From 221ea3624bbebe32c3b0debd40282ca774623dc9 Mon Sep 17 00:00:00 2001
From: shueja-personal <j.a.shue@outlook.com>
Date: Sat, 21 Dec 2024 21:47:48 -0800
Subject: [PATCH 1/2] Simplify logic when receiving a successful generation in
 UI

---
 src/document/DocumentModel.tsx          | 25 +------------------------
 src/document/path/HolonomicPathStore.ts | 13 +++++++++++++
 2 files changed, 14 insertions(+), 24 deletions(-)

diff --git a/src/document/DocumentModel.tsx b/src/document/DocumentModel.tsx
index ebf11892f7..36dd5189b0 100644
--- a/src/document/DocumentModel.tsx
+++ b/src/document/DocumentModel.tsx
@@ -254,30 +254,7 @@ export const DocumentStore = types
             const result: Trajectory = rust_trajectory as Trajectory;
             console.log(result);
             if (result.trajectory.samples.length == 0) throw "No trajectory";
-            self.history.startGroup(() => {
-              const newTrajectory = result.trajectory.samples;
-              if (inputDriveType === "Differential") {
-                pathStore.trajectory.setDifferentialSamples(
-                  newTrajectory as DifferentialSample[]
-                );
-              } else {
-                pathStore.trajectory.setSwerveSamples(
-                  newTrajectory as SwerveSample[]
-                );
-              }
-              pathStore.trajectory.setSplits(result.trajectory.splits);
-              pathStore.trajectory.setWaypoints(result.trajectory.waypoints);
-              pathStore.markers.forEach((m) => {
-                const index = m.from.trajectoryTargetIndex;
-                if (index === undefined) {
-                  m.from.setTargetTimestamp(undefined);
-                } else {
-                  m.from.setTargetTimestamp(result.trajectory.waypoints[index]);
-                }
-              });
-              pathStore.setSnapshot(result.snapshot);
-              self.history.stopGroup();
-            });
+            pathStore.processGenerationResult(result);
           },
           (e) => {
             tracing.error("generatePathPost:", e);
diff --git a/src/document/path/HolonomicPathStore.ts b/src/document/path/HolonomicPathStore.ts
index 2126ca3417..82317093b9 100644
--- a/src/document/path/HolonomicPathStore.ts
+++ b/src/document/path/HolonomicPathStore.ts
@@ -151,11 +151,24 @@ export const HolonomicPathStore = types
   })
   .actions((self) => {
     return {
+      processGenerationResult(ser: Trajectory) {
+        self.trajectory.deserialize(ser.trajectory);
+        self.markers.forEach((m) => {
+          const index = m.from.trajectoryTargetIndex;
+          if (index === undefined) {
+            m.from.setTargetTimestamp(undefined);
+          } else {
+            m.from.setTargetTimestamp(ser.trajectory.waypoints[index]);
+          }
+        });
+        self.setSnapshot(ser.snapshot);
+      },
       deserialize(ser: Trajectory) {
         self.name = ser.name;
         self.snapshot = ser.snapshot;
         self.params.deserialize(ser.params);
         self.trajectory.deserialize(ser.trajectory);
+        self.markers.clear();
         ser.events.forEach((m) => {
           self.addEventMarker(m);
         });

From dfa8562253655374d3620508b834fcaa34f6d908 Mon Sep 17 00:00:00 2001
From: shueja-personal <j.a.shue@outlook.com>
Date: Sat, 21 Dec 2024 22:01:23 -0800
Subject: [PATCH 2/2] Fix lint

---
 src/document/DocumentModel.tsx | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/document/DocumentModel.tsx b/src/document/DocumentModel.tsx
index 36dd5189b0..a3ad0e0aef 100644
--- a/src/document/DocumentModel.tsx
+++ b/src/document/DocumentModel.tsx
@@ -176,7 +176,6 @@ export const DocumentStore = types
 
       console.log(pathStore.serialize);
       const config = self.robotConfig.serialize;
-      const inputDriveType = self.type;
       pathStore.params.constraints
         .filter((constraint) => constraint.enabled)
         .forEach((constraint) => {