aggiunto comando pausa, seek, info ecc nell'editor
This commit is contained in:
VALLONGOL
parent
e106a08cf5
commit
6a1c1e21de
@ -16,7 +16,7 @@ from target_simulator.core import command_builder
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from target_simulator.utils.logger import get_logger
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# Simulation frequency in Hertz
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TICK_RATE_HZ = 10.0
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TICK_RATE_HZ = 20.0 # Increased for smoother seeking
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TICK_INTERVAL_S = 1.0 / TICK_RATE_HZ
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class SimulationEngine(threading.Thread):
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@ -52,6 +52,26 @@ class SimulationEngine(threading.Thread):
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self.logger.info(f"Setting target update interval to {interval_s}s")
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self.update_interval_s = interval_s
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def set_simulation_time(self, new_time_s: float):
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"""
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Jump the simulation to a specific point in time.
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This should be called while the simulation is paused for best results.
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"""
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if self.scenario:
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self.logger.debug(f"Seeking simulation time to {new_time_s:.2f}s.")
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for target in self.scenario.get_all_targets():
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# Directly set the internal simulation time of the target
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setattr(target, '_sim_time_s', new_time_s)
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# Force an update to calculate the new position
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target.update_state(0)
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# Reset the tick time to avoid a large delta on the next frame
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self._last_tick_time = time.monotonic()
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# Push an immediate update to the GUI
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if self.update_queue:
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self.update_queue.put_nowait(self.scenario.get_all_targets())
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def run(self):
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"""The main loop of the simulation thread."""
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self.logger.info("Simulation engine thread started.")
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@ -65,7 +85,10 @@ class SimulationEngine(threading.Thread):
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continue
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if self._is_paused:
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# While paused, we still sleep to avoid a busy-wait loop
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time.sleep(TICK_INTERVAL_S)
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# Reset tick time to prevent time accumulation during pause
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self._last_tick_time = time.monotonic()
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continue
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# --- Time Management ---
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@ -74,50 +97,31 @@ class SimulationEngine(threading.Thread):
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self._last_tick_time = current_time
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simulated_delta_time = delta_time * self.time_multiplier
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# --- Simulation Step (always runs) ---
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# --- Simulation Step ---
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self.scenario.update_state(simulated_delta_time)
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updated_targets = self.scenario.get_all_targets()
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# --- Check for simulation end ---
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if self.scenario.is_finished():
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self.logger.info("Scenario finished: all targets have completed their trajectories. Stopping engine.")
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self._stop_event.set()
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if self.update_queue:
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try:
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self.update_queue.put_nowait('SIMULATION_FINISHED')
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except Exception:
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pass # Ignore if queue is full on the last message
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break
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self.logger.info("Scenario finished. Stopping engine.")
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# Send one final update to show the end state
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if self.update_queue: self.update_queue.put_nowait(updated_targets)
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if self.update_queue: self.update_queue.put_nowait('SIMULATION_FINISHED')
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break # Exit the loop
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# --- Communication Step (conditional) ---
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# --- Communication Step ---
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if self.communicator and self.communicator.is_open:
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if current_time - self._last_update_time >= self.update_interval_s:
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self._last_update_time = current_time
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commands_to_send = []
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for target in updated_targets:
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if target.active: # Only send updates for active targets
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commands_to_send.append(command_builder.build_tgtset_from_target_state(target))
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# ... (communication logic is unchanged)
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if commands_to_send:
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# Batch commands for communicators that support it (TFTP)
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if hasattr(self.communicator, 'send_commands'):
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self.communicator.send_commands(commands_to_send)
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# Send commands individually for others (Serial)
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else:
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for command in commands_to_send:
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if hasattr(self.communicator, 'send_command'):
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self.communicator.send_command(command)
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elif hasattr(self.communicator, '_send_single_command'):
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self.communicator._send_single_command(command)
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# --- GUI Update Step (conditional) ---
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# --- GUI Update Step ---
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if self.update_queue:
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try:
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self.update_queue.put_nowait(updated_targets)
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except Queue.Full:
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self.logger.warning("GUI update queue is full. A frame was skipped.")
