Conditional Command group and Wait Until with Named Conditionals

lib/auto/pathplanner_auto.dart

@@ -2,6 +2,7 @@ import 'dart:convert';
 
 import 'package:file/file.dart';
 import 'package:path/path.dart';
+import 'package:pathplanner/commands/conditional_command_group.dart';
 import 'package:pathplanner/commands/named_command.dart';
 import 'package:pathplanner/commands/command.dart';
 import 'package:pathplanner/commands/command_groups.dart';
@@ -165,6 +166,12 @@ class PathPlannerAuto {
           continue;
         }
       }
+      if (cmd is ConditionalCommandGroup) {
+        if (cmd.namedConditional.name != null) {
+          ProjectPage.conditions.add(cmd.namedConditional.name!);
+          continue;
+        }
+      }
 
       if (cmd is CommandGroup) {
         _addNamedCommandsToEvents(cmd.commands);
@@ -219,6 +226,14 @@ class PathPlannerAuto {
         names.add(cmd.pathName!);
       } else if (cmd is CommandGroup) {
         names.addAll(_getPathNamesInCommands(cmd.commands));
+      } else if (cmd is ConditionalCommandGroup) {
+        if (cmd.namedConditional.defaultValue) {
+          names.addAll(
+              _getPathNamesInCommands((cmd.onTrue as CommandGroup).commands));
+        } else {
+          names.addAll(
+              _getPathNamesInCommands((cmd.onFalse as CommandGroup).commands));
+        }
       }
     }
     return names;

lib/commands/command.dart

@@ -1,8 +1,10 @@
 import 'package:flutter/foundation.dart';
 import 'package:pathplanner/commands/command_groups.dart';
+import 'package:pathplanner/commands/conditional_command_group.dart';
 import 'package:pathplanner/commands/named_command.dart';
 import 'package:pathplanner/commands/path_command.dart';
 import 'package:pathplanner/commands/wait_command.dart';
+import 'package:pathplanner/commands/wait_until_command.dart';
 
 abstract class Command {
   final String type;
@@ -29,12 +31,14 @@ abstract class Command {
 
     return switch (type) {
       'wait' => WaitCommand.fromDataJson(data),
+      'wait_until' => WaitUntilCommand.fromDataJson(data),
       'named' => NamedCommand.fromDataJson(data),
       'path' => PathCommand.fromDataJson(data),
       'sequential' => SequentialCommandGroup.fromDataJson(data),
       'parallel' => ParallelCommandGroup.fromDataJson(data),
       'race' => RaceCommandGroup.fromDataJson(data),
       'deadline' => DeadlineCommandGroup.fromDataJson(data),
+      'conditional' => ConditionalCommandGroup.fromDataJson(data),
       _ => null,
     };
   }
@@ -43,11 +47,13 @@ abstract class Command {
     return switch (type) {
       'named' => NamedCommand(),
       'wait' => WaitCommand(),
+      'wait_until' => WaitUntilCommand(),
       'path' => PathCommand(),
       'sequential' => SequentialCommandGroup(commands: commands ?? []),
       'parallel' => ParallelCommandGroup(commands: commands ?? []),
       'race' => RaceCommandGroup(commands: commands ?? []),
       'deadline' => DeadlineCommandGroup(commands: commands ?? []),
+      'conditional' => ConditionalCommandGroup(),
       _ => null,
     };
   }

