Display robot outline

src/main/java/edu/wpi/first/pathweaver/CreateProjectController.java

@@ -40,6 +40,10 @@ public class CreateProjectController {
   @FXML
   private TextField wheelBase;
   @FXML
+  private TextField robotWidth;
+  @FXML
+  private TextField robotLength;
+  @FXML
   private ChoiceBox<Game> game;
 
   @FXML
@@ -90,8 +94,10 @@ private void createProject() {
     double accelerationMax = Double.parseDouble(maxAcceleration.getText());
     double jerkMax = Double.parseDouble(maxJerk.getText());
     double wheelBaseDistance = Double.parseDouble(wheelBase.getText());
+    double robotWidthValue = Double.parseDouble(robotWidth.getText());
+    double robotLengthValue = Double.parseDouble(robotLength.getText());
     ProjectPreferences.Values values = new ProjectPreferences.Values(timeDelta, velocityMax, accelerationMax,
-        jerkMax, wheelBaseDistance, game.getValue());
+        jerkMax, wheelBaseDistance, robotWidthValue, robotLengthValue, game.getValue());
     ProjectPreferences prefs = ProjectPreferences.getInstance(directory.getAbsolutePath());
     prefs.setValues(values);
     FxUtils.loadMainScreen(vBox.getScene(), getClass());
@@ -124,5 +130,7 @@ private void setupEditProject() {
     maxAcceleration.setText(String.valueOf(values.getMaxAcceleration()));
     maxJerk.setText(String.valueOf(values.getMaxJerk()));
     wheelBase.setText(String.valueOf(values.getWheelBase()));
+    robotWidth.setText(String.valueOf(values.getRobotWidth()));
+    robotLength.setText(String.valueOf(values.getRobotLength()));
   }
 }

src/main/java/edu/wpi/first/pathweaver/PathDisplayController.java

@@ -43,7 +43,7 @@ public class PathDisplayController {
 
   private final double circleScale = .75; //NOPMD should be static, will be modified later
   private final double splineScale = 6; //NOPMD should be static, will be modified later
-  private final double lineScale = 4; //NOPMD should be static, will be modified later
+  private final double lineScale = 2; //NOPMD should be static, will be modified later
 
   @FXML
   private Group splineGroup;
@@ -142,21 +142,25 @@ private void addPathToPane(Path newPath) {
    */
   public void addWaypointToPane(Waypoint current) {
     waypointGroup.getChildren().add(current.getIcon());
+    waypointGroup.getChildren().add(current.getRobotOutline());
     vectorGroup.getChildren().add(current.getTangentLine());
     current.getIcon().setScaleX(circleScale / field.getScale());
     current.getIcon().setScaleY(circleScale / field.getScale());
+    current.getIcon().toFront();
+    current.getRobotOutline().getStyleClass().add("robotOutline");
+    current.getRobotOutline().setStrokeWidth(lineScale / field.getScale());
     current.getTangentLine().setStrokeWidth(lineScale / field.getScale());
-    current.getTangentLine().toBack();
+    current.getTangentLine().toFront();
     current.getSpline().addToGroup(splineGroup, splineScale / field.getScale());
   }
 
-
   private void removePathFromPane(Path newPath) {
     for (Waypoint wp : newPath.getWaypoints()) {
       wp.getSpline().removeFromGroup(splineGroup);
     }
     for (Waypoint wp : newPath.getWaypoints()) {
       waypointGroup.getChildren().remove(wp.getIcon());
+      waypointGroup.getChildren().remove(wp.getRobotOutline());
       vectorGroup.getChildren().remove(wp.getTangentLine());
     }
   }
@@ -225,6 +229,7 @@ private void delete(Waypoint waypoint) {
     Path path = waypoint.getPath();
     Waypoint previous = path.getWaypoints().get(path.getWaypoints().indexOf(waypoint) - 1);
     waypointGroup.getChildren().remove(waypoint.getIcon());
+    waypointGroup.getChildren().remove(waypoint.getRobotOutline());
     vectorGroup.getChildren().remove(waypoint.getTangentLine());
     waypoint.getSpline().removeFromGroup(splineGroup);
     path.remove(waypoint);

src/main/java/edu/wpi/first/pathweaver/ProjectPreferences.java

@@ -37,7 +37,7 @@ private ProjectPreferences(String directory) {
   }
 
   private void setDefaults() {
-    values = new Values(0.2, 10.0, 60.0, 60.0, 2.0, Game.POWER_UP_2018);
+    values = new Values(0.2, 10.0, 60.0, 60.0, 2.0, 28.0, 38.0, Game.POWER_UP_2018);
     updateValues();
   }
 
@@ -62,6 +62,14 @@ public void setValues(Values values) {
     updateValues();
   }
 
+  /**
+   * Gets the preferences for the current project.
+   * @return the preference values for this project.
+   */
+  public Values getValues() {
+    return values;
+  }
+
   public String getDirectory() {
     return directory;
   }
@@ -115,16 +123,14 @@ public Field getField() {
     }
   }
 