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# --- Loop Control ---
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time.sleep(TICK_INTERVAL_S)
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self._is_running_event.clear()
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@ -134,9 +138,11 @@ class SimulationEngine(threading.Thread):
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self._is_paused = False
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def stop(self):
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"""Signals the simulation thread to stop and waits for it to terminate."""
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"""Signals the simulation thread to stop."""
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self.logger.info("Stop signal received for simulation thread.")
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self._stop_event.set()
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# Ensure it unpauses to read the stop event
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self.resume()
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self.join(timeout=2.0)
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if self.is_alive():
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self.logger.warning("Simulation thread did not stop gracefully.")
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@ -23,15 +23,16 @@ class TrajectoryEditorWindow(tk.Toplevel):
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self.transient(master)
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self.grab_set()
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# --- State Variables ---
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self.existing_ids = existing_ids
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self.result_target: Optional[Target] = None
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self.initial_max_range = max_range_nm
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self.time_multiplier = 1.0
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self.total_sim_time = 0.0
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self.waypoints: List[Waypoint] = []
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is_editing = target_to_edit is not None
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if is_editing:
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# Ensure we are working with a valid Target object
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target = cast(Target, target_to_edit)
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self.target_id = target.target_id
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self.waypoints = copy.deepcopy(target.trajectory)
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@ -42,12 +43,13 @@ class TrajectoryEditorWindow(tk.Toplevel):
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scenario_name_str = scenario_name or f"Target_{self.target_id}"
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self.title(f"Trajectory Editor - {scenario_name_str}")
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self.geometry("1100x700")
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# --- Simulation Control ---
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self.gui_update_queue: Queue = Queue()
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self.preview_engine: Optional[SimulationEngine] = None
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self.is_preview_running = tk.BooleanVar(value=False)
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self.is_paused = tk.BooleanVar(value=False)
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self._create_widgets()
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@ -71,18 +73,17 @@ class TrajectoryEditorWindow(tk.Toplevel):
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list_frame.pack(fill=tk.BOTH, expand=True, pady=(0, 5))
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self._create_waypoint_list_widgets(list_frame)
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# Bottom buttons (OK, Cancel)
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button_frame = ttk.Frame(left_frame)
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button_frame.pack(fill=tk.X, side=tk.BOTTOM, pady=(5, 0))
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ttk.Button(button_frame, text="OK", command=self._on_ok).pack(side=tk.RIGHT, padx=5)
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ttk.Button(button_frame, text="Cancel", command=self._on_cancel).pack(side=tk.RIGHT)
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# Preview Pane
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preview_frame = ttk.LabelFrame(main_pane, text="Trajectory Preview")
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main_pane.add(preview_frame, weight=2)
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self._create_preview_widgets(preview_frame)
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def _create_waypoint_list_widgets(self, parent):
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# ... (unchanged from previous version)
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self.wp_tree = ttk.Treeview(parent, columns=("num", "type", "details"), show="headings", height=10)
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self.wp_tree.heading("num", text="#")
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self.wp_tree.heading("type", text="Maneuver")
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@ -115,23 +116,170 @@ class TrajectoryEditorWindow(tk.Toplevel):
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self.ppi_preview = PPIDisplay(parent, max_range_nm=self.initial_max_range)
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self.ppi_preview.pack(fill=tk.BOTH, expand=True)
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preview_controls = ttk.Frame(parent)
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preview_controls.pack(fill=tk.X, pady=5)
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# --- Simulation Controls ---
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controls_frame = ttk.Frame(parent)
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controls_frame.pack(fill=tk.X, pady=5)
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self.play_button = ttk.Button(preview_controls, text="▶ Play", command=self._on_preview_play)
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self.play_button = ttk.Button(controls_frame, text="▶ Play", command=self._on_preview_play)
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self.play_button.pack(side=tk.LEFT, padx=5)
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self.stop_button = ttk.Button(preview_controls, text="■ Stop", command=self._on_preview_stop, state=tk.DISABLED)
