Robot view on custom waypoint

Author: jlbabilino

app/src/main/java/org/team2363/helixnavigator/global/Standards.java

@@ -53,7 +53,7 @@ public class Standards {
      * Up to 50 characters
      */
     public static final int MAX_NAME_LENGTH = 50;
-    public static final String DEFAULT_FIELD_IMAGE = "2022: Rapid React";
+    public static final String DEFAULT_FIELD_IMAGE = "2023: Charged Up";
     public static final double DEFAULT_OBSTACLE_SAFETY_DISTANCE = 5.0;
     public static final Color BACKGROUND_COLOR = Color.gray(0.85);
     public static final Color[] COLOR_PALETTE = {

app/src/main/java/org/team2363/helixnavigator/ui/editor/waypoint/CustomWaypointView.java

@@ -1,13 +1,108 @@
 package org.team2363.helixnavigator.ui.editor.waypoint;
 
 import org.team2363.helixnavigator.document.timeline.HCustomWaypoint;
+import org.team2363.helixnavigator.global.Standards;
 
+import javafx.beans.property.DoubleProperty;
 import javafx.scene.paint.Color;
 
 public class CustomWaypointView extends WaypointView {
+
+    private final RobotView robotView = new RobotView();
+
+    private final HCustomWaypoint customWaypoint;
 
     public CustomWaypointView(HCustomWaypoint customWaypoint) {
         super(customWaypoint);
+
+        this.customWaypoint = customWaypoint;
+
         setWaypointFill(Color.GREEN);
+
+        robotView.getView().getTransforms().add(centerTranslate);
+        robotView.headingProperty().bind(this.customWaypoint.headingProperty());
+        robotView.zoomScaleProperty().bind(zoomScaleProperty());
+        robotView.getView().setOnMouseDragged(event -> {
+            // System.out.println("Dot dragged");
+            double x = event.getX();
+            double y = event.getY();
+            double[] lockAngles = {-180, -90, 0, 90, 180};
+            double lockRadius = Standards.HEADING_LOCK_RADIUS;
+            double angle = Math.toDegrees(Math.atan2(y, x));
+            // System.out.println(angle);
+            for (double lockAngle : lockAngles) {
+                if (!event.isShiftDown() && Math.abs(angle - lockAngle) <= lockRadius) {
+                    if (lockAngle == -180) {
+                        lockAngle = 180;
+                    }
+                    angle = lockAngle;
+                    break;
+                }
+            }
+            customWaypoint.setHeading(angle * (-Math.PI/180));
+        });
+
+        if (customWaypoint.isHeadingConstrained()) {
+            showRobot();
+        } else {
+            hideRobot();
+        }
+        customWaypoint.headingConstrainedProperty().addListener((obsVal, wasConstr, isContr) -> {
+            if (isContr) {
+                showRobot();
+            } else {
+                hideRobot();
+            }
+        });
+    }
+
+    public final DoubleProperty bumperLengthProperty() {
+        return robotView.bumperLengthProperty();
+    }
+
+    public final void setBumperLength(double value) {
+        robotView.setBumperLength(value);
+    }
+
+    public final double getBumperLength() {
+        return robotView.getBumperLength();
+    }
+
+    public final DoubleProperty bumperWidthProperty() {
+        return robotView.bumperWidthProperty();
+    }
+
+    public final void setBumperWidth(double value) {
+        robotView.setBumperWidth(value);
+    }
+
+    public final double getBumperWidth() {
+        return robotView.getBumperWidth();
+    }
+
+    public final DoubleProperty headingProperty() {
+        return robotView.headingProperty();
+    }
+
+    public final void setHeading(double value) {
+        robotView.setHeading(value);
+    }
+
+    public final double getHeading() {
+        return robotView.getHeading();
+    }
+
+    public RobotView getRobotView() {
+        return robotView;
+    }
+
+    private void hideRobot() {
+        robotView.getView().setOpacity(0.0);
+        robotView.getView().setMouseTransparent(true);
+    }
+
+    private void showRobot() {
+        robotView.getView().setOpacity(1.0);
+        robotView.getView().setMouseTransparent(false);
     }
 }

app/src/main/java/org/team2363/helixnavigator/ui/editor/waypoint/WaypointsPane.java

@@ -116,6 +116,9 @@ private void updateWaypoints(List<? extends HWaypoint> list) {
                 case CUSTOM:
                     HCustomWaypoint customWaypoint = (HCustomWaypoint) waypoint;
                     CustomWaypointView customWaypointView = new CustomWaypointView(customWaypoint);
+                    customWaypointView.bumperLengthProperty().bind(this.documentManager.getDocument().getRobotConfiguration().bumperLengthProperty());
+                    customWaypointView.bumperWidthProperty().bind(this.documentManager.getDocument().getRobotConfiguration().bumperWidthProperty());
+                    robotsPane.getChildren().add(customWaypointView.getRobotView().getView());
                     waypointView = customWaypointView;
                     break;
                 case INITIAL_GUESS: