Display a different icon if the trajectory is changed since being gen…

…erated (#1093)

src-core/src/file_management/mod.rs

@@ -26,7 +26,8 @@ type DeployPath = Arc<Mutex<PathBuf>>;
 type TrajectoryFileName = String;
 
 mod diagnostics;
-mod formatter;
+
+pub mod formatter;
 pub mod upgrader;
 
 pub use diagnostics::{create_diagnostic_file, get_log_lines};

src-core/src/spec/trajectory.rs

@@ -3,7 +3,7 @@ use trajoptlib::{DifferentialTrajectorySample, SwerveTrajectorySample};
 
 use super::{upgraders::upgrade_traj_file, Expr, SnapshottableType};
 
-#[derive(Serialize, Deserialize, Clone, Copy, Debug)]
+#[derive(Serialize, Deserialize, Clone, Copy, Debug, PartialEq)]
 #[serde(rename_all = "camelCase")]
 /// A waypoint parameter.
 pub struct Waypoint<T: SnapshottableType> {
@@ -53,7 +53,7 @@ impl<T: SnapshottableType> Waypoint<T> {
 }
 
 /// A waypoint identifier.
-#[derive(Serialize, Deserialize, Clone, Copy, Debug)]
+#[derive(Serialize, Deserialize, Clone, Copy, Debug, PartialEq, Eq)]
 #[serde(rename_all = "camelCase")]
 pub enum WaypointID {
     /// The first waypoint.
@@ -106,7 +106,7 @@ pub enum ConstraintScope {
 }
 
 /// A constraint on the robot's motion.
-#[derive(Serialize, Deserialize, Clone, Copy, Debug)]
+#[derive(Serialize, Deserialize, Clone, Copy, Debug, PartialEq)]
 #[serde(tag = "type", content = "props")]
 pub enum ConstraintData<T: SnapshottableType> {
     /// A constraint on the maximum velocity.
@@ -211,7 +211,7 @@ impl<T: SnapshottableType> ConstraintData<T> {
 }
 
 /// A constraint on the robot's motion and where it applies.
-#[derive(Debug, Clone, Copy, Serialize, Deserialize)]
+#[derive(Debug, Clone, Copy, Serialize, Deserialize, PartialEq)]
 pub struct Constraint<T: SnapshottableType> {
     /// The waypoint the constraint starts at.
     pub from: WaypointID,
@@ -237,7 +237,7 @@ impl<T: SnapshottableType> Constraint<T> {
 }
 
 /// A constraint on the robot's motion and where it applies.
-#[derive(Debug, Clone, Copy, Serialize, Deserialize)]
+#[derive(Debug, Clone, Copy, Serialize, Deserialize, PartialEq)]
 pub struct ConstraintIDX<T: SnapshottableType> {
     /// The index of the waypoint the constraint starts at.
     pub from: usize,
@@ -252,7 +252,7 @@ pub struct ConstraintIDX<T: SnapshottableType> {
 
 /// A sample of the robot's state at a point in time during the trajectory.
 #[allow(missing_docs)]
-#[derive(Debug, Clone, Copy, Serialize, Deserialize)]
+#[derive(Debug, Clone, Copy, Serialize, Deserialize, PartialEq)]
 #[serde(untagged)]
 pub enum Sample {
     /// A sample for a swerve drive.
@@ -363,7 +363,7 @@ pub enum DriveType {
 }
 
 /// The parameters used for generating a trajectory.
-#[derive(Serialize, Deserialize, Clone, Debug)]
+#[derive(Serialize, Deserialize, Clone, Debug, PartialEq)]
 #[serde(rename_all = "camelCase")]
 pub struct Parameters<T: SnapshottableType> {
     /// The waypoints the robot will pass through or use for initial guess.
@@ -441,6 +441,15 @@ impl TrajectoryFile {
         let val = upgrade_traj_file(serde_json::from_str(content)?)?;
         serde_json::from_value(val).map_err(Into::into)
     }
+
+    pub fn up_to_date(&self) -> bool {
+        // Can't use is_some_and due to its move semantics.
+        if let Some(snap) = &self.snapshot {
+            snap == &self.params.snapshot()
+        } else {
+            false
+        }
+    }
 }
 
