Update default path + use default constraints

mjansen4857 · Feb 5, 2024 · b5c5d6a · b5c5d6a
1 parent 101a934
commit b5c5d6a
Show file tree

Hide file tree

Showing 8 changed files with 42 additions and 40 deletions.
diff --git a/lib/path/pathplanner_path.dart b/lib/path/pathplanner_path.dart
@@ -61,21 +61,16 @@ class PathPlannerPath {
         rotationTargets = [],
         eventMarkers = [],
         reversed = false,
-        previewStartingState = null,
-        useDefaultConstraints = false {
+        previewStartingState = PreviewStartingState(),
+        useDefaultConstraints = true {
     waypoints.addAll([
       Waypoint(
         anchor: const Point(2.0, 7.0),
-        nextControl: const Point(3.0, 6.5),
+        nextControl: const Point(3.0, 7.0),
       ),
       Waypoint(
-        prevControl: const Point(4.0, 6.0),
-        anchor: const Point(5.0, 5.0),
-        nextControl: const Point(6.0, 4.0),
-      ),
-      Waypoint(
-        prevControl: const Point(6.75, 2.5),
-        anchor: const Point(7.0, 1.0),
+        prevControl: const Point(3.0, 6.0),
+        anchor: const Point(4.0, 6.0),
       ),
     ]);
 

diff --git a/test/widgets/editor/split_auto_editor_test.dart b/test/widgets/editor/split_auto_editor_test.dart
@@ -43,7 +43,7 @@ void main() {
     ];
     testPath.eventMarkers = [
       EventMarker(
-        waypointRelativePos: 1.5,
+        waypointRelativePos: 0.5,
         command: SequentialCommandGroup(commands: []),
       ),
     ];

diff --git a/test/widgets/editor/split_path_editor_test.dart b/test/widgets/editor/split_path_editor_test.dart
@@ -41,7 +41,7 @@ void main() {
     ];
     path.eventMarkers = [
       EventMarker(
-        waypointRelativePos: 1.5,
+        waypointRelativePos: 0.5,
         command: SequentialCommandGroup(commands: []),
         name: 'm',
       ),
@@ -219,14 +219,14 @@ void main() {
     await widgetTester.tapAt(tapLocation);
     await widgetTester.pumpAndSettle();
 
-    expect(path.waypoints.length, 4);
+    expect(path.waypoints.length, 3);
     expect(path.waypoints.last.anchor.x, closeTo(1.0, 0.05));
     expect(path.waypoints.last.anchor.y, closeTo(1.0, 0.05));
 
     undoStack.undo();
     await widgetTester.pumpAndSettle();
 
-    expect(path.waypoints.length, 3);
+    expect(path.waypoints.length, 2);
   });
 
   testWidgets('drag waypoint', (widgetTester) async {
@@ -415,6 +415,7 @@ void main() {
     await widgetTester.binding.setSurfaceSize(const Size(1280, 720));
 
     path.waypointsExpanded = true;
+    path.addWaypoint(const Point(7.0, 4.0));
 
     await widgetTester.pumpWidget(MaterialApp(
       home: Scaffold(
@@ -449,6 +450,7 @@ void main() {
     await widgetTester.binding.setSurfaceSize(const Size(1280, 720));
 
     path.waypointsExpanded = true;
+    path.addWaypoint(const Point(7.0, 4.0));
 
     await widgetTester.pumpWidget(MaterialApp(
       home: Scaffold(

diff --git a/test/widgets/editor/tree_widgets/constraint_zones_tree_test.dart b/test/widgets/editor/tree_widgets/constraint_zones_tree_test.dart
@@ -29,13 +29,13 @@ void main() {
       ConstraintsZone(
         constraints: PathConstraints(),
         minWaypointRelativePos: 0.2,
-        maxWaypointRelativePos: 1.8,
+        maxWaypointRelativePos: 0.7,
         name: '0',
       ),
       ConstraintsZone(
         constraints: PathConstraints(),
-        minWaypointRelativePos: 1.2,
-        maxWaypointRelativePos: 1.8,
+        minWaypointRelativePos: 0.3,
+        maxWaypointRelativePos: 0.8,
         name: '1',
       ),
     ];
@@ -349,7 +349,7 @@ void main() {
     await widgetTester.pump();
 
