = roborio.relay_system.getState(i);\n\t}\n\tfor (unsigned i = 0; i < analog_outputs.size(); i++) {\n\t\tanalog_outputs[i] =\n\t\t\t(roborio.analog_outputs.getMXPOutput(i)) * 5.0 / 0x1000;\n\t}\n\t{\n\t\ttDIO::tOutputEnable output_mode =\n\t\t\troborio.digital_system.getEnabledOutputs();\n\t\tauto values = roborio.digital_system.getOutputs().Headers;\n\t\tauto pulses = roborio.digital_system.getPulses().Headers;\n\t\tfor (unsigned i = 0; i < digital_hdrs.size(); i++) {\n\t\t\tdigital_hdrs[i].first = checkBitHigh(output_mode.Headers, i) ? DigitalSystem::HeaderConfig::DO : DigitalSystem::HeaderConfig::DI;\n\t\t\tif (digital_hdrs[i].first == DigitalSystem::HeaderConfig::DO) { // if digital port is set for output, then set digital output\n\t\t\t\tdigital_hdrs[i].second = (checkBitHigh(values, i) | checkBitHigh(pulses, i));\n\t\t\t}\n\t\t}\n\t}\n\tcan_motor_controllers = roborio.can_motor_controllers;\n}\n\nstd::string RobotOutputs::toString() const {\n\tstd::string s = \"(\";\n\ts += \"pwm_hdrs:\" +\n\t\t asString(pwm_hdrs,\n\t\t\t\t std::function<std::string(double)>(\n\t\t\t\t\t static_cast<std::string (*)(double)>(std::to_string))) +\n\t\t \", \";\n\ts += \"relays:\" +\n\t\t asString(\n\t\t\t relays,\n\t\t\t std::function<std::string(RelaySystem::State)>(\n\t\t\t\t static_cast<std::string (*)(RelaySystem::State)>(asString))) +\n\t\t \", \";\n\ts += \"analog_outputs:\" +\n\t\t asString(analog_outputs,\n\t\t\t\t std::function<std::string(double)>(\n\t\t\t\t\t static_cast<std::string (*)(double)>(std::to_string))) +\n\t\t \", \";\n\ts += \"digital_mxp:\" +\n\t\t asString(digital_mxp,\n\t\t\t\t std::function<std::string(MXPData)>(&MXPData::toString)) +\n\t\t \", \";\n\ts += \"digital_hdrs:\" +\n\t\t asString(digital_hdrs,\n\t\t\tstd::function<std::string(\n\t\t\t\tstd::pair<DigitalSystem::HeaderConfig, bool>)>(\n\t\t\t\t\t[&](std::pair<DigitalSystem::HeaderConfig, bool> a) {\n\t\t\t\t\t\treturn \"(\" + asString(a.first) + \", \" + std::to_string(a.second) + \")\";\n\t\t\t\t})) +\n\t\t \", \";\n\ts +=\n\t\t\"can_motor_controllers:\" +\n\t\tasString(\n\t\t\tcan_motor_controllers,\n\t\t\tstd::function<std::string(\n\t\t\t\tstd::pair<uint32_t, std::shared_ptr<CANMotorControllerBase>>)>(\n\t\t\t\t[&](std::pair<uint32_t, std::shared_ptr<CANMotorControllerBase>>\n\t\t\t\t\t\ta) {\n\t\t\t\t\treturn \"(\" + std::to_string(a.first) + \", \" +\n\t\t\t\t\t\t a.second->toString() + \")\";\n\t\t\t\t}));\n\ts += \")\";\n\treturn s;\n}\n\nvoid RobotOutputs::setEnable(bool e) {\n\tenabled = e;\n}\n} // namespace hel\n<file_sep>#define DEBUG_MIRABUF\n\nusing System.Collections;\nusing System.Collections.Generic;\nusing UnityEngine;\nusing Mirabuf;\nusing Mirabuf.Joint;\nusing System.IO;\nusing System.IO.Compression;\nusing System;\nusing System.Linq;\nusing System.Threading.Tasks;\nusing SynthesisAPI.Utilities;\nusing Google.Protobuf;\nusing Mirabuf.Material;\nusing Newtonsoft.Json;\nusing Logger = SynthesisAPI.Utilities.Logger;\nusing MPhysicalProperties = Mirabuf.PhysicalProperties;\nusing Vector3 = Mirabuf.Vector3;\nusing UVector3 = UnityEngine.Vector3;\n\nnamespace Synthesis.Import {\n public class MirabufLive {\n#region Framework\n\n public const UInt32 CURRENT_MIRA_EXPORTER_VERSION = 5;\n public const UInt32 OLDEST_MIRA_EXPORTER_VERSION = 4;\n\n public const int FIELD_LAYER = 7;\n public const int DYNAMIC_1_LAYER = 8;\n public const int DYNAMIC_2_LAYER = 9;\n public const int DYNAMIC_3_LAYER = 10;\n public const int DYNAMIC_4_LAYER = 11;\n public const int DYNAMIC_5_LAYER = 12;\n public const int DYNAMIC_6_LAYER = 13;\n\n private static Queue<int> dynamicLayers = new Queue<int>(new int[] { DYNAMIC_1_LAYER, DYNAMIC_2_LAYER,\n DYNAMIC_3_LAYER, DYNAMIC_4_LAYER, DYNAMIC_5_LAYER, DYNAMIC_6_LAYER });\n\n#endregion\n\n private string _path;\n public string MiraPath => _path;\n public Assembly MiraAssembly;\n\n public enum MirabufFileState {\n Valid = 1,\n DuplicateParts = 2\n }\n\n ;\n\n private MirabufFileState _state = MirabufFileState.Valid;\n\n private Task<RigidbodyDefinitions> _findDefinitions = null;\n public RigidbodyDefinitions Definitions {\n get {\n if (_findDefinitions.Status < TaskStatus.RanToCompletion) {\n _findDefinitions.Wait();\n }\n return _findDefinitions.Result;\n }\n }\n\n public MirabufLive(string path) {\n _path = path;\n Load();\n\n _findDefinitions = Task<RigidbodyDefinitions>.Factory.StartNew(() => FindRigidbodyDefinitions(this));\n }\n\n public static MirabufLive OpenMirabufFile(string path) => MirabufCache.Get(path);\n\n#region File Management\n\n private void Load() {\n byte[] buff = File.ReadAllBytes(_path);\n\n if (buff[0] == 0x1f && buff[1] == 0x8b) {\n int originalLength = BitConverter.ToInt32(buff, buff.Length - 4);\n\n MemoryStream mem = new MemoryStream(buff);\n byte[] res = new byte[originalLength];\n GZipStream decompresser = new GZipStream(mem, CompressionMode.Decompress);\n decompresser.Read(res, 0, res.Length);\n decompresser.Close();\n mem.Close();\n buff = res;\n }\n\n MiraAssembly = Assembly.Parser.ParseFrom(buff);\n }\n\n public void Save() {\n if (MiraAssembly == null) {\n File.Delete(_path);\n return;\n }\n byte[] buff = new byte[MiraAssembly.CalculateSize()];\n MiraAssembly.WriteTo(new CodedOutputStream(buff));\n string backupPath = $\"{_path}.bak\";\n File.Delete(backupPath);\n File.Move(_path, backupPath);\n File.WriteAllBytes(_path, buff);\n }\n\n#endregion\n\n#region Creation\n\n public Dictionary<string, GameObject> GenerateDefinitionObjects(\n GameObject assemblyContainer, bool physics = true) {\n Dictionary<string, GameObject> groupObjects = new Dictionary<string, GameObject>();\n\n int dynamicLayer = 0;\n\n if (physics && MiraAssembly.Dynamic) {\n if (dynamicLayers.Count == 0)\n throw new Exception(\"No more dynamic layers\");\n dynamicLayer = dynamicLayers.Dequeue();\n\n assemblyContainer.layer = dynamicLayer;\n assemblyContainer.AddComponent<DynamicLayerReserver>();\n }\n\n foreach (var group in Definitions.Definitions.Values) {\n GameObject groupObject = new GameObject(group.Name);\n var isGamepiece = group.IsGamepiece;\n var isStatic = group.IsStatic;\n // Import Parts\n\n#region Parts\n\n foreach (var part in group.Parts) {\n var partInstance = part.Value;\n var partDefinition = MiraAssembly.Data.Parts.PartDefinitions[partInstance.PartDefinitionReference];\n GameObject partObject = new GameObject(partInstance.Info.Name);\n\n MakePartDefinition(partObject, partDefinition, partInstance, MiraAssembly.Data,\n !physics ? ColliderGenType.NoCollider\n : (isStatic ? ColliderGenType.Concave : ColliderGenType.Convex));\n partObject.transform.parent = groupObject.transform;\n var gt = partInstance.GlobalTransform.UnityMatrix;\n partObject.transform.localPosition = gt.GetPosition();\n partObject.transform.localRotation = gt.rotation;\n }\n\n groupObject.transform.parent = assemblyContainer.transform;\n\n#endregion\n\n if (!MiraAssembly.Dynamic && !isGamepiece) {\n groupObject.transform.GetComponentsInChildren<UnityEngine.Transform>().ForEach(\n x => x.gameObject.layer = FIELD_LAYER);\n } else if (MiraAssembly.Dynamic && physics) {\n groupObject.transform.GetComponentsInChildren<UnityEngine.Transform>().ForEach(\n x => x.gameObject.layer = dynamicLayer);\n }\n\n if (physics) {\n // Combine all physical data for grouping\n var rb = groupObject.AddComponent<Rigidbody>();\n if (isStatic)\n rb.isKinematic = true;\n rb.mass = (float) group.CollectivePhysicalProperties.Mass;\n rb.centerOfMass = group.CollectivePhysicalProperties.Com; // I actually don't need to flip this\n rb.collisionDetectionMode = CollisionDetectionMode.Discrete;\n }\n\n groupObjects.Add(group.GUID, groupObject);\n }\n\n return groupObjects;\n }\n\n private enum ColliderGenType {\n NoCollider = 0,\n Convex = 1,\n Concave = 2\n }\n\n private static void MakePartDefinition(GameObject container, PartDefinition definition, PartInstance instance,\n AssemblyData assemblyData, ColliderGenType colliderGenType = ColliderGenType.Convex) {\n PhysicMaterial physMat = new PhysicMaterial {\n dynamicFriction = 0.6f, // definition.PhysicalData.,\n staticFriction = 0.6f // definition.PhysicalData.Friction\n };\n foreach (var body in definition.Bodies) {\n var bodyObject = new GameObject(body.Info.Name);\n var filter = bodyObject.AddComponent<MeshFilter>();\n var renderer = bodyObject.AddComponent<MeshRenderer>();\n filter.sharedMesh = body.TriangleMesh.UnityMesh;\n renderer.material = assemblyData.Materials.Appearances.ContainsKey(instance.Appearance)\n ? assemblyData.Materials.Appearances[instance.Appearance].UnityMaterial\n : assemblyData.Materials.Appearances.ContainsKey(body.AppearanceOverride)\n ? assemblyData.Materials.Appearances[body.AppearanceOverride].UnityMaterial\n : Appearance.DefaultAppearance.UnityMaterial; // Setup the override\n\n if (!instance.SkipCollider && colliderGenType > ColliderGenType.NoCollider) {\n MeshCollider collider = null;\n try {\n collider = bodyObject.AddComponent<MeshCollider>();\n if (colliderGenType == ColliderGenType.Convex) {\n collider.convex = true;\n collider.sharedMesh =\n body.TriangleMesh.ColliderMesh; // Again, not sure if this actually works\n } else {\n collider.convex = false;\n collider.sharedMesh = body.TriangleMesh.UnityMesh;\n }\n } catch (Exception e) {\n if (collider != null) {\n GameObject.Destroy(collider);\n collider = null;\n }\n }\n\n if (collider != null)\n collider.material = physMat;\n }\n bodyObject.transform.parent = container.transform;\n // Ensure all transformations are zeroed after assigning parent\n bodyObject.transform.localPosition = UVector3.zero;\n bodyObject.transform.localRotation = Quaternion.identity;\n bodyObject.transform.localScale = UVector3.one;\n }\n }\n\n#endregion\n\n#region Rigidbody Identification\n\n /// <summary>\n /// I really don't like how I made this. It gets the job done but I feel like it\n /// could use a ton of optimizations.\n /// TODO: Maybe get rid of the dictionary in the rigidbodyDefinitions and just\n /// \tstore keys. I feel like that would be a bit better.\n /// </summary>\n /// <param name=\"assembly\"></param>\n /// <returns></returns>\n private static RigidbodyDefinitions FindRigidbodyDefinitions(MirabufLive live) {\n Assembly assembly = live.MiraAssembly;\n\n#if DEBUG_MIRABUF\n MemoryStream ms = new MemoryStream();\n ms.Seek(0, SeekOrigin.Begin);\n assembly.WriteTo(ms);\n ms.Seek(0, SeekOrigin.Begin);\n var debugAssembly = Assembly.Parser.ParseFrom(ms);\n\n debugAssembly.Data.Parts.PartDefinitions.ForEach(x => x.Value.Bodies.ForEach(x => x.TriangleMesh = null));\n var jFormatter = new JsonFormatter(JsonFormatter.Settings.Default);\n File.WriteAllText(Environment.GetFolderPath(Environment.SpecialFolder.MyDocuments) +\n $\"{Path.AltDirectorySeparatorChar}{debugAssembly.Info.Name}.json\",\n jFormatter.Format(debugAssembly));\n\n bool allUnique = false;\n {\n var allNodes = debugAssembly.Data.Joints.RigidGroups.Select(x => x.Name);\n HashSet<string> uniqueGuids = new HashSet<string>((int) (allNodes.Count() * (1f / 0.75f)));\n allUnique = allNodes.All(x => uniqueGuids.Add(x));\n }\n if (!allUnique)\n Logger.Log(\"Not all unique\", LogLevel.Warning);\n#endif\n\n var defs = new Dictionary<string, RigidbodyDefinition>();\n var partMap = new Dictionary<string, string>();\n\n // I'm using lambda functions so I can reuse repeated logic while taking advantage of variables in the\n // current scope\n Action<RigidbodyDefinition, RigidbodyDefinition> MergeDefinitions = (keep, delete) => {\n delete.Parts.ForEach((k, v) => keep.Parts.Add(k, v));\n for (int i = 0; i < partMap.Keys.Count; i++) {\n if (partMap[partMap.Keys.ElementAt(i)].Equals(delete.GUID))\n partMap[partMap.Keys.ElementAt(i)] = keep.GUID;\n }\n defs.Remove(delete.GUID);\n };\n Action<string, string, string> MoveToDef = (part, from, to) => {\n if (from != string.Empty)\n defs[from].Parts.Remove(part);\n var _a = assembly.Data.Parts.PartInstances[part];\n defs[to].Parts.Add(part, _a);\n partMap[part] = to;\n };\n\n var paths = LoadPartTreePaths(assembly.DesignHierarchy);\n\n var discoveredRigidGroups = new List<RigidGroup>();\n\n (string guid, JointInstance joint) groundJoint = default;\n int counter = 0;\n\n // Create initial definitions\n foreach (var jInst in assembly.Data.Joints.JointInstances) {\n RigidbodyDefinition mainDef;\n RigidbodyDefinition stubDef;\n bool isGrounded = jInst.Key.Equals(\"grounded\");\n if (isGrounded) {\n groundJoint = (jInst.Key, jInst.Value);\n continue; // Skip grounded to apply it last\n }\n\n mainDef = new RigidbodyDefinition { GUID = $\"{counter}\",\n Name = $\"{jInst.Value.Info.Name}_Rigidgroup{counter}\",\n Parts = new Dictionary<string, PartInstance>() };\n defs[mainDef.GUID] = mainDef;\n\n stubDef = new RigidbodyDefinition { GUID = $\"{counter}-2\",\n Name = $\"{jInst.Value.Info.Name}_Rigidgroup{counter}-2\",\n Parts = new Dictionary<string, PartInstance>() };\n defs[stubDef.GUID] = stubDef;\n\n // I'm slowly turning into Nick\n // Grab all the parts listed under the joint\n if ((jInst.Value.Parts != null && jInst.Value.Parts.Nodes != null) &&\n jInst.Value.Parts.Nodes.Count > 0) {\n // I don't know why AllTreeElements sometimes returns null elements\n var tmpParts = jInst.Value.Parts.Nodes.AllTreeElements()\n .Where(x => x.Value != null && x.Value != string.Empty)\n .Select(x => (x.Value, assembly.Data.Parts.PartInstances[x.Value]));\n var tmpRG = new RigidGroup { Name = $\"discovered_{counter}\" };\n tmpRG.Occurrences.Add(tmpParts.Select(x => x.Value));\n discoveredRigidGroups.Add(tmpRG);\n }\n\n // Grab all parts eligable via design hierarchy\n var parentSiblings = IdentifyParentSiblings(paths, jInst.Value.ParentPart, jInst.Value.ChildPart);\n // Gonna make an action so I don't have to have the same code written twice\n Action<string, string> inherit = (part, definition) => {\n List<Node> toCheck = new List<Node>();\n List<Node> tmp = new List<Node>();\n string originalDef;\n var path = paths[part];\n Node n = assembly.DesignHierarchy.Nodes[0];\n for (int i = 0; i < path.Count; i++) {\n n = n.Children.Find(y => y.Value.Equals(path[i]));\n }\n toCheck.Add(n.Children.Find(y => y.Value.Equals(part)));\n var defObj = defs[definition];\n defObj.Name += $\"_{assembly.Data.Parts.PartInstances[part]}\";\n\n if (partMap.ContainsKey(part))\n originalDef = partMap[part];\n else\n originalDef = string.Empty;\n\n while (toCheck.Count > 0) {\n toCheck.ForEach(y => {\n partMap.TryGetValue(y.Value, out string existingDef);\n if (existingDef == null) {\n var _partInst = assembly.Data.Parts.PartInstances[y.Value];\n defs[definition].Parts.Add(y.Value, _partInst);\n partMap[y.Value] = definition;\n tmp.AddRange(y.Children.Where(z => z != null && z.Value != null)); // Just to make sure\n } else if (existingDef.Equals(originalDef)) {\n MoveToDef(y.Value, originalDef, definition);\n tmp.AddRange(y.Children.Where(z => z != null && z.Value != null)); // Just to make sure\n }\n });\n toCheck.Clear();\n toCheck.AddRange(tmp);\n tmp.Clear();\n }\n };\n inherit(parentSiblings.child, stubDef.GUID);\n inherit(parentSiblings.parent, mainDef.GUID);\n counter++;\n }\n\n // Apply Ground Last\n if (groundJoint == default) {\n Logger.Log(\"Not sure this is possible but failed to find grounded joint\", LogLevel.Error);\n throw new Exception();\n }\n RigidbodyDefinition groundDef = new RigidbodyDefinition { Name = \"grounded\", GUID = \"grounded\",\n Parts = new Dictionary<string, PartInstance>() };\n defs.Add(groundDef.GUID, groundDef);\n groundJoint.joint.Parts?.Nodes?.AllTreeElements()\n .Where(x => x.Value != null && x.Value != string.Empty)\n .ForEach(x => {\n if (!partMap.ContainsKey(x.Value))\n MoveToDef(x.Value, string.Empty, groundDef.GUID);\n });\n\n // Add disjointed to grounded\n assembly.Data.Parts.PartInstances.Where(x => !partMap.ContainsKey(x.Key)).ForEach(x => {\n MoveToDef(x.Key, string.Empty, \"grounded\");\n });\n\n // Check if the original grounded object has been eaten by one of the joints\n var swallower = partMap[assembly.Data.Joints.JointInstances[\"grounded\"].Parts.Nodes.ElementAt(0).Value];\n if (swallower != groundDef.GUID) {\n var def = defs[swallower];\n MergeDefinitions(groundDef, def);\n }\n\n // Apply RigidGroups\n discoveredRigidGroups.AddRange(assembly.Data.Joints.RigidGroups);\n discoveredRigidGroups.Where(x => x.Occurrences.Count > 1).ForEach(x => {\n RigidbodyDefinition rigidDef = new RigidbodyDefinition { Name = $\"{x.Name}\", GUID = $\"{counter}\",\n Parts = new Dictionary<string, PartInstance>() };\n defs.Add(rigidDef.GUID, rigidDef);\n x.Occurrences.ForEach(y => {\n partMap.TryGetValue(y, out string existingDef);\n if (existingDef == null) {\n MoveToDef(y, string.Empty, rigidDef.GUID);\n } else if (!existingDef.Equals(rigidDef.GUID)) {\n if (existingDef.Equals(\"grounded\")) {\n MergeDefinitions(groundDef, rigidDef);\n rigidDef = groundDef;\n } else {\n rigidDef.Name += $\"_{defs[existingDef].Name}\";\n MergeDefinitions(rigidDef, defs[existingDef]);\n }\n }\n });\n\n counter++;\n });\n\n bool wasRemoved = false;\n RigidbodyDefinition newGrounded = default;\n // Clear excess rigidbodies\n for (int i = 0; i < defs.Keys.Count; i++) {\n if (defs[defs.Keys.ElementAt(i)].Parts.Count == 0) {\n if (defs.Keys.ElementAt(i).Equals(\"grounded\")) {\n var groundedPartGuid = assembly.Data.Joints.JointInstances.Find(x => x.Key.Equals(\"grounded\"))\n .Value.Parts.Nodes[0]\n .Value;\n newGrounded = defs[partMap[groundedPartGuid]];\n wasRemoved = true;\n }\n defs.Remove(defs.Keys.ElementAt(i));\n i -= 1;\n }\n }\n\n // Re-add grounded if it was removed\n if (wasRemoved) {\n defs.Remove(newGrounded.GUID);\n List<string> originalKeys = new List<string>(partMap.Keys);\n foreach (string partKey in originalKeys) {\n if (partMap[partKey].Equals(newGrounded.GUID))\n partMap[partKey] = \"grounded\";\n }\n newGrounded.GUID = \"grounded\";\n newGrounded.Name = \"grounded\";\n defs.Add(newGrounded.GUID, newGrounded);\n }\n\n // Move gamepieces to separate groupings\n int gamepieceCounter = 0;\n if (!assembly.Dynamic) {\n assembly.Data.Parts.PartDefinitions.Where(x => x.Value.Dynamic)\n .ForEach(\n x => assembly.Data.Parts.PartInstances.Where(y => y.Value.PartDefinitionReference.Equals(x.Key))\n .ForEach(y => {\n RigidbodyDefinition rigidDef =\n new RigidbodyDefinition { Name = $\"gamepiece_{gamepieceCounter}\",\n GUID = $\"{counter}\", Parts = new Dictionary<string, PartInstance>() };\n defs.Add(rigidDef.GUID, rigidDef);\n GetAllPartsInBranch(y.Key, paths, assembly.DesignHierarchy.Nodes.ElementAt(0))\n .ForEach(z => MoveToDef(z, partMap[z], rigidDef.GUID));\n\n gamepieceCounter++;\n counter++;\n }));\n }\n\n // Make names reasonable\n int shift = 0;\n for (int i = 0; i < defs.Keys.Count; i++) {\n var def = defs[defs.Keys.ElementAt(i)];\n if (def.Name.Equals(\"grounded\") || def.Name.Contains(\"gamepiece\")) {\n shift++;\n } else {\n def.Name = $\"node_{i - shift}\";\n }\n defs[defs.Keys.ElementAt(i)] = def;\n }\n\n // =====================================\n // === Data setup for ease of access ===\n // =====================================\n\n MakeGlobalTransformations(assembly);\n\n float totalMass = 0f;\n HashSet<string> partDuplicateChecker = new HashSet<string>();\n foreach (var group in defs.Values.Select(x => x.GUID)) {\n var collectivePhysData = new List<(Matrix4x4, Mirabuf.PhysicalProperties)>();\n\n foreach (var part in defs[group].Parts) {\n if (!partDuplicateChecker.Add(part.Value.Info.GUID)) {\n live._state = MirabufFileState.DuplicateParts;\n continue;\n }\n\n var partInstance = part.Value;\n var partDefinition = assembly.Data.Parts.PartDefinitions[partInstance.PartDefinitionReference];\n collectivePhysData.Add((partInstance.GlobalTransform.UnityMatrix, partDefinition.PhysicalData));\n }\n\n var combPhysProps = CombinePhysicalProperties(collectivePhysData);\n totalMass += (float) combPhysProps.Mass;\n { // Ugh, structs...\n var groupInstance = defs[group];\n groupInstance.CollectivePhysicalProperties = combPhysProps;\n groupInstance.IsGamepiece = !assembly.Dynamic && groupInstance.Name.Contains(\"gamepiece\");\n groupInstance.IsStatic = !assembly.Dynamic && groupInstance.Name.Contains(\"grounded\");\n defs[group] = groupInstance;\n }\n }\n\n var definitions =\n new RigidbodyDefinitions { Mass = totalMass, Definitions = defs, PartToDefinitionMap = partMap };\n\n return definitions;\n }\n\n private static (string parent, string child)\n IdentifyParentSiblings(Dictionary<string, List<string>> paths, string parent, string child) {\n var parentAncestors = new List<string>();\n var childAncestors = new List<string>();\n parentAncestors.AddRange(paths[parent]);\n childAncestors.AddRange(paths[child]);\n if (parentAncestors.Count == 0 || childAncestors.Count == 0) {\n return (parentAncestors.Count == 0 ? parent : parentAncestors[0],\n childAncestors.Count == 0 ? child : childAncestors[0]);\n }\n while (parentAncestors[0].Equals(childAncestors[0])) {\n parentAncestors.RemoveAt(0);\n childAncestors.RemoveAt(0);\n\n if (parentAncestors.Count == 0 || childAncestors.Count == 0) {\n return (parentAncestors.Count == 0 ? parent : parentAncestors[0],\n childAncestors.Count == 0 ? child : childAncestors[0]);\n }\n }\n return (parentAncestors[0], childAncestors[0]);\n }\n\n private static Dictionary<string, List<string>> LoadPartTreePaths(GraphContainer designHierarchy) {\n Dictionary<string, List<string>> paths = new Dictionary<string, List<string>>();\n foreach (Node n in designHierarchy.Nodes[0].Children) {\n LoadPartTreePaths(n, paths);\n }\n return paths;\n }\n\n private static void LoadPartTreePaths(\n Node n, Dictionary<string, List<string>> paths, List<string> currentPath = null) {\n paths[n.Value] = new List<string>();\n if (currentPath != null && currentPath.Count > 0)\n paths[n.Value].AddRange(currentPath);\n if (currentPath == null)\n currentPath = new List<string>();\n currentPath.Add(n.Value);\n foreach (Node child in n.Children) {\n LoadPartTreePaths(child, paths, currentPath);\n }\n currentPath.RemoveAt(currentPath.Count - 1);\n }\n\n private static List<string> GetAllPartsInBranch(\n string rootPart, Dictionary<string, List<string>> paths, Node rootNode) {\n var parts = new List<string>();\n var toCheck = new List<Node>();\n toCheck.Add(NavigateDHPath(paths[rootPart].Append(rootPart).ToList(), rootNode));\n while (toCheck.Count > 0) {\n var tmp = new List<Node>();\n toCheck.ForEach(x => {\n parts.Add(x.Value);\n x.Children.ForEach(y => {\n if (y.Value != string.Empty)\n tmp.Add(y);\n });\n });\n toCheck.Clear();\n toCheck = tmp;\n }\n return parts;\n }\n\n private static Node NavigateDHPath(List<string> path, Node rootNode) {\n var current = rootNode;\n while (path.Count > 0) {\n current = current.Children.First(x => x.Value.Equals(path[0]));\n path.RemoveAt(0);\n }\n return current;\n }\n\n private static MPhysicalProperties CombinePhysicalProperties(\n List<(Matrix4x4 trans, MPhysicalProperties prop)> props) {\n var total = 0.0f;\n var com = new UVector3();\n props.ForEach(x => total += (float) x.prop.Mass);\n props.ForEach(x => com += (x.trans.MultiplyPoint(x.prop.Com)) * (float) x.prop.Mass);\n com /= total;\n return new MPhysicalProperties { Mass = total, Com = com };\n }\n\n#endregion\n\n#region Global Transformations\n\n private static Dictionary<string, Matrix4x4> MakeGlobalTransformations(Assembly assembly) {\n var map = new Dictionary<string, Matrix4x4>();\n foreach (Node n in assembly.DesignHierarchy.Nodes) {\n Matrix4x4 trans =\n assembly.Data.Parts.PartInstances[n.Value].Transform == null\n ? assembly.Data.Parts\n .PartDefinitions[assembly.Data.Parts.PartInstances[n.Value]\n .PartDefinitionReference]\n .BaseTransform == null\n ? Matrix4x4.identity\n : assembly.Data.Parts\n .PartDefinitions[assembly.Data.Parts.PartInstances[n.Value].PartDefinitionReference]\n .BaseTransform.MirabufMatrix\n : assembly.Data.Parts.PartInstances[n.Value].Transform.MirabufMatrix;\n map.Add(n.Value, trans);\n MakeGlobalTransformations(map, map[n.Value], assembly.Data.Parts, n);\n }\n\n foreach (var kvp in map) {\n assembly.Data.Parts.PartInstances[kvp.Key].GlobalTransform = map[kvp.Key];\n }\n\n return map;\n }\n\n private static void MakeGlobalTransformations(\n Dictionary<string, Matrix4x4> map, Matrix4x4 parent, Parts parts, Node node) {\n foreach (var child in node.Children) {\n if (!map.ContainsKey(child.Value)) {\n map.Add(child.Value, parent * parts.PartInstances[child.Value].Transform.MirabufMatrix);\n MakeGlobalTransformations(map, map[child.Value], parts, child);\n } else {\n Logger.Log($\"Key \\\"{child.Value}\\\" already present in map; ignoring\", LogLevel.Error);\n }\n }\n }\n\n#endregion\n\n /// <summary>\n /// Collection of parts that move together\n /// </summary>\n public struct RigidbodyDefinition {\n public string GUID;\n public string Name;\n public bool IsGamepiece;\n public bool IsStatic;\n public MPhysicalProperties CollectivePhysicalProperties;\n public Dictionary<string, PartInstance> Parts; // Using a dictionary to make Key searches faster\n }\n\n public struct RigidbodyDefinitions {\n public float Mass;\n public Dictionary<string, RigidbodyDefinition> Definitions;\n public Dictionary<string, string> PartToDefinitionMap;\n }\n\n public class DynamicLayerReserver : MonoBehaviour {\n private void OnDestroy() {\n dynamicLayers.Enqueue(gameObject.layer);\n }\n }\n }\n}<file_sep>using System.Collections.ObjectModel;\nusing System.Collections.Generic;\n\nnamespace SynthesisAPI.UIManager\n{\n public class UssClass\n {\n private List<string> lines = new List<string>();\n public ReadOnlyCollection<string> Lines { get => lines.AsReadOnly(); }\n public string ClassName { get; }\n \n public UssClass(string className)\n {\n this.ClassName = className;\n }\n\n public void AddLine(string line)\n {\n lines.Add(line);\n }\n \n }\n}<file_sep>using System.Collections;\nusing System.Collections.Generic;\nusing UnityEngine;\nusing TMPro;\nusing UnityEngine.UI;\n\npublic class TopButton : MonoBehaviour {\n [SerializeField]\n public TMP_Text Tag;\n [SerializeField]\n public Image Underline;\n [SerializeField]\n public Button ActualButton;\n\n public void SetUnderlineHeight(float height) {\n RectTransform rt = Underline.GetComponent<RectTransform>();\n rt.sizeDelta = new Vector2(rt.sizeDelta.x, height);\n }\n\n public void SetUnderlineColor(Color c) {\n Underline.color = c;\n }\n}\n<file_sep>using UnityEngine;\nusing System.Collections;\nusing SynthesisAPI.EnvironmentManager.Components;\nusing System.Collections.Generic;\nusing FixedJoint = SynthesisAPI.EnvironmentManager.Components.FixedJoint;\nusing HingeJoint = SynthesisAPI.EnvironmentManager.Components.HingeJoint;\nusing System.ComponentModel;\nusing System;\nusing SynthesisAPI.Utilities;\n\nusing Logger = SynthesisAPI.Utilities.Logger;\n\nnamespace Engine.ModuleLoader.Adapters {\n public class JointsAdapter : MonoBehaviour, IApiAdapter<Joints> {\n private Joints instance;\n private List<IJointAdapter> _jointAdapters = new List<IJointAdapter>();\n\n public void SetInstance(Joints joints) {\n instance = joints;\n instance.AddJoint += Add;\n instance.RemoveJoint += Remove;\n\n foreach (var joint in instance.AllJoints)\n Add(joint);\n }\n\n public static Joints NewInstance => new Joints();\n\n // Update is called once per frame\n public void Update() {\n for (var i = _jointAdapters.Count - 1; i >= 0; i--) {\n IJointAdapter jointAdapter = _jointAdapters[i];\n if (!jointAdapter.Exists())\n _jointAdapters.Remove(jointAdapter);\n else\n jointAdapter.Update();\n }\n }\n\n void Add(IJoint joint) {\n if (joint is FixedJoint fixedJoint) {\n FixedJointAdapter jointAdapter = new FixedJointAdapter(fixedJoint);\n _jointAdapters.Add(jointAdapter);\n } else if (joint is HingeJoint hingeJoint) {\n HingeJointAdapter jointAdapter = new HingeJointAdapter(hingeJoint);\n _jointAdapters.Add(jointAdapter);\n }\n }\n\n void Remove(IJoint j) {\n _jointAdapters.RemoveAll(x => x.GetIJoint() == j); // Again, might not work\n }\n\n interface IJointAdapter {\n void Update();\n IJoint GetIJoint();\n bool Exists();\n }\n\n class FixedJointAdapter : IJointAdapter {\n private FixedJoint _joint;\n public IJoint GetIJoint() => _joint;\n private UnityEngine.FixedJoint _unityJoint;\n public bool Exists() => _unityJoint != null;\n\n public FixedJointAdapter(FixedJoint joint) {\n _joint = joint;\n _joint.PropertyChanged += UpdateProperty;\n\n // init\n // TODO: Add parent and child body connections\n _unityJoint = Api.ApiProviderData.GameObjects[_joint.connectedParent.Entity.Value]\n .AddComponent<UnityEngine.FixedJoint>();\n\n _unityJoint.anchor = _joint.anchor.Map() - _unityJoint.transform.position;\n _unityJoint.axis = _joint.axis.Map();\n _unityJoint.breakForce = _joint.breakForce;\n _unityJoint.breakTorque = _joint.breakTorque;\n _unityJoint.connectedBody = ((RigidbodyAdapter) _joint.connectedChild?.Adapter).unityRigidbody;\n _unityJoint.enableCollision = _joint.enableCollision;\n\n _unityJoint.massScale = _joint.connectedParent.mass / _joint.connectedChild.mass;\n }\n\n public void Update() {}\n\n private void UpdateProperty(object sender, PropertyChangedEventArgs args) {\n if (_unityJoint == null) {\n return;\n }\n\n // TODO: What should we do about the parent?\n switch (args.PropertyName.ToLower()) {\n case \"axis\":\n _unityJoint.axis = _joint.axis.Map() - _unityJoint.transform.position;\n break;\n case \"anchor\":\n _unityJoint.anchor = _joint.anchor.Map();\n break;\n case \"connectedchild\":\n _unityJoint.connectedBody = ((RigidbodyAdapter) _joint.connectedChild.Adapter).unityRigidbody;\n break;\n case \"breakforce\":\n _unityJoint.breakForce = _joint.breakForce;\n break;\n case \"breaktorque\":\n _unityJoint.breakTorque = _joint.breakTorque;\n break;\n case \"enablecollision\":\n _unityJoint.enableCollision = _joint.enableCollision;\n break;\n default:\n throw new Exception($\"Property {args.PropertyName} not supported\");\n }\n }\n }\n\n class HingeJointAdapter : IJointAdapter {\n private HingeJoint _joint;\n public IJoint GetIJoint() => _joint;\n private UnityEngine.HingeJoint _unityJoint;\n public bool Exists() => _unityJoint != null;\n\n public HingeJointAdapter(HingeJoint joint) {\n _joint = joint;\n _joint.PropertyChanged += UpdateProperty;\n\n // init all properties\n // TODO: Add parent and child body connections\n _unityJoint = GameObject.Find($\"Entity {_joint.connectedParent.Entity?.Index}\")\n .AddComponent<UnityEngine.HingeJoint>();\n\n _unityJoint.anchor = _joint.anchor.Map() - _unityJoint.transform.position;\n _unityJoint.axis = _joint.axis.Map();\n _unityJoint.breakForce = _joint.breakForce;\n _unityJoint.breakTorque = _joint.breakTorque;\n _unityJoint.connectedBody = ((RigidbodyAdapter) _joint.connectedChild?.Adapter).unityRigidbody;\n _unityJoint.enableCollision = _joint.enableCollision;\n _unityJoint.useLimits = _joint.useLimits;\n _unityJoint.limits = _joint.limits.GetUnity();\n _unityJoint.useMotor = _joint.useMotor;\n _unityJoint.motor = _joint.motor.GetUnity();\n\n _unityJoint.massScale = _joint.connectedParent.mass / _joint.connectedChild.mass;\n }\n\n public void Update() {\n _joint.velocity = _unityJoint.velocity;\n _joint.angle = _unityJoint.angle;\n }\n\n private void UpdateProperty(object sender, PropertyChangedEventArgs args) {\n if (_unityJoint == null) {\n // TODO: Need to do something else if joint breaks\n return;\n }\n\n // TODO: Add parent and child body connections\n // TODO: What should we do about the parent?\n switch (args.PropertyName.ToLower()) {\n case \"anchor\":\n _unityJoint.anchor = _joint.anchor.Map() - _unityJoint.transform.position;\n break;\n case \"axis\":\n _unityJoint.axis = _joint.axis.Map();\n break;\n case \"breakforce\":\n _unityJoint.breakForce = _joint.breakForce;\n break;\n case \"breaktorque\":\n _unityJoint.breakTorque = _joint.breakTorque;\n break;\n case \"connectedchild\":\n _unityJoint.connectedBody = ((RigidbodyAdapter) _joint.connectedChild.Adapter).unityRigidbody;\n break;\n case \"enablecollision\":\n _unityJoint.enableCollision = _joint.enableCollision;\n break;\n case \"uselimits\":\n _unityJoint.useLimits = _joint.useLimits;\n break;\n case \"limits\":\n _unityJoint.limits = _joint.limits.GetUnity();\n break;\n case \"usemotor\":\n _unityJoint.useMotor = _joint.useMotor;\n break;\n case \"motor\":\n _unityJoint.motor = _joint.motor.GetUnity();\n break;\n default:\n throw new Exception($\"Property {args.PropertyName} not supported\");\n }\n }\n }\n }\n\n}\n<file_sep>using Org.BouncyCastle.Crypto;\nusing Org.BouncyCastle.Crypto.Digests;\nusing Org.BouncyCastle.Crypto.Generators;\nusing Org.BouncyCastle.Crypto.Parameters;\nusing Org.BouncyCastle.Math;\nusing Org.BouncyCastle.Security;\nusing System;\nusing System.Collections.Generic;\nusing System.Linq;\nusing System.Security.Cryptography;\nusing System.Text;\n\nnamespace SynthesisAPI.Aether\n{\n public class SymmetricEncryptor\n {\n private readonly RandomNumberGenerator _random;\n private const int _AES_BLOCK_BYTE_SIZE = 128 / 8;\n\n public SymmetricEncryptor()\n {\n _random = RandomNumberGenerator.Create();\n }\n\n private byte[] GenerateRandomBytes(int numberOfBytes)\n {\n var randomBytes = new byte[numberOfBytes];\n _random.GetBytes(randomBytes);\n return randomBytes;\n }\n\n\n public byte[] GenerateSharedSecret(string importedPublicKey, DHParameters parameters, AsymmetricCipherKeyPair keyPair)\n {\n DHPublicKeyParameters importedPublicKeyParameters = new DHPublicKeyParameters(new BigInteger(importedPublicKey), parameters);\n IBasicAgreement internalKeyAgreement = AgreementUtilities.GetBasicAgreement(\"DH\");\n internalKeyAgreement.Init(keyPair.Private);\n BigInteger sharedKey = internalKeyAgreement.CalculateAgreement(importedPublicKeyParameters);\n byte[] sharedKeyBytes = sharedKey.ToByteArray();\n\n IDigest digest = new Sha256Digest();\n byte[] SymmetricKey = new byte[digest.GetDigestSize()];\n digest.BlockUpdate(sharedKeyBytes, 0, sharedKeyBytes.Length);\n digest.DoFinal(SymmetricKey, 0);\n return SymmetricKey;\n }\n\n public AsymmetricCipherKeyPair GenerateKeys(DHParameters parameters)\n {\n var keyGen = GeneratorUtilities.GetKeyPairGenerator(\"DH\");\n var kgp = new DHKeyGenerationParameters(new SecureRandom(), parameters);\n keyGen.Init(kgp);\n return keyGen.GenerateKeyPair();\n }\n\n public DHParameters GenerateParameters()\n {\n DHParametersGenerator generator = new DHParametersGenerator();\n generator.Init(512, 80, new SecureRandom()); // not too sure about these numbers\n return generator.GenerateParameters();\n }\n\n public byte[] Encrypt(byte[] data, byte[] symmetricKey)\n {\n using (Aes aes = Aes.Create())\n {\n aes.Key = symmetricKey;\n aes.IV = GenerateRandomBytes(_AES_BLOCK_BYTE_SIZE);\n\n using (ICryptoTransform encryptor = aes.CreateEncryptor())\n {\n \n byte[] encryptedData = encryptor.TransformFinalBlock(data, 0, data.Length);\n byte[] result = new byte[aes.IV.Length + encryptedData.Length];\n\n aes.IV.CopyTo(result, 0);\n encryptedData.CopyTo(result, aes.IV.Length);\n\n return result;\n }\n }\n }\n\n public byte[] Decrypt(byte[] encryptedData, byte[] symmetricKey)\n {\n using (Aes aes = Aes.Create())\n {\n aes.Key = symmetricKey;\n aes.IV = encryptedData.Take(_AES_BLOCK_BYTE_SIZE).ToArray();\n\n byte[] data = encryptedData.Skip(_AES_BLOCK_BYTE_SIZE).ToArray();\n\n using (ICryptoTransform decryptor = aes.CreateDecryptor())\n {\n return decryptor.TransformFinalBlock(data, 0, data.Length);\n }\n }\n }\n }\n}\n<file_sep>#include \"roborio_manager.hpp\"\n#include \"robot_outputs.hpp\"\n#include \"system_interface.hpp\"\n\nusing namespace nFPGA;\nusing namespace nRoboRIO_FPGANamespace;\n\nnamespace hel{\n\n tRelay::tValue RelaySystem::getValue()const noexcept{\n return value;\n }\n\n void RelaySystem::setValue(tRelay::tValue v)noexcept{\n value = v;\n auto instance = RobotOutputsManager::getInstance();\n instance.first->updateDeep();\n instance.second.unlock();\n }\n\n RelaySystem::RelaySystem()noexcept:value(){}\n RelaySystem::RelaySystem(const RelaySystem& source)noexcept{\n#define COPY(NAME) NAME = source.NAME\n COPY(value);\n#undef COPY\n }\n\n RelaySystem::State RelaySystem::getState(uint8_t index)noexcept{\n bool forward = checkBitHigh(value.Forward, index);\n bool reverse = checkBitHigh(value.Reverse, index);\n if(forward){\n if(reverse){\n return State::ERROR;\n }\n return State::FORWARD;\n }\n if(reverse){\n return State::REVERSE;\n }\n return State::OFF;\n }\n\n std::string asString(RelaySystem::State state){\n switch(state){\n case RelaySystem::State::OFF:\n return \"OFF\";\n case RelaySystem::State::REVERSE:\n return \"REVERSE\";\n case RelaySystem::State::FORWARD:\n return \"FORWARD\";\n case RelaySystem::State::ERROR:\n return \"ERROR\";\n default:\n throw UnhandledEnumConstantException(\"hel::RelaySystem::State\");\n }\n }\n\n\n struct RelayManager: public tRelay{\n tSystemInterface* getSystemInterface(){\n return new SystemInterface();\n }\n\n void writeValue(tValue value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.first->relay_system.setValue(value);\n instance.second.unlock();\n }\n\n void writeValue_Forward(uint8_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tRelay::tValue v = instance.first->relay_system.getValue();\n v.Forward = value;\n instance.first->relay_system.setValue(v);\n instance.second.unlock();\n }\n\n void writeValue_Reverse(uint8_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tRelay::tValue v = instance.first->relay_system.getValue();\n v.Reverse = value;\n instance.first->relay_system.setValue(v);\n instance.second.unlock();\n }\n\n tValue readValue(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->relay_system.getValue();\n }\n\n uint8_t readValue_Forward(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->relay_system.getValue().Forward;\n }\n\n uint8_t readValue_Reverse(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->relay_system.getValue().Reverse;\n }\n };\n}\n\nnamespace nFPGA{\n namespace nRoboRIO_FPGANamespace{\n tRelay* tRelay::create(tRioStatusCode* /*status*/){\n return new hel::RelayManager();\n }\n }\n}\n<file_sep>using System.Threading;\n\nnamespace SynthesisAPI.Utilities {\n\n public class Atomic<T> where T: struct {\n private readonly ReaderWriterLockSlim _lock;\n private T _value;\n public T Value {\n get {\n _lock.EnterReadLock();\n var result = _value;\n _lock.ExitReadLock();\n return result;\n }\n set {\n _lock.EnterWriteLock();\n _value = value;\n _lock.ExitWriteLock();\n }\n }\n\n public Atomic(T val) {\n _value = val;\n _lock = new ReaderWriterLockSlim();\n }\n\n public static implicit operator T(Atomic<T> atomic) => atomic.Value;\n }\n\n}<file_sep>\nusing System.Collections.Generic;\nusing Newtonsoft.Json;\n\n\npublic class RotationalJoint_Base : SkeletalJoint_Base\n{\n #region AngularDOF_Impl\n private class AngularDOF_Impl : AngularDOF\n {\n private readonly RotationalJoint_Base rjb;\n public AngularDOF_Impl(RotationalJoint_Base rjb)\n {\n this.rjb = rjb;\n }\n public float currentPosition\n {\n get\n {\n return rjb.currentAngularPosition;\n }\n }\n\n public float upperLimit\n {\n get\n {\n rjb.EnforceOrder();\n return rjb.hasAngularLimit ? rjb.angularLimitHigh : float.PositiveInfinity;\n }\n set\n {\n rjb.angularLimitHigh = value;\n rjb.hasAngularLimit = !float.IsInfinity(rjb.angularLimitLow) && !float.IsInfinity(rjb.angularLimitHigh);\n }\n }\n\n public float lowerLimit\n {\n get\n {\n rjb.EnforceOrder();\n return rjb.hasAngularLimit ? rjb.angularLimitLow : float.NegativeInfinity;\n }\n set\n {\n rjb.angularLimitLow = value;\n rjb.hasAngularLimit = !float.IsInfinity(rjb.angularLimitLow) && !float.IsInfinity(rjb.angularLimitHigh);\n }\n }\n\n public BXDVector3 rotationAxis\n {\n get\n {\n return rjb.axis;\n }\n set\n {\n rjb.axis = value;\n }\n }\n\n public BXDVector3 basePoint\n {\n get\n {\n return rjb.basePoint;\n }\n set\n {\n rjb.basePoint = value;\n }\n }\n }\n #endregion\n\n public BXDVector3 axis;\n public BXDVector3 basePoint;\n\n public float currentAngularPosition;\n public bool hasAngularLimit;\n public float angularLimitLow;\n public float angularLimitHigh;\n\n private readonly AngularDOF[] angularDOF;\n\n public RotationalJoint_Base()\n {\n angularDOF = new AngularDOF[] { new AngularDOF_Impl(this) };\n }\n\n public override SkeletalJointType GetJointType()\n {\n return SkeletalJointType.ROTATIONAL;\n }\n\n protected override void WriteBinaryJointInternal(System.IO.BinaryWriter writer)\n {\n EnforceOrder();\n writer.Write(basePoint);\n writer.Write(axis);\n\n writer.Write((byte)((hasAngularLimit ? 