Bug Fix Closed Loop

Author: Mr-Anyone

src/software/thunderscope/gl/graphics/gl_polygon.py

@@ -21,6 +21,7 @@ def __init__(
         outline_color: QtGui.QColor = Colors.DEFAULT_GRAPHICS_COLOR,
         fill_color: Optional[QtGui.QColor] = None,
         line_width: float = LINE_WIDTH,
+        closed: bool = False
     ) -> None:
         """Initialize the GLPolygon
 
@@ -30,6 +31,7 @@ def __init__(
         :param outline_color: The color of the polygon's outline
         :param fill_color: The color used to fill the polygon, or None if no fill
         :param line_width: The line width of the polygon's outline
+        :param closed: whether the GLPolygon is closed or not
         """
         super().__init__(
             parent_item=parent_item,
@@ -39,6 +41,7 @@ def __init__(
         )
 
         self.set_points(points)
+        self.is_closed = closed
 
     def set_points(self, points: list[tuple[float, float]]) -> None:
         """Update the point data representing the polygon to display.
@@ -62,7 +65,8 @@ def _update_shape_data(self) -> None:
         if not self.points:
             return
 
-        vertices = [(point[0], point[1], 0) for point in self.points + [self.points[0]]]
+        render_points = self.points + [self.points[0]] if self.is_closed else self.points
+        vertices = [(point[0], point[1], 0) for point in render_points]
         self.setData(pos=vertices)
 
         if self.fill_graphic:

src/software/thunderscope/gl/graphics/gl_robot.py

@@ -10,7 +10,6 @@
 
 import numpy as np
 
-
 ROBOT_SHADER = shaders.ShaderProgram(
     "robot-shader",
     [

src/software/thunderscope/gl/layers/gl_draw_polygon_obstacle.py

@@ -39,7 +39,7 @@ def __init__(self, name: str, friendly_io: ProtoUnixIO) -> None:
         self.rendering_polygons = ObservableList(self._graphics_changed)
 
         # The current polygon being edited (not visible yet)
-        self.current_polygon = GLPolygon(parent_item=self, line_width=2)
+        self.current_polygon = GLPolygon(parent_item=self, line_width=2, closed=True)
 
         self.can_double_click = False
 
@@ -75,7 +75,7 @@ def __push_polygon_to_list(self):
         self.points.clear()
 
         self.rendering_polygons.append(self.current_polygon)
-        self.current_polygon = GLPolygon(parent_item=self, line_width=2)
+        self.current_polygon = GLPolygon(parent_item=self, line_width=2, closed=True)
 
     def __add_one_point(self, point: Point) -> None:
         """Adding one points to a polygon