implement Visualizer multi select of bots

See merge request main/Sumatra!1882

sumatra-commit: b6968c028d84b859804e6f9e72c9c7e7c1816c9e

modules/common/src/main/java/edu/tigers/sumatra/drawable/DrawableBotPattern.java

@@ -5,6 +5,7 @@
 package edu.tigers.sumatra.drawable;
 
 import edu.tigers.sumatra.ids.BotID;
+import edu.tigers.sumatra.ids.ETeamColor;
 import edu.tigers.sumatra.math.vector.IVector2;
 import edu.tigers.sumatra.math.vector.Vector2;
 
@@ -108,8 +109,8 @@ public DrawableBotPattern(
 		super(pos, angle, radius, center2DribblerDist);
 		this.botID = botID;
 
-		setBorderColor(null);
-		setFillColor(Color.black);
+		setBorderColor(botID.getTeamColor() == ETeamColor.YELLOW ? Color.white : Color.black);
+		setFillColor(botID.getTeamColor() == ETeamColor.YELLOW ? Color.darkGray : Color.black);
 		setDrawDirection(false);
 	}
 

modules/moduli-wp/src/main/java/edu/tigers/sumatra/wp/vis/BorderVisCalc.java

@@ -73,7 +73,7 @@ public void process(final WorldFrameWrapper wfw, final ShapeMap shapeMap)
 
 	private void drawLine(List<IDrawableShape> list, IDrawableShape newShape)
 	{
-		list.add(newShape.setColor(Color.WHITE).setStrokeWidth(Geometry.getLineWidth()));
+		list.add(newShape.setColor(Color.WHITE).setStrokeWidth(Geometry.getLineWidth() * 2));
 	}
 
 

modules/sumatra-gui-visualizer/src/main/java/edu/tigers/sumatra/visualizer/field/EFieldPanelShapeLayer.java

@@ -24,4 +24,6 @@ public final class EFieldPanelShapeLayer
 			F.category(PANEL).layerName("Ruler").visibleByDefault(true));
 	public static final IShapeLayerIdentifier RECORDING = F.create(
 			F.category(PANEL).layerName("Recording").visibleByDefault(true));
+	public static final IShapeLayerIdentifier SELECTION = F.create(
+			F.category(PANEL).layerName("Selection").visibleByDefault(true));
 }

modules/sumatra-gui-visualizer/src/main/java/edu/tigers/sumatra/visualizer/field/ISelectedRobotsChanged.java

@@ -0,0 +1,15 @@
+/*
+ * Copyright (c) 2009 - 2024, DHBW Mannheim - TIGERs Mannheim
+ */
+
+package edu.tigers.sumatra.visualizer.field;
+
+import edu.tigers.sumatra.ids.BotID;
+
+import java.util.List;
+
+
+public interface ISelectedRobotsChanged
+{
+	void selectedRobotsChanged(List<BotID> selectedBots);
+}

modules/sumatra-gui-visualizer/src/main/java/edu/tigers/sumatra/visualizer/field/VisualizerFieldPresenter.java

@@ -5,32 +5,48 @@
 package edu.tigers.sumatra.visualizer.field;
 
