HUGE changes

- Added an about page that shows readme
- Added even more comments
- Added a playback feature
- 100x the pain and suffering!

README.md

@@ -1,8 +1,8 @@
-# autoPlanner
+# Auto Planner
 
 (WIP) An auto creation tool for Ridgebotics 2025
 
-### Install
+### Install:
 
 ```shell
 git clone https://https://github.com/Team4388/autoPlanner2025/tree/pyside
@@ -10,10 +10,10 @@ cd autoPlanner2025
 pip install -r requirements.txt
 python3 ./main.py
 ```
+#
+## Usage:
 
-### Usage:
-
-##### "Path Editor" Tab:
+### "Path Editor" Tab:
 
 - Right click to add nodes
 - Left click on specific points to manipulate paths and nodes:
@@ -24,19 +24,18 @@ python3 ./main.py
 - Double click on control points to make path, and robot movment continuous, while keeping the node clicked the at the same location (Smooth the path)
 - Press the 'r' key to delete the whole auto
 
-##### "Button editor" Tab:
+### "Button editor" Tab:
 
 - Click on specific frames on the timeline to change to that position
+    - Pressing or holding the left or right arrow keys will move the current frame
 - When selected on a frame, the robot's position in that time should show up.
 - Drag positional keyframes around to speed up and speed down the robot's travel between nodes
-- While a frame is selected, Press the 'e' key to swap to button mode.
-- In button mode select buttons on the driver and operator controllers.
+- Pressing the 'e' key will pause and unpause the auto playback
 
-##### "Export" Tab:
+### "Export" Tab (not made yet):
 
 - Click export, and save to a file
 
 ### Known Bugs:
 
 - Smoothing function is janky sometimes
-- Sometimes the control points spawn in random locations but I cant seem to replicate it?

about.py

@@ -0,0 +1,43 @@
+import sys
+import os
+from PySide6.QtWidgets import QApplication, QLabel, QMainWindow, QPushButton, QVBoxLayout, QHBoxLayout, QWidget, QScrollArea
+from PySide6.QtGui import QPixmap
+from PySide6.QtCore import Qt
+
+class AboutWindow(QMainWindow):
+    def __init__(self, parent=None):
+        super().__init__(parent)
+        self.setWindowTitle("About")
+        self.setGeometry(100, 100, 700, 700)
+
+        # Create a central widget and set the layout
+        central_widget = QWidget()
+        self.setCentralWidget(central_widget)
+        layout = QVBoxLayout(central_widget)
+        scroll_area = QScrollArea()
+        scroll_area.setWidgetResizable(True)
+        layout.addWidget(scroll_area)
+
+        # Create a widget to hold the content
+        content_widget = QWidget()
+        scroll_area.setWidget(content_widget)
+        content_layout = QVBoxLayout(content_widget)
+
+        # Read the README file
+        readme_path = os.path.join(os.path.dirname(__file__), 'README.md')
+        try:
+            with open(readme_path, 'r') as file:
+                readme_content = file.read()
+        except FileNotFoundError:
+            readme_content = "README.md file not found."
+
+        about_label = QLabel(readme_content)
+        about_label.setWordWrap(True)
+        about_label.setTextFormat(Qt.MarkdownText)
+        content_layout.addWidget(about_label)
+
+if __name__ == "__main__":
+    app = QApplication(sys.argv)
+    main_window = AboutWindow()
+    main_window.show()
+    sys.exit(app.exec())

buttonEditor.py

@@ -2,8 +2,8 @@ import sys
 import os
 import numpy as np
 from PySide6.QtWidgets import QApplication, QLabel, QMainWindow, QPushButton, QVBoxLayout, QHBoxLayout, QWidget
-from PySide6.QtGui import QPixmap, QPainter, QPen, QColor
-from PySide6.QtCore import Qt, QPoint, QRect
+from PySide6.QtGui import QPixmap, QPainter, QPen, QColor, QKeyEvent
+from PySide6.QtCore import Qt, QPoint, QRect, QTimer
 
 '''
 This window is the button editor
@@ -13,7 +13,8 @@ The button editor takes the path that is made in the path planner and lets the u
 class ButtonEditor(QMainWindow):
     def __init__(self, pathPlanner):
         super().__init__()
-        # Initialization
+
+        # Initialization for the window
         self.setWindowTitle("Button Editor")
         self.pathPlanner = pathPlanner
 
