Update Sim to 2026

fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts

@@ -1,8 +1,8 @@
 import type MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
-import EventSystem from "@/systems/EventSystem.ts"
 import World from "@/systems/World"
 import { random } from "@/util/Random"
 import Brain from "../Brain"
+import { SimConfig } from "../SimConfigShared"
 import type { SimulationLayer } from "../SimulationSystem"
 import SynthesisBrain from "../synthesis_brain/SynthesisBrain"
 import { type SimFlow, validate } from "./SimDataFlow"
@@ -13,7 +13,8 @@ import { SimAnalogInput } from "./sim/SimAI"
 import { SimDigitalInput } from "./sim/SimDIO"
 import { SimGyroInput } from "./sim/SimGyro"
 import { getSimBrain, getSimMap, setConnected, setSimBrain } from "./WPILibState"
-import { type DeviceData, SimType, type WSMessage, worker } from "./WPILibTypes"
+import { type DeviceData, type SimType, type WSMessage, worker } from "./WPILibTypes"
+import SimDriverStation from "./sim/SimDriverStation"
 
 worker.getValue().addEventListener("message", (eventData: MessageEvent) => {
     let data: WSMessage | undefined
@@ -22,10 +23,15 @@ worker.getValue().addEventListener("message", (eventData: MessageEvent) => {
         switch (eventData.data.status) {
             case "open":
                 setConnected(true)
+                SimDriverStation.setDsAttached(true)
                 break
             case "close":
+                setConnected(false)
+                SimDriverStation.setDsAttached(false)
+                break
             case "error":
                 setConnected(false)
+                SimDriverStation.setDsAttached(false)
                 break
             default:
                 return
@@ -39,12 +45,11 @@ worker.getValue().addEventListener("message", (eventData: MessageEvent) => {
         try {
             data = JSON.parse(eventData.data)
         } catch (_e) {
-            console.error(`Failed to parse data:\n${JSON.stringify(eventData.data)}`)
             return
         }
     }
 
-    if (!data?.type || !(Object.values(SimType) as string[]).includes(data.type)) return
+    if (!data?.type) return
 
     updateSimMap(data.type as SimType, data.device, data.data)
 })
@@ -65,8 +70,6 @@ function updateSimMap(type: SimType, device: string, updateData: DeviceData) {
     }
 
     Object.entries(updateData).forEach(([key, value]) => currentData.set(key, value))
-
-    EventSystem.dispatch("SimMapUpdateEvent", { internalUpdate: false })
 }
 
 class WPILibBrain extends Brain {
@@ -89,7 +92,6 @@ class WPILibBrain extends Brain {
         this._simLayer = World.simulationSystem.getSimulationLayer(this._mechanism)!
 
         if (!this._simLayer) {
-            console.warn("SimulationLayer is undefined")
             return
         }
 
@@ -130,21 +132,21 @@ class WPILibBrain extends Brain {
         const configData = this._assembly.simConfigData
         if (!configData) return false
 
-        // const flows = SimConfig.Compile(configData, this._assembly)
-        // if (!flows) {
-        //     console.error(`Failed to compile saved simulation configuration data for '${this.assemblyName}'`)
-        //     return false
-        // }
-
-        // let counter = 0
-        // flows.forEach(x => {
-        //     if (!this.addSimFlow(x)) {
-        //         console.debug("Failed to validate flow, skipping...")
-        //     } else {
-        //         counter++
-        //     }
-        // })
-        // console.debug(`${counter} Flows added!`)
+        const flows = SimConfig.Compile(configData, this._assembly)
+        if (!flows) {
+            console.error(`Failed to compile saved simulation configuration data for '${this.assemblyName}'`)
+            return false
+        }
+
+        let counter = 0
+        flows.forEach(x => {
+            if (!this.addSimFlow(x)) {
+                console.debug("Failed to validate flow, skipping...")
+            } else {
+                counter++
+            }
+        })
+        console.debug(`${counter} Flows added!`)
         return true
     }
 

fission/src/systems/simulation/wpilib_brain/WPILibWSWorker.ts

@@ -17,29 +17,25 @@ function socketConnecting(): boolean {
 }
 
 async function tryConnect(port?: number): Promise<void> {
-    await connectMutex
-        .runExclusive(() => {
-            if ((socket?.readyState ?? WebSocket.CLOSED) == WebSocket.OPEN) {
-                return
-            }
-
-            socket = new WebSocket(`ws://localhost:${port ?? 3300}/wpilibws`)
+    await connectMutex.runExclusive(() => {
+        if ((socket?.readyState ?? WebSocket.CLOSED) == WebSocket.OPEN) {
+            return
+        }
 
