#28 #29 #30 #31 Add State Indicators and Debugging Options

- Add State Indicators to Quick Action Buttons
- Add Option to Specify Scene with a Query Parameter
- Add Debugging Options
- Add Options to See and Modify Current Scene and
Benchmarking Configurations
(more details are available in attached issues)

src/client/App.jsx

@@ -23,7 +23,7 @@ import {
   uniqueRenderingElements,
   resetRenderer,
   setElementEnabled,
-  toggleElementEnabled,
+  isElementEnabled,
   createFieldCanvas,
   changeBackgroundField
 } from '@common/rendering/renderer';
@@ -33,21 +33,26 @@ import TabContainer from './components/Layouts/TabContainer';
 import Options from './components/Options/index';
 import Benchmark from './components/Benchmark';
 import CodeEditor from './components/Editors/CodeEditor';
+import DebugPanel from './components/Debug';
 import TitledSlider from './components/Inputs/TitledSlider';
+import CodeEditorSection from './components/Editors/CodeEditor/CodeEditorSection';
 
 import exampleConfigs from '../scenes';
 
+import { getSceneFromUrlQuery } from './utils';
+
 const options = Object.values(exampleConfigs).map((v) => ({
-  label: v.title, value: v.name
+  label: v.title,
+  value: v.name
 }));
 
 const App = () => {
   const [loading, setLoading] = useState(true);
-  const [selectedScene, setSelectedScene] = useState(options[0].value);
+  const [selectedScene, setSelectedScene] = useState(getSceneFromUrlQuery(options));
   const [config, setConfig] = useState(exampleConfigs[selectedScene].simConfig);
   const [benchSettings, setBenchSettings] = useState(exampleConfigs[selectedScene].benchmarkConfig);
   const [description, setDescription] = useState(exampleConfigs[selectedScene].description);
-  const [uiEnabled, setUiEnabled] = useState(true);
+  const [uiEnabled, setUiEnabled] = useState(false);
   const [time, setTime] = useState(0);
   const [robotParams, setRobotParams] = useState({ velocityScale: 1 });
   const [renderSkip, setRenderSkip] = useState(1);
@@ -56,6 +61,11 @@ const App = () => {
   const svgRef = useRef(null);
   const fieldsElemRef = useRef(null);
 
+  const availableFieldTitles = Object.values(exampleConfigs[selectedScene]?.simConfig?.env?.fields || {})
+    .map((field) => field.title);
+
+  const [selectedBackgroundField, setSelectedBackgroundField] = useState(availableFieldTitles?.[0] ?? null);
+
   // User Defined Robot Velocity Controller
   const [defaultOnLoopCode, setDefaultOnLoopCode] = useState('');
   const [onLoopCode, setOnLoopCode] = useState(null);
@@ -102,7 +112,7 @@ const App = () => {
     }
 
     resetSimulation(usedConfig, onUpdate, setDefaultOnLoopCode, setDefaultOnInitCode);
-    onRobotParamsChange({ velocityScale: newConfig.robots.params.velocityScale });
+    onRobotParamsChange({ velocityScale: newConfig?.robots?.params?.velocityScale || 1 });
     onRenderSkipChange(newConfig.env.renderSkip);
     setPaused(false);
     resetRenderer();
@@ -111,22 +121,32 @@ const App = () => {
       fieldsElemRef.current.innerHTML = '';
     }
 
-    if (newConfig.env.fields && typeof newConfig.env.fields === 'object') {
+    if (
+      newConfig.env.fields
+      && typeof newConfig.env.fields === 'object'
+      && Object.keys(newConfig.env.fields).length > 0
+    ) {
       for (const [fieldKey, field] of Object.entries(newConfig.env.fields)) {
         if (!field.url) {
           console.error(`Field ${fieldKey} has no url!`);
           return;
         }
 
+        if (!field.title) {
+          field.title = fieldKey;
+        }
+
         const imageElemOnload = (canvasElem, context) => {
           field.canvasElem = canvasElem;
           field.context = context;
           fieldsElemRef?.current?.appendChild(canvasElem);
         };
 
