Add option to tie global constraints to default constraints

mjansen4857 · Nov 20, 2023 · ed4bbd1 · ed4bbd1
1 parent d562c8d
commit ed4bbd1
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Showing 12 changed files with 151 additions and 4 deletions.
diff --git a/lib/pages/home_page.dart b/lib/pages/home_page.dart
@@ -425,6 +425,7 @@ class _HomePageState extends State<HomePage> with TickerProviderStateMixin {
   }
 
   void _onProjectSettingsChanged() {
+    ProjectPage.settingsUpdated = true;
     _saveProjectSettingsToFile(_projectDir!);
 
     setState(() {

diff --git a/lib/pages/project/project_page.dart b/lib/pages/project/project_page.dart
@@ -33,6 +33,9 @@ class ProjectPage extends StatefulWidget {
   final VoidCallback? onFoldersChanged;
   final bool simulatePath;
 
+  // Stupid workaround to get when settings are updated
+  static bool settingsUpdated = false;
+
   const ProjectPage({
     super.key,
     required this.prefs,
@@ -170,6 +173,20 @@ class _ProjectPageState extends State<ProjectPage> {
       );
     }
 
+    // Stupid workaround but it works
+    if (ProjectPage.settingsUpdated) {
+      PathConstraints defaultConstraints = _getDefaultConstraints();
+
+      for (PathPlannerPath path in _paths) {
+        if (path.useDefaultConstraints) {
+          path.globalConstraints = defaultConstraints.clone();
+          path.generateAndSavePath();
+        }
+      }
+
+      ProjectPage.settingsUpdated = false;
+    }
+
     return Stack(
       children: [
         Container(

diff --git a/lib/path/pathplanner_path.dart b/lib/path/pathplanner_path.dart
@@ -32,6 +32,7 @@ class PathPlannerPath {
   bool reversed;
   PreviewStartingState? previewStartingState;
   String? folder;
+  bool useDefaultConstraints;
 
   FileSystem fs;
   String pathDir;
@@ -60,7 +61,8 @@ class PathPlannerPath {
         rotationTargets = [],
         eventMarkers = [],
         reversed = false,
-        previewStartingState = null {
+        previewStartingState = null,
+        useDefaultConstraints = false {
     waypoints.addAll([
       Waypoint(
         anchor: const Point(2.0, 7.0),
@@ -93,6 +95,7 @@ class PathPlannerPath {
     required this.reversed,
     required this.folder,
     required this.previewStartingState,
+    required this.useDefaultConstraints,
   }) : pathPoints = [] {
     generatePathPoints();
   }
@@ -127,6 +130,7 @@ class PathPlannerPath {
           previewStartingState: json['previewStartingState'] == null
               ? null
               : PreviewStartingState.fromJson(json['previewStartingState']),
+          useDefaultConstraints: json['useDefaultConstraints'] ?? false,
         );
 
   void generateAndSavePath() {
@@ -214,6 +218,7 @@ class PathPlannerPath {
       'reversed': reversed,
       'folder': folder,
       'previewStartingState': previewStartingState?.toJson(),
+      'useDefaultConstraints': useDefaultConstraints,
     };
   }
 
@@ -461,6 +466,7 @@ class PathPlannerPath {
       reversed: reversed,
       folder: folder,
       previewStartingState: previewStartingState?.clone(),
+      useDefaultConstraints: useDefaultConstraints,
     );
   }
 

diff --git a/lib/services/simulator/trajectory_generator.dart b/lib/services/simulator/trajectory_generator.dart
@@ -125,6 +125,7 @@ class TrajectoryGenerator {
         reversed: path.reversed,
         folder: null,
         previewStartingState: null,
+        useDefaultConstraints: path.useDefaultConstraints,
       );
     } else if ((closestPointIdx == 0 && robotNextControl == null) ||
         ((closestDist -
@@ -185,6 +186,7 @@ class TrajectoryGenerator {
         reversed: path.reversed,
         folder: null,
         previewStartingState: null,
+        useDefaultConstraints: path.useDefaultConstraints,
       );
     }
 
@@ -234,6 +236,7 @@ class TrajectoryGenerator {
         reversed: path.reversed,
         folder: null,
         previewStartingState: null,
+        useDefaultConstraints: path.useDefaultConstraints,
       );
     }
 
