commit ac952dd09d559a473463308235a473b2bd22f633
author Ravago Jones <ravagojones@gmail.com> Fri Jul 29 21:44:12 2022 -0700
committer Ravago Jones <ravagojones@gmail.com> Fri Jul 29 21:44:12 2022 -0700
tree 90d9038218ddf493393be33bf9ab4caddeb44303
parent 6ef5c48e8cfb94b890462b89af6ca219ce36030f

Improve Spline UI graph behavior for edge cases

If one of the multisplines fails to optimize, trying to put the cursor
on it will cause an out of bounds error

If the robot was still highlighted on the splines and you tried to move
the cursor from the graph, it wouldn't work.

Signed-off-by: Ravago Jones <ravagojones@gmail.com>
Change-Id: Ic8c37c5de07f6ef6d7a2b71971f34627e6ad2dba

frc971/control_loops/python/graph.py

diff --git a/frc971/control_loops/python/graph.py b/frc971/control_loops/python/graph.py
index 7d73a79..b85b996 100644
--- a/frc971/control_loops/python/graph.py
+++ b/frc971/control_loops/python/graph.py
@@ -47,6 +47,8 @@
         if self.data is None:
             return None
         cursor_index = int(self.cursor / self.dt)
+        if cursor_index > self.data.size:
+            return None
         # use the time to index into the position data
         distance_at_cursor = self.data[0][cursor_index - 1]
         multispline_index = int(self.data[5][cursor_index - 1])

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 91f31d4..a0eb797 100755
--- a/frc971/control_loops/python/path_edit.py
+++ b/frc971/control_loops/python/path_edit.py
@@ -246,17 +246,7 @@
         multispline, result = Multispline.nearest_distance(
             self.multisplines, mouse)
 
-        # if the mouse is close enough, draw the robot
-        if result is not None and result.fun < 2:
-            distance_spline = DistanceSpline(multispline.getLibsplines())
-            x = result.x[0]
-
-            # draw the robot to show its width
-            self.draw_robot_at_point(cr, distance_spline, x)
-
-            multispline_index = self.multisplines.index(multispline)
-            self.graph.place_cursor(multispline_index, distance=result.x[0])
-        elif self.graph.cursor is not None:
+        if self.graph.cursor is not None and self.graph.data is not None:
             multispline_index, x = self.graph.find_cursor()
             distance_spline = DistanceSpline(
                 self.multisplines[multispline_index].getLibsplines())
@@ -266,6 +256,15 @@
             # clear the cursor each draw so it doesn't persist
             # after you move off the spline
             self.graph.cursor = None
+        elif result is not None and result.fun < 2:
+            distance_spline = DistanceSpline(multispline.getLibsplines())
+            x = result.x[0]
+
+            # draw the robot to show its width
+            self.draw_robot_at_point(cr, distance_spline, x)
+
+            multispline_index = self.multisplines.index(multispline)
+            self.graph.place_cursor(multispline_index, distance=result.x[0])
 
     def export_json(self, file_name):
         self.path_to_export = os.path.join(