lib/commands/conditional_command_group.dart

@@ -0,0 +1,62 @@
+import 'package:pathplanner/commands/command.dart';
+import 'package:pathplanner/commands/command_groups.dart';
+
+class NamedConditional {
+  String? name;
+  bool defaultValue = true;
+}
+
+class ConditionalCommandGroup extends Command {
+  Command? onTrue;
+  Command? onFalse;
+  NamedConditional namedConditional;
+
+  ConditionalCommandGroup(
+      {this.onTrue, this.onFalse, String? namedConditional, bool? defaultValue})
+      : namedConditional = NamedConditional(),
+        super(type: 'conditional') {
+    onTrue = SequentialCommandGroup(commands: []);
+    onFalse = SequentialCommandGroup(commands: []);
+    this.namedConditional.name = namedConditional;
+    this.namedConditional.defaultValue = defaultValue ?? true;
+  }
+
+  ConditionalCommandGroup.fromDataJson(Map<String, dynamic> json)
+      : namedConditional = NamedConditional(),
+        super(type: 'conditional') {
+    onTrue = Command.fromJson(json['onTrue']);
+    onFalse = Command.fromJson(json['onFalse']);
+    namedConditional.name = json['namedConditional'];
+    namedConditional.defaultValue = json['default'];
+  }
+
+  @override
+  Map<String, dynamic> dataToJson() {
+    return {
+      'onTrue': onTrue?.toJson(),
+      'onFalse': onFalse?.toJson(),
+      'namedConditional': namedConditional.name,
+      'default': namedConditional.defaultValue,
+    };
+  }
+
+  @override
+  Command clone() {
+    return ConditionalCommandGroup(
+        onTrue: onTrue?.clone(),
+        onFalse: onFalse?.clone(),
+        namedConditional: namedConditional.name,
+        defaultValue: namedConditional.defaultValue);
+  }
+
+  @override
+  bool operator ==(Object other) =>
+      other is ConditionalCommandGroup &&
+      other.runtimeType == runtimeType &&
+      other.namedConditional == namedConditional &&
+      other.onFalse == onFalse &&
+      other.onTrue == onTrue;
+
+  @override
+  int get hashCode => Object.hash(type, onTrue, onFalse, namedConditional);
+}

lib/commands/wait_until_command.dart

@@ -0,0 +1,37 @@
+import 'package:pathplanner/commands/command.dart';
+import 'package:pathplanner/commands/conditional_command_group.dart';
+
+class WaitUntilCommand extends Command {
+  NamedConditional conditional;
+
+  WaitUntilCommand({String? name})
+      : conditional = NamedConditional(),
+        super(type: 'wait_until') {
+    conditional.name = name;
+    conditional.defaultValue = true;
+  }
+
+  WaitUntilCommand.fromDataJson(Map<String, dynamic> json)
+      : this(name: json['namedConditional']);
+
+  @override
+  Map<String, dynamic> dataToJson() {
+    return {
+      'namedConditional': conditional.name,
+    };
+  }
+
+  @override
+  Command clone() {
+    return WaitUntilCommand(name: conditional.name);
+  }
+
+  @override
+  bool operator ==(Object other) =>
+      other is WaitUntilCommand &&
+      other.runtimeType == runtimeType &&
+      other.conditional == conditional;
+
+  @override
+  int get hashCode => Object.hash(type, conditional);
+}

lib/pages/home_page.dart

@@ -739,6 +739,7 @@ class _HomePageState extends State<HomePage> with TickerProviderStateMixin {
     // Clear event names
     if (projectDir != _projectDir?.path) {
       ProjectPage.events.clear();
+      ProjectPage.conditions.clear();
     }
 
     setState(() {

lib/pages/project/project_page.dart

@@ -31,6 +31,7 @@ import 'package:watcher/watcher.dart';
 
 class ProjectPage extends StatefulWidget {
   static Set<String> events = {};
+  static Set<String> conditions = {};
 
   final SharedPreferences prefs;
   final FieldImage fieldImage;

lib/path/pathplanner_path.dart

@@ -7,6 +7,7 @@ import 'package:flutter/foundation.dart';
 import 'package:path/path.dart';
 import 'package:pathplanner/commands/command.dart';
 import 'package:pathplanner/commands/command_groups.dart';
+import 'package:pathplanner/commands/conditional_command_group.dart';
 import 'package:pathplanner/commands/named_command.dart';
 import 'package:pathplanner/pages/project/project_page.dart';
 import 'package:pathplanner/path/constraints_zone.dart';
@@ -326,6 +327,13 @@ class PathPlannerPath {
       }
     }
 