     expect(pathChanged, true);
-    expect(path.constraintZones[0].minWaypointRelativePos, 1.0);
+    expect(path.constraintZones[0].minWaypointRelativePos, 0.5);
 
     undoStack.undo();
     await widgetTester.pump();
@@ -380,12 +380,12 @@ void main() {
     await widgetTester.pump();
 
     expect(pathChanged, true);
-    expect(path.constraintZones[0].maxWaypointRelativePos, 1.0);
+    expect(path.constraintZones[0].maxWaypointRelativePos, 0.5);
 
     undoStack.undo();
     await widgetTester.pump();
 
-    expect(path.constraintZones[0].maxWaypointRelativePos, 1.8);
+    expect(path.constraintZones[0].maxWaypointRelativePos, 0.7);
   });
 
   testWidgets('Delete zone button', (widgetTester) async {

diff --git a/test/widgets/editor/tree_widgets/event_markers_tree_test.dart b/test/widgets/editor/tree_widgets/event_markers_tree_test.dart
@@ -204,7 +204,7 @@ void main() {
     await widgetTester.pump();
 
     expect(pathChanged, true);
-    expect(path.eventMarkers[0].waypointRelativePos, 1.0);
+    expect(path.eventMarkers[0].waypointRelativePos, 0.5);
 
     undoStack.undo();
     await widgetTester.pump();

diff --git a/test/widgets/editor/tree_widgets/global_constraints_tree_test.dart b/test/widgets/editor/tree_widgets/global_constraints_tree_test.dart
@@ -18,6 +18,7 @@ void main() {
       pathDir: '/paths',
       fs: MemoryFileSystem(),
     );
+    path.useDefaultConstraints = false;
     path.globalConstraintsExpanded = true;
     path.globalConstraints = PathConstraints(
       maxVelocity: 1.0,

diff --git a/test/widgets/editor/tree_widgets/rotation_targets_tree_test.dart b/test/widgets/editor/tree_widgets/rotation_targets_tree_test.dart
@@ -24,12 +24,12 @@ void main() {
     );
     path.rotationTargets = [
       RotationTarget(
-        waypointRelativePos: 0.5,
+        waypointRelativePos: 0.2,
         rotationDegrees: 0.0,
         rotateFast: false,
       ),
       RotationTarget(
-        waypointRelativePos: 1.5,
+        waypointRelativePos: 0.7,
         rotationDegrees: 0.0,
         rotateFast: false,
       ),
@@ -103,8 +103,8 @@ void main() {
       ),
     ));
 
-    expect(find.text('Rotation Target at 0.50'), findsOneWidget);
-    expect(find.text('Rotation Target at 1.50'), findsOneWidget);
+    expect(find.text('Rotation Target at 0.20'), findsOneWidget);
+    expect(find.text('Rotation Target at 0.70'), findsOneWidget);
   });
 
   testWidgets('Target card hover', (widgetTester) async {
@@ -223,12 +223,12 @@ void main() {
     await widgetTester.pump();
 
     expect(pathChanged, true);
-    expect(path.rotationTargets[0].waypointRelativePos, 1.0);
+    expect(path.rotationTargets[0].waypointRelativePos, 0.5);
 
     undoStack.undo();
     await widgetTester.pump();
 
