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Simplify logic when receiving a successful generation in UI #1065

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merged 3 commits into from
Dec 26, 2024
Merged

Simplify logic when receiving a successful generation in UI #1065

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221ea36
Simplify logic when receiving a successful generation in UI
shueja Dec 22, 2024
dfa8562
Fix lint
shueja Dec 22, 2024
47e8dd7
Merge branch 'main' into simplify-generation-result-receive
oh-yes-0-fps Dec 24, 2024
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26 changes: 1 addition & 25 deletions src/document/DocumentModel.tsx
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Original file line number Diff line number Diff line change
Expand Up @@ -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) => {
Expand Down Expand Up @@ -254,30 +253,7 @@ 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);
Expand Down
13 changes: 13 additions & 0 deletions src/document/path/HolonomicPathStore.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
});
Expand Down
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