-  public Values getValues() {
-    return values;
-  }
-
   public static class Values {
     private final double timeStep;
     private final double maxVelocity;
     private final double maxAcceleration;
     private final double maxJerk;
     private final double wheelBase;
+    private final double robotWidth;
+    private final double robotLength;
     private Game game;
 
     /**
@@ -134,15 +140,19 @@ public static class Values {
      * @param maxAcceleration The maximum acceleration to use
      * @param maxJerk         The maximum jerk (acceleration per second) to use
      * @param wheelBase       The width between the individual sides of the drivebase
+     * @param robotWidth      The width of the robot (in inches)
+     * @param robotLength     The length of the robot (in inches)
      * @param game            The year/FRC game
      */
     public Values(double timeStep, double maxVelocity, double maxAcceleration, double maxJerk,
-                  double wheelBase, Game game) {
+                  double wheelBase, double robotWidth, double robotLength, Game game) {
       this.timeStep = timeStep;
       this.maxVelocity = maxVelocity;
       this.maxAcceleration = maxAcceleration;
       this.maxJerk = maxJerk;
       this.wheelBase = wheelBase;
+      this.robotWidth = robotWidth;
+      this.robotLength = robotLength;
       this.game = game;
     }
 
@@ -166,6 +176,14 @@ public double getWheelBase() {
       return wheelBase;
     }
 
+    public double getRobotWidth() {
+      return robotWidth;
+    }
+
+    public double getRobotLength() {
+      return robotLength;
+    }
+
     public Game getGame() {
       return game;
     }

src/main/java/edu/wpi/first/pathweaver/Waypoint.java

@@ -15,6 +15,7 @@
 import javafx.scene.input.TransferMode;
 import javafx.scene.shape.Line;
 import javafx.scene.shape.Polygon;
+import javafx.scene.shape.Rectangle;
 
 @SuppressWarnings("PMD.TooManyMethods")
 public class Waypoint {
@@ -30,7 +31,7 @@ public class Waypoint {
   private Path path;
   public static Waypoint currentWaypoint = null;
 
-
+  private final Rectangle robotOutline;
   private final Line tangentLine;
   private Polygon icon;
 
@@ -52,6 +53,7 @@ public void setPath(Path path) {
    * @param fixedAngle    If the angle the of the waypoint should be fixed. Used for first and last waypoint
    * @param myPath        the path this waypoint belongs to
    */
+  @SuppressWarnings("PMD.NcssCount")
   public Waypoint(Point2D position, Point2D tangentVector, boolean fixedAngle, Path myPath) {
     path = myPath;
     lockTangent.set(fixedAngle);
@@ -62,6 +64,8 @@ public Waypoint(Point2D position, Point2D tangentVector, boolean fixedAngle, Pat
     x.addListener(listener -> update());
     y.addListener(listener -> update());
 
+    ProjectPreferences.Values values = ProjectPreferences.getInstance().getValues();
+
     tangentLine = new Line();
     tangentLine.getStyleClass().add("tangent");
     tangentLine.startXProperty().bind(x);
@@ -70,6 +74,19 @@ public Waypoint(Point2D position, Point2D tangentVector, boolean fixedAngle, Pat
     tangentLine.endXProperty().bind(Bindings.createObjectBinding(() -> getTangent().getX() + getX(), tangentX, x));
     tangentLine.endYProperty().bind(Bindings.createObjectBinding(() -> getTangent().getY() + getY(), tangentY, y));
 
+    double robotWidth = values.getRobotWidth();
+    double robotLength = values.getRobotLength();
+
+    robotOutline = new Rectangle();
+    robotOutline.setHeight(robotWidth);
+    robotOutline.setWidth(robotLength);
+    robotOutline.xProperty().bind(x.subtract(robotLength / 2));
+    robotOutline.yProperty().bind(y.subtract(robotWidth / 2));
+    robotOutline.rotateProperty().bind(
+            Bindings.createObjectBinding(() ->
+                    getTangent() == null ? 0.0 : Math.toDegrees(Math.atan2(getTangent().getY(), getTangent().getX())),
+                    tangentX, tangentY));
+
     this.spline = new NullSpline();
 
     setupDnd();
@@ -182,6 +199,10 @@ public void setTangent(Point2D tangent) {
     this.tangentY.set(tangent.getY());
   }
 
+  public Rectangle getRobotOutline() {
+    return robotOutline;
+  }
+
   public Polygon getIcon() {
     return icon;
   }

src/main/resources/edu/wpi/first/pathweaver/createProject.fxml

@@ -12,7 +12,7 @@
 <?import javafx.scene.layout.VBox?>
 <?import javafx.scene.text.Font?>
 
