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Draw solid line through trajectory points
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@Gold872
Gold872 committed Dec 17, 2023
1 parent 3539f96 commit 14eda5b
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Showing 2 changed files with 113 additions and 70 deletions.
4 changes: 4 additions & 0 deletions lib/services/field_images.dart
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,10 @@ class FieldImages {
return field;
}

static bool hasField(String game) {
return fields.map((e) => e.game).contains(game);
}

static Future loadFields(String directory) async {
List<String> filePaths = jsonDecode(
await rootBundle.loadString('AssetManifest.json'))
Expand Down
179 changes: 109 additions & 70 deletions lib/widgets/nt_widgets/multi-topic/field_widget.dart
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@ import 'package:flutter/services.dart';
import 'package:collection/collection.dart';
import 'package:dot_cast/dot_cast.dart';
import 'package:provider/provider.dart';
import 'package:vector_math/vector_math_64.dart' show radians;

import 'package:elastic_dashboard/services/field_images.dart';
import 'package:elastic_dashboard/services/nt4_client.dart';
Expand All @@ -16,16 +17,14 @@ import 'package:elastic_dashboard/widgets/dialog_widgets/dialog_text_input.dart'
import 'package:elastic_dashboard/widgets/dialog_widgets/dialog_toggle_switch.dart';
import 'package:elastic_dashboard/widgets/nt_widgets/nt_widget.dart';

import 'package:vector_math/vector_math_64.dart'
show Matrix3, Quaternion, Vector3, radians;

class FieldWidget extends NTWidget {
static const String widgetType = 'Field';
@override
String type = widgetType;

String fieldGame = 'Charged Up';
late Field? field;
static String defaultGame = 'Charged Up';
String fieldGame = defaultGame;
late Field field;

double robotWidthMeters = 0.82;
double robotLengthMeters = 1.00;
Expand All @@ -34,7 +33,7 @@ class FieldWidget extends NTWidget {
bool showTrajectories = true;

final double otherObjectSize = 0.55;
final double trajectoryPointSize = 0.10;
final double trajectoryPointSize = 0.08;

Size? widgetSize;

Expand All @@ -54,7 +53,11 @@ class FieldWidget extends NTWidget {
}) : super() {
fieldGame = fieldName ?? fieldGame;

field = FieldImages.getFieldFromGame(fieldGame);
if (!FieldImages.hasField(fieldGame)) {
fieldGame = defaultGame;
}

field = FieldImages.getFieldFromGame(fieldGame)!;
}

FieldWidget.fromJson({super.key, required Map<String, dynamic> jsonData})
Expand All @@ -67,7 +70,11 @@ class FieldWidget extends NTWidget {
showOtherObjects = tryCast(jsonData['show_other_objects']) ?? true;
showTrajectories = tryCast(jsonData['show_trajectories']) ?? true;

field = FieldImages.getFieldFromGame(fieldGame);
if (!FieldImages.hasField(fieldGame)) {
fieldGame = defaultGame;
}

field = FieldImages.getFieldFromGame(fieldGame)!;
}

@override
Expand All @@ -90,7 +97,7 @@ class FieldWidget extends NTWidget {
super.dispose(deleting: deleting);

if (deleting) {
field?.dispose();
field.dispose();
}

widgetSize = null;
Expand Down Expand Up @@ -127,14 +134,14 @@ class FieldWidget extends NTWidget {

fieldGame = value;

field?.dispose();
field.dispose();

field = newField;

refresh();
},
choices: FieldImages.fields.map((e) => e.game).toList(),
initialValue: field!.game,
initialValue: field.game,
),
const SizedBox(height: 5),
Row(
Expand Down Expand Up @@ -216,17 +223,7 @@ class FieldWidget extends NTWidget {
return min(
fitWidth,
fitHeight /
((field!.fieldImageHeight ?? 0) / (field!.fieldImageWidth ?? 1)));
}

double _getBackgroundFitHeight(Size size) {
double fitWidth = size.width;
double fitHeight = size.height;

return min(
fitHeight,
fitWidth *
((field!.fieldImageHeight ?? 0) / (field!.fieldImageWidth ?? 1)));
((field.fieldImageHeight ?? 0) / (field.fieldImageWidth ?? 1)));
}