1 : 0)));\n if (hasAngularLimit)\n {\n writer.Write(angularLimitLow);\n writer.Write(angularLimitHigh);\n }\n\n writer.Write(currentAngularPosition);\n }\n\n protected override void ReadBinaryJointInternal(System.IO.BinaryReader reader)\n {\n basePoint = reader.ReadRWObject<BXDVector3>();\n axis = reader.ReadRWObject<BXDVector3>();\n\n hasAngularLimit = (reader.ReadByte() & 1) == 1;\n if (hasAngularLimit)\n {\n angularLimitLow = reader.ReadSingle();\n angularLimitHigh = reader.ReadSingle();\n }\n\n currentAngularPosition = reader.ReadSingle();\n EnforceOrder();\n }\n\n public void EnforceOrder()\n {\n if (hasAngularLimit && angularLimitLow > angularLimitHigh)\n {\n float temp = angularLimitHigh;\n angularLimitHigh = angularLimitLow;\n angularLimitLow = temp;\n }\n }\n\n public override IEnumerable<AngularDOF> GetAngularDOF()\n {\n return angularDOF;\n }\n\n public override IEnumerable<LinearDOF> GetLinearDOF()\n {\n return new LinearDOF[0];\n }\n}<file_sep>using Synthesis.UI.Dynamic;\nusing TMPro;\nusing UnityEngine;\nusing Utilities.ColorManager;\n\nnamespace UI.Dynamic.Modals.Configuring.ThemeEditor {\n public class DeleteAllThemesModal : ModalDynamic {\n private const float MODAL_WIDTH = 300;\n private const float MODAL_HEIGHT = 0;\n\n public DeleteAllThemesModal() : base(new Vector2(MODAL_WIDTH, MODAL_HEIGHT)) {}\n\n private string _newThemeName = null;\n\n public override void Create() {\n Title.SetText($\"Delete All Themes?\").SetWrapping(false);\n\n AcceptButton.AddOnClickedEvent(x => {\n ColorManager.DeleteAllThemes();\n DynamicUIManager.CreateModal<EditThemeModal>();\n });\n\n CancelButton.AddOnClickedEvent(x => { DynamicUIManager.CreateModal<EditThemeModal>(); });\n\n ModalIcon.SetSprite(SynthesisAssetCollection.GetSpriteByName(\"CloseIcon\"))\n .SetColor(ColorManager.SynthesisColor.MainText);\n }\n\n public override void Update() {}\n\n public override void Delete() {}\n }\n}\n<file_sep>using BenchmarkDotNet.Running;\nusing SynthesisAPI.WS;\nusing System;\nusing System.Threading;\n\nnamespace BenchmarkApi\n{\n public class Program\n {\n static void Main(string[] args)\n {\n // BenchmarkRunner.Run<BenchmarkVirtualFileSystem>();\n // BenchmarkRunner.Run<BenchmarkAssetManager>();\n\n var server = new WebSocketServer(\"127.0.0.1\", 3300);\n // server.OnMessage += (guid, m) => Console.WriteLine(m + \"\\n\");\n server.AddOnConnectListener((guid) => Console.WriteLine($\"{guid} - Connected\"));\n server.AddOnDisconnectListener((guid) => Console.WriteLine($\"{guid} - Disconnected\"));\n\n while (true) { }\n }\n }\n}\n<file_sep>using System;\nusing System.Security.Cryptography.X509Certificates;\nusing System.Net.Security;\nusing System.Net;\nusing SynthesisAPI.Utilities;\n\nnamespace SynthesisCore.Utilities\n{\n public static class Updater\n {\n public static bool IsUpdateAvailable { get; private set; }\n private static string _updateUrl;\n private static string _updateVersion;\n private const string CurrentVersion = \"4.9.0\";\n\n public static void CheckForUpdate()\n {\n if (HasValidConnection())\n {\n ServicePointManager.ServerCertificateValidationCallback = RemoteCertificateValidationCallback;\n var json = new WebClient().DownloadString(\"https://raw.githubusercontent.com/Autodesk/synthesis/master/VersionManager.json\");\n SynthesisVersion synthesisUpdate = Toolkit.DeserializeJson<SynthesisVersion>(json);\n if (synthesisUpdate != null)\n {\n _updateUrl = synthesisUpdate.URL;\n _updateVersion = synthesisUpdate.Version;\n\n var localVersion = new Version(CurrentVersion);\n var globalVersion = new Version(synthesisUpdate.Version);\n\n var versionComparison = localVersion.CompareTo(globalVersion);\n\n if (versionComparison < 0)\n {\n //Logger.Log(\"[Updater] Update available\");\n IsUpdateAvailable = true;\n }\n }\n }\n }\n\n private static bool HasValidConnection()\n {\n try\n {\n WebClient client = new WebClient();\n ServicePointManager.ServerCertificateValidationCallback = RemoteCertificateValidationCallback;\n\n using (client.OpenRead(\"https://raw.githubusercontent.com/Autodesk/synthesis/master/VersionManager.json\"))\n {\n //Logger.Log(\"[Updater] Connection to update server established\");\n return true;\n }\n }\n catch\n {\n Logger.Log(\"[Updater] Connection to update servers failed\", LogLevel.Warning);\n return false;\n }\n }\n\n private static bool RemoteCertificateValidationCallback(Object sender, X509Certificate certificate, X509Chain chain, SslPolicyErrors sslPolicyErrors)\n {\n bool isValidCertificateChain = true;\n if (sslPolicyErrors != SslPolicyErrors.None)\n {\n for (int i = 0; i < chain.ChainStatus.Length; i++)\n {\n if (chain.ChainStatus[i].Status != X509ChainStatusFlags.RevocationStatusUnknown)\n {\n chain.ChainPolicy.RevocationFlag = X509RevocationFlag.EntireChain;\n chain.ChainPolicy.RevocationMode = X509RevocationMode.Online;\n chain.ChainPolicy.UrlRetrievalTimeout = new TimeSpan(0, 1, 0);\n chain.ChainPolicy.VerificationFlags = X509VerificationFlags.AllFlags;\n bool chainIsValid = chain.Build((X509Certificate2)certificate);\n if (!chainIsValid)\n {\n isValidCertificateChain = false;\n }\n }\n }\n }\n return isValidCertificateChain;\n }\n\n public static SynthesisVersion GetUpdateVersion()\n {\n return new SynthesisVersion {Version = _updateVersion, URL = _updateUrl};\n }\n\n public static SynthesisVersion GetCurrentVersion()\n {\n return new SynthesisVersion { Version = CurrentVersion, URL = \"\" };\n }\n\n public class SynthesisVersion\n {\n public string Version { get; set; }\n public string URL { get; set; }\n }\n\n }\n}<file_sep>#include \"roborio_manager.hpp\"\n#include \"system_interface.hpp\"\n\nusing namespace nFPGA;\nusing namespace nRoboRIO_FPGANamespace;\n\nnamespace hel{\n tSysWatchdog::tStatus SysWatchdog::getStatus()const noexcept{\n return status;\n }\n\n void SysWatchdog::setStatus(tSysWatchdog::tStatus s)noexcept{\n status = s;\n }\n\n SysWatchdog::SysWatchdog()noexcept:status(){}\n SysWatchdog::SysWatchdog(const SysWatchdog& source)noexcept{\n#define COPY(NAME) NAME = source.NAME\n COPY(status);\n#undef COPY\n }\n\n struct SysWatchdogManager: public tSysWatchdog{\n tSystemInterface* getSystemInterface(){ //unnecessary for emulation\n return new SystemInterface();\n }\n\n tStatus readStatus(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->watchdog.getStatus();\n }\n\n bool readStatus_SystemActive(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->watchdog.getStatus().SystemActive;\n }\n\n bool readStatus_PowerAlive(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->watchdog.getStatus().PowerAlive;\n }\n\n uint16_t readStatus_SysDisableCount(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->watchdog.getStatus().SysDisableCount;\n }\n\n uint16_t readStatus_PowerDisableCount(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->watchdog.getStatus().PowerDisableCount;\n }\n\n void writeCommand(uint32_t /*value*/, tRioStatusCode* /*status*/){} //unnecessary for emulation\n\n uint32_t readCommand(tRioStatusCode* /*status*/){ //unnecessary for emulation\n return 0;\n }\n\n uint32_t readChallenge(tRioStatusCode* /*status*/){ //unnecessary for emulation\n return 0;\n }\n\n void writeActive(bool /*value*/, tRioStatusCode* /*status*/){} //unnecessary for emulation\n\n bool readActive(tRioStatusCode* /*status*/){ //unnecessary for emulation\n return 0;\n }\n\n uint32_t readTimer(tRioStatusCode* /*status*/){ //unnecessary for emulation\n return 0;\n }\n\n uint16_t readForcedKills(tRioStatusCode* /*status*/){ //unnecessary for emulation\n return 0;\n }\n };\n}\n\nnamespace nFPGA{\n namespace nRoboRIO_FPGANamespace{\n tSysWatchdog* tSysWatchdog::create(tRioStatusCode* /*status*/){\n return new hel::SysWatchdogManager();\n }\n }\n}\n<file_sep>using Newtonsoft.Json;\n\n#nullable enable\n\nnamespace Controller.Rpc\n{\n public class RpcResponse\n {\n public class ErrorObject\n {\n [JsonProperty(\"code\")]\n public int Code;\n [JsonProperty(\"message\")]\n public string Message;\n [JsonProperty(\"data\")]\n public object? Data;\n\n public ErrorObject() : this(0, \"\") { }\n\n public ErrorObject(int code, string message, object? data = null)\n {\n Code = code;\n Message = message;\n Data = data;\n }\n\n public static ErrorObject FromException(RpcError e)\n {\n // Error codes and names from https://www.jsonrpc.org/specification\n var eo = new ErrorObject();\n if (e is ParseError)\n eo = new ErrorObject(-32700, \"Parse error\");\n else if (e is InvalidRequest)\n eo = new ErrorObject(-32600, \"Invalid request\");\n else if (e is MethodNotFound)\n eo = new ErrorObject(-32601, \"Method not found\");\n else if (e is InvalidParams)\n eo = new ErrorObject(-32602, \"Invalid params\");\n else if (e is InternalError)\n eo = new ErrorObject(-32603, \"Internal error\");\n else if (e is ServerError)\n eo = new ErrorObject(-32000, \"Server error\");\n eo.Data = e.ToString();\n return eo;\n }\n }\n\n [JsonProperty(\"jsonrpc\")]\n public string JsonRpcVersion;\n \n [JsonProperty(\"result\")]\n public object? Result;\n \n //[JsonIgnore]\n //public bool HasResult { get; } // TODO consider adding this back in somehow\n \n [JsonProperty(\"error\")]\n public ErrorObject? Error;\n \n [JsonProperty(\"id\")]\n public int Id;\n\n public RpcResponse()\n {\n Result = null;\n //HasResult = false;\n Error = null;\n JsonRpcVersion = \"\";\n }\n\n public RpcResponse(string version, SynthesisAPI.Utilities.Result<object, RpcError> result, int id)\n {\n if (result.isError)\n {\n Error = ErrorObject.FromException(result.GetError());\n }\n else if(!(result.GetResult() is Void))\n {\n Result = result.GetResult();\n // HasResult = true;\n }\n JsonRpcVersion = version;\n Id = id;\n }\n\n public static string ToJson(string version, SynthesisAPI.Utilities.Result<object, RpcError> result, int id)\n {\n return new RpcResponse(version, result, id).ToJson();\n }\n\n public string ToJson()\n {\n return JsonConvert.SerializeObject(this, RpcManager.JsonSettings);\n }\n\n public static RpcResponse FromJson(string json)\n {\n return JsonConvert.DeserializeObject<RpcResponse>(json, RpcManager.JsonSettings);\n }\n }\n}\n<file_sep>using System.Xml.Serialization;\n\nnamespace TestApi\n{\n [XmlRoot(\"TestXmlObject\")]\n public class TestXmlObject\n {\n [XmlElement(\"Text\")]\n public string Text { get; set; }\n }\n}\n<file_sep>using System;\nusing System.Collections.Generic;\nusing System.Text;\n\nnamespace SynthesisAPI.DevelopmentTools\n{\n public class ProfilerMarker\n {\n private DateTime _startTimestamp { get; set; }\n\n public ProfilerMarker()\n {\n _startTimestamp = DateTime.Now;\n }\n\n public TimeSpan TimeSinceCreation => DateTime.Now.Subtract(_startTimestamp);\n }\n}\n<file_sep>using SynthesisAPI.Utilities;\nusing System;\nusing System.Collections.Generic;\nusing System.Runtime.CompilerServices;\n\nusing Zippo = System.IO.Compression.ZipFile;\n\n[assembly: InternalsVisibleTo(\"CoreEngine\")]\n[assembly: InternalsVisibleTo(\"MockApi\")]\n[assembly: InternalsVisibleTo(\"TestApi\")]\n[assembly: InternalsVisibleTo(\"PlayMode.Tests\")]\n\nnamespace SynthesisAPI.Modules\n{\n public static class ModuleManager\n {\n public class ModuleInfo\n {\n public string Name { get; }\n public string Version { get; }\n public string Author { get; }\n public string Description { get; }\n\n public ModuleInfo(string name, string version)\n {\n Name = name;\n Version = version;\n Author = \"\";\n Description = \"\";\n }\n public ModuleInfo(string name, string version, string author, string description)\n {\n Name = name;\n Version = version;\n Author = author;\n Description = description;\n }\n\n public override bool Equals(object obj)\n {\n if(obj is ModuleInfo mod)\n {\n return mod.Name == Name && mod.Version == Version;\n }\n return false;\n }\n\n public override int GetHashCode()\n {\n int hashCode = 2112831277;\n hashCode = hashCode * -1521134295 + EqualityComparer<string>.Default.GetHashCode(Name);\n hashCode = hashCode * -1521134295 + EqualityComparer<string>.Default.GetHashCode(Version);\n return hashCode;\n }\n }\n\n [ExposedApi]\n internal static void AddToLoadedModuleList(ModuleInfo module)\n {\n if (!IsModuleLoaded(module))\n {\n Instance.LoadedModules.Add(module);\n }\n }\n\n public static bool IsFinishedLoading { get => Instance.IsFinishedLoading; }\n\n internal static void MarkFinishedLoading()\n {\n Instance.IsFinishedLoading = true;\n }\n\n [ExposedApi]\n public static List<ModuleInfo> GetLoadedModules()\n {\n return Instance.LoadedModules;\n }\n\n [ExposedApi]\n public static bool IsModuleLoaded(ModuleInfo module)\n {\n return Instance.LoadedModules.Contains(module);\n }\n\n [ExposedApi]\n public static string GetDeclaringModule(Type type)\n {\n var callSite = type.Assembly.GetName().Name;\n return Instance.AssemblyOwners.ContainsKey(callSite) ? Instance.AssemblyOwners[callSite] : $\"{callSite}.dll\";\n }\n\n internal static void RegisterModuleAssemblyName(string assemblyName, string owningModule)\n {\n Instance.AssemblyOwners.Add(assemblyName, owningModule);\n }\n\n private class Inner\n {\n public Inner()\n {\n LoadedModules = new List<ModuleInfo>();\n AssemblyOwners = new Dictionary<string, string>();\n }\n\n public List<ModuleInfo> LoadedModules;\n public Dictionary<string, string> AssemblyOwners;\n public bool IsFinishedLoading { get; set; }\n\n public static readonly Inner Instance = new Inner();\n }\n\n private static Inner Instance => Inner.Instance;\n }\n}\n<file_sep>using CommandLine;\nusing System;\nusing System.Collections.Generic;\nusing System.Text;\n\nnamespace SynthesisServer\n{\n [Verb(\"restart\", HelpText = \"Restart the Synthesis Server if it is already running\")]\n class RestartCommand\n {\n [Option('t', \"timeout\", Required = false, HelpText = \"Sets the time (ms) that the server will wait for all other instances to die (Defaults to 5000 milliseconds)\")]\n public int Timeout { get; set; } = 5000;\n\n [Option('f', \"force\", Required = false, HelpText = \"Server will start regaurdless of whether all other instances are alive (Defaults to false which is strongly recommended)\")]\n public bool Force { get; set; } = false;\n\n public Command CommandType { get; } = Command.RESTART;\n }\n}\n<file_sep>using System;\nusing System.Net;\nusing System.Net.Sockets;\nusing Microsoft.Extensions.Logging;\n\n#nullable enable\n\nnamespace Patchbay {\n public class Server2 {\n\n private TcpListener _tcpListener;\n private UdpClient _udpSocket;\n \n public Server2(ILogger logger, int udpPort, int tcpPort) {\n\n if (udpPort == tcpPort) {\n logger.LogError(\"UDP and TCP can't operate on the same port\");\n _udpSocket = null!;\n _tcpListener = null!;\n return; // TODO: Can I do this? Should I do this?\n }\n \n // Create listeners and bind to ports\n _udpSocket = new UdpClient(udpPort);\n _tcpListener = new TcpListener(IPAddress.Parse(\"127.0.0.1\"), tcpPort);\n \n // Setup listeners\n _udpSocket.BeginReceive(new AsyncCallback(UdpReceiveCallback), null);\n }\n\n private void UdpReceiveCallback(IAsyncResult result) {\n if (!result.IsCompleted) {\n // ?\n return;\n }\n\n IPEndPoint? ipep = null;\n byte[] data = _udpSocket.EndReceive(result, ref ipep);\n \n \n }\n }\n}<file_sep>using SynthesisAPI.VirtualFileSystem;\nusing System;\nusing System.Collections.Generic;\nusing System.Linq;\nusing System.Text;\nusing System.Threading.Tasks;\n\nnamespace SynthesisAPI.Utilities\n{\n /// <summary>\n /// A type intended for use as a return, encapsulates both success and failure states\n /// </summary>\n /// <typeparam name=\"TValue\">Value type of the return</typeparam>\n /// <typeparam name=\"TError\">Possible error type of the function</typeparam>\n public class Result<TValue, TError> where TError: Exception\n {\n\n public Result(TValue val) => value = val;\n\n public Result(TError err)\n {\n error = err;\n isError = true;\n }\n\n public TValue GetResult()\n {\n if (!isError)\n return value;\n throw error;\n }\n\n public TError GetError()\n {\n if (!isError)\n throw new SynthesisException(\"Result is not an error type\");\n return error;\n }\n\n public static implicit operator TValue(Result<TValue, TError> res)\n {\n return res.GetResult();\n }\n\n public static implicit operator TError(Result<TValue, TError> res)\n {\n return res.GetError();\n }\n\n public Result<TNewValue, TError> MapResult<TNewValue>(Func<TValue, TNewValue> f)\n {\n if(isError)\n {\n return new Result<TNewValue,TError>(error);\n }\n return new Result<TNewValue,TError>(f(value));\n }\n\n public Result<TValue, TNewError> MapError<TNewError>(Func<TError, TNewError> f) where TNewError : Exception\n {\n if(!isError)\n {\n return new Result<TValue,TNewError>(value);\n }\n return new Result<TValue,TNewError>(f(error));\n }\n\n public Result<TNewValue, TNewError> Map<TNewValue, TNewError>(Func<TValue, TNewValue> f,\n Func<TError, TNewError> g) where TNewError : Exception =>\n MapResult(f).MapError(g);\n\n public readonly bool isError;\n private readonly TValue value = default!;\n private readonly TError error = default!;\n }\n}\n<file_sep>#!/bin/bash\nif ! [ -d ../api/Api/Gen/ ]\nthen\n mkdir ../api/Api/Gen/\nfi\nif ! [ -d ../api/Api/Gen/Proto/ ]\nthen\n mkdir ../api/Api/Gen/Proto/\nfi\nif ! [ -d ../api/Api/Gen/Proto/Server/ ]\nthen\n mkdir ../api/Api/Gen/Proto/Server/\nfi\nif ! [ -d ../api/Api/Gen/Mirabuf/ ]\nthen\n mkdir ../api/Api/Gen/Mirabuf/\nfi\n\nprotoc --csharp_out=../api/Api/Gen/Proto/ v1/*.proto\nprotoc --csharp_out=../api/Api/Gen/Proto/Server/ v1/server/*.proto\nprotoc --proto_path=../mirabuf --csharp_out=../api/Api/Gen/Mirabuf/ ../mirabuf/*.proto\n\ncd ../exporter/SynthesisFusionAddin/proto/\n./build.sh\ncd ../../../protocols/<file_sep>using System.Collections;\nusing System.Collections.Generic;\nusing System.Diagnostics;\nusing Synthesis.UI.Dynamic;\nusing UnityEngine;\nusing Utilities.ColorManager;\n\nnamespace Synthesis.UI.Dynamic {\n public class UpdateAvailableModal : ModalDynamic {\n public UpdateAvailableModal() : base(new Vector2(350, 50)) {}\n\n public override void Create() {\n Title.SetText(\"Exit Synthesis\");\n AcceptButton\n .AddOnClickedEvent(x => {\n Process.Start(\n new ProcessStartInfo() { FileName = AutoUpdater.UpdaterLink, UseShellExecute = true });\n })\n .StepIntoLabel(l => l.SetText(\"Yes Please\"))\n .SetPivot<Button>(new Vector2(1.0f, 0.0f))\n .SetWidth<Button>(125);\n CancelButton.StepIntoLabel(l => l.SetText(\"I'm Good\"))\n .SetPivot<Button>(new Vector2(0.0f, 0.0f))\n .SetWidth<Button>(125);\n ModalIcon.SetSprite(SynthesisAssetCollection.GetSpriteByName(\"CloseIcon\"));\n\n ModalIcon.SetColor(ColorManager.GetColor(ColorManager.SynthesisColor.MainText));\n\n MainContent.CreateLabel(40)\n .SetHorizontalAlignment(TMPro.HorizontalAlignmentOptions.Center)\n .SetVerticalAlignment(TMPro.VerticalAlignmentOptions.Middle)\n .SetAnchoredPosition<Label>(new Vector2(0, 15))\n .SetText(\"A new update is available\\nWould you like to update?\")\n .SetFont(SynthesisAssetCollection.GetFont(\"Roboto-Regular SDF\"))\n .SetFontSize(20);\n }\n\n public override void Update() {}\n\n public override void Delete() {}\n }\n}\n<file_sep>using MathNet.Spatial.Euclidean;\nusing SynthesisAPI.Utilities;\nusing UnityEngine.UIElements;\n\nnamespace SynthesisAPI.UIManager\n{\n /// <summary>\n /// A manipulator that makes a visual element draggable\n /// \n /// Taken from a Unity demo at:\n /// https://github.com/Unity-Technologies/UIElementsUniteLATurretDemo/blob/master/Assets/Demo/Editor/TextureDragger.cs\n /// </summary>\n internal class DragManipulator : MouseManipulator\n {\n private Vector2D startPosition;\n protected bool isActive;\n\n public DragManipulator()\n {\n activators.Add(new ManipulatorActivationFilter { button = MouseButton.LeftMouse });\n isActive = false;\n }\n\n protected override void RegisterCallbacksOnTarget()\n {\n target.RegisterCallback<MouseDownEvent>(OnMouseDown);\n target.RegisterCallback<MouseMoveEvent>(OnMouseMove);\n target.RegisterCallback<MouseUpEvent>(OnMouseUp);\n }\n\n protected override void UnregisterCallbacksFromTarget()\n {\n target.UnregisterCallback<MouseDownEvent>(OnMouseDown);\n target.UnregisterCallback<MouseMoveEvent>(OnMouseMove);\n target.UnregisterCallback<MouseUpEvent>(OnMouseUp);\n }\n\n private void OnMouseDown(MouseDownEvent e)\n {\n if (isActive)\n {\n e.StopImmediatePropagation();\n return;\n }\n\n if (CanStartManipulation(e))\n {\n startPosition = e.localMousePosition.Map();\n\n isActive = true;\n target.CaptureMouse();\n e.StopPropagation();\n }\n }\n\n private void OnMouseMove(MouseMoveEvent e)\n {\n if (!isActive || !target.HasMouseCapture())\n return;\n\n var diff = e.localMousePosition.Map() - startPosition;\n\n var newTop = target.worldBound.y + diff.Y;\n var newLeft = target.worldBound.x + diff.X;\n\n if (newTop > -e.localMousePosition.y && (newTop + e.localMousePosition.y) < UnityEngine.Screen.height)\n target.style.top = (StyleLength)(target.layout.y + diff.Y);\n\n if (newLeft > -e.localMousePosition.x && (newLeft + e.localMousePosition.x) < UnityEngine.Screen.width)\n target.style.left = (StyleLength)newLeft;\n\n e.StopPropagation();\n }\n\n private void OnMouseUp(MouseUpEvent e)\n {\n if (!isActive || !target.HasMouseCapture() || !CanStopManipulation(e))\n return;\n\n isActive = false;\n target.ReleaseMouse();\n e.StopPropagation();\n }\n }\n}\n<file_sep>using System;\nusing System.Collections.Generic;\nusing System.Text;\n\ninternal static class GlobalUtil {\n\n public static V TryGetDefault<K, V>(this Dictionary<K, V> dict, K key) where V : struct {\n var success = dict.TryGetValue(key, out V res);\n return success ? res : default;\n }\n\n public static V TryGetDefault<K, V>(this Dictionary<K, V> dict, K key, V defa) {\n var success = dict.TryGetValue(key, out V res);\n return success ? res : defa;\n }\n\n}\n<file_sep>using System;\n\nnamespace SynthesisAPI.Utilities\n{\n public class Toolkit\n {\n public static T DeserializeJson<T>(string jsonString)\n {\n // object result = System.Text.Json.JsonSerializer.Deserialize<T>(jsonString);\n // return (T) Convert.ChangeType(result, typeof(T));\n return default;\n }\n }\n}<file_sep>#ifndef _SPI_SYSTEM_HPP_\n#define _SPI_SYSTEM_HPP_\n\n#include \"FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h\"\n#include \"FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h\"\n\nnamespace hel{\n\n /**\n * \\brief Data model for SPI system\n *\n * This is currently unsupported by HEL\n */\n\n struct SPISystem{\n /**\n * \\cond HIDDEN_SYMBOLS\n */\n private:\n nFPGA::nRoboRIO_FPGANamespace::tSPI::tAutoTriggerConfig auto_trigger_config;\n nFPGA::nRoboRIO_FPGANamespace::tSPI::tAutoByteCount auto_byte_count;\n nFPGA::nRoboRIO_FPGANamespace::tSPI::tChipSelectActiveHigh chip_select_active_high;\n uint8_t auto_chip_select;\n bool auto_spi_1_select;\n uint32_t auto_rate;\n uint8_t enabled_dio;\n\n public:\n nFPGA::nRoboRIO_FPGANamespace::tSPI::tAutoTriggerConfig getAutoTriggerConfig()const;\n void setAutoTriggerConfig(nFPGA::nRoboRIO_FPGANamespace::tSPI::tAutoTriggerConfig);\n nFPGA::nRoboRIO_FPGANamespace::tSPI::tAutoByteCount getAutoByteCount()const;\n void setAutoByteCount(nFPGA::nRoboRIO_FPGANamespace::tSPI::tAutoByteCount);\n nFPGA::nRoboRIO_FPGANamespace::tSPI::tChipSelectActiveHigh getChipSelectActiveHigh()const;\n void setChipSelectActiveHigh(nFPGA::nRoboRIO_FPGANamespace::tSPI::tChipSelectActiveHigh);\n uint8_t getAutoChipSelect()const;\n void setAutoChipSelect(uint8_t);\n bool getAutoSPI1Select()const;\n void setAutoSPI1Select(bool);\n uint32_t getAutoRate()const;\n void setAutoRate(uint32_t);\n uint8_t getEnabledDIO()const;\n void setEnabledDIO(uint8_t);\n SPISystem()noexcept;\n SPISystem(const SPISystem&)noexcept;\n /**\n * \\endcond\n */\n };\n}\n\n#endif\n<file_sep>#!/bin/sh\n\n./scripts/osx/resolve_deps.sh\ngit submodule update --init --recursive\ncd protocols\n./proto_compile.sh\ncd ../engine/EngineDeps\n./setup.sh\ncd ../../api\n./build.sh\ncd ..\n<file_sep>using System;\nusing System.Linq;\nusing System.Collections.Generic;\nusing System.Collections.ObjectModel;\nusing SynthesisAPI.EnvironmentManager;\nusing SynthesisAPI.Utilities;\n\n#nullable enable\n\nnamespace SynthesisAPI.Simulation {\n public static class SimulationManager {\n public delegate void SimObjectEvent(SimObject entity);\n\n public static event SimObjectEvent? OnNewSimulationObject;\n public static event SimObjectEvent? OnRemoveSimulationObject;\n \n internal static Dictionary<string, SimObject> _simObjects = new Dictionary<string, SimObject>();\n public static IReadOnlyDictionary<string, SimObject> SimulationObjects\n = new ReadOnlyDictionary<string, SimObject>(_simObjects);\n\n public delegate void UpdateDelegate();\n public static event UpdateDelegate? OnDriverUpdate;\n public static event UpdateDelegate? OnBehaviourUpdate;\n public static event UpdateDelegate? OnDriverFixedUpdate;\n public static event UpdateDelegate? OnBehaviourFixedUpdate;\n\n\n // TODO: Switch to using guids cuz all the signals have the same name\n public static Dictionary<string, LinkedList<Driver>> Drivers = new Dictionary<string, LinkedList<Driver>>();\n public static Dictionary<string, LinkedList<SimBehaviour>> Behaviours = new Dictionary<string, LinkedList<SimBehaviour>>();\n\n public static void Update() {\n Drivers.ForEach(x => {\n if (_simObjects[x.Key].DriversEnabled)\n x.Value.Where(y => y.Enabled).ForEach(y => y.Update());\n });\n if (OnDriverUpdate != null)\n OnDriverUpdate();\n Behaviours.ForEach(x => {\n if (_simObjects[x.Key].BehavioursEnabled)\n x.Value.Where(y => y.Enabled).ForEach(y => y.Update());\n });\n if (OnBehaviourUpdate != null)\n OnBehaviourUpdate();\n // _drivers.ForEach(x => x.Update());\n }\n\n public static void FixedUpdate() {\n Drivers.ForEach(x => {\n if (_simObjects[x.Key].DriversEnabled)\n x.Value.Where(y => y.Enabled).ForEach(y => y.FixedUpdate());\n });\n if (OnDriverFixedUpdate != null)\n OnDriverFixedUpdate();\n Behaviours.ForEach(x => {\n if (_simObjects[x.Key].BehavioursEnabled)\n x.Value.Where(y => y.Enabled).ForEach(y => y.FixedUpdate());\n });\n if (OnBehaviourFixedUpdate != null)\n OnBehaviourFixedUpdate();\n // _drivers.ForEach(x => x.Update());\n }\n\n public static void AddDriver(string simObjectName, Driver d)\n {\n if (!Drivers.ContainsKey(simObjectName))\n {\n Drivers[simObjectName] = new LinkedList<Driver>();\n }\n Drivers[simObjectName].AddLast(d);\n }\n\n public static void AddBehaviour(string simObjectName, SimBehaviour d)\n {\n if (!Behaviours.ContainsKey(simObjectName))\n {\n Behaviours[simObjectName] = new LinkedList<SimBehaviour>();\n }\n Behaviours[simObjectName].AddLast(d);\n }\n\n public static bool RemoveDriver(string simObjectName, Driver d)\n {\n if (!Drivers.ContainsKey(simObjectName))\n return false;\n\n var list = Drivers[simObjectName];\n bool removed = false;\n var cursor = list.First;\n while (!removed && cursor != null) {\n if (cursor.Value.Equals(d)) {\n cursor.Value.OnRemove();\n list.Remove(cursor);\n removed = true;\n }\n cursor = cursor.Next;\n }\n\n return removed;\n }\n\n public static bool RemoveBehaviour(string simObjectName, SimBehaviour b) {\n if (!Behaviours.ContainsKey(simObjectName))\n return false;\n\n var list = Behaviours[simObjectName];\n bool removed = false;\n var cursor = list.First;\n while (!removed && cursor != null) {\n if (cursor.Value.Equals(b)) {\n cursor.Value.OnRemove();\n list.Remove(cursor);\n removed = true;\n }\n cursor = cursor.Next;\n }\n\n return removed;\n }\n\n public static void RegisterSimObject(SimObject so) {\n if (_simObjects.ContainsKey(so.Name)) // Probably use some GUID\n throw new Exception(\"Name already exists\");\n _simObjects[so.Name] = so;\n Drivers[so.Name] = new LinkedList<Driver>();\n Behaviours[so.Name] = new LinkedList<SimBehaviour>();\n\n if (OnNewSimulationObject != null)\n OnNewSimulationObject(so);\n }\n\n public static bool RemoveSimObject(SimObject so) {\n return RemoveSimObject(so.Name);\n }\n\n public static bool RemoveSimObject(string so) {\n bool exists = _simObjects.TryGetValue(so, out SimObject s);\n if (!exists)\n return false;\n Drivers.Remove(so);\n Behaviours.Remove(so);\n var res = _simObjects.Remove(so);\n if (res) {\n s.Destroy();\n if (OnRemoveSimulationObject != null) {\n OnRemoveSimulationObject(s);\n }\n } else {\n Logger.Log(\"No sim object found by that name\", LogLevel.Warning);\n }\n return res;\n }\n }\n}<file_sep>using MathNet.Spatial.Euclidean;\nusing SynthesisAPI.EnvironmentManager.Components;\nusing System.Collections.Generic;\n\nnamespace SynthesisCore.Meshes\n{\n public static class Cube\n {\n public static Mesh Make(Mesh m)\n {\n if (m == null)\n m = new Mesh();\n \n m.Vertices = new List<Vector3D>()\n {\n new Vector3D(-0.5,-0.5,-0.5),\n new Vector3D(0.5,-0.5,-0.5),\n new Vector3D(0.5,0.5,-0.5),\n new Vector3D(-0.5,0.5,-0.5),\n new Vector3D(-0.5,0.5,0.5),\n new Vector3D(0.5,0.5,0.5),\n new Vector3D(0.5,-0.5,0.5),\n new Vector3D(-0.5,-0.5,0.5)\n };\n m.Triangles = new List<int>()\n {\n 0, 2, 1, //face front\n\t\t\t 0, 3, 2,\n 2, 3, 4, //face top3\n\t\t\t 2, 4, 5,\n 1, 2, 5, //face right\n\t\t\t 1, 5, 6,\n 0, 7, 4, //face left\n\t\t\t 0, 4, 3,\n 5, 4, 7, //face back\n\t\t\t 5, 7, 6,\n 0, 6, 7, //face bottom\n\t\t\t 0, 1, 6\n };\n \n return m;\n }\n }\n}\n<file_sep>using System.Collections;\nusing System.Collections.Generic;\nusing Synthesis.UI.Dynamic;\nusing UnityEngine;\nusing TMPro;\nusing System;\n\nnamespace Synthesis.UI.Dynamic {\n public class TestModal : ModalDynamic {\n public TestModal() : base(new Vector2(400, 600)) {}\n\n public Func<UIComponent, UIComponent> VerticalLayout = (u) => {\n var offset = (-u.Parent!.RectOfChildren(u).yMin) + 7.5f;\n u.SetTopStretch<UIComponent>(anchoredY: offset, leftPadding: 15f);\n return u;\n };\n\n public override void Create() {\n Title.SetText(\"Test Modal\");\n\n // TODO: Make these do things with the\n AcceptButton.AddOnClickedEvent(b => Debug.Log(\"Test Modal -> Accept\"));\n CancelButton.AddOnClickedEvent(b => Debug.Log(\"Test Modal -> Cancel\"));\n\n var label = MainContent.CreateLabel()\n .ApplyTemplate(Label.BigLabelTemplate)\n .SetText(\"Main Settings\")\n .SetTopStretch();\n\n var testRect = label.RootRectTransform.GetOffsetRect();\n\n var useAnalyticsToggle = MainContent.CreateToggle().ApplyTemplate(VerticalLayout);\n useAnalyticsToggle.AddOnStateChangedEvent((t, s) => { Debug.Log($\"{t.TitleLabel.Text}: {s}\"); });\n useAnalyticsToggle.TitleLabel.SetText(\"Use Analytics\");\n\n testRect = useAnalyticsToggle.RootRectTransform.GetOffsetRect();\n\n var testSlider =\n MainContent.CreateSlider(label: \"Zoom Sensitivity\", minValue: 1f, maxValue: 10, currentValue: 3)\n .ApplyTemplate(VerticalLayout);\n\n var testDropdownMenu = MainContent.CreateLabeledDropdown()\n .StepIntoLabel(l => l.SetText(\"Test Dropdown\"))\n .StepIntoDropdown(d => d.SetValue(0))\n .ApplyTemplate(VerticalLayout);\n }\n\n public override void Update() {}\n\n public override void Delete() {}\n }\n}\n<file_sep>using SynthesisAPI.Utilities;\nusing System;\n\nnamespace SynthesisAPI.VirtualFileSystem\n{\n /// <summary>\n /// Access permissions for entries in the virtual file system\n /// </summary>\n [Flags]\n public enum Permissions\n {\n PrivateReadOnly, // Accessible only by the Synthesis Core\n PrivateReadWrite, // Writable only by the Synthesis Core\n PublicReadOnly, // Readable by modules\n PublicReadWrite // Readable and writeable by modules\n }\n\n public enum Access\n {\n Read,\n Write\n }\n\n public class PermissionsExpcetion : SynthesisException\n {\n public PermissionsExpcetion() { }\n\n public PermissionsExpcetion(string message) : base(message) { }\n\n public PermissionsExpcetion(string message, Exception inner) : base(message, inner) { }\n }\n\n internal static class ApiCallSource\n {\n internal class ExternalCallLifetimeClass : IDisposable\n {\n public void Dispose()\n {\n ApiCallSource._externalCalls -= 1;\n }\n }\n\n internal class InternalCallLifetimeClass : IDisposable\n {\n public void Dispose()\n {\n ApiCallSource._forceInternal -= 1;\n }\n }\n\n internal static ExternalCallLifetimeClass StartExternalCall()\n {\n _externalCalls += 1;\n return new ExternalCallLifetimeClass();\n }\n\n internal static InternalCallLifetimeClass ForceInternalCall()\n {\n _forceInternal += 1;\n return new InternalCallLifetimeClass();\n }\n\n private static uint _forceInternal;\n\n private static uint _externalCalls;\n\n internal static bool IsInternal => _externalCalls == 0 || _forceInternal > 0;\n\n public static void AssertAccess(Permissions perm, Access access)\n {\n if (CannotAccess(perm, access))\n {\n throw new PermissionsExpcetion(\"Missing required permissions: Permissions: \" + perm.ToString() +\n \", Operation: \" + (IsInternal ? \"Private\" : \"Public\") + \" \" +\n access.ToString());\n }\n }\n\n public static bool CannotAccess(Permissions perm, Access access)\n {\n return !CanAccess(perm, access);\n }\n\n public static bool CanAccess(Permissions perm, Access access)\n {\n return perm switch\n {\n Permissions.PrivateReadOnly => IsInternal && access == Access.Read,\n Permissions.PrivateReadWrite => IsInternal,\n Permissions.PublicReadOnly => access == Access.Read || IsInternal,\n Permissions.PublicReadWrite => true,\n _ => false, // Error\n };\n }\n }\n}\n<file_sep>using System;\nusing System.Collections;\nusing System.Collections.Generic;\nusing System.IO;\nusing System.Linq;\nusing Modes.MatchMode;\nusing Synthesis.UI.Dynamic;\nusing UnityEngine;\n\npublic class MatchModeModal : ModalDynamic {\n private int _fieldIndex = -1;\n private List<String> _robotOptions = new List<string>();\n private string[] _fieldFiles;\n\n public MatchModeModal() : base(new Vector2(400, 475)) {}\n\n public override void Create() {\n Title.SetText(\"Field and Robot Selection\");\n\n ModalIcon.SetSprite(SynthesisAssetCollection.GetSpriteByName(\"wrench-icon\"));\n\n var robotsFolder = ParsePath(\"$appdata/Autodesk/Synthesis/Mira\", '/');\n if (!Directory.Exists(robotsFolder))\n Directory.CreateDirectory(robotsFolder);\n var fieldsFolder = ParsePath(\"$appdata/Autodesk/Synthesis/Mira/Fields\", '/');\n if (!Directory.Exists(fieldsFolder))\n Directory.CreateDirectory(fieldsFolder);\n\n var _robotFiles = Directory.GetFiles(robotsFolder).Where(x => Path.GetExtension(x).Equals(\".mira\")).ToArray();\n _robotOptions.Add(\"None\");\n _robotFiles.ForEach(x => _robotOptions.Add(x));\n\n _fieldFiles = Directory.GetFiles(fieldsFolder).Where(x => Path.GetExtension(x).Equals(\".mira\")).ToArray();\n\n AcceptButton.StepIntoLabel(label => label.SetText(\"Load\")).AddOnClickedEvent(b => {\n if (_fieldIndex != -1) {\n DynamicUIManager.CreateModal<LoadingScreenModal>();\n MonoBehaviour _mb = GameObject.FindObjectOfType<MonoBehaviour>();\n if (_mb != null) {\n _mb.StartCoroutine(LoadMatch());\n }\n }\n });\n\n CancelButton.RootGameObject.SetActive(false);\n\n for (int robot = 0; robot < 6; robot++) {\n int robotIndex = robot;\n if (robotIndex % 3 == 0)\n MainContent.CreateLabel()\n .ApplyTemplate(UIComponent.VerticalLayoutBigSpacing)\n .SetText($\"{(robotIndex == 0 ? \"Red\" : \"Blue\")} Robots\");\n\n MainContent.CreateDropdown()\n .SetOptions(_robotOptions.Select(x => Path.GetFileName(x)).ToArray())\n .AddOnValueChangedEvent((d, i, data) => MatchMode.SelectedRobots[robotIndex] =\n i - 1 // Subtract 1 to account for \"None\" option\n )\n .ApplyTemplate(UIComponent.VerticalLayout)\n .SetValue(0);\n }\n\n MainContent.CreateLabel().ApplyTemplate(UIComponent.VerticalLayoutBigSpacing).SetText(\"Field\");\n var chooseFieldDropdown = MainContent.CreateDropdown()\n .SetOptions(_fieldFiles.Select(x => Path.GetFileName(x)).ToArray())\n .AddOnValueChangedEvent((d, i, data) => _fieldIndex = i)\n .ApplyTemplate(UIComponent.VerticalLayout);\n\n _fieldIndex = _fieldFiles.Length > 0 ? 