resolves #8 + other improvements

core/src/me/varun/autobuilder/AutoBuilder.java

@@ -169,6 +169,7 @@ private void draw() {
 
         //Initialize our camera for the batch
         batch.setProjectionMatrix(cam.combined);
+        shapeRenderer.setPixelSize(cam.zoom);
 
         //Draw the image
         batch.begin();

core/src/me/varun/autobuilder/UndoHandler.java

@@ -56,7 +56,7 @@ public void update(Gui gui, @NotNull ShaderProgram fontShader, @NotNull BitmapFo
                 } else pointer = 0;
             } else {
                 //Undoing
-                System.out.println(undoHistory);
+                //System.out.println(undoHistory);
                 pointer++;
                 if (pointer < undoHistory.size()) {
                     restoreState(undoHistory.get(pointer), gui, fontShader, font, inputEventThrower, cameraHandler);

core/src/me/varun/autobuilder/gui/Gui.java

@@ -19,6 +19,7 @@
 import me.varun.autobuilder.gui.elements.AddPathButton;
 import me.varun.autobuilder.gui.elements.AddScriptButton;
 import me.varun.autobuilder.gui.elements.PushAutoButton;
+import me.varun.autobuilder.gui.notification.NotificationHandler;
 import me.varun.autobuilder.util.MathUntil;
 import me.varun.autobuilder.util.RoundedShapeRenderer;
 import org.jetbrains.annotations.NotNull;
@@ -60,6 +61,8 @@ public class Gui extends InputEventListener {
         color.fromHsv(1, 1, 1);
     }
 
+    NotificationHandler notificationHandler = new NotificationHandler();
+
     public Gui(@NotNull Viewport viewport, @NotNull BitmapFont font, @NotNull ShaderProgram fontShader,
                @NotNull InputEventThrower eventThrower, @NotNull ExecutorService executorService, @NotNull CameraHandler cameraHandler) {
         this.viewport = viewport;
@@ -81,7 +84,6 @@ public Gui(@NotNull Viewport viewport, @NotNull BitmapFont font, @NotNull Shader
     }
 
     public void render(@NotNull ShapeDrawer shapeRenderer, @NotNull SpriteBatch spriteBatch, @NotNull Camera camera) {
-
         shapeRenderer.setColor(Color.WHITE);
         RoundedShapeRenderer.roundedRect(shapeRenderer, panelX, panelY, panelWidth, panelHeight, 5);
 
@@ -136,6 +138,8 @@ public void render(@NotNull ShapeDrawer shapeRenderer, @NotNull SpriteBatch spri
             ScissorStack.popScissors();
         }
 
+        notificationHandler.processNotification(shapeRenderer, spriteBatch, font, fontShader);
+
         maxScroll = Math.max(0, -(yPos - (int) smoothScrollPos - 10));
         //System.out.println(maxScroll);
     }

core/src/me/varun/autobuilder/gui/elements/PushAutoButton.java

@@ -17,6 +17,7 @@ public PushAutoButton(int x, int y, int width, int height) {
     @Override
     public boolean checkClick(@NotNull Gui gui) {
         if (super.checkClick(gui)) {
+
             networkTables.pushData(gui.guiItems);
             return true;
         }