-        createFieldCanvas(fieldKey, field, imageElemOnload);
+        createFieldCanvas(field, imageElemOnload);
       }
     }
+
+    setSelectedBackgroundField(Object.values(newConfig?.env?.fields || {})?.[0]?.title ?? null);
   };
 
   const onTogglePause = () => {
@@ -153,10 +173,10 @@ const App = () => {
   const initialized = simulationIsInitialized();
 
   const selectElem = (
-    <div id='simulation-selection'>
+    <div id='scene-selection'>
       <p>Scene: </p>
       <Select
-        id='simulation-select'
+        id='scene-select'
         name={selectedScene.label}
         value={selectedScene}
         onChange={(event) => {
@@ -190,7 +210,14 @@ const App = () => {
         setValue={(newV) => onRobotParamsChange({ velocityScale: newV })}
         tooltTip='Controls robots velocity, only works when supported in robot controller.'
       />
-      <p> TODO: Change other runtime parameters, simulation configuration, and benchmarking configuration.</p>
+      <CodeEditorSection
+        title='Scene Configuration'
+        code={JSON.stringify(config, null, 2)}
+        setCode={() => {
+          // TODO: update current configuration
+        }}
+      />
+      {/* <p> TODO: Change other runtime parameters, simulation configuration, and benchmarking configuration.</p> */}
     </>
   );
 
@@ -222,7 +249,16 @@ const App = () => {
     { label: 'Options', content: optionsElem },
     { label: 'Configuration', content: configurationsElem },
     { label: 'Benchmark', content: benchElem },
-    { label: 'Controller', content: controllerCodeEditor }
+    { label: 'Controller', content: controllerCodeEditor },
+    {
+      label: 'Debug',
+      content: (
+        <DebugPanel
+          title='Scene State'
+          getSceneState={() => window.scene}
+        />
+      )
+    }
   ];
 
   const ui = uiEnabled ? (
@@ -242,12 +278,22 @@ const App = () => {
     <div style={{ width: '100%' }}>
       {selectElem}
       <QuickActions
-        toggleElementEnabled={toggleElementEnabled}
+        setElementEnabled={setElementEnabled}
+        isElementEnabled={isElementEnabled}
+        renderSkip={renderSkip}
+        setRenderSkip={onRenderSkipChange}
         setUiEnabled={setUiEnabled}
         uiEnabled={uiEnabled}
-        changeBackground={() => changeBackgroundField(fieldsElemRef.current)}
+        changeBackground={(fieldTitle) => {
+          setSelectedBackgroundField(fieldTitle);
+          changeBackgroundField(fieldsElemRef.current, fieldTitle);
+        }}
+        setSelectedBackgroundField={setSelectedBackgroundField}
+        availableFields={availableFieldTitles}
+        selectedBackgroundField={selectedBackgroundField}
         reset={reset}
         onTogglePause={onTogglePause}
+        paused={paused}
         time={time}
         benchmarkData={benchmarkData}
         simConfig={config}

src/client/components/Debug/index.js

@@ -0,0 +1,67 @@
+import React, { useState } from 'react';
+import PropTypes from 'prop-types';
+
+import CodeEditorSection from '../Editors/CodeEditor/CodeEditorSection';
+
+const getCircularReplacer = () => {
+  const seen = new WeakSet();
+  return (key, value) => {
+    if (typeof value === 'object' && value !== null) {
+      if (seen.has(value)) {
+        return;
+      }
+      seen.add(value);
+    }
+
+    return value;
+  };
+};
+
+const stripScene = (scene) => ({
+  ...scene,
+  engine: undefined,
+  world: undefined,
+  staticObjects: undefined,
+  robots: scene?.robots?.map((robot) => ({
+    ...robot,
+    scene: undefined,
+    engine: undefined,
+    world: undefined,
+    sensorManager: undefined,
+    actuatorManager: undefined
+  })),
+  pucks: scene?.pucks?.map((puck) => ({
+    ...puck,
+    scene: undefined,
+    engine: undefined,
+    world: undefined,
+    sensorManager: undefined,
+    actuatorManager: undefined
+  }))
+});
+
+function DebugPanel({
+  title,
+  getSceneState
+}) {
+  const [debugInfo, setDebugInfo] = useState('');
+
+  return (
+    <CodeEditorSection
+      key='DebugPanel'
+      title={title}
+      setCode={(d) => setDebugInfo(d)}
+      code={debugInfo}
+      defaultCode=''
+      foldAll
+      getDefaultCode={() => JSON.stringify(stripScene(getSceneState()), getCircularReplacer(), 2)}
+    />
+  );
+}
+
+DebugPanel.propTypes = {
+  title: PropTypes.string,
+  getSceneState: PropTypes.func
+};
+
+export default DebugPanel;