 import edu.tigers.sumatra.clock.FpsCounter;
+import edu.tigers.sumatra.drawable.DrawableCircle;
 import edu.tigers.sumatra.drawable.DrawableFieldBackground;
+import edu.tigers.sumatra.drawable.DrawableLine;
+import edu.tigers.sumatra.drawable.DrawableRectangle;
 import edu.tigers.sumatra.drawable.EFieldTurn;
 import edu.tigers.sumatra.drawable.ShapeMap;
 import edu.tigers.sumatra.drawable.ShapeMapSource;
+import edu.tigers.sumatra.geometry.Geometry;
+import edu.tigers.sumatra.ids.BotID;
+import edu.tigers.sumatra.math.circle.Circle;
+import edu.tigers.sumatra.math.line.ILineSegment;
+import edu.tigers.sumatra.math.rectangle.Rectangle;
 import edu.tigers.sumatra.math.vector.IVector2;
+import edu.tigers.sumatra.math.vector.Vector2;
 import edu.tigers.sumatra.views.ISumatraPresenter;
 import edu.tigers.sumatra.visualizer.field.components.CoordinatesMouseAdapter;
 import edu.tigers.sumatra.visualizer.field.components.DragMouseAdapter;
 import edu.tigers.sumatra.visualizer.field.components.DrawableCoordinates;
 import edu.tigers.sumatra.visualizer.field.components.DrawableFps;
 import edu.tigers.sumatra.visualizer.field.components.DrawableRuler;
+import edu.tigers.sumatra.visualizer.field.components.RobotPositionerMouseAdapter;
 import edu.tigers.sumatra.visualizer.field.components.RulerMouseAdapter;
+import edu.tigers.sumatra.visualizer.field.components.SelectionRectangleMouseAdapter;
 import edu.tigers.sumatra.visualizer.field.components.ZoomMouseAdapter;
 import edu.tigers.sumatra.visualizer.field.recorder.DrawableRecordingAnimation;
 import edu.tigers.sumatra.wp.IWorldFrameObserver;
+import edu.tigers.sumatra.wp.data.ITrackedBot;
+import edu.tigers.sumatra.wp.data.WorldFrameWrapper;
 import lombok.Getter;
 import lombok.RequiredArgsConstructor;
 import lombok.Setter;
 import lombok.extern.log4j.Log4j2;
 
+import javax.swing.SwingUtilities;
+import java.awt.Color;
 import java.awt.Graphics2D;
 import java.awt.Image;
 import java.awt.event.MouseAdapter;
 import java.awt.event.MouseEvent;
 import java.util.ArrayList;
 import java.util.Collection;
+import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 import java.util.Optional;
@@ -58,17 +74,38 @@ public class VisualizerFieldPresenter implements ISumatraPresenter, IWorldFrameO
 
 	@Setter
 	private DrawableRuler drawableRuler = null;
+
+	@Setter
+	private DrawableRectangle drawableSelectionBox = null;
+	@Setter
+	private Rectangle selectionBox = null;
+
+	@Setter
+	private ILineSegment robotPositionerLine = null;
+	@Setter
+	private DrawableLine drawableRobotPositionerLine = null;
+
+	private Map<BotID, ITrackedBot> bots = new HashMap<>();
+
+	@Setter
+	private List<BotID> selectedBots = new ArrayList<>();
+
 	@Setter
 	private List<DrawableCoordinates> coordinates = List.of();
 	private final FpsCounter fpsCounter = new FpsCounter();
 	private final DrawableFps drawableFps = new DrawableFps(fpsCounter);
 	@Setter
 	private DrawableRecordingAnimation drawableRecordingAnimation;
 
+	@Setter
+	private ISelectedRobotsChanged selectedRobotsChangedListener;
+
 	@Getter
 	private final List<FieldMouseInteraction> onFieldClicks = new ArrayList<>();
 	@Getter
 	private final List<FieldMouseInteraction> onMouseMoves = new ArrayList<>();
+	@Getter
+	private final List<FieldRobotMoveInteraction> onRobotMove = new ArrayList<>();
 
 	private List<MouseAdapter> mouseAdapters = List.of();
 
@@ -85,7 +122,11 @@ public void onStart()
 				new RulerMouseAdapter(this::getMousePointGlobal, this::setDrawableRuler),
 				new ZoomMouseAdapter(fieldPane::scale),
 				new DragMouseAdapter(fieldPane::drag),
-				new InteractionMouseEvents()
+				new SelectionRectangleMouseAdapter(this::getMousePointGlobal, this::setDrawableSelectionBox,
+						this::setSelectionBox),
+				new InteractionMouseEvents(),
+				new RobotPositionerMouseAdapter(this::getMousePointGlobal, this::setDrawableRobotPositionerLine,
+						this::setRobotPositionerLine)
 		);
 		mouseAdapters.forEach(fieldPanel::addMouseAdapter);
 		fieldPanel.setVisible(true);
@@ -105,6 +146,13 @@ public void onStop()
 	}
 