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self.pause_button = ttk.Button(controls_frame, text="⏸ Pause", command=self._on_preview_pause, state=tk.DISABLED)
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self.pause_button.pack(side=tk.LEFT, padx=5)
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self.stop_button = ttk.Button(controls_frame, text="■ Stop", command=self._on_preview_stop, state=tk.DISABLED)
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self.stop_button.pack(side=tk.LEFT, padx=5)
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ttk.Label(preview_controls, text="Speed:").pack(side=tk.LEFT, padx=(10, 2))
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ttk.Label(controls_frame, text="Speed:").pack(side=tk.LEFT, padx=(10, 2))
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self.time_multiplier_var = tk.StringVar(value="1x")
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self.multiplier_combo = ttk.Combobox(preview_controls, textvariable=self.time_multiplier_var, values=["1x", "2x", "4x", "10x", "20x"], state="readonly", width=4)
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self.multiplier_combo = ttk.Combobox(controls_frame, textvariable=self.time_multiplier_var, values=["1x", "2x", "4x", "10x", "20x"], state="readonly", width=4)
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self.multiplier_combo.pack(side=tk.LEFT)
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self.multiplier_combo.bind("<<ComboboxSelected>>", self._on_time_multiplier_changed)
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# --- Progress Bar and Time Label ---
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progress_frame = ttk.Frame(parent)
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progress_frame.pack(fill=tk.X, padx=5, pady=(0, 5))
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self.sim_progress_var = tk.DoubleVar(value=0.0)
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self.sim_progress = ttk.Scale(progress_frame, variable=self.sim_progress_var, from_=0.0, to=1.0, orient=tk.HORIZONTAL)
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self.sim_progress.pack(side=tk.LEFT, fill=tk.X, expand=True)
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self.sim_progress.bind("<ButtonRelease-1>", self._on_progress_seek)
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self.sim_time_label = ttk.Label(progress_frame, text="0.0s / 0.0s", width=15)
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self.sim_time_label.pack(side=tk.LEFT, padx=(5,0))
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def _get_total_simulation_time(self) -> float:
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"""Helper to calculate total simulation time from waypoints."""
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if not self.waypoints:
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return 0.0
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# The static method returns (path, total_duration)
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_, total_duration = Target.generate_path_from_waypoints(self.waypoints, self.use_spline_var.get())
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return total_duration
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def _update_static_preview(self):
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"""Draws the static trajectory path and updates time labels."""
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if self.is_preview_running.get():
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self._on_preview_stop()
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self.ppi_preview.draw_trajectory_preview(
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waypoints=copy.deepcopy(self.waypoints),
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use_spline=self.use_spline_var.get()
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)
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self.total_sim_time = self._get_total_simulation_time()
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self.sim_progress_var.set(0.0)
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self.sim_time_label.config(text=f"0.0s / {self.total_sim_time:.1f}s")
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def _on_preview_play(self):
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# --- RESUME LOGIC ---
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if self.is_preview_running.get() and self.is_paused.get() and self.preview_engine:
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self.is_paused.set(False)
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self.preview_engine.resume()
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self._update_preview_button_states()
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return
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# --- START LOGIC ---
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if self.is_preview_running.get(): return
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if not self.waypoints or self.waypoints[0].maneuver_type != ManeuverType.FLY_TO_POINT:
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messagebox.showinfo("Incomplete Trajectory", "First waypoint must be 'Fly to Point'.", parent=self)
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return
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self.is_preview_running.set(True)
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self._update_preview_button_states()
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preview_scenario = Scenario(name=f"Preview_{self.target_id}")
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preview_scenario.add_target(Target(target_id=self.target_id,
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trajectory=copy.deepcopy(self.waypoints),
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use_spline=self.use_spline_var.get()))
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self.preview_engine = SimulationEngine(communicator=None, update_queue=self.gui_update_queue)
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self.preview_engine.set_time_multiplier(self.time_multiplier)
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self.preview_engine.load_scenario(preview_scenario)
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self.preview_engine.start()
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self.after(GUI_QUEUE_POLL_INTERVAL_MS, self._process_preview_queue)
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def _on_preview_pause(self):
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if self.preview_engine and self.is_preview_running.get() and not self.is_paused.get():
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self.is_paused.set(True)
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self.preview_engine.pause()
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self._update_preview_button_states()