Widget _getTransformedFieldObject(List<double> objectPosition, Offset center,
Expand All @@ -239,22 +236,22 @@ class FieldWidget extends NTWidget {
}

double xFromCenter =
(objectPosition[0]) * field!.pixelsPerMeterHorizontal - fieldCenter.dx;
(objectPosition[0]) * field.pixelsPerMeterHorizontal - fieldCenter.dx;

double yFromCenter =
fieldCenter.dy - (objectPosition[1]) * field!.pixelsPerMeterVertical;
fieldCenter.dy - (objectPosition[1]) * field.pixelsPerMeterVertical;

Offset positionOffset = center +
(Offset(xFromCenter + field!.topLeftCorner.dx,
yFromCenter - field!.topLeftCorner.dy)) *
(Offset(xFromCenter + field.topLeftCorner.dx,
yFromCenter - field.topLeftCorner.dy)) *
scaleReduction;

double width = (objectSize?.width ?? otherObjectSize) *
field!.pixelsPerMeterHorizontal *
field.pixelsPerMeterHorizontal *
scaleReduction;

double length = (objectSize?.height ?? otherObjectSize) *
field!.pixelsPerMeterVertical *
field.pixelsPerMeterVertical *
scaleReduction;

Matrix4 transform = Matrix4.translationValues(
Expand Down Expand Up @@ -290,43 +287,26 @@ class FieldWidget extends NTWidget {
);
}

Widget _getTrajectoryPoint(List<double> objectPosition, Offset center,
Offset fieldCenter, double scaleReduction) {
Offset _getTransformedTrajectoryPoint(List<double> objectPosition,
Offset center, Offset fieldCenter, double scaleReduction) {
for (int i = 0; i < objectPosition.length; i++) {
if (!objectPosition[i].isFinite) {
objectPosition[i] = 0.0;
}
}

double xFromCenter =
(objectPosition[0]) * field!.pixelsPerMeterHorizontal - fieldCenter.dx;
(objectPosition[0]) * field.pixelsPerMeterHorizontal - fieldCenter.dx;

double yFromCenter =
fieldCenter.dy - (objectPosition[1]) * field!.pixelsPerMeterVertical;
fieldCenter.dy - (objectPosition[1]) * field.pixelsPerMeterVertical;

Offset positionOffset = center +
(Offset(xFromCenter + field!.topLeftCorner.dx,
yFromCenter - field!.topLeftCorner.dy)) *
(Offset(xFromCenter + field.topLeftCorner.dx,
yFromCenter - field.topLeftCorner.dy)) *
scaleReduction;

double size =
trajectoryPointSize * field!.pixelsPerMeterHorizontal * scaleReduction;

Widget otherObject = Container(
alignment: Alignment.center,
decoration: const BoxDecoration(
shape: BoxShape.circle,
color: Colors.white,
),
width: size,
height: size,
);

return Positioned(
left: positionOffset.dx - size / 2,
top: positionOffset.dy - size / 2,
child: otherObject,
);
return positionOffset;
}

void _updateOtherObjectTopics() {
Expand Down Expand Up @@ -363,9 +343,11 @@ class FieldWidget extends NTWidget {
continue;
}

if (objectPositionRaw.length > 24 && !showTrajectories) {
bool isTrajectory = objectPositionRaw.length > 24;

if (isTrajectory && !showTrajectories) {
continue;
} else if (!showOtherObjects) {
} else if (!showOtherObjects && !isTrajectory) {
continue;
}

Expand Down Expand Up @@ -398,10 +380,11 @@ class FieldWidget extends NTWidget {

List<Object> currentData = getCurrentData();

if (!(const DeepCollectionEquality().equals(previousData, currentData)) ||
!rendered) {
if (!(const DeepCollectionEquality().equals(previousData, currentData))) {
yield Object();
previousData = currentData;
} else if (!rendered) {
yield Object();
}

await Future.delayed(Duration(
Expand Down Expand Up @@ -452,12 +435,12 @@ class FieldWidget extends NTWidget {
}