-<VBox fx:id="vBox" alignment="CENTER" maxHeight="-Infinity" maxWidth="-Infinity" minHeight="-Infinity" minWidth="-Infinity" prefHeight="360.0" prefWidth="640.0" xmlns="http://javafx.com/javafx/10.0.1" xmlns:fx="http://javafx.com/fxml/1" fx:controller="edu.wpi.first.pathweaver.CreateProjectController">
+<VBox fx:id="vBox" alignment="CENTER" maxHeight="-Infinity" maxWidth="-Infinity" minHeight="-Infinity" minWidth="-Infinity" prefHeight="500.0" prefWidth="640.0" xmlns="http://javafx.com/javafx/10.0.1" xmlns:fx="http://javafx.com/fxml/1" fx:controller="edu.wpi.first.pathweaver.CreateProjectController">
    <children>
       <Label fx:id="title" text="Create Project...">
          <font>
@@ -34,6 +34,8 @@
             <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES" />
             <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES" />
             <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES" />
+            <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES" />
+            <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES" />
          </rowConstraints>
          <padding>
             <Insets bottom="20.0" left="40.0" right="40.0" top="10.0" />
@@ -45,6 +47,8 @@
             <Label text="Max Acceleration" GridPane.rowIndex="4" />
             <Label text="Max Jerk" GridPane.rowIndex="5" />
             <Label text="Wheel Base" GridPane.rowIndex="6" />
+            <Label text="Robot Width" GridPane.rowIndex="7" />
+            <Label text="Robot Length" GridPane.rowIndex="8" />
             <TextField fx:id="directory" editable="false" GridPane.columnIndex="1" />
             <Button fx:id="browse" mnemonicParsing="false" onAction="#browseDirectory" text="Browse" GridPane.columnIndex="2" />
             <ChoiceBox fx:id="game" prefWidth="150.0" GridPane.columnIndex="1" GridPane.rowIndex="1" />
@@ -53,12 +57,16 @@
             <TextField fx:id="maxAcceleration" GridPane.columnIndex="1" GridPane.rowIndex="4" />
             <TextField fx:id="maxJerk" GridPane.columnIndex="1" GridPane.rowIndex="5" />
             <TextField fx:id="wheelBase" GridPane.columnIndex="1" GridPane.rowIndex="6" />
+            <TextField fx:id="robotWidth" GridPane.columnIndex="1" GridPane.rowIndex="7" />
+            <TextField fx:id="robotLength" GridPane.columnIndex="1" GridPane.rowIndex="8" />
             <Label text="Time delta between points (seconds)" GridPane.columnIndex="2" GridPane.rowIndex="2" />
             <Label text="Maximum capable velocity of robot (ft/s)" GridPane.columnIndex="2" GridPane.rowIndex="3" />
             <Label text="Maximum acceleration (ft/s/s)" GridPane.columnIndex="2" GridPane.rowIndex="4" />
             <Label text="Maximum jerk (acceleration per second) (ft/s/s/s)" GridPane.columnIndex="2" GridPane.rowIndex="5" />
             <Label text="Distance between left and right of wheel base (ft)" GridPane.columnIndex="2" GridPane.rowIndex="6" />
-            <ButtonBar prefHeight="40.0" prefWidth="200.0" GridPane.columnIndex="2" GridPane.rowIndex="7">
+            <Label text="Width of the robot (ft)" GridPane.columnIndex="2" GridPane.rowIndex="7" />
+            <Label text="Length of the robot (ft)" GridPane.columnIndex="2" GridPane.rowIndex="8" />
+            <ButtonBar prefHeight="40.0" prefWidth="200.0" GridPane.columnIndex="2" GridPane.rowIndex="9">
               <buttons>
                 <Button mnemonicParsing="false" onAction="#cancel" text="Cancel" />
                   <Button fx:id="create" mnemonicParsing="false" onAction="#createProject" text="Create Project" />

src/main/resources/edu/wpi/first/pathweaver/style.css

@@ -55,12 +55,17 @@
 }
 
 .path {
-    -fx-stroke-line-cap: round;
+    -fx-stroke-line-cap: butt;
     -fx-fill: null;
     -fx-cursor: hand;
     -fx-stroke: derive(my-color, -25%);
 }
 
+.robotOutline {
+    -fx-fill: null;
+    -fx-stroke: "lightgray";
+}
+
 .tank {
     -fx-opacity: 0.7;
 }

src/main/resources/edu/wpi/first/pathweaver/welcomeScreen.fxml

@@ -10,7 +10,7 @@
 <?import javafx.scene.layout.VBox?>
 <?import javafx.scene.text.Font?>
 
-<BorderPane fx:id="borderPane" maxHeight="-Infinity" maxWidth="-Infinity" minHeight="-Infinity" minWidth="-Infinity" prefHeight="360.0" prefWidth="640.0" xmlns="http://javafx.com/javafx/10.0.1" xmlns:fx="http://javafx.com/fxml/1" fx:controller="edu.wpi.first.pathweaver.WelcomeController">
+<BorderPane fx:id="borderPane" maxHeight="-Infinity" maxWidth="-Infinity" minHeight="-Infinity" minWidth="-Infinity" prefHeight="500.0" prefWidth="640.0" xmlns="http://javafx.com/javafx/10.0.1" xmlns:fx="http://javafx.com/fxml/1" fx:controller="edu.wpi.first.pathweaver.WelcomeController">
    <opaqueInsets>
       <Insets />
    </opaqueInsets>