 #[derive(Debug, Clone, Serialize, Deserialize)]
@@ -482,3 +491,54 @@ pub enum PplibCommand {
         commands: Vec<PplibCommand>,
     },
 }
+
+#[cfg(test)]
+mod tests {
+    use crate::spec::TRAJ_SCHEMA_VERSION;
+
+    use super::*;
+    fn test_trajectory() -> TrajectoryFile {
+        let parameters = Parameters::<Expr> {
+            waypoints: vec![Waypoint::<Expr> {
+                x: Expr::fill_in_value(0.0, "m"),
+                y: Expr::fill_in_value(0.0, "m"),
+                heading: Expr::fill_in_value(0.0, "rad"),
+                intervals: 20,
+                split: false,
+                fix_translation: false,
+                fix_heading: false,
+                override_intervals: false,
+                is_initial_guess: false,
+            }],
+            constraints: vec![],
+            target_dt: Expr::fill_in_value(0.05, "s"),
+        };
+        TrajectoryFile {
+            name: "Test".to_string(),
+            version: TRAJ_SCHEMA_VERSION,
+            snapshot: Some(parameters.snapshot()),
+            params: parameters,
+            trajectory: Trajectory {
+                sample_type: Some(DriveType::Swerve),
+                waypoints: Vec::new(),
+                samples: Vec::new(),
+                splits: Vec::new(),
+            },
+            events: Vec::new(),
+        }
+    }
+    #[test]
+    fn snapshot_equality() {
+        assert!(test_trajectory().up_to_date());
+    }
+
+    #[test]
+    fn snapshot_equality_through_serde() -> serde_json::Result<()> {
+        use crate::file_management::formatter;
+        let trajectory = test_trajectory();
+        let serde_trajectory = formatter::to_string_pretty(&trajectory)?;
+        let deser_trajectory = TrajectoryFile::from_content(serde_trajectory.as_str());
+        assert!(deser_trajectory.is_ok_and(|t| t.up_to_date()));
+        Ok(())
+    }
+}

src-tauri/src/api.rs

@@ -150,6 +150,11 @@ pub async fn delete_trajectory(
     debug_result!(file_management::delete_trajectory_file(&resources, trajectory).await);
 }
 
+#[tauri::command]
+pub async fn trajectory_up_to_date(trajectory: TrajectoryFile) -> bool {
+    trajectory.up_to_date()
+}
+
 #[tauri::command]
 pub async fn set_deploy_root(app_handle: tauri::AppHandle, dir: String) {
     let resources = app_handle.state::<WritingResources>();

src-tauri/src/tauri.rs

@@ -207,6 +207,7 @@ pub fn run_tauri(project: Option<PathBuf>) {
             open_project_dialog,
             read_trajectory,
             rename_trajectory,
+            trajectory_up_to_date,
             set_deploy_root,
             get_deploy_root,
             requested_file,

