Bug fixes and cleanups for balancebot sim

examples/cu_rp_balancebot/Cargo.toml

@@ -43,13 +43,15 @@ bevy_mod_picking = { version = "0.20.1", features = ["backend_avian"], optional
 avian3d = { version = "0.1.2", default-features = false, features = ["bevy_scene", "collider-from-mesh", "debug-plugin", "parallel"], optional = true }
 parry3d = { version = "0.17.1", optional = true }
 cached-path = { version = "0.6.1", optional = true }
+iyes_perf_ui = { version = "0.3.0", optional = true }
 
 [features]
 default = ["logreader", "sim"]
 # generates an executable to read the logs
 logreader = ["cu29-export"]
 # dependencies to build to matrix for copper
 sim = ["bevy", "bevy_mod_picking", "avian3d", "parry3d", "cached-path"]
+perf-ui = ["iyes_perf_ui"]
 
 [[bin]]
 name = "balancebot"

examples/cu_rp_balancebot/README.md

@@ -0,0 +1,62 @@
+# BalanceBot: this is a full Copper demo robot
+
+with:
+
+- a physical robot implementation
+- a simulation implementation
+- a resimulation demoing the deterministic replay
+- a log export
+
+## To run the simulation
+
+```bash
+$ cd examples/cu_rp_balancebot
+$ cargo run --release 
+```
+
+See the UI help for the navigation.
+
+To debug the game engine side you can add a perf overlay with:
+
+```bash
+$ cargo run --release --features perf-ui
+```
+
+## To run the resimulation
+
+(you need at least a log in `logs` for example from a simulation run).
+
+```bash
+$ cd examples/cu_rp_balancebot
+$ cargo run --bin balancebot_resim --release
+```
+
+It will recreate the logs from only the inputs of the previous run in `logs/balancebot_resim*.copper`.
+
+## To run on the real robot
+
+You will need to cross compile for Arm:
+
+```bash
+cargo build --target armv7-unknown-linux-musleabihf --release --no-default-features
+```
+
+Be sure you save your log string index:
+
+```bash
+cp -rv ../../target/armv7-unknown-linux-musleabihf/release/cu29_log_index .  # or anywhere you want
+```
+
+Deploy on the target:
+
+```bash
+scp ../../target/armv7-unknown-linux-musleabihf/release/balancebot copperconfig.ron copper7:copper/  # change to match your target
+```
+
+## To export logs
+
+```bash
+$ cd examples/cu_rp_balancebot
+$ cargo run --bin balancebot-logreader --release
+```
+

examples/cu_rp_balancebot/src/main.rs

@@ -3,7 +3,8 @@ pub mod tasks;
 use cu29_derive::copper_runtime;
 use cu29_helpers::basic_copper_setup;
 use cu29_log_derive::debug;
-use std::path::PathBuf;
+use std::fs;
+use std::path::{Path, PathBuf};
 use std::sync::atomic::{AtomicBool, Ordering};
 
 #[copper_runtime(config = "copperconfig.ron")]
@@ -15,6 +16,11 @@ const SLAB_SIZE: Option<usize> = Some(1 * 1024 * 1024 * 1024);
 fn main() {
     static STOP_FLAG: AtomicBool = AtomicBool::new(false);
     let logger_path = "logs/balance.copper";
+
+    if let Some(parent) = Path::new(logger_path).parent() {
+        fs::create_dir_all(parent).expect("Failed to create logs directory");
+    }
+
     let copper_ctx = basic_copper_setup(&PathBuf::from(logger_path), SLAB_SIZE, false, None)
         .expect("Failed to setup logger.");
     debug!("Logger created at {}.", path = logger_path);

examples/cu_rp_balancebot/src/world/mod.rs

@@ -11,6 +11,13 @@ use bevy::pbr::{
 use bevy::prelude::*;
 use bevy_mod_picking::prelude::*;
 use cached_path::{Cache, ProgressBar};
+
+#[cfg(feature = "perf-ui")]
+use iyes_perf_ui::PerfUiPlugin;
+
+#[cfg(feature = "perf-ui")]
+use iyes_perf_ui::entries::PerfUiCompleteBundle;
+
 use std::path::Path;
 use std::{fs, io};
 
@@ -59,12 +66,16 @@ pub struct Cart;
 pub struct Rod;
 
 pub fn build_world(app: &mut App) -> &mut App {
-    app.insert_resource(Msaa::Off)
+    let app = app
+        .insert_resource(Msaa::Off)
         .add_plugins((
             DefaultPickingPlugins,
             PhysicsPlugins::default().with_length_unit(1000.0),
             // EditorPlugin::default(),
         ))
+        // we want Bevy to measure these values for us:
+        .add_plugins(bevy::diagnostic::FrameTimeDiagnosticsPlugin)
+        .add_plugins(bevy::diagnostic::EntityCountDiagnosticsPlugin)
         .insert_resource(DefaultOpaqueRendererMethod::deferred())
         .insert_resource(SimulationState::Running)
         .insert_resource(CameraControl {
@@ -76,12 +87,17 @@ pub fn build_world(app: &mut App) -> &mut App {
         .insert_resource(Time::<Physics>::default())
         .add_systems(Startup, setup_scene)
         .add_systems(Startup, setup_ui)
-        .add_systems(Startup, setup_entities)
+        .add_systems(Update, setup_entities) // Wait for the cart entity to be loaded
         .add_systems(Update, toggle_simulation_state)
         .add_systems(Update, camera_control_system)
         .add_systems(Update, update_physics)
         .add_systems(Update, global_cart_drag_listener)
-        .add_systems(PostUpdate, reset_sim)
+        .add_systems(PostUpdate, reset_sim);
+
+    #[cfg(feature = "perf-ui")]
+    app.add_plugins(PerfUiPlugin);
+
+    app
 }
 
 fn ground_setup(
@@ -239,6 +255,9 @@ fn setup_scene(
         Fxaa::default(),
     ));
 
+    // add the delayed setup flag
+    commands.insert_resource(SetupCompleted(false));
+
     // add a ground
     ground_setup(&mut commands, &mut meshes, &mut materials);
 }
@@ -289,6 +308,8 @@ fn setup_ui(mut commands: Commands) {
                 },
             ));
         });
+    #[cfg(feature = "perf-ui")]
+    commands.spawn(PerfUiCompleteBundle::default());
 }
 
 // This needs to match an object / parent object name in the GLTF file (in blender this is the object name).
@@ -329,12 +350,20 @@ fn global_cart_drag_listener(
     }
 }
 
+#[derive(Resource)]
+struct SetupCompleted(bool);
+
 fn setup_entities(
     mut commands: Commands,
     mut meshes: ResMut<Assets<Mesh>>,
     mut materials: ResMut<Assets<StandardMaterial>>,
     query: Query<(Entity, &Name), Without<Cart>>,
+    mut setup_completed: ResMut<SetupCompleted>,
 ) {
+    if setup_completed.0 {
+        return;
+    }
+
     // The cart entity will be loaded from the GLTF file, we need to wait for it to be loaded
     let cart_entity = match try_to_find_cart_entity(query) {
         Some(entity) => entity,
@@ -442,6 +471,8 @@ fn setup_entities(
         transform: Transform::from_xyz(2.0, 4.0, 2.0),
         ..default()
     });
+
+    setup_completed.0 = true; // Mark as completed
 }
 
 fn reset_sim(