Implement synced-ish bot support

Author: NoahBres

README.md

@@ -5,16 +5,16 @@ Path creation/visualization tool for Road Runner
 
 ![MeepMeep Sample Recording](/images/readme/screen-recording.gif?raw=true)
 
-# 🔨 Installing 
+# 🔨 Installing
 
 ## Gradle Snippet:
 ```groovy
 repositories {
-    maven { url 'https://jitpack.io' }
+  maven { url 'https://jitpack.io' }
 }
 
 dependencies {
-    implementation 'com.github.NoahBres:MeepMeep:1.0.6'
+  implementation 'com.github.NoahBres:MeepMeep:1.0.6'
 }
 ```
 
@@ -67,5 +67,15 @@ public class MeepMeepTesting {
 On some systems hardware acceleration may not be enabled by default where it could be used. To enable hardware acceleration use the cli flag: `-Dsun.java2d.opengl=true` or enable it _before_ initializing your `MeepMeep` instance with `System.setProperty("sun.java2d.opengl", "true");`.
 
 ## Notes:
-Default Bot Constraints
-  - 
+Default Bot Settings:
+- Constraints
+- Max Vel: 30in/s
+- Max Accel: 30in/s/s
+- Max Ang Vel: 60deg/s
+- Max Ang Accel: 60deg/s/s
+- Track Width: 15in
+- Bot Width: 18in
+- Bot Width: 18in
+- Start Pose: (x: 0in, y: 0in, heading: 0rad)
+- Color Scheme: Inherited from MeepMeep.colorManager unless overriden
+- Drive Train Type: Mecanum

src/main/kotlin/com/noahbres/meepmeep/MeepMeep.kt

@@ -7,6 +7,8 @@ import com.noahbres.meepmeep.core.entity.*
 import com.noahbres.meepmeep.core.ui.WindowFrame
 import com.noahbres.meepmeep.core.util.FieldUtil
 import com.noahbres.meepmeep.core.util.LoopManager
+import com.noahbres.meepmeep.roadrunner.entity.RoadRunnerBotEntity
+import com.noahbres.meepmeep.roadrunner.ui.TrajectoryProgressSliderMaster
 import java.awt.*
 import java.awt.datatransfer.StringSelection
 import java.awt.event.*
@@ -43,7 +45,7 @@ class MeepMeep @JvmOverloads constructor(private val windowSize: Int, fps: Int =
 
     private val entityList = mutableListOf<Entity>()
     private val requestedAddEntityList = mutableListOf<Entity>()
-    private val requestedClearEntityList = mutableListOf<Entity>()
+    private val requestedRemoveEntityList = mutableListOf<Entity>()
 
     private val zIndexManager = ZIndexManager();
 
@@ -103,10 +105,10 @@ class MeepMeep @JvmOverloads constructor(private val windowSize: Int, fps: Int =
 
     private val update: (deltaTime: Long) -> Unit = { deltaTime ->
         if (entityListDirty) {
-            requestedClearEntityList.forEach {
+            requestedRemoveEntityList.forEach {
                 removeEntity(it)
             }
-            requestedClearEntityList.clear();
+            requestedRemoveEntityList.clear();
 
             requestedAddEntityList.forEach {
                 addEntity(it)
@@ -126,7 +128,16 @@ class MeepMeep @JvmOverloads constructor(private val windowSize: Int, fps: Int =
     private val loopManager = LoopManager(fps, update, render)
 
     // Road Runner UI Elements
-    val sliderPanel = JPanel()
+
+    // Handles progress slider elements
+    private val progressSliderMasterPanel: TrajectoryProgressSliderMaster by lazy {
+        TrajectoryProgressSliderMaster(
+            this,
+            FieldUtil.CANVAS_WIDTH.toInt(),
+            20
+        )
+    }
+
     var middleButtonPanel = JPanel()
 
     private val standardCursorButton = JButton("test")
@@ -160,9 +171,7 @@ class MeepMeep @JvmOverloads constructor(private val windowSize: Int, fps: Int =
             this, colorManager.theme, 30.0, 30.0, Vector2d(-54.0, 54.0)
         )
 