@@ -68,7 +69,8 @@ class ButtonEditor(QMainWindow):
         self.matchTicks = self.matchLength * self.TPS # The amount of ticks in a match
         self.displayTickResolution = 6.25 # The number of ticks to divide the match ticks by
         self.displayTicks = round(self.matchTicks / self.displayTickResolution) # How many ticks to show the user
-
+        self.paused = True # If the user has paused the auto
+        self.playbackSpeed = 0.25  # Speed multiplier for playback
         self.currentFrame = 1 # The frame that is currently selected
         self.keyFrameData = [{"isNode": False, "isButton": False} for _ in range(self.displayTicks)] # Dictionary for every tick including if that tick is a node frame or a button frame
         self.updateKeyFrameData()
@@ -82,10 +84,38 @@ class ButtonEditor(QMainWindow):
         for idx in node_indices:
             self.keyFrameData[idx]["isNode"] = True
 
+        # Start the timer
+        self.timer = QTimer(self)
+        self.timer.timeout.connect(self.advanceFrame)
+        self.timer.start(int(1000 // (self.TPS * self.playbackSpeed)))
+
         # Initialization
         self.setupFrames()
+        self.updateScene()
         self.updateRectangles()
         self.updateTimeLabel()
+        self.rectangleClicked(0)
+
+    # Tell when the user presses a key down
+    def keyPressEvent(self, event: QKeyEvent):
+        old_frame = self.currentFrame
+        if event.key() == Qt.Key_Right and self.currentFrame < len(self.displayFrames):
+            self.currentFrame += 1
+        elif event.key() == Qt.Key_Left and self.currentFrame > 1:
+            self.currentFrame -= 1
+        elif event.key() == Qt.Key_E:
+            self.paused = not self.paused
+            if self.paused:
+                self.timer.stop()
+            else:
+                self.timer.start(int(1000 // (self.TPS * self.playbackSpeed))) 
+
+        print(self.paused)
+
+        if old_frame != self.currentFrame:
+            self.updateRectangles()
+            self.updateScene()
+            self.updateTimeLabel()
 
     # Updating the key frames with data from the path planner
     def updateKeyFrameData(self):
@@ -170,6 +200,25 @@ class ButtonEditor(QMainWindow):
                             start_angle = self.pathPlanner.nodeAngles[i] if i < len(self.pathPlanner.nodeAngles) else 0
                             end_angle = self.pathPlanner.nodeAngles[i + 1] if i + 1 < len(self.pathPlanner.nodeAngles) else 0
                             angle = self.interpolateAngle(start_angle, end_angle, t)
+                        
+                        total_frames = self.displayTicks
+                        frame_index = self.currentFrame - 1
+                        if 0 <= frame_index < total_frames:
+                            overall_t = frame_index / (total_frames - 1)
+                            num_segments = len(self.pathPlanner.coordinates) - 1
+                            segment_index = min(int(overall_t * num_segments), num_segments - 1)
+                            segment_t = (overall_t * num_segments) - segment_index
+
+                            start = QPoint(self.pathPlanner.coordinates[segment_index][0], self.pathPlanner.coordinates[segment_index][1])
+                            end = QPoint(self.pathPlanner.coordinates[segment_index + 1][0], self.pathPlanner.coordinates[segment_index + 1][1])
+                            control1 = self.pathPlanner.controlPoints[segment_index][0]
+                            control2 = self.pathPlanner.controlPoints[segment_index][1]
+
+                            point = self.pointOnBezierCurve(start, control1, control2, end, segment_t)
+                            
+                            start_angle = self.pathPlanner.nodeAngles[segment_index] if segment_index < len(self.pathPlanner.nodeAngles) else 0
+                            end_angle = self.pathPlanner.nodeAngles[segment_index + 1] if segment_index + 1 < len(self.pathPlanner.nodeAngles) else 0
+                            angle = self.interpolateAngle(start_angle, end_angle, segment_t)
                             self.drawRobot(painter, point, angle)
 
         painter.end() # If you don't end the painter the app crashes
@@ -210,33 +259,40 @@ class ButtonEditor(QMainWindow):
 