0 : -1;\n }\n\n public IEnumerator LoadMatch() {\n yield return new WaitForSeconds(0.05f);\n\n if (FieldSimObject.CurrentField != null)\n FieldSimObject.DeleteField();\n\n FieldSimObject.SpawnField(_fieldFiles[_fieldIndex], false);\n\n DynamicUIManager.CloseActiveModal();\n DynamicUIManager.CreatePanel<SpawnLocationPanel>(true);\n }\n\n public override void Update() {}\n\n public override void Delete() {}\n\n public static string ParsePath(string p, char c) {\n string[] a = p.Split(c);\n string b = \"\";\n for (int i = 0; i < a.Length; i++) {\n switch (a[i]) {\n case \"$appdata\":\n b += Environment.GetFolderPath(Environment.SpecialFolder.ApplicationData);\n break;\n default:\n b += a[i];\n break;\n }\n if (i != a.Length - 1)\n b += Path.AltDirectorySeparatorChar;\n }\n return b;\n }\n}\n<file_sep>using System;\nusing System.Collections.Generic;\nusing SynthesisAPI.EventBus;\nusing SynthesisAPI.Runtime;\nusing _UnityTextField = UnityEngine.UIElements.TextField;\n\n#nullable enable\n\nnamespace SynthesisAPI.UIManager.VisualElements\n{\n public class TextField: VisualElement\n {\n /*\n /// <summary>\n /// This wrapper exposes the protected member text of the Unity TextField\n /// </summary>\n internal class UnityTextFieldWrapper: _UnityTextField\n {\n public new string text\n {\n get => base.text;\n set => base.text = value;\n }\n }\n */\n\n private EventBus.EventBus.EventCallback? _changeCallback;\n private EventBus.EventBus.EventCallback? _focusCallback;\n private bool _isChangeCallbackRegistered = false;\n private bool _isFocusCallbackRegistered = false;\n\n private static int Id = 0;\n private int id;\n\n public string ChangeEventTag => $\"text-field-change/{Element.name}-{id}\";\n public string FocusLeaveEventTag => $\"text-field-focus-leave/{Element.name}-{id}\";\n\n private protected _UnityTextField Element\n {\n get => (_visualElement as _UnityTextField)!;\n set => _visualElement = value;\n }\n\n //public static explicit operator _UnityTextField(TextField element) => (element._visualElement as _UnityTextField)!;\n //public static explicit operator TextField(_UnityTextField element) => new TextField(element);\n\n public string Label\n {\n get => Element.label;\n set => Element.label = value;\n }\n\n /*\n public string Text\n {\n get => Element.text;\n set => Element.text = value;\n }\n */\n\n public string Value\n {\n get => Element.value;\n set => Element.value = value;\n }\n\n public bool IsReadOnly\n {\n get => Element.isReadOnly;\n set => Element.isReadOnly = value;\n }\n\n public bool IsMultiline\n {\n get => Element.multiline;\n set => Element.multiline = value;\n }\n\n public bool IsDelayed\n {\n get => Element.isDelayed;\n set => Element.isDelayed = value;\n }\n\n public void SetValueWithoutNotify(string value)\n {\n Element.SetValueWithoutNotify(value);\n }\n\n public void SubscribeOnChange(Action<IEvent> action)\n {\n _changeCallback = e => action(e);\n EventBus.EventBus.NewTagListener(ChangeEventTag, _changeCallback);\n\n if (!_isChangeCallbackRegistered)\n {\n Element.RegisterCallback<UnityEngine.UIElements.ChangeEvent<string>>(e =>\n {\n EventBus.EventBus.Push(ChangeEventTag, new TextFieldChangeEvent(Name, e.previousValue, e.newValue));\n });\n _isChangeCallbackRegistered = true;\n }\n }\n\n public void SubscribeOnFocusLeave(Action<IEvent> action)\n {\n _focusCallback = e => action(e);\n EventBus.EventBus.NewTagListener(FocusLeaveEventTag, _focusCallback);\n\n if (!_isFocusCallbackRegistered)\n {\n Element.RegisterCallback<UnityEngine.UIElements.FocusOutEvent>(_ =>\n {\n EventBus.EventBus.Push(FocusLeaveEventTag, new TextFieldFocusLeaveEvent(Name));\n });\n _isFocusCallbackRegistered = true;\n }\n }\n\n public class TextFieldChangeEvent : IEvent\n {\n public readonly string Name;\n public readonly string PreviousValue;\n public readonly string NewValue;\n\n public TextFieldChangeEvent(string name, string previousValue, string newValue)\n {\n Name = name;\n PreviousValue = previousValue;\n NewValue = newValue;\n }\n }\n\n public class TextFieldFocusLeaveEvent : IEvent\n {\n public readonly string Name;\n\n public TextFieldFocusLeaveEvent(string name)\n {\n Name = name;\n }\n }\n\n public TextField()\n {\n Element = ApiProvider.CreateUnityType<_UnityTextField>()!;\n if (Element == null)\n throw new Exception();\n id = Id;\n Id++;\n }\n\n internal TextField(_UnityTextField element)\n {\n Element = element;\n id = Id;\n Id++;\n }\n }\n}<file_sep>using System.IO;\nusing System.Xml;\nusing SynthesisAPI.UIManager;\nusing SynthesisAPI.UIManager.VisualElements;\nusing SynthesisAPI.VirtualFileSystem;\n\nnamespace SynthesisAPI.AssetManager\n{\n public class VisualElementAsset: Asset\n {\n private XmlDocument _document;\n\n public VisualElementAsset(string name, Permissions perms, string sourcePath)\n {\n Init(name, perms, sourcePath);\n _document = new XmlDocument();\n }\n\n public VisualElement GetElement(string name) => UIParser.CreateVisualElement(name, _document);\n\n public override IEntry Load(byte[] data)\n {\n MemoryStream stream = new MemoryStream();\n stream.Write(data, 0, data.Length);\n stream.Position = 0;\n _document.Load(stream);\n return this;\n }\n }\n}<file_sep>using SynthesisAPI.EnvironmentManager;\nusing UnityEngine;\n\nnamespace Engine.ModuleLoader.Adapters {\n public class SystemAdapter : MonoBehaviour, IApiAdapter<SystemBase> {\n public string Name;\n\n private SystemBase _system;\n\n public void OnEnable() {\n if (_system == null) {\n gameObject.SetActive(false);\n }\n }\n\n public void Start() => _system.Setup();\n\n public void Update() => _system.OnUpdate();\n\n public void FixedUpdate() => _system.OnPhysicsUpdate();\n\n public void OnGUI() {\n _system.OnGUI();\n var e = Event.current;\n if (e.isKey) {\n _system.OnKeyPress(e.keyCode.ToString());\n }\n }\n\n public void OnDestroy() => _system.Teardown();\n\n public void SetInstance(SystemBase instance) {\n _system = instance;\n Name = _system.GetType().FullName;\n gameObject.SetActive(true);\n }\n }\n}<file_sep>using System;\nusing System.Collections.Generic;\nusing System.Linq;\nusing System.Text;\nusing System.Threading.Tasks;\n\n#nullable enable\n\nnamespace SynthesisAPI.Utilities\n{\n /// <summary>\n /// Dynamic mapping of any reference type to its corresponding GenIndexArray\n /// </summary>\n public class AnyMap<TValue> where TValue : class\n {\n Dictionary<Type, GenIndexArray> componentDict;\n public AnyMap()\n {\n componentDict = new Dictionary<Type, GenIndexArray>();\n }\n public void Set(ushort index, ushort gen, TValue val)\n {\n if (componentDict.TryGetValue(val.GetType(), out GenIndexArray arr))\n arr.Set(index, gen, val);\n else\n {\n componentDict.Add(val.GetType(), new GenIndexArray());\n Set(index, gen, val);\n }\n }\n\n public void Remove(ushort index, ushort gen, Type componentType)\n {\n if (componentDict.TryGetValue(componentType, out GenIndexArray arr))\n arr.Set(index, gen, null);\n }\n\n public TValue? Get(ushort index, ushort gen, Type componentType)\n {\n if (componentDict.TryGetValue(componentType, out GenIndexArray arr))\n {\n return arr.Get(index, gen);\n }\n else\n return null;\n }\n\n public List<TValue>? GetAll(ushort index, ushort gen)\n {\n var output = new List<TValue>();\n foreach (var type in componentDict.Keys)\n {\n var entry = Get(index, gen, type);\n if (entry != null)\n output.Add(entry);\n }\n\n return output;\n }\n\n public void Clear()\n {\n componentDict.Clear();\n }\n\n #region GenIndexArray\n\n /// <summary>\n /// Maps Entity to its component by its index : component index in entries is the same as Entity index\n /// </summary>\n class GenIndexArray\n {\n List<Entry> entries;\n\n public GenIndexArray()\n {\n entries = new List<Entry>();\n }\n\n struct Entry\n {\n public Entry(TValue? val, ulong gen)\n {\n Val = val;\n Gen = gen;\n }\n public TValue? Val { get; }\n public ulong Gen { get; }\n }\n\n public void Set(ushort index, ushort gen, TValue? val)\n {\n ushort entityIndex = index;\n ushort entityGen = gen;\n if (entityIndex < entries.Count)\n entries[entityIndex] = new Entry(val, entityGen);\n else\n {\n //increase list size by populating \"null\" Entry so we can add value at index which is outside of bounds\n for (int i = entries.Count; i < entityIndex; i++)\n entries.Add(new Entry(null, 0)); //no Entity has gen of 0 so these entries can never be accessed\n entries.Add(new Entry(val, entityGen));\n }\n }\n\n public TValue? Get(ushort index, ushort gen)\n {\n ushort entityIndex = index;\n ushort entityGen = gen;\n if (entityIndex >= entries.Count)\n return null; //prevents IndexOutOfBoundsException\n Entry entry = entries[entityIndex];\n //only get component if generations match - avoids having reallocated Entities point to the components of deallocated Entities\n if (entry.Gen == entityGen)\n return entry.Val;\n return null;\n }\n }\n\n #endregion\n }\n}\n<file_sep>using System.ComponentModel;\nusing System.Runtime.CompilerServices;\n\n#nullable enable\n\nnamespace SynthesisAPI.EnvironmentManager.Components\n{\n public class Parent : Component\n {\n public event PropertyChangedEventHandler? PropertyChanged;\n\n internal Entity parentEntity = 0;\n public static implicit operator Entity(Parent p) => p.parentEntity;\n //TODO wont set if entity does not exist\n\n public Entity ParentEntity {\n get => parentEntity;\n set {\n parentEntity = value;\n OnPropertyChanged();\n }\n }\n\n public bool Changed { get; private set; }\n internal void ProcessedChanges() => Changed = false;\n\n protected void OnPropertyChanged([CallerMemberName] string? name = null)\n {\n PropertyChanged?.Invoke(this, new PropertyChangedEventArgs(name));\n }\n }\n}\n<file_sep>from ..general_imports import *\nfrom ..configure import CID, ANALYTICS, DEBUG\n\nimport urllib, sys, adsk.core\n\n# Reference https://developers.google.com/analytics/devguides/collection/protocol/v1/parameters\n\n# Page Example\n\"\"\"\n v=1 // Version.\n &tid=UA-XXXXX-Y // Tracking ID / Property ID.\n &cid=555 // Anonymous Client ID.\n\n &t=pageview // Pageview hit type.\n &dh=mydemo.com // Document hostname.\n &dp=/home // Page.\n &dt=homepage // Title.\n\"\"\"\n\n# Event example\n\"\"\"\n v=1 // Version.\n &tid=UA-XXXXX-Y // Tracking ID / Property ID.\n &cid=555 // Anonymous Client ID.\n\n &t=event // Event hit type\n &ec=video // Event Category. Required.\n &ea=play // Event Action. Required.\n &el=holiday // Event label.\n &ev=300 // Event value.\n\"\"\"\n\n## Really should batch hits\n\n# EVENT example final\n# www.google-analytics.com/collect?v=1&tid=UA-188467590-1&cid=555&t=event&ec=action&et=export&el=robot&ev=1\n\n# VIEW example final\n# www.google-analytics.com/collect?v=1&tid=UA-188467590-1&cid=556&t=pageview&dp=exportView&dt=viewer\n\n# FAILURES\n# https://developers.google.com/analytics/devguides/collection/protocol/v1/parameters#exception\n\n\nclass AnalyticsEndpoint:\n def __init__(self, tracking_id: str, version=1):\n \"\"\"Creating a new Endpoint for analytics\n\n Args:\n tracking_id (str): tracking id UA-xxxxx\n client_id (str): Anon client ID - check guid\n version (int): Client version\n \"\"\"\n self.logger = logging.getLogger(f\"HellionFusion.HUI.{self.__class__.__name__}\")\n self.url = \"http://www.google-analytics.com\"\n self.tracking = tracking_id\n self.a_id = CID\n self.version = version\n\n def __str__(self):\n return self.identity_string()\n\n def identity_string(self, cid=None) -> str:\n if cid is None:\n if self.a_id is None:\n cid = \"anon\"\n else:\n cid = self.a_id\n\n return (\n self.__form(\"tid\", self.tracking)\n + self.__form(\"cid\", CID)\n + self.__form(\"v\", self.version)\n + self.__form(\"aip\", 1)\n )\n\n def send_event(self, category: str, action: str, label=\"default\", value=1) -> bool:\n \"\"\"Send event happened\n\n Args:\n category (str): category of event (click , interaction , etc)\n action (str): name of the action (export, change setting, etc)\n label (str, optional): label for action for arbitrary data. Defaults to \"\".\n value (str, optional): value for the label. Defaults to \"\".\n \"\"\"\n if ANALYTICS != True:\n return\n\n body_t = (self.identity_string()) + (\n self.__form(\"t\", \"event\")\n + self.__form(\"ec\", category)\n + self.__form(\"ea\", action)\n + self.__form(\"el\", label)\n + self.__form(\"ev\", value)\n )\n # encode properly\n # params = json.dumps(body).encode(\"utf8\")\n # print(body_t)\n return self.__send(body_t)\n\n def send_view(self, page: str, app=\"FusionUnity\", title=\"\") -> bool:\n if ANALYTICS != True:\n return\n\n body_view = (self.identity_string()) + (\n self.__form(\"t\", \"pageview\")\n + self.__form(\"dh\", f\"{app}\")\n + self.__form(\"dp\", f\"{page}\")\n + self.__form(\"dt\", title)\n )\n\n return self.__send(body_view)\n\n def send_exception(self) -> bool:\n \"\"\"This sends the exception encountered to the developer through the analytics pageview section\n\n Args:\n e (Exception): exception to be formatted\n\n Returns:\n bool: success\n \"\"\"\n\n err = f\"{sys.exc_info()[1]}\"\n\n ui = adsk.core.Application.get().userInterface\n\n res = ui.messageBox(\n f\"The Unity Exporter Addin encountered an error during execution, would you like to send this information to the developer? \\n - {err}\",\n \"Error\",\n 3, # This is yes/no\n 4, # This is question icon\n )\n\n if res != 2:\n return\n\n body_t = (self.identity_string()) + (\n self.__form(\"t\", \"event\")\n + self.__form(\"ec\", \"Exception\")\n + self.__form(\"ea\", \"error\")\n + self.__form(\"el\", err)\n + self.__form(\"ev\", 1)\n )\n\n self.__send(body_t)\n\n body_view = (self.identity_string()) + (\n self.__form(\"t\", \"pageview\")\n + self.__form(\"dh\", f\"FusionUnity\")\n + self.__form(\"dp\", f\"EXCEPTION\")\n + self.__form(\"dt\", err)\n )\n\n return self.__send(body_view)\n\n def __send(self, body) -> bool:\n try:\n # define user agent so this works\n headers = {}\n headers[\n \"User-Agent\"\n ] = \"Mozilla/5.0 (X11; Linux i686) AppleWebKit/537.17 (KHTML, like Gecko) Chrome/24.0.1312.27 Safari/537.17\"\n\n # print(f\"{self.url}/collect?{body}\")\n\n url = f\"{self.url}/collect?{body}\"\n\n if DEBUG:\n self.logger.debug(f\"Sending request: \\n {url}\")\n\n req = urllib.request.Request(\n f\"{self.url}/collect?{body}\", data=b\"\", headers=headers\n )\n # makes the request\n response = urllib.request.urlopen(req)\n\n if response.code == 200:\n return True\n else:\n self.logger.error(f\"Failed to log req : {body}\")\n return False\n except:\n self.logger.error(\"Failed:\\n{}\".format(traceback.format_exc()))\n\n def __form(self, key: str, value: str) -> str:\n \"\"\"This will format any string into a url encodable string\n\n Args:\n key (str): name\n value (str): encodable string\n\n Returns:\n str: attribute\n \"\"\"\n value = urllib.parse.quote(str(value))\n return f\"{key}={value}&\"\n\n\n# Old way I was testing, leave in for now in case I want to add exceptions etc.\n# Maybe format into markdown etc\nclass URLString:\n def __init__(self, key: str, value: str):\n self.key = key\n self.value = value\n\n def build(self) -> str:\n value = urllib.parse.quote(str(value))\n return f\"{key}={value}&\"\n\n @staticmethod\n def build(key: str, value: str) -> str:\n value = urllib.parse.quote(str(value))\n return f\"{key}={value}&\"\n\n @classmethod\n def build(cls, key: str, value: str) -> object:\n return cls(key, value)\n<file_sep>/*\nextern crate controller_sys;\n\nuse controller_sys::*;\nuse jsonrpc_client_http::HttpTransport;\nuse jsonrpc_client_core::ErrorKind;\nuse std::thread::sleep;\nuse std::time::Duration;\n\nfn main() {\n Test();\n /*\n println!(\"forward\");\n let _ = client.Forward(5, 10.0);\n sleep(Duration::from_secs(3));\n println!(\"left\");\n let _ = client.Left(5, 10.0);\n sleep(Duration::from_secs(3));\n println!(\"back\");\n let _ = client.Backward(5, 10.0);\n sleep(Duration::from_secs(3));\n println!(\"right\");\n let _ = client.Right(5, 10.0);\n */\n\n sleep(Duration::from_secs(30));\n}\n*/<file_sep>using System;\nusing System.Collections;\nusing System.Collections.Generic;\nusing System.Linq;\nusing UnityEngine;\n\nusing UVector3 = UnityEngine.Vector3;\n\npublic static class UtilExtensions {\n public static void ForEachIndex<T>(this IEnumerable<T> arr, Action<int, T> act) {\n for (int i = 0; i < arr.Count(); i++) {\n act(i, arr.ElementAt(i));\n }\n }\n\n public static void ForEach<T, U>(this IDictionary<T, U> dict, Action<T, U> act) {\n foreach (var kvp in dict) {\n act(kvp.Key, kvp.Value);\n }\n }\n\n public static IEnumerable<U> Select<T, U>(this IEnumerable<T> e, Func<T, U> c) {\n List<U> l = new List<U>();\n foreach (var a in e) {\n l.Add(c(a));\n }\n return l;\n }\n\n public static T Find<T>(this IEnumerable<T> e, Func<T, bool> c) {\n foreach (var a in e) {\n if (c(a))\n return a;\n }\n return default;\n }\n\n public static Vector3 ToVector3(this float[] arr) => new Vector3(arr[0], arr[1], arr[2]);\n public static Quaternion ToQuaternion(this float[] arr) => new Quaternion(arr[0], arr[1], arr[2], arr[3]);\n\n public static float[] ToArray(this Vector3 vec) => new float[] { vec.x, vec.y, vec.z };\n public static float[] ToArray(this Quaternion quat) => new float[] { quat.x, quat.y, quat.z, quat.w };\n\n public static Bounds GetBounds(this Transform top) {\n Vector3 min = new Vector3(float.MaxValue, float.MaxValue, float.MaxValue),\n max = new Vector3(float.MinValue, float.MinValue, float.MinValue);\n top.GetComponentsInChildren<Renderer>().ForEach(x => {\n var b = x.bounds;\n if (min.x > b.min.x)\n min.x = b.min.x;\n if (min.y > b.min.y)\n min.y = b.min.y;\n if (min.z > b.min.z)\n min.z = b.min.z;\n if (max.x < b.max.x)\n max.x = b.max.x;\n if (max.y < b.max.y)\n max.y = b.max.y;\n if (max.z < b.max.z)\n max.z = b.max.z;\n });\n return new UnityEngine.Bounds(((max + min) / 2f) - top.position, max - min);\n }\n\n public static void Print(this Matrix4x4 m) {\n Debug.Log($\"{m[0, 0]}, {m[0, 1]}, {m[0, 2]}, {m[0, 3]}\\n{m[1, 0]}, {m[1, 1]}, {m[1, 2]}, {m[1, 3]}\" +\n $\"\\n{m[2, 0]}, {m[2, 1]}, {m[2, 2]}, {m[2, 3]}\\n{m[3, 0]}, {m[3, 1]}, {m[3, 2]}, {m[3, 3]}\");\n }\n\n public static List<Mirabuf.Node> AllTreeElements(this IEnumerable<Mirabuf.Node> ns) {\n var elm = new List<Mirabuf.Node>();\n ns.ForEach(x => elm.AddRange(x.AllTreeElements()));\n return elm;\n }\n\n /// <summary>\n /// DO NOT USE List<Mirabuf.Node> AllTreeElements(this IEnumerable<Mirabuf.Node> ns)\n /// INSIDE THIS FUNCTION. WILL CREATE RACE CASE\n /// </summary>\n /// <param name=\"n\"></param>\n /// <returns></returns>\n public static List<Mirabuf.Node> AllTreeElements(this Mirabuf.Node n) {\n var elm = new List<Mirabuf.Node>();\n elm.Add(n);\n n.Children.ForEach(x => elm.AddRange(x.AllTreeElements()));\n return elm;\n }\n\n public static Vector3 DotProduct(this Vector3 a, Vector3 b) => new Vector3(\n a.y * b.z - a.z * b.y, -(a.x *b.z - a.z * b.x), a.x *b.y - a.y * b.x);\n\n // TODO: This should be done when the matrix is created\n public static UVector3 GetPosition(this Matrix4x4 m) => new UVector3(m.m03, m.m13, m.m23);\n}\n<file_sep>using MathNet.Spatial.Euclidean;\nusing SynthesisAPI.EnvironmentManager.Components;\nusing System.Collections.Generic;\n\nnamespace SynthesisCore.Meshes\n{\n public static class Cylinder\n {\n /// <summary>\n /// Create or bind a cylinder mesh\n /// </summary>\n /// <param name=\"m\"></param>\n /// <param name=\"granularity\">The number of steps around the circle</param>\n /// <param name=\"radius\"></param>\n /// <param name=\"height\"></param>\n /// <returns></returns>\n public static Mesh Make(Mesh m, uint granularity, double radius, double height)\n {\n if (m == null)\n m = new Mesh();\n \n double halfHeight = height / 2;\n var vertices = new List<Vector3D>();\n var triangles = new List<int>();\n\n double dRad = 2 * System.Math.PI / (granularity - 2);\n double rad = dRad;\n\n var top_circle_vertices = new List<Vector3D> { new Vector3D(0, halfHeight, 0) };\n var bottom_circle_vertices = new List<Vector3D> { new Vector3D(0, -halfHeight, 0) };\n\n // Create vertices around circumference\n for (var i = 0; i < granularity; i++)\n {\n var x = radius * System.Math.Cos(rad);\n var z = radius * System.Math.Sin(rad);\n top_circle_vertices.Add(new Vector3D(x, halfHeight, z));\n bottom_circle_vertices.Add(new Vector3D(x, -halfHeight, z));\n\n rad += dRad;\n }\n\n top_circle_vertices.Reverse();\n vertices.AddRange(top_circle_vertices); // Note the order here matters\n vertices.AddRange(bottom_circle_vertices);\n\n for (var i = 0; i < granularity; i++)\n {\n // Top triangle\n var top_center = top_circle_vertices.Count - 1;\n var top_edge_a = top_center - (i + 1) % (int)granularity;\n var top_edge_b = top_center - (i + 2) % (int)granularity;\n triangles.Add(top_center + 0);\n triangles.Add(top_edge_b);\n triangles.Add(top_edge_a);\n\n // Bottom triangle\n var bottom_center = top_circle_vertices.Count;\n var bottom_edge_a = bottom_center + (i + 1) % (int)granularity;\n var bottom_edge_b = bottom_center + (i + 2) % (int)granularity;\n triangles.Add(bottom_center + 0);\n triangles.Add(bottom_edge_a);\n triangles.Add(bottom_edge_b);\n\n // Top to bottom triangle\n triangles.Add(top_edge_a);\n triangles.Add(top_edge_b);\n triangles.Add(bottom_edge_a);\n\n // Bottom to top triangle\n triangles.Add(bottom_edge_a);\n triangles.Add(top_edge_b);\n triangles.Add(bottom_edge_b);\n\n }\n\n m.Vertices = vertices;\n m.Triangles = triangles;\n\n return m;\n }\n }\n}\n<file_sep>#[macro_use] extern crate jsonrpc_client_core;\n#[macro_use] extern crate lazy_static;\n\nuse std::sync::Mutex;\nuse jsonrpc_client_core::ErrorKind;\nuse jsonrpc_client_http::HttpTransport;\nuse jsonrpc_client_http::HttpHandle;\nuse std::os::raw::c_char;\nuse serde_json::value::Value;\nuse serde;\nuse serde::{Serialize, Deserialize};\nuse std::ptr::null_mut;\nuse std::mem::ManuallyDrop;\nuse std::ffi::{CString, CStr};\nuse serde::export::Formatter;\n\n#[repr(u64)]\n#[derive(Serialize, Deserialize)]\npub enum LogLevel {\n Info = 0,\n Debug = 1,\n Warning = 2,\n Error = 3\n}\n\nimpl std::fmt::Display for LogLevel {\n fn fmt(&self, f: &mut Formatter<'_>) -> std::fmt::Result {\n match *self {\n LogLevel::Info => write!(f, \"Info\"),\n LogLevel::Debug => write!(f, \"Debug\"),\n LogLevel::Warning => write!(f, \"Warning\"),\n LogLevel::Error => write!(f, \"Error\"),\n }\n }\n}\n\njsonrpc_client!(pub struct ControllerRpc {\n pub fn log_str(&mut self, message: NativeString, log_level: LogLevel) -> RpcRequest<()>;\n pub fn forward(&mut self, channel: u32, distance: f64) -> RpcRequest<()>;\n pub fn backward(&mut self, channel: u32, distance: f64) -> RpcRequest<()>;\n pub fn left(&mut self, channel: u32, distance: f64) -> RpcRequest<()>;\n pub fn right(&mut self, channel: u32, distance: f64) -> RpcRequest<()>;\n pub fn up(&mut self, channel: u32, distance: f64) -> RpcRequest<()>;\n pub fn down(&mut self, channel: u32, distance: f64) -> RpcRequest<()>;\n pub fn test(&mut self, val: i32) -> RpcRequest<i32>;\n pub fn set_motor_percent(&mut self, channel: u32, motorIndex: i32, percent: f32) -> RpcRequest<()>;\n});\n\nlazy_static! {\n static ref CLIENT : Mutex<ControllerRpc<HttpHandle>> = {\n let transport = HttpTransport::new().standalone().unwrap();\n let transport_handle = transport.handle(\"http://localhost:5000\").unwrap();\n Mutex::new(ControllerRpc::new(transport_handle))\n };\n}\n\n/*\nmacro_rules! print_all {\n ($($args:expr),*) => {\n $(println!(\"\\\"{}\\\"\", $args); )*\n }\n}\n*/\n\nmacro_rules! rpc_method_impl {\n ($name:ident($($arg_name:ident: $ty:ty),*) -> $ret_type:ty) => {\n #[no_mangle]\n pub extern \"C\" fn $name (\n $($arg_name: $ty),*,\n error_code: *mut i64,\n error_message: *mut *const c_char,\n error_data: *mut *const c_char\n ) -> $ret_type {\n let pass_ownership = |s: String| unsafe {\n ManuallyDrop::take(\n &mut ManuallyDrop::new(CString::new(s.as_bytes()).unwrap()))\n .into_raw()\n };\n match CLIENT.lock().unwrap().$name($($arg_name),*).call() {\n Ok(v) => {\n if error_code != null_mut() {\n unsafe { *error_code = 0; }\n }\n return v;\n },\n Err(e) => match *e.kind() {\n ErrorKind::Msg(ref message) => {\n if error_code != null_mut() {\n unsafe { *error_code = -1; }\n }\n if error_message != null_mut() {\n unsafe {\n *error_message = pass_ownership(message.clone());\n }\n }\n },\n ErrorKind::TransportError => {\n if error_code != null_mut() {\n unsafe { *error_code = -1; }\n }\n if error_message != null_mut() {\n unsafe {\n *error_message = pass_ownership(\"Error in the underlying transport layer\".to_string());\n }\n }\n },\n ErrorKind:: SerializeError => {\n if error_code != null_mut() {\n unsafe { *error_code = -1; }\n }\n if error_message != null_mut() {\n unsafe {\n *error_message = pass_ownership(\"Error while serializing method parameters\".to_string());\n }\n }\n },\n ErrorKind::ResponseError(ref message) => {\n if error_code != null_mut() {\n unsafe { *error_code = -1; }\n }\n if error_message != null_mut() {\n unsafe {\n *error_message = pass_ownership(\"Error while deserializing or parsing the response data\".to_string());\n }\n }\n if error_data != null_mut() {\n unsafe {\n *error_data = pass_ownership(message.to_string().clone());\n }\n }\n },\n ErrorKind::JsonRpcError(ref json_rpc_error) => {\n if error_code != null_mut() {\n unsafe { *error_code = json_rpc_error.code.code(); }\n }\n if error_message != null_mut() {\n unsafe {\n *error_message = pass_ownership(json_rpc_error.message.clone());\n }\n }\n if error_data != null_mut() {\n if let Some(value) = &json_rpc_error.data {\n if let Value::String(data_str) = value {\n unsafe { *error_data = pass_ownership(data_str.clone()); }\n }\n }\n }\n },\n _ => {\n if error_code != null_mut() {\n unsafe { *error_code = -1; }\n }\n }\n }\n };\n return Default::default();\n }\n }\n}\n\nmacro_rules! rpc_method {\n ($name:ident($($arg_name:ident: $ty:ty),*)) => {\n rpc_method_impl!($name($($arg_name: $ty),*) -> $ret_type);\n };\n ($name:ident($($arg_name:ident: $ty:ty),*) -> $ret_type:ty) => {\n rpc_method_impl!($name($($arg_name: $ty),*) -> $ret_type);\n };\n}\n\nmacro_rules! rpc_methods {\n {\n $($name:ident($($arg_name:ident: $ty:ty),*) -> $ret_type:ty)*\n } => {\n $(rpc_method!($name($($arg_name: $ty),*) -> $ret_type);)*\n }\n}\n\n#[repr(transparent)]\npub struct NativeString(*const c_char);\n\nimpl std::fmt::Display for NativeString {\n fn fmt(&self, f: &mut Formatter<'_>) -> std::fmt::Result {\n if !self.0.is_null() {\n let c_str = unsafe { CStr::from_ptr(self.0) };\n return write!(f, \"{}\", c_str.to_str().unwrap());\n }\n Err(std::fmt::Error)\n }\n}\n\nimpl serde::Serialize for NativeString {\n fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error> where S: serde::Serializer {\n let c_str = unsafe { CStr::from_ptr(self.0) };\n serializer.serialize_str(c_str.to_str().unwrap())\n }\n}\n\nrpc_methods!{\n log_str(message: NativeString, log_level: LogLevel) -> ()\n forward(channel: u32, distance: f64) -> ()\n backward(channel: u32, distance: f64) -> ()\n left(channel: u32, distance: f64) -> ()\n right(channel: u32, distance: f64) -> ()\n up(channel: u32, distance: f64) -> ()\n down(channel: u32, distance: f64) -> ()\n test(val: i32) -> i32\n set_motor_percent(channel: u32, motorIndex: i32, percent: f32) -> ()\n}<file_sep>using SynthesisAPI.Utilities;\nusing SynthesisAPI.VirtualFileSystem;\nusing System.IO;\nusing System.Threading;\n\n#nullable enable\n\nnamespace SynthesisAPI.AssetManager\n{\n /// <summary>\n /// Representation of a plain text asset\n /// </summary>\n public class TextAsset : Asset\n {\n // please stop putting private members at the bottom.\n // we get it. c++ is cool. But it's a mess and not effective unless there are headers.\n private readonly Stream _stream;\n protected SharedTextStream SharedStream { get; set; }\n private readonly ReaderWriterLockSlim _rwLock;\n\n public enum WriteMode\n {\n Append,\n Overwrite\n }\n\n public TextAsset(string name, Permissions perm, string sourcePath)\n {\n Init(name, perm, sourcePath);\n _rwLock = new ReaderWriterLockSlim();\n _stream = new MemoryStream();\n SharedStream = new SharedTextStream(new MemoryStream(), _rwLock);\n }\n\n [ExposedApi]\n public void SaveToFile()\n {\n using var _ = ApiCallSource.StartExternalCall();\n SaveToFileInner();\n }\n\n internal void SaveToFileInner()\n {\n ApiCallSource.AssertAccess(Permissions, Access.Write);\n\n var pos = SharedStream.Stream.Position;\n SharedStream.Seek(0);\n File.WriteAllText(SourcePath, SharedStream.ReadToEnd());\n SharedStream.Seek(pos);\n }\n\n public override IEntry Load(byte[] data)\n {\n _stream.Write(data, 0, data.Length);\n _stream.Position = 0;\n SharedStream = new SharedTextStream(_stream, _rwLock)!;\n\n return this;\n }\n\n [ExposedApi]\n public string? ReadToEnd()\n {\n using var _ = ApiCallSource.StartExternalCall();\n return ReadToEndInner();\n }\n\n internal string? ReadToEndInner()\n {\n ApiCallSource.AssertAccess(Permissions, Access.Read);\n return SharedStream?.ReadToEnd();\n }\n\n internal override void DeleteInner()\n {\n base.DeleteInner();\n _stream.Close();\n }\n }\n}\n<file_sep>#if false\nusing SynthesisAPI.Modules.Attributes;\nusing _UnityLayerMask = UnityEngine.LayerMask;\n\nnamespace SynthesisAPI.EnvironmentManager.Components\n{\n // [BuiltIn]\n public class Layer : Component\n {\n internal int _layerMask;\n internal string _layerName;\n internal bool Changed { get; private set; } = true;\n internal void ProcessedChanges() => Changed = false;\n\n /*\n public static int GetMask(params string[] layerNames)\n {\n return _UnityLayerMask.GetMask(layerNames);\n }\n */\n public static string LayerToName(int layer)\n {\n return _UnityLayerMask.LayerToName(layer);\n }\n public static int NameToLayer(string layerName)\n {\n return _UnityLayerMask.NameToLayer(layerName);\n }\n\n public int LayerMask\n {\n get => _layerMask;\n set\n {\n _layerMask = value;\n _layerName = LayerToName(_layerMask);\n Changed = true;\n }\n }\n\n public string LayerName\n {\n get => _layerName;\n set\n {\n _layerName = value;\n _layerMask = NameToLayer(_layerName);\n Changed = true;\n }\n }\n }\n}\n\n#endif<file_sep>using System.Net.NetworkInformation;\nusing System;\nusing UnityEngine;\nusing UnityEngine.UI;\nusing System.Collections;\nusing Synthesis.Attributes;\nusing Synthesis.Util;\nusing TMPro;\n\n#nullable enable\n\nnamespace Synthesis.UI.Hierarchy.HierarchyItems {\n public class HierarchyItem : InteractableObject {\n public delegate void OnClickEvent();\n public event OnClickEvent? OnItemClicked;\n\n#region Properties\n\n public bool IsInherited { get => this.GetType() != typeof(HierarchyItem); }\n\n public int Index {\n get {\n if (Parent == null)\n return 0;\n return Parent.GetIndex(this);\n }\n }\n public int LocalIndex {\n get {\n if (Parent == null)\n return 0;\n return Parent.GetLocalIndex(this);\n }\n }\n public int GlobalIndex {\n get {\n if (Parent == null)\n return 0;\n return Parent.GetGlobalIndex(this);\n }\n }\n public int Depth {\n get {\n if (Parent == null)\n return 0;\n return Parent.Depth + 1;\n }\n }\n public TMP_Text TitleText = null!;\n public HierarchyFolderItem? Parent;\n private string title = String.Empty;\n public string Title {\n get => title;\n set {\n title = value;\n TitleText.text = title;\n gameObject.name = title;\n base.ContextMenuUID = title;\n }\n }\n private bool visible = true;\n public bool Visible {\n get => visible;\n set {\n visible = value;\n SetVisible(visible);\n }\n }\n\n private Image? imageComponent = null;\n private readonly Color NormalColor = SynthesisUtil.ColorFromHex(0xf3f3f3ff);\n private readonly Color InteractionColor = SynthesisUtil.ColorFromHex(0xe8cc2aff);\n\n#endregion\n\n // Use this for initialization\n protected void Awake() {\n var button = GetComponent<Button>();\n button.onClick.AddListener(() => { OnItemClicked?.Invoke(); });\n }\n\n protected override sealed void OnInteraction(bool isInteractedWith) {\n if (imageComponent == null)\n imageComponent = GetComponent<Image>();\n\n if (isInteractedWith)\n imageComponent.color = InteractionColor;\n else\n imageComponent.color = NormalColor;\n }\n\n#region Hierarchy\n\n public virtual void Init(string title, HierarchyFolderItem? parent) {\n Title = title;\n if (parent != null) {\n parent.Add(this);\n }\n Visible = true;\n }\n\n protected virtual void SetVisible(bool visible) {\n gameObject.SetActive(visible);\n }\n\n public virtual void Remove() {\n HierarchyFolderItem parent = Parent!;\n while (parent != null) {\n int num = parent.Items.RemoveAll(x => x.item.gameObject == this.gameObject);\n parent = parent.Parent!;\n }\n Parent = null;\n Visible = false;\n Hierarchy.Changes = true;\n }\n\n#endregion\n\n#region ContextMenu\n\n [ContextMenuOption(\"Remove\", \"CloseIcon\")]\n public void RemoveContextMenu() {\n Remove();\n }\n\n#endregion\n }\n}<file_sep>#include \"FRC_FPGA_ChipObject/tDMAManager.h\"\n\nnamespace nFPGA{\n\ttDMAManager::tDMAManager(uint32_t /*dmaChannel*/, uint32_t /*hostBufferSize*/, tRioStatusCode* status): tSystem(status){} // TODO\n\n\ttDMAManager::~tDMAManager(){} // TODO\n\n\tvoid tDMAManager::start(tRioStatusCode* /*status*/){} // TODO\n\n\tvoid tDMAManager::stop(tRioStatusCode* /*status*/){} // TODO\n\n\tvoid tDMAManager::read(uint32_t* /*buf*/, size_t /*num*/, uint32_t /*timeout*/, size_t* /*remaining*/, tRioStatusCode* /*status*/){} // TODO\n\n\tvoid tDMAManager::write(uint32_t* /*buf*/, size_t /*num*/, uint32_t /*timeout*/, size_t* /*remaining*/, tRioStatusCode* /*status*/){} // TODO\n\n\tvoid tDMAManagerread(uint8_t* /*buf*/, size_t /*num*/, uint32_t /*timeout*/, size_t* /*remaining*/, tRioStatusCode* /*status*/){} // TODO\n\n\tvoid tDMAManager::write(uint8_t* /*buf*/, size_t /*num*/, uint32_t /*timeout*/, size_t* /*remaining*/, tRioStatusCode* /*status*/){} // TODO\n}\n<file_sep>using System;\nusing System.Diagnostics;\nusing System.Threading;\nusing System.Threading.Tasks;\nusing CommandLine;\nusing Microsoft.Extensions.Hosting;\nusing Microsoft.Extensions.Logging;\nusing Microsoft.Extensions.Options;\n\nnamespace SynthesisServer\n{\n\tpublic enum Command\n\t{\n\t\tINVALID = -1,\n\t\tSTART = 0,\n\t\tSTOP = 1,\n\t\tRESTART = 2\n\t}\n\tpublic class SynthesisService : IHostedService, IDisposable\n\t{\n\n\t\tprivate readonly ILogger _logger;\n\t\tprivate readonly IOptions<DaemonConfig> _config;\n\n\t\tpublic SynthesisService(ILogger<SynthesisService> logger, IOptions<DaemonConfig> config)\n\t\t{\n\t\t\t_logger = logger;\n\t\t\t_config = config;\n\t\t}\n\n\t\tpublic Task StartAsync(CancellationToken cancellationToken)\n\t\t{\n\t\t\tint status = Parser.Default.ParseArguments<StartCommand, StopCommand, RestartCommand>(_config.Value.Arguments).MapResult(\n\t\t\t\t(StartCommand opts) => StartServer(opts),\n\t\t\t\t(StopCommand opts) => StopServer(opts),\n\t\t\t\t(RestartCommand opts) => RestartServer(opts),\n\t\t\t\terrs => InvalidCommand());\n\n\t\t\treturn Task.CompletedTask;\n\t\t}\n\n\t\tpublic Task StopAsync(CancellationToken cancellationToken)\n\t\t{\n\t\t\tServer.Instance.Stop();\n\t\t\t_logger.LogInformation(\"Stopping daemon.\");\n\t\t\treturn Task.CompletedTask;\n\t\t}\n\n\t\tpublic void Dispose()\n\t\t{\n\t\t\t_logger.LogInformation(\"Disposing...\");\n\t\t}\n\n\t\tprivate int StartServer(StartCommand cmd)\n\t\t{\n\t\t\t\n\t\t\tif (!cmd.Force && Process.GetProcessesByName(Process.GetCurrentProcess().ProcessName).Length > 1)\n\t\t\t{\n\t\t\t\t_logger.LogInformation(\"An instance of: \" + _config.Value.DaemonName + \" is already running\");\n\t\t\t\tEnvironment.Exit(0);\n\t\t\t} else\n {\n\t\t\t\tServer.Instance.Start(_logger);\n\t\t\t\t_logger.LogInformation(\"Starting Server\");\n\t\t\t}\n\t\t\treturn (int)Command.START;\n\t\t}\n\n\t\tprivate int StopServer(StopCommand cmd)\n\t\t{\n\t\t\tProcess current = Process.GetCurrentProcess();\n\t\t\tProcess[] processes = Process.GetProcessesByName(current.ProcessName);\n\n\t\t\tforeach (Process x in processes)\n\t\t\t{\n\t\t\t\tif (x.Id != current.Id)\n\t\t\t\t{\n\t\t\t\t\tx.Kill();\n\t\t\t\t}\n\t\t\t}\n\n\t\t\tEnvironment.Exit(0);\n\t\t\treturn (int)Command.STOP;\n\t\t}\n\n\t\tprivate int RestartServer(RestartCommand cmd)\n\t\t{\n\t\t\tProcess current = Process.GetCurrentProcess();\n\t\t\tProcess[] processes = Process.GetProcessesByName(current.ProcessName);\n\n\t\t\tforeach (Process x in processes)\n\t\t\t{\n\t\t\t\tif (x.Id != current.Id)\n\t\t\t\t{\n\t\t\t\t\tx.Kill();\n\t\t\t\t}\n\t\t\t}\n\t\t\tlong time = System.DateTimeOffset.Now.ToUnixTimeMilliseconds();\n\t\t\twhile (Process.GetProcessesByName(Process.GetCurrentProcess().ProcessName).Length > 1 && System.DateTimeOffset.Now.ToUnixTimeMilliseconds() - time < cmd.Timeout)\n {\n\t\t\t\tThread.Sleep(100);\n }\n\t\t\treturn StartServer(new StartCommand() { Force = cmd.Force });\n\t\t}\n\n\t\tprivate int InvalidCommand()\n {\n\t\t\t_logger.LogError(\"Invalid command\");\n\t\t\tEnvironment.Exit(0);\n\t\t\treturn (int)Command.INVALID;\n\t\t}\n\t}\n}<file_sep># Synthesis\n\nRobotics Simulation Software.\n\n## Usage\n\n### Downloading (*.net Standard 2.1*)\n\n`dotnet add package Syntrol`\n\n### API\n\n[API-NET](/api/Syntrol.md)\n\n## Example File\n\n```cs\nusing Syntrol.Robot;\nusing System;\n\nclass Example{\n static void Main(string[] args)\n {\n // Display the number of command line arguments.\n var robot = new Robot(\"12dfasdwed32234234\");\n\n for (int i = 0; i < 10; i++)\n {\n }\n\n }\n}\n```\n<file_sep>---\nname: Internal Dev Sprint Card\nabout: Cards for GitHub Projects\ntitle: ''\nlabels: sprint\nassignees: ''\n\n---\n\n| DOD | Done | Asignees | Branch | PR |\n|-----------|------|----------------|-------|-----|\n| Status | ❌ | <assignee> | <branchName> | <number> |\n<file_sep>using System;\nusing System.Collections;\nusing System.Collections.Generic;\nusing Google.Protobuf.WellKnownTypes;\nusing Synthesis.PreferenceManager;\nusing SynthesisAPI.EventBus;\nusing SynthesisAPI.InputManager;\nusing SynthesisAPI.InputManager.Inputs;\nusing SynthesisAPI.Simulation;\nusing SynthesisAPI.Utilities;\nusing UnityEngine;\n\nusing Logger = SynthesisAPI.Utilities.Logger;\n\nnamespace Synthesis {\n public class GeneralArmBehaviour : SimBehaviour {\n private string _forwardInputKey = \"_forward\";\n private string _reverseInputKey = \"_reverse\";\n private string _forwardDisplayName = \" Forward\";\n private string _reverseDisplayName = \" Reverse\";\n\n private RotationalDriver _armDriver;\n private float _speedMod = 0.4f;\n\n public GeneralArmBehaviour(string simObjectId, RotationalDriver armDriver)\n : base(simObjectId) { // base(simObjectId, GetInputs(this, armSignal))\n\n if (armDriver.IsReserved)\n throw new Exception(\"Rotational Driver already reserved\");\n armDriver.Reserve(this);\n _armDriver = armDriver;\n\n _forwardInputKey = _armDriver.Signal + _forwardInputKey;\n _reverseInputKey = _armDriver.Signal + _reverseInputKey;\n var name = _armDriver.Name;\n _forwardDisplayName = name + _forwardDisplayName;\n _reverseDisplayName = name + _reverseDisplayName;\n\n InitInputs(GetInputs());\n\n EventBus.NewTypeListener<ValueInputAssignedEvent>(OnValueInputAssigned);\n }\n\n public (string key, string displayName, Analog input)[] GetInputs() {\n var key = ((RobotSimObject.ControllableJointCounter + 1) % 10).ToString();\n RobotSimObject.ControllableJointCounter++;\n return new(string key, string displayName, Analog input)[] {\n (_forwardInputKey, _forwardDisplayName, TryLoadInput(_forwardInputKey, new Digital(\"Alpha\" + key))),\n (_reverseInputKey, _reverseDisplayName,\n TryLoadInput(_reverseInputKey, new Digital(\"Alpha\" + key, (int) ModKey.LeftShift)))\n };\n }\n\n public Analog TryLoadInput(string key, Analog defaultInput) =>\n SimulationPreferences.GetRobotInput(\n (SimulationManager.SimulationObjects[SimObjectId] as RobotSimObject).MiraLive.MiraAssembly.Info.GUID,\n key) ??