Text field Rewrite

.gitignore

@@ -50,6 +50,13 @@ app.*.map.json
 /android/app/debug
 /android/app/profile
 /android/app/release
-windows/flutter/generated_plugin_registrant.cc
-windows/flutter/generated_plugin_registrant.h
-windows/flutter/generated_plugins.cmake
+
+# Windows
+**/windows/flutter/generated_plugin_registrant.cc
+**/windows/flutter/generated_plugin_registrant.h
+**/windows/flutter/generated_plugins.cmake
+
+# Linux
+**/linux/flutter/generated_plugin_registrant.cc
+**/linux/flutter/generated_plugin_registrant.h
+**/linux/flutter/generated_plugins.cmake

lib/pages/nav_grid_page.dart

@@ -3,12 +3,12 @@ import 'dart:math';
 
 import 'package:file/file.dart';
 import 'package:flutter/material.dart';
-import 'package:function_tree/function_tree.dart';
+// import 'package:function_tree/function_tree.dart';
 import 'package:path/path.dart';
 import 'package:pathplanner/pathfinding/nav_grid.dart';
+import 'package:pathplanner/widgets/dialogs/edit_nav_grid_dialog.dart';
 import 'package:pathplanner/widgets/field_image.dart';
 import 'package:pathplanner/util/path_painter_util.dart';
-import 'package:pathplanner/widgets/number_text_field.dart';
 
 class NavGridPage extends StatefulWidget {
   final Directory deployDirectory;
@@ -148,104 +148,18 @@ class _NavGridPageState extends State<NavGridPage> {
     );
   }
 
-  void _showEditDialog() {
-    TextEditingController nodeSizeController = TextEditingController();
-    TextEditingController fieldLengthController = TextEditingController();
-    TextEditingController fieldWidthController = TextEditingController();
+  void _handleGridChange(NavGrid newGrid) {
+    setState(() {
+      _grid = newGrid;
+    });
+    _saveNavGrid();
+  }
 
+  void _showEditDialog() {
     showDialog(
-      context: this.context,
-      builder: (context) {
-        return AlertDialog(
-          title: const Text('Edit Grid'),
-          content: SizedBox(
-            width: 350,
-            child: Column(
-              mainAxisSize: MainAxisSize.min,
-              crossAxisAlignment: CrossAxisAlignment.start,
-              children: [
-                Row(
-                  children: [
-                    Expanded(
-                        child: NumberTextField(
-                      initialText: _grid.nodeSizeMeters.toStringAsFixed(2),
-                      label: 'Node Size (M)',
-                      arrowKeyIncrement: 0.05,
-                      controller: nodeSizeController,
-                    )),
-                  ],
-                ),
-                const Text(
-                    'Larger node size = more performance, but less accuracy'),
-                const SizedBox(height: 16),
-                Row(
-                  children: [
-                    Expanded(
-                        child: NumberTextField(
-                      initialText: _grid.fieldSize.width.toStringAsFixed(2),
-                      label: 'Field Length (M)',
-                      arrowKeyIncrement: 0.01,
-                      controller: fieldLengthController,
-                    )),
-                    const SizedBox(width: 8),
-                    Expanded(
-                        child: NumberTextField(
-                      initialText: _grid.fieldSize.height.toStringAsFixed(2),
-                      label: 'Field Width (M)',
-                      arrowKeyIncrement: 0.01,
-                      controller: fieldWidthController,
-                    )),
-                  ],
-                ),
-                const SizedBox(height: 32),
-                const Text(
-                    'Note: Changing these attributes will clear the navgrid. This cannot be undone.'),
-              ],
-            ),
-          ),
-          actions: [
-            TextButton(
-              onPressed: () async {
-                String fileContent = await DefaultAssetBundle.of(this.context)
-                    .loadString('resources/default_navgrid.json');
-
-                setState(() {
-                  _grid = NavGrid.fromJson(jsonDecode(fileContent));
-                });
-                _saveNavGrid();
-
-                if (mounted) {
-                  Navigator.of(this.context).pop();
-                }
-              },
-              child: const Text('Restore Default'),
-            ),
-            TextButton(
-              onPressed: () {
-                if (nodeSizeController.text.isNotEmpty &&
-                    fieldLengthController.text.isNotEmpty &&
-                    fieldWidthController.text.isNotEmpty) {
-                  num nodeSize = nodeSizeController.text.interpret();
-                  num fieldLength = fieldLengthController.text.interpret();
-                  num fieldWidth = fieldWidthController.text.interpret();
-
-                  setState(() {
-                    _grid = NavGrid.blankGrid(
-                      nodeSizeMeters: nodeSize,
-                      fieldSize:
-                          Size(fieldLength.toDouble(), fieldWidth.toDouble()),
-                    );
-                  });
-                  _saveNavGrid();
-                  Navigator.of(context).pop();
-                }
-              },
-              child: const Text('Confirm'),
-            ),
-          ],
-        );
-      },
-    );
+        context: this.context,
+        builder: (context) =>
+            EditNavGridDialog(grid: _grid, onGridChange: _handleGridChange));
   }
 