-            socket.addEventListener("open", () => {
-                console.log("WS Opened")
-                self.postMessage({ status: "open" })
-            })
-            socket.addEventListener("error", () => {
-                console.log("WS Could not open")
-                self.postMessage({ status: "error" })
-            })
-            socket.addEventListener("close", () => {
-                self.postMessage({ status: "close" })
-            })
+        socket = new WebSocket(`ws://localhost:${port ?? 3300}/wpilibws`)
 
-            socket.addEventListener("message", onMessage)
+        socket.addEventListener("open", () => {
+            self.postMessage({ status: "open" })
         })
-        .then(() => console.debug("Mutex released"))
+        socket.addEventListener("error", () => {
+            self.postMessage({ status: "error" })
+        })
+        socket.addEventListener("close", () => {
+            self.postMessage({ status: "close" })
+        })
+
+        socket.addEventListener("message", onMessage)
+    })
 }
 
 async function tryDisconnect(): Promise<void> {

fission/src/systems/simulation/wpilib_brain/sim/SimDriverStation.ts

@@ -17,11 +17,18 @@ export default class SimDriverStation {
     }
 
     public static setMode(mode: RobotSimMode) {
-        SimGeneric.set<boolean>(SimType.DRIVERS_STATION, "", ">enabled", mode != RobotSimMode.DISABLED)
-        SimGeneric.set<boolean>(SimType.DRIVERS_STATION, "", ">autonomous", mode == RobotSimMode.AUTO)
+        const enabled = mode != RobotSimMode.DISABLED
+        const autonomous = mode == RobotSimMode.AUTO
+        SimGeneric.set<boolean>(SimType.DRIVERS_STATION, "", ">ds", true)
+        SimGeneric.set<boolean>(SimType.DRIVERS_STATION, "", ">enabled", enabled)
+        SimGeneric.set<boolean>(SimType.DRIVERS_STATION, "", ">autonomous", autonomous)
     }
 
     public static setStation(station: AllianceStation) {
         SimGeneric.set<string>(SimType.DRIVERS_STATION, "", ">station", station)
     }
+
+    public static setDsAttached(attached: boolean) {
+        SimGeneric.set<boolean>(SimType.DRIVERS_STATION, "", ">ds", attached)
+    }
 }

fission/src/systems/simulation/wpilib_brain/sim/SimGeneric.ts

@@ -98,6 +98,7 @@ export default class SimGeneric {
                 data: selectedData,
             },
         })
+
         EventSystem.dispatch("SimMapUpdateEvent", { internalUpdate: true })
         return true
     }

simulation/SyntheSimJava/build.gradle

@@ -31,16 +31,16 @@ repositories {
         url "https://maven.revrobotics.com/"
     }
 
-    // KAUAI
+    // Studica (NavX)
     maven {
-        url "https://dev.studica.com/maven/release/2024/"
+        url "https://dev.studica.com/maven/release/2026/"
     }
 }
 
-def WPI_Version = '2024.3.2'
-def REV_Version = '2024.2.4'
-def CTRE_Version = '24.3.0'
-def KAUAI_Version = '2024.1.0'
+def WPI_Version = '2026.2.2'
+def REV_Version = '2026.0.5'
+def CTRE_Version = '26.3.0'
+def STUDICA_Version = '2026.0.0'
 
 dependencies {
     // This dependency is exported to consumers, that is to say found on their compile classpath.
@@ -53,15 +53,18 @@ dependencies {
     implementation "edu.wpi.first.wpilibj:wpilibj-java:$WPI_Version"
     implementation "edu.wpi.first.wpiutil:wpiutil-java:$WPI_Version"
     implementation "edu.wpi.first.hal:hal-java:$WPI_Version"
+    implementation "edu.wpi.first.wpimath:wpimath-java:$WPI_Version"
+    implementation "edu.wpi.first.ntcore:ntcore-java:$WPI_Version"
+    implementation "edu.wpi.first.wpiunits:wpiunits-java:$WPI_Version"
 
