Merge branch 'main' into new-docs

.github/workflows/build.yml

@@ -23,19 +23,25 @@ jobs:
         with:
           node-version: "20.x"
           cache: "npm"
+      - name: Setup Emscripten
+        uses: mymindstorm/setup-emsdk@v14
       - name: Install Node.js dependencies
         run: npm ci
         env:
           ASCOPE_NO_FFMPEG: true
       - name: Check formatting
         run: npm run check-format
+      - name: Compile WebAssembly
+        run: mkdir bundles; npm run wasm:compile
       - name: Compile bundles (FRC 6328)
         run: npm run compile
       - name: Upload bundles (FRC 6328)
         uses: actions/upload-artifact@v4
         with:
           name: bundles
-          path: bundles/*.js
+          path: |
+            bundles/*.js
+            bundles/*.wasm
       - name: Compile bundles (WPILib)
         run: npm run compile
         env:
@@ -44,7 +50,9 @@ jobs:
         uses: actions/upload-artifact@v4
         with:
           name: bundles-wpilib
-          path: bundles/*.js
+          path: |
+            bundles/*.js
+            bundles/*.wasm
 
   build-win:
     name: Build for Windows (${{ matrix.arch }})

.vscode/settings.json

@@ -18,6 +18,7 @@
   "[markdown]": {
     "editor.defaultFormatter": "esbenp.prettier-vscode"
   },
+  "C_Cpp.clang_format_style": "Google",
   "editor.formatOnSave": true,
   "editor.formatOnPaste": true,
   "editor.formatOnType": true,

README.md

@@ -28,12 +28,14 @@ Feedback, feature requests, and bug reports are welcome on the [issues page](htt
 
 ## Building
 
-To install all dependencies, run:
+To install Node.js dependencies, run:
 
 ```bash
 npm install
 ```
 
