Ev3 defensive tabs (#313)

* Remove unused variable in Program

* Make the ev3 tabs more defensive

src/bundles/robot_simulation/controllers/program/Program.ts

@@ -67,7 +67,7 @@ export class Program implements Controller {
 
  // steps per tick
  for (let i = 0; i < this.config.stepsPerTick; i++) {
- const result = this.iterator.next();
+ this.iterator.next();
  }
  } catch (e) {
  console.error(e);

src/bundles/robot_simulation/engine/World.ts

@@ -30,7 +30,12 @@ export class World extends TypedEventTarget<WorldEventMap> {
  robotConsole: RobotConsole;
  controllers: ControllerGroup;
 
- constructor(physics: Physics, render: Renderer, timer: Timer, robotConsole: RobotConsole) {
+ constructor(
+ physics: Physics,
+ render: Renderer,
+ timer: Timer,
+ robotConsole: RobotConsole
+ ) {
  super();
  this.state = 'unintialized';
  this.physics = physics;
@@ -71,10 +76,7 @@ export class World extends TypedEventTarget<WorldEventMap> {
 
  private setState(newState: WorldState) {
  if (this.state !== newState) {
- this.dispatchEvent(
- 'worldStateChange',
- new Event('worldStateChange'),
- );
+ this.dispatchEvent('worldStateChange', new Event('worldStateChange'));
  this.state = newState;
  }
  }
@@ -90,6 +92,7 @@ export class World extends TypedEventTarget<WorldEventMap> {
  window.requestAnimationFrame(this.step.bind(this));
  }
  }
+
  step(timestamp: number) {
  try {
  const frameTimingInfo = this.timer.step(timestamp);
@@ -99,12 +102,12 @@ export class World extends TypedEventTarget<WorldEventMap> {
  // Update render
  this.dispatchEvent(
  'beforeRender',
- new TimeStampedEvent('beforeRender', physicsTimingInfo),
+ new TimeStampedEvent('beforeRender', physicsTimingInfo)
  );
  this.render.step(frameTimingInfo);
  this.dispatchEvent(
  'afterRender',
- new TimeStampedEvent('afterRender', physicsTimingInfo),
+ new TimeStampedEvent('afterRender', physicsTimingInfo)
  );
 
  if (this.state === 'running') {

src/tabs/RobotSimulation/components/Simulation/index.tsx

@@ -46,13 +46,16 @@ export const SimulationCanvas: React.FC<SimulationCanvasProps> = ({
 }) => {
  const ref = useRef<HTMLDivElement>(null);
  const sensorRef = useRef<HTMLDivElement>(null);
- const [currentState, setCurrentState]
- = useState<WorldState>('unintialized');
+ const [currentState, setCurrentState] = useState<WorldState>('unintialized');
+
+ // We know this is true because it is checked in RobotSimulation/index.tsx (toSpawn)
  const world = context.context.moduleContexts.robot_simulation.state
  .world as World;
 
- const ev3 = context.context.moduleContexts.robot_simulation.state
- .ev3 as DefaultEv3;
+ // This is not guaranteed to be true.
+ const ev3 = context.context.moduleContexts.robot_simulation.state.ev3 as
+ | DefaultEv3
+ | undefined;
 
  const robotConsole = world.robotConsole;
 
@@ -65,9 +68,14 @@ export const SimulationCanvas: React.FC<SimulationCanvasProps> = ({
  if (ref.current) {
  ref.current.replaceChildren(world.render.getElement());
  }
+ if (!ev3) {
+ return;
+ }
 
  if (sensorRef.current) {
- sensorRef.current.replaceChildren(ev3.get('colorSensor').renderer.getElement());
+ sensorRef.current.replaceChildren(
+ ev3.get('colorSensor').renderer.getElement()
+ );
  }
  };
 

src/tabs/RobotSimulation/components/TabPanels/ColorSensorPanel.tsx

@@ -4,25 +4,29 @@ import { useFetchFromSimulation } from '../../hooks/fetchFromSimulation';
 import { LastUpdated } from './tabComponents/LastUpdated';
 import { TabWrapper } from './tabComponents/Wrapper';
 
-export const ColorSensorPanel: React.FC<{ ev3: DefaultEv3 }> = ({ ev3 }) => {
- const colorSensor = ev3.get('colorSensor');
+export const ColorSensorPanel: React.FC<{ ev3?: DefaultEv3 }> = ({ ev3 }) => {
+ const colorSensor = ev3?.get('colorSensor');
  const sensorVisionRef = useRef<HTMLDivElement>(null);
 
  const [timing, color] = useFetchFromSimulation(() => {
- if (ev3.get('colorSensor') === undefined) {
+ if (colorSensor === undefined) {
  return null;
  }
  return colorSensor.sense();
  }, 1000);
 
  useEffect(() => {
- if (sensorVisionRef.current) {
+ if (colorSensor && sensorVisionRef.current) {
  sensorVisionRef.current.replaceChildren(
  colorSensor.renderer.getElement()
  );
  }
  }, [timing]);
 