     # Update the frames on the bottom of the screen that the user interacts with
     def updateRectangles(self):
-        # Add the key frame widget
-        for i in reversed(range(self.rectanglesLayout.count())):
-            widgetToRemove = self.rectanglesLayout.itemAt(i).widget()
-            self.rectanglesLayout.removeWidget(widgetToRemove)
-            widgetToRemove.setParent(None)
+        # Clear existing rectangles
+        while self.rectanglesLayout.count():
+            item = self.rectanglesLayout.takeAt(0)
+            widget = item.widget()
+            if widget:
+                widget.deleteLater()
 
-        #Set the key frames width
-        window_width = self.rectanglesWidget.width()
-        if self.keyFrameData:
-            rect_width = window_width / len(self.keyFrameData) 
+        # Calculate the width of each rectangle
+        total_width = self.width() - 80 
+        rect_width = max(1, total_width // self.displayTicks)
 
-        rect_height = 100 # Adjustable key frame height
-        for index, frame in enumerate(self.keyFrameData):
-            rectWidget = QWidget()
-            rectWidget.setFixedSize(rect_width, rect_height)
+        # Create new rectangles
+        for i in range(self.displayTicks):
+            rect = QWidget()
+            rect.setFixedSize(rect_width, 100) 
             
-            # Set the colors of the frames
-            if frame["isNode"]:
-                rectWidget.setStyleSheet("background-color: yellow;")
+            # Set the color based on frame type
+            if i == self.currentFrame - 1:
+                color = "red"
+            elif self.keyFrameData[i]["isNode"]:
+                color = "yellow"
+            elif self.keyFrameData[i]["isButton"]:
+                color = "blue"
             else:
-                if index % 2 == 0:
-                    rectWidget.setStyleSheet("background-color: #ADD8E6;")
-                else:
-                    rectWidget.setStyleSheet("background-color: #00008B;")
+                color = "#ADD8E6" if i % 2 == 0 else "#00008B"
+            rect.setStyleSheet(f"background-color: {color};")
             
-            rectWidget.mousePressEvent = lambda event, idx=index: self.rectangleClicked(idx)
-            self.rectanglesLayout.addWidget(rectWidget)
+            # Connect the click event
+            rect.mousePressEvent = lambda event, index=i: self.rectangleClicked(index)
+            self.rectanglesLayout.addWidget(rect)
+
+        # Force layout update
+        self.rectanglesWidget.updateGeometry()
+        self.rectanglesLayout.update()
 
     # Set the current frame to the frame that the user clicked
     def rectangleClicked(self, index):
@@ -257,6 +313,19 @@ class ButtonEditor(QMainWindow):
         milliseconds = int((current_time % 1) * 1000)
         self.timeLabel.setText(f"{minutes}:{seconds:02d}.{milliseconds:03d} / {self.matchLength:.3f} sec")
 
+    # The auto playback
+    def advanceFrame(self):
+        if not self.paused:
+            if self.currentFrame < len(self.displayFrames):
+                self.currentFrame += 1
+            else:
+                self.currentFrame = 1  # Loop back to the start
+
+            # Update
+            self.updateRectangles()
+            self.updateScene()
+            self.updateTimeLabel()
+
 # App initialization
 if __name__ == "__main__":
     app = QApplication(sys.argv)

main.py

@@ -5,21 +5,27 @@ from PySide6.QtWidgets import QApplication, QLabel, QMainWindow, QPushButton, QV
 from PySide6.QtGui import QPixmap, QMouseEvent, QPainter, QPen, QColor, QPainterPath, QPolygon, QFont, QKeyEvent
 from PySide6.QtCore import Qt, QPoint, QRect
 
-from buttonEditor import ButtonEditor
+from buttonEditor import ButtonEditor # Import the button editor
+from about import AboutWindow
+
+'''
+This is the path planner window
+The path planner lets the user add nodes and control points to let them change the bezier curves and the path of the robot during the auto
+'''
 
 class PathPlanner(QMainWindow):
     def __init__(self):
         super().__init__()
+        self.setWindowTitle("Path Planner") # Set the window title
 