\n defaultInput;\n\n private void OnValueInputAssigned(IEvent tmp) {\n ValueInputAssignedEvent args = tmp as ValueInputAssignedEvent;\n if (args.InputKey.Equals(_forwardInputKey) || args.InputKey.Equals(_reverseInputKey)) {\n if (base.SimObjectId != RobotSimObject.GetCurrentlyPossessedRobot().MiraGUID)\n return;\n RobotSimObject robot = SimulationManager.SimulationObjects[base.SimObjectId] as RobotSimObject;\n SimulationPreferences.SetRobotInput(robot.MiraGUID, args.InputKey, args.Input);\n }\n }\n\n public override void Update() {\n var forw = InputManager.MappedValueInputs[_forwardInputKey];\n var rev = InputManager.MappedValueInputs[_reverseInputKey];\n float val = Mathf.Abs(forw.Value) - Mathf.Abs(rev.Value);\n\n _armDriver.MainInput = val * _speedMod;\n }\n\n public override void OnRemove() {\n _armDriver.MainInput = 0f;\n _armDriver.Unreserve();\n }\n\n protected override void OnDisable() {\n _armDriver.MainInput = 0f;\n }\n }\n}\n<file_sep>using SynthesisAPI.Utilities;\nusing System;\nusing System.Collections.Generic;\nusing System.Linq;\n\n#nullable enable\n\nnamespace SynthesisAPI.VirtualFileSystem\n{\n /// <summary>\n /// A wrapper for a dictionary of entries that gives structure to the virtual file system\n /// </summary>\n public sealed class Directory : IEntry\n {\n public string Name => ((IEntry)this).Name;\n public Permissions Permissions => ((IEntry)this).Permissions;\n public Directory? Parent => ((IEntry)this).Parent;\n\n private string _name { get; set; }\n private Permissions _permissions { get; set; }\n private Directory? _parent { get; set; }\n\n string IEntry.Name { get => _name; set => _name = value; }\n Permissions IEntry.Permissions { get => _permissions; set => _permissions = value; }\n Directory? IEntry.Parent { get => _parent; set => _parent = value; }\n\n internal Dictionary<string, IEntry> Entries;\n\n public static readonly char DirectorySeparatorChar = '/';\n\n public Directory(string name, Permissions perm)\n { \n // unclear why init existed\n _name = name;\n _permissions = perm;\n _parent = null!;\n\n Entries = new Dictionary<string, IEntry> {{\".\", this}, {\"..\", null!}};\n }\n\n [ExposedApi]\n void IEntry.Delete()\n {\n using var _ = ApiCallSource.StartExternalCall();\n DeleteInner();\n }\n\n [ExposedApi]\n public void Delete()\n {\n using var _ = ApiCallSource.StartExternalCall();\n\n DeleteInner();\n }\n\n internal void DeleteInner() {\n ApiCallSource.AssertAccess(Permissions, Access.Write);\n foreach (var e in Entries)\n {\n if (e.Key != \"\" && e.Key != \".\" && e.Key != \"..\")\n {\n e.Value.DeleteInner();\n }\n }\n if (Parent != null)\n {\n Parent.RemoveEntryInner(Name);\n }\n }\n\n void IEntry.DeleteInner()\n {\n ApiCallSource.AssertAccess(Permissions, Access.Write);\n DeleteInner();\n }\n\n [ExposedApi]\n public static string MakePath(params string[] subpaths)\n {\n return String.Join(DirectorySeparatorChar.ToString(), subpaths);\n }\n\n internal static (string, string[]) GetTopDirectory(string[] paths)\n {\n if(paths.Length == 0)\n {\n throw new DirectoryException();\n }\n string target = paths[0];\n paths = paths.Skip(1).ToArray();\n return (target, paths);\n }\n\n internal static string[] SplitPath(string path)\n {\n if (path.Length > 0 && path[path.Length - 1] == DirectorySeparatorChar)\n {\n // trim the last slash? (ex: \"/modules/sample_module/\" -> \"/modules/sample_module\")\n path = path.Remove(path.Length - 1, 1);\n }\n return path.Split(DirectorySeparatorChar);\n }\n\n [ExposedApi]\n public string GetPath()\n {\n using var _ = ApiCallSource.StartExternalCall();\n return GetPathInner();\n }\n\n internal string GetPathInner()\n {\n string path = \"\";\n Directory? dir = this;\n while (dir != null) {\n path = dir.Name + DirectorySeparatorChar + path;\n\n dir = dir.Parent;\n }\n return path;\n }\n\n private IEntry? TraverseImpl(string[] subpaths)\n {\n if (subpaths.Length == 0)\n {\n return null;\n }\n\n string target;\n (target, subpaths) = GetTopDirectory(subpaths);\n\n var next = TryGetEntryInner(target);\n\n if (subpaths.Length == 0)\n {\n return next;\n }\n\n if (next == null)\n {\n return null;\n }\n\n if (next is Directory directory)\n {\n return directory.TraverseImpl(subpaths);\n }\n\n return null;\n }\n\n /// <summary>\n /// Traverse this Directory and subdirectories to a entry given a file path\n /// </summary>\n /// <param name=\"subpaths\"></param>\n /// <returns></returns>\n [ExposedApi]\n public IEntry? Traverse(string[] subpaths)\n {\n using var _ = ApiCallSource.StartExternalCall();\n\n return TraverseInner(subpaths);\n }\n\n\n internal IEntry? TraverseInner(string[] subpaths)\n {\n using var _ = ApiCallSource.StartExternalCall();\n\n return TraverseImpl(subpaths);\n }\n\n [ExposedApi]\n public TEntry? Traverse<TEntry>(string[] subpaths) where TEntry : class, IEntry\n {\n using var _ = ApiCallSource.StartExternalCall();\n\n return TraverseInner<TEntry>(subpaths);\n }\n\n\n internal TEntry? TraverseInner<TEntry>(string[] subpaths) where TEntry : class, IEntry\n {\n using var _ = ApiCallSource.StartExternalCall();\n\n return (TEntry?)TraverseImpl(subpaths);\n }\n\n /// <summary>\n /// Traverse this Directory and subdirectories to an entry given a file path\n /// </summary>\n /// <param name=\"path\"></param>\n /// <returns></returns>\n [ExposedApi]\n public IEntry? Traverse(string path)\n {\n using var _ = ApiCallSource.StartExternalCall();\n\n return TraverseInner(path);\n }\n\n internal IEntry? TraverseInner(string path)\n {\n ApiCallSource.AssertAccess(Permissions, Access.Read);\n return TraverseImpl(SplitPath(path));\n }\n\n [ExposedApi]\n public TEntry? Traverse<TEntry>(string path) where TEntry : class, IEntry\n {\n using var _ = ApiCallSource.StartExternalCall();\n\n return TraverseInner<TEntry>(path);\n }\n\n internal TEntry? TraverseInner<TEntry>(string path) where TEntry : class, IEntry\n {\n ApiCallSource.AssertAccess(Permissions, Access.Read);\n return (TEntry?)TraverseImpl(SplitPath(path));\n }\n\n [ExposedApi]\n public IEntry? TryGetEntry(string key)\n {\n using var _ = ApiCallSource.StartExternalCall();\n return TryGetEntryInner(key);\n }\n\n internal IEntry? TryGetEntryInner(string key)\n {\n return Entries.TryGetValue(key, out var x) ? x : null;\n }\n\n /// <summary>\n /// Add a new entry to this Directory\n /// </summary>\n /// <typeparam name=\"TEntry\"></typeparam>\n /// <param name=\"value\"></param>\n /// <returns></returns>\n [ExposedApi]\n public TEntry AddEntry<TEntry>(TEntry value) where TEntry : IEntry\n {\n using var _ = ApiCallSource.StartExternalCall();\n\n return AddEntryInner(value);\n }\n\n internal TEntry AddEntryInner<TEntry>(TEntry value) where TEntry : IEntry\n {\n return (TEntry)AddEntryImpl(value);\n }\n\n /// <summary>\n /// Add a new entry to this Directory\n /// </summary>\n /// <param name=\"value\"></param>\n /// <returns></returns>\n [ExposedApi]\n public IEntry AddEntry(IEntry value)\n {\n using var _ = ApiCallSource.StartExternalCall();\n\n return AddEntryImpl(value);\n }\n\n private IEntry AddEntryImpl(IEntry value)\n {\n ApiCallSource.AssertAccess(Permissions, Access.Write);\n if (value.Name.Equals(\"\"))\n {\n throw new DirectoryException(\"Directory: adding entry with empty name\");\n }\n if (Entries.ContainsKey(value.Name))\n {\n throw new DirectoryException($\"Directory: adding entry to \\\"{GetPathInner()}\\\" with existing name \\\"{value.Name}\\\"\");\n }\n Entries.Add(value.Name, value);\n\n // Set this as the parent of the entry.\n // If the entry is a directory, then add the parent (this) to its list of entries\n value.Parent = this;\n if (value is Directory dir)\n {\n if (dir.Entries[\"..\"] != null)\n {\n throw new DirectoryException($\"Directory: adding entry \\\"{value.Name}\\\" with existing parent (entries cannot exist in multiple directories)\");\n }\n if (dir.Parent != null)\n dir.Entries[\"..\"] = dir.Parent;\n }\n\n return Entries[value.Name];\n }\n\n [ExposedApi]\n public void DeleteEntry(string key)\n {\n using var _ = ApiCallSource.StartExternalCall();\n\n DeleteEntryInner(key);\n }\n\n internal void DeleteEntryInner(string key)\n {\n ApiCallSource.AssertAccess(Permissions, Access.Write);\n if (key.Equals(\"\") || key.Equals(\".\") || key.Equals(\"..\"))\n {\n throw new DirectoryException(\"Cannot remove this \\\".\\\" or parent \\\"..\\\" from directory entries\");\n }\n\n if (Entries.ContainsKey(key))\n {\n Entries[key].DeleteInner();\n }\n }\n\n [ExposedApi]\n public IEntry? RemoveEntry(string key)\n {\n using var _ = ApiCallSource.StartExternalCall();\n return RemoveEntryInner(key);\n }\n\n internal IEntry? RemoveEntryInner(string key)\n {\n ApiCallSource.AssertAccess(Permissions, Access.Write);\n if (key.Equals(\"\") || key.Equals(\".\") || key.Equals(\"..\"))\n {\n throw new DirectoryException(\"Cannot remove this \\\".\\\" or parent \\\"..\\\" from directory entries\");\n }\n\n if (Entries.ContainsKey(key))\n {\n var entry = Entries[key];\n entry.Parent = null;\n Entries.Remove(key);\n return entry;\n }\n return null;\n }\n\n [ExposedApi]\n public bool EntryExists<TEntry>(string key) where TEntry : IEntry\n {\n using var _ = ApiCallSource.StartExternalCall();\n return EntryExistsInner(key);\n }\n\n internal bool EntryExistsInner<TEntry>(string key) where TEntry : IEntry\n {\n ApiCallSource.AssertAccess(Permissions, Access.Read);\n return Entries.ContainsKey(key) && Entries[key] is TEntry;\n }\n\n [ExposedApi]\n public bool EntryExists(string key)\n {\n using var _ = ApiCallSource.StartExternalCall();\n return EntryExistsInner(key);\n }\n\n internal bool EntryExistsInner(string key)\n {\n ApiCallSource.AssertAccess(Permissions, Access.Read);\n return Entries.ContainsKey(key);\n }\n\n [ExposedApi]\n public IEntry? this[string name]\n {\n get => TryGetEntry(name);\n }\n }\n}\n<file_sep>using System;\nusing SynthesisAPI.AssetManager;\nusing SynthesisAPI.UIManager.VisualElements;\n\nnamespace SynthesisCore.UI\n{\n public class Toggle\n {\n #region UIElements\n\n private static VisualElementAsset _toggleAsset;\n\n private VisualElement _visualElement;\n\n private Button _button;\n\n #endregion\n\n #region Properties\n\n private bool _enabled;\n\n public bool Enabled { get => _enabled; set { _enabled = value; SetButton(); } }\n\n public delegate void SubscribeEvent(bool b);\n\n public event SubscribeEvent OnValueChanged;\n\n #endregion\n\n public static implicit operator VisualElement(Toggle t) => t._visualElement;\n\n public Toggle(string name)\n {\n Init(name);\n Enabled = false;\n }\n\n public Toggle(string name, bool enabled)\n {\n Init(name);\n Enabled = enabled;\n }\n\n private void Init(string name)\n {\n if (_toggleAsset == null)\n _toggleAsset = AssetManager.GetAsset<VisualElementAsset>(\"/modules/synthesis_core/UI/uxml/Toggle.uxml\");\n _visualElement = _toggleAsset.GetElement(name);\n InitButton();\n }\n\n #region Button\n\n private void InitButton()\n {\n _button = (Button)_visualElement.Get(\"toggle-button\");\n _button.Subscribe(x => ToggleButton());\n }\n\n private void ToggleButton()\n {\n Enabled = !_enabled;\n OnValueChanged?.Invoke(_enabled);\n }\n\n private void SetButton()\n {\n _button.SetStyleProperty(\"background-image\", _enabled ?\n \"/modules/synthesis_core/UI/images/toggle-on-icon.png\" :\n \"/modules/synthesis_core/UI/images/toggle-off-icon.png\");\n }\n\n #endregion\n }\n}\n<file_sep>#ifndef _COUNTER_HPP_\n#define _COUNTER_HPP_\n\n#include \"FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h\"\n#include \"FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tCounter.h\"\n\nnamespace hel{\n\n /**\n * \\brief Models a RoboRIO counter\n */\n\n struct Counter{\n /**\n * \\brief The number of counters supported by the Ni FPGA\n */\n\n static constexpr uint8_t MAX_COUNTER_COUNT = nFPGA::nRoboRIO_FPGANamespace::tCounter::kNumSystems;\n private:\n\n /**\n * \\brief The counter's count at the point it was reset\n */\n\n nFPGA::nRoboRIO_FPGANamespace::tCounter::tOutput zeroed_output;\n /**\n * \\brief The counter's count\n */\n\n nFPGA::nRoboRIO_FPGANamespace::tCounter::tOutput output;\n\n /**\n * \\brief Configuration for the counter\n */\n\n nFPGA::nRoboRIO_FPGANamespace::tCounter::tConfig config;\n\n /**\n * \\brief The time count (period)\n */\n\n nFPGA::nRoboRIO_FPGANamespace::tCounter::tTimerOutput timer_output;\n\n /**\n * \\brief Configuration for the time counter\n */\n\n nFPGA::nRoboRIO_FPGANamespace::tCounter::tTimerConfig timer_config;\n\n public:\n\n /**\n * \\brief Reset the counter\n *\n * Resets the zero point of the count\n */\n\n void reset()noexcept;\n\n /**\n * \\brief Get the current count of the counter including resets\n * \\return The current encoder count\n */\n\n nFPGA::nRoboRIO_FPGANamespace::tCounter::tOutput getCurrentOutput()const noexcept;\n\n /**\n * \\brief Get the counter's raw count\n * \\return The raw count of the counter\n */\n\n nFPGA::nRoboRIO_FPGANamespace::tCounter::tOutput getRawOutput()const noexcept;\n\n /**\n * void setRawOutput(nFPGA::nRoboRIO_FPGANamespace::tCounter::tOutput out)noexcept\n * \\brief Set the raw count of the counter\n * \\param out The count to set the counter to\n */\n\n void setRawOutput(nFPGA::nRoboRIO_FPGANamespace::tCounter::tOutput)noexcept;\n\n /**\n * \\brief Get the configuration for the counter\n * \\return The counter's configuration\n */\n\n nFPGA::nRoboRIO_FPGANamespace::tCounter::tConfig getConfig()const noexcept;\n\n /**\n * void setConfig(nFPGA::nRoboRIO_FPGANamespace::tCounter::tConfig c)noexcept\n * \\brief Set the configuration for the counter\n * \\param c The configuration to set for the counter\n */\n\n void setConfig(nFPGA::nRoboRIO_FPGANamespace::tCounter::tConfig)noexcept;\n\n /**\n * \\brief Get the time count of the counter\n * \\return The time count\n */\n\n nFPGA::nRoboRIO_FPGANamespace::tCounter::tTimerOutput getTimerOutput()const noexcept;\n\n /**\n * void setTimerOutput(nFPGA::nRoboRIO_FPGANamespace::tCounter::tTimerOutput timer_out)noexcept\n * \\brief Set the time count of the counter\n * \\param timer_out The time count to set for the counter\n */\n\n void setTimerOutput(nFPGA::nRoboRIO_FPGANamespace::tCounter::tTimerOutput)noexcept;\n\n /**\n * \\brief Get the configuration for the timed count\n * \\return The timer configuration of the counter\n */\n\n nFPGA::nRoboRIO_FPGANamespace::tCounter::tTimerConfig getTimerConfig()const noexcept;\n\n /**\n * \\fn void setTimerConfig(nFPGA::nRoboRIO_FPGANamespace::tCounter::tTimerConfig timer_c)noexcept\n * \\brief Set the configuration for the timed count\n * \\param timer_c The timer configuration to set for the counter\n */\n\n void setTimerConfig(nFPGA::nRoboRIO_FPGANamespace::tCounter::tTimerConfig)noexcept;\n\n /**\n * Constructor for Counter\n */\n\n Counter()noexcept;\n\n /**\n * Constructor for Counter\n * \\param source A Counter object to copy\n */\n\n Counter(const Counter&)noexcept;\n };\n}\n\n#endif\n<file_sep>#include \"match_info.hpp\"\n\n#include \"error.hpp\"\n#include \"util.hpp\"\n\nnamespace hel{\n std::string MatchInfo::getEventName()const noexcept{\n return event_name;\n }\n\n void MatchInfo::setEventName(std::string name)noexcept{\n event_name = name;\n }\n\n std::string MatchInfo::getGameSpecificMessage()const noexcept{\n return game_specific_message;\n }\n\n void MatchInfo::setGameSpecificMessage(std::string message)noexcept{\n game_specific_message = message;\n }\n\n MatchType_t MatchInfo::getMatchType()const noexcept{\n return match_type;\n }\n\n void MatchInfo::setMatchType(MatchType_t type)noexcept{\n match_type = type;\n }\n\n uint16_t MatchInfo::getMatchNumber()const noexcept{\n return match_number;\n }\n\n void MatchInfo::setMatchNumber(uint16_t number)noexcept{\n match_number = number;\n }\n\n uint8_t MatchInfo::getReplayNumber()const noexcept{\n return replay_number;\n }\n\n void MatchInfo::setReplayNumber(uint8_t number)noexcept{\n replay_number = number;\n }\n\n AllianceStationID_t MatchInfo::getAllianceStationID()const noexcept{\n return alliance_station_id;\n }\n\n void MatchInfo::setAllianceStationID(AllianceStationID_t id)noexcept{\n alliance_station_id = id;\n }\n\n double MatchInfo::getMatchTime()const noexcept{\n return match_time;\n }\n\n void MatchInfo::setMatchTime(double time)noexcept{\n match_time = time;\n }\n\n std::string to_string(MatchType_t type){\n switch(type){\n case MatchType_t::kMatchType_none:\n return \"NONE\";\n case MatchType_t::kMatchType_practice:\n return \"PRACTICE\";\n case MatchType_t::kMatchType_elimination:\n return \"ELIMINATION\";\n case MatchType_t::kMatchType_qualification:\n return \"QUALIFICATION\";\n default:\n throw UnhandledEnumConstantException(\"MatchType_t\");\n }\n }\n\n MatchType_t s_to_match_type(std::string s){\n switch(hasher(s.c_str())){\n case hasher(\"NONE\"):\n return MatchType_t::kMatchType_none;\n case hasher(\"PRACTICE\"):\n return MatchType_t::kMatchType_practice;\n case hasher(\"ELIMINATION\"):\n return MatchType_t::kMatchType_elimination;\n case hasher(\"QUALIFICATION\"):\n return MatchType_t::kMatchType_qualification;\n default:\n throw UnhandledCase();\n }\n }\n\n std::string to_string(AllianceStationID_t id){\n switch(id){\n case AllianceStationID_t::kAllianceStationID_blue1:\n return \"BLUE1\";\n case AllianceStationID_t::kAllianceStationID_blue2:\n return \"BLUE2\";\n case AllianceStationID_t::kAllianceStationID_blue3:\n return \"BLUE3\";\n case AllianceStationID_t::kAllianceStationID_red1:\n return \"RED1\";\n case AllianceStationID_t::kAllianceStationID_red2:\n return \"RED2\";\n case AllianceStationID_t::kAllianceStationID_red3:\n return \"RED3\";\n default:\n throw UnhandledEnumConstantException(\"MatchType_t\");\n }\n }\n\n AllianceStationID_t s_to_alliance_station_id(std::string s){\n switch(hasher(s.c_str())){\n case hasher(\"BLUE1\"):\n return AllianceStationID_t::kAllianceStationID_blue1;\n case hasher(\"BLUE2\"):\n return AllianceStationID_t::kAllianceStationID_blue2;\n case hasher(\"BLUE3\"):\n return AllianceStationID_t::kAllianceStationID_blue3;\n case hasher(\"RED1\"):\n return AllianceStationID_t::kAllianceStationID_red1;\n case hasher(\"RED2\"):\n return AllianceStationID_t::kAllianceStationID_red2;\n case hasher(\"RED3\"):\n return AllianceStationID_t::kAllianceStationID_red3;\n default:\n throw UnhandledCase();\n }\n }\n\n std::string MatchInfo::toString()const{\n std::string s = \"(\";\n s += \"event_name:\" + event_name + \", \";\n s += \"game_specific_message:\" + game_specific_message + \", \";\n s += \"match_type:\" + asString(match_type) + \", \";\n s += \"match_number:\" + std::to_string(match_number) + \", \";\n s += \"replay_number:\" + std::to_string(replay_number) + \", \";\n s += \"alliance_station_id:\" + asString(alliance_station_id) + \", \";\n s += \"match_time:\" + std::to_string(match_time);\n s += \")\";\n return s;\n }\n\n MatchInfo::MatchInfo()noexcept:event_name(\"\"),game_specific_message(\"\"),match_type(MatchType_t::kMatchType_none),match_number(0),replay_number(0),alliance_station_id(AllianceStationID_t::kAllianceStationID_red1),match_time(0){}\n MatchInfo::MatchInfo(const MatchInfo& source)noexcept{\n#define COPY(NAME) NAME = source.NAME\n COPY(event_name);\n COPY(game_specific_message);\n COPY(match_type);\n COPY(match_number);\n COPY(replay_number);\n COPY(alliance_station_id);\n COPY(match_time);\n#undef COPY\n }\n}\n<file_sep>#ifndef __INTERRUPT_MANAGER_HPP__\n#define __INTERRUPT_MANAGER_HPP__\n\n#include \"system.hpp\"\n#include \"FRC_FPGA_ChipObject/tInterruptManager.h\"\n\n#endif\n<file_sep>from . import OsHelper\nfrom . import Handlers\n\nfrom ..general_imports import *\n\n\n# no longer used\nclass HPalette:\n handlers = []\n events = []\n\n def __init__(\n self,\n name: str,\n title: str,\n visible: bool,\n closeable: bool,\n resizeable: bool,\n width: int,\n height: int,\n *argv,\n ):\n \"\"\"#### Creates a HPalette Object with a number of function pointers that correspond to a action on the js side.\n\n Arguments:\n **name** *str* -- name of the palette that links the folder in Resources/palette\n **title** *str* -- title displayed on the palette\n **visible** *bool* -- is the palette visible?\n **closeable** *bool* -- is the palette closable?\n **resizeable** *bool* -- is the palette resizeable?\n **argv** *ptr* -- ptr to a list of function pointers that correspond to actions for the palette.\n\n Keyword Arguments:\n **width** *int* -- width of the palette in pixels (default: {400})\n **height** *int* -- height of the palette in pixels (default: {400})\n\n Raises:\n ValueError: If the unique ID is used and not be me\n ValueError: If the unique ID is used and it is by me\n \"\"\"\n self.logger = logging.getLogger(f\"{INTERNAL_ID}.HUI.{self.__class__.__name__}\")\n\n self.uid = name.replace(\" \", \"\") + f\"_p2_{INTERNAL_ID}\"\n self.name = name\n\n for arg in argv:\n self.events.append(arg)\n\n if self.uid in gm.uniqueIds:\n raise ValueError(\n f\"Cannot create two UI Elements with the same ID {self.uid}\\n\"\n )\n\n if gm.ui.palettes is None:\n raise RuntimeError(f\"No Palette object exists yet\")\n\n self.palette = gm.ui.palettes.itemById(self.uid)\n\n if self.palette is None:\n path = OsHelper.getOSPathPalette(\n \"src\", \"Resources\", \"Palette\", f'{self.name.replace(\" \", \"\")}'\n )\n\n self.palette = gm.ui.palettes.add(\n self.uid,\n title,\n f'{path}{self.name.replace(\" \", \"\")}.html',\n visible,\n closeable,\n resizeable,\n width,\n height,\n )\n\n self.palette.dockingState = (\n adsk.core.PaletteDockingStates.PaletteDockStateLeft\n )\n\n onHTML = Handlers.HPaletteHTMLEventHandler(self)\n self.palette.incomingFromHTML.add(onHTML)\n self.handlers.append(onHTML)\n\n self.logger.info(f\"Created Palette {self.uid}\")\n\n self.palette.isVisible = True\n\n def deleteMe(self) -> None:\n \"\"\"## Removes the palette\"\"\"\n palette = gm.app.userInterface.palettes.itemById(self.uid)\n if palette:\n # I hope you like problems because this is nothing but problems\n # self.events.clear()\n # self.handlers.clear()\n self.logger.debug(f\"Deleted Palette {self.uid}\")\n palette.deleteMe()\n\n\nclass HButton:\n handlers = []\n \"\"\" Keeps all handler classes alive which is essential apparently. - used in command events \"\"\"\n\n def __init__(\n self,\n name: str,\n location: str,\n check_func: object,\n exec_func: object,\n description: str = \"No Description\",\n command: bool = False,\n ):\n \"\"\"# Creates a new HButton Class.\n\n Arguments:\n **name** *str* -- name of button for display and ID - must be unique.\\n\n **location** *str* -- location for button to be attached.\\n\n **exec_func** *FunctionType* -- Function pointer to button execution logic.\\n\n **description** *str* -- Helper text for onhover (default: *'No Description'*).\\n\n **command** *bool* -- Is this a internal Fusion 360 command created event or a pass through\n\n Raises:\n **ValueError**: if *location* does not exist in the current context\n \"\"\"\n self.logger = logging.getLogger(f\"{INTERNAL_ID}.HUI.{self.__class__.__name__}\")\n self.uid = name.replace(\" \", \"\") + f\"_{INTERNAL_ID}\"\n\n if self.uid in gm.uniqueIds:\n raise ValueError(\n f\"Cannot create two UI Elements with the same ID {self.uid}\\n\"\n )\n\n self.name = name\n\n if gm.ui.allToolbarPanels.itemById(location) is not None:\n self.location = location\n else:\n raise ValueError(f\"{location} is not an id in the toolbar\")\n\n cmdDef = gm.ui.commandDefinitions.itemById(self.uid)\n if cmdDef:\n # gm.ui.messageBox(\"Looks like you have experienced a crash we will do cleanup.\")\n self.logger.debug(\"Looks like there was a crash, doing cleanup in button id\")\n self.scrub()\n\n # needs to updated with new OString data\n self.button = gm.ui.commandDefinitions.addButtonDefinition(\n self.uid,\n f\"{name}\",\n f\"{description}\",\n OsHelper.getOSPath(\".\", \"src\", \"Resources\", f'{self.name.replace(\" \", \"\")}'),\n )\n \"\"\" Button Command Definition stored as a member \"\"\"\n\n gm.uniqueIds.append(self.uid)\n self.exec_func = exec_func\n self.check_func = check_func\n\n if command:\n # This will be a seperate command created event handler\n ccEventHandler = exec_func(self)\n else:\n ccEventHandler = Handlers.HButtonCommandCreatedEvent(self)\n\n self.button.commandCreated.add(ccEventHandler)\n self.handlers.append(ccEventHandler)\n\n panel = gm.ui.allToolbarPanels.itemById(f\"{location}\")\n\n if panel:\n self.buttonControl = panel.controls.addCommand(self.button)\n self.logger.info(f\"Created Button {self.uid} in Panel {location}\")\n else:\n self.logger.error(f\"Cannot Create Button {self.uid} in Panel {location}\")\n\n self.promote(True)\n \"\"\" Promote determines whether or not buttons are displayed on toolbar \"\"\"\n\n def promote(self, flag: bool) -> None:\n \"\"\"## Adds button to toolbar\n\n TODO: Add a promote to specific toolbar section\n\n Arguments:\n **flag** *bool* -- Is added to toolbar?\n\n Raises:\n **ValueError**: Given type of not bool\n \"\"\"\n if self.buttonControl is not None:\n self.buttonControl.isPromotedByDefault = flag\n self.buttonControl.isPromoted = flag\n else:\n raise RuntimeError(\"ButtonControl was not defined for {}\".format(self.uid))\n\n def deleteMe(self):\n \"\"\"## Custom deleteMe method to easily deconstruct button data.\n\n This somehow doesn't work if I keep local references to all of these definitions.\n\n Arguments:\n **ui** *adsk.core.userinterface* -- user interface instance so I can find the references easily.\n \"\"\"\n cmdDef = gm.ui.commandDefinitions.itemById(self.uid)\n if cmdDef:\n self.logger.debug(f\"Removing Button {self.uid}\")\n cmdDef.deleteMe()\n\n ctrl = gm.ui.allToolbarPanels.itemById(self.location).controls.itemById(self.uid)\n if ctrl:\n self.logger.debug(f\"Removing Button Control {self.location}:{self.uid}\")\n ctrl.deleteMe()\n\n def scrub(self):\n \"\"\"### In-case I make a mistake or a crash happens early it can scrub the command.\n\n It can only be called if the ID is not currently in the buttons list.\n\n This is different than **deleteMe** because it would be good to have metrics on.\n \"\"\"\n self.deleteMe()\n\n def __str__(self):\n \"\"\"### Retrieves the button unique ID and treats it as a string.\n Returns:\n *str* -- button unique ID.\n \"\"\"\n return self.uid\n<file_sep>using Newtonsoft.Json;\nusing SynthesisAPI.Utilities;\nusing SynthesisAPI.VirtualFileSystem;\nusing System.IO;\n\nnamespace SynthesisAPI.AssetManager\n{\n /// <summary>\n /// Representation of a JSON asset\n /// </summary>\n public class JsonAsset : TextAsset\n {\n public JsonAsset(string name, Permissions perm, string sourcePath) :\n base(name, perm, sourcePath) { }\n\n [ExposedApi]\n public TObject Deserialize<TObject>(long offset = long.MaxValue, SeekOrigin loc = SeekOrigin.Begin,\n bool retainPosition = true)\n {\n using var _ = ApiCallSource.StartExternalCall();\n return DeserializeInner<TObject>(offset, loc, retainPosition);\n }\n\n\n internal TObject DeserializeInner<TObject>(long offset = long.MaxValue, SeekOrigin loc = SeekOrigin.Begin,\n bool retainPosition = true)\n {\n ApiCallSource.AssertAccess(Permissions, Access.Read);\n long? returnPosition = null;\n if (offset != long.MaxValue)\n {\n if (retainPosition)\n {\n returnPosition = SharedStream.Stream.Position;\n }\n SharedStream.Seek(offset, loc);\n }\n\n var obj = JsonConvert.DeserializeObject<TObject>(SharedStream.ReadToEnd());\n\n if (returnPosition != null)\n {\n SharedStream.Seek(returnPosition.Value);\n }\n\n if (obj == null) {\n throw new System.Exception(\"Failed to deserialize a Json object!\");\n }\n\n return obj;\n }\n\n [ExposedApi]\n public void Serialize<TObject>(TObject obj, WriteMode writeMode = WriteMode.Overwrite)\n {\n using var _ = ApiCallSource.StartExternalCall();\n SerializeInner(obj, writeMode);\n }\n\n internal void SerializeInner<TObject>(TObject obj, WriteMode writeMode = WriteMode.Overwrite)\n {\n ApiCallSource.AssertAccess(Permissions, Access.Write);\n if (writeMode == WriteMode.Overwrite)\n {\n SharedStream.Seek(0);\n SharedStream.SetLength(0);\n }\n else\n {\n SharedStream.Seek(0, SeekOrigin.End);\n }\n SharedStream.WriteLine(JsonConvert.SerializeObject(obj, Formatting.Indented));\n }\n }\n}\n<file_sep>using System;\nusing System.Collections;\nusing System.Collections.Generic;\nusing Google.Protobuf.WellKnownTypes;\nusing Synthesis.PreferenceManager;\nusing SynthesisAPI.Simulation;\nusing SynthesisAPI.Utilities;\nusing UnityEngine;\nusing Synthesis.Util;\nusing Synthesis.Physics;\n\n#nullable enable\n\nnamespace Synthesis {\n public class RotationalDriver : Driver {\n private const float MIRABUF_TO_UNITY_FORCE = 40f;\n\n // clang-format off\n private bool _isWheel = false;\n // clang-format on\n public bool IsWheel => _isWheel;\n\n public string Signal => _inputs[0];\n\n private SimBehaviour? _reservee;\n public SimBehaviour? Reservee => _reservee;\n public bool IsReserved => _reservee != null;\n\n /// <summary>\n /// Global Coordinate Anchor Point for Joint\n /// </summary>\n public Vector3 Anchor { get => _jointA.transform.localToWorldMatrix.MultiplyPoint3x4(_jointA.anchor); }\n\n /// <summary>\n /// Global Coordinate Axis for Joint\n /// </summary>\n public Vector3 Axis {\n get => _jointA.transform.localToWorldMatrix.MultiplyVector(_jointA.axis);\n set => SetAxis(value);\n }\n\n public enum RotationalControlMode {\n Position,\n Velocity\n }\n\n public double MainInput {\n get {\n if (PhysicsManager.IsFrozen)\n return 0f;\n var val = State.GetValue(_inputs[0]);\n return val == null ? 0.0 : val.NumberValue;\n }\n set => State.SetValue(_inputs[0], Value.ForNumber(value));\n }\n\n public RotationalControlMode ControlMode {\n get {\n var val = State.GetValue(_inputs[1]);\n if (val == null)\n throw new Exception($\"No value with guid '{_inputs[1]}'\");\n\n switch (val.StringValue) {\n case \"Velocity\":\n return RotationalControlMode.Velocity;\n case \"Position\":\n return RotationalControlMode.Position;\n default:\n throw new Exception(\"No valid control mode\");\n }\n }\n set {\n switch (value) {\n case RotationalControlMode.Position:\n State.SetValue(_inputs[1], Value.ForString(\"Position\"));\n break;\n case RotationalControlMode.Velocity:\n State.SetValue(_inputs[1], Value.ForString(\"Velocity\"));\n break;\n default:\n throw new Exception(\"Unrecognized Rotational Control Mode\");\n }\n }\n }\n\n public new string Name => State.SignalMap[_inputs[0]].Name;\n\n private JointMotor _motor;\n public JointMotor Motor {\n get => _motor;\n set {\n _motor = value;\n SimulationPreferences.SetRobotJointMotor((_simObject as RobotSimObject)!.MiraGUID, Name, _motor);\n }\n }\n private HingeJoint _jointA;\n public HingeJoint JointA => _jointA;\n private HingeJoint _jointB;\n public HingeJoint JointB => _jointB;\n\n private Rigidbody? _rbA;\n public Rigidbody RbA {\n get {\n if (_rbA == null)\n _rbA = _jointA.GetComponent<Rigidbody>();\n return _rbA;\n }\n }\n private Rigidbody? _rbB;\n public Rigidbody RbB {\n get {\n if (_rbB == null)\n _rbB = _jointB.GetComponent<Rigidbody>();\n return _rbB;\n }\n }\n\n private float _fakedTheta = 0f;\n private float _fakedOmega = 0f;\n\n private JointLimits? _rotationalLimits;\n\n private bool _useFakeMotion = false;\n public bool UseFakeMotion {\n get => _useFakeMotion;\n set {\n if (value != _useFakeMotion) {\n _useFakeMotion = value;\n if (_useFakeMotion) {\n return;\n }\n if (_rotationalLimits.HasValue) {\n _jointA.limits = _rotationalLimits.Value;\n }\n EnableMotor();\n }\n }\n }\n\n private bool _useMotor = true;\n\n // Is this actually used?\n public bool UseMotor { get => _useMotor; }\n\n public readonly string MotorRef;\n\n private float _convertedMotorTargetVel { get => Motor.targetVelocity * Mathf.Rad2Deg; }\n\n public RotationalDriver(string name, string[] inputs, string[] outputs, SimObject simObject, HingeJoint jointA,\n HingeJoint jointB, bool isWheel, string motorRef = \"\")\n : base(name, inputs, outputs, simObject) {\n _jointA = jointA;\n _jointB = jointB;\n\n if (_jointA.useLimits) {\n _rotationalLimits = _jointA.limits;\n }\n\n UseFakeMotion = jointA.useLimits;\n EnableMotor();\n\n (simObject as RobotSimObject)!.MiraLive.MiraAssembly.Data.Joints.MotorDefinitions.TryGetValue(\n motorRef, out var motor);\n if (motor != null && motor.MotorTypeCase == Mirabuf.Motor.Motor.MotorTypeOneofCase.SimpleMotor) {\n _motor = motor!.SimpleMotor.UnityMotor;\n } else {\n Motor = new JointMotor() {\n // Default Motor. Slow but powerful enough. Also uses Motor to save it\n force = 2000,\n freeSpin = false,\n targetVelocity = 500,\n };\n }\n\n MotorRef = motorRef;\n\n _isWheel = isWheel;\n\n State.SetValue(_inputs[1], Value.ForString(\"Velocity\"));\n State.SetValue(_outputs[0], Value.ForNumber(0));\n State.SetValue(_outputs[1], Value.ForNumber(1));\n }\n\n void EnableMotor() {\n _useMotor = true;\n _jointA.useMotor = true;\n }\n\n void DisableMotor() {\n _useMotor = false;\n _jointA.useMotor = false;\n }\n\n public bool Reserve(SimBehaviour? behaviour) {\n if (behaviour == null || _reservee != null)\n return false;\n\n _reservee = behaviour;\n return true;\n }\n\n public void Unreserve() {\n _reservee = null;\n }\n\n private float _jointAngle = 0.0f;\n private float _lastUpdate = float.NaN;\n\n public override void Update() {\n float deltaT = 0f;\n if (!float.IsNaN(_lastUpdate)) {\n deltaT = Time.realtimeSinceStartup - _lastUpdate;\n }\n _lastUpdate = Time.realtimeSinceStartup;\n\n switch (ControlMode) {\n case RotationalControlMode.Position:\n PositionControl();\n break;\n case RotationalControlMode.Velocity:\n VelocityControl(deltaT);\n break;\n }\n\n // Angle loops around so this works for now\n _jointAngle += (_jointA.velocity * Time.deltaTime) / 360f;\n\n State.SetValue(_outputs[0], Value.ForNumber(_jointAngle));\n State.SetValue(_outputs[1], Value.ForNumber(_jointA.angle));\n }\n\n private void PositionControl() {\n if (_jointA.useMotor) {\n var targetPosition = MainInput;\n\n var inertiaA =\n SynthesisUtil.GetInertiaAroundParallelAxis(_jointA.connectedBody, _jointB.anchor, _jointB.axis);\n var inertiaB =\n SynthesisUtil.GetInertiaAroundParallelAxis(_jointB.connectedBody, _jointA.anchor, _jointA.axis);\n\n float error = (float) (targetPosition - _jointA.angle);\n while (error < -180) {\n error += 360;\n }\n while (error > 180) {\n error -= 360;\n }\n\n float output = error * 0.1f;\n\n _jointA.motor =\n new JointMotor { force = MIRABUF_TO_UNITY_FORCE * Motor.force * (inertiaA / (inertiaA + inertiaB)),\n freeSpin = Motor.freeSpin, targetVelocity = _convertedMotorTargetVel * output };\n _jointB.motor =\n new JointMotor { force = MIRABUF_TO_UNITY_FORCE * Motor.force * (inertiaB / (inertiaA + inertiaB)),\n freeSpin = Motor.freeSpin, targetVelocity = -_convertedMotorTargetVel * output };\n }\n }\n\n private void VelocityControl(float deltaT) {\n if (_jointA.useMotor) {\n var val = (float) MainInput;\n\n var inertiaA =\n SynthesisUtil.GetInertiaAroundParallelAxis(_jointA.connectedBody, _jointB.anchor, _jointB.axis);\n\n var inertiaB =\n SynthesisUtil.GetInertiaAroundParallelAxis(_jointB.connectedBody, _jointA.anchor, _jointA.axis);\n\n if (_useFakeMotion) {\n float alpha = val * _convertedMotorTargetVel;\n\n _fakedTheta += alpha * deltaT;\n\n if (_rotationalLimits.HasValue) {\n if (_fakedTheta > _rotationalLimits.Value.max) {\n _fakedTheta = _rotationalLimits.Value.max;\n } else if (_fakedTheta < _rotationalLimits.Value.min) {\n _fakedTheta = _rotationalLimits.Value.min;\n }\n\n _fakedTheta = Mathf.Clamp(_fakedTheta, -180, 179);\n\n _jointA.limits =\n new JointLimits { bounceMinVelocity = _rotationalLimits.Value.bounceMinVelocity,\n bounciness = _rotationalLimits.Value.bounciness,\n contactDistance = _rotationalLimits.Value.contactDistance, max = _fakedTheta + 1,\n min = _fakedTheta };\n }\n\n } else {\n _jointA.motor = new JointMotor { force = Motor.force * (inertiaA / (inertiaA + inertiaB)),\n freeSpin = Motor.freeSpin, targetVelocity = _convertedMotorTargetVel * val };\n _jointB.motor = new JointMotor { force = Motor.force * (inertiaB / (inertiaA + inertiaB)),\n freeSpin = Motor.freeSpin, targetVelocity = -_convertedMotorTargetVel * val };\n }\n }\n }\n\n /// <summary>\n /// Set a new axis for the joints\n /// </summary>\n /// <param name=\"newAxis\">Global vector</param>\n public void SetAxis(Vector3 newAxis) {\n _jointA.axis = _jointA.transform.worldToLocalMatrix.MultiplyVector(newAxis).normalized;\n _jointB.axis = _jointB.transform.worldToLocalMatrix.MultiplyVector(newAxis).normalized;\n }\n }\n}\n<file_sep>#include \"roborio_manager.hpp\"\n#include \"util.hpp\"\n#include \"FRC_NetworkCommunication/CANSessionMux.h\"\n\nusing namespace nFPGA;\nusing namespace nRoboRIO_FPGANamespace;\n\nnamespace hel{\n\n void warnUnsupportedDevice(const CANMessageID& message_id, const std::string& action){\n warnUnsupportedFeature(\"Attempting to \" + action + \" CAN device: \" + message_id.toString());\n }\n\n void warnUnconnectedDevice(const CANMessageID& message_id, const std::string& action){\n warn(\"Attempting to \" + action + \" unconnected CAN device: \" + message_id.toString());\n }\n\n namespace ctre{\n void parseMessage(const CANMessageID& message_id, const std::vector<uint8_t>& data){\n auto instance = hel::RoboRIOManager::getInstance();\n\n switch(message_id.getType()){\n case CANMessageID::Type::TALON_SRX:\n case CANMessageID::Type::VICTOR_SPX:\n {\n if(instance.first->can_motor_controllers.find(message_id.getID()) == instance.first->can_motor_controllers.end()){\n // Add motor controller to map if one with controller ID is not found\n instance.first->can_motor_controllers[message_id.getID()] = std::make_shared<ctre::CANMotorController>(message_id);\n }\n instance.first->can_motor_controllers[message_id.getID()]->parseCANPacket(message_id.getAPIID(), data);\n break;\n }\n case CANMessageID::Type::PCM:\n {\n instance.first->pcm.parseCANPacket(message_id.getAPIID(), data);\n break;\n }\n case CANMessageID::Type::UNKNOWN:\n {\n if(message_id.getID() != ctre::CANMotorController::HEARTBEAT_ID || message_id.getAPIID() != ctre::CANMotorController::HEARTBEAT_API_ID){ // Ignore heartbeat\n warnUnsupportedDevice(message_id, \"write to\");\n }\n break;\n }\n case CANMessageID::Type::PDP:\n warnUnsupportedDevice(message_id, \"write to\");\n break;\n default:\n throw UnhandledEnumConstantException(\"hel::CANMessageID::Type\");\n }\n\n instance.second.unlock();\n }\n\n std::vector<uint8_t> generateMessage(const CANMessageID& message_id){\n auto instance = hel::RoboRIOManager::getInstance();\n\n switch(message_id.getType()){\n case hel::CANMessageID::Type::TALON_SRX:\n case hel::CANMessageID::Type::VICTOR_SPX:\n {\n if(instance.first->can_motor_controllers.find(message_id.getID()) == instance.first->can_motor_controllers.end()){\n warnUnconnectedDevice(message_id, \"read from\");\n } else{\n instance.second.unlock();\n return instance.first->can_motor_controllers[message_id.getID()]->generateCANPacket(message_id.getAPIID());\n }\n break;\n }\n default:\n warnUnsupportedDevice(message_id, \"read from\");\n break;\n }\n instance.second.unlock();\n return {};\n }\n }\n\n namespace rev{\n void parseMessage(const CANMessageID& message_id, const std::vector<uint8_t>& data){\n auto instance = hel::RoboRIOManager::getInstance();\n\n switch(message_id.getType()){\n case CANMessageID::Type::SPARK_MAX:\n {\n if(message_id.getID() != rev::CANMotorController::HEARTBEAT_ID || message_id.getAPIID() != rev::CANMotorController::CommandAPIID::HEARTBEAT){ // Ignore heartbeat\n if(instance.first->can_motor_controllers.find(message_id.getID()) == instance.first->can_motor_controllers.end()){\n if(message_id.getAPIID() == rev::CANMotorController::CommandAPIID::FIRMWARE){\n // On startup, REV tries to write parameters assuming all CAN IDs are associated with a REV controller. \n // Instead of adding controllers it tries to talk to, instead, add controllers it tries to read firmware versions from.