src/client/components/Editors/CodeEditor/CodeEditorSection.jsx

@@ -1,6 +1,6 @@
 /* eslint-disable no-console */
 /* eslint-disable no-eval */
-import React from 'react';
+import React, { useRef, useEffect } from 'react';
 import PropTypes from 'prop-types';
 import AceEditor from 'react-ace';
 import IconButton from '@mui/material/IconButton';
@@ -18,12 +18,26 @@ function CodeEditorSection({
   title,
   code,
   setCode,
-  defaultCode
+  defaultCode,
+  getDefaultCode,
+  foldAll
 }) {
+  const editorRef = useRef(null);
+
   const resetCode = () => {
-    setCode(defaultCode);
+    if (getDefaultCode && typeof getDefaultCode === 'function') {
+      setCode(getDefaultCode());
+    } else {
+      setCode(defaultCode);
+    }
   };
 
+  useEffect(() => {
+    if (foldAll) {
+      editorRef.current.editor.session.foldAll(1, editorRef.current.editor.session.doc.getAllLines().length);
+    }
+  }, [code]);
+
   return (
     <Grid container item xs={12} md={12} lg={12} spacing={1}>
       <Grid item xs={10} md={11} lg={11}>
@@ -35,7 +49,7 @@ function CodeEditorSection({
       </Grid>
       <Grid item xs={2} md={1} lg={1}>
         <div className='code-editor-btn-container'>
-          <Tooltip title="Reset Code">
+          <Tooltip title="Reset">
             <IconButton
               color="secondary"
               onClick={() => resetCode()}
@@ -47,10 +61,9 @@ function CodeEditorSection({
       </Grid>
       <Grid item xs={12} md={12}>
         <AceEditor
+          ref={editorRef}
           className='code-editor'
-          name="robot-controller-code-editor"
-          placeholder="Robot Controller Code"
-          value={code ?? defaultCode}
+          value={code || defaultCode}
           onChange={(newCode) => setCode(newCode)}
           fontSize={16}
           mode='javascript'
@@ -73,7 +86,9 @@ CodeEditorSection.propTypes = {
   title: PropTypes.string,
   code: PropTypes.string,
   setCode: PropTypes.func,
-  defaultCode: PropTypes.string
+  defaultCode: PropTypes.string,
+  getDefaultCode: PropTypes.func,
+  foldAll: PropTypes.bool
 };
 
 export default CodeEditorSection;

src/client/components/Editors/CodeEditor/index.jsx

@@ -15,7 +15,7 @@ import Grid from '@mui/material/Grid';
 import Tooltip from '@mui/material/Tooltip';
 
 import CodeEditorSection from './CodeEditorSection';
-import downLoadTextAsFile from '../../../utils/download';
+import { downLoadTextAsFile } from '../../../utils';
 
 import 'ace-builds/webpack-resolver';
 import 'ace-builds/src-noconflict/mode-javascript';

src/client/components/Inputs/TitledSlider.jsx

@@ -2,7 +2,7 @@ import React from 'react';
 import propTypes from 'prop-types';
 import { Box, Grid, Slider, Typography, Tooltip } from '@mui/material';
 
-const TitledSlider = ({ title, value, setValue, tooltTip }) => (
+const TitledSlider = ({ title, value, setValue, tooltTip, minValue, maxValue }) => (
   <Box sx={{ width: '100%', height: '75px' }}>
     <Grid container spacing={2} item sm={12} lg={10} xl={8}>
       <Grid item sm={3} md={2}>
@@ -14,8 +14,8 @@ const TitledSlider = ({ title, value, setValue, tooltTip }) => (
       </Grid>
       <Grid item xs sm={9} md={10}>
         <Slider
-          min={0.1}
-          max={50}
+          min={minValue || 0}
+          max={maxValue || 50}
           step={0.1}
           value={value}
           valueLabelDisplay='auto'
@@ -29,6 +29,8 @@ const TitledSlider = ({ title, value, setValue, tooltTip }) => (
 TitledSlider.propTypes = {
   title: propTypes.string.isRequired,
   value: propTypes.number.isRequired,
+  minValue: propTypes.number,
+  maxValue: propTypes.number,
   setValue: propTypes.func.isRequired,
   tooltTip: propTypes.string
 };

src/client/components/Options/index.jsx

@@ -14,6 +14,8 @@ const Options = ({
     <TitledSlider
       title='Render Skip'
       value={renderSkip}
+      minValue={1}
+      maxValue={100}
       setValue={setRenderSkip}
       tooltTip='Number of simulation steps to run between frames, speeds up simulation but can cause app lag.'
     />