-        self.setWindowTitle("Path Planner")
-
-        self.coordinates = np.empty((0, 2), dtype=int)
+        # Set up the arrays
+        self.coordinates = np.empty((0, 2), dtype=int) # Make an empty array for the coordinates of objects
         self.controlPoints = []
         self.rotationHandles = []
         self.nodeAngles = []
 
+        # Find the field png and then set the background to that png
         self.imageLabel = QLabel(self)
-
         scriptDir = os.path.dirname(os.path.abspath(__file__))
         imagePath = os.path.join(scriptDir, "images", "Field.png")
         self.pixmap = QPixmap(imagePath)
@@ -29,39 +35,51 @@ class PathPlanner(QMainWindow):
         else:
             self.imageLabel.setPixmap(self.pixmap)
 
+        # Buttons at the top of the screen
         self.mainWindowButton = QPushButton("Main Window")
         self.mainWindowButton.clicked.connect(self.showMainWindow)
         self.buttonEditorButton = QPushButton("Button Editor")
         self.buttonEditorButton.clicked.connect(self.showButtonEditor)
+        self.aboutButton = QPushButton("About")
+        self.aboutButton.clicked.connect(self.showAbout)
 
+        # Button layouts
         buttonLayout = QHBoxLayout()
         buttonLayout.addWidget(self.mainWindowButton)
         buttonLayout.addWidget(self.buttonEditorButton)
+        buttonLayout.addWidget(self.aboutButton)
 
+        # Adding the button layout to the main layout
         layout = QVBoxLayout()
         layout.addLayout(buttonLayout)
         layout.addWidget(self.imageLabel)
 
+        # Set the button editor to that script
         self.buttonEditor = ButtonEditor(self)
 
+        # Defining the overall layout
         container = QWidget()
         container.setLayout(layout)
         self.setCentralWidget(container)
 
+        # Resize the window to all of the layouts and widgets added
         self.resize(self.pixmap.width(), self.pixmap.height() + 60)
 
+        # Let the app track the users mouse
         self.setMouseTracking(True) 
-
         self.lastClickPos = QPoint()
 
-        self.coordinates = np.empty((0, 2), dtype=int)
-        self.lastClickTime = 0
-        self.nodeSize = 35
-        self.handleSize = 15
-        self.rotationHandleDistance = 35
-        self.controlPoints = []
-        self.rotationHandles = []
-        self.nodeAngles = []
+        # Variables
+        self.coordinates = np.empty((0, 2), dtype=int) # Define the coordinate array again
+        self.lastClickTime = 0 # The last time the user clicked on the sceen
+        self.nodeSize = 35 # How large to make the nodes
+        self.handleSize = 15 # How large to make the rotation/control handles
+        self.rotationHandleDistance = 35 # How far the rotation handles are from the node
+        self.controlPoints = [] # Stores all of the control points
+        self.rotationHandles = [] # Stores all of the rotation handles
+        self.nodeAngles = [] # Stores all of the node angles
+
+        # Tell what the user is currently dragging
         self.draggingControlPoint = False 
         self.draggingNode = False
         self.draggingRotationHandle = False
@@ -69,15 +87,23 @@ class PathPlanner(QMainWindow):
         self.draggingNodeIndex = -1
         self.draggingRotationHandleIndex = -1
 
+    # Tell when the user presses a key down
     def keyPressEvent(self, event: QKeyEvent):
         if event.key() == Qt.Key_R:
+            # Clear the auto
             self.showClearWarning()
             
+
+
+    # Tell when the user presses a mouse button
     def mousePressEvent(self, event: QMouseEvent):
+        # Get the position of the mouse click
         pos = self.imageLabel.mapFrom(self, event.position().toPoint())
         x, y = pos.x(), pos.y()
         
+        # Tell if the mouse was click ed in the window
         if 0 <= x < self.pixmap.width() and 0 <= y < self.pixmap.height():
+            # If right clicked, add a node
             if event.button() == Qt.RightButton:
                 self.coordinates = np.vstack((self.coordinates, [x, y]))
                 self.nodeAngles.append(0)
@@ -323,6 +349,10 @@ class PathPlanner(QMainWindow):
         self.hide()
         self.buttonEditor.show()      
 
+    def showAbout(self):
+        self.about_window = AboutWindow()
+        self.about_window.show()     
+
 if __name__ == "__main__":
     app = QApplication(sys.argv)
     window = PathPlanner()