     // REVRobotics
     implementation "com.revrobotics.frc:REVLib-java:$REV_Version"
 
     // CTRE
     implementation "com.ctre.phoenix6:wpiapi-java:$CTRE_Version"
 
-    // KAUAI
-    implementation "com.kauailabs.navx.frc:navx-frc-java:$KAUAI_Version"
+    // Studica (NavX)
+    implementation "com.studica.frc:Studica-java:$STUDICA_Version"
 }
 
 java {

simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java

@@ -2,18 +2,21 @@
 
 import com.autodesk.synthesis.CANEncoder;
 import com.autodesk.synthesis.CANMotor;
-import com.ctre.phoenix6.signals.NeutralModeValue;
-import com.ctre.phoenix6.StatusSignal;
-import com.ctre.phoenix6.configs.TalonFXConfigurator;
-import com.ctre.phoenix6.hardware.DeviceIdentifier;
 
+/**
+ * TalonFX wrapper to add proper WPILib HALSim support.
+ *
+ * In Phoenix6 26, set(), setNeutralMode(), getPosition(), and getVelocity() are all
+ * final and cannot be overridden. Call syncSim() each robot periodic cycle to push
+ * the current motor output and encoder state into Synthesis.
+ */
 public class TalonFX extends com.ctre.phoenix6.hardware.TalonFX {
     private CANMotor m_motor;
     private CANEncoder m_encoder;
 
     /**
      * Creates a new TalonFX, wrapped with simulation support.
-     * 
+     *
      * @param deviceNumber CAN Device ID.
      */
     public TalonFX(int deviceNumber) {
@@ -24,66 +27,11 @@ public TalonFX(int deviceNumber) {
     }
 
     /**
-     * Sets the torque of the real and simulated motors
-     *
-     * @param percentOutput The torque
-     */
-    @Override
-    public void set(double percentOutput) {
-        super.set(percentOutput);
-        this.m_motor.setPercentOutput(percentOutput);
-    }
-
-    /**
-     * Sets both the real and simulated motors to neutral mode
-     *
-     * @param mode The neutral mode value
-     *
-     */
-    @Override
-    public void setNeutralMode(NeutralModeValue mode) {
-        super.setNeutralMode(mode);
-
-        this.m_motor.setBrakeMode(mode == NeutralModeValue.Brake);
-    }
-
-    /**
-     * Gets and internal configurator for both the simulated and real motors
-     *
-     * @return The internal configurator for this Talon motor
-     */
-    @Override
-    public TalonFXConfigurator getConfigurator() {
-        DeviceIdentifier id = this.deviceIdentifier;
-        return new com.autodesk.synthesis.ctre.TalonFXConfigurator(id, this);
-    }
-
-    // called internally by the configurator to set the deadband, not for user use
-    public void setNeutralDeadband(double deadband) {
-        this.m_motor.setNeutralDeadband(deadband);
-    }
-
-    /**
-     * Gets the position of the simulated encoder
-     *
-     * @return The motor position in revolutions
-     */
-    @Override
-    public StatusSignal<Double> getPosition() {
-        Double pos = this.m_encoder.getPosition();
-        super.setPosition(pos);
-        return super.getPosition();
-    }
-
-    /**
-     * Gets the velocity of the simulated motor according to the simulated encoder
-     *
-     * @return The motor velocity in revolutions per second
+     * Syncs the current motor output and encoder state into Synthesis.
+     * Call this once per robot periodic cycle (e.g. in robotPeriodic()).
      */
-    @Override
-    public StatusSignal<Double> getVelocity() {
-        Double velocity = this.m_encoder.getVelocity();
-        super.set(velocity);
-        return super.getVelocity();
+    public void syncSim() {
+        m_motor.setPercentOutput(this.get());
+        this.setPosition(m_encoder.getPosition());
     }
 }