   double _xPixelsToMeters(double pixels) {

lib/util/units.dart

@@ -0,0 +1,17 @@
+/// The smallest allowable length which isn't zero.
+const num nonZeroLength = 1e-5;
+
+/// The smallest allowable angle which isn't zero.
+const num nonZeroAngle = 0.1;
+
+/// The smallest allowable time which isn't zero.
+const num nonZeroTime = 0.001;
+
+/// Adjusts an angle to be in the range (-180, 180].
+num adjustAngle(num angle) {
+  num rot = angle % 360;
+  if (rot > 180) {
+    rot -= 360;
+  }
+  return rot;
+}

lib/widgets/dialogs/edit_nav_grid_dialog.dart

@@ -0,0 +1,116 @@
+import 'dart:convert';
+
+import 'package:flutter/material.dart';
+import 'package:pathplanner/pathfinding/nav_grid.dart';
+import 'package:pathplanner/widgets/number_text_field.dart';
+
+class EditNavGridDialog extends StatefulWidget {
+  final NavGrid grid;
+  final ValueChanged<NavGrid> onGridChange;
+
+  const EditNavGridDialog(
+      {super.key, required this.grid, required this.onGridChange});
+
+  @override
+  State<StatefulWidget> createState() => _EditNavGridDialogState();
+}
+
+class _EditNavGridDialogState extends State<EditNavGridDialog> {
+  late num _nodeSize;
+  late num _fieldLength;
+  late num _fieldWidth;
+
+  @override
+  void initState() {
+    super.initState();
+    _nodeSize = widget.grid.nodeSizeMeters;
+    // These match the UI
+    _fieldLength = widget.grid.fieldSize.width;
+    _fieldWidth = widget.grid.fieldSize.height;
+  }
+
+  @override
+  Widget build(BuildContext context) {
+    return AlertDialog(
+      title: const Text('Edit Grid'),
+      content: SizedBox(
+        width: 350,
+        child: Column(
+          mainAxisSize: MainAxisSize.min,
+          crossAxisAlignment: CrossAxisAlignment.start,
+          children: [
+            Row(
+              children: [
+                Expanded(
+                    child: NumberTextField(
+                  value: _nodeSize,
+                  label: 'Node Size (M)',
+                  arrowKeyIncrement: 0.05,
+                  onSubmitted: (value) => (setState(() {
+                    _nodeSize = value;
+                  })),
+                )),
+              ],
+            ),
+            const Text(
+                'Larger node size = more performance, but less accuracy'),
+            const SizedBox(height: 16),
+            Row(
+              children: [
+                Expanded(
+                    child: NumberTextField(
+                  value: _fieldLength,
+                  label: 'Field Length (M)',
+                  arrowKeyIncrement: 0.01,
+                  onSubmitted: (value) => (setState(() {
+                    _fieldLength = value;
+                  })),
+                )),
+                const SizedBox(width: 8),
+                Expanded(
+                    child: NumberTextField(
+                  value: _fieldWidth,
+                  label: 'Field Width (M)',
+                  arrowKeyIncrement: 0.01,
+                  onSubmitted: (value) => (setState(() {
+                    _fieldWidth = value;
+                  })),
+                )),
+              ],
+            ),
+            const SizedBox(height: 32),
+            const Text(
+                'Note: Changing these attributes will clear the navgrid. This cannot be undone.'),
+          ],
+        ),
+      ),
+      actions: [
+        TextButton(
+          onPressed: () async {
+            String fileContent = await DefaultAssetBundle.of(this.context)
+                .loadString('resources/default_navgrid.json');
+
+            NavGrid grid = NavGrid.fromJson(jsonDecode(fileContent));
+            widget.onGridChange(grid);
+
+            if (mounted) {
+              Navigator.of(this.context).pop();
+            }
+          },
+          child: const Text('Restore Default'),
+        ),
+        TextButton(
+          onPressed: () {
+            NavGrid grid = NavGrid.blankGrid(
+              nodeSizeMeters: _nodeSize,
+              fieldSize: Size(_fieldLength.toDouble(), _fieldWidth.toDouble()),
+            );
+            widget.onGridChange(grid);
+            Navigator.of(context).pop();
+          },
+          child: const Text('Confirm'),
+        ),
+      ],
+    );
+  }
+}