Show preview starting state on the field (#523)

mjansen4857 · Dec 23, 2023 · 69c96e9 · 69c96e9
1 parent f88468f
commit 69c96e9
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Showing 3 changed files with 96 additions and 5 deletions.
diff --git a/lib/widgets/editor/path_painter.dart b/lib/widgets/editor/path_painter.dart
@@ -106,6 +106,17 @@ class PathPainter extends CustomPainter {
         for (int w = 0; w < paths[i].waypoints.length; w++) {
           _paintWaypoint(paths[i], canvas, scale, w);
         }
+
+        if (paths[i].previewStartingState != null) {
+          PathPainterUtil.paintRobotOutline(
+              paths[i].waypoints.first.anchor,
+              paths[i].previewStartingState!.rotation,
+              fieldImage,
+              robotSize,
+              scale,
+              canvas,
+              Colors.green.withOpacity(0.5));
+        }
       } else {
         _paintWaypoint(paths[i], canvas, scale, 0);
         _paintWaypoint(paths[i], canvas, scale, paths[i].waypoints.length - 1);

diff --git a/lib/widgets/editor/split_path_editor.dart b/lib/widgets/editor/split_path_editor.dart
@@ -198,10 +198,17 @@ class _SplitPathEditorState extends State<SplitPathEditor>
                     PathPainterUtil.uiPointSizeToPixels(
                         15, PathPainter.scale, widget.fieldImage));
                 // This is a little bit stupid but whatever
-                for (int i = -1; i < widget.path.rotationTargets.length; i++) {
+                for (int i = -2; i < widget.path.rotationTargets.length; i++) {
                   num rotation;
                   Point pos;
-                  if (i == -1) {
+                  if (i == -2) {
+                    if (widget.path.previewStartingState == null) {
+                      continue;
+                    }
+
+                    rotation = widget.path.previewStartingState!.rotation;
+                    pos = widget.path.waypoints.first.anchor;
+                  } else if (i == -1) {
                     rotation = widget.path.goalEndState.rotation;
                     pos = widget.path.waypoints.last.anchor;
                   } else {
@@ -283,7 +290,9 @@ class _SplitPathEditorState extends State<SplitPathEditor>
                   });
                 } else if (_draggedRotationIdx != null) {
                   Point pos;
-                  if (_draggedRotationIdx == -1) {
+                  if (_draggedRotationIdx == -2) {
+                    pos = widget.path.waypoints.first.anchor;
+                  } else if (_draggedRotationIdx == -1) {
                     pos = widget.path.waypoints.last.anchor;
                   } else {
                     int pointIdx = (widget
@@ -301,7 +310,9 @@ class _SplitPathEditorState extends State<SplitPathEditor>
                   num rotationDeg = (rotation * 180 / pi);
 
                   setState(() {
-                    if (_draggedRotationIdx == -1) {
+                    if (_draggedRotationIdx == -2) {
+                      widget.path.previewStartingState!.rotation = rotationDeg;
+                    } else if (_draggedRotationIdx == -1) {
                       widget.path.goalEndState.rotation = rotationDeg;
                     } else {
                       widget.path.rotationTargets[_draggedRotationIdx!]
@@ -344,7 +355,29 @@ class _SplitPathEditorState extends State<SplitPathEditor>
                   ));
                   _draggedPoint = null;
                 } else if (_draggedRotationIdx != null) {
-                  if (_draggedRotationIdx == -1) {
+                  if (_draggedRotationIdx == -2) {
+                    num endRotation =
+                        widget.path.previewStartingState!.rotation;
+                    widget.undoStack.add(Change(
+                      _dragRotationOldValue,
+                      () {
+                        setState(() {
+                          widget.path.previewStartingState!.rotation =
+                              endRotation;
+                          widget.path.generateAndSavePath();
+                          _simulatePath();
+                        });
+                      },
+                      (oldValue) {
+                        setState(() {
+                          widget.path.previewStartingState!.rotation =
+                              oldValue!;
+                          widget.path.generateAndSavePath();
+                          _simulatePath();
+                        });
+                      },
+                    ));
+                  } else if (_draggedRotationIdx == -1) {
                     num endRotation = widget.path.goalEndState.rotation;
                     widget.undoStack.add(Change(
                       _dragRotationOldValue,

diff --git a/test/widgets/editor/split_path_editor_test.dart b/test/widgets/editor/split_path_editor_test.dart
@@ -9,6 +9,7 @@ import 'package:pathplanner/path/constraints_zone.dart';
 import 'package:pathplanner/path/event_marker.dart';
 import 'package:pathplanner/path/path_constraints.dart';
 import 'package:pathplanner/path/pathplanner_path.dart';
+import 'package:pathplanner/path/preview_starting_state.dart';
 import 'package:pathplanner/path/rotation_target.dart';
 import 'package:pathplanner/util/path_painter_util.dart';
 import 'package:pathplanner/util/prefs.dart';
@@ -363,6 +364,52 @@ void main() {
     expect(path.goalEndState.rotation, closeTo(0, 0.1));
   });
 
+  testWidgets('drag preview starting state rotation', (widgetTester) async {
+    await widgetTester.binding.setSurfaceSize(const Size(1280, 720));
+
+    path.previewStartingState = PreviewStartingState();
+
+    await widgetTester.pumpWidget(MaterialApp(
+      home: Scaffold(
+        body: SplitPathEditor(
+          prefs: prefs,
+          path: path,
+          fieldImage: FieldImage.defaultField,
+          undoStack: undoStack,
+        ),
+      ),
+    ));
+
+    Point targetPos = path.waypoints.first.anchor;
+    var dragLocation = PathPainterUtil.pointToPixelOffset(
+            targetPos + const Point(0.5, 0.0),
+            PathPainter.scale,
+            FieldImage.defaultField) +
+        const Offset(48, 48) + // Add 48 for padding
+        const Offset(2.0, 28.0); // Some weird buffer going on
+    var halfMeterPixels = PathPainterUtil.metersToPixels(
+        0.5, PathPainter.scale, FieldImage.defaultField);
+
+    var gesture = await widgetTester.startGesture(dragLocation,
+        kind: PointerDeviceKind.mouse);
+    await widgetTester.pump();
+
+    for (int i = 0; i <= halfMeterPixels.ceil(); i++) {
+      await gesture.moveBy(const Offset(-1, -1.5));
+      await widgetTester.pump();
+    }
+
+    await gesture.up();
+    await widgetTester.pumpAndSettle();
+
+    expect(path.previewStartingState!.rotation, closeTo(90, 1.0));
+
+    undoStack.undo();
+    await widgetTester.pumpAndSettle();
+
+    expect(path.previewStartingState!.rotation, closeTo(0, 0.1));
+  });
+
   testWidgets('delete waypoint', (widgetTester) async {
     await widgetTester.binding.setSurfaceSize(const Size(1280, 720));