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Refactor PathRecorder to utilize server-side pathfinding for waypoint navigation

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MayaTheShy
2026-02-20 03:43:36 -05:00
parent 1522523f22
commit 885ebf698d
1 changed files with 10 additions and 34 deletions
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44
client/src/components/PathRecorder.jsx
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@@ -13,9 +13,6 @@ const PathRecorder = ({ turtles, selectedTurtle, apiUrl }) => {
const [loading, setLoading] = useState(false);
const [playingBack, setPlayingBack] = useState(false);
const moveForward = useTurtleStore((state) => state.moveForward);
const moveUp = useTurtleStore((state) => state.moveUp);
const moveDown = useTurtleStore((state) => state.moveDown);
const setTurtleState = useTurtleStore((state) => state.setTurtleState);
useEffect(() => {
@@ -153,44 +150,23 @@ const PathRecorder = ({ turtles, selectedTurtle, apiUrl }) => {
}
setPlayingBack(true);
showMessage(`Playing back ${waypoints.length} waypoints...`, 'info');
showMessage(`Playing back ${waypoints.length} waypoints via server pathfinding...`, 'info');
const turtleId = selectedTurtle.turtleID;
// Determine movement commands between consecutive waypoints
for (let i = 1; i < waypoints.length; i++) {
const prev = waypoints[i - 1];
const curr = waypoints[i];
// Use server-side pathfinding to navigate to each waypoint sequentially
for (let i = 0; i < waypoints.length; i++) {
const wp = waypoints[i];
const dx = curr.x - prev.x;
const dy = curr.y - prev.y;
const dz = curr.z - prev.z;
// Vertical movement
if (dy > 0) {
for (let j = 0; j < dy; j++) sendCommand(turtleId, 'up');
} else if (dy < 0) {
for (let j = 0; j < Math.abs(dy); j++) sendCommand(turtleId, 'down');
}
// Horizontal movement - send as forward movements with turns
if (dx > 0) {
for (let j = 0; j < dx; j++) sendCommand(turtleId, 'forward');
} else if (dx < 0) {
for (let j = 0; j < Math.abs(dx); j++) sendCommand(turtleId, 'forward');
}
if (dz > 0) {
for (let j = 0; j < dz; j++) sendCommand(turtleId, 'forward');
} else if (dz < 0) {
for (let j = 0; j < Math.abs(dz); j++) sendCommand(turtleId, 'forward');
}
// Small delay between waypoint groups to avoid flooding
await new Promise(resolve => setTimeout(resolve, 200));
// Navigate to each waypoint using the server's moving state
await setTurtleState(turtleId, 'moving', { target: { x: wp.x, y: wp.y, z: wp.z } });
// Wait for turtle to arrive (poll position or just add delay)
await new Promise(resolve => setTimeout(resolve, 500));
}
setPlayingBack(false);
showMessage('Playback complete! Commands queued for turtle.', 'success');
showMessage('Playback complete! Turtle navigating via server.', 'success');
};
const showMessage = (text, type) => {