Fix a couple issues (#821)

* fix crash from exiting path while optimizing * fix ideal starting state issue
mjansen4857 · Oct 6, 2024 · 720c43e · 720c43e
1 parent 96ad2d1
commit 720c43e
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Showing 2 changed files with 18 additions and 14 deletions.
diff --git a/lib/path/pathplanner_path.dart b/lib/path/pathplanner_path.dart
@@ -527,9 +527,7 @@ class PathPlannerPath {
       pos = waypoints.length - 1;
     }
 
-    // Force start/end rotation targets to start/end state rotation
-    pathPoints.first.rotationTarget =
-        RotationTarget(0, idealStartingState.rotation);
+    // Force end rotation target to end state rotation
     pathPoints.last.rotationTarget =
         RotationTarget(waypoints.length - 1, goalEndState.rotation);
 

diff --git a/lib/widgets/editor/tree_widgets/path_optimization_tree.dart b/lib/widgets/editor/tree_widgets/path_optimization_tree.dart
@@ -137,32 +137,38 @@ class _PathOptimizationTreeState extends State<PathOptimizationTree> {
   }
 
   void _runOptimization() async {
-    RobotConfig config = RobotConfig.fromPrefs(widget.prefs);
-
     setState(() {
       _running = true;
       _currentResult = null;
     });
 
+    RobotConfig config = RobotConfig.fromPrefs(widget.prefs);
+
     widget.onUpdate?.call(_currentResult?.path);
 
     final result = await PathOptimizer.optimizePath(
       widget.path,
       config,
       widget.fieldSizeMeters,
       _robotSize,
-      onUpdate: (result) => setState(() {
-        _currentResult = result;
-        widget.onUpdate?.call(_currentResult?.path);
-      }),
+      onUpdate: (result) {
+        if (mounted) {
+          setState(() {
+            _currentResult = result;
+            widget.onUpdate?.call(_currentResult?.path);
+          });
+        }
+      },
     );
 
-    setState(() {
-      _running = false;
-      _currentResult = result;
-    });
+    if (mounted) {
+      setState(() {
+        _running = false;
+        _currentResult = result;
+      });
 
-    widget.onUpdate?.call(_currentResult?.path);
+      widget.onUpdate?.call(_currentResult?.path);
+    }
   }
 
   void _discardOptimization() {