-    expect(path.rotationTargets[0].waypointRelativePos, 0.5);
+    expect(path.rotationTargets[0].waypointRelativePos, 0.2);
   });
 
   testWidgets('Delete target button', (widgetTester) async {

diff --git a/test/widgets/editor/tree_widgets/waypoints_tree_test.dart b/test/widgets/editor/tree_widgets/waypoints_tree_test.dart
@@ -84,10 +84,12 @@ void main() {
     expect(
         find.descendant(
             of: find.byType(TreeCardNode), matching: find.byType(TreeCardNode)),
-        findsNWidgets(3));
+        findsNWidgets(2));
   });
 
   testWidgets('waypoint card titles', (widgetTester) async {
+    path.addWaypoint(const Point(7.0, 4.0));
+
     await widgetTester.pumpWidget(MaterialApp(
       home: Scaffold(
         body: WaypointsTree(
@@ -161,14 +163,14 @@ void main() {
 
     expect(find.byType(NumberTextField), findsNothing);
 
-    await widgetTester.tap(waypointCards.at(1));
+    await widgetTester.tap(waypointCards.at(0));
     await widgetTester.pumpAndSettle();
-    expect(selectedWaypoint, 1);
+    expect(selectedWaypoint, 0);
     expect(find.byType(NumberTextField), findsWidgets);
 
-    await widgetTester.tap(waypointCards.at(2));
+    await widgetTester.tap(waypointCards.at(1));
     await widgetTester.pumpAndSettle();
-    expect(selectedWaypoint, 2);
+    expect(selectedWaypoint, 1);
 
     await widgetTester.tap(find.text('End Point'));
     await widgetTester.pumpAndSettle();
@@ -355,7 +357,7 @@ void main() {
           onWaypointDeleted: (value) => deletedWaypoint = value,
           onWaypointHovered: (value) => hoveredWaypoint = value,
           onWaypointSelected: (value) => selectedWaypoint = value,
-          initialSelectedWaypoint: 1,
+          initialSelectedWaypoint: 0,
           holonomicMode: true,
         ),
       ),
@@ -366,18 +368,18 @@ void main() {
 
     expect(textField, findsOneWidget);
 
-    num oldVal = path.waypoints[1].getNextControlLength();
+    num oldVal = path.waypoints[0].getNextControlLength();
 
     await widgetTester.enterText(textField, '0.1');
     await widgetTester.testTextInput.receiveAction(TextInputAction.done);
     await widgetTester.pump();
 
     expect(pathChanged, true);
-    expect(path.waypoints[1].getNextControlLength(), closeTo(0.1, epsilon));
+    expect(path.waypoints[0].getNextControlLength(), closeTo(0.1, epsilon));
 
     undoStack.undo();
     await widgetTester.pump();
-    expect(path.waypoints[1].getNextControlLength(), closeTo(oldVal, epsilon));
+    expect(path.waypoints[0].getNextControlLength(), closeTo(oldVal, epsilon));
   });
 
   testWidgets('Insert waypoint button', (widgetTester) async {
@@ -390,7 +392,7 @@ void main() {
           onWaypointDeleted: (value) => deletedWaypoint = value,
           onWaypointHovered: (value) => hoveredWaypoint = value,
           onWaypointSelected: (value) => selectedWaypoint = value,
-          initialSelectedWaypoint: 1,
+          initialSelectedWaypoint: 0,
           holonomicMode: true,
         ),
       ),
@@ -404,12 +406,12 @@ void main() {
     await widgetTester.pump();
 
     expect(pathChanged, true);
-    expect(path.waypoints.length, 4);
+    expect(path.waypoints.length, 3);
 
     undoStack.undo();
     await widgetTester.pump();
 
-    expect(path.waypoints.length, 3);
+    expect(path.waypoints.length, 2);
     expect(selectedWaypoint, isNull);
   });
 
@@ -561,7 +563,7 @@ void main() {
 
     var lockButtons = find.byTooltip('Lock');
 
-    expect(lockButtons, findsNWidgets(3));
+    expect(lockButtons, findsNWidgets(2));
 
     await widgetTester.tap(lockButtons.at(1));
     await widgetTester.pump();
@@ -576,6 +578,8 @@ void main() {
   });
 
   testWidgets('Delete waypoint button', (widgetTester) async {
+    path.addWaypoint(const Point(7.0, 4.0));
+
     await widgetTester.pumpWidget(MaterialApp(
       home: Scaffold(
         body: WaypointsTree(