Better generation complete

Author: jlbabilino

app/src/main/java/org/team2363/helixnavigator/document/DocumentActions.java

@@ -36,6 +36,7 @@
 
 import javafx.beans.property.BooleanProperty;
 import javafx.beans.property.ObjectProperty;
+import javafx.beans.property.ReadOnlyBooleanProperty;
 import javafx.beans.property.SimpleBooleanProperty;
 import javafx.beans.property.SimpleObjectProperty;
 import javafx.beans.value.ObservableValue;
@@ -409,9 +410,16 @@ protected Task<HolonomicTrajectory> createTask() {
             Task<HolonomicTrajectory> optimizeTask = new Task<HolonomicTrajectory>() {
                 @Override
                 protected HolonomicTrajectory call() throws PluginLoadException, InvalidPathException, TrajectoryGenerationException {
+                    // Thread generationThread = Thread.currentThread();
                     System.out.println("Path optimizing: " + path.toString());
                     if (drive != null && path != null) {
-                        return OptimalTrajectoryGenerator.generate(drive, path);
+                        // new Thread(() -> {
+                        //     while (!isCancelled()) {}
+                        //     generationThread.stop();
+                        // }).start();
+                        HolonomicTrajectory traj = OptimalTrajectoryGenerator.generate(drive, path);
+                        System.out.println("Generation complete, closing task...");
+                        return traj;
                     } else {
                         throw new TrajectoryGenerationException("No path specified for optimization service.");
                     }
@@ -423,6 +431,7 @@ protected HolonomicTrajectory call() throws PluginLoadException, InvalidPathExce
     }
 
     private static final TrajectoryGenerationService SERVICE = new TrajectoryGenerationService();
+    public static final ReadOnlyBooleanProperty IS_GENERATION_RUNNING = SERVICE.runningProperty();
     public void generateTrajectory() {
         if (documentManager.getIsDocumentOpen() && documentManager.getDocument().isPathSelected()) {
             HDocument hDocument = documentManager.getDocument();
@@ -444,15 +453,20 @@ public void generateTrajectory() {
             }
         }
     }
-    public void toggleTrajectoryGeneration() {
-        if (SERVICE.isRunning()) {
-            System.out.println("Cancelling trajopt");
-            SERVICE.cancel();
-        } else {
-            System.out.println("Restarting trajopt");
-            generateTrajectory();
-        }
-    }
+    // public void toggleTrajectoryGeneration() {
+    //     if (SERVICE.isRunning()) {
+    //         System.out.println("Cancelling trajopt");
+    //         SERVICE.cancel();
+    //     } else {
+    //         System.out.println("Restarting trajopt");
+    //         generateTrajectory();
+    //     }
+    // }
+    // public void cancelTrajectoryGeneration() {
+    //     if (SERVICE.isRunning()) {
+    //         SERVICE.cancel();
+    //     }
+    // }
 
     private static final Rotate ROTATE_90_CLOCKWISE = new Rotate(-90);
     private static final Rotate ROTATE_90_COUNTERCLOCKWISE = new Rotate(90);

app/src/main/java/org/team2363/helixnavigator/ui/editor/toolbar/TrajectoryToolBar.java

@@ -7,6 +7,7 @@
 
 import javax.measure.quantity.Time;
 
+import org.team2363.helixnavigator.document.DocumentActions;
 import org.team2363.helixnavigator.document.DocumentManager;
 import org.team2363.helixnavigator.document.HDocument;
 import org.team2363.helixnavigator.document.HPath;
@@ -39,7 +40,7 @@ public class TrajectoryToolBar extends ToolBar {
     private final ChangeListener<? super HPath> onSelectedPathChanged = this::selectedPathChanged;
     private final ChangeListener<? super HTrajectory> onTrajectoryChanged = this::trajectoryChanged;
 
-    private final Button generateTraj = new Button("Generate Traj");
+    private final Button generateTraj = new Button("Generate");
     private final Button importTraj = new Button("Import Traj");
     private final Button exportTraj = new Button ("Export Traj");
     private final Slider timestampSlider = new Slider();
@@ -54,8 +55,17 @@ public TrajectoryToolBar(DocumentManager documentManager) {
         timestampSlider.setMinWidth(400.0);
         getItems().addAll(importTraj, exportTraj, generateTraj, timestampSlider, animateButton);
 
+        DocumentActions.IS_GENERATION_RUNNING.addListener((obsVal, isIdle, isGenerating) -> {
+            System.out.println("Generation status changed to: " + isGenerating);
+            if (isIdle) {
+                generateTraj.setText("Generate");
+            } else {
+                generateTraj.setText("Generating...");
+            }
+            generateTraj.setDisable(isGenerating);
+        });
         generateTraj.setOnAction(event -> {
-            documentManager.actions().toggleTrajectoryGeneration();
+            documentManager.actions().generateTrajectory();
         });
         importTraj.setOnAction(event -> {
             if (this.documentManager.getIsDocumentOpen() && this.documentManager.getDocument().isPathSelected()) {