Upgrade TrajoptLib to use new cancellation method (#509)

SleipnirGroup · Jul 3, 2024 · b7fea34 · b7fea34
1 parent 67a636b
commit b7fea34
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Showing 3 changed files with 3 additions and 4 deletions.
diff --git a/src-tauri/Cargo.lock b/src-tauri/Cargo.lock
diff --git a/src-tauri/Cargo.toml b/src-tauri/Cargo.toml
@@ -18,7 +18,7 @@ tauri-build = { version = "1.5.2", features = [] }
 tauri = { version = "1.6.6", features = [ "os-all", "window-close", "window-set-title", "path-all", "dialog", "dialog-confirm", "dialog-save", "dialog-open", "dialog-ask", "fs-all", "shell-open", "devtools"] }
 serde = { version = "1.0", features = ["derive"] }
 serde_json = "1.0"
-trajoptlib = { git = "https://github.com/SleipnirGroup/TrajoptLib.git", rev = "674240dd0016c9190998cd2e2cd846a4c34756d3" }
+trajoptlib = { git = "https://github.com/SleipnirGroup/TrajoptLib.git", rev = "3f3ee40c23a980505b04bcfcb183043b7fe91771" }
 open = "3"
 lazy_static = "1.4.0"
 

diff --git a/src-tauri/src/main.rs b/src-tauri/src/main.rs
@@ -265,8 +265,7 @@ fn fix_scope(idx: usize, removed_idxs: &Vec<usize>) -> usize {
 
 #[tauri::command]
 async fn cancel() {
-    let mut builder = SwervePathBuilder::new();
-    builder.cancel_all();
+    trajoptlib::cancel_all();
 }
 
 #[derive(Debug, serde::Serialize, serde::Deserialize, Clone)]