+[Emscripten](https://emscripten.org) also needs to be installed (instructions [here](https://emscripten.org/docs/getting_started/downloads.html)).
+
 To build for the current platform, run:
 
 ```bash

package.json

@@ -13,12 +13,13 @@
   "scripts": {
     "start": "electron bundles/main.js",
     "compile": "rollup -c --configMain && rollup -c --configLargeRenderers && rollup -c --configSmallRenderers && rollup -c --configWorkers",
-    "build": "npm run compile && npm run docs:build-embed && electron-builder build",
-    "fast-build": "npm run compile && npm run docs:build-embed && electron-builder build --dir",
+    "build": "npm run compile && npm run wasm:compile && npm run docs:build-embed && electron-builder build",
+    "fast-build": "npm run compile && npm run wasm:compile && npm run docs:build-embed && electron-builder build --dir",
     "watch": "rollup -c -w",
     "format": "prettier --write .",
     "check-format": "prettier --check .",
     "test-ytdl": "node testYtdl.mjs",
+    "wasm:compile": "emcc src/hub/dataSources/wpilog/indexer/wpilogIndexer.c -o bundles/hub\\$wpilogIndexer.js -sEXPORTED_FUNCTIONS=_run,_malloc -sALLOW_MEMORY_GROWTH -O3",
     "docs:start": "cd docsSite && npm run start && cd ..",
     "docs:build": "cd docsSite && npm run build && cd ..",
     "docs:build-embed": "cd docsSite && npm run build-embed && cd ..",
@@ -65,6 +66,7 @@
   },
   "dependencies": {
     "@distube/ytdl-core": "^4.14.4",
+    "@types/emscripten": "^1.39.13",
     "check-disk-space": "^3.4.0",
     "download": "^8.0.0",
     "electron-fetch": "^1.9.1",

src/hub/Sidebar.ts

@@ -3,7 +3,7 @@ import LogFieldTree from "../shared/log/LogFieldTree";
 import LoggableType from "../shared/log/LoggableType";
 import { getOrDefault, searchFields, TYPE_KEY } from "../shared/log/LogUtil";
 import { SelectionMode } from "../shared/Selection";
-import { arraysEqual, setsEqual } from "../shared/util";
+import { arraysEqual, htmlEncode, setsEqual } from "../shared/util";
 import { ZEBRA_LOG_KEY } from "./dataSources/LoadZebra";
 import CustomSchemas from "./dataSources/schema/CustomSchemas";
 
@@ -47,6 +47,7 @@ export default class Sidebar {
   private FIELD_DRAG_THRESHOLD_PX = 3;
   private VALUE_WIDTH_MARGIN_PX = 12;
 
+  private getFilenames: () => string[];
   private sidebarHandleActive = false;
   private sidebarWidth = this.DEFAULT_SIDEBAR_WIDTH;
   private fieldCount = 0;
@@ -67,8 +68,11 @@ export default class Sidebar {
   private tuningModePublishCallbacks: (() => void)[] = [];
   private tuningValueCache: { [key: string]: string } = {};
   private updateMetadataCallbacks: (() => void)[] = [];
+  private updateLoadingCallbacks: (() => void)[] = [];
+
+  constructor(getFilenames: () => string[]) {
+    this.getFilenames = getFilenames;
 
-  constructor() {
     // Set up handle for resizing
     let enableIframes = (enabled: boolean) => {
       Array.from(document.getElementsByTagName("iframe")).forEach((iframe) => {
@@ -433,6 +437,7 @@ export default class Sidebar {
       // Update type warnings and metadata
       this.updateTypeWarningCallbacks.forEach((callback) => callback());
       this.updateMetadataCallbacks.forEach((callback) => callback());
+      this.updateLoadingCallbacks.forEach((callback) => callback());
     }
   }
 
@@ -573,7 +578,20 @@ export default class Sidebar {
         let typeLabel = document.createElement("span");
         typeLabel.classList.add("field-item-type-label");
         label.appendChild(typeLabel);
-        typeLabel.innerHTML = " – " + structuredType;
+        typeLabel.innerHTML = " – " + htmlEncode(structuredType);
+      }
+    } else {
+      if (title.startsWith(this.MERGED_KEY) && indent === 0) {
+        let mergeIndex = Number(title.slice(this.MERGED_KEY.length));
+        let mergedFilenames = this.getFilenames();
+        if (mergeIndex < mergedFilenames.length) {
+          let filename = mergedFilenames[mergeIndex];
+
+          let typeLabel = document.createElement("span");
+          typeLabel.classList.add("field-item-type-label");
+          label.appendChild(typeLabel);
+          typeLabel.innerHTML = " &ndash; " + htmlEncode(filename);
+        }
       }
     }
 
@@ -886,6 +904,18 @@ export default class Sidebar {
       };
       this.updateMetadataCallbacks.push(updateMetadata);
       updateMetadata();
+
+      // Loading callback
+      let updateLoading = () => {
+        let isLoading = window.getLoadingFields().has(field.fullKey!);
+        if (isLoading) {
+          label.classList.add("loading");
+        } else {
+          label.classList.remove("loading");
+        }
+      };
+      this.updateLoadingCallbacks.push(updateLoading);
+      updateLoading();
     }
 
     // Add children
@@ -978,7 +1008,11 @@ export default class Sidebar {
 
   /** Returns the set of field keys that are currently visible. */
   getActiveFields(): Set<string> {
-    this.activeFieldCallbacks.forEach((callback) => callback());
-    return this.activeFields;
+    if (this.sidebarWidth > 0) {
+      this.activeFieldCallbacks.forEach((callback) => callback());
+      return this.activeFields;
+    } else {
+      return new Set();
+    }
   }
 }

src/hub/SourceList.ts

@@ -8,7 +8,7 @@ import {
   SourceListTypeMemoryEntry
 } from "../shared/SourceListConfig";
 import {
-  grabChassiSpeeds as grabChassisSpeeds,
+  grabChassisSpeeds,
   grabPosesAuto,
   grabSwerveStates,
   rotation3dTo2d,
@@ -802,16 +802,17 @@ export default class SourceList {
     // Hide button
     let hideButton = item.getElementsByClassName("hide")[0] as HTMLButtonElement;
     let toggleHidden = () => {
-      if (isChild) return;
       let index = Array.from(this.LIST.children).indexOf(item);
       let newVisible = !this.state[index].visible;
       this.state[index].visible = newVisible;
       this.updateItem(item, this.state[index]);
-      while (index < this.state.length) {
