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Persist paused state through path edits #838

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merged 1 commit into from
Oct 7, 2024
Merged

Persist paused state through path edits #838

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60 changes: 9 additions & 51 deletions lib/widgets/editor/split_auto_editor.dart
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Original file line number Diff line number Diff line change
Expand Up @@ -5,9 +5,7 @@
import 'package:pathplanner/services/log.dart';
import 'package:pathplanner/trajectory/auto_simulator.dart';
import 'package:pathplanner/trajectory/config.dart';
import 'package:pathplanner/trajectory/dc_motor.dart';
import 'package:pathplanner/trajectory/trajectory.dart';
import 'package:pathplanner/util/wpimath/geometry.dart';
import 'package:pathplanner/path/pathplanner_path.dart';
import 'package:pathplanner/util/prefs.dart';
import 'package:pathplanner/widgets/editor/path_painter.dart';
Expand Down Expand Up @@ -52,7 +50,6 @@
bool _paused = false;

late AnimationController _previewController;
late bool _holonomicMode;

@override
void initState() {
Expand All @@ -62,8 +59,6 @@

_treeOnRight =
widget.prefs.getBool(PrefsKeys.treeOnRight) ?? Defaults.treeOnRight;
_holonomicMode =
widget.prefs.getBool(PrefsKeys.holonomicMode) ?? Defaults.holonomicMode;

double treeWeight = widget.prefs.getDouble(PrefsKeys.editorTreeWeight) ??
Defaults.editorTreeWeight;
Expand Down Expand Up @@ -237,52 +232,7 @@
simPath = PathPlannerTrajectory.fromStates(allStates);
}
} else {
num halfWheelbase = (widget.prefs.getDouble(PrefsKeys.robotWheelbase) ??
Defaults.robotWheelbase) /
2;
num halfTrackwidth = (widget.prefs.getDouble(PrefsKeys.robotTrackwidth) ??
Defaults.robotTrackwidth) /
2;
List<Translation2d> moduleLocations = _holonomicMode
? [
Translation2d(halfWheelbase, halfTrackwidth),
Translation2d(halfWheelbase, -halfTrackwidth),
Translation2d(-halfWheelbase, halfTrackwidth),
Translation2d(-halfWheelbase, -halfTrackwidth),
]
: [
Translation2d(0, halfTrackwidth),
Translation2d(0, -halfTrackwidth),
];

int numMotors = _holonomicMode ? 1 : 2;
DCMotor driveMotor = DCMotor.fromString(
widget.prefs.getString(PrefsKeys.driveMotor) ??
Defaults.driveMotor,
numMotors)
.withReduction(widget.prefs.getDouble(PrefsKeys.driveGearing) ??
Defaults.driveGearing);
RobotConfig config = RobotConfig(
massKG:
widget.prefs.getDouble(PrefsKeys.robotMass) ?? Defaults.robotMass,
moi: widget.prefs.getDouble(PrefsKeys.robotMOI) ?? Defaults.robotMOI,
moduleConfig: ModuleConfig(
wheelRadiusMeters:
widget.prefs.getDouble(PrefsKeys.driveWheelRadius) ??
Defaults.driveWheelRadius,
maxDriveVelocityMPS:
widget.prefs.getDouble(PrefsKeys.maxDriveSpeed) ??
Defaults.maxDriveSpeed,
driveMotor: driveMotor,
driveCurrentLimit:
widget.prefs.getDouble(PrefsKeys.driveCurrentLimit) ??
Defaults.driveCurrentLimit,
wheelCOF:
widget.prefs.getDouble(PrefsKeys.wheelCOF) ?? Defaults.wheelCOF,
),
moduleLocations: moduleLocations,
holonomic: _holonomicMode,
);
RobotConfig config = RobotConfig.fromPrefs(widget.prefs);

try {
simPath = AutoSimulator.simulateAuto(
Expand Down Expand Up @@ -310,6 +260,14 @@
_previewController.duration = Duration(
milliseconds: (simPath.states.last.timeSeconds * 1000).toInt());
_previewController.repeat();
} else {
double prevTime = _previewController.value *
(_previewController.duration!.inMilliseconds / 1000.0);
_previewController.duration = Duration(
milliseconds: (simPath.states.last.timeSeconds * 1000).toInt());
double newPos = prevTime / simPath.states.last.timeSeconds;
_previewController.forward(from: newPos);
_previewController.stop();

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}
} else {
// Trajectory failed to generate. Notify the user
Expand Down
16 changes: 13 additions & 3 deletions lib/widgets/editor/split_path_editor.dart
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Original file line number Diff line number Diff line change
Expand Up @@ -736,9 +736,19 @@
}

if (_simTraj != null) {
_previewController.duration = Duration(
milliseconds: (_simTraj!.states.last.timeSeconds * 1000).toInt());
_previewController.repeat();
if (!_paused) {
_previewController.duration = Duration(
milliseconds: (_simTraj!.states.last.timeSeconds * 1000).toInt());
_previewController.repeat();
} else if (_previewController.duration != null) {
double prevTime = _previewController.value *
(_previewController.duration!.inMilliseconds / 1000.0);
_previewController.duration = Duration(
milliseconds: (_simTraj!.states.last.timeSeconds * 1000).toInt());
double newPos = prevTime / _simTraj!.states.last.timeSeconds;
_previewController.forward(from: newPos);
_previewController.stop();

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}
} else {
// Trajectory failed to generate. Notify the user
Log.warning(
Expand Down
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