 
+	@Override
+	public void onNewWorldFrame(WorldFrameWrapper wFrameWrapper)
+	{
+		this.bots = wFrameWrapper.getSimpleWorldFrame().getBots();
+	}
+
+
 	@Override
 	public void onNewShapeMap(final long timestamp, final ShapeMap shapeMap, final ShapeMapSource source)
 	{
@@ -224,6 +272,54 @@ private void updateInternalShapeLayers()
 		panelShapeMap.get(EFieldPanelShapeLayer.COORDINATES).clear();
 		panelShapeMap.get(EFieldPanelShapeLayer.COORDINATES).addAll(coordinates);
 
+		panelShapeMap.get(EFieldPanelShapeLayer.SELECTION).clear();
+		Optional.ofNullable(drawableSelectionBox)
+				.ifPresent(box -> panelShapeMap.get(EFieldPanelShapeLayer.SELECTION).add(box));
+
+		Optional.ofNullable(drawableRobotPositionerLine)
+				.ifPresent(line -> panelShapeMap.get(EFieldPanelShapeLayer.SELECTION).add(line));
+
+		if (selectionBox != null)
+		{
+			selectedBots.clear();
+			bots.values()
+					.stream()
+					.filter(bot -> selectionBox.isPointInShape(bot.getPos()))
+					.forEach(bot ->
+					{
+						panelShapeMap.get(EFieldPanelShapeLayer.SELECTION).add(new DrawableCircle(
+								Circle.createCircle(bot.getPos(), Geometry.getBotRadius() + 4))
+								.setColor(new Color(255, 180, 0, 255)));
+						selectedBots.add(bot.getBotId());
+					});
+			selectedRobotsChangedListener.selectedRobotsChanged(selectedBots);
+		} else if (bots != null)
+		{
+			bots.values()
+					.stream()
+					.filter(bot -> selectedBots.contains(bot.getBotId()))
+					.forEach(bot -> panelShapeMap.get(EFieldPanelShapeLayer.SELECTION).add(new DrawableCircle(
+							Circle.createCircle(bot.getPos(), Geometry.getBotRadius() + 4))
+							.setColor(new Color(0, 225, 255, 255))));
+		}
+
+		if (robotPositionerLine != null && selectedBots != null && !selectedBots.isEmpty())
+		{
+			int numBots = selectedBots.size();
+			var start = robotPositionerLine.getPathStart();
+			var end = robotPositionerLine.getPathEnd();
+			var startToEnd = end.subtractNew(start);
+
+			double step = getStepSize(startToEnd, numBots);
+			for (int i = 0; i < numBots; i++)
+			{
+				var pos = start.addNew(startToEnd.scaleToNew(step * i));
+				panelShapeMap.get(EFieldPanelShapeLayer.SELECTION).add(new DrawableCircle(
+						Circle.createCircle(pos, Geometry.getBotRadius() + 4))
+						.setColor(new Color(0, 225, 255, 255)));
+			}
+		}
+
 		panelShapeMap.get(EFieldPanelShapeLayer.RULER).clear();
 		Optional.ofNullable(drawableRuler)
 				.ifPresent(ruler -> panelShapeMap.get(EFieldPanelShapeLayer.RULER).add(ruler));
@@ -265,7 +361,35 @@ private class InteractionMouseEvents extends MouseAdapter
 		public void mouseClicked(final MouseEvent e)
 		{
 			IVector2 globalPos = getMousePointGlobal(e.getX(), e.getY());
-			onFieldClicks.forEach(c -> c.onInteraction(globalPos, e));
+			if (e.isControlDown())
+			{
+				selectedBots.clear();
+			} else
+			{
+				onFieldClicks.forEach(c -> c.onInteraction(globalPos, e));
+			}
+		}
+
+
+		@Override
+		public void mouseReleased(MouseEvent e)
+		{
+			if (e.isControlDown() && SwingUtilities.isRightMouseButton(e) && robotPositionerLine != null
+					&& selectedBots != null && !selectedBots.isEmpty())
+			{
+				var start = robotPositionerLine.getPathStart();
+				var end = robotPositionerLine.getPathEnd();
+				var startToEnd = end.subtractNew(start);
+				int numBots = selectedBots.size();
+
+				double step = getStepSize(startToEnd, numBots);
+				for (int i = 0; i < numBots; i++)
+				{
+					var pos = start.addNew(startToEnd.scaleToNew(step * i));
+					final BotID botId = selectedBots.get(i);
+					onRobotMove.forEach(c -> c.onInteraction(botId, pos));
+				}
+			}
 		}
 