+ if (!ev3) {
+ return <TabWrapper>EV3 not found in context. Did you call saveToContext('ev3', ev3);</TabWrapper>;
+ }
+
  if (timing === null) {
  return <TabWrapper>Loading color sensor</TabWrapper>;
  }

src/tabs/RobotSimulation/components/TabPanels/ConsolePanel.tsx

@@ -17,7 +17,7 @@ const getLogString = (log: LogEntry) => {
 };
 
 export const ConsolePanel: React.FC<{
- robot_console?: RobotConsole;
+ robot_console: RobotConsole;
 }> = ({ robot_console }) => {
  const [timing, logs] = useFetchFromSimulation(() => {
  if (robot_console === undefined) {

src/tabs/RobotSimulation/components/TabPanels/MotorPidPanel.tsx

@@ -9,7 +9,22 @@ const RowStyle: CSSProperties = {
  gap: '0.6rem',
 };
 
-export const MotorPidPanel: React.FC<{ ev3: DefaultEv3 }> = ({ ev3 }) => {
+export const MotorPidPanel: React.FC<{ ev3?: DefaultEv3 }> = ({ ev3 }) => {
+ if (!ev3) {
+ return (
+ <TabWrapper>
+ EV3 not found in context. Did you call saveToContext('ev3', ev3);
+ </TabWrapper>
+ );
+ }
+
+ const leftMotor = ev3.get('leftMotor');
+ const rightMotor = ev3.get('rightMotor');
+
+ if (!leftMotor || !rightMotor) {
+ return <TabWrapper>Motor not found</TabWrapper>;
+ }
+
  const onChangeProportional = (value: number) => {
  ev3.get('leftMotor').pid.proportionalGain = value;
  ev3.get('rightMotor').pid.proportionalGain = value;

src/tabs/RobotSimulation/components/TabPanels/UltrasonicSensorPanel.tsx

@@ -4,18 +4,25 @@ import { useFetchFromSimulation } from '../../hooks/fetchFromSimulation';
 import { LastUpdated } from './tabComponents/LastUpdated';
 import { TabWrapper } from './tabComponents/Wrapper';
 
-export const UltrasonicSensorPanel: React.FC<{ ev3: DefaultEv3 }> = ({
+export const UltrasonicSensorPanel: React.FC<{ ev3?: DefaultEv3 }> = ({
  ev3,
 }) => {
- const ultrasonicSensor = ev3.get('ultrasonicSensor');
-
+ const ultrasonicSensor = ev3?.get('ultrasonicSensor');
  const [timing, distanceSensed] = useFetchFromSimulation(() => {
  if (ultrasonicSensor === undefined) {
  return null;
  }
  return ultrasonicSensor.sense();
  }, 1000);
 
+ if (!ev3) {
+ return (
+ <TabWrapper>
+ EV3 not found in context. Did you call saveToContext('ev3', ev3);
+ </TabWrapper>
+ );
+ }
+
  if (timing === null) {
  return <TabWrapper>Loading ultrasonic sensor</TabWrapper>;
  }

src/tabs/RobotSimulation/components/TabPanels/WheelPidPanel.tsx

@@ -9,7 +9,23 @@ const RowStyle: CSSProperties = {
  gap: '0.6rem',
 };
 
-export const WheelPidPanel: React.FC<{ ev3: DefaultEv3 }> = ({ ev3 }) => {
+export const WheelPidPanel: React.FC<{ ev3?: DefaultEv3 }> = ({ ev3 }) => {
+ if (!ev3) {
+ return (
+ <TabWrapper>
+ EV3 not found in context. Did you call saveToContext('ev3', ev3);
+ </TabWrapper>
+ );
+ }
+ if (
+ !ev3.get('backLeftWheel') ||
+ !ev3.get('backRightWheel') ||
+ !ev3.get('frontLeftWheel') ||
+ !ev3.get('frontRightWheel')
+ ) {
+ return <TabWrapper>Wheel not found</TabWrapper>;
+ }
+
  const onChangeProportional = (value: number) => {
  ev3.get('backLeftWheel').pid.proportionalGain = value;
  ev3.get('backRightWheel').pid.proportionalGain = value;