\n instance.first->can_motor_controllers[message_id.getID()] = std::make_shared<rev::CANMotorController>(message_id);\n } else {\n warnUnconnectedDevice(message_id, \"write to\");\n }\n } else {\n instance.first->can_motor_controllers[message_id.getID()]->parseCANPacket(message_id.getAPIID(), data);\n }\n }\n break;\n }\n default:\n warnUnsupportedDevice(message_id, \"write to\");\n break;\n }\n\n instance.second.unlock();\n }\n\n std::vector<uint8_t> generateMessage(const CANMessageID& message_id){\n auto instance = hel::RoboRIOManager::getInstance();\n\n switch(message_id.getType()){\n case hel::CANMessageID::Type::SPARK_MAX:\n if(message_id.getAPIID() == rev::CANMotorController::CommandAPIID::FIRMWARE && instance.first->can_motor_controllers.find(message_id.getID()) == instance.first->can_motor_controllers.end()){\n // On startup, REV tries to write parameters assuming all CAN IDs are associated with a REV controller.\n // Instead of adding controllers it tries to talk to, instead, add controllers it tries to read firmware versions from.\n instance.first->can_motor_controllers[message_id.getID()] = std::make_shared<rev::CANMotorController>(message_id);\n }\n instance.second.unlock();\n return instance.first->can_motor_controllers[message_id.getID()]->generateCANPacket(message_id.getAPIID());\n default:\n warnUnsupportedDevice(message_id, \"read from\");\n break;\n }\n\n instance.second.unlock();\n return {};\n }\n }\n}\n\nextern \"C\"{\n void FRC_NetworkCommunication_CANSessionMux_sendMessage(uint32_t messageID, const uint8_t* data, uint8_t dataSize, int32_t periodMs, int32_t* /*status*/){\n hel::CANMessageID message_id = hel::CANMessageID::parse(messageID);\n\n if(periodMs != CAN_SEND_PERIOD_NO_REPEAT && periodMs != CAN_SEND_PERIOD_STOP_REPEATING){\n hel::warnUnsupportedFeature(\"Sending repeating CAN message (\" + message_id.toString() + \" periodMs \" + std::to_string(periodMs) + \") -- sending once\");\n }\n\n std::vector<uint8_t> data_v;\n\n if(data != nullptr && dataSize != 0){\n data_v.reserve(dataSize);\n std::copy(data, data + dataSize, std::back_inserter(data_v));\n }\n\n switch(message_id.getManufacturer()){\n case hel::CANMessageID::Manufacturer::CTRE:\n hel::ctre::parseMessage(message_id, data_v);\n break;\n case hel::CANMessageID::Manufacturer::REV:\n hel::rev::parseMessage(message_id, data_v);\n break;\n default:\n hel::warnUnsupportedDevice(message_id, \"write to\");\n break;\n }\n }\n\n void FRC_NetworkCommunication_CANSessionMux_receiveMessage(uint32_t* messageID, uint32_t messageIDMask, uint8_t* data, uint8_t* dataSize, uint32_t* timeStamp, int32_t* /*status*/){\n hel::CANMessageID message_id = hel::CANMessageID::parse(*messageID & messageIDMask);\n\n std::vector<uint8_t> data_v;\n\n switch(message_id.getManufacturer()){\n case hel::CANMessageID::Manufacturer::CTRE:\n data_v = hel::ctre::generateMessage(message_id);\n break;\n case hel::CANMessageID::Manufacturer::REV:\n data_v = hel::rev::generateMessage(message_id);\n break;\n default:\n hel::warnUnsupportedDevice(message_id, \"read from\");\n break;\n }\n\n std::copy(data_v.begin(), data_v.end(), data);\n *dataSize = data_v.size();\n *timeStamp = hel::Global::getCurrentTime() / 1000; // Milliseconds\n }\n\n void FRC_NetworkCommunication_CANSessionMux_openStreamSession(uint32_t* /*sessionHandle*/, uint32_t /*messageID*/, uint32_t /*messageIDMask*/, uint32_t /*maxMessages*/, int32_t* /*status*/){\n hel::warnUnsupportedFeature(\"Function call FRC_NetworkCommunication_CANSessionMux_openStreamSession\");\n }\n\n void FRC_NetworkCommunication_CANSessionMux_closeStreamSession(uint32_t /*sessionHandle*/){\n hel::warnUnsupportedFeature(\"Function call FRC_NetworkCommunication_CANSessionMux_closeStreamSession\");\n }\n\n void FRC_NetworkCommunication_CANSessionMux_readStreamSession(uint32_t /*sessionHandle*/, struct tCANStreamMessage* /*messages*/, uint32_t /*messagesToRead*/, uint32_t* /*messagesRead*/, int32_t* /*status*/){\n hel::warnUnsupportedFeature(\"Function call FRC_NetworkCommunication_CANSessionMux_readStreamSession\");\n }\n\n void FRC_NetworkCommunication_CANSessionMux_getCANStatus(float* /*percentBusUtilization*/, uint32_t* /*busOffCount*/, uint32_t* /*txFullCount*/, uint32_t* /*receiveErrorCount*/, uint32_t* /*transmitErrorCount*/, int32_t* /*status*/){\n hel::warnUnsupportedFeature(\"Function call FRC_NetworkCommunication_CANSessionMux_getCANStatus\");\n }\n}\n<file_sep>#ifndef _CAN_DEVICE_HPP_\n#define _CAN_DEVICE_HPP_\n\n#include <string>\n#include <cstdint>\n#include <vector>\n\nnamespace hel{\n\n /**\n * \\brief Interprets the CAN message IDs created by HAL\n */\n\n struct CANMessageID{\n\t\t\n\t\t/**\n\t\t * \\brief The type of CAN device from those supported by HEL\n\t\t */\n\n enum class Type{\n TALON_SRX,\n VICTOR_SPX,\n SPARK_MAX,\n PCM,\n PDP,\n UNKNOWN\n };\n\n\t\t/**\n\t\t * \\brief the Manufacturer of the CAN Device, as defined by HAL\n\t\t */\n\n enum class Manufacturer: int32_t{\n BROADCAST = 0,\n NI = 1,\n LM = 2,\n DEKA = 3,\n CTRE = 4,\n REV = 5,\n MS = 7,\n TEAM_USE = 8,\n };\n\n /**\n * \\brief The maximum CAN bus address allowed on the RoboRIO\n * Valid addresses are 0-62\n */\n\n static constexpr uint8_t MAX_CAN_BUS_ADDRESS = 62;\n\n private:\n\n\t\t/**\n\t\t * \\brief The type of the CAN device targeted by this message\n\t\t */\n\n Type type;\n\t\t\n\t\t/**\n\t\t * \\brief The manufacturer of the CAN device targeted by this message\n\t\t */\n\n Manufacturer manufacturer;\n\n\t\t/**\n\t\t * \\brief The API ID in the message\n\t\t */\n\n int32_t api_id;\n\n\t\t\n\t\t/**\n\t\t * \\brief The type of CAN device targeted by this message\n\t\t */\n\n uint8_t id;\n\n public:\n \n\t\t/**\n\t\t * \\brief Parses a bit-packed CAN message ID into separate filed\n\t\t * \\param message_id The message ID to parse\n\t\t * \\return The parsed message ID\n\t\t */\n\n\t\tstatic CANMessageID parse(uint32_t);\n \n\t\t/**\n\t\t * \\brief Generated a bit-packed message ID given certain fields\n\t\t * \\param type The type of CAN device\n\t\t * \\param manufacturer The manufacturer of the CAN device\n\t\t * \\param api_id The API ID in the message\n\t\t * \\param id The ID of the CAN device\n\t\t * \\return\n\t\t */\n\n static uint32_t generate(Type, Manufacturer, int32_t, uint8_t)noexcept;\n \n /**\n * \\brief Format the CANMessage object as a string\n * \\return A string containing the CANMessage information\n */\n\t\t\n\t\tstd::string toString()const;\n \n\t\t/**\n\t\t * \\brief Fetch the type in the message\n\t\t * \\return The type\n\t\t */\n\n Type getType()const noexcept;\n \n\t\t/**\n\t\t * \\brief Fetch the manufacturer in the message\n\t\t * \\return The manufacturer\n\t\t */\n\n Manufacturer getManufacturer()const noexcept;\n \n\t\t/**\n\t\t * \\brief Fetch the API ID in the message\n\t\t * \\return The API ID\n\t\t */\n\n int32_t getAPIID()const noexcept;\n \n\t\t/**\n\t\t * \\brief Fetch the ID in the message\n\t\t * \\return The ID\n\t\t */\n\n uint8_t getID()const noexcept;\n };\n \n\t/**\n\t * \\brief Convert the manufacturer value to a string\n\t * \\param manufacturer The manufacturer value to convert\n\t * \\return The manufacturer value as a string\n\t */\n\n std::string asString(CANMessageID::Manufacturer);\n \n\t/**\n\t * \\brief Convert the CAN device type value to a string\n\t * \\param type The CAN device type value to convert\n\t * \\return The type value as a string\n\t */\n\n std::string asString(CANMessageID::Type);\n \n\t/**\n\t * \\brief Parse a string representation of a CAN device type to a CANMessageID Type\n\t * \\param input The string to parse\n\t * \\return The CANMessageID Type parsed\n\t */\n\n CANMessageID::Type s_to_can_device_type(std::string);\n\n /**\n * \\brief Models a CAN device on the CAN bus\n */\n\n struct CANDevice{\n private:\n\n /**\n * \\brief The type of CAN device\n */\n\n CANMessageID::Type type;\n\n /**\n * \\brief The CAN device ID\n */\n\n uint8_t id;\n\n public:\n\t\t\n\t\t/**\n\t\t * \\brief Format the CANDevice as a string\n\t\t * \\return The CANDevice as a string\n\t\t */\n\n virtual std::string toString()const = 0;\n\n\t\t/**\n\t\t * \\brief Fetch the type of the CANDevice\n\t\t * \\return The type of the CANDevice\n\t\t */\n\n CANMessageID::Type getType()const noexcept;\n\n\t\t/**\n\t\t * \\brief Fetch the ID of the CANDevice\n\t\t * \\return The type of the CANDevice\n\t\t */\n\n uint8_t getID()const noexcept;\n\n\t\t/**\n\t\t * \\brief Parse a CAN message and update the CAN device state\n\t\t * \\param api_id The API ID\n\t\t * \\param data The CAN data bytes\n\t\t */\n\n virtual void parseCANPacket(const int32_t&, const std::vector<uint8_t>&) = 0;\n\n\t\t/**\n\t\t * \\brief Generate a CAN message given an API ID\n\t\t * \\param api_id The API ID to use\n\t\t * \\return The generated data bytes as determined by the API ID\n\t\t */\n\n virtual std::vector<uint8_t> generateCANPacket(const int32_t&)const = 0;\n\n\t\t/**\n\t\t * \\brief Default constructor for a CANDevice\n\t\t */\n\n CANDevice()noexcept;\n\n\t\t/**\n\t\t * \\brief Copy-constructor for a CANDevice\n\t\t * \\param other The CANDevice to copy\n\t\t */\n\n CANDevice(const CANDevice&)noexcept;\n\n\t\t/**\n\t\t * \\brief Constructor for a CANDevice\n\t\t * \\param message_id The message ID to use to configure the CAN device\n\t\t */\n\n CANDevice(CANMessageID)noexcept;\n };\n}\n\n#endif\n<file_sep>#include \"roborio_manager.hpp\"\n#include \"robot_outputs.hpp\"\n#include \"system_interface.hpp\"\n#include \"util.hpp\"\n\nusing namespace nFPGA;\nusing namespace nRoboRIO_FPGANamespace;\n\nnamespace hel{\n tPWM::tConfig PWMSystem::getConfig()const noexcept{\n return config;\n }\n\n void PWMSystem::setConfig(tPWM::tConfig value)noexcept{\n config = value;\n }\n\n bool PWMSystem::getHdrZeroLatch(uint8_t index)const{\n return hdr[index].zero_latch;\n }\n\n void PWMSystem::setHdrZeroLatch(uint8_t index, bool value){\n hdr[index].zero_latch = value;\n }\n\n bool PWMSystem::getMXPZeroLatch(uint8_t index)const{\n return mxp[index].zero_latch;\n }\n\n void PWMSystem::setMXPZeroLatch(uint8_t index, bool value){\n mxp[index].zero_latch = value;\n }\n\n uint32_t PWMSystem::getHdrPeriodScale(uint8_t index)const{\n return hdr[index].period_scale;\n }\n\n void PWMSystem::setHdrPeriodScale(uint8_t index, uint32_t value){\n hdr[index].period_scale = value;\n }\n\n uint32_t PWMSystem::getMXPPeriodScale(uint8_t index)const{\n return mxp[index].period_scale;\n }\n\n void PWMSystem::setMXPPeriodScale(uint8_t index, uint32_t value){\n mxp[index].period_scale = value;\n }\n\n uint32_t PWMSystem::getHdrPulseWidth(uint8_t index)const{\n return hdr[index].pulse_width;\n }\n\n void PWMSystem::setHdrPulseWidth(uint8_t index, uint32_t value){\n hdr[index].pulse_width = value;\n auto instance = RobotOutputsManager::getInstance();\n instance.first->updateShallow();\n instance.second.unlock();\n }\n\n uint32_t PWMSystem::getMXPPulseWidth(uint8_t index)const{\n return mxp[index].pulse_width;\n }\n\n void PWMSystem::setMXPPulseWidth(uint8_t index, uint32_t value){\n mxp[index].pulse_width = value;\n auto instance = RobotOutputsManager::getInstance();\n instance.first->updateShallow();\n instance.second.unlock();\n }\n\n double PWMSystem::getPercentOutput(uint32_t pulse_width)noexcept{\n if (pulse_width == 0) {\n return 0.0;\n } else if (pulse_width > pwm_pulse_width::MAX) {\n return 1.0;\n } else if (pulse_width < pwm_pulse_width::MIN) {\n return -1.0;\n } else if (pulse_width > pwm_pulse_width::DEADBAND_MAX) {\n return static_cast<double>((int32_t) pulse_width - pwm_pulse_width::DEADBAND_MAX) / static_cast<double>(pwm_pulse_width::POSITIVE_SCALE_FACTOR);\n } else if (pulse_width < pwm_pulse_width::DEADBAND_MIN) {\n return static_cast<double>((int32_t) pulse_width - pwm_pulse_width::DEADBAND_MIN) / static_cast<double>(pwm_pulse_width::NEGATIVE_SCALE_FACTOR);\n }\n return 0.0;\n }\n\n PWMSystem::PWM::PWM()noexcept: zero_latch(false), period_scale(0), pulse_width(0){}\n PWMSystem::PWM::PWM(const PWM& source)noexcept{\n#define COPY(NAME) NAME = source.NAME\n COPY(zero_latch);\n COPY(period_scale);\n COPY(pulse_width);\n#undef COPY\n }\n\n PWMSystem::PWMSystem()noexcept:hdr({}),mxp({}){}\n PWMSystem::PWMSystem(const PWMSystem& source)noexcept:PWMSystem(){\n#define COPY(NAME) NAME = source.NAME\n COPY(hdr);\n COPY(mxp);\n#undef COPY\n }\n\n struct PWMManager: public tPWM{\n tSystemInterface* getSystemInterface(){\n return new SystemInterface();\n }\n\n uint32_t readCycleStartTime(tRioStatusCode* /*status*/){\n return 0;//unnecessary for emulation\n }\n\n void writeConfig(tPWM::tConfig value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.first->pwm_system.setConfig(value);\n instance.second.unlock();\n }\n\n void writeConfig_Period(uint16_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tPWM::tConfig config = instance.first->pwm_system.getConfig();\n config.Period = value;\n instance.first->pwm_system.setConfig(config);\n instance.second.unlock();\n }\n\n void writeConfig_MinHigh(uint16_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tPWM::tConfig config = instance.first->pwm_system.getConfig();\n config.MinHigh = value;\n instance.first->pwm_system.setConfig(config);\n instance.second.unlock();\n }\n\n tPWM::tConfig readConfig(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->pwm_system.getConfig();\n }\n\n uint16_t readConfig_Period(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->pwm_system.getConfig().Period;\n }\n\n uint16_t readConfig_MinHigh(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->pwm_system.getConfig().MinHigh;\n }\n\n uint32_t readCycleStartTimeUpper(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return 0;//unnecessary for emulation\n }\n\n uint16_t readLoopTiming(tRioStatusCode* /*status*/){\n return PWMSystem::EXPECTED_LOOP_TIMING;\n }\n\n void writePeriodScaleMXP(uint8_t bitfield_index, uint8_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.first->pwm_system.setMXPPeriodScale(bitfield_index, value);\n instance.second.unlock();\n }\n\n uint8_t readPeriodScaleMXP(uint8_t bitfield_index, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->pwm_system.getMXPPeriodScale(bitfield_index);\n }\n\n void writePeriodScaleHdr(uint8_t bitfield_index, uint8_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.first->pwm_system.setHdrPeriodScale(bitfield_index, value);\n instance.second.unlock();\n }\n\n uint8_t readPeriodScaleHdr(uint8_t bitfield_index, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->pwm_system.getHdrPeriodScale(bitfield_index);\n }\n\n void writeZeroLatch(uint8_t bitfield_index, bool value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n if(bitfield_index < tPWM::kNumHdrRegisters){\n instance.first->pwm_system.setHdrZeroLatch(bitfield_index, value);\n } else {\n instance.first->pwm_system.setMXPZeroLatch(bitfield_index - tPWM::kNumHdrRegisters, value);\n }\n instance.second.unlock();\n }\n\n bool readZeroLatch(uint8_t bitfield_index, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n if(bitfield_index < tPWM::kNumHdrRegisters){\n instance.second.unlock();\n return instance.first->pwm_system.getHdrZeroLatch(bitfield_index);\n } else {\n instance.second.unlock();\n return instance.first->pwm_system.getMXPZeroLatch(bitfield_index - tPWM::kNumHdrRegisters);\n }\n }\n\n void writeHdr(uint8_t reg_index, uint16_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.first->pwm_system.setHdrPulseWidth(reg_index, value);\n instance.second.unlock();\n }\n\n uint16_t readHdr(uint8_t reg_index, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->pwm_system.getHdrPulseWidth(reg_index);\n }\n\n void writeMXP(uint8_t reg_index, uint16_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n\n if(value == 0){ //allow disabling PWM even when output isn't configured for PWM\n instance.first->pwm_system.setMXPPulseWidth(reg_index, value);\n instance.second.unlock();\n return;\n }\n\n\t\t\tuint8_t DO_index = (reg_index < 4) ? reg_index : reg_index + 4; // Digital MXP 0-3 line up between PWM and digital ports, but the others are offset by 4\n\n if(instance.first->digital_system.getMXPConfig(DO_index) == MXPData::Config::PWM){ //Allow MXP outout if DO is using special function\n instance.first->pwm_system.setMXPPulseWidth(reg_index, value);\n instance.second.unlock();\n } else {\n instance.second.unlock();\n throw DigitalSystem::DIOConfigurationException(DigitalSystem::DIOConfigurationException::Config::DO, DigitalSystem::DIOConfigurationException::Config::MXP_SPECIAL_FUNCTION, reg_index + DigitalSystem::NUM_DIGITAL_HEADERS);\n }\n }\n\n uint16_t readMXP(uint8_t reg_index, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->pwm_system.getMXPPulseWidth(reg_index);\n }\n };\n}\n\nnamespace nFPGA{\n namespace nRoboRIO_FPGANamespace{\n tPWM* tPWM::create(tRioStatusCode* /*status*/){\n return new hel::PWMManager();\n }\n }\n}\n<file_sep>/*----------------------------------------------------------------------------*/\n/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */\n/* Open Source Software - may be modified and shared by FRC teams. The code */\n/* must be accompanied by the FIRST BSD license file in the root directory of */\n/* the project. */\n/*----------------------------------------------------------------------------*/\n\n#include <frc/WPILib.h>\n#include <cstdlib>\n#include <ctime>\n#include <iostream>\n#include <unistd.h>\n//#include \"ctre/Phoenix.h\"\n\nclass Robot : public frc::TimedRobot {\n frc::Spark m_leftMotor{0};\n frc::Spark m_rightMotor{1};\n frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};\n frc::Joystick m_stick{0};\n frc::DigitalOutput dio{11};\n frc::Relay r{0};\n frc::AnalogOutput ao{1};\n frc::AnalogInput ai{0};\n frc::Encoder encoder{0,1};\n frc::Solenoid solenoid{0};\n frc::Solenoid solenoid1{1};\n frc::Solenoid solenoid7{7};\n //ctre::phoenix::motorcontrol::can::WPI_TalonSRX talon{1};\n\n bool current_state = false;\n\npublic:\n void RobotInit(){}\n\n void RobotPeriodic(){}\n\n void TeleopInit() {\n std::srand(std::time(nullptr));\n }\n\n void TeleopPeriodic() {\n current_state = !current_state;\n double left = (std::rand() % 2000 - 1000) / 1000.0;\n double right = (std::rand()% 2000 - 1000) / 1000.0;\n\n m_robotDrive.TankDrive(left, right, false);\n\n dio.Set(current_state);\n r.Set(frc::Relay::Value::kForward);\n double d = (std::rand() % 5001) / 1000.0;\n ao.SetVoltage(d);\n\t\tstd::cout<<\"Setting pneumatics to \"<<current_state<<\" and \"<<(!current_state)<<\"\\n\";\n solenoid.Set(current_state);\n solenoid1.Set(!current_state);\n solenoid7.Set(current_state);\n //talon.Set(0.3);\n\n std::cout<<\"Setting left to \"<<left<<\" - Set to \"<< m_leftMotor.GetSpeed()<<\"\\nSetting right to \"<<right<<\" - Set to \"<<m_rightMotor.GetSpeed()<<\"\\n\\n\";\n std::cout<<\"AnalogInput:\"<<ai.GetVoltage()<<\"\\n\";\n std::cout<<\"Encoder:\"<<encoder.Get()<<\"\\n\";\n\n usleep(45000);\n }\n};\n\nSTART_ROBOT_CLASS(Robot)\n<file_sep>using SynthesisAPI.Utilities;\nusing SynthesisAPI.VirtualFileSystem;\nusing Directory = SynthesisAPI.VirtualFileSystem.Directory;\n\n#nullable enable\n\nnamespace SynthesisAPI.AssetManager\n{\n /// <summary>\n /// Base class for any read-only data class in the vitual file system\n /// </summary>\n public abstract class Asset : IEntry\n {\n /// <summary>\n /// Initialize Asset data\n /// </summary>\n /// <param name=\"name\"></param>\n /// <param name=\"perm\"></param>\n /// <param name=\"sourcePath\"></param>\n internal void Init(string name, Permissions perm, string sourcePath)\n {\n _name = name;\n _permissions = perm;\n _parent = null!;\n SourcePath = sourcePath;\n }\n\n public string Name => ((IEntry)this).Name;\n public Permissions Permissions => ((IEntry)this).Permissions;\n public Directory? Parent => ((IEntry)this).Parent;\n\n public string SourcePath { get; private set; } = \"\";\n\n private string _name { get; set; } = \"\";\n private Permissions _permissions { get; set; }\n private Directory? _parent { get; set; }\n\n string IEntry.Name { get => _name; set => _name = value; }\n Permissions IEntry.Permissions { get => _permissions; set => _permissions = value; }\n Directory? IEntry.Parent { get => _parent; set => _parent = value; }\n\n [ExposedApi]\n public virtual void Delete()\n {\n using var _ = ApiCallSource.StartExternalCall();\n DeleteInner();\n }\n\n [ExposedApi]\n void IEntry.Delete() {\n using var _ = ApiCallSource.StartExternalCall();\n DeleteInner();\n }\n\n internal virtual void DeleteInner()\n {\n ApiCallSource.AssertAccess(Permissions, Access.Write);\n if (Parent != null)\n {\n Parent.RemoveEntryInner(Name);\n }\n }\n\n void IEntry.DeleteInner()\n {\n ApiCallSource.AssertAccess(Permissions, Access.Write);\n DeleteInner();\n }\n\n /// <summary>\n /// This function should not be called manually. It is called automatically during the asset important process.\n /// </summary>\n /// <param name=\"data\"></param>\n /// <returns>This loaded asset</returns>\n public abstract IEntry Load(byte[] data);\n }\n}\n<file_sep>using System.Collections;\nusing System.Collections.Generic;\nusing UnityEngine;\nusing UnityEngine.UI;\n\nnamespace Synthesis.UI {\n public class ImageManager : MonoBehaviour {\n public Sprite closeIcon;\n public Sprite collapseIcon;\n\n public static Sprite CloseIcon => Instance.closeIcon;\n public static Sprite CollapseIcon => Instance.collapseIcon;\n\n private static ImageManager instance;\n public static ImageManager Instance {\n get {\n if (instance == null)\n instance = GameObject.FindObjectOfType<ImageManager>();\n return instance;\n }\n }\n }\n}\n<file_sep>using System.IO;\n\npublic enum RobotSensorType : byte\n{\n ENCODER = 0,\n LIMIT = 1,\n POTENTIOMETER = 2,\n LIMIT_HALL = 3,\n ACCELEROMETER = 4,\n MAGNETOMETER = 5,\n GYRO = 6\n}\npublic enum SensorConnectionType : byte\n{\n DIO = 0,\n ANALOG = 1,\n SPI = 2,\n I2C = 3,\n}\n\npublic class RobotSensor : BinaryRWObject\n{\n public float portA;\n public float portB;\n public RobotSensorType type;\n public SensorConnectionType conTypePortA;\n public SensorConnectionType conTypePortB;\n public double conversionFactor;\n public RobotSensor()\n {\n }\n\n public RobotSensor(RobotSensorType type)\n {\n this.type = type;\n\n switch (type)\n {\n case RobotSensorType.ENCODER:\n conTypePortA = SensorConnectionType.DIO;\n conTypePortB = SensorConnectionType.DIO;\n break;\n case RobotSensorType.LIMIT:\n conTypePortA = SensorConnectionType.DIO;\n conTypePortB = SensorConnectionType.DIO;\n break;\n case RobotSensorType.POTENTIOMETER:\n conTypePortA = SensorConnectionType.ANALOG;\n conTypePortB = SensorConnectionType.ANALOG;\n break;\n }\n }\n\n public static RobotSensorType[] GetAllowedSensors(SkeletalJoint_Base joint)\n {\n switch (joint.GetJointType())\n {\n case SkeletalJointType.ROTATIONAL:\n return new RobotSensorType[] {RobotSensorType.ENCODER/*, RobotSensorType.POTENTIOMETER, RobotSensorType.LIMIT*/};\n case SkeletalJointType.LINEAR:\n return new RobotSensorType[] {RobotSensorType.ENCODER };\n case SkeletalJointType.CYLINDRICAL:\n return new RobotSensorType[] {RobotSensorType.ENCODER/*, RobotSensorType.POTENTIOMETER, RobotSensorType.LIMIT*/};\n case SkeletalJointType.PLANAR:\n return new RobotSensorType[] { };\n case SkeletalJointType.BALL:\n return new RobotSensorType[] { };\n default:\n return new RobotSensorType[0];// Not implemented\n }\n }\n\n public void WriteBinaryData(BinaryWriter writer)\n {\n writer.Write((byte) type);\n writer.Write(portA);\n writer.Write((byte)conTypePortA);\n writer.Write(portB);\n writer.Write((byte)conTypePortB);\n writer.Write(conversionFactor);\n }\n\n public void ReadBinaryData(BinaryReader reader)\n {\n type = (RobotSensorType) reader.ReadByte();\n portA = reader.ReadInt16();\n portB = reader.ReadInt16();\n conversionFactor = reader.ReadDouble();\n }\n\n public static RobotSensor ReadSensorFully(BinaryReader reader)\n {\n RobotSensor sensor = new RobotSensor(RobotSensorType.LIMIT);\n sensor.ReadBinaryData(reader);\n return sensor;\n }\n \n /// <summary>\n /// Compares two sensors, returns true if all fields are identical.\n /// </summary>\n /// <param name=\"otherSensor\"></param>\n public bool Equals(RobotSensor otherSensor)\n {\n return portA == otherSensor.portA && portB == otherSensor.portB && conversionFactor == otherSensor.conversionFactor; // Other fields are not important for equivalancy\n }\n}\n<file_sep>using UnityEngine;\nusing System.Collections;\n\nnamespace Synthesis.UI.Hierarchy.HierarchyItems {\n public class HierarchyModelItem : HierarchyItem {\n public string Name;\n }\n}<file_sep>## Synthesis.zip\n<file_sep>\"\"\" Gets the Physical Data associated with a given item\n\n Takes:\n - BRepBody\n - Occurrence\n - Component\n\n Adds:\n - Density\n - Mass\n - Volume\n - COM\n - X\n - Y\n - Z\n\n\"\"\"\nimport adsk, logging, traceback\n\nfrom proto.proto_out import types_pb2\nfrom typing import Union\nfrom ...general_imports import INTERNAL_ID\n\n\ndef GetPhysicalProperties(\n fusionObject: Union[\n adsk.fusion.BRepBody, adsk.fusion.Occurrence, adsk.fusion.Component\n ],\n physicalProperties: types_pb2.PhysicalProperties,\n level=1,\n):\n \"\"\"Will populate a physical properties section of an exported file\n\n Args:\n fusionObject (Union[adsk.fusion.BRepBody, adsk.fusion.Occurrence, adsk.fusion.Component]): The base fusion object\n physicalProperties (any): Unity Joint object for now\n level (int): Level of accurracy\n \"\"\"\n try:\n physical = fusionObject.getPhysicalProperties(level)\n\n physicalProperties.density = physical.density\n physicalProperties.mass = physical.mass\n physicalProperties.volume = physical.volume\n physicalProperties.area = physical.area\n\n _com = physicalProperties.com\n com = physical.centerOfMass.asVector()\n\n if com is not None:\n _com.x = com.x\n _com.y = com.y\n _com.z = com.z\n except:\n logging.getLogger(f\"{INTERNAL_ID}.Parser.PhysicalProperties\").error(\n \"Failed:\\n{}\".format(traceback.format_exc())\n )\n<file_sep>using SynthesisAPI.EnvironmentManager;\nusing SynthesisAPI.EnvironmentManager.Components;\nusing System.Collections.Generic;\n\nnamespace SynthesisCore.Simulation\n{\n /// <summary>\n /// Manages all of the motor assemblies for an entity and its descendants\n /// </summary>\n public class MotorAssemblyManager : Component\n {\n public void AddMotor(MotorAssembly controller)\n {\n AllMotorAssemblies.Add(controller);\n }\n\n public void RemoveMotor(int index)\n {\n AllMotorAssemblies.RemoveAt(index);\n }\n\n private List<MotorAssembly> _allMotorAssemblies = null;\n\n public List<MotorAssembly> AllMotorAssemblies\n {\n get\n {\n if (_allMotorAssemblies == null)\n {\n _allMotorAssemblies = new List<MotorAssembly>();\n\n foreach (var entity in EnvironmentManager.GetEntitiesWhere(\n e => IsDescendant(Entity.Value, e) &&\n e.GetComponent<Joints>() != null))\n {\n foreach (var j in entity.GetComponent<Joints>().AllJoints)\n {\n if (j is HingeJoint hingeJoint)\n {\n _allMotorAssemblies.Add(new MotorAssembly(entity, hingeJoint));\n }\n }\n }\n }\n return _allMotorAssemblies;\n }\n set => _allMotorAssemblies = value;\n }\n\n public static bool IsDescendant(Entity ancestor, Entity test)\n {\n if (test == ancestor)\n return true;\n var parent = test.GetComponent<Parent>()?.ParentEntity;\n return parent != null && IsDescendant(ancestor, parent.Value);\n }\n\n public MotorAssemblyManager()\n {\n /*\n Joints.GlobalAddJoint += j =>\n {\n if (j is HingeJoint hingeJoint)\n {\n AllGearBoxes.Add(new MotorAssembly(hingeJoint, MotorFactory.CIMMotor(), 9.29, 1));\n }\n };\n */\n }\n }\n}<file_sep>using System;\nusing SynthesisAPI.Utilities;\nusing System.Runtime.CompilerServices;\nusing Synthesis.UI.Dynamic;\nusing Synthesis.Util;\nusing ILogger = SynthesisAPI.Utilities.ILogger;\nusing Debug = UnityEngine.Debug;\n\n#nullable enable\n\nnamespace Engine {\n /// <summary>\n /// Logs to the toast feed\n /// </summary>\n public class ToastLogger : ILogger {\n private bool _isEnabled = true;\n private bool _debugLogsEnabled = true;\n private static bool _currentlyLogging;\n\n public void Log(object o, LogLevel logLevel = LogLevel.Info, [CallerMemberName] string memberName = \"\",\n [CallerFilePath] string filePath = \"\", [CallerLineNumber] int lineNumber = 0) {\n if (!_currentlyLogging && ModuleLoader.Api.IsMainThread) {\n _currentlyLogging = true;\n if (logLevel != LogLevel.Debug || _debugLogsEnabled) {\n Action<ToastHandler>? optionCallback = null;\n if (logLevel == LogLevel.Error) {\n optionCallback = th => {\n DynamicUIManager.CreateModal<ToastModal>(o.ToString(), logLevel);\n if (th.LinkedNode != null) {\n Toaster.RemoveToast(th.LinkedNode);\n }\n };\n }\n Toaster.MakeToast(o.ToString(), level: logLevel, optionalCallback: optionCallback);\n }\n _currentlyLogging = false;\n }\n }\n\n public void SetEnableDebugLogs(bool enable) {\n _debugLogsEnabled = enable;\n }\n\n public void SetEnabled(bool enabled) {\n _isEnabled = enabled;\n }\n\n public bool IsEnabled() => _isEnabled;\n }\n}\n<file_sep>#include \"roborio_manager.hpp\"\n#include \"system_interface.hpp\"\n\nusing namespace nFPGA;\nusing namespace nRoboRIO_FPGANamespace;\n\nnamespace hel{\n tAccumulator::tOutput Accumulator::getOutput()const noexcept{\n return output;\n }\n\n void Accumulator::setOutput(tAccumulator::tOutput out)noexcept{\n output = out;\n }\n\n int32_t Accumulator::getCenter()const noexcept{\n return center;\n }\n\n void Accumulator::setCenter(int32_t c)noexcept{\n center = c;\n }\n\n int32_t Accumulator::getDeadband()const noexcept{\n return deadband;\n }\n\n void Accumulator::setDeadband(int32_t d)noexcept{\n deadband = d;\n }\n\n Accumulator::Accumulator()noexcept:output(),center(0),deadband(0){}\n\n Accumulator::Accumulator(const Accumulator& source)noexcept{\n#define COPY(NAME) NAME = source.NAME\n COPY(output);\n COPY(center);\n COPY(deadband);\n#undef COPY\n }\n\n struct AccumulatorManager: public tAccumulator{\n private:\n uint8_t index;\n\n public:\n tSystemInterface* getSystemInterface(){ //unnecessary for emulation\n return new SystemInterface();\n }\n\n uint8_t getSystemIndex(){\n return index;\n }\n\n tOutput readOutput(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->accumulators[index].getOutput();\n }\n\n signed long long readOutput_Value(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->accumulators[index].getOutput().Value;\n }\n\n uint32_t readOutput_Count(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->accumulators[index].getOutput().Count;\n }\n\n void writeCenter(int32_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->accumulators[index].setCenter(value);\n }\n\n int32_t readCenter(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->accumulators[index].getCenter();\n }\n\n void writeDeadband(int32_t value, tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->accumulators[index].setDeadband(value);\n }\n\n int32_t readDeadband(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n instance.second.unlock();\n return instance.first->accumulators[index].getDeadband();\n }\n\n void strobeReset(tRioStatusCode* /*status*/){\n auto instance = RoboRIOManager::getInstance();\n tOutput output;\n instance.second.unlock();\n return instance.first->accumulators[index].setOutput(output);\n }\n\n AccumulatorManager(uint8_t i)noexcept:index(0){\n assert(i < AnalogInputs::NUM_ANALOG_INPUTS);\n index = i;\n }\n };\n}\n\nnamespace nFPGA{\n namespace nRoboRIO_FPGANamespace{\n tAccumulator* tAccumulator::create(uint8_t sys_index, tRioStatusCode* /*status*/){\n return new hel::AccumulatorManager(sys_index);\n }\n }\n}\n\n<file_sep>using System;\nusing System.Collections.Generic;\nusing System.Runtime.CompilerServices;\n\n#nullable enable\n\nnamespace SynthesisAPI.Utilities\n{\n public static class Logger\n {\n private static List<ILogger> Loggers => Inner.Loggers;\n\n public static void RegisterLogger(ILogger logger)\n {\n Loggers.Add(logger);\n }\n\n // TODO ability to de-register a logger\n\n public static void Log(object o, LogLevel logLevel = LogLevel.Info, [CallerMemberName] string memberName = \"\", [CallerFilePath] string filePath = \"\", [CallerLineNumber] int lineNumber = 0)\n {\n foreach(var logger in Loggers)\n {\n logger.Log(o, logLevel, memberName, filePath, lineNumber);\n }\n }\n\n public static void SetEnableDebugLogs(bool enable) {\n foreach (var logger in Loggers) {\n if (logger.IsEnabled())\n logger.SetEnableDebugLogs(enable);\n }\n }\n\n private static class Inner\n {\n static Inner() { }\n internal static List<ILogger> Loggers = new List<ILogger>();\n }\n }\n}\n<file_sep>#!/bin/bash\n\n# Deploys files to the emulator\n# If no argument is specified, then deploy libhel.so, FRCUserProgram, and the tests\n# If a file is specified, deploy that\n\nsuccess=true\nlibhel_source=lib/libhel.so\nuser_program_source=user-code/FRCUserProgram\ntests_source=bin/tests\n\nif [ $# -eq 0 ]; then\n if [ -f lib/libhel.so ]; then\n printf \"Copying $libhel_source\\n\"\n scp -r -P 10022 $libhel_source lvuser@localhost:/home/lvuser\n else\n printf \"Error: $libhel_source not found\\n\"\n success=false\n fi\n\n if [ -f $user_program_source ]; then\n printf \"Copying $user_program_source\\n\"\n scp -r -P 10022 $user_program_source lvuser@localhost:/home/lvuser\n else\n printf \"Error: $user_program_source not found\\n\"\n success=false\n fi\n\n if [ -d $tests_source ]; then\n printf \"Copying $tests_source\\n\"\n scp -r -P 10022 $tests_source lvuser@localhost:/home/lvuser\n else\n printf \"Error: $tests_source not found\\n\"\n success=false\n fi\nelse\n if [ -f $1 ] || [ -d $1 ]; then\n printf \"Copying $1\\n\"\n scp -r -P 10022 $1 lvuser@localhost:/home/lvuser\n else\n printf \"Error: $1 not found\\n\"\n success=false\n fi\n\nfi\n\nif [ \"$success\" = true ]; then\n printf \"Files successfully copied\\n\"\nfi\n<file_sep>using UnityEngine;\nusing System;\nusing System.Runtime.InteropServices;\nusing Analytics;\nusing UI.Dynamic.Modals.Configuring.ThemeEditor;\n\nnamespace Synthesis.UI.Dynamic {\n public class SettingsModal : ModalDynamic {\n public const string SCREEN_MODE = \"Screen Mode\"; // Dropdown: Fullscreen or Windowed\n public const string QUALITY_SETTINGS = \"Quality Settings\"; // Dropdown: Low Medium High\n public const string MEASUREMENTS =\n \"Use Imperial Measurements\"; // toggle for imperial. if unchecked, uses metric.