core/src/me/varun/autobuilder/gui/notification/Notification.java

@@ -0,0 +1,58 @@
+package me.varun.autobuilder.gui.notification;
+
+import com.badlogic.gdx.Gdx;
+import com.badlogic.gdx.graphics.Color;
+import com.badlogic.gdx.graphics.g2d.Batch;
+import com.badlogic.gdx.graphics.g2d.BitmapFont;
+import com.badlogic.gdx.graphics.g2d.GlyphLayout;
+import com.badlogic.gdx.graphics.glutils.ShaderProgram;
+import me.varun.autobuilder.util.RoundedShapeRenderer;
+import space.earlygrey.shapedrawer.ShapeDrawer;
+
+public class Notification {
+    private final long deleteTime;
+    private final long creationTime;
+    private final Color color;
+    private final String text;
+
+    private static final long ANIMATE_IN_OUT_TIME = 100; //ns
+
+    /**
+     *
+     * @param color Color of the background of the notification
+     * @param text Text in the notification
+     * @param duration duration of the notification (ms)
+     */
+    public Notification(Color color, String text, long duration){
+        this.color = color;
+        this.text = text;
+        this.creationTime = System.currentTimeMillis();
+        this.deleteTime = this.creationTime + (duration);
+    }
+
+    @Override
+    public String toString() {
+        return "Notification{" +
+                "deleteTime=" + deleteTime +
+                ", creationTime=" + creationTime +
+                ", color=" + color +
+                ", text='" + text + '\'' +
+                '}';
+    }
+
+    public boolean tick(ShapeDrawer drawer, Batch batch, BitmapFont font, ShaderProgram fontShader){
+        long now = System.currentTimeMillis();
+        float renderHeight = (Gdx.graphics.getHeight()) + Math.min(Math.min((float) (now - creationTime) / ANIMATE_IN_OUT_TIME, (float) (deleteTime - now) / ANIMATE_IN_OUT_TIME), 1) * (-50);
+        RoundedShapeRenderer.roundedRect(drawer, Gdx.graphics.getWidth()/2f - (700/2f), renderHeight, 700, 40, 5, color);
+
+        batch.setShader(fontShader);
+        batch.setColor(Color.WHITE);
+        font.getData().setScale(27 / 64f);
+        GlyphLayout glyphLayout = new GlyphLayout();
+        glyphLayout.setText(font, text, Color.WHITE, 700, 1, false);
+        font.draw(batch, glyphLayout, Gdx.graphics.getWidth()/2f - (700/2f), renderHeight+30);
+        batch.setShader(null);
+
+        return deleteTime < now;
+    }
+}

core/src/me/varun/autobuilder/gui/notification/NotificationHandler.java

@@ -0,0 +1,31 @@
+package me.varun.autobuilder.gui.notification;
+
+import com.badlogic.gdx.graphics.g2d.Batch;
+import com.badlogic.gdx.graphics.g2d.BitmapFont;
+import com.badlogic.gdx.graphics.glutils.ShaderProgram;
+import space.earlygrey.shapedrawer.ShapeDrawer;
+
+import java.util.ArrayList;
+
+public class NotificationHandler {
+    private final static ArrayList<Notification> notifications = new ArrayList<>();
+
+    public static void addNotification(Notification notification){
+        notifications.add(notification);
+    }
+
+    ArrayList<Notification> notificationsToDelete = new ArrayList<>();
+     public void processNotification(ShapeDrawer drawer, Batch batch, BitmapFont font, ShaderProgram fontShader){
+         notificationsToDelete.clear();
+         for (Notification notification : notifications) {
+             if (notification.tick(drawer, batch, font, fontShader)) {
+                 notificationsToDelete.add(notification);
+             }
+         }
+
+         for (Notification notification : notificationsToDelete) {
+             notifications.remove(notification);
+         }
+    }
+
+}

core/src/me/varun/autobuilder/net/NetworkTablesHelper.java

@@ -1,9 +1,12 @@
 package me.varun.autobuilder.net;
 
+import com.badlogic.gdx.graphics.Color;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import me.varun.autobuilder.gui.elements.AbstractGuiItem;
+import me.varun.autobuilder.gui.notification.Notification;
+import me.varun.autobuilder.gui.notification.NotificationHandler;
 import me.varun.autobuilder.serialization.Autonomous;
 import me.varun.autobuilder.serialization.GuiSerializer;
 