src/components/sidebar/PathSelector.tsx

@@ -1,4 +1,9 @@
-import { KeyboardArrowDown, Route, Settings } from "@mui/icons-material";
+import {
+  KeyboardArrowDown,
+  Route,
+  Settings,
+  ShapeLine
+} from "@mui/icons-material";
 import DeleteIcon from "@mui/icons-material/Delete";
 import {
   CircularProgress,
@@ -83,6 +88,7 @@ class PathSelectorOption extends Component<OptionProps, OptionState> {
     this.searchForName("");
     const selected = this.props.uuid == doc.pathlist.activePathUUID;
     const name = this.getPath().name;
+    const upToDate = this.getPath().ui.upToDate;
     if (name != this.state.name && !this.state.renaming) {
       this.state.name = name;
     }
@@ -105,13 +111,29 @@ class PathSelectorOption extends Component<OptionProps, OptionState> {
             }}
             variant="indeterminate"
           ></CircularProgress>
-        ) : (
+        ) : upToDate ? (
           <Route
             className={styles.SidebarIcon}
             htmlColor={
               selected ? "var(--select-yellow)" : "var(--accent-purple)"
             }
           />
+        ) : (
+          <IconButton
+            className={styles.SidebarIcon}
+            onClick={(e) => {
+              e.preventDefault();
+              e.stopPropagation();
+              doc.generatePath(this.getPath().uuid);
+            }}
+          >
+            <ShapeLine
+              className={styles.SidebarIcon}
+              htmlColor={
+                selected ? "var(--select-yellow)" : "var(--accent-purple)"
+              }
+            ></ShapeLine>
+          </IconButton>
         )}
 
         <TextField

src/components/sidebar/Sidebar.module.css

@@ -97,6 +97,9 @@
   height: var(--icon-size);
   width: var(--icon-size);
 }
+.SidebarItem button.SidebarIcon {
+  margin: 0;
+}
 .SidebarItem .SidebarVerticalLine {
   border-left: solid gray 1px;
   height: calc(100% + var(--grid-gap));

src/document/path/HolonomicPathStore.ts

@@ -26,6 +26,7 @@ import { ChoreoPathStore } from "./ChoreoPathStore";
 import { ChoreoTrajectoryStore } from "./ChoreoTrajectoryStore";
 import { PathUIStore } from "./PathUIStore";
 import { findUUIDIndex } from "./utils";
+import { Commands } from "../tauriCommands";
 export function waypointIDToText(
   id: WaypointUUID | undefined,
   points: IHolonomicWaypointStore[]
@@ -60,7 +61,6 @@ export const HolonomicPathStore = types
     name: "",
     uuid: types.identifier
   })
-
   .views((self) => {
     return {
       canGenerate(): boolean {
@@ -162,6 +162,7 @@ export const HolonomicPathStore = types
           }
         });
         self.setSnapshot(ser.snapshot);
+        self.ui.setUpToDate(true);
       },
       deserialize(ser: Trajectory) {
         self.name = ser.name;
@@ -191,7 +192,10 @@ export const HolonomicPathStore = types
         () => {
           return self.serialize;
         },
-        (_value) => {
+        (ser) => {
+          Commands.trajectoryUpToDate(ser).then((upToDate) =>
+            self.ui.setUpToDate(upToDate)
+          );
           exporter(self.uuid);
         }
       );

src/document/path/PathUIStore.ts

@@ -10,9 +10,15 @@ export const PathUIStore = types
       Array<SwerveSample> | Array<DifferentialSample>
     >([]),
     generating: false,
-    generationIterationNumber: 0
+    generationIterationNumber: 0,
+    upToDate: false
   })
   .actions((self) => ({
+    setUpToDate(upToDate: boolean) {
+      getEnv<Env>(self).withoutUndo(() => {
+        self.upToDate = upToDate;
+      });
+    },
     setVisibleWaypointsStart(start: number) {
       if (start <= self.visibleWaypointsEnd) {
         self.visibleWaypointsStart = start;

src/document/tauriCommands.ts

@@ -122,6 +122,13 @@ export const Commands = {
   deleteTrajectory: (trajectory: Trajectory) =>
     invoke<void>("delete_trajectory", { trajectory }),
 
+  /**
+   * Returns if the `Trajectory` parameters and snapshot are equivalent.
+   * @param trajectory The `Trajectory` to check
+   * @returns true if the parameters and snapshots are equivalent, false if not.
+   */
+  trajectoryUpToDate: (trajectory: Trajectory) =>
+    invoke<boolean>("trajectory_up_to_date", { trajectory }),
   /**
    * If the application was opened via CLI and a file was specified, this will return the path of that file.
    *