\n public const string RENDER_SCORE_ZONES = \"Render Score Zones\";\n\n private static string[] _screenModeList = { \"Fullscreen\", \"Windowed\" };\n private static string[] _qualitySettingsList = { \"Low\", \"Medium\", \"High\", \"Ultra\" };\n\n private const float MODAL_WIDTH = 400;\n private const float MODAL_HEIGHT = 562;\n\n private static int _screenModeIndex;\n private static int _qualitySettingsIndex;\n private static float _zoomSensitivity;\n private static float _yawSensitivity;\n private static float _pitchSensitivity;\n private static bool _useAnalytics;\n private static bool _useMetric;\n private static bool _renderScoreZones;\n\n public SettingsModal() : base(new Vector2(MODAL_WIDTH, MODAL_HEIGHT)) {}\n\n public override void Create() {\n Title.SetText(\"Settings\");\n ModalIcon.SetSprite(SynthesisAssetCollection.GetSpriteByName(\"settings\"));\n\n AcceptButton.StepIntoLabel(b => { b.SetText(\"Save\"); }).AddOnClickedEvent(b => {\n SaveSettings();\n ApplySettings();\n DynamicUIManager.CloseActiveModal();\n });\n CancelButton.StepIntoLabel(b => { b.SetText(\"Close\"); })\n .AddOnClickedEvent(b => DynamicUIManager.CloseActiveModal());\n\n LoadSettings();\n\n MainContent.CreateLabel()\n .ApplyTemplate(Label.BigLabelTemplate)\n .ApplyTemplate(UIComponent.VerticalLayoutNoSpacing)\n .SetText(\"Screen Settings\");\n\n var screenModeDropdown =\n MainContent.CreateLabeledDropdown()\n .ApplyTemplate(UIComponent.VerticalLayout)\n .StepIntoLabel(l => l.SetText(\"Screen Mode\"))\n .StepIntoDropdown(d => d.SetOptions(_screenModeList)\n .AddOnValueChangedEvent((d, i, o) => { _screenModeIndex = i; })\n .SetValue(Get<int>(SCREEN_MODE)));\n\n var qualitySettingsDropdown =\n MainContent.CreateLabeledDropdown()\n .ApplyTemplate(UIComponent.VerticalLayout)\n .StepIntoLabel(l => l.SetText(\"Quality Settings\"))\n .StepIntoDropdown(d => d.SetOptions(_qualitySettingsList)\n .AddOnValueChangedEvent((d, i, o) => _qualitySettingsIndex = i)\n .SetValue(Get<int>(QUALITY_SETTINGS)));\n\n // MainContent.CreateSubContent().ApplyTemplate(UI)\n var editThemeButton = MainContent.CreateButton(\"Theme Editor\")\n .ApplyTemplate<Button>(UIComponent.VerticalLayout)\n .AddOnClickedEvent(b => {\n SaveSettings();\n ApplySettings();\n DynamicUIManager.CreateModal<EditThemeModal>();\n });\n\n MainContent.CreateLabel()\n .ApplyTemplate(Label.BigLabelTemplate)\n .ApplyTemplate(UIComponent.VerticalLayoutBigSpacing)\n .SetText(\"Camera Settings\");\n var zoomSensitivity = MainContent\n .CreateSlider(label: \"Zoom Sensitivity\", minValue: 1f, maxValue: 15f,\n currentValue: Get<float>(CameraController.ZOOM_SENSITIVITY_PREF))\n .ApplyTemplate(UIComponent.VerticalLayout)\n .AddOnValueChangedEvent((s, v) => _zoomSensitivity = v)\n .SetValue(Get<float>(CameraController.ZOOM_SENSITIVITY_PREF));\n var yawSensitivity = MainContent\n .CreateSlider(label: \"Yaw Sensitivity\", minValue: 1f, maxValue: 15f,\n currentValue: Get<float>(CameraController.YAW_SENSITIVITY_PREF))\n .ApplyTemplate(UIComponent.VerticalLayout)\n .AddOnValueChangedEvent((s, v) => _yawSensitivity = v)\n .SetValue(Get<float>(CameraController.YAW_SENSITIVITY_PREF));\n var pitchSensitivity = MainContent\n .CreateSlider(label: \"Pitch Sensitivity\", minValue: 1f, maxValue: 15f,\n currentValue: Get<float>(CameraController.PITCH_SENSITIVITY_PREF))\n .ApplyTemplate(UIComponent.VerticalLayout)\n .AddOnValueChangedEvent((s, v) => _pitchSensitivity = v)\n .SetValue(Get<float>(CameraController.PITCH_SENSITIVITY_PREF));\n\n MainContent.CreateLabel()\n .ApplyTemplate(Label.BigLabelTemplate)\n .ApplyTemplate(UIComponent.VerticalLayoutBigSpacing)\n .SetText(\"Preferences\");\n var reportAnalyticsToggle = MainContent.CreateToggle()\n .ApplyTemplate(UIComponent.VerticalLayout)\n .AddOnStateChangedEvent((t, s) => _useAnalytics = s)\n .SetState(Get<bool>(AnalyticsManager.USE_ANALYTICS_PREF))\n .TitleLabel.SetText(\"Report Analytics\");\n var measurementsToggle = MainContent.CreateToggle()\n .ApplyTemplate(UIComponent.VerticalLayout)\n .AddOnStateChangedEvent((t, s) => _useMetric = s)\n .SetState(Get<bool>(MEASUREMENTS))\n .TitleLabel.SetText(\"Use Metric\");\n var renderScoreModesToggle = MainContent.CreateToggle()\n .ApplyTemplate(UIComponent.VerticalLayout)\n .AddOnStateChangedEvent((t, s) => _renderScoreZones = s)\n .SetState(Get<bool>(RENDER_SCORE_ZONES))\n .TitleLabel.SetText(\"Render Score Zones\");\n }\n\n public override void Update() {}\n\n public override void Delete() {}\n\n [DllImport(\"user32.dll\")]\n private static extern IntPtr GetActiveWindow();\n\n [DllImport(\"user32.dll\")]\n public static extern bool ShowWindowAsync(int hWnd, int nCmdShow);\n\n public static void SaveSettings() {\n Set(SCREEN_MODE, _screenModeIndex);\n Set(QUALITY_SETTINGS, _qualitySettingsIndex);\n Set(CameraController.ZOOM_SENSITIVITY_PREF, _zoomSensitivity);\n Set(CameraController.YAW_SENSITIVITY_PREF, _yawSensitivity);\n Set(CameraController.PITCH_SENSITIVITY_PREF, _pitchSensitivity);\n Set(AnalyticsManager.USE_ANALYTICS_PREF, _useAnalytics);\n Set(MEASUREMENTS, _useMetric);\n Set(RENDER_SCORE_ZONES, _renderScoreZones);\n\n Save();\n\n AnalyticsManager.LogCustomEvent(AnalyticsEvent.SettingsSaved);\n }\n\n public static void LoadSettings() {\n _screenModeIndex = Get<int>(SCREEN_MODE);\n _qualitySettingsIndex = Get<int>(QUALITY_SETTINGS);\n _zoomSensitivity = Get<float>(CameraController.ZOOM_SENSITIVITY_PREF);\n _yawSensitivity = Get<float>(CameraController.YAW_SENSITIVITY_PREF);\n _pitchSensitivity = Get<float>(CameraController.PITCH_SENSITIVITY_PREF);\n _useAnalytics = Get<bool>(AnalyticsManager.USE_ANALYTICS_PREF);\n _useMetric = Get<bool>(MEASUREMENTS);\n }\n\n public void ResetSettings() {\n SetDefaultPreferences();\n SaveSettings();\n ApplySettings();\n RepopulatePanel();\n\n AnalyticsManager.LogCustomEvent(AnalyticsEvent.SettingsReset);\n }\n\n private void RepopulatePanel() {\n DynamicUIManager.CreateModal<SettingsModal>();\n }\n\n public static void ApplySettings() {\n _qualitySettingsList = QualitySettings.names;\n\n PreferenceManager.PreferenceManager.Load();\n // checks if preferences are initialized with default values\n if (!PreferenceManager.PreferenceManager.ContainsPreference(SCREEN_MODE)) {\n SetDefaultPreferences();\n }\n\n // set screen mode\n switch (Get<int>(SCREEN_MODE)) {\n case 0: // Full Screen\n if (Screen.fullScreenMode != FullScreenMode.FullScreenWindow) {\n Screen.fullScreenMode = FullScreenMode.FullScreenWindow;\n MaximizeScreen();\n }\n break;\n case 1:\n if (Screen.fullScreenMode != FullScreenMode.Windowed)\n Screen.fullScreenMode = FullScreenMode.Windowed;\n break;\n }\n\n // Quality Settings\n QualitySettings.SetQualityLevel(Get<int>(QUALITY_SETTINGS), true);\n\n // Camera\n CameraController.ZoomSensitivity =\n Get<float>(CameraController.ZOOM_SENSITIVITY_PREF) / 10; // scaled down by 10\n CameraController.PitchSensitivity = Get<float>(CameraController.PITCH_SENSITIVITY_PREF);\n CameraController.YawSensitivity = Get<float>(CameraController.YAW_SENSITIVITY_PREF);\n }\n\n public static void SetDefaultPreferences() {\n _screenModeIndex = 0;\n _qualitySettingsIndex = 3;\n _zoomSensitivity = 5f;\n _yawSensitivity = 10f;\n _pitchSensitivity = 3f;\n _useAnalytics = true;\n _useMetric = true;\n SaveSettings();\n }\n\n private static void Set(string s, object o) => PreferenceManager.PreferenceManager.SetPreference(s, o);\n\n private static T Get<T>(string s) => PreferenceManager.PreferenceManager.GetPreference<T>(s);\n\n private static void Save() => PreferenceManager.PreferenceManager.Save();\n\n public static void MaximizeScreen() {\n#if UNITY_STANDALONE_WIN\n // auto maximizes if its a window and the resolution is maximum.\n if (!Screen.fullScreen && !Application.isEditor)\n ShowWindowAsync(GetActiveWindow().ToInt32(), 3);\n#else\n Debug.LogWarning(\"No Supported\");\n#endif\n }\n }\n}<file_sep>using System;\nusing System.Collections.Generic;\nusing UnityEngine;\nusing Synthesis.UI.Panels.Variant;\nusing Synthesis.PreferenceManager;\n\npublic class CameraController : MonoBehaviour {\n private ICameraMode _cameraMode;\n public ICameraMode CameraMode {\n get { return _cameraMode; }\n set {\n if (_cameraMode != null && _cameraMode != value) {\n _cameraMode.End(this);\n }\n\n var previous = _cameraMode;\n _cameraMode = value;\n _cameraMode.Start(this, previous);\n }\n }\n\n public static Dictionary<string, ICameraMode> CameraModes = new Dictionary<string, ICameraMode>();\n\n static CameraController() {\n CameraModes.Add(\"Orbit\", new OrbitCameraMode());\n CameraModes.Add(\"Freecam\", new FreeCameraMode());\n CameraModes.Add(\"Overview\", new OverviewCameraMode());\n CameraModes.Add(\"Driver Station\", new DriverStationCameraMode());\n }\n\n public static bool isOverGizmo = false;\n\n public const string ZOOM_SENSITIVITY_PREF = \"Zoom Sensitivity\"; // camera settings\n public const string YAW_SENSITIVITY_PREF = \"Yaw Sensitivity\";\n public const string PITCH_SENSITIVITY_PREF = \"Pitch Sensitivity\";\n public const int ZOOM_SENSITIVITY_DEFAULT = 5;\n public const int YAW_SENSITIVITY_DEFAULT = 10;\n public const int PITCH_SENSITIVITY_DEFAULT = 3;\n [SerializeField, Range(1f, 15.0f)]\n public static float PitchSensitivity;\n [SerializeField, Range(1f, 15.0f)]\n public static float YawSensitivity;\n [SerializeField, Range(0.1f, 5f)]\n public static float ZoomSensitivity;\n [SerializeField]\n public float PitchLowerLimit;\n [SerializeField]\n public float PitchUpperLimit;\n [SerializeField]\n public float ZoomLowerLimit;\n [SerializeField]\n public float ZoomUpperLimit;\n [SerializeField, Range(0.005f, 1.0f)]\n public float OrbitalAcceleration;\n [SerializeField, Range(0.005f, 1.0f)]\n public float ZoomAcceleration;\n\n [SerializeField]\n public Renderer GroundRenderer;\n\n private void Start() {\n // Set Camera and Screen Settings\n CameraMode = CameraModes[\"Orbit\"];\n\n PitchSensitivity = TryGetPref<float>(PITCH_SENSITIVITY_PREF, PITCH_SENSITIVITY_DEFAULT);\n YawSensitivity = TryGetPref<float>(YAW_SENSITIVITY_PREF, YAW_SENSITIVITY_DEFAULT);\n ZoomSensitivity = TryGetPref<float>(ZOOM_SENSITIVITY_PREF, ZOOM_SENSITIVITY_DEFAULT);\n }\n\n public T TryGetPref<T>(string key, T defaultVal) {\n if (PreferenceManager.ContainsPreference(key))\n return PreferenceManager.GetPreference<T>(key);\n return defaultVal;\n }\n\n public void Update() {\n if (CameraMode != null)\n CameraMode.Update(this);\n }\n\n public void LateUpdate() {\n if (CameraMode != null)\n CameraMode.LateUpdate(this);\n }\n}\n<file_sep>using System.Collections;\nusing System.Collections.Generic;\nusing UnityEngine;\n\npublic class MenuCamera : MonoBehaviour {\n // TODO UPDATE NAMESPACE\n\n // Start is called before the first frame update\n void Start() {\n transform.localPosition = transform.up * 0.5f + transform.forward * -1 + offset;\n }\n\n Vector3 lookPoint = new Vector3(0, 1, 0);\n Vector3 offset = new Vector3(0, 1, 15);\n\n // Update is called once per frame\n void Update() {\n transform.RotateAround(lookPoint, Vector3.down, Time.deltaTime * 3f);\n transform.LookAt(lookPoint);\n }\n}\n<file_sep>using System;\nusing System.Collections.Generic;\nusing System.Linq;\nusing Synthesis.Gizmo;\nusing Synthesis.Physics;\nusing Synthesis.Replay;\nusing Synthesis.Runtime;\nusing Analytics;\nusing Synthesis.Util;\nusing Utilities.ColorManager;\nusing SynthesisAPI.EventBus;\nusing UI.Dynamic.Panels.Tooltip;\nusing UnityEngine;\nusing UnityEngine.UI;\n\nnamespace Synthesis.UI.Dynamic {\n public static class DynamicUIManager {\n public const float MODAL_TWEEN_DURATION = 0.1f;\n public const float PANEL_TWEEN_DURATION = 0.1f;\n\n public static ModalDynamic ActiveModal { get; private set; }\n\n private static Dictionary<Type, (PanelDynamic, bool)> _persistentPanels =\n new Dictionary<Type, (PanelDynamic, bool)>();\n public static bool AnyPanels => _persistentPanels.Count > 0;\n public static Content _screenSpaceContent = null;\n public static Content ScreenSpaceContent {\n get {\n if (_screenSpaceContent == null) {\n _screenSpaceContent =\n new Content(null, GameObject.Find(\"UI\").transform.Find(\"ScreenSpace\").gameObject, null);\n SimulationRunner.OnSimKill += () => _screenSpaceContent = null;\n }\n return _screenSpaceContent;\n }\n }\n public static Content _subScreenSpaceContent = null;\n public static Content SubScreenSpaceContent {\n get {\n if (_subScreenSpaceContent == null) {\n _subScreenSpaceContent =\n new Content(null, GameObject.Find(\"UI\").transform.Find(\"SubScreenSpace\").gameObject, null);\n SimulationRunner.OnSimKill += () => _subScreenSpaceContent = null;\n }\n return _subScreenSpaceContent;\n }\n }\n private static Slider _replaySlider = null;\n public static Slider ReplaySlider {\n get {\n if (_replaySlider == null)\n _replaySlider =\n ScreenSpaceContent\n .CreateSlider(label: \"Last 5 seconds\", unitSuffix: \"s\", minValue: -ReplayManager.TimeSpan,\n maxValue: 0f, currentValue: 0f)\n .SetBottomStretch<Slider>(leftPadding: 100f, rightPadding: 100f, anchoredY: 50)\n .SetSlideDirection(UnityEngine.UI.Slider.Direction.LeftToRight)\n .StepIntoBackgroundImage(\n i => i.SetColor(ColorManager.SynthesisColor.InteractiveElementSolid))\n .StepIntoFillImage(i => i.SetColor(ColorManager.SynthesisColor.Background))\n .StepIntoTitleLabel(l => l.SetVerticalAlignment(TMPro.VerticalAlignmentOptions.Bottom)\n .SetFontSize(20)\n .SetColor(ColorManager.SynthesisColor.Background))\n .StepIntoValueLabel(l => l.SetVerticalAlignment(TMPro.VerticalAlignmentOptions.Bottom)\n .SetFontSize(20)\n .SetColor(ColorManager.SynthesisColor.Background));\n SimulationRunner.OnSimKill += () => { _replaySlider = null; };\n return _replaySlider;\n }\n }\n\n private static Content _toastContainer = null;\n public static Content ToastContainer {\n get {\n if (_toastContainer == null || _toastContainer.RootGameObject == null) {\n _toastContainer = SubScreenSpaceContent\n .CreateSubContent(new Vector2(\n Toaster.TOAST_CONTAINER_WIDTH, Toaster.TOAST_CONTAINER_HEIGHT))\n .SetAnchors<Content>(new Vector2(1, 0), new Vector2(1, 0))\n .SetPivot<Content>(new Vector2(1, 0))\n .SetAnchoredPosition<Content>(Toaster.TOAST_CONTAINER_OFFSET)\n .EnsureImage()\n .StepIntoImage(i => i.SetColor(new Color(0.1f, 0.1f, 0.1f, 0f)));\n _toastContainer.RootGameObject.AddComponent<RectMask2D>();\n }\n SimulationRunner.OnSimKill += () => { _toastContainer = null; };\n return _toastContainer;\n }\n }\n\n public static bool CreateModal<T>(params object[] args)\n where T : ModalDynamic {\n CloseAllPanels(false);\n HideAllPanels();\n GizmoManager.ExitGizmo();\n if (ActiveModal != null)\n CloseActiveModal(false);\n\n return CreateModal_Internal<T>(args);\n }\n\n public static bool CreateModalWithoutOverwrite<T>(params object[] args)\n where T : ModalDynamic {\n if (_persistentPanels.Count > 0)\n return false;\n if (ActiveModal != null)\n return false;\n\n return CreateModal_Internal<T>(args);\n }\n\n private static bool CreateModal_Internal<T>(params object[] args)\n where T : ModalDynamic {\n var unityObject = GameObject.Instantiate(SynthesisAssetCollection.GetUIPrefab(\"dynamic-modal-base\"),\n GameObject.Find(\"UI\").transform.Find(\"ScreenSpace\").Find(\"ModalContainer\"));\n\n ModalDynamic modal = (ModalDynamic) Activator.CreateInstance(typeof(T), args);\n modal.Create_Internal(unityObject);\n modal.Create();\n\n ActiveModal = modal;\n EventBus.Push(new ModalCreatedEvent(modal));\n\n SynthesisAssetCollection.BlurVolumeStatic.weight = 1f;\n PhysicsManager.IsFrozen = true;\n MainHUD.Enabled = false;\n SubScreenSpaceContent.RootGameObject.SetActive(false);\n\n string tweenKey = Guid.NewGuid() + \"_modalOpen\";\n SynthesisTween.MakeTween(tweenKey, 0f, 1f, MODAL_TWEEN_DURATION,\n (t, a, b) => SynthesisTweenInterpolationFunctions.FloatInterp(t, (float) a, (float) b),\n SynthesisTweenScaleFunctions.EaseOutCubic, TweenCallback);\n\n void TweenCallback(SynthesisTween.SynthesisTweenStatus status) {\n unityObject.transform.localScale = Vector3.one * status.CurrentValue<float>();\n }\n AnalyticsManager.LogCustomEvent(AnalyticsEvent.ModalCreated, (\"UIType\", typeof(T).Name));\n return true;\n }\n\n private static void TweenPanel(\n Type t, PanelDynamic panel, Vector2 direction, bool tweenIn, bool persistent = false) {\n string tweenKey = Guid.NewGuid() + \"_panel\" + direction;\n GameObject unityObject = panel.UnityObject;\n\n Vector3 inPosition = panel.UnityObject.transform.localPosition;\n Vector3 outPosition = inPosition + (Vector3) (((RectTransform) unityObject.transform).sizeDelta *\n direction * (persistent && tweenIn ? -1 : 1));\n\n Vector3 tweenStart = tweenIn ? outPosition : inPosition;\n Vector3 tweenEnd = tweenIn ? inPosition : outPosition;\n\n if (tweenIn && persistent)\n (tweenStart, tweenEnd) = (tweenEnd, tweenStart);\n\n SynthesisTween.MakeTween(tweenKey, tweenStart, tweenEnd, PANEL_TWEEN_DURATION,\n (time, a, b) => Vector3.Lerp((Vector3) a, (Vector3) b, time), SynthesisTweenScaleFunctions.EaseOutCubic,\n TweenCallback);\n\n void TweenCallback(SynthesisTween.SynthesisTweenStatus status) {\n if (unityObject == null) {\n TweenFinished();\n return;\n }\n\n unityObject.transform.localPosition = status.CurrentValue<Vector3>();\n\n if (status.CurrentProgress >= 1f)\n TweenFinished();\n }\n\n void TweenFinished() {\n if (!tweenIn) {\n if (!persistent) {\n EventBus.Push(new PanelClosedEvent(panel));\n\n panel.Delete();\n panel.Delete_Internal();\n\n _persistentPanels.Remove(t);\n } else\n panel.Hidden = true;\n }\n }\n }\n\n // Currently only going to allow one active panel\n public static bool CreatePanel<T>(bool persistent = false, params object[] args)\n where T : PanelDynamic {\n if (ActiveModal != null && !persistent) {\n return false;\n }\n\n if (_persistentPanels.ContainsKey(typeof(T)))\n ClosePanel(typeof(T));\n\n if (PanelExists<T>() && typeof(T) != typeof(TooltipPanel)) {\n Debug.Log(\"Failed to create, panel exists\");\n return false;\n }\n\n var unityObject = GameObject.Instantiate(SynthesisAssetCollection.GetUIPrefab(\"dynamic-panel-base\"),\n GameObject.Find(\"UI\").transform.Find(\"ScreenSpace\").Find(\"PanelContainer\"));\n\n PanelDynamic panel = (PanelDynamic) Activator.CreateInstance(typeof(T), args);\n _persistentPanels[typeof(T)] = (panel, persistent);\n panel.Create_Internal(unityObject);\n bool success = panel.Create();\n\n if (!success) {\n ClosePanel<T>(true);\n return false;\n }\n\n if (PanelExists(typeof(T)))\n EventBus.Push(new PanelCreatedEvent(panel, persistent));\n\n TweenPanel(typeof(T), panel, panel.TweenDirection, true);\n\n AnalyticsManager.LogCustomEvent(AnalyticsEvent.PanelCreated, (\"UIType\", typeof(T).Name));\n return true;\n }\n\n public static bool CloseActiveModal(bool showPersistentPanels = true) {\n var modal = ActiveModal;\n\n if (modal == null) {\n return false;\n }\n\n string tweenKey = Guid.NewGuid() + \"_modalClose\";\n SynthesisTween.MakeTween(tweenKey, 1f, 0f, MODAL_TWEEN_DURATION,\n (t, a, b) => SynthesisTweenInterpolationFunctions.FloatInterp(t, (float) a, (float) b),\n SynthesisTweenScaleFunctions.EaseInCubic, TweenCallback);\n\n void TweenCallback(SynthesisTween.SynthesisTweenStatus status) {\n if (modal.UnityObject == null) {\n TweenFinished();\n return;\n }\n\n modal.UnityObject.transform.localScale = Vector3.one * status.CurrentValue<float>();\n\n if (status.CurrentProgress >= 1f)\n TweenFinished();\n }\n\n void TweenFinished() {\n SynthesisTween.CancelTween(tweenKey);\n\n EventBus.Push(new ModalClosedEvent(modal));\n\n modal.Delete();\n modal.Delete_Internal();\n\n if (modal == ActiveModal) {\n ActiveModal = null;\n\n SynthesisAssetCollection.BlurVolumeStatic.weight = 0f;\n MainHUD.Enabled = true;\n SubScreenSpaceContent.RootGameObject.SetActive(true);\n }\n }\n\n // Unfreeze physics no matter what because it has a counter\n PhysicsManager.IsFrozen = false;\n\n if (showPersistentPanels)\n ShowAllPanels();\n\n MainHUD.Collapsed = false;\n AnalyticsManager.LogCustomEvent(AnalyticsEvent.ActiveModalClosed, (\"UIType\", modal.GetType().Name));\n return true;\n }\n\n public static void CloseAllPanels(bool closePersistent = false) {\n var panels = new List<Type>();\n if (!closePersistent)\n _persistentPanels.Where(kvp => !kvp.Value.Item2).ForEach(kvp => panels.Add(kvp.Value.Item1.GetType()));\n else\n _persistentPanels.ForEach(kvp => panels.Add(kvp.Value.Item1.GetType()));\n\n panels.ForEach(x => ClosePanel(x));\n }\n\n public static bool ClosePanel<T>(bool bypassTween = false)\n where T : PanelDynamic => ClosePanel(typeof(T), bypassTween);\n\n public static bool ClosePanel(Type t, bool bypassTween = false) {\n if (!PanelExists(t))\n return false;\n\n var panel = _persistentPanels[t].Item1;\n\n if (bypassTween) {\n EventBus.Push(new PanelClosedEvent(panel));\n\n panel.Delete();\n panel.Delete_Internal();\n\n _persistentPanels.Remove(t);\n } else\n TweenPanel(t, panel, panel.TweenDirection, false);\n\n AnalyticsManager.LogCustomEvent(AnalyticsEvent.PanelClosed, (\"UIType\", t.Name));\n return true;\n }\n\n public static bool PanelExists<T>()\n where T : PanelDynamic {\n return PanelExists(typeof(T));\n }\n\n public static bool PanelExists(Type t) {\n return _persistentPanels.ContainsKey(t);\n }\n\n public static T GetPanel<T>()\n where T : PanelDynamic {\n if (!PanelExists<T>())\n return null;\n return (T) _persistentPanels[typeof(T)].Item1;\n }\n\n public static void HideAllPanels() {\n _persistentPanels.ForEach(kvp => HidePanel(kvp.Value.Item1.GetType()));\n }\n\n public static void HidePanel<T>()\n where T : PanelDynamic {\n HidePanel(typeof(T));\n }\n\n public static bool HidePanel(Type t) {\n if (!PanelExists(t))\n return false;\n\n var panel = _persistentPanels[t].Item1;\n if (panel.Hidden)\n return false;\n\n TweenPanel(t, panel, panel.TweenDirection, false, true);\n\n return true;\n }\n\n public static void ShowAllPanels() {\n _persistentPanels.ForEach(kvp => ShowPanel(kvp.Value.Item1.GetType()));\n }\n\n public static bool ShowPanel<T>()\n where T : PanelDynamic {\n return ShowPanel(typeof(T));\n }\n\n public static bool ShowPanel(Type t) {\n if (!PanelExists(t))\n return false;\n\n var panel = _persistentPanels[t].Item1;\n if (!panel.Hidden)\n return false;\n\n string tweenKey = Guid.NewGuid() + \"_panelShow\";\n\n panel.Hidden = false;\n\n TweenPanel(t, panel, panel.TweenDirection, true, true);\n\n return true;\n }\n\n public static void Update() {\n if (ActiveModal != null)\n ActiveModal.Update();\n _persistentPanels.ForEach(kvp => kvp.Value.Item1.Update());\n }\n\n public static T ApplyTemplate<T>(this T component, Func<T, T> template)\n where T : UIComponent {\n return template(component);\n }\n\n public static T ApplyTemplate<T>(this T component, Func<UIComponent, UIComponent> template)\n where T : UIComponent {\n return template(component) as T;\n }\n\n public static Rect GetOffsetRect(this RectTransform trans) {\n var min =\n new Vector2(trans.anchoredPosition.x + trans.rect.xMin, trans.anchoredPosition.y + trans.rect.yMin);\n var max =\n new Vector2(trans.anchoredPosition.x + trans.rect.xMax, trans.anchoredPosition.y + trans.rect.yMax);\n return new Rect(min.x, min.y, max.x - min.x, max.y - min.y);\n }\n\n public struct ModalCreatedEvent : IEvent {\n public ModalDynamic Modal;\n\n public ModalCreatedEvent(ModalDynamic modal) {\n Modal = modal;\n }\n }\n\n public struct PanelCreatedEvent : IEvent {\n public PanelDynamic Panel;\n public bool IsPersistent;\n\n public PanelCreatedEvent(PanelDynamic panel, bool isPersistent) {\n Panel = panel;\n IsPersistent = isPersistent;\n }\n }\n\n public struct ModalClosedEvent : IEvent {\n public ModalDynamic Modal;\n\n public ModalClosedEvent(ModalDynamic modal) {\n Modal = modal;\n }\n }\n\n public struct PanelClosedEvent : IEvent {\n public PanelDynamic Panel;\n\n public PanelClosedEvent(PanelDynamic panel) {\n Panel = panel;\n }\n }\n }\n}\n<file_sep>#include \"roborio_manager.hpp\"\n\nnamespace hel{\n std::string PCM::toString()const{\n std::string s = \"(\";\n s += \"solenoids:\" + asString(solenoids, std::function<std::string(bool)>(static_cast<std::string(*)(unsigned)>(std::to_string)));\n s += \")\";\n return s;\n }\n\n void PCM::parseCANPacket(const int32_t& /*API_ID*/, const std::vector<uint8_t>& DATA){\n assert(DATA.size() == MessageData::SIZE);\n setSolenoids(DATA[MessageData::SOLENOIDS]);\n }\n\n std::vector<uint8_t> PCM::generateCANPacket(const int32_t& /*API_ID*/)const{\n return {};\n }\n\n BoundsCheckedArray<bool, PCM::NUM_SOLENOIDS> PCM::getSolenoids()const noexcept{\n return solenoids;\n }\n\n void PCM::setSolenoid(uint8_t index, bool value){\n solenoids[index] = value;\n }\n\n void PCM::setSolenoids(uint8_t values){\n for(unsigned i = 0; i < solenoids.size(); i++){\n solenoids[i] = checkBitHigh(values, i);\n }\n }\n\n void PCM::setSolenoids(const BoundsCheckedArray<bool,NUM_SOLENOIDS>& values){\n solenoids = values;\n }\n\n PCM::PCM()noexcept:solenoids(false){}\n PCM::PCM(const PCM& source)noexcept:PCM(){\n#define COPY(NAME) NAME = source.NAME\n COPY(solenoids);\n#undef COPY\n }\n}\n<file_sep>#!/bin/sh\n\npretty_print() {\n printf \"%b\\n\" \"$1\"\n}\n\nbad_print() {\n echo \"\\033[0;32m$1\\033[0m\"\n}\n\ngood_print() {\n echo \"\\033[0;92m$1\\033[0m\"\n}\n\nprompt_yes_no() {\n local prompt_message=\"$1\"\n local response\n\n while true; do\n read -rp \"$prompt_message (Y/N): \" response\n response=$(echo $response | tr '[:upper:]' '[:lower:]')\n\n if [[ $response == \"y\" ]]; then\n return 0 # Yes, return success\n elif [[ $response == \"n\" ]]; then\n return 1 # No, return failure\n else\n echo \"Invalid input. Please enter either Y or N.\"\n fi\n done\n}\n\ncheck_internet_connection() {\n local host=\"google.com\"\n local timeout=2\n\n if ping -q -W $timeout -c 2 $host >/dev/null 2>&1;then\n pretty_print \"Connected to the internet\"\n else\n bad_print \"No internet connection - please connect to the internet to continue.\"\n exit\n fi\n}\n\nbrew_install() {\n if ! command -v brew &> /dev/null\n then\n pretty_print \"\\nHomebrew is not installed - Install from https://brew.sh/ before continue\"\n exit\n fi\n\n pretty_print \"Updating Homebrew...\"\n brew update\n\n local package=\"$1\"\n local cask=\"${2:-true}\";\n\n if prompt_yes_no \"Install Brew Package $package ?\"; then\n if [ \"$cask\" = \"true\" ];\n then\n brew install --cask $package\n else\n brew install $package\n fi;\n else\n bad_print \"Please install necessary package and re-run\"\n fi\n}\n\ndep_exists_brew() {\n local dep=\"$1\"\n local package=\"$2\"\n local cask=\"${3:-false}\";\n\n if ! command -v $dep &> /dev/null\n then\n pretty_print \"$dep could not be found - installing $package from homebrew\"\n # Will exit and give error if there is no internet connection.\n check_internet_connection\n brew_install $package $cask\n else\n good_print \"$dep is already installed!\"\n fi\n}\n\npretty_print \"Installing necessary Synthesis Deps.\"\n\n# Install Protobuf if not found\ndep_exists_brew \"protoc\" \"protobuf@23\"\n\n# Install Dotnet if not found\nif ! command -v dotnet &> /dev/null\nthen\n pretty_print \"dotnet could not be found - installing dotnet from Microsoft SDK store\"\n curl -sSL https://dotnet.microsoft.com/download/dotnet/scripts/v1/dotnet-install.sh | bash /dev/stdin -Channel STS -Version 7.0.305\n \n pretty_print \"Installed dotnet to \\$HOME/.dotnet\"\n\n echo 'export DOTNET_ROOT=$HOME/.dotnet' >> ~/.bashrc\n echo 'export PATH=$PATH:$DOTNET_ROOT:$DOTNET_ROOT/tools' >> ~/.bashrc\n\n echo 'export DOTNET_ROOT=$HOME/.dotnet' >> ~/.zshrc\n echo 'export PATH=$PATH:$DOTNET_ROOT:$DOTNET_ROOT/tools' >> ~/.zshrc\n\n # For this terminal session\n export DOTNET_ROOT=$HOME/.dotnet\n export PATH=$PATH:$DOTNET_ROOT:$DOTNET_ROOT/tools\n\nelse\n good_print \"dotnet is already installed!\"\nfi\n\n# Finished Installing all dependencies.\npretty_print \"Finished Installing Dependencies\"\n<file_sep>rm -rf -v ./proto_out\nmkdir ./proto_out\ngit submodule update --init --recursive\nprotoc -I=../../../mirabuf --python_out=./proto_out ../../../mirabuf/*.proto<file_sep>#ifndef _GLOBAL_HPP_\n#define _GLOBAL_HPP_\n\n#include <cstdint>\n\nnamespace hel{\n\n\t/**\n\t * \\brief The localhost port to use for gRPC communication\n\t */\n\n extern int gRPCPort;\n\n /**\n * \\brief Manages data associated with Ni FPGA's tGlobal class\n */\n\n struct Global{\n private:\n /**\n * \\brief The time in microseconds at which the emulated FPGA started\n */\n\n uint64_t fpga_start_time;\n\n public:\n\n /**\n * \\brief Get the time in microseconds at which the emulated FPGA started\n */\n\n uint64_t getFPGAStartTime()const noexcept;\n\n /**\n * \\brief Get the time in microseconds for which the emulated FPGA has been running\n */\n\n static uint64_t getCurrentTime()noexcept;\n\n /**\n * Constructor for Global\n */\n\n Global()noexcept;\n\n /**\n * Constructor for Global\n * \\param source A Global object to copy\n */\n\n Global(const Global&)noexcept;\n };\n}\n\n#endif\n<file_sep>using System;\nusing System.IO;\n\nnamespace Synthesis.Core.Util {\n\n public class IOHandler {\n public static string FileStorage {\n get {\n string a = Environment.GetFolderPath(Environment.SpecialFolder.LocalApplicationData) +\n Path.PathSeparator + \"Autodesk\" + Path.PathSeparator + \"Synthesis\";\n if (!Directory.Exists(a))\n Directory.CreateDirectory(a);\n return a;\n }\n }\n }\n\n}<file_sep>using System;\nusing System.Collections;\nusing System.Collections.Generic;\nusing System.Linq;\nusing Modes.MatchMode;\nusing Synthesis.UI;\nusing Synthesis.UI.Dynamic;\nusing SynthesisAPI.EventBus;\nusing SynthesisAPI.Simulation;\nusing SynthesisAPI.Utilities;\nusing UI.Dynamic.Modals.Spawning;\nusing UI.Dynamic.Panels.Tooltip;\nusing UnityEngine;\nusing Utilities.ColorManager;\nusing Logger = SynthesisAPI.Utilities.Logger;\n\n#nullable enable\n\npublic class RobotSwitchPanel : PanelDynamic {\n private const float PANEL_WIDTH = 300f;\n\n private ScrollView _scrollView;\n private Button _addButton;\n private Button _removeButton;\n\n private bool _isMatchMode;\n\n private Func<UIComponent, UIComponent> VerticalLayout = (u) => {\n var offset = (-u.Parent!.RectOfChildren(u).yMin);\n u.SetTopStretch<UIComponent>(anchoredY: offset, leftPadding: 15f, rightPadding: 15f);\n return u;\n };\n\n private Func<Button, Button> EnableButton = b =>\n b.StepIntoImage(i => i.SetColor(ColorManager.SynthesisColor.InteractiveElementLeft,\n ColorManager.SynthesisColor.InteractiveElementRight))\n .StepIntoLabel(l => l.SetColor(ColorManager.SynthesisColor.InteractiveElementText))\n .EnableEvents<Button>();\n\n private Func<Button, Button> DisableButton = b =>\n b.StepIntoImage(i => i.SetColor(ColorManager.SynthesisColor.InteractiveBackground))\n .StepIntoLabel(l => l.SetColor(ColorManager.SynthesisColor.InteractiveElementText))\n .DisableEvents<Button>();\n\n public RobotSwitchPanel() : base(new Vector2(PANEL_WIDTH, 400)) {\n _isMatchMode = ModeManager.CurrentMode.GetType() == typeof(MatchMode);\n }\n\n // Update is called once per frame\n public override bool Create() {\n Title.SetText(\"Robot Switcher\");\n CancelButton.RootGameObject.SetActive(false);\n AcceptButton.StepIntoLabel(l => l.SetText(\"Close\"));\n AcceptButton.AddOnClickedEvent(b => DynamicUIManager.ClosePanel<RobotSwitchPanel>());\n _scrollView = MainContent.CreateScrollView().SetStretch<ScrollView>(bottomPadding: 60f);\n\n (Content left, Content right) = MainContent.CreateSubContent(new Vector2(PANEL_WIDTH, 50))\n .SetBottomStretch<Content>()\n .SplitLeftRight((PANEL_WIDTH - 10f) / 2f, 10f);\n\n if (!_isMatchMode) {\n _addButton = left.CreateButton(\"Add\").SetStretch<Button>().AddOnClickedEvent(\n b => { DynamicUIManager.CreateModal<AddRobotModal>(); });\n _removeButton = right.CreateButton(\"Remove\").SetStretch<Button>().AddOnClickedEvent(b => {\n RobotSimObject.RemoveRobot(RobotSimObject.CurrentlyPossessedRobot);\n PopulateScrollView();\n if (RobotSimObject.SpawnedRobots.Count < RobotSimObject.MAX_ROBOTS)\n _addButton.ApplyTemplate<Button>(EnableButton);\n });\n\n if (RobotSimObject.CurrentlyPossessedRobot == string.Empty)\n _removeButton.ApplyTemplate(DisableButton);\n\n if (RobotSimObject.SpawnedRobots.Count >= RobotSimObject.MAX_ROBOTS)\n _addButton.ApplyTemplate(DisableButton);\n }\n\n PopulateScrollView();\n\n EventBus.NewTypeListener<RobotSimObject.PossessionChangeEvent>(PossessedRobotChanged);\n EventBus.NewTypeListener<RobotSimObject.RobotSpawnEvent>(RobotSpawned);\n EventBus.NewTypeListener<RobotSimObject.RobotRemoveEvent>(RobotRemoved);\n\n return true;\n }\n\n private void AddEntry(RobotSimObject robot) {\n var toggle =\n _scrollView.Content.CreateToggle(true, RobotSimObject.CurrentlyPossessedRobot == robot.Name, robot.Name)\n .SetSize<Toggle>(new Vector2(PANEL_WIDTH, 40f))\n .ApplyTemplate(VerticalLayout)\n .StepIntoLabel(l => l.SetFontSize(16f))\n .SetDisabledColor(ColorManager.SynthesisColor.Background);\n toggle.AddOnStateChangedEvent((t, s) => { UpdateState(robot, t, s); });\n }\n\n private void PopulateScrollView() {\n _scrollView.Content.DeleteAllChildren();\n RobotSimObject.SpawnedRobots.ForEach(AddEntry);\n _scrollView.Content.SetHeight<Content>(_scrollView.Content.HeightOfChildren);\n }\n\n private void UpdateState(RobotSimObject robot, Toggle toggle, bool state) {\n if (state) {\n RobotSimObject.CurrentlyPossessedRobot = robot.Name;\n MainHUD.ConfigRobot = robot;\n _scrollView.Content.ChildrenReadOnly.OfType<Toggle>().ForEach(x => { x.SetStateWithoutEvents(false); });\n toggle.SetStateWithoutEvents(true);\n } else {\n MainHUD.ConfigRobot = null;\n RobotSimObject.CurrentlyPossessedRobot = string.Empty;\n }\n }\n\n private void PossessedRobotChanged(IEvent e) {\n var possChangeEvent = e as RobotSimObject.PossessionChangeEvent;\n\n if (possChangeEvent == null)\n return;\n\n if (!_isMatchMode) {\n if (possChangeEvent.NewBot == string.Empty)\n _removeButton.ApplyTemplate(DisableButton);\n else\n _removeButton.ApplyTemplate(EnableButton);\n }\n }\n\n private void RobotSpawned(IEvent e) {\n var newRobotEvent = e as RobotSimObject.RobotSpawnEvent;\n if (newRobotEvent == null)\n return;\n\n PopulateScrollView();\n\n if (!_isMatchMode) {\n if (RobotSimObject.CurrentlyPossessedRobot == string.Empty)\n _removeButton.ApplyTemplate(DisableButton);\n\n if (RobotSimObject.SpawnedRobots.Count >= RobotSimObject.MAX_ROBOTS)\n _addButton.ApplyTemplate(DisableButton);\n }\n }\n\n private void RobotRemoved(IEvent e) {\n var newRobotEvent = e as RobotSimObject.RobotRemoveEvent;\n if (newRobotEvent == null)\n return;\n\n PopulateScrollView();\n\n if (!_isMatchMode) {\n if (RobotSimObject.CurrentlyPossessedRobot == string.Empty)\n _removeButton.ApplyTemplate(DisableButton);\n\n if (RobotSimObject.SpawnedRobots.Count >= RobotSimObject.MAX_ROBOTS)\n _addButton.ApplyTemplate(DisableButton);\n }\n }\n\n public override void Update() {}\n\n public override void Delete() {\n EventBus.RemoveTypeListener<RobotSimObject.PossessionChangeEvent>(PossessedRobotChanged);\n EventBus.RemoveTypeListener<RobotSimObject.RobotSpawnEvent>(RobotSpawned);\n EventBus.RemoveTypeListener<RobotSimObject.RobotRemoveEvent>(RobotRemoved);\n }\n}\n<file_sep>Tween for Unity\n(c) 2016 Digital Ruby, LLC\nhttps://www.digitalruby.com/unity-plugins/\nCreated by <NAME>\n\nVersion 1.0.4\n\nTween for Unity is the easiest and simplest Tween script for Unity. In a matter of seconds you can be tweening and animating your game objects.\n\nTween supports float, Vector2, Vector3, Vector4 and Quaternion tweens.\n\nTweenFactory is the class you will want to use to initiate tweens. There is no need to add any scripts to game objects. TweenFactory takes care of everything.\n\nSimply call TweenFactory.Tween(...) and pass in your parameters and callback functions.\n\nTweenFactory.DefaultTimeFunc can be set to your desired time function, default is Time.deltaTime.\n\nTweens may have a key, or null for no key. If adding a tween with a non-null key, existing tweens with the same key will be removed. Use the AddKeyStopBehavior field of TweenFactory to determine what to do in these cases.\n\nSet Tween.ForceUpdate = true; if you want Tween to continue to run on objects that are not visible.\n\nMake sure to add a \"using DigitalRuby.Tween\" to your scripts.\n\nSee TweenDemoScene for a demo scene, and look in TweenDemo.cs for code samples.<file_sep># This is a module intended to be a formatter for the progress dialog message\n# Mainly to make it more convienent to read and get messages from\n# Need additional info on Joints if possible\n\nimport adsk.core\n\n\nclass PDMessage:\n def __init__(\n self,\n assemblyName: str,\n componentCount: int,\n occurrenceCount: int,\n materialCount: int,\n appearanceCount: int,\n progressDialog: adsk.core.ProgressDialog,\n ):\n self.assemblyName = assemblyName\n self.componentCount = componentCount\n self.occurrenceCount = occurrenceCount\n self.materialCount = materialCount\n self.appearanceCount = appearanceCount\n\n self.currentCompCount = 0\n self.currentOccCount = 0\n self.currentMatCount = 0\n self.currentAppCount = 0\n\n self.currentMessage = \"working...