@@ -23,7 +26,10 @@ public class NetworkTablesHelper {
     NetworkTableEntry xPos = position.getEntry("x");
     NetworkTableEntry yPos = position.getEntry("y");
     NetworkTableEntry enabledTable = table.getEntry("enabled");
+    NetworkTableEntry processingTable = table.getEntry("processing");
+
     private boolean enabled = false;
+    private double processing = 0;
 
     private NetworkTablesHelper() {
 
@@ -35,9 +41,13 @@ public static NetworkTablesHelper getInstance() {
 
     public void start() {
         inst.startClientTeam(3476);  // where TEAM=190, 294, etc, or use inst.startClient("hostname") or similar
-        //inst.startDSClient();  // recommended if running on DS computer; this gets the robot IP from the DS
+        inst.startDSClient();  // recommended if running on DS computer; this gets the robot IP from the DS
     }
 
+
+    private static final Color LIGHT_GREEN = Color.valueOf("8FEC8F");
+
+
     public void pushData(List<AbstractGuiItem> guiItemList) {
 
         if (inst.isConnected()) {
@@ -47,12 +57,16 @@ public void pushData(List<AbstractGuiItem> guiItemList) {
                 Autonomous autonomous = Serializer.deserialize(autoPath.getString(null));
                 System.out.println("Sent Data: " + autonomous);
 
+                NotificationHandler.addNotification(new Notification(LIGHT_GREEN, "Auto Uploaded", 2000 ));
+
             } catch (IOException | ClassNotFoundException e) {
                 e.printStackTrace();
                 System.exit(-1);
+                NotificationHandler.addNotification(new Notification(Color.RED, "Auto Failed to Upload", 2000 ));
             }
         } else {
             System.out.println("Cannot Send Data; Not Connected");
+            NotificationHandler.addNotification(new Notification(Color.RED, "Auto Failed to Upload: NOT CONNECTED", 2000 ));
         }
 
     }
@@ -70,10 +84,23 @@ public void updateRobotPath() {
                 if (robotPositions.size() < 1 || (robotPositions.get(robotPositions.size() - 1)[0] != x || robotPositions.get(robotPositions.size() - 1)[1] != y)) {
                     robotPositions.add(new Float[]{x / INCHES_PER_METER, y / INCHES_PER_METER});
                 }
+
             } else {
                 enabled = false;
             }
 
+            if(processingTable.getDouble(0) != processing){
+                processing = processingTable.getDouble(0);
+                if(processing == 1){
+                    NotificationHandler.addNotification(new Notification(Color.CORAL, "The Roborio has started deserializing the auto", 1500));
+                } else if (processing == 2){
+                    NotificationHandler.addNotification(new Notification(LIGHT_GREEN, "The Roborio has finished deserializing the auto", 1500));
+                } else {
+                    NotificationHandler.addNotification(new Notification(LIGHT_GREEN, "The Roborio has set: " + processing, 1500));
+                }
+            }
+
+
         }
 
     }

core/src/me/varun/autobuilder/pathing/PathRenderer.java

@@ -75,13 +75,13 @@ public void setPathChangeListener(@NotNull PathChangeListener pathChangeListener
 
     public void render(@NotNull ShapeDrawer renderer, @NotNull OrthographicCamera cam) {
         if (trajectory == null) return;
-        for (double i = 0.05; i < trajectory.getTotalTimeSeconds(); i += 0.05) {
-            Pose2d prev = trajectory.sample(i - 0.05).poseMeters;
+        for (double i = 0.01; i < trajectory.getTotalTimeSeconds(); i += 0.01) {
+            Pose2d prev = trajectory.sample(i - 0.01).poseMeters;
             Pose2d cur = trajectory.sample(i).poseMeters;
             double speed = Math.abs(trajectory.sample(i).velocityMetersPerSecond);
             float[] color = new float[3];
             this.color.toHsv(color);
-            color[1] = (float) (0.9 * (speed / maxVelocityMetersPerSecond) + 0.05);
+            color[1] = (float) (0.9 * (speed / maxVelocityMetersPerSecond) + 0.1);
             Color speedColor = new Color().fromHsv(color);
             speedColor.set(speedColor.r, speedColor.g, speedColor.b, 1);
             renderer.line((float) prev.getX() * POINT_SCALE_FACTOR, (float) prev.getY() * POINT_SCALE_FACTOR,