@@ -361,6 +364,7 @@ class TrajectoryGenerator {
       reversed: path.reversed,
       folder: null,
       previewStartingState: null,
+      useDefaultConstraints: path.useDefaultConstraints,
     );
   }
 

diff --git a/lib/widgets/editor/split_path_editor.dart b/lib/widgets/editor/split_path_editor.dart
@@ -5,6 +5,7 @@ import 'package:flutter/services.dart';
 import 'package:multi_split_view/multi_split_view.dart';
 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/rotation_target.dart';
 import 'package:pathplanner/path/waypoint.dart';
@@ -467,6 +468,7 @@ class _SplitPathEditorState extends State<SplitPathEditor>
                     waypointsTreeController: _waypointsTreeController,
                     undoStack: widget.undoStack,
                     holonomicMode: _holonomicMode,
+                    defaultConstraints: _getDefaultConstraints(),
                     onPathChanged: () {
                       setState(() {
                         widget.path.generateAndSavePath();
@@ -686,4 +688,18 @@ class _SplitPathEditorState extends State<SplitPathEditor>
   double _pixelsToMeters(double pixels) {
     return (pixels / PathPainter.scale) / widget.fieldImage.pixelsPerMeter;
   }
+
+  PathConstraints _getDefaultConstraints() {
+    return PathConstraints(
+      maxVelocity: widget.prefs.getDouble(PrefsKeys.defaultMaxVel) ??
+          Defaults.defaultMaxVel,
+      maxAcceleration: widget.prefs.getDouble(PrefsKeys.defaultMaxAccel) ??
+          Defaults.defaultMaxAccel,
+      maxAngularVelocity: widget.prefs.getDouble(PrefsKeys.defaultMaxAngVel) ??
+          Defaults.defaultMaxAngVel,
+      maxAngularAcceleration:
+          widget.prefs.getDouble(PrefsKeys.defaultMaxAngAccel) ??
+              Defaults.defaultMaxAngAccel,
+    );
+  }
 }
diff --git a/lib/widgets/editor/tree_widgets/global_constraints_tree.dart b/lib/widgets/editor/tree_widgets/global_constraints_tree.dart
@@ -1,4 +1,5 @@
 import 'package:flutter/material.dart';
+import 'package:pathplanner/path/path_constraints.dart';
 import 'package:pathplanner/path/pathplanner_path.dart';
 import 'package:pathplanner/widgets/editor/tree_widgets/tree_card_node.dart';
 import 'package:pathplanner/widgets/number_text_field.dart';
@@ -9,13 +10,15 @@ class GlobalConstraintsTree extends StatelessWidget {
   final VoidCallback? onPathChanged;
   final ChangeStack undoStack;
   final bool holonomicMode;
+  final PathConstraints defaultConstraints;
 
   const GlobalConstraintsTree({
     super.key,
     required this.path,
     this.onPathChanged,
     required this.undoStack,
     required this.holonomicMode,
+    required this.defaultConstraints,
   });
 
   @override
@@ -39,6 +42,7 @@ class GlobalConstraintsTree extends StatelessWidget {
                   initialText:
                       path.globalConstraints.maxVelocity.toStringAsFixed(2),
                   label: 'Max Velocity (M/S)',
+                  enabled: !path.useDefaultConstraints,
                   onSubmitted: (value) {
                     if (value != null && value > 0) {
                       _addChange(
@@ -53,6 +57,7 @@ class GlobalConstraintsTree extends StatelessWidget {
                   initialText:
                       path.globalConstraints.maxAcceleration.toStringAsFixed(2),
                   label: 'Max Acceleration (M/S²)',
+                  enabled: !path.useDefaultConstraints,
                   onSubmitted: (value) {
                     if (value != null && value > 0) {
                       _addChange(
@@ -76,6 +81,7 @@ class GlobalConstraintsTree extends StatelessWidget {
                         .toStringAsFixed(2),
                     label: 'Max Angular Velocity (Deg/S)',
                     arrowKeyIncrement: 1.0,
+                    enabled: !path.useDefaultConstraints,
                     onSubmitted: (value) {
                       if (value != null && value > 0) {
                         _addChange(() =>
@@ -91,6 +97,7 @@ class GlobalConstraintsTree extends StatelessWidget {
                         .toStringAsFixed(2),
                     label: 'Max Angular Acceleration (Deg/S²)',
                     arrowKeyIncrement: 1.0,
+                    enabled: !path.useDefaultConstraints,
                     onSubmitted: (value) {
                       if (value != null && value > 0) {
                         _addChange(() => path
@@ -102,6 +109,40 @@ class GlobalConstraintsTree extends StatelessWidget {
               ],
             ),
           ),
+        const SizedBox(height: 12),
+        Padding(
+          padding: const EdgeInsets.symmetric(horizontal: 6.0),
+          child: Row(
+            children: [
+              Checkbox(
+                value: path.useDefaultConstraints,
+                onChanged: (value) {
+                  undoStack.add(Change(
+                    (
+                      path.useDefaultConstraints,
+                      path.globalConstraints.clone()
+                    ),
+                    () {
+                      path.useDefaultConstraints = value ?? false;
+                      path.globalConstraints = defaultConstraints.clone();
+                      onPathChanged?.call();
+                    },
+                    (oldValue) {
+                      path.useDefaultConstraints = oldValue.$1;
+                      path.globalConstraints = oldValue.$2.clone();
+                      onPathChanged?.call();
+                    },
+                  ));
+                },
+              ),
+              const SizedBox(width: 4),
+              const Text(
+                'Use Default Constraints',
+                style: TextStyle(fontSize: 18),
+              ),
+            ],
+          ),
+        ),
       ],
     );
   }