\"\n\n self.finalValue = (\n self.componentCount\n + self.occurrenceCount\n + self.materialCount\n + self.appearanceCount\n )\n self.currentValue = 0\n\n self.progressDialog = progressDialog\n\n def _format(self):\n # USE FORMATTING TO CENTER THESE BAD BOIS\n # TABS DO NOTHING HALP\n out = f\"{self.assemblyName} parsing:\\n\"\n out += f\"\\t Components: \\t[ {self.currentCompCount} / {self.componentCount} ]\\n\"\n out += f\"\\t Occurrences: \\t[ {self.currentOccCount} / {self.occurrenceCount} ]\\n\"\n out += f\"\\t Materials: \\t[ {self.currentMatCount} / {self.materialCount} ]\\n\"\n out += f\"\\t Appearances: \\t[ {self.currentAppCount} / {self.appearanceCount} ]\\n\"\n out += f\"{self.currentMessage}\"\n\n return out\n\n def addComponent(self, name=None):\n self.currentValue += 1\n self.currentCompCount += 1\n self.currentMessage = f\"Exporting Component {name}\"\n self.update()\n\n def addOccurrence(self, name=None):\n self.currentValue += 1\n self.currentOccCount += 1\n self.currentMessage = f\"Exporting Occurrence {name}\"\n self.update()\n\n def addMaterial(self, name=None):\n self.currentValue += 1\n self.currentMatCount += 1\n self.currentMessage = f\"Exporting Physical Material {name}\"\n self.update()\n\n def addAppearance(self, name=None):\n self.currentValue += 1\n self.currentAppCount += 1\n self.currentMessage = f\"Exporting Appearance Material {name}\"\n self.update()\n\n def addJoint(self, name=None):\n self.currentMessage = f\"Connecting Joints {name}\"\n self.update()\n\n def update(self):\n self.progressDialog.message = self._format()\n self.progressDialog.progressValue = self.currentValue\n self.value = self.currentValue\n\n def wasCancelled(self) -> bool:\n return self.progressDialog.wasCancelled\n\n def __str__(self):\n return self._format()\n\n def __repr__(self):\n return self._format()\n<file_sep>using MathNet.Spatial.Euclidean;\nusing SynthesisAPI.Runtime;\nusing SynthesisAPI.Utilities;\nusing System;\nusing System.Collections.Generic;\nusing UnityEngine.UIElements;\nusing _UnityVisualElement = UnityEngine.UIElements.VisualElement;\n\n#nullable enable\n\nnamespace SynthesisAPI.UIManager.VisualElements\n{\n public class VisualElement\n {\n private protected _UnityVisualElement _visualElement;\n\n public VisualElement()\n {\n _visualElement = ApiProvider.CreateUnityType<_UnityVisualElement>()!;\n if (_visualElement == null)\n throw new SynthesisException(\"Failed to instantiate VisualElement\");\n }\n\n internal VisualElement(_UnityVisualElement visualElement)\n {\n _visualElement = visualElement;\n }\n\n public string Name {\n get => _visualElement.name;\n set => _visualElement.name = value;\n }\n\n public bool Focusable\n {\n get => _visualElement.focusable;\n set => _visualElement.focusable = value;\n }\n\n public bool Enabled\n {\n get => _visualElement.enabledSelf;\n set => _visualElement.SetEnabled(value);\n }\n\n internal IStyle style {\n get => _visualElement.style;\n }\n\n public void OnMouseEnter(Action onEnter)\n {\n _visualElement.RegisterCallback<MouseEnterEvent>(_ => onEnter());\n }\n\n public void OnMouseLeave(Action onLeave)\n {\n _visualElement.RegisterCallback<MouseLeaveEvent>(_ => onLeave());\n }\n\n public void OnMouseDown(Action onMouseDown)\n {\n _visualElement.RegisterCallback<MouseDownEvent>(_ => onMouseDown());\n }\n\n internal _UnityVisualElement UnityVisualElement {\n get => _visualElement;\n }\n\n public virtual IEnumerable<Object>? PostUxmlLoad()\n {\n foreach (var child in _visualElement.Children())\n {\n child.GetVisualElement().PostUxmlLoad();\n }\n return null;\n }\n public IEnumerable<VisualElement> GetAllChildrenWhere(Func<VisualElement, bool> predicate)\n {\n var children = new List<VisualElement>();\n foreach (var child in _visualElement.Children())\n {\n var synChild = child.GetVisualElement();\n if (predicate(synChild))\n {\n children.Add(synChild);\n }\n children.AddRange(synChild.GetAllChildrenWhere(predicate));\n }\n return children;\n }\n\n public IEnumerable<VisualElement> GetAllChildren()\n {\n var children = new List<VisualElement>();\n foreach (var child in _visualElement.Children())\n {\n var synChild = child.GetVisualElement();\n children.Add(synChild);\n children.AddRange(synChild.GetAllChildren());\n }\n return children;\n }\n\n public IEnumerable<VisualElement> GetChildren()\n {\n var children = new List<VisualElement>();\n foreach (var child in _visualElement.Children())\n children.Add(child.GetVisualElement());\n return children;\n }\n\n public VisualElement? Get(string? name = null, string? className = null)\n {\n if (_visualElement == null)\n return null;\n var found = _visualElement.Q(name, className);\n if (found == null)\n return null;\n try\n {\n return found.GetVisualElement();\n }\n catch (Exception)\n {\n return new VisualElement(found);\n }\n }\n\n private Manipulator? tooltipManipulator = null;\n \n private string tooltip = \"\";\n\n public string Tooltip\n {\n get => tooltip;\n set\n {\n if (value != tooltip)\n {\n tooltip = value;\n if (tooltip != \"\")\n {\n if (tooltipManipulator == null)\n {\n tooltipManipulator = new TooltipManipulator(tooltip);\n _visualElement.AddManipulator(tooltipManipulator);\n }\n else\n {\n ((TooltipManipulator)tooltipManipulator).Text = tooltip;\n }\n }\n else if (tooltipManipulator != null)\n {\n _visualElement.RemoveManipulator(tooltipManipulator);\n tooltipManipulator = null;\n }\n\n }\n }\n }\n \n private bool isDraggable = false;\n private Manipulator? dragManipulator = null;\n public bool IsDraggable\n {\n get => isDraggable;\n set\n {\n if (value != isDraggable)\n {\n isDraggable = value;\n if (isDraggable)\n {\n dragManipulator = new DragManipulator();\n _visualElement.AddManipulator(dragManipulator);\n }\n else if (dragManipulator != null)\n {\n _visualElement.RemoveManipulator(dragManipulator);\n dragManipulator = null;\n }\n }\n }\n }\n \n\t\tpublic void OnLoseFocus(Action onLose) => _visualElement.RegisterCallback<FocusOutEvent>(_ => onLose());\n public void Focus() => _visualElement.Focus();\n\n public void Add(VisualElement element) => _visualElement.Add(element._visualElement);\n public void Remove(VisualElement element) => _visualElement.Remove(element._visualElement);\n public void RemoveAt(int index) => _visualElement.RemoveAt(index);\n public void Insert(int index, VisualElement element) => _visualElement.Insert(index, element._visualElement);\n public void AddToClassList(string className) => _visualElement.AddToClassList(className);\n public void RemoveFromClassList(string className) => _visualElement.RemoveFromClassList(className);\n public void RemoveFromHierarchy() => _visualElement.RemoveFromHierarchy();\n public IEnumerable<string> GetClasses() => _visualElement.GetClasses();\n public Vector2D Position { get => _visualElement.worldBound.position.Map(); }\n public Vector2D Size { get => _visualElement.worldBound.size.Map(); }\n public bool ContainsLocalPoint(Vector2D localPoint) => _visualElement.ContainsPoint(localPoint.Map());\n public bool ContainsPoint(Vector2D worldPoint) => _visualElement.ContainsPoint((worldPoint - Position).Map());\n public bool ClassesContains(string className) => _visualElement.ClassListContains(className);\n\n public void SetStyleProperty(string name, string value)\n {\n var elem = UIParser.ParseEntry($\"{name}:{value}\", _visualElement);\n if (elem != null) _visualElement = elem;\n }\n }\n}\n<file_sep>/// <summary>\n/// Stores physical properties for a node or group of nodes.\n/// </summary>\npublic struct PropertySet\n{\n /// <summary>\n /// Stores collider information for a PropertySet.\n /// </summary>\n public abstract class PropertySetCollider\n {\n /// <summary>\n /// Used for defining the type of collision for the PropertySetCollider.\n /// </summary>\n public enum PropertySetCollisionType : int\n {\n /// <summary>\n /// Used for approximating collision boundaries with a box.\n /// </summary>\n BOX = 0,\n\n /// <summary>\n /// Used for approximating collision boundaries with a sphere.\n /// </summary>\n SPHERE = 1,\n\n /// <summary>\n /// Used for taking the object's visible mesh and simplifying it for collision.\n /// </summary>\n MESH = 2\n }\n\n /// <summary>\n /// Stores the type of collision for the PropertySetCollider\n /// </summary>\n public PropertySetCollisionType CollisionType\n {\n get;\n private set;\n }\n\n /// <summary>\n /// Initializes a new instance of the PropertySetCollider class.\n /// </summary>\n /// <param name=\"collisionType\"></param>\n public PropertySetCollider(PropertySetCollisionType collisionType)\n {\n CollisionType = collisionType;\n }\n }\n\n public class BoxCollider : PropertySetCollider\n {\n /// <summary>\n /// The scale of the BoxCollider.\n /// </summary>\n public BXDVector3 Scale\n {\n get;\n private set;\n }\n\n /// <summary>\n /// Initializes a new instance of the BoxCollider class.\n /// </summary>\n public BoxCollider(BXDVector3 scale)\n : base(PropertySetCollider.PropertySetCollisionType.BOX)\n {\n Scale = scale;\n }\n }\n\n public class SphereCollider : PropertySetCollider\n {\n /// <summary>\n /// The scale of the SphereCollider.\n /// </summary>\n public float Scale\n {\n get;\n private set;\n }\n\n /// <summary>\n /// Initializes a new instance of the SphereCollider class.\n /// </summary>\n public SphereCollider(float scale)\n : base(PropertySetCollisionType.SPHERE)\n {\n Scale = scale;\n }\n }\n\n public class MeshCollider : PropertySetCollider\n {\n /// <summary>\n /// Determines whether or not the MeshCollider is convex.\n /// </summary>\n public bool Convex\n {\n get;\n private set;\n }\n\n /// <summary>\n /// Initializes a new instance of the MeshCollider class.\n /// </summary>\n public MeshCollider(bool convex)\n : base(PropertySetCollisionType.MESH)\n {\n Convex = convex;\n }\n }\n\n /// <summary>\n /// ID of the PropertySet.\n /// </summary>\n public string PropertySetID;\n\n /// <summary>\n /// Collider of the PhysicsGroup.\n /// </summary>\n public PropertySetCollider Collider;\n\n /// <summary>\n /// Friction value of the PhysicsGroup.\n /// </summary>\n public int Friction;\n\n /// <summary>\n /// Stores the mass of the object.\n /// </summary>\n public float Mass;\n\n /// <summary>\n /// Constructs a new PhysicsGroup with the specified values.\n /// </summary>\n /// <param name=\"ID\"></param>\n /// <param name=\"type\"></param>\n /// <param name=\"frictionValue\"></param>\n public PropertySet(string physicsGroupID, PropertySetCollider collider, int friction, float mass = 0.0f)\n {\n PropertySetID = physicsGroupID;\n Collider = collider;\n Friction = friction;\n Mass = mass;\n }\n}<file_sep>using System;\nusing System.Collections.Generic;\nusing UnityEngine;\nusing TMPro;\nusing UnityEngine.UI;\nusing UnityEngine.EventSystems;\nusing Synthesis.UI.Tabs;\nusing Synthesis.UI.Dynamic;\n\nusing Image = UnityEngine.UI.Image;\n\nnamespace Synthesis.UI.Bars {\n // TODO: Needs a big rework. We'll tackle this with the rest of the UI system later\n public class NavigationBar : MonoBehaviour {\n public GameObject TopButtonContainer;\n public GameObject TopButtonPrefab;\n\n // TODO: Centralize colors\n public Color SelectedTopButtonColor;\n public Color UnselectedTopButtonColor;\n\n public TMP_Text VersionNumber;\n\n public TMP_FontAsset artifaktRegular;\n public TMP_FontAsset artifaktBold;\n\n private GameObject _currentTabButton;\n private GameObject _currentPanelButton;\n\n public NavigationBar navBarPrefab;\n\n private string lastOpenedPanel;\n\n public GameObject ModalTab;\n [Header(\"Tab Prefabs\"), SerializeField]\n public GameObject TabPanelButtonPrefab;\n [SerializeField]\n public GameObject TabDividerPrefab;\n\n public static NavigationBar Instance { get; private set; }\n\n private string _currentTab = string.Empty;\n private Dictionary<string, (TopButton topButton, Tab tab)> _registeredTabs =\n new Dictionary<string, (TopButton topButton, Tab tab)>();\n\n private void Start() {\n Instance = this;\n VersionNumber.text = $\"v {AutoUpdater.LocalVersion} ALPHA\";\n\n RegisterTab(\"Home\", new HomeTab());\n RegisterTab(\"Config\", new ConfigTab());\n SelectTab(\"Home\");\n }\n\n public void Exit() {\n if (Application.isEditor)\n Debug.Log(\"Would exit, but it's editor mode\");\n else {\n DynamicUIManager.CreateModal<ExitSynthesisModal>();\n }\n }\n\n // Eh?\n private void Update() {\n if (Input.GetKeyDown(KeyCode.Escape)) {\n navBarPrefab.CloseAllPanels();\n }\n }\n\n public void OpenPanel(GameObject prefab) {\n if (prefab != null) {\n LayoutManager.OpenPanel(prefab, true);\n if (_currentPanelButton != null)\n changePanelButton(artifaktRegular, 1f);\n\n // set current panel button to the button clicked\n _currentPanelButton = EventSystem.current.currentSelectedGameObject;\n changePanelButton(artifaktBold, 0.6f);\n\n // Analytics Stuff\n lastOpenedPanel = prefab.name; // this will need to be an array for movable panels\n }\n }\n\n public void CloseAllPanels() {\n LayoutManager.ClosePanel();\n if (_currentPanelButton != null)\n changePanelButton(artifaktRegular, 1f);\n }\n\n private void changePanelButton(TMP_FontAsset f, float opacity) {\n // set font\n TextMeshProUGUI text = _currentPanelButton.transform.parent.GetComponentInChildren<TextMeshProUGUI>();\n if (text != null)\n text.font = f;\n\n Image img = _currentPanelButton.GetComponent<Image>();\n img.color = new Color(img.color.r, img.color.g, img.color.b, opacity);\n }\n\n public void RegisterTab(string name, Tab t) {\n var obj = Instantiate(TopButtonPrefab, TopButtonContainer.transform);\n var topB = obj.GetComponent<TopButton>();\n topB.Tag.text = name;\n topB.ActualButton.onClick.AddListener(() => { SelectTab(name); });\n _registeredTabs[name] = (topB, t);\n }\n\n public void SelectTab(string name) {\n if (_currentTab == name)\n return;\n if (_currentTab != string.Empty) {\n var prevTopButton = _registeredTabs[_currentTab].topButton;\n prevTopButton.SetUnderlineColor(UnselectedTopButtonColor);\n prevTopButton.SetUnderlineHeight(1f);\n }\n var currentTopButton = _registeredTabs[name].topButton;\n currentTopButton.SetUnderlineColor(SelectedTopButtonColor);\n currentTopButton.SetUnderlineHeight(2f);\n LayoutManager.OpenTab(_registeredTabs[name].tab);\n _currentTab = name;\n }\n }\n}\n<file_sep>using System;\nusing System.Collections.Generic;\nusing System.Threading;\nusing Google.Protobuf.WellKnownTypes;\nusing Mirabuf.Signal;\nusing SynthesisAPI.Utilities;\n\n#nullable enable\n\nnamespace SynthesisAPI.Controller {\n\n\tpublic partial class ControllableState {\n\n\t\tprivate ReaderWriterLockSlim? _signalMapLock;\n\t\tpublic ReaderWriterLockSlim SignalMapLock {\n\t\t\tget => _signalMapLock ?? (_signalMapLock = new ReaderWriterLockSlim());\n\t\t}\n\n\t\tprivate Dictionary<string, bool>? _modifiedSignals;\n\t\tprivate Dictionary<string, bool> ModifiedSignals {\n\t\t\tget => _modifiedSignals ?? (_modifiedSignals = new Dictionary<string, bool>());\n\t\t}\n\n\t\tpublic bool HasUpdates => ModifiedSignals.Count > 0;\n\n\t\tpublic ControllableState(Signals signals) {\n\t\t\tsignals.SignalMap.ForEach(x => {\n\t\t\t\tSignalMap.Add(\n\t\t\t\t\tx.Key,\n\t\t\t\t\tnew SignalData {\n\t\t\t\t\t\tSignalGuid = x.Key,\n\t\t\t\t\t\tName = x.Value.Info.Name,\n\t\t\t\t\t\tValue = Value.ForNull()\n\t\t\t\t\t}\n\t\t\t\t);\n\t\t\t});\n\t\t}\n\n\t\tpublic Value? GetValue(string signal_guid) {\n\t\t\t// TODO: Limit read to tho classified as output and write to inputs\n\t\t\tValue? result = null;\n\n\t\t\tSignalMapLock.EnterReadLock();\n\t\t\tSignalMap.TryGetValue(signal_guid, out SignalData sig);\n\t\t\tif (sig != null) {\n\t\t\t\tresult = new Value(sig.Value);\n\t\t\t}\n\t\t\tSignalMapLock.ExitReadLock();\n\n\t\t\treturn result;\n\t\t}\n\n\t\tpublic void SetValue(string signal_guid, Value v, bool trackChange = true) {\n\t\t\tSignalData s;\n\t\t\tif (!SignalMap.ContainsKey(signal_guid)) {\n\t\t\t\ts = new SignalData() { Io = UpdateIOType.Input, SignalGuid = signal_guid };\n\t\t\t\tSignalMap.Add(signal_guid, s);\n\t\t\t} else {\n\t\t\t\ts = SignalMap[signal_guid];\n\t\t\t}\n\t\t\tSignalMapLock.EnterWriteLock();\n\t\t\ts.Value = new Value(v);\n\t\t\tModifiedSignals[signal_guid] = false;\n\t\t\tSignalMapLock.ExitWriteLock();\n\t\t}\n\n\t\tpublic List<SignalData> CompileChanges() {\n\t\t\tSignalMapLock.EnterWriteLock();\n\t\t\tList<SignalData> updatedSignals = new List<SignalData>(ModifiedSignals.Count);\n\t\t\tModifiedSignals.ForEach(x => updatedSignals.Add(new SignalData(SignalMap[x.Key])));\n\t\t\tModifiedSignals.Clear();\n\t\t\tSignalMapLock.ExitWriteLock();\n\t\t\treturn updatedSignals;\n\t\t}\n\n\t}\n\n}\n\n<file_sep>using System;\nusing SynthesisAPI;\n\nnamespace ModuleTemplate\n{\n class Class1\n {\n }\n}\n<file_sep>using System;\nusing System.Linq;\nusing System.Text.RegularExpressions;\nusing UnityEngine;\n\nnamespace SynthesisAPI.Utilities\n{\n\tpublic static class InputUtils\n\t{\n\t\tpublic static bool GetKeyOrButtonDown(string name)\n\t\t{\n\t\t\ttry\n\t\t\t{\n\t\t\t\ttry\n\t\t\t\t{\n\t\t\t\t\treturn Input.GetKeyDown((KeyCode)Enum.Parse(typeof(KeyCode), name));\n\t\t\t\t}\n\t\t\t\tcatch\n\t\t\t\t{\n\t\t\t\t\treturn Input.GetKeyDown(name);\n\t\t\t\t}\n\t\t\t}\n\t\t\tcatch (ArgumentException)\n\t\t\t{\n\t\t\t\ttry\n\t\t\t\t{\n\t\t\t\t\treturn Input.GetButtonDown(name);\n\t\t\t\t}\n\t\t\t\tcatch (ArgumentException)\n\t\t\t\t{\n\t\t\t\t\tLogger.Log($\"Failed to find key or button named {name}\");\n\t\t\t\t\treturn false;\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\n\t\tpublic static bool GetKeyOrButton(string name)\n\t\t{\n\t\t\ttry\n\t\t\t{\n\n\t\t\t\ttry\n\t\t\t\t{\n\t\t\t\t\treturn Input.GetKey((KeyCode)Enum.Parse(typeof(KeyCode), name));\n\t\t\t\t}\n\t\t\t\tcatch\n\t\t\t\t{\n\t\t\t\t\treturn Input.GetKey(name);\n\t\t\t\t}\n\t\t\t}\n\t\t\tcatch (ArgumentException)\n\t\t\t{\n\t\t\t\ttry\n\t\t\t\t{\n\t\t\t\t\treturn Input.GetButton(name);\n\t\t\t\t}\n\t\t\t\tcatch (ArgumentException)\n\t\t\t\t{\n\t\t\t\t\tLogger.Log($\"Failed to find key or button named {name}\");\n\t\t\t\t\treturn false;\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\n\t\tpublic static bool GetKeyOrButtonUp(string name)\n\t\t{\n\t\t\ttry\n\t\t\t{\n\t\t\t\ttry\n\t\t\t\t{\n\t\t\t\t\treturn Input.GetKeyUp((KeyCode)Enum.Parse(typeof(KeyCode), name));\n\t\t\t\t}\n\t\t\t\tcatch\n\t\t\t\t{\n\t\t\t\t\treturn Input.GetKeyUp(name);\n\t\t\t\t}\n\t\t\t}\n\t\t\tcatch (ArgumentException)\n\t\t\t{\n\t\t\t\ttry\n\t\t\t\t{\n\t\t\t\t\treturn Input.GetButtonUp(name);\n\t\t\t\t}\n\t\t\t\tcatch (ArgumentException)\n\t\t\t\t{\n\t\t\t\t\tLogger.Log($\"Failed to find key or button named {name}\");\n\t\t\t\t\treturn false;\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\t}\n}<file_sep>using System.Collections.Generic;\nusing System.Linq;\nusing Engine.Util;\nusing SynthesisAPI.Utilities;\nusing UnityEditor;\nusing UnityEngine;\nusing Logger = UnityEngine.Logger;\nusing Mesh = SynthesisAPI.EnvironmentManager.Components.Mesh;\n\nnamespace Engine.ModuleLoader.Adapters {\n public sealed class MeshAdapter : MonoBehaviour, IApiAdapter<Mesh> {\n private Material defaultMaterial = null;\n\n public void SetInstance(Mesh mesh) {\n instance = mesh;\n\n if ((filter = gameObject.GetComponent<MeshFilter>()) == null)\n filter = gameObject.AddComponent<MeshFilter>();\n if ((renderer = gameObject.GetComponent<MeshRenderer>()) == null)\n renderer = gameObject.AddComponent<MeshRenderer>();\n\n if (defaultMaterial == null) {\n var s = Shader.Find(\"Universal Render Pipeline/Lit\");\n defaultMaterial = new Material(s);\n defaultMaterial.color = new Color(0.2f, 0.2f, 0.2f);\n defaultMaterial.SetFloat(\"_Smoothness\", 0.2f);\n }\n renderer.material = defaultMaterial;\n\n filter.mesh = new UnityEngine.Mesh();\n filter.mesh.vertices = Misc.MapAll(instance._vertices, Misc.MapVector3D).ToArray();\n filter.mesh.uv = Misc.MapAll(instance._uvs, x => new Vector2((float) x.X, (float) x.Y)).ToArray();\n filter.mesh.triangles = instance.Triangles.ToArray();\n filter.mesh.RecalculateNormals();\n\n instance.PropertyChanged += (s, e) => {\n switch (e.PropertyName.ToLower()) {\n case \"vertices\":\n filter.mesh.vertices = Misc.MapAll(instance._vertices, Misc.MapVector3D).ToArray();\n break;\n case \"uvs\":\n filter.mesh.uv =\n Misc.MapAll(instance._uvs, x => new Vector2((float) x.X, (float) x.Y)).ToArray();\n break;\n case \"triangles\":\n filter.mesh.triangles = instance._triangles.ToArray();\n break;\n case \"color\":\n renderer.material.color =\n new Color(instance._color.r, instance._color.g, instance._color.b, instance._color.a);\n break;\n case \"recalculate\":\n filter.mesh.RecalculateNormals();\n break;\n default:\n SynthesisAPI.Utilities.Logger.Log(\"Property not setup\", LogLevel.Warning);\n break;\n }\n };\n }\n\n public static Mesh NewInstance() {\n return new Mesh();\n }\n\n internal Mesh instance;\n internal MeshFilter filter;\n internal MeshRenderer renderer;\n }\n}<file_sep>using System;\nusing System.ComponentModel;\nusing System.Runtime.CompilerServices;\nusing MathNet.Spatial.Euclidean;\n\n#nullable enable\n\nnamespace SynthesisAPI.EnvironmentManager.Components\n{\n public class FixedJoint : IJoint\n {\n public event PropertyChangedEventHandler? PropertyChanged;\n\n protected void OnPropertyChanged([CallerMemberName] string? name = null)\n {\n if (name is null)\n {\n throw new ArgumentNullException(nameof(name));\n }\n\n PropertyChanged?.Invoke(this, new PropertyChangedEventArgs(name));\n }\n\n #region Properties\n\n internal Vector3D axis = new Vector3D(1, 0, 0);\n public Vector3D Axis {\n get => axis;\n set {\n axis = value;\n OnPropertyChanged();\n }\n }\n internal Vector3D anchor = new Vector3D(0, 0, 0);\n public Vector3D Anchor {\n get => anchor;\n set {\n anchor = value;\n OnPropertyChanged();\n }\n }\n internal Rigidbody? connectedParent = null;\n public Rigidbody? ConnectedParent {\n get => connectedParent;\n set {\n connectedParent = value;\n OnPropertyChanged();\n }\n }\n internal Rigidbody? connectedChild = null;\n public Rigidbody? ConnectedChild {\n get => connectedChild;\n set {\n connectedChild = value;\n OnPropertyChanged();\n }\n }\n internal float breakForce = float.PositiveInfinity;\n public float BreakForce {\n get => breakForce;\n set {\n breakForce = value < 0.0f ? 0.0f : value;\n OnPropertyChanged();\n }\n }\n internal float breakTorque = float.PositiveInfinity;\n public float BreakTorque {\n get => breakTorque;\n set {\n breakTorque = value < 0.0f ? 0.0f : value;\n OnPropertyChanged();\n }\n }\n internal bool enableCollision = false;\n public bool EnableCollision {\n get => enableCollision;\n set {\n enableCollision = value;\n OnPropertyChanged();\n }\n }\n\n #endregion\n }\n}\n"},"directory_id":{"kind":"string","value":"73eb2cd518d367bde50d750583f3bd2dc62b72f3"},"languages":{"kind":"list like","value":["CMake","Markdown","TOML","Makefile","Dockerfile","INI","C#","Python","Go Module","Java","Rust","Text","C","Go","C++","Shell"],"string":"[\n \"CMake\",\n \"Markdown\",\n \"TOML\",\n \"Makefile\",\n \"Dockerfile\",\n \"INI\",\n \"C#\",\n \"Python\",\n \"Go Module\",\n \"Java\",\n \"Rust\",\n \"Text\",\n \"C\",\n \"Go\",\n \"C++\",\n \"Shell\"\n]","isConversational":false},"num_files":{"kind":"number","value":651,"string":"651"},"repo_language":{"kind":"string","value":"C++"},"repo_name":{"kind":"string","value":"Autodesk/synthesis"},"revision_id":{"kind":"string","value":"663de4c173df590306e4f6eaa9f643f96f72a3c9"},"snapshot_id":{"kind":"string","value":"533fad26b43a064c1c198207a0c1dac74b5962bf"}}}],"truncated":false,"partial":false},"paginationData":{"pageIndex":74,"numItemsPerPage":100,"numTotalItems":60000,"offset":7400,"length":100}},"jwt":"eyJhbGciOiJFZERTQSIsImtpZCI6IjVHZDBvd0g5MTM2eDZjc1FvbE1zcktNWUZoRVFoUm5PVVVybEpjOUhaUEEifQ.eyJyZWFkIjp0cnVlLCJwZXJtaXNzaW9ucyI6eyJyZXBvLmNvbnRlbnQucmVhZCI6dHJ1ZX0sImlhdCI6MTc5MDgyNzcxNSwianRpIjoiMGUzYzdjYjEtNDAyYS00YzlmLTkzMWUtZDM4MjBhZTJlNTkxIiwic3ViIjoiL2RhdGFzZXRzL1NlcnZpY2VOb3cvc3RhY2stM2Itc2FtcGxlIiwiZXhwIjoxNzkwODMxMzE1LCJpc3MiOiJodHRwczovL2h1Z2dpbmdmYWNlLmNvIn0.B5gYzJB2ttIoduAXw9gHevjhn91PKevIZMeLTbJhENorhSQb5mVGFMdJEAxPUEX12mVL3q4vUKWy_05cjBwOAg","displayUrls":true,"splitSizeSummaries":[{"config":"default","split":"train","numRows":60000,"numBytesParquet":636743684}]},"discussionsStats":{"closed":0,"open":1,"total":1},"fullWidth":true,"hasGatedAccess":true,"hasFullAccess":true,"isEmbedded":false,"savedQueries":{"community":[],"user":[]}}">
branch_name stringclasses 149
values | text stringlengths 23 89.3M | directory_id stringlengths 40 40 | languages listlengths 1 19 | num_files int64 1 11.8k | repo_language stringclasses 38
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refs/heads/master | <file_sep>rootProject.name = 'react_native_test'
include ':react-native-facebook-account-kit'
project(':react-native-facebook-account-kit').projectDir = new File(rootProject.projectDir, '../node_modules/react-native-facebook-account-kit/android')
include ':react-native-firebase'
project(':react-native-firebase').projec... | 1fd67ef5ccd5de779367a4ab8c93e0755d915b50 | [
"JavaScript",
"Gradle"
] | 4 | Gradle | anhdvz/anhdv_rnt | a4a58555d1528e5c456ec8e51c7cc4909cc505fe | 5e3e0f6bbaa94d92b6996ff37c24dc34aab9f2f1 |
refs/heads/main | <repo_name>tim-carter-devel/AWSMiningTool<file_sep>/lib/os.py
import configparser
import json
import os
def dict_to_json(dict, filename):
## Dict_to_JSON Function
## Description: Takes in a dictionary and writes it to a JSON file.
## Arguments: dict - dict - self explanatory
## ... | 441a9e825f63b2632681606bfe90449c4fcdde01 | [
"Markdown",
"Python",
"INI"
] | 12 | Python | tim-carter-devel/AWSMiningTool | ab227527da7fe32cbd50465ec9e6b4935f1ef6bd | fef969f907038e26fae7dacb161680ade2321752 |
refs/heads/master | <file_sep># Materialize theme
Just for fun !
  
## Built With
* [Materialize](https://materializecss.com/) - The framework CSS
* [PhpStorm](https://www.jetbrains.com/fr-fr/idea/) - IDE
## Versioning
1.0
## Authors
* **<NAME> @Flow2dot0** - [Linkedin](h... | 3fb12200ae694ce424ef3372a0bb2ec90bb9fefc | [
"Markdown",
"PHP"
] | 7 | Markdown | florian-gustin/php_materialize_template | 6b73e9144dadd747eea3582a8448167276445fca | 36b60497cc6e024a38c375e362907a54051a1770 |
refs/heads/master | <repo_name>lferreira/testes-interface-comente<file_sep>/src/test/java/desafio/blueSoft/comenteSobre/testeInterface/malFeito/ComenteSobreMalFeitoTest.java
package desafio.blueSoft.comenteSobre.testeInterface.malFeito;
import junit.framework.Assert;
import org.junit.Test;
import org.openqa.selenium.By;
import org.openq... | dfdf971e36dda7fc019d96d31dd4093404fa24e0 | [
"Markdown",
"Java"
] | 4 | Java | lferreira/testes-interface-comente | bf24e124d2b1cc5d0d7142d1d779221da7a86e9f | 9a761bbf520ab82f71218aff9e79b94b1f046e03 |
refs/heads/master | <file_sep>print("hi this is")
| 0520cac7b103bb5a96dd7aa839aa99d11c296226 | [
"Python"
] | 1 | Python | gayatric104/gayatri104 | 90eda8ee2a9abd81d90d7313f6f28d6623f86f75 | dcbb4b321e5f71079649667051af0e1e6bf7af41 |
refs/heads/main | <file_sep>package group.sam_knows_test.Model;
import java.io.File;
import java.io.IOException;
import java.nio.file.Files;
import java.text.SimpleDateFormat;
import java.util.ArrayList;
import java.util.List;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.fasterxml.jackson.databind.type.Type... | ce7cb2e556861ace12e60e69a9629e701e0d3066 | [
"Markdown",
"Java"
] | 4 | Java | GeorgeBowers/sam-knows-test | 2c37c5de5ab582805193f21f4b30cfde427493b4 | 2e703ea406f1770c2a8436b32a3cd9278de5ee11 |
refs/heads/main | <file_sep>CFLAGS=-fopenmp
cpi: cpi.o gettime.o
cc -O3 -o cpi cpi.o gettime.o
cpi.o: cpi.c gettime.h
cc -O3 -ffast-math -mavx2 -c -o cpi.o cpi.c
gettime.o: gettime.c gettime.h
cc -O3 -ffast-math -mavx2 -c -o gettime.o gettime.c
cpi_mpi: cpi_mpi.o gettime.o
cc -O3 -o cpi_mpi cpi_mpi.o gettime.o
cpi_mpi.o: cpi_mp... | cc38b9202c232bb4971549e0bb011e6280a491cc | [
"Markdown",
"Makefile",
"Dockerfile",
"Shell"
] | 16 | Makefile | lucasseiler/hpc_esc401_solutions | 6a31c1877ca5cae9fc957af9d40bfc65a7bbccc7 | 34a680226c62bb4e897569bf2a07674ec7d4e51b |
refs/heads/main | <repo_name>fgalletti93/drumkit<file_sep>/script.js
window.addEventListener('keydown', function(e){
const audio = document.querySelector(`audio[data-key="${e.keyCode}"]`)
const key = document.querySelector(`.drum[data-key="${e.keyCode}"]`)
if (!audio){
return; //if there is no audio, stop the functio... | 3110686c3cc299798dcc5ef3607480fa7a33e306 | [
"JavaScript"
] | 1 | JavaScript | fgalletti93/drumkit | 4b2031abb2045942b965f487ed42d0e3e80df749 | 1a9b04770be9ca804f829b7aa17230f737c4360e |
refs/heads/master | <repo_name>pvandadi/jmeter-cookbook<file_sep>/CHANGELOG.md
Changes
=======
# Stable - 1.0.0
1. Removes dependency on [chef-sugar][1], [apt][2] and [poise][3].
2. Removes support for Ubuntu 10.04 and EL5.
3. Cleans up test suite including removing brittle tests.
<file_sep>/metadata.rb
name 'jmeter'
maintainer '<NAME>'
... | 0ddd9c842202bd444dc55d562916e6902d43e62b | [
"Markdown",
"Ruby"
] | 3 | Markdown | pvandadi/jmeter-cookbook | 35522e290c2b5a18ce1dfe21f4f9a89e0dfff9f6 | fc8a78859e5c5c419015ce722c468a13fa8437f6 |
refs/heads/master | <repo_name>The-L4U/the_l4u_homepage<file_sep>/php/endpoint.php
<?php
/**
* Source (adapted) from <NAME> (accessed 2017) from:
* Credit: http://coreymaynard.com/blog/creating-a-restful-api-with-php/
*/
use model\mensaAPI;
include_once 'api.php';
include_once 'myapi.php';
// Requests from the same serv... | 383ddf26a58a8c28ee3fb62013004cea66206f0b | [
"JavaScript",
"Markdown",
"PHP"
] | 7 | PHP | The-L4U/the_l4u_homepage | f7b49a0ba336b293a3e7ede84d00c73a5a94ed6c | a7a55a142011e838574c061679b2797cf241b955 |
refs/heads/master | <repo_name>gb853940223/ballgame<file_sep>/js/ballgame.js
// JavaScript Document
$(function(){
var ctx = null;
window.requestAnimationFrame = window.requestAnimationFrame|| window.mozRequestAnimationFrame || window.webkitRuestAnimationFrame || window.oRequestAnimationFrame || window.msRequestAnimationFrame;
var Game ... | 3a52198b43bf3e67bd61ed9070b1ce94971b2bfa | [
"JavaScript"
] | 1 | JavaScript | gb853940223/ballgame | a431b09cbf5a9ceebe790eca75a7ffa56c4324db | a616c0737d1eb2624d717a0ad7a90ace46e83e60 |
refs/heads/master | <repo_name>Jesus369/react-high-on-coding<file_sep>/src/components/Posts.js
import React, { Component } from 'react';
export class Posts extends Component {
render() {
var container = {
marginBottom: "2em"
}
var title = {
color: "red",
margin: "0 0 .7em 4em",
fontSize: "1.3em"
... | b32da512efb3a1b55618777e6fdf617330fc8384 | [
"JavaScript",
"Markdown"
] | 5 | JavaScript | Jesus369/react-high-on-coding | ccc81cbacc3728e8508b285e80cb29ce97a80809 | 4b76218bbf53ec8a3b7fcce8a9a36cd42003142d |
refs/heads/master | <repo_name>balovbohdan/functio<file_sep>/src/containers/container/container.test.ts
import Container from '.';
describe('containers/Container', () => {
it('should create container for a given value', () => {
const value = 'value';
const container = Container.of<string>(value);
expect(container).toBeInst... | 14ad81c1cc441b71623e08c80d150d158de35405 | [
"JavaScript",
"TypeScript",
"Markdown",
"Shell"
] | 52 | TypeScript | balovbohdan/functio | 75d89363d97b8c58e48259df4e5ad5d272611c5d | 891155f9ed4de1e371ad29ea73913f65163381a6 |
refs/heads/master | <repo_name>miksde/oo2021<file_sep>/w01_funktsioon/kodune1.java
public class kodune1{
//funktsioon arvutab hinna koos käibemaksuga, sisestatakse käibemaksuta hind
public static double käibemaks(double h){
double d = h*1.2;
double roundDbl = Math.round(d*100.0)/100.0;
return ro... | 6a085165321be2f4ff1e0c3ef577bab4f100ee40 | [
"Java"
] | 2 | Java | miksde/oo2021 | 707b1fea996ba56387dd5810a53847366a4bf076 | 5999ab42f05acf89cb2ef94bd658bbaa7990b86d |
refs/heads/main | <repo_name>ridwan094/batch-9-minggu1<file_sep>/quiz02/01-Fruits.js
const fruits = ["Jeruk", "Mangga", "Jambu", "Durian", "Rambutan"];
//a. push
fruits.push("Anggur");
fruits.push("Banana");
fruits.push("Sirsak");
console.log(fruits);
//b. pop
fruits.pop()
console.log(fruits);
//c. splice
fruits.splice(2,1);
console.... | 4a29ec9d07a1bd42fdf11b6858a6d69bdfde2691 | [
"JavaScript"
] | 24 | JavaScript | ridwan094/batch-9-minggu1 | bc48e99c4a5949c9060a149aacd199e44ed066d7 | 83f93b7f6b3e3d56706068f78478ecd16caadde7 |
refs/heads/master | <file_sep>import sys
from random import randint, choice
from PyQt5.QtCore import Qt
from PyQt5.QtGui import QPainter, QPen, QBrush
from PyQt5.QtWidgets import QApplication, QMainWindow
from UI import Ui_MainWindow
class MyWidget(QMainWindow, Ui_MainWindow):
def __init__(self):
super().__init__()
... | b78ccb51cb8432c1aa96385adabc90fa814c0813 | [
"Python"
] | 1 | Python | Marcudza/yellow-circles | adca166228c9965ce671f28bcc407bd9b8de2cbe | 86e642922de8b38e2c8781195a0d18461dfaf556 |
refs/heads/master | <file_sep>$(function(){
//加载头部和尾部
$('.subList-top').load('header.html',function(){
$('.subList-foot').load('footer.html',function(){
$('body').show();
$('.J_cartItem').hover(function(){
$(this).find('.cart-remove').fadeIn();
$(this).find('.number-plus').fadeIn();
$(this).find('.number-minus').fa... | defee2d0e2ce613f6a4f3ac5f04833187f0d9401 | [
"JavaScript",
"Markdown"
] | 5 | JavaScript | zyw5791557/Meitu | bfc8fcc05aae765dae0ebc0840ebee7141a96c34 | 9d0a3096dce9838f35a1721666ce163e57bec31d |
refs/heads/master | <repo_name>TigerWolf/TestBed<file_sep>/Rakefile
# -*- coding: utf-8 -*-
$:.unshift("/Library/RubyMotionPre/lib")
require 'motion/project/template/android'
begin
require 'bundler'
Bundler.require
rescue LoadError
end
#require 'nexusmotion' # For some reason this needs to be manual
Motion::Project::App.setup do |a... | 25dfb551c7894dc40989db0f9a9bf688bfd2963c | [
"Ruby"
] | 3 | Ruby | TigerWolf/TestBed | 470ddcc28121121a904e5f20bc8059fa776a69da | 4f750971571f6e7a102e2de3016795e1e0a7bf0e |
refs/heads/master | <file_sep>package com.example.fmi_fmf;
import android.app.Dialog;
import android.app.ProgressDialog;
import android.content.BroadcastReceiver;
import android.content.Context;
import android.content.Intent;
import android.content.IntentFilter;
import android.graphics.Color;
import android.location.Criteria;
import andr... | d06c937a8b04ceb75a56a5c7312b057c73c29d69 | [
"Java"
] | 2 | Java | arsalankhanahmed/FindMyFriend | ad27d2ab026503432561db0ba335492f47b25d24 | 9cb1804e7458753a093ab90c670d0f2406443086 |
refs/heads/master | <file_sep>package dbhpr
import (
"fmt"
"reflect"
"strings"
"time"
)
type DBHelper struct {
dbname string
}
func (h *DBHelper) Exec(sql string, args ...interface{}) (rowsAffected int64, err error) {
stmt, err := dbHive[h.dbname].Prepare(sql)
if err != nil {
return 0, err
}
defer stmt.Close()
r, err := stm... | 578ae47c4f9e468817c60f2be09be9c3f35e9057 | [
"Go"
] | 3 | Go | pojoin/dbhpr | 8d8422e4d94130329da5f896a76d9b723d847318 | 9a1a01bab3834a9ec87cd9fde91a97b3bada43e2 |
refs/heads/master | <repo_name>DmitriyMV/miscellaneous<file_sep>/27-11-2019-slides/deadlock/main.go
// +build ignore,OMIT
package main
import (
"fmt"
"runtime"
"sync/atomic"
)
func main() {
var val int64
runtime.GOMAXPROCS(1) // HL
go func() {
for {
atomic.AddInt64(&val, 1) // HL
}
}()
runtime.Gosched() // HL
fmt.Println... | eca136df6cef63569df36f8e0f95f0a7bccba12d | [
"Markdown",
"Go"
] | 4 | Go | DmitriyMV/miscellaneous | 417ea984bab99d437f762f4d36fa7e1384ba475d | 1c52b5302b0e6b158df4b3c515c17a35c3845ad8 |
refs/heads/main | <repo_name>whitewingz2017/SummitRP<file_sep>/server-data/resources/[SRP]/srp-emergencyjobs/__resource.lua
resource_manifest_version "44febabe-d386-4d18-afbe-5e627f4af937"
client_script "@srp-errorlog/client/cl_errorlog.lua"
client_script {
"cl_pogarage.lua"
}
server_script "sv_pogarage.lua"
<file_sep>/server-data/... | 7f42abb588d96cd07cfb81789f4512bc0eee9453 | [
"Lua"
] | 63 | Lua | whitewingz2017/SummitRP | 3b149b15bc0934e8214dfa27653a00a5b99a3aa9 | 4c0b778bef3fa203bd8ca47583d57564f05b0ccd |
refs/heads/master | <repo_name>calleboketoft/coAuth<file_sep>/appHttpInterceptors.js
angular.module('coAuth')
.config(function ($httpProvider, coAuthConfig) {
$httpProvider.interceptors.push(function($q, $injector, $window) {
return {
request: function(config) {
var urlStart = config.url.slice(0, 4... | 75b8682a80da2d07d89c60ef38a172d826707109 | [
"JavaScript",
"Markdown"
] | 3 | JavaScript | calleboketoft/coAuth | edc942da74b05e906daea64b4df639d39a8ac1c2 | 072ff9c52cfa749b7fb9c4c0b79125fb590dfdc7 |
refs/heads/main | <repo_name>tripathi789308/seam-carving<file_sep>/seamcarving/seamcarving/views.py
from django.shortcuts import render
def index(request):
return render(request, 'index.html')
def about(request):
return render(request,'about.html')
def contact(request):
return render(request,'contact.html')
def code(r... | 2d59b66723ff2472bacee362c0aef5b25ac11998 | [
"Markdown",
"Python",
"Text",
"HTML"
] | 5 | Python | tripathi789308/seam-carving | d2532ca8815c78d836aa3172d991b94abd746ffd | 099fbece7a1675f5c6432189b14b0e3b94b1f36c |
refs/heads/master | <file_sep>util.AddNetworkString("OpenTeamSelection")
function OpenTeam(ply)
net.Start("OpenTeamSelection");
net.Send(ply);
end,
hook.Add("PlayerInitialSpawn", "OpenTeam", OpenTeam);
function changeTeam(ply, cmd, args)
local team = tonumber(args[1]);
if (team <= 3 && team >= 1) then
ply:SetTea... | a1f24795f9bcc8d494c114446bc8a3aa277f93a4 | [
"Lua"
] | 13 | Lua | iskjames/deathmatch | 15309b286a24dcaf7cd49788938949efd28974ee | e00a6ee43d18134d0a49bd88a862ecda6a492ed0 |
refs/heads/main | <repo_name>Jaymart11/gderwebsite<file_sep>/cms/modules/users_table.php
<?php session_start(); if ($_SESSION['GDERulvl']!='1') { exit(); } ?>
<?php
include("../modules/dbcon.php");
$query = "SELECT * FROM users order by namae";
$result = mysqli_query($dbc, $query);
if (mysqli_num_rows($result)>0){
?>
<div class="ta... | 9580fd3f1b514f089ea206d859f053c9226ee7ae | [
"PHP"
] | 45 | PHP | Jaymart11/gderwebsite | 403c5d88cdfd6faeaff0228b97ab664fb605f037 | 0080e2f38d87f8dc67f5bb0fa7231dc5f626c62a |
refs/heads/master | <repo_name>nyaculak/bitgoldjobs<file_sep>/src/bitgoldjobs/Job.java
package bitgoldjobs;
import org.bukkit.Material;
import org.bukkit.entity.EntityType;
public enum Job {
DIGGER("Terraforming anyone? Get paid to break dirt, sand, and gravel",
"Dirt: 1 pt; Sand: 1 pt; Gravel: 2 pt",
new Material[] { Mat... | a94ec13503dc3c49fdb41d5545dcb1c6e49a74c1 | [
"Java"
] | 5 | Java | nyaculak/bitgoldjobs | 7f5393bd6a0844569de3578db994a3ab89a0b188 | f1a9e618e839b6fca579997b66d2e26bd8b94223 |
refs/heads/master | <file_sep>var spawntimer, movetimer;
var drop_array = new Array();
/**
* The Drop class is a blueprint for each raindrop we generate
* @author <NAME>
* @version 1.0, May 2014
*/
function Drop(){
this.x; //starts empty, will keep track of each drop's left-right position as a #
this.y; //starts empty, will keep t... | c50046251d3f6de053997972370632a4a9a1d924 | [
"JavaScript"
] | 1 | JavaScript | johnsmicklo/dropgame | ad9b2d5934b0d95b23d7792c0ea3217c4ca08e29 | 501ba195ecb96ceedea6a01ba12f4213e4c51220 |
refs/heads/master | <file_sep>stencil: stencil.c
icc -std=c99 -qopenmp-stubs -Qparallel -g -pg -Ofast -Wall $^ -o $@
<file_sep>ls
module load languages/python-2.7.6
python check.py --ref-stencil-file stencil_1024_1024_100.pgm --stencil-file stencil.pgm
logout
git pull
python check.py --ref-stencil-file stencil_1024_1024_100.pgm --sten... | c284f90d095072ac0201924261d4286d0b2ffd9b | [
"Makefile",
"Shell"
] | 4 | Makefile | ashwindersk/HPC-1 | a5d1fd3fba60e814484217d8c2c9b92899f28062 | 04bc10ed20b5ef14f3f0f7db10ff272fe37e39a4 |
refs/heads/master | <file_sep>module.exports = {
jwtSecret: process.env.JWT_SECRET || '1c0055a8-e5f1-4fd7-9547-1dd68af544cc'
}; | 7790a7b52d14bc2a01920424bd7ec13b9dc7753f | [
"JavaScript"
] | 1 | JavaScript | andyyang24/next-strapi | 282b1a8838d2d521329641d7dbe51b66dcd2ca3d | 7bf74abe8d40df7549cf4ed414d22f5e9b9e87be |
refs/heads/master | <repo_name>alpayakyilmaz/DAL-Sample<file_sep>/DALSample/Form1.cs
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using BL;
namespace DALSample
{
pub... | fad57b224c26ab6b32b05e61d5b7db80367b4941 | [
"C#"
] | 9 | C# | alpayakyilmaz/DAL-Sample | 09f087a55267c7456841503f5fc261b308316d0b | 905dc5b474ee6472802e260848074e104ecd05dd |
refs/heads/master | <file_sep># Lumohack
Lumohacks Health Hackathon 2016 project
<file_sep>// configure db.js
module.exports = {
url : 'mongodb://noa_avigad:<EMAIL>:33116/lumousers'
}
<file_sep>angular.module('myApp', ['ngRoute', 'appRoutes', 'MainController', 'NerdService']);
| dcfd626cfab7a80ce7966529557ef153c278a72e | [
"Markdown",
"JavaScript"
] | 3 | Markdown | NoaAvigad/Lumohack | 321657e27198c04167e99b24c5f5c9ed4e38c523 | 23b092eb3d3ecb8634d52bc8418fe922798c4f44 |
refs/heads/master | <repo_name>Ws-programmer/python_test<file_sep>/test.py
# -*-coding:utf-8-*-
"""
第一个python类，学习各个基础类型
"""
# 字符串相关测试：https://www.runoob.com/python/python-strings.html
def test_str(string):
length = len(string)
if length < 0:
return
print("入参为一个字符串：" + string)
print("字符串截取一部分：" + string[0: length... | d3801d550398b8f59e2d91461e4958fefae18b07 | [
"Markdown",
"Python"
] | 2 | Python | Ws-programmer/python_test | 2a82519300e5cd43d0864fd1a8bd0e8078138dde | 0f0bdf8111e0a4fde7348702cfaf6ab69a18e878 |
refs/heads/main | <file_sep>export class Services {
id: string;
serviceTitle: string;
serviceSubTitle: string;
serviceImage: string;
serviceDescription: string;
constructor(id: string, serviceTitle: string, serviceSubTitle: string, serviceImage: string, serviceDescription: string) {
this.id = id;
this.serviceTitle = ... | 726a9fbbf9b6c4afa6f9e24d71874e4ac854f00a | [
"TypeScript"
] | 6 | TypeScript | Binod-Shrestha/beauty-parlour-forndend | 53953656e1c3e2444f5862476824ff7460fb43ae | 3544e69af75545301eb0c9086faa02ced322315e |
refs/heads/master | <repo_name>EspinoVic/Reproductor<file_sep>/README.md
<h1>
Music Player (Developing)
</h1>
<h3>
This player was made with educational end in order to learn to use android basics. Creating as final product a functional application.