-        // Road Runner Init
         // Handle UI
-        sliderPanel.layout = BoxLayout(sliderPanel, BoxLayout.Y_AXIS)
 
         middleButtonList.forEach {
             it.alignmentX = 0.5f
@@ -178,7 +187,7 @@ class MeepMeep @JvmOverloads constructor(private val windowSize: Int, fps: Int =
         middleButtonPanel.add(pathSelectionButton)
         middleButtonPanel.add(Box.createVerticalGlue())
 
-        windowFrame.canvasPanel.add(sliderPanel)
+        windowFrame.canvasPanel.add(progressSliderMasterPanel)
 //        windowFrame.contentPane.add(middleButtonPanel)
 
         windowFrame.pack()
@@ -233,15 +242,15 @@ class MeepMeep @JvmOverloads constructor(private val windowSize: Int, fps: Int =
         addEntity(DEFAULT_COMPASS_ENTITY)
     }
 
-    open fun start(): MeepMeep {
-        // Core Start
+    fun start(): MeepMeep {
         if (bg == null) setBackground(Background.GRID_BLUE)
         windowFrame.isVisible = true
 
         // Default added entities are initialized before color schemes are set
         // Thus make sure to reset them
         entityList.forEach {
             if (it is ThemedEntity) it.switchScheme(colorManager.theme)
+            if (it is RoadRunnerBotEntity) it.start()
         }
 
         onCanvasResize()
@@ -373,6 +382,12 @@ class MeepMeep @JvmOverloads constructor(private val windowSize: Int, fps: Int =
 
         if (entity is MouseMotionListener) canvas.addMouseMotionListener(entity)
 
+        if (entity is RoadRunnerBotEntity)
+            progressSliderMasterPanel.addRoadRunnerBot(entity)
+
+        if (entity is EntityEventListener)
+            entity.onAddToEntityList()
+
         return this
     }
 
@@ -381,11 +396,16 @@ class MeepMeep @JvmOverloads constructor(private val windowSize: Int, fps: Int =
         requestedAddEntityList.remove(entity)
         entityListDirty = true
 
-
         if (entity is MouseListener) canvas.removeMouseListener(entity)
 
         if (entity is MouseMotionListener) canvas.removeMouseMotionListener(entity)
 
+        if (entity is RoadRunnerBotEntity)
+            progressSliderMasterPanel.removeRoadRunnerBot(entity)
+
+        if (entity is EntityEventListener)
+            entity.onRemoveFromEntityList()
+
         return this
     }
 
@@ -397,8 +417,8 @@ class MeepMeep @JvmOverloads constructor(private val windowSize: Int, fps: Int =
     }
 
 
-    fun requestToClearEntity(entity: Entity): MeepMeep {
-        requestedClearEntityList.add(entity)
+    fun requestToRemoveEntity(entity: Entity): MeepMeep {
+        requestedRemoveEntityList.add(entity)
         entityListDirty = true
 
         return this

src/main/kotlin/com/noahbres/meepmeep/core/entity/EntityEventListener.kt

@@ -0,0 +1,6 @@
+package com.noahbres.meepmeep.core.entity
+
+interface EntityEventListener {
+    fun onAddToEntityList()
+    fun onRemoveFromEntityList()
+}

src/main/kotlin/com/noahbres/meepmeep/roadrunner/DefaultBotBuilder.kt

@@ -58,19 +58,25 @@ class DefaultBotBuilder(private val meepMeep: MeepMeep) {
         return this
     }
 
+    fun setColorScheme(scheme: ColorScheme): DefaultBotBuilder {
+        this.colorScheme = scheme
+
+        return this
+    }
+
     fun build(): RoadRunnerBotEntity {
         return RoadRunnerBotEntity(
             meepMeep,
             constraints,
             width, height,
-            startPose, colorScheme ?: meepMeep.colorManager.theme, opacity
+            startPose, colorScheme ?: meepMeep.colorManager.theme, opacity,
+            driveTrainType, false
         )
     }
 
     fun followTrajectorySequence(trajectorySequence: TrajectorySequence): RoadRunnerBotEntity {
         val bot = this.build()
         bot.followTrajectorySequence(trajectorySequence)
-        bot.start()
 