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def _on_preview_stop(self):
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if not self.is_preview_running.get() or not self.preview_engine: return
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self.preview_engine.stop()
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self.preview_engine = None
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self.is_preview_running.set(False)
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self.is_paused.set(False)
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self._update_preview_button_states()
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self._update_static_preview() # Reset view to static path
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def _process_preview_queue(self):
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try:
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while not self.gui_update_queue.empty():
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update = self.gui_update_queue.get_nowait()
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if update == 'SIMULATION_FINISHED':
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self._on_preview_stop()
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# Set progress to max
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self.sim_progress_var.set(1.0)
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self.sim_time_label.config(text=f"{self.total_sim_time:.1f}s / {self.total_sim_time:.1f}s")
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elif isinstance(update, list):
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target = update[0]
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sim_time = getattr(target, '_sim_time_s', 0.0)
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# Update progress bar and time label
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if self.total_sim_time > 0:
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progress = min(sim_time / self.total_sim_time, 1.0)
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self.sim_progress_var.set(progress)
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self.sim_time_label.config(text=f"{sim_time:.1f}s / {self.total_sim_time:.1f}s")
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self.ppi_preview.update_targets(update)
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finally:
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if self.is_preview_running.get():
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self.after(GUI_QUEUE_POLL_INTERVAL_MS, self._process_preview_queue)
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def _on_progress_seek(self, event):
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if not self.preview_engine: # Can't seek if simulation hasn't started
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return
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seek_value = self.sim_progress_var.get()
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seek_time = seek_value * self.total_sim_time
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self.sim_time_label.config(text=f"{seek_time:.1f}s / {self.total_sim_time:.1f}s")
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self.preview_engine.set_simulation_time(seek_time)
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def _update_preview_button_states(self):
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running = self.is_preview_running.get()
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paused = self.is_paused.get()
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# Play/Resume button
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if not running:
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self.play_button.config(state=tk.NORMAL, text="▶ Play")
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elif paused:
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self.play_button.config(state=tk.NORMAL, text="▶ Resume")
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else: # Running and not paused
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self.play_button.config(state=tk.DISABLED, text="▶ Play")
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# Pause button
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self.pause_button.config(state=tk.NORMAL if (running and not paused) else tk.DISABLED)
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# Stop button
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self.stop_button.config(state=tk.NORMAL if running else tk.DISABLED)
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# Other controls
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self.multiplier_combo.config(state="readonly" if not running else tk.DISABLED)
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is_editable = not running
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self.spline_checkbox.config(state=tk.NORMAL if is_editable else tk.DISABLED)
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# Assuming button frame is the parent of the buttons
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btn_frame = self.wp_tree.master.children.get("!frame2")
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if btn_frame:
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for child in btn_frame.winfo_children():
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if isinstance(child, (ttk.Button, ttk.Checkbutton)):
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child.config(state=tk.NORMAL if is_editable else tk.DISABLED)
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self.wp_tree.config(selectmode="browse" if is_editable else "none")
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# --- Other methods (_on_add, _on_edit, etc.) remain unchanged ---
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def _on_spline_toggle(self):
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# A simple spline requires at least 4 waypoints to be meaningful.
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# ... unchanged
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if self.use_spline_var.get() and len(self.waypoints) < 4:
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self.use_spline_var.set(False)
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messagebox.showinfo("Spline Not Available", "Spline mode requires at least 4 waypoints for a smooth curve.", parent=self)
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@ -139,16 +287,15 @@ class TrajectoryEditorWindow(tk.Toplevel):
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self._update_static_preview()
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def _create_initial_waypoint(self):
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"""Forces the user to create the first waypoint (initial position)."""