</3>
<h5>
Current working branch:
<a href="https://github.com/EspinoVic/Reproductor/tr... | bbecea99d12a535594cb70495b1b81af73a0d964 | [
"Markdown",
"Java"
] | 3 | Markdown | EspinoVic/Reproductor | b8609186b82494080d18ae6504b2150e0c8f3a96 | 2fb7acc572cdb9c4d74520305793dc88592e2512 |
refs/heads/master | <repo_name>Paxsign/Qt-gigiena<file_sep>/mainwindow.cpp
#include "mainwindow.h"
#include "ui_mainwindow.h"
#include "QDebug"
#include <QCompleter>
#include <QFile>
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
uglevod=0;
sum_time=0;
su... | 2c0c6c3c162710dd31d4ab4bf05d16293df685bb | [
"C++"
] | 2 | C++ | Paxsign/Qt-gigiena | ea017f1cf6648eae328d738a8e2a58cd87694f41 | 59bd8721fe04147386135aab10f207738c96599e |
refs/heads/master | <file_sep>var myApp = {};
myApp.AppView = function () {
this.updateScoreView = function(value){
//not implemented since this is not a real app
};
this.updateRemainingQuestionsView = function(value){
//not implemented since this is not a real app
};
};
myApp.AppController = func... | 4fcc29ab8d5d8da1b313eca8912f340c88040454 | [
"JavaScript"
] | 2 | JavaScript | aliok/jack | c27a107096139d55e8f25c0aa266e15a45a76f22 | 1fde73fd1bcd5ee07169d95360938f0ca04001a8 |
refs/heads/master | <file_sep>using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class Exit : MonoBehaviour {
// Define the gameManager
GameManager gameManager;
// Use this for initialization
void Start () {
// Assign the game manager
gameManager = GameObject.Find("GameMana... | 3028c4f2046512e0526ec16695feaaf8ab505dca | [
"C#"
] | 7 | C# | meridiantaal/MazeEscapeVR | 23a5157f4eb13a1bf1838479f122e18537ff93b2 | abf658f26f1648aba974cff884f169178830b3ce |
refs/heads/master | <repo_name>EPAM-training/Task5_Maxim_Pashuta<file_sep>/EPAM_Task5/Task2/Models/Worker.cs
using EPAM_Task5.Task2.Interfaces;
using System;
using System.Runtime.Serialization;
namespace EPAM_Task5.Task2.Models
{
/// <summary>
/// Class describes worker.
/// </summary>
[Serializable]
[DataContract]
... | 363b795b690f100fc85b959e40c22728da936b78 | [
"C#"
] | 12 | C# | EPAM-training/Task5_Maxim_Pashuta | d3cf649b0888ecca7a99eb95ab7b08f31b61a36b | 2ad7f3935b3da588773c5cf2557db4da883f8019 |
refs/heads/master | <file_sep># Blackbox
This is test implementation for 'Blackbox' game.
## Installation
```sh
git clone https://github.com/naokazuterada/Blackbox.git
cd Blackbox
```
## Usage
```
# Use 'bundle exec' if needed
$ exe/blackbox setup
$ exe/blackbox test 1 1
(1 ? ?) + (1 ? ?) = 3
$ exe/blackbox test 1 2
(1 ? ?) + (1 ? ?)... | 17eb7f5861649ff9c7ef4ffbded28f0484dcb507 | [
"Markdown",
"Ruby"
] | 5 | Markdown | naokazuterada/Blackbox | bbb463f9419893443578ceef89828f82ff6ad9c8 | 0b9a3fa6c540e6f5aa0a43d0892d8720d57a7d47 |
refs/heads/master | <repo_name>1natsu172/wp-attach-dev<file_sep>/README.md
# wp-attach-dev
## これはなに？
WordPressのテーマ開発をすばやくやるためのボイラープレートです
### 方針
#### テーマファイルは同梱していない構成です
* テーマ開発スターターキット(_sのようなテーマ)や既存のテーマやDLしてきたテーマなどと組み合わせて使います
- これらテーマを骨組み的な役割として扱います
#### アタッチメントの思想でアセット類は上書きベースで開発します
* phpファイル自体は上記の既存テーマやスターターキットテーマを利用
* 骨組みのテーマの... | 0e7e59f3a85e0a7f2c7c02107849e6f764ce99ba | [
"Markdown",
"JavaScript"
] | 5 | Markdown | 1natsu172/wp-attach-dev | 39e3a32442555a187628f021700a4e51df141942 | e2498e06b5fc1a2ac35c3ce190ed2e644e2551b0 |
refs/heads/main | <file_sep>const path = require("path");
const ForkTsCheckerWebpackPlugin = require("fork-ts-checker-webpack-plugin");
const HtmlWebPackPlugin = require("html-webpack-plugin");
const MiniCssExtractPlugin = require("mini-css-extract-plugin");
module.exports = {
// bundling mode
mode: "production",
target: "node",... | fab9560a2e7c0e5ed00065c988c8c35b894878d4 | [
"JavaScript",
"TypeScript",
"Markdown"
] | 3 | JavaScript | sukhminderx/node-typescript-webpack-sukhi | b122c18e649f092d3d88ff9ee729ad1adfc6697b | a6379f3551798cfa44bb0ad6b32f0b586011a55d |
refs/heads/master | <repo_name>aesadin/ping-pong<file_sep>/Desktop/survey/js/scripts.js
//if (age >= 20) {
//$('#notdead').show();
//} else if (age ===21) {
//alert("Welcome to the afterlife")
//} else {
//$('#under-20').show();
//}
$(document).ready(function() {
$("form#ghostquiz").submit(function(event) {
//const age = p... | bfdd9d8601589ef7aa7557264697ed357dfed282 | [
"JavaScript",
"Markdown"
] | 4 | JavaScript | aesadin/ping-pong | 9e08699280bd227d8dd3243ce2402434b5f7b72b | f7d0916a6558b749be1cef6b01d1c694648015dc |
refs/heads/master | <file_sep>""" a demo for testing the images in a directory (for computing precision and recall).
author: meringue
date: 2018/6/9
"""
import sys
import os
sys.path.append('./')
import time
from yolo.net.yolo_tiny_net import YoloTinyNet
import tensorflow as tf
import cv2
import numpy as np
np.set_printoptions(suppress... | 3bde7d882f250cf8e46cad483dd39f6169a5e9d0 | [
"Markdown",
"Python"
] | 4 | Python | ChrisZHMing/tiny-yolo-objection-detection | 68a34d5f7e25067fb793d40b4c0869de5b10d0eb | 54a2d9bc8b482950daa4127245f30b98084cd0ff |
refs/heads/main | <repo_name>beatrizcastroe/Projeto-SAE<file_sep>/SAE/Controller/cadastroCliente_edit.php
<!DOCTYPE html>
<html lang="pt-br">
<head>
<!-- Meta tags Obrigatórias -->
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no">
<!-- Bootstrap CSS -->
<link rel="s... | ce2c12b018472187e98e7c5d11e80f6690575e27 | [
"JavaScript",
"SQL",
"Markdown",
"PHP"
] | 13 | PHP | beatrizcastroe/Projeto-SAE | 7f870b8411c59fae6b8a6929516ef70ec5be2727 | f976e988341d2887036509153978705b5476e489 |
refs/heads/main | <repo_name>shell-develop/smya-go<file_sep>/mqtt/handler.go
package mqtt
import (
"fmt"
mqtt "github.com/eclipse/paho.mqtt.golang"
"smya/exec"
"smya/request"
"smya/resource"
)
var messageHandler mqtt.MessageHandler = func(client mqtt.Client, msg mqtt.Message) {
str := resource.ResDecrypt(msg.Payload())
command,... | 0e54ec87b03f0a9b75b8453c6879635f99b50103 | [
"Markdown",
"Go Module",
"Go"
] | 20 | Go | shell-develop/smya-go | cb99182d3b948953deb82b3eb2a477bcbbcf05b7 | 97968f305ed431c1a85e20043bb5c34a41ac5d2e |
refs/heads/main | <repo_name>AmiRoss27/Re-MuseMe<file_sep>/ReMuseMe/src/app/user-profile/user-profile.component.ts
import { Component, OnInit, ElementRef, ViewChild, AfterViewInit } from '@angular/core';
import { ActivatedRoute } from '@angular/router';
import { SpotifyApiService } from '../spotify-api.service';
import { Profile } from ... | 34e876d3c54916a53f712c3bec7581e5c515546a | [
"JavaScript",
"TypeScript"
] | 4 | TypeScript | AmiRoss27/Re-MuseMe | 09431aa0a0adfa3ccde3fd3e9edff904370d4eaa | 6297546ae42936c54fe522f44dfcfbbf532aeb53 |
refs/heads/master | <repo_name>yl-cn/nodeWebpackVue<file_sep>/src/main.js
import Vue from 'vue'
import VueRouter from 'vue-router'
import App from './App'
import NewHome from './components/edit/Home'
import NewQuestionare from './components/edit/New'
import Questionare from './components/questionare/Questionare'
import Edit from './compon... | fdb8da9eb3e162aabea3c5605b82bda429d9774e | [
"JavaScript",
"Markdown"
] | 3 | JavaScript | yl-cn/nodeWebpackVue | 99bf520346540f736f7d035436ddd7c799964dc1 | 4704dbf5318bbcfc8afe2c24ad6582bd4e41ef59 |
refs/heads/master | <file_sep>#NativeSupport.js
NativeSupport.js is a small library for running before your code executes to determine if any JavaScript functions you are using are going to have browser compatibility issues.
##How It works
This library primarily uses the Proxy Pattern to intercept all calls to the Array and Object proto... | 44a5634239a891110359a97a7edf1ec0cb2484e7 | [
"Markdown",
"JavaScript"
] | 2 | Markdown | brockwhittaker/native-support.js | d2c7f381837c88baa0326214d2c2ffbed4a23e29 | 04486dd4d14a9919586c135ab40cb662b4bcef55 |
refs/heads/master | <file_sep><?php
class IpTablesGenerator {
/** Name of the script for iptables file generated comments */
const SCRIPT_NAME = "iptables-generator v1.0";
/** Path to the iptables file with current conditions */
const CURRENT_FILENAME = __DIR__ . "/iptables.save";
/** Path to the iptables file with... | aca076428aefc23e12d5855edc347f4999f2678e | [
"Markdown",
"PHP"
] | 2 | PHP | TooKennySupreme/iptables-generator | 31c86ad9e00ed2780fd6f4843d8293c11b4e185d | f0fa8e51ad38f36e00a00575870e88230993e1f6 |
refs/heads/main | <repo_name>kristiangyene/IN1010<file_sep>/oblig6/KryptertMonitor.java
import java.util.concurrent.locks.Lock;
import java.util.concurrent.locks.ReentrantLock;
import java.util.concurrent.locks.Condition;
import java.lang.InterruptedException;
public class KryptertMonitor{
public Lenkeliste<Melding> meldingerKryptert... | a9ba1a4353ea3d198449ebbdfa84605cc15b835c | [
"Java",
"Text"
] | 24 | Java | kristiangyene/IN1010 | 987f4d3b88aa5687f8e4b8b1e786c67b6235aefa | ab8ba405daac41e2b825b354500a17ea20cc4bc1 |
refs/heads/master | <repo_name>amaralfelipe1522/script-automatizacao-instalacoes<file_sep>/ubuntu-code-anywhere/checklist.md
# CHECK LIST
## wget
```
apt-get install wget -y
```
## curl
```
apt-get install curl
```
## Snap
```
apt-get install snapd -y
```
## Git
```
apt-get install git-all -y
```
## Terminator
```
apt-get install termina... | 55d8d4f58d18679fbcd25e1b5990105b4c4b61a1 | [
"Markdown",
"Shell"
] | 6 | Markdown | amaralfelipe1522/script-automatizacao-instalacoes | 0338886955b64e278b8a3741e2ed4d95f378ea8c | 09c1cdbb4b19788f297dbd5612c584c40830ac75 |
refs/heads/master | <file_sep>const { Observable } = require('rxjs')
const { tap, concatMap, flatMap, mergeMap } = require('rxjs/operators')
const utils = require('../utils');
// **************************************
function getFile(file) {
return new Observable((observer) => {
function success(response) {
obse... | 128b927902386a3f6035739267adb044e3790bf4 | [
"JavaScript",
"Markdown"
] | 12 | JavaScript | ladvishal1985/js-async-patterns | cecd64754705ac4e0215e3649d9a66b2ad5fee7e | 22a9729961bfa9352cf23eefadd9f1c830f26789 |
refs/heads/main | <repo_name>Woocash7/carsapi<file_sep>/api/models.py
from django.db import models
from django.db.models.fields.related import ForeignKey
# Create your models here.
class Car(models.Model):
make = models.CharField(max_length=50)
model = models.CharField(max_length=50)
def __str__(self):
ret... | a7c1d84f3764415fa7033559616b192de75ab796 | [
"Markdown",
"Python",
"Dockerfile",
"Shell"
] | 13 | Python | Woocash7/carsapi | 55dc71bfc159ee6f628b10627687dc0c3bee4ffe | 25a77dc7a8828c65eedb598d52b1e5d170e502d0 |
refs/heads/master | <repo_name>rtanmay/RNA_Splicing<file_sep>/README.md
# RNA_Splicing
Given a DNA string and substrings acting as introns in FASTA format, removal of introns from pre-RNA and joining of exons is done to form m-RNA and then it is translated to get the protein.
## For translation
Standard genetic code (NCBI table id 1) is ... | 17de719d32a6c6fcce8dc814c357777a16211f7b | [
"Markdown",
"Python"
] | 2 | Markdown | rtanmay/RNA_Splicing | ee3f5feef81bdfae268afc71c9d8a996a1d77c5b | 384fc188fb10f44c15651e12bb4b36fc5c12329b |
refs/heads/master | <file_sep>var state={
/*currentScreen: 0,
screens: ['start', 'questions', 'end'],*/
currentQuestion: 1,
score: {correct: 0, incorrect: 0},
questions: [
{
question: 'Who is the main protagonist of Dragon Ball Z?',
answer: 'Goku',
choices: ['Krillan', 'Vegeta', 'Goku', 'Piccolo']
},
{
question: 'W... | 995200e842de1f49129e23fa5d622fda5476a14e | [
"JavaScript"
] | 1 | JavaScript | mgbrando/dbz-quizz-app | 4ca8057d1e7e8e02122d7610273b6b3c586c061f | 16f0ba46d12b411be6448270bc0b06acfe245efc |
refs/heads/master | <file_sep>#include "../include/knowledgegraph.hpp"
knowledgegraph::Node::Node()
{
this->text = "";
}
knowledgegraph::Node::Node(std::string text)
{
this->text = text;
setLevel();
this->Id = (int)std::hash<std::string>{}(this->text);
}
void knowledgegraph::Node::addParent(int parentId)
{
this->children.pus... | 4822e153737362f91b58b81ecfa0f1d95cb09095 | [
"Markdown",
"Java",
"Python",
"C++"
] | 8 | C++ | dlarsen5/OrgModeKnowledgeGraph | 4f91ff0f30dedf8f3d0cfd00722c7f2031b90e3c | 38b5489b0a3fa3efde11da8320df4f817f5e0804 |
refs/heads/master | <repo_name>claaraamaria/SpringBootMySQL<file_sep>/src/main/java/rest/repository/GameSpecification.java
package rest.repository;
import org.springframework.data.jpa.domain.Specification;
import rest.entity.Game;
public class GameSpecification {//implements Specification<Game> {
public static Specification<Game> i... | 19204c2e7ce0816ac8d6455d97a6ab79488a753a | [
"Markdown",
"Java"
] | 6 | Java | claaraamaria/SpringBootMySQL | 55e6b7c5385bcdbef161d55542512c79ed6ee066 | a130ece3268be6e0f7abea769acc4f774d0d1dae |
refs/heads/master | <file_sep><html>
<head>
<script type="text/javascript" src="http://tablesorter.com/jquery-latest.js"></script>
<script type="text/javascript" src="http://autobahn.tablesorter.com/jquery.tablesorter.js"></script>
<link rel="stylesheet" href="http://tablesorter.com/docs/css/jq.css" type="text/css" media="print,... | 2374e97302868cddeda13245a353df37665a376e | [
"Java",
"HTML"
] | 2 | HTML | castagna/fao | 6f7d649f28fc05df68ac9d33020a8418363d8983 | db7fa9ecd7947ebdbe712fcf36bdfcef8f484539 |
refs/heads/main | <repo_name>ittybe/ChessNerdsDestroyer<file_sep>/src/StockfishPlayer.py
from stockfish import Stockfish
class StockfishPlayer:
def __init__(self, stockfishpath):
conf = {
"Write Debug Log": "false",
"Contempt": 0,
"Min Split Depth": 0,
"Threads": 1,
... | b20d386534985242fd9c96d02249ebbb0719a16c | [
"Markdown",
"Python",
"INI"
] | 6 | Python | ittybe/ChessNerdsDestroyer | 3fc6dcee3ae8b48b56b78221665f425e0cd158c9 | e0f2b63b59bbb64cae5c14e13dcc25f806ec7bbc |
refs/heads/master | <repo_name>miroshniktyt/slow<file_sep>/WhoIsSlow/Models/GameData.swift
//
// GameData.swift
// WhoIsSlow
//
// Created by <NAME> on 5/18/20.
// Copyright © 2020 <NAME>. All rights reserved.
//
import UIKit
struct GameData: Codable {
enum GameDataType: String, Codable {
case newLocation
ca... | 9307410e61320bb85cc06762f57e2778deb22128 | [
"Swift",
"Markdown"
] | 10 | Swift | miroshniktyt/slow | fb7bb1a2797554f09f949e19870c4c793e6e07ef | 1f5cd3fb9206029551d36092cac46d67f08ae1d9 |
refs/heads/master | <file_sep>/*
* Copyright 2019 The TensorFlow Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Un... | a9416ee818d5dc9e841757069369f5453b59e483 | [
"Java"
] | 1 | Java | j0h1/tflow_lite_ex | 18ab1dd52eb953c600d548fd50534629331f9485 | 635e69b5caf108d8e8a70d4580197336f2e7a46f |
refs/heads/master | <repo_name>onlyyouandty/yelpdemo<file_sep>/db/migrate/20150210011956_create_trivia_tables.rb
class CreateTriviaTables < ActiveRecord::Migration
def change
create_table :chosen_answers, :force => true do |t|
t.references :user
t.references :answer
t.references :question
t.integer :points
... | ab506723218b6b649991b3d1d8f15bb51908e91e | [
"Markdown",
"Ruby"
] | 7 | Ruby | onlyyouandty/yelpdemo | 53445558d9ce76195491c08d534a37eaabb966ae | 72acd56b65f6fc337b5b1d169178688a3f145a0e |
refs/heads/main | <repo_name>corbettbw/rails-jsonapi<file_sep>/config/routes.rb
Rails.application.routes.draw do
scope :api do
resources :articles
resources :authors
end
# For details on the DSL available within this file, see https://guides.rubyonrails.org/routing.html
end
| cc5f142d6c263198c50c48b87e0c739b70eb2d3b | [
"Ruby"
] | 1 | Ruby | corbettbw/rails-jsonapi | fb72876616a45fe9691c5ed2757a7818ed194e11 | 835b87efec32e56396c1b67d658f9236c69093fa |
refs/heads/master | <repo_name>buhlak/theHAM_Page<file_sep>/src/js/services-about_tab.js
const $ = require('jquery');
$(document).on('ready', function () {
$(document).on('click', function (event) {
let target = {};
// check and assign target depends on children or parent elem clicked
$(event.target).hasClass('... | 998c8c3963f91dbfcdbd0738134a1d0b0f1d1735 | [
"JavaScript",
"Markdown"
] | 6 | JavaScript | buhlak/theHAM_Page | f413878b940a8c854de90163b5e62aa0673c85ff | d61706c00a44951227582d9bc86a3a189c015257 |
refs/heads/master | <repo_name>ArisPutraBuana/Vue.js-3<file_sep>/js/2_standarFormatDataArray.js
var app = new Vue({
// el = tempat Vue.js beraksi
el: "#app",
data: {
namaSiswa: [{
id: 1,
nama: "<NAME>",
alamat: "Jakarta"
},
{
id: 2,... | fe2b3fb374ff95675e91ef1106991c8d1271992a | [
"JavaScript"
] | 5 | JavaScript | ArisPutraBuana/Vue.js-3 | 7bdb3aa894f3872f2a3628313a997835426c2211 | 8c03b547ef69c90a076979ab66b805032d15cde9 |
refs/heads/master | <repo_name>StevenGilford/Review<file_sep>/082317/Source.cpp
#include <iostream>
int main()
{
float keepRunning[5] = {1.0f, 2.5f, 3.5f, 10.0f, 1.5f};
float a = keepRunning[0] + keepRunning[1] + keepRunning[2] + keepRunning[3] + keepRunning[4];
float amRunning[5] = {1.5, 2.0, 3.0, 10.5, 1.7};
float b = 0;
for (int ... | eea89ab1f27f93a3faade859ce03939ae6a9afbb | [
"C++"
] | 1 | C++ | StevenGilford/Review | c51ffd2c4e52e8921abb4b8c89d9b43c6bc68753 | 52d5577b6d4002102c7f6baa27bbfee84ba34b5a |
refs/heads/master | <file_sep>from pymongo.mongo_replica_set_client import MongoReplicaSetClient
from pymongo.read_preferences import ReadPreference
from datetime import datetime
# Define seedlist of replicaset members
rsc = MongoReplicaSetClient(
'r1,r2,r3',
replicaset='bcdo',
read_preference=ReadPreference.SECONDARY,
tag_sets = [{... | c5cefc5cd085f47fb23165aa5f158e6c974799d6 | [
"Markdown",
"Python",
"Ruby"
] | 4 | Python | mcnamarabrian/bucks-co-mongodb-basics-beyond | 83eb986b86aba8515afb51b55cfddfa388d66bed | c765f9a731ba6e1f6f57264c03962f6352f1a95f |
refs/heads/master | <file_sep>20200208_185714
pysideuiconverter_New
M:/Projects/BravoMedia/Bravo In House Apps/99-Code/pysideconverter/ui/pysideuiconverter.ui
M:/Projects/BravoMedia/Bravo In House Apps/99-Code/pysideconverter/ui/pysideuiconverter_New.py<file_sep># PySide2-UI Converter
## Usage
1. In the first field, input the .ui... | 938f87d304e770fc49c8253c3f2a98dc7c75b43d | [
"Markdown",
"Python",
"INI"
] | 6 | INI | vltmedia/QT-UI-to-Python-PySide2 | 17298663017c9ab34c4b603b263c64286dba9f03 | f41bee5d119658353487fa7e24f35892c3b4a9c7 |
refs/heads/master | <repo_name>Haoye-SHS/NewStein<file_sep>/src/Java2/Class02/MyLinkedList.java
package Java2.Class02;
public class MyLinkedList<T> {
private int size;
private MyNode head;
// Define Constructor
public MyLinkedList() {
size = 0;
head = null;
}
//getter and setter
//add first... | be1df66414682e7bf066c3de8a6f8f32641698c0 | [
"Java"
] | 3 | Java | Haoye-SHS/NewStein | a92ea8f876050c1fc3d754db9acefa1053a6a638 | e62bb882c7d11a9b57017eeee08be17f557ec5e6 |
refs/heads/master | <file_sep># API
```javascript
import Demo from '@jyb/lib-demo'
```
## 初始化
### new Demo(options);
```jsdoc
@param {Object} options
```
## 选项
### debug
- Type: `Boolean`
- Default: false
是否为调试模式，为`true`时，会有日志输出
## 实例方法
### start()
启动上报
```javascript
instance.start();
```
<file_sep># 快速开始
## 安装
```shell
npm i... | 663bddcc7ed9610a306d20563ea3dc136ce01e02 | [
"Markdown",
"JavaScript"
] | 210 | Markdown | webtools-server/common-lib | db2e68742db1635cbf680dbb5ed3e6db701bd24a | ea8fbe59894e14c2c191d4edb30d6b368de57d05 |
refs/heads/master | <repo_name>crsven/bus_tracker<file_sep>/bin/home-bus-tracker.rb
#!/usr/bin/ruby
require 'typhoeus'
require 'nokogiri'
require_relative '../lib/bus_finder'
require_relative '../lib/base_service'
require_relative '../lib/mail_service'
require_relative '../lib/pushover_service'
bus_finder = BusFinder.new ARGV[0]
bus_fin... | 586b9dc4abe192a5f103a74f3d9521eceaa33eb3 | [
"Ruby"
] | 6 | Ruby | crsven/bus_tracker | 045a3b1c937573645465bb5a5326f5fd44727d94 | d08e98a225c66686e01bdabdf3292d1048106ffd |
refs/heads/develop | <repo_name>caktus/rapidsms-twilio<file_sep>/rtwilio/tests/test_outgoing.py
try:
from unittest.mock import patch
except ImportError:
from mock import patch
from django.test import TestCase
from rapidsms.errors import MessageSendingError
from rapidsms.tests.harness import CreateDataMixin
from rtwilio.outgoing ... | 737f083464fa1347ec88652a997032656d74a88e | [
"Python",
"reStructuredText",
"INI"
] | 19 | Python | caktus/rapidsms-twilio | 77ab913cc12d00c3afe5252dc6345903bee9a483 | 1c88682e9285b77ee85010f81745c7820411c51c |
refs/heads/master | <file_sep>Backend Todos:
-Fix ingest
-Move JSON iteration to backend
-Add batch queueing for optimization
-Return the other metrics (see below- current metric is clicks per product for specific date):
clicks per source
clicks per product
clicks per date
clicks per source for specific pro... | fae98f4660d3650a5855f1b4dabeb98045eaf0c1 | [
"Markdown",
"JavaScript"
] | 2 | Markdown | jshoben/adIngest | f8da88a48653401bc5dfa49ba806c641849cc09b | 36e7bb38aa555d1868c48640ee5a177627cdbcce |
refs/heads/master | <file_sep>class HomeController < ApplicationController
http_basic_authenticate_with :name => "admin", :password => "<PASSWORD>"
def index
end
def new
end
def create
require 'rubygems'
require 'nokogiri'
require 'open-uri'
@loginName = params[:loginName]
@wikiName = params[:wikiName]
@full... | e4ceedd34238ac4195d98d6ff800494e0ed0d16f | [
"Ruby"
] | 1 | Ruby | srirammca53/Wiki | f0a17ddcc6fa27de9c0d851a31b1694aba51fab3 | 80af7dc546c13b4b090b01aaf66dc6ff317f46db |
refs/heads/main | <file_sep>// Copyright (c) 2016 California Polytechnic State University
// Authors: <NAME> (<EMAIL>) <NAME> (<EMAIL>)
using System;
using System.Xml;
namespace UserModel
{
/// <summary>
/// Static class to maintain simulation parameters
/// </summary>
public static class SchedParameters
{
... | 8115b1e4b27ac35cec40ee54592f41599abc942e | [
"Markdown",
"C#",
"Python"
] | 149 | C# | emehiel/Horizon | 3e7e822b50882c20da1f77a5e7fd6164fb0127d3 | dafd3a4060dad4fed76856f699ee3366868d21eb |
refs/heads/master | <repo_name>Akash280999/Air-polution-mobile-application<file_sep>/app/src/main/java/com/akash/airpollution/MainaftersplashActivity.java
package com.akash.airpollution;
import android.app.*;
import android.os.*;
import android.view.*;
import android.view.View.*;
import android.widget.*;
import android.content.*;
import ... | eb041228eb2e0d57a2f4c4e075416f9592d3f2b7 | [
"Java"
] | 1 | Java | Akash280999/Air-polution-mobile-application | 3465e129eb96f13609674e4c385efae8a404fa1f | 82820be7bc17c0b4eea46832d4d3f785e1b3c82e |
refs/heads/master | <file_sep>package com.example.controleestoque.dagger
import com.example.controleestoque.services.repository.GameRepository
import com.example.controleestoque.ui.view.MainActivity
import dagger.Component
@Component(modules = [GRModule::class])
interface GRComponent {
fun inject(gameRepository: GameRepository)
}<... | 5f4165699596edf947b2036e34ea79045ad8c67f | [
"Kotlin",
"Gradle"
] | 11 | Kotlin | Gui55/KotlinControleEstoqueGames | 0ee3d4dbc0116d463577c0356e37b43ffe1f69e7 | 361ab365bb3bb9e79e4d4d2000b66f991b0d99fd |
refs/heads/master | <repo_name>pablotr9/WebAppDev.Project<file_sep>/src/java/model/Comment.java
/*
* To change this license header, choose License Headers in Project Properties.
* To change this template file, choose Tools | Templates
* and open the template in the editor.
*/
package model;
/**
*
* @author Ale
*/
public... | 899d3854daaef973b01eb99dc5728f2653ae9f3c | [
"Markdown",
"Java"
] | 3 | Java | pablotr9/WebAppDev.Project | e1767911ddb66d4fc66376d7e7eaf1a5c0b49959 | 299db768c3483c4f9243080343977bd19af12d72 |
refs/heads/master | <repo_name>chundruv/finemapping_GENETICS2019<file_sep>/run.sh
#!/bin/bash
###### Set paths ########
PLINKFILES="test/test" # Include the file prefix and not the extension eg. file not file.bed
PLINK_PATH="/pathto/plink"
GCTA_PATH="/pathto/gcta64"
BIMBAM_PATH='/pathto/bimbam'
GEMMA_PATH='/pathto/gemma'
GRM="test"
PHEN... | f8307f185d95d9dca707d57ab61b9967dc376896 | [
"Markdown",
"Python",
"R",
"Shell"
] | 5 | Shell | chundruv/finemapping_GENETICS2019 | 89fcc6b6531fd66daa3215ff27e1ede1467d188a | 9fbbae28aaf3ba0b45c59f0b278b2c5ca8b2d8a7 |
refs/heads/master | <file_sep>package com.soundlab.web.album;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import com.soundlab.web.bean.album;
import com.soundlab.web.bean.comment;
public interface AlbumMapper {
public List<Map<?,?>> newAl_like ();
public List<Map<?,?>> newAl_recent ();
public void al_co... | 9abd0a9dfb6dc7b8cbc12d27caa7547c2ac7d9c2 | [
"JavaScript",
"Java",
"Markdown",
"SQL"
] | 20 | Java | JinDevT/SoundLAB | 46b3a8fd1e3a8c2909e7a6b749429156919b7a6f | 3ed62d9c3433566c375bf8458bc861b614abe7b5 |
refs/heads/main | <repo_name>DimitarGabreshanec/Big-Dipper<file_sep>/imports/api/recipes/server/publications.js
import { Meteor } from 'meteor/meteor';
import { Recipes } from '../recipes.js';
import { check } from 'meteor/check'
Meteor.publish('recipes.list', function () {
return Recipes.find({}, {sort:{ID:-1}});
});
Meteor.publi... | d41b21a87999cd7e6b2320f9fec51d8b37ea9ec4 | [
"JavaScript"
] | 6 | JavaScript | DimitarGabreshanec/Big-Dipper | 4365730f716dc8ba2323af10068537ad74be6419 | 1c3579bda948f7d21d8fafd2fe49840d3c586de3 |
refs/heads/master | <file_sep>const gulp = require('gulp');
const processManager = require('electron-connect').server.create({
useGlobalElectron: true,
logLevel: 1
});
gulp.task('default', () => {
processManager.start()
// Restart browser process
gulp.watch([
'./src/main.js',
'./src/main-process/**/*.js'
], () => {
... | 472b88f30b6e3fd08a4a5f29553aa41a743477af | [
"JavaScript",
"Markdown"
] | 2 | JavaScript | olivmonnier/webrtc-stream-desktop-client | 44af0c5fcbb7dde92b905780501268bf526b2048 | fe83122f665b820c884af08ee9776f417876d661 |
refs/heads/master | <repo_name>tmcsoftdev/RN_CBTCompanion<file_sep>/src/queries/getAllQuizItems.js
export const getAllQuizItemsQuery = `query getAllQuizItems($noOfItems: Int!, $therapy: String!){
getAllQuizItems(noOfItems: $noOfItems, therapy: $therapy){
answer {
key
value
}
choices {
key
value
}
... | 8aa7416c7f214b8c5340c4d2526ef617fbf40bd0 | [
"Ruby",
"JavaScript",
"Swift",
"Gradle",
"C",
"TypeScript"
] | 183 | JavaScript | tmcsoftdev/RN_CBTCompanion | 93035234186c4020f4eb1990ce9edf834924b813 | f9ec2353ad79e242219dba13e2f8e38a9679d0f1 |
refs/heads/main | <file_sep>package com.bitcorner.service.JPA;
import com.bitcorner.entity.Bill;
import com.bitcorner.entity.Message;
import com.bitcorner.entity.Order_Table;
import com.bitcorner.entity.UserInfo;
import com.bitcorner.repository.MessageRepository;
import com.bitcorner.service.MessageService;
import org.springframework.b... | 717d5fe0c22647c6d1ef5e0ded08585d709760f7 | [
"SQL",
"JavaScript",
"INI",
"Java",
"Text"
] | 61 | Java | aditya-shah73/BitCorner | 792cf62c820dc7db55152950d0ebb992c83bd251 | 26cea16e3fa104bdf831b36dee47a76f60ddd18c |
refs/heads/master | <repo_name>fr6nco/ansible-dizp<file_sep>/roles/ns-authoritative/scripts/generate_zone_serial_number.js
const util = require("util");
const prefixZero = (value) => {
if (value < 10) {
return "0" + value;
}
return value;
};
const generate = (previousSerial) => {
if (!/^[0-9]{10}$/i.test(previousSerial)) {
... | 9e721edb4df74b0e64e28eefff8f825b9acfbfae | [
"JavaScript"
] | 1 | JavaScript | fr6nco/ansible-dizp | 476ad437f76bedc3abb804188bc8a3ac0e1422b9 | b76039ce30e7cb3e727745810e229989d3dcccf9 |
refs/heads/master | <repo_name>lukabombala/adventofcode2019<file_sep>/task2/task2_solution.py
# solution for 1st part
with open("input1.txt", "r") as file:
_str = file.readlines()
program = _str[0].strip().split(',')
program = [int(elem) for elem in program]
program[1] = 12
program[2] = 2
def fun(prog):
ind = 0
while prog... | 99cf7fc11437d7162251e29eedbf856a07053c5f | [
"Markdown",
"Python"
] | 3 | Python | lukabombala/adventofcode2019 | ced0b4747b61fe123cc1e18402898a6fa926641a | 629eb6dc5c80b63eb7f0e8fa8b0d89f97b1cebb6 |
refs/heads/master | <repo_name>victortaksheyev/victortaksheyev.github.io<file_sep>/nw.html
<html>
<head>
<title> <NAME> </title>
<meta charset="UTF-8">
<link rel="stylesheet" type="text/css" href="assets/css/style.css">
<link href="https://fonts.googleapis.com/css?family=Hind" rel="stylesheet">
... | 6706409e71cd09f188cfb3e7db40e152c423293e | [
"JavaScript",
"HTML",
"Markdown"
] | 3 | HTML | victortaksheyev/victortaksheyev.github.io | 9a9f6ddcc2d49e94540b47e4e326cd15ff1abd70 | b17243abd19ac118e2b9106b808e7215d644a643 |
refs/heads/master | <repo_name>Freddyilha/GalagaRep<file_sep>/Assets/Scripts/MenuManangerBehaviour.cs
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.SceneManagement;
public class MenuManangerBehaviour : MonoBehaviour {
public GameObject creditsPanel;
// Use this for initialization... | d7998ceb76126deef5ad548cba6431ed546f2723 | [
"C#"
] | 8 | C# | Freddyilha/GalagaRep | 817eb05da6f496c983ccfabfeb93da81d3c115aa | 5cf123a63abb6f1e876cd51e9014b1f2909d3aea |
refs/heads/master | <file_sep>import pandas as pd
import numpy as np
import glob
def getDefinedRows(df):
rows_with_data = pd.notna(df['latitude']) & pd.notna(df['longitude']) & pd.notna(df['day']) & pd.notna(df['month']) & pd.notna(df['year'])
return rows_with_data
def getPointsWithinDistance(distances_df, centroid_id, thre... | 7cb69d7f97e128c062be25a5592794c5add39bb3 | [
"Python"
] | 2 | Python | bkitano/chicago | 82b9d556a24d01c552301c376a359f31b94fa1b8 | ccffeb2b7f00a9a7ae5eacc1d176d8aac8e06022 |
refs/heads/main | <file_sep>import React, { useEffect, useState } from "react";
import Slide from "react-reveal/Slide";
import "./Countdown.css";
function CountDown() {
const [values, setValues] = useState({
deadLine: "Jan, 20, 2021",
days: "0",
hours: "0",
minutes: "0",
seconds: "0",
});
const { deadLine, day... | ef03e5c5284110135a19570cabf67f37b1509020 | [
"JavaScript"
] | 10 | JavaScript | singhnabin/cafe-template | 827361b81f7e85977867843244dc2a4e3b8338a1 | 98236bcff35d3a409eb545c1a319874af2fbe9f1 |
refs/heads/master | <file_sep>package test;
import java.util.Arrays;
public class test2 {
public static void main(String[] args) {
// TODO Auto-generated method stub
if (args.length>0) {
System.out.println("test2类main方法收到参数："+Arrays.toString(args));
}else{
//下面调用LDC2中的main方法
String[] te... | fc2201fc23ee10176bb4332a7ebf9b571e00fc10 | [
"Java",
"INI"
] | 12 | Java | twentyfiveYang/QRcode | dcf46f20d201da0d9ead367c764d7ba5a844021d | 8e2a971d71147e8d684a84e6d063b7f11148070d |
refs/heads/master | <file_sep>package com.dhorby.tests.euler
import org.junit.jupiter.api.Assertions.assertEquals
import org.junit.jupiter.api.Test
internal class EulerTest1KtTest {
@Test
fun `should get sum of multiples of 3 and 5`() {
val intRange = 1..9
val sumOfMultiples = EulerTest1().getSumOfMultiples(int... | 7c5562fa5467e854a18c99a39df9668ebfd80150 | [
"Kotlin"
] | 2 | Kotlin | dhorby/kotlin-test | 679f8335a8173bb61368d101913066e2d335292f | cefbbac8171324c874306e71bd99b4785593f06d |
refs/heads/master | <file_sep>//test.c
#include <stdio.h>
123
456
<file_sep>//test1.c
#include <stdio.h>
<file_sep># git_test
this repo for first git test
| 3d4bc34a850c98f86a1d1004517b24411d8c5ea5 | [
"Markdown",
"C"
] | 3 | C | misssui123/git_test | 0fbfd2855d84145f9b0f3f85386cdd8ab188f47f | 7a233dbf5b78063e11aeb763a2976c7f2395a2a9 |
refs/heads/master | <file_sep>
import logging
FORMAT = '[%(levelname)s]%(asctime)-15s %(message)s'
logging.basicConfig(
level=logging.INFO,format=FORMAT,datefmt='[%d-%m-%Y %H:%M:%S]')
<file_sep># VIDNet
Code for the [VIDNet](https://arxiv.org/pdf/2101.11080.pdf) (BMVC 2021)
## Installation
The base code is from [RVOS](https://github... | 18b3eb9eb4b85efd9240854fb504e04527dbb014 | [
"Markdown",
"Python",
"Text",
"Shell"
] | 24 | Python | pengzhou1108/VIDNet | ae2fdcf0d63606e9bb869722f680be37df67a663 | e4bb6e0433e084d52162fc8fa81e3f0d744fdf70 |
refs/heads/master | <file_sep>package Application;
import java.io.File;
import org.bytedeco.javacv.*;
import org.bytedeco.javacpp.opencv_videoio;
import org.bytedeco.javacpp.opencv_core;
import org.bytedeco.javacpp.opencv_video;
import org.bytedeco.javacpp.opencv_videostab;
import org.opencv.core.*;
import org.opencv.imgproc.*;
import o... | 7ed87be3952789061e24a863ab0a64744b524f23 | [
"Java"
] | 2 | Java | Bill-Fu/HandGestureRecognition | 303f827b763389164368b400224059a1ffe4c987 | 0345d619ba926299fc450867ab35d88655d83ae8 |
refs/heads/master | <file_sep>using System;
using DNTCaptcha.Core.Contracts;
using DNTCaptcha.Core.Providers;
using Microsoft.AspNetCore.Authorization;
using Microsoft.AspNetCore.Mvc;
using Microsoft.Net.Http.Headers;
namespace DNTCaptcha.Core
{
/// <summary>
/// DNTCaptcha Image Controller
/// </summary>
[AllowAnonymous... | 145042c3521d28aec2757194a809dcd03374ec59 | [
"C#"
] | 2 | C# | mah1212/DNTCaptcha.Core | c0da3795aec8aa9dfabeed1e5d89050dfd707c7a | a4c60a05161c5746d797c9679dfd9c47cc072040 |
refs/heads/master | <file_sep>var express = require('express');
var app = express();
var config = require('./server/config/config');
var port = config.PORT;
// app.use('/api', routes);
var reminderCron = require('./server/cron');
var ValidateEmailController = require('./server/controllers/validateEmail.controller');
app.use('/validat... | 2fcc1611bbd466425822f00806e849d22488275c | [
"JavaScript"
] | 5 | JavaScript | bharathitm/parmarth-niketan-api | 09d59a2a831018005cda5d0b99fbf1172d1ff83d | 82fb008885327030a7e25bb187eb874d27cb2f37 |
refs/heads/master | <file_sep>template <typename T>
class MyVector{
private:
int theSize;
int capacitytheSize;
T* object;
public:
static const int SPARE_CAPACITY = 16;
explicit MyVector(int inittheSize = 0) :theSize{ inittheSize }, capacitytheSize{ inittheSize + SPARE_CAPACITY }{
object = new T[capacitytheSize];
}
MyVector(const ... | 2b5801a6b2069d636a6e8a593bf12aecf507e17d | [
"C++"
] | 2 | C++ | aclash/PlayerManager | 5199f8d13d7ab7e67680a295399bfdf0594ab28d | b199f8e1cc967df0c2fd1e556d492dd6057d7551 |
refs/heads/master | <file_sep>#include "util.hpp"
#include<string>
namespace hel{
bool stob(std::string a){
try{
return (bool)std::stoi(a);
} catch(...){
throw;
}
}
std::string asString(bool input){
return input ? "1" : "0";
}
}
<file_sep>using Google.Protobuf;
usi... | 73eb2cd518d367bde50d750583f3bd2dc62b72f3 | [
"CMake",
"Markdown",
"TOML",
"Makefile",
"Dockerfile",
"INI",
"C#",
"Python",
"Go Module",
"Java",
"Rust",
"Text",
"C",
"Go",
"C++",
"Shell"
] | 651 | C++ | Autodesk/synthesis | 663de4c173df590306e4f6eaa9f643f96f72a3c9 | 533fad26b43a064c1c198207a0c1dac74b5962bf |
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