Initial FieldPlanner page for planning robot route

lib/pages/field_planner.rb

@@ -0,0 +1,127 @@
+module TAC
+  class Pages
+    class FieldPlanner < Page
+      def setup
+        header_bar("Field Planner")
+
+        body.clear do
+          flow(width: 1.0, height: 1.0) do
+            @field_container = stack width: 0.5, height: 1.0 do
+              background 0xff_111111
+            end
+
+            @points_container = stack width: 0.5, height: 1.0 do
+            end
+          end
+        end
+
+        @field = TAC::Simulator::Field.new(container: @field_container, season: :skystone, simulation: nil)
+        @nodes = []
+        @unit = :inches
+      end
+
+      def draw
+        super
+
+        @field.draw
+
+        display_path
+      end
+
+      def update
+        super
+
+        @field.update
+
+        measure_path
+      end
+
+      def button_down(id)
+        super
+
+        if @field_container.hit?(window.mouse_x, window.mouse_y)
+          x = (window.mouse_x - @field_container.x) / @field.scale
+          y = (window.mouse_y - @field_container.y) / @field.scale
+
+          case id
+          when Gosu::MS_LEFT # Add Node
+            @nodes << CyberarmEngine::Vector.new(x, y, 0)
+
+            measure_path
+
+            refresh_panel
+
+          when Gosu::MS_RIGHT # Delete Node
+            result = @nodes.find do |node|
+              Gosu.distance(
+                node.x,
+                node.y,
+                x,
+                y
+              ) <= 1.5
+            end
+
+            @nodes.delete(result) if result
+
+            measure_path
+
+            refresh_panel
+          end
+        end
+      end
+
+      def display_path
+        last_node = @nodes.first
+        @nodes.each_with_index do |current_node, i|
+          Gosu.draw_circle(
+            current_node.x * @field.scale + @field_container.x,
+            current_node.y * @field.scale + @field_container.y,
+            3, 7
+          )
+
+          next if i.zero?
+
+          Gosu.draw_line(
+            last_node.x * @field.scale + @field_container.x,
+            last_node.y * @field.scale + @field_container.y,
+            Gosu::Color::GREEN,
+            current_node.x * @field.scale + @field_container.x,
+            current_node.y * @field.scale + @field_container.y,
+            Gosu::Color::GREEN,
+            3
+          )
+
+          last_node = current_node
+        end
+      end
+
+      def measure_path
+        @total_distance = 0
+
+        v1 = @nodes.first
+        @nodes.each_with_index do |v2, i|
+          next if i.zero?
+
+          @total_distance += Gosu.distance(
+            v1.x + @field_container.x,
+            v1.y + @field_container.y,
+            v2.x + @field_container.x,
+            v2.y + @field_container.y
+          )
+
+          v1 = v2
+        end
+      end
+
+      def refresh_panel
+        @points_container.clear do
+          title "Nodes: #{@nodes.count} - Length: #{@total_distance.round}"
+
+          @nodes.each do |v|
+            para "Vector #{v.x.round}:#{v.y.round}"
+          end
+        end
+      end
+    end
+  end
+end