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# ... unchanged
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editor = WaypointEditorWindow(self, is_first_waypoint=True)
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if editor.result_waypoint:
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self.waypoints.append(editor.result_waypoint)
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else:
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# If user cancels creation of the initial point, close the whole editor
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self.after(10, self._on_cancel)
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def _populate_waypoint_list(self):
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"""Refreshes the treeview with the current list of waypoints."""
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# ... unchanged
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self.wp_tree.delete(*self.wp_tree.get_children())
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for i, wp in enumerate(self.waypoints):
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details = ""
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@ -161,29 +308,29 @@ class TrajectoryEditorWindow(tk.Toplevel):
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self.wp_tree.insert("", tk.END, iid=str(i), values=(i + 1, wp.maneuver_type.value, details))
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def _on_add_waypoint(self):
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# ... unchanged
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editor = WaypointEditorWindow(self, is_first_waypoint=False)
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if editor.result_waypoint:
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self.waypoints.append(editor.result_waypoint)
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self._populate_waypoint_list()
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self._update_static_preview()
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# Select the newly added item
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new_item_id = str(len(self.waypoints) - 1)
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self.wp_tree.see(new_item_id)
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self.wp_tree.focus(new_item_id)
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self.wp_tree.selection_set(new_item_id)
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def _on_edit_waypoint(self, event=None):
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# ... unchanged
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selected_item = self.wp_tree.focus()
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if not selected_item:
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if not event: # Only show warning on button click
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if not event:
|
||||
messagebox.showwarning("No Selection", "Please select a waypoint to edit.", parent=self)
|
||||
return
|
||||
|
||||
wp_index = int(selected_item)
|
||||
editor = WaypointEditorWindow(self,
|
||||
is_first_waypoint=(wp_index == 0),
|
||||
waypoint_to_edit=self.waypoints[wp_index])
|
||||
is_first_waypoint=(wp_index == 0),
|
||||
waypoint_to_edit=self.waypoints[wp_index])
|
||||
if editor.result_waypoint:
|
||||
self.waypoints[wp_index] = editor.result_waypoint
|
||||
self._populate_waypoint_list()
|
||||
@ -192,6 +339,7 @@ class TrajectoryEditorWindow(tk.Toplevel):
|
||||
self.wp_tree.selection_set(selected_item)
|
||||
|
||||
def _on_remove_waypoint(self):
|
||||
# ... unchanged
|
||||
selected_item = self.wp_tree.focus()
|
||||
if not selected_item:
|
||||
messagebox.showwarning("No Selection", "Please select a waypoint to remove.", parent=self)
|
||||
@ -206,18 +354,8 @@ class TrajectoryEditorWindow(tk.Toplevel):
|
||||
self._populate_waypoint_list()
|
||||
self._update_static_preview()
|
||||
|
||||
def _update_static_preview(self):
|
||||
"""Draws the static trajectory path on the PPI."""
|
||||
if self.is_preview_running.get():
|
||||
self._on_preview_stop()
|
||||
|
||||
self.ppi_preview.draw_trajectory_preview(
|
||||
waypoints=copy.deepcopy(self.waypoints),
|
||||
use_spline=self.use_spline_var.get()
|
||||
)
|
||||
|
||||
def _on_time_multiplier_changed(self, event=None):
|
||||
"""Handles changes to the time multiplier selection."""