Offset center = Offset(size.width / 2, size.height / 2);
Offset fieldCenter = Offset((field!.fieldImageWidth?.toDouble() ?? 0.0),
(field!.fieldImageHeight?.toDouble() ?? 0.0)) /
Offset fieldCenter = Offset((field.fieldImageWidth?.toDouble() ?? 0.0),
(field.fieldImageHeight?.toDouble() ?? 0.0)) /
2;

double scaleReduction =
(_getBackgroundFitWidth(size)) / (field!.fieldImageWidth ?? 1);
(_getBackgroundFitWidth(size)) / (field.fieldImageWidth ?? 1);

if (renderBox != null &&
widgetSize != null &&
Expand All @@ -477,7 +460,7 @@ class FieldWidget extends NTWidget {
objectSize: Size(robotWidthMeters, robotLengthMeters));

List<Widget> otherObjects = [];
List<Widget> trajectoryPoints = [];
List<List<Offset>> trajectoryPoints = [];

if (showOtherObjects || showTrajectories) {
for (String objectTopic in otherObjectTopics) {
Expand All @@ -489,37 +472,57 @@ class FieldWidget extends NTWidget {
continue;
}

if (objectPositionRaw.length > 24 && !showTrajectories) {
bool isTrajectory = objectPositionRaw.length > 24;

if (isTrajectory && !showTrajectories) {
continue;
} else if (!showOtherObjects) {
} else if (!showOtherObjects && !isTrajectory) {
continue;
}

List<double> objectPosition =
objectPositionRaw.whereType<double>().toList();

if (isTrajectory) {
trajectoryPoints.add([]);
}

for (int i = 0; i < objectPosition.length - 2; i += 3) {
if (objectPosition.length > 24) {
trajectoryPoints.add(_getTrajectoryPoint(
objectPosition.sublist(i, i + 3),
if (isTrajectory) {
trajectoryPoints.last.add(
_getTransformedTrajectoryPoint(
objectPosition.sublist(i, i + 2),
center,
fieldCenter,
scaleReduction));
scaleReduction,
),
);
} else {
otherObjects.add(_getTransformedFieldObject(
otherObjects.add(
_getTransformedFieldObject(
objectPosition.sublist(i, i + 3),
center,
fieldCenter,
scaleReduction));
scaleReduction,
),
);
}
}
}
}

return Stack(
children: [
field!.fieldImage,
...trajectoryPoints,
field.fieldImage,
for (List<Offset> points in trajectoryPoints)
CustomPaint(
painter: TrajectoryPainter(
points: points,
strokeWidth: trajectoryPointSize *
field.pixelsPerMeterHorizontal *
scaleReduction,
),
),
robot,
...otherObjects,
],
Expand Down Expand Up @@ -565,3 +568,39 @@ class TrianglePainter extends CustomPainter {
oldDelegate.strokeWidth != strokeWidth;
}
}

class TrajectoryPainter extends CustomPainter {
final List<Offset> points;
final double strokeWidth;

TrajectoryPainter({
required this.points,
required this.strokeWidth,
});

@override
void paint(Canvas canvas, Size size) {
if (points.isEmpty) {
return;
}
Paint trajectoryPaint = Paint()
..color = Colors.white
..strokeWidth = strokeWidth
..style = PaintingStyle.stroke
..strokeCap = StrokeCap.round;
Path trajectoryPath = Path();

trajectoryPath.moveTo(points[0].dx, points[0].dy);

for (Offset point in points) {
trajectoryPath.lineTo(point.dx, point.dy);
}
canvas.drawPath(trajectoryPath, trajectoryPaint);
}

@override
bool shouldRepaint(TrajectoryPainter oldDelegate) {
return oldDelegate.points != points ||
oldDelegate.strokeWidth != strokeWidth;
}
}

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