+    if (command is ConditionalCommandGroup) {
+      if (command.namedConditional.name != null) {
+        ProjectPage.conditions.add(command.namedConditional.name!);
+        return;
+      }
+    }
+
     if (command is CommandGroup) {
       for (Command cmd in command.commands) {
         _addNamedCommandsToEvents(cmd);

lib/widgets/editor/tree_widgets/commands/add_command_button.dart

@@ -47,6 +47,11 @@ class AddCommandButton extends StatelessWidget {
           value: 'wait',
           child: Text('Wait Command'),
         ),
+      if (allowWaitCommand)
+        const PopupMenuItem(
+          value: 'wait_until',
+          child: Text('Wait Until Command'),
+        ),
       const PopupMenuItem(
         value: 'sequential',
         child: Text('Sequential Command Group'),
@@ -63,6 +68,10 @@ class AddCommandButton extends StatelessWidget {
         value: 'race',
         child: Text('Parallel Race Group'),
       ),
+      const PopupMenuItem(
+        value: 'conditional',
+        child: Text('Conditional Command Group'),
+      ),
     ];
   }
 }

lib/widgets/editor/tree_widgets/commands/command_group_widget.dart

@@ -1,15 +1,19 @@
 import 'package:flutter/material.dart';
 import 'package:pathplanner/commands/command.dart';
 import 'package:pathplanner/commands/command_groups.dart';
+import 'package:pathplanner/commands/conditional_command_group.dart';
 import 'package:pathplanner/commands/named_command.dart';
 import 'package:pathplanner/commands/path_command.dart';
 import 'package:pathplanner/commands/wait_command.dart';
+import 'package:pathplanner/commands/wait_until_command.dart';
 import 'package:pathplanner/widgets/conditional_widget.dart';
 import 'package:pathplanner/widgets/editor/tree_widgets/commands/add_command_button.dart';
+import 'package:pathplanner/widgets/editor/tree_widgets/commands/conditional_group_widget.dart';
 import 'package:pathplanner/widgets/editor/tree_widgets/commands/duplicate_command_button.dart';
 import 'package:pathplanner/widgets/editor/tree_widgets/commands/named_command_widget.dart';
 import 'package:pathplanner/widgets/editor/tree_widgets/commands/path_command_widget.dart';
 import 'package:pathplanner/widgets/editor/tree_widgets/commands/wait_command_widget.dart';
+import 'package:pathplanner/widgets/editor/tree_widgets/commands/wait_until_widget.dart';
 import 'package:undo/undo.dart';
 
 class CommandGroupWidget extends StatelessWidget {
@@ -293,6 +297,27 @@ class CommandGroupWidget extends StatelessWidget {
         },
         onDuplicateCommand: () => _duplicateCommand(cmdIndex),
       );
+    } else if (command.commands[cmdIndex] is ConditionalCommandGroup) {
+      return ConditionalCommandGroupWidget(
+        command: command.commands[cmdIndex] as ConditionalCommandGroup,
+        undoStack: undoStack,
+        allPathNames: allPathNames,
+        onDuplicateCommand: () => _duplicateCommand(cmdIndex),
+        onEditPathPressed: onEditPathPressed,
+        onPathCommandHovered: onPathCommandHovered,
+        onRemoved: () => _removeCommand(cmdIndex),
+        onUpdated: onUpdated,
+        showEditPathButton: showEditPathButton,
+        subCommandElevation: subCommandElevation,
+      );
+    } else if (command.commands[cmdIndex] is WaitUntilCommand) {
+      return WaitUntilCommandWidget(
+        command: command.commands[cmdIndex] as WaitUntilCommand,
+        onUpdated: onUpdated,
+        onRemoved: () => _removeCommand(cmdIndex),
+        undoStack: undoStack,
+        onDuplicateCommand: () => _duplicateCommand(cmdIndex),
+      );
     }
 
     return Container();