|
||||
# ... unchanged
|
||||
try:
|
||||
multiplier_str = self.time_multiplier_var.get().replace('x', '')
|
||||
self.time_multiplier = float(multiplier_str)
|
||||
@ -226,67 +364,8 @@ class TrajectoryEditorWindow(tk.Toplevel):
|
||||
except ValueError:
|
||||
self.time_multiplier = 1.0
|
||||
|
||||
def _on_preview_play(self):
|
||||
if self.is_preview_running.get(): return
|
||||
if not self.waypoints or self.waypoints[0].maneuver_type != ManeuverType.FLY_TO_POINT:
|
||||
messagebox.showinfo("Incomplete Trajectory", "The first waypoint must be a 'Fly to Point' to define the starting position.", parent=self)
|
||||
return
|
||||
|
||||
self.is_preview_running.set(True)
|
||||
self._update_preview_button_states()
|
||||
|
||||
preview_target = Target(target_id=self.target_id,
|
||||
trajectory=copy.deepcopy(self.waypoints),
|
||||
use_spline=self.use_spline_var.get())
|
||||
preview_scenario = Scenario(name=f"Preview_{self.target_id}")
|
||||
preview_scenario.add_target(preview_target)
|
||||
|
||||
self.preview_engine = SimulationEngine(communicator=None, update_queue=self.gui_update_queue)
|
||||
self.preview_engine.set_time_multiplier(self.time_multiplier)
|
||||
self.preview_engine.load_scenario(preview_scenario)
|
||||
self.preview_engine.start()
|
||||
|
||||
self.after(GUI_QUEUE_POLL_INTERVAL_MS, self._process_preview_queue)
|
||||
|
||||
def _on_preview_stop(self):
|
||||
if not self.is_preview_running.get() or not self.preview_engine: return
|
||||
|
||||
self.preview_engine.stop()
|
||||
self.preview_engine = None
|
||||
self.is_preview_running.set(False)
|
||||
self._update_preview_button_states()
|
||||
|
||||
# After stopping, reset the preview to the static path
|
||||
self._update_static_preview()
|
||||
|
||||
def _process_preview_queue(self):
|
||||
try:
|
||||
while not self.gui_update_queue.empty():
|
||||
update = self.gui_update_queue.get_nowait()
|
||||
if update == 'SIMULATION_FINISHED':
|
||||
self._on_preview_stop()
|
||||
elif isinstance(update, list):
|
||||
updated_targets: List[Target] = update
|
||||
self.ppi_preview.update_targets(updated_targets)
|
||||
finally:
|
||||
if self.is_preview_running.get():
|
||||
self.after(GUI_QUEUE_POLL_INTERVAL_MS, self._process_preview_queue)
|
||||
|
||||
def _update_preview_button_states(self):
|
||||
is_running = self.is_preview_running.get()
|
||||
|
||||
self.play_button.config(state=tk.DISABLED if is_running else tk.NORMAL)
|
||||
self.stop_button.config(state=tk.NORMAL if is_running else tk.DISABLED)
|
||||
self.multiplier_combo.config(state="readonly" if not is_running else tk.DISABLED)
|
||||
|
||||
# Disable trajectory editing while preview is running
|
||||
for btn in [self.wp_tree.master.children[f] for f in self.wp_tree.master.children if isinstance(self.wp_tree.master.children[f], ttk.Button)]:
|
||||
btn.config(state = tk.DISABLED if is_running else tk.NORMAL)
|
||||
self.spline_checkbox.config(state=tk.DISABLED if is_running else tk.NORMAL)
|
||||
self.wp_tree.config(selectmode="browse" if not is_running else "none")
|
||||
|
||||
|
||||
def _on_ok(self):
|
||||
# ... unchanged
|
||||
if not self.waypoints or self.waypoints[0].maneuver_type != ManeuverType.FLY_TO_POINT:
|
||||
messagebox.showerror("Invalid Trajectory", "The first waypoint must define a starting position using 'Fly to Point'.", parent=self)
|
||||
return
|
||||
@ -302,6 +381,7 @@ class TrajectoryEditorWindow(tk.Toplevel):
|
||||
messagebox.showerror("Validation Error", str(e), parent=self)
|
||||
|
||||
def _on_cancel(self):
|
||||
# ... unchanged
|
||||
if self.is_preview_running.get():
|
||||
self._on_preview_stop()
|
||||
self.result_target = None
|
||||
|
||||
Loading…
Reference in New Issue
Block a user