diff --git a/lib/widgets/editor/tree_widgets/path_tree.dart b/lib/widgets/editor/tree_widgets/path_tree.dart
@@ -1,4 +1,5 @@
 import 'package:flutter/material.dart';
+import 'package:pathplanner/path/path_constraints.dart';
 import 'package:pathplanner/path/pathplanner_path.dart';
 import 'package:pathplanner/widgets/editor/tree_widgets/constraint_zones_tree.dart';
 import 'package:pathplanner/widgets/editor/tree_widgets/editor_settings_tree.dart';
@@ -32,6 +33,7 @@ class PathTree extends StatefulWidget {
   final ChangeStack undoStack;
   final num? pathRuntime;
   final bool holonomicMode;
+  final PathConstraints defaultConstraints;
 
   const PathTree({
     super.key,
@@ -56,6 +58,7 @@ class PathTree extends StatefulWidget {
     this.pathRuntime,
     this.onPathChangedNoSim,
     required this.holonomicMode,
+    required this.defaultConstraints,
   });
 
   @override
@@ -109,6 +112,7 @@ class _PathTreeState extends State<PathTree> {
                   onPathChanged: widget.onPathChanged,
                   undoStack: widget.undoStack,
                   holonomicMode: widget.holonomicMode,
+                  defaultConstraints: widget.defaultConstraints,
                 ),
                 GoalEndStateTree(
                   path: widget.path,

diff --git a/lib/widgets/number_text_field.dart b/lib/widgets/number_text_field.dart
@@ -28,8 +28,6 @@ class NumberTextField extends StatelessWidget {
 
   @override
   Widget build(BuildContext context) {
-    ColorScheme colorScheme = Theme.of(context).colorScheme;
-
     return SizedBox(
       height: height,
       child: CallbackShortcuts(
@@ -55,7 +53,7 @@ class NumberTextField extends StatelessWidget {
               FilteringTextInputFormatter.allow(
                   RegExp(r'(^(-?)\d*\.?\d*)([+/\*\-](-?)\d*\.?\d*)*')),
             ],
-            style: TextStyle(fontSize: 14, color: colorScheme.onSurface),
+            style: const TextStyle(fontSize: 14),
             decoration: InputDecoration(
               contentPadding: const EdgeInsets.fromLTRB(8, 4, 8, 4),
               labelText: label,

diff --git a/test/path/pathplanner_path_test.dart b/test/path/pathplanner_path_test.dart
@@ -57,6 +57,7 @@ void main() {
         reversed: false,
         folder: null,
         previewStartingState: null,
+        useDefaultConstraints: false,
       );
 
       expect(path.name, 'test');
@@ -94,6 +95,7 @@ void main() {
         reversed: false,
         folder: null,
         previewStartingState: PreviewStartingState(rotation: 10, velocity: 1),
+        useDefaultConstraints: false,
       );
 
       Map<String, dynamic> json = path.toJson();
@@ -128,6 +130,7 @@ void main() {
         reversed: false,
         folder: null,
         previewStartingState: null,
+        useDefaultConstraints: false,
       );
       PathPlannerPath cloned = path.duplicate('test');
 
@@ -163,6 +166,7 @@ void main() {
         reversed: false,
         folder: null,
         previewStartingState: null,
+        useDefaultConstraints: false,
       );
       PathPlannerPath path2 = PathPlannerPath(
         name: 'test',
@@ -186,6 +190,7 @@ void main() {
         reversed: false,
         folder: null,
         previewStartingState: null,
+        useDefaultConstraints: false,
       );
       PathPlannerPath path3 = PathPlannerPath(
         name: 'test2',
@@ -209,6 +214,7 @@ void main() {
         reversed: false,
         folder: null,
         previewStartingState: null,
+        useDefaultConstraints: false,
       );
 
       expect(path2, path1);
@@ -244,6 +250,7 @@ void main() {
       reversed: false,
       folder: null,
       previewStartingState: null,
+      useDefaultConstraints: false,
     );
 
     path.addWaypoint(const Point(6.0, 1.0));
@@ -293,6 +300,7 @@ void main() {
       reversed: false,
       folder: null,
       previewStartingState: null,
+      useDefaultConstraints: false,
     );
 
     path.insertWaypointAfter(1);

diff --git a/test/services/simulator/trajectory_generator_test.dart b/test/services/simulator/trajectory_generator_test.dart
@@ -41,6 +41,7 @@ void main() {
       reversed: false,
       folder: null,
       previewStartingState: null,
+      useDefaultConstraints: false,
     );
 
     Trajectory sim = Trajectory.simulate(test, 0, 0);
@@ -81,6 +82,7 @@ void main() {
       reversed: false,
       folder: null,
       previewStartingState: null,
+      useDefaultConstraints: false,
     );
 
     // Basic coverage tests, expand in future