         return bot
     }

src/main/kotlin/com/noahbres/meepmeep/roadrunner/entity/RoadRunnerBotEntity.kt

@@ -4,13 +4,14 @@ import com.acmerobotics.roadrunner.geometry.Pose2d
 import com.noahbres.meepmeep.MeepMeep
 import com.noahbres.meepmeep.core.colorscheme.ColorScheme
 import com.noahbres.meepmeep.core.entity.BotEntity
+import com.noahbres.meepmeep.core.entity.EntityEventListener
 import com.noahbres.meepmeep.core.exhaustive
-import com.noahbres.meepmeep.core.util.FieldUtil
 import com.noahbres.meepmeep.roadrunner.Constraints
 import com.noahbres.meepmeep.roadrunner.DriveShim
 import com.noahbres.meepmeep.roadrunner.DriveTrainType
 import com.noahbres.meepmeep.roadrunner.trajectorysequence.*
-import com.noahbres.meepmeep.roadrunner.ui.TrajectoryProgressSlider
+import com.noahbres.meepmeep.roadrunner.ui.TrajectoryProgressSliderMaster
+import kotlin.math.min
 
 class RoadRunnerBotEntity(
     meepMeep: MeepMeep,
@@ -19,14 +20,15 @@ class RoadRunnerBotEntity(
     width: Double, height: Double,
     pose: Pose2d,
 
-    private val colorScheme: ColorScheme,
+    val colorScheme: ColorScheme,
     opacity: Double,
 
-    private var driveTrainType: DriveTrainType = DriveTrainType.MECANUM
-) : BotEntity(meepMeep, width, height, pose, colorScheme, opacity) {
+    private var driveTrainType: DriveTrainType = DriveTrainType.MECANUM,
+
+    var listenToSwitchThemeRequest: Boolean = false
+) : BotEntity(meepMeep, width, height, pose, colorScheme, opacity), EntityEventListener {
     companion object {
         const val SKIP_LOOPS = 2
-        const val PROGRESS_SLIDER_HEIGHT = 20
     }
 
     override val tag = "RR_BOT_ENTITY"
@@ -39,7 +41,7 @@ class RoadRunnerBotEntity(
 
     private var trajectorySequenceEntity: TrajectorySequenceEntity? = null
 
-    private var looping = true
+    var looping = true
     private var running = false
 
     private var trajectorySequenceElapsedTime = 0.0
@@ -52,23 +54,8 @@ class RoadRunnerBotEntity(
 
     private var skippedLoops = 0
 
-    private val progressSlider = TrajectoryProgressSlider(
-        this,
-        FieldUtil.CANVAS_WIDTH.toInt(),
-        PROGRESS_SLIDER_HEIGHT,
-        colorScheme.TRAJECTORY_SLIDER_FG,
-        colorScheme.TRAJECTORY_SLIDER_BG,
-        colorScheme.TRAJECTORY_TEXT_COLOR,
-        MeepMeep.FONT_CMU_BOLD
-    )
-
-    init {
-        progressSlider.progress = 0.0
-        meepMeep.sliderPanel.add(progressSlider)
-        meepMeep.windowFrame.pack()
-
-        meepMeep.windowFrame
-    }
+    private var sliderMaster: TrajectoryProgressSliderMaster? = null
+    private var sliderMasterIndex: Int? = null
 
     override fun update(deltaTime: Long) {
         if (!running) return
@@ -106,19 +93,26 @@ class RoadRunnerBotEntity(
 
                 trajectorySequenceEntity!!.markerEntityList.forEach { if (trajectorySequenceElapsedTime >= it.time) it.passed() }
 