-        index++;
-        if (!this.isChild(index)) break;
-        this.state[index].visible = newVisible;
-        this.updateItem(this.LIST.children[index] as HTMLElement, this.state[index]);
+      if (!isChild) {
+        while (index < this.state.length) {
+          index++;
+          if (!this.isChild(index)) break;
+          this.state[index].visible = newVisible;
+          this.updateItem(this.LIST.children[index] as HTMLElement, this.state[index]);
+        }
       }
     };
     hideButton.addEventListener("click", (event) => {
@@ -833,7 +834,6 @@ export default class SourceList {
 
     // Child formatting
     if (isChild) {
-      hideButton.hidden = true;
       item.classList.add("child");
     }
 

src/hub/Tabs.ts

@@ -1,6 +1,7 @@
 import { TabsState } from "../shared/HubState";
 import LineGraphFilter from "../shared/LineGraphFilter";
 import TabType, { getDefaultTabTitle, getTabIcon } from "../shared/TabType";
+import { getAutonomousKey, getEnabledKey } from "../shared/log/LogUtil";
 import ConsoleRenderer from "../shared/renderers/ConsoleRenderer";
 import DocumentationRenderer from "../shared/renderers/DocumentationRenderer";
 import JoysticksRenderer from "../shared/renderers/JoysticksRenderer";
@@ -430,6 +431,14 @@ export default class Tabs {
         activeFields.add(field);
       });
     });
+    let enabledKey = getEnabledKey(window.log);
+    if (enabledKey !== undefined) {
+      activeFields.add(enabledKey);
+    }
+    let autonomousKey = getAutonomousKey(window.log);
+    if (autonomousKey !== undefined) {
+      activeFields.add(autonomousKey);
+    }
     return activeFields;
   }
 

src/hub/Timeline.ts

@@ -50,6 +50,12 @@ export default class Timeline {
         this.grabZoomActive = false;
       }
     });
+    this.SCROLL_OVERLAY.addEventListener("mouseleave", () => {
+      if (this.grabZoomActive) {
+        window.selection.setGrabZoomRange(null);
+        this.grabZoomActive = false;
+      }
+    });
     this.SCROLL_OVERLAY.addEventListener("click", (event) => {
       if (Math.abs(event.clientX - this.SCROLL_OVERLAY.getBoundingClientRect().x - this.mouseDownX) <= 5) {
         let hoveredTime = window.selection.getHoveredTime();

src/hub/controllers/LineGraphController.ts

@@ -1,7 +1,8 @@
 import { ensureThemeContrast } from "../../shared/Colors";
 import LineGraphFilter from "../../shared/LineGraphFilter";
 import { SourceListState } from "../../shared/SourceListConfig";
-import { getEnabledKey, getLogValueText } from "../../shared/log/LogUtil";
+import { AKIT_TIMESTAMP_KEYS, getEnabledKey, getLogValueText } from "../../shared/log/LogUtil";
+import { LogValueSetNumber } from "../../shared/log/LogValueSets";
 import {
   LineGraphRendererCommand,
   LineGraphRendererCommand_DiscreteField,
@@ -281,6 +282,11 @@ export default class LineGraphController implements TabController {
 
     // Add numeric fields
     this.numericCommandCache = {};
+    const akitTimestampField = window.log.getFieldKeys().find((key) => AKIT_TIMESTAMP_KEYS.includes(key));
+    const akitTimestamps =
+      akitTimestampField === undefined
+        ? undefined
+        : window.log.getNumber(akitTimestampField, -Infinity, Infinity)?.timestamps;
     let addNumeric = (
       source: SourceListState,
       dataRange: [number, number],
@@ -296,6 +302,37 @@ export default class LineGraphController implements TabController {
         );
         if (data === undefined) return;
 
+        // Add AdvantageKit samples
+        if (akitTimestamps !== undefined) {
+          switch (fieldItem.type) {
+            case "stepped":
+              // Extra samples wouldn't affect rendering
+              break;
+            case "smooth":
+            case "points":
+              let newData: LogValueSetNumber = { timestamps: [], values: [] };
+              let sourceIndex = 0;
+              let akitIndex = akitTimestamps.findIndex((akitTime) => akitTime >= data!.timestamps[0]);
+              while (
+                akitIndex < akitTimestamps.length &&
+                akitTimestamps[akitIndex] <= data!.timestamps[data!.timestamps.length - 1]
+              ) {
+                while (
+                  sourceIndex < data!.timestamps.length - 1 &&
+                  akitTimestamps[akitIndex] >= data!.timestamps[sourceIndex + 1]
+                ) {
+                  sourceIndex++;
+                }
+                newData.timestamps.push(akitTimestamps[akitIndex]);
+                newData.values.push(data!.values[sourceIndex]);
+                akitIndex++;
+              }
+              console.log(newData.timestamps);
+              data = newData;
+              break;
+          }
+        }
+
         // Apply filter
         switch (filter) {
           case LineGraphFilter.Differentiate:

src/hub/controllers/SwerveController.ts

@@ -1,5 +1,5 @@
 import { SourceListState } from "../../shared/SourceListConfig";
-import { Rotation2d, grabChassiSpeeds, grabPosesAuto, grabSwerveStates, rotation3dTo2d } from "../../shared/geometry";
+import { Rotation2d, grabChassisSpeeds, grabPosesAuto, grabSwerveStates, rotation3dTo2d } from "../../shared/geometry";
 import { Orientation } from "../../shared/renderers/OdometryRenderer";
 import { SwerveRendererCommand } from "../../shared/renderers/SwerveRenderer";
 import { clampValue, createUUID } from "../../shared/util";
@@ -132,7 +132,7 @@ export default class SwerveController implements TabController {
           color: source.options.color
         });
       } else if (source.type === "chassisSpeeds") {
-        let speeds = grabChassiSpeeds(window.log, source.logKey, time, this.UUID);
+        let speeds = grabChassisSpeeds(window.log, source.logKey, time, this.UUID);
         let angle = Math.atan2(speeds.vy, speeds.vx);
         let length = Math.hypot(speeds.vx, speeds.vy);
         length = clampValue(length / Number(this.MAX_SPEED.value), -1, 1);