commit 318621a3620cadd3e76b0e59a6ce4c74ca5eaff7
author Ravago Jones <ravagojones@gmail.com> Sun Apr 09 18:23:12 2023 -0700
committer Ravago Jones <ravagojones@gmail.com> Wed Apr 12 18:46:55 2023 -0700
tree d2660f45f09f1e5ac4a8b37a34b8c075950bd04d
parent 5105e56751d15921ed957f1a4c07b20a226c10d1

Allow selecting multisplines from Spline UI graph

Signed-off-by: Ravago Jones <ravagojones@gmail.com>
Change-Id: I4a5eae2292a196194499d451975342047cea4a42

frc971/control_loops/python/graph.py

diff --git a/frc971/control_loops/python/graph.py b/frc971/control_loops/python/graph.py
index 1cc6f57..16c792bc 100644
--- a/frc971/control_loops/python/graph.py
+++ b/frc971/control_loops/python/graph.py
@@ -23,8 +23,10 @@
         self.canvas = FigureCanvas(fig)  # a Gtk.DrawingArea
         self.canvas.set_vexpand(True)
         self.canvas.set_size_request(800, 250)
-        self.callback_id = self.canvas.mpl_connect('motion_notify_event',
-                                                   self.on_mouse_move)
+        self.mouse_move_callback = self.canvas.mpl_connect(
+            'motion_notify_event', self.on_mouse_move)
+        self.click_callback = self.canvas.mpl_connect('button_press_event',
+                                                      self.on_click)
         self.add(self.canvas)
 
         # The current graph data
@@ -99,6 +101,24 @@
             if self.cursor_watcher is not None:
                 self.cursor_watcher.queue_draw()
 
+    def on_click(self, event):
+        """Same as on_mouse_move but also selects multisplines"""
+
+        if self.data is None:
+            return
+        total_steps_taken = self.data.shape[1]
+        total_time = self.dt * total_steps_taken
+        if event.xdata is not None:
+            # clip the position if still on the canvas, but off the graph
+            self.cursor = np.clip(event.xdata, 0, total_time)
+
+            self.redraw_cursor()
+
+            # tell the field to update too
+            if self.cursor_watcher is not None:
+                self.cursor_watcher.queue_draw()
+                self.cursor_watcher.on_graph_clicked()
+
     def redraw_cursor(self):
         """Redraws the cursor line"""
         # TODO: This redraws the entire graph and isn't very snappy

frc971/control_loops/python/path_edit.py

diff --git a/frc971/control_loops/python/path_edit.py b/frc971/control_loops/python/path_edit.py
index b5e8c1b..5752268 100755
--- a/frc971/control_loops/python/path_edit.py
+++ b/frc971/control_loops/python/path_edit.py
@@ -422,6 +422,15 @@
                     prev_multispline.getSplines()[-1])
             self.queue_draw()
 
+    def on_graph_clicked(self):
+        if self.graph.cursor is not None:
+            cursor = self.graph.find_cursor()
+            if cursor is None:
+                return
+            multispline_index, x = cursor
+
+            self.active_multispline_index = multispline_index
+
     def do_button_release_event(self, event):
         self.drag_start = None