 
@@ -274,9 +398,29 @@ public void mouseMoved(final MouseEvent e)
 		{
 			IVector2 lastMousePoint = getMousePointGlobal(e.getX(), e.getY());
 			onMouseMoves.forEach(c -> c.onInteraction(lastMousePoint, e));
+			update();
 		}
 	}
 
+
+	private static double getStepSize(Vector2 startToEnd, int numBots)
+	{
+		var distance = startToEnd.getLength();
+		double step = distance / 2;
+		if (numBots > 1)
+		{
+			step = distance / (numBots - 1);
+		}
+		return step;
+	}
+
+
+	@FunctionalInterface
+	public interface FieldRobotMoveInteraction
+	{
+		void onInteraction(BotID id, IVector2 pos);
+	}
+
 	@FunctionalInterface
 	public interface FieldMouseInteraction
 	{

modules/sumatra-gui-visualizer/src/main/java/edu/tigers/sumatra/visualizer/field/components/RobotPositionerMouseAdapter.java

@@ -0,0 +1,56 @@
+/*
+ * Copyright (c) 2009 - 2022, DHBW Mannheim - TIGERs Mannheim
+ */
+
+package edu.tigers.sumatra.visualizer.field.components;
+
+import edu.tigers.sumatra.drawable.DrawableLine;
+import edu.tigers.sumatra.math.line.ILineSegment;
+import edu.tigers.sumatra.math.line.Lines;
+import edu.tigers.sumatra.math.vector.IVector2;
+import edu.tigers.sumatra.visualizer.field.callbacks.MousePointTransformer;
+import lombok.RequiredArgsConstructor;
+
+import javax.swing.SwingUtilities;
+import java.awt.event.MouseAdapter;
+import java.awt.event.MouseEvent;
+import java.util.function.Consumer;
+
+
+@RequiredArgsConstructor
+public class RobotPositionerMouseAdapter extends MouseAdapter
+{
+	private final MousePointTransformer mousePointTransformer;
+	private final Consumer<DrawableLine> drawableLineConsumer;
+	private final Consumer<ILineSegment> lineConsumer;
+	private IVector2 dragPointStart;
+
+	@Override
+	public void mousePressed(final MouseEvent e)
+	{
+		dragPointStart = mousePointTransformer.toGlobal(e.getX(), e.getY());
+	}
+
+
+	@Override
+	public void mouseDragged(final MouseEvent e)
+	{
+		if (SwingUtilities.isRightMouseButton(e) && (e.isControlDown()) && dragPointStart != null)
+		{
+			IVector2 dragPointEnd = mousePointTransformer.toGlobal(e.getX(), e.getY());
+			ILineSegment line = Lines.segmentFromPoints(dragPointStart, dragPointEnd);
+			DrawableLine drawableLine = new DrawableLine(line);
+			drawableLineConsumer.accept(drawableLine);
+			lineConsumer.accept(line);
+		}
+	}
+
+
+	@Override
+	public void mouseReleased(final MouseEvent e)
+	{
+		dragPointStart = null;
+		drawableLineConsumer.accept(null);
+		lineConsumer.accept(null);
+	}
+}

modules/sumatra-gui-visualizer/src/main/java/edu/tigers/sumatra/visualizer/field/components/RulerMouseAdapter.java

@@ -31,7 +31,7 @@ public void mousePressed(final MouseEvent e)
 	@Override
 	public void mouseDragged(final MouseEvent e)
 	{
-		if (SwingUtilities.isLeftMouseButton(e) && (e.isControlDown() || e.isAltDown()) && dragPointStart != null)
+		if (SwingUtilities.isLeftMouseButton(e) && (e.isAltDown()) && dragPointStart != null)
 		{
 			IVector2 dragPointEnd = mousePointTransformer.toGlobal(e.getX(), e.getY());
 			DrawableRuler ruler = new DrawableRuler(dragPointStart, dragPointEnd);