-                progressSlider.progress = (trajectorySequenceElapsedTime / currentTrajectorySequence!!.duration)
+                sliderMaster?.reportProgress(sliderMasterIndex ?: -1, trajectorySequenceElapsedTime)
+
+                Unit
             }
 
             looping -> {
                 trajectorySequenceEntity!!.markerEntityList.forEach {
                     it.reset()
                 }
                 trajectorySequenceElapsedTime = 0.0
+
+                sliderMaster?.reportDone(sliderMasterIndex ?: -1)
             }
 
             else -> {
                 trajectorySequenceElapsedTime = 0.0
-                currentTrajectorySequence = null
+                running = false
+//                currentTrajectorySequence = null
+
+                sliderMaster?.reportDone(sliderMasterIndex ?: -1)
             }
         }.exhaustive
     }
@@ -128,28 +122,27 @@ class RoadRunnerBotEntity(
         trajectorySequenceElapsedTime = 0.0
     }
 
+    fun resume() {
+        running = true
+    }
+
     fun pause() {
         trajectoryPaused = true
     }
 
-    fun unPause() {
+    fun unpause() {
         trajectoryPaused = false
     }
 
-    fun togglePause() {
-        trajectoryPaused = !trajectoryPaused
-    }
-
-    fun setTrajectoryProgress(progress: Double) {
+    fun setTrajectoryProgressSeconds(seconds: Double) {
         if (currentTrajectorySequence != null)
-            trajectorySequenceElapsedTime = progress * currentTrajectorySequence!!.duration
+            trajectorySequenceElapsedTime = min(seconds, currentTrajectorySequence!!.duration)
     }
 
     fun followTrajectorySequence(sequence: TrajectorySequence) {
         currentTrajectorySequence = sequence
 
         trajectorySequenceEntity = TrajectorySequenceEntity(meepMeep, sequence, colorScheme)
-        meepMeep.addEntity(trajectorySequenceEntity!!)
     }
 
     fun setConstraints(constraints: Constraints) {
@@ -165,10 +158,22 @@ class RoadRunnerBotEntity(
     }
 
     override fun switchScheme(scheme: ColorScheme) {
-        super.switchScheme(scheme)
+        if (listenToSwitchThemeRequest)
+            super.switchScheme(scheme)
+    }
+
+    fun setTrajectoryProgressSliderMaster(master: TrajectoryProgressSliderMaster, index: Int) {
+        sliderMaster = master
+        sliderMasterIndex = index
+    }
+
+    override fun onAddToEntityList() {
+        if (trajectorySequenceEntity != null)
+            meepMeep.requestToAddEntity(trajectorySequenceEntity!!)
+    }
 
-        this.progressSlider.fg = scheme.TRAJECTORY_SLIDER_FG
-        this.progressSlider.bg = scheme.TRAJECTORY_SLIDER_BG
-        this.progressSlider.textColor = scheme.TRAJECTORY_TEXT_COLOR
+    override fun onRemoveFromEntityList() {
+        if (trajectorySequenceEntity != null)
+            meepMeep.requestToRemoveEntity(trajectorySequenceEntity!!)
     }
 }

src/main/kotlin/com/noahbres/meepmeep/roadrunner/entity/TrajectorySequenceEntity.kt

@@ -1,11 +1,9 @@
 package com.noahbres.meepmeep.roadrunner.entity
 
 import com.acmerobotics.roadrunner.geometry.Pose2d
-import com.acmerobotics.roadrunner.geometry.Vector2d
 import com.noahbres.meepmeep.MeepMeep
 import com.noahbres.meepmeep.core.colorscheme.ColorScheme
 import com.noahbres.meepmeep.core.entity.ThemedEntity
-import com.noahbres.meepmeep.core.exhaustive
 import com.noahbres.meepmeep.core.toScreenCoord
 import com.noahbres.meepmeep.core.util.FieldUtil
 import com.noahbres.meepmeep.roadrunner.trajectorysequence.*
@@ -56,13 +54,13 @@ class TrajectorySequenceEntity(
     private fun redrawPath() {
         // Request to clear previous turn indicator entities
         turnEntityList.forEach {
-            meepMeep.requestToClearEntity(it)
+            meepMeep.requestToRemoveEntity(it)
         }
         turnEntityList.clear()
 
         // Request to clear previous marker indicator entities
         markerEntityList.forEach {
-            meepMeep.requestToClearEntity(it)
+            meepMeep.requestToRemoveEntity(it)
         }
         markerEntityList.clear()