Fix stop point export issue and auto-export paths

src/components/config/eventmarker/CommandDraggable.tsx

@@ -93,7 +93,7 @@ class CommandDraggable extends Component<Props, State> {
             onChange={(e) => command.setType(e.target.value as CommandType)}
           >
             {CommandUIData.map((data) => (
-              <MenuItem value={data.id}>{data.name}</MenuItem>
+              <MenuItem key={data.id} value={data.id}>{data.name}</MenuItem>
             ))}
           </Select>
           {command.type === "named" && (

src/components/field/svg/FieldEventMarkerAddLayer.tsx

@@ -35,6 +35,9 @@ class FieldConstraintsAddLayer extends Component<Props, State> {
                   let newMarker = activePath.addEventMarker();
 
                   newMarker.setTarget({ uuid: point.uuid });
+                  if (!activePath.isTrajectoryStale) {
+                    newMarker.setTrajTargetIndex(index);
+                  }
                   this.context.model.uiState.setSelectedSidebarItem(newMarker);
                 }}
               ></circle>

src/components/sidebar/SidebarEventMarker.tsx

@@ -39,13 +39,14 @@ class SidebarMarker extends Component<Props, State> {
     let marker = this.props.marker;
     let selected = this.props.marker.selected;
     let isInSameSegment = marker.isInSameSegment();
+    let isBoundToTrajectory = marker.trajTargetIndex !== undefined;
     let targetMissing = marker.getTargetIndex() === undefined;
     let issueTitle: string;
     if (targetMissing) {
       issueTitle = "Marker targets missing waypoint! Select a new target.";
     } else {
       if (isInSameSegment === undefined) {
-        issueTitle = "Path not generated yet. Marker will not show.";
+          issueTitle = "Marker added since last generation. Marker will not show or export.";
       } else {
         issueTitle =
           "Stop point between targeted waypoint and actual time! Marker will not export.";
@@ -82,7 +83,7 @@ class SidebarMarker extends Component<Props, State> {
             <span></span>
           )}
           <span>
-            <span>{this.waypointIDToText(this.props.marker.target)} </span>
+            <span>{targetMissing ? "?" : this.waypointIDToText(this.props.marker.target)} </span>
             <span style={{}}>
               (
               {(this.props.marker.offset < 0 ? "" : "+") +

src/document/DocumentManager.ts

@@ -43,7 +43,14 @@ export class DocumentManager {
         usesObstacles: false,
       },
     });
-    this.model.document.pathlist.addPath("NewPath");
+    this.model.document.pathlist.setExporter((uuid)=>{
+      try {
+        this.writeTrajectory(()=>this.getTrajFilePath(uuid), uuid)
+      } catch (e) {
+        console.error(e);
+      }
+      }
+      );
     this.model.document.history.clear();
     this.setupEventListeners();
     this.newFile();
@@ -457,9 +464,9 @@ export class DocumentManager {
     var file = await filePath();
     console.log("file: " + file);
 
-    const exportedEventMarkers = chorPath.eventMarkers.map((m) => {
+    const exportedEventMarkers = chorPath.eventMarkers.flatMap((m) => {
+      if (m.timestamp === undefined) return [];
       return {
-        name: m.name,
         timestamp: m.timestamp,
         command: m.command.asSavedCommand(),
       };

src/document/HolonomicPathStore.ts

@@ -1,4 +1,4 @@
-import { Instance, types, getRoot, destroy } from "mobx-state-tree";
+import { Instance, types, getRoot, destroy, addDisposer } from "mobx-state-tree";
 import {
   SavedConstraint,
   SavedEventMarker,
@@ -34,7 +34,7 @@ import {
   EventMarkerStore,
   IEventMarkerStore,
 } from "./EventMarkerStore";
-import { autorun, toJS } from "mobx";
+import { autorun, IReactionDisposer, reaction, toJS } from "mobx";
 
 export const HolonomicPathStore = types
   .model("HolonomicPathStore", {
@@ -52,7 +52,7 @@ export const HolonomicPathStore = types
     defaultControlIntervalCount: 40,
     usesDefaultObstacles: true,
     obstacles: types.array(CircularObstacleStore),
-    eventMarkers: types.array(EventMarkerStore),
+    eventMarkers: types.array(EventMarkerStore)
   })
   .views((self) => {
     return {
@@ -245,7 +245,6 @@ export const HolonomicPathStore = types
           })
           .filter((item, pos, ary) => !pos || item != ary[pos - 1])
           .sort((a, b) => a - b);
-        console.log(wptIndices);
         return wptIndices;
         // remove duplicates
       },
@@ -266,7 +265,20 @@ export const HolonomicPathStore = types
       },
       splitTrajectories() {
         let trajectories = [];
-        const split = this.stopPointIndices();
+
+        let split: number[] = [];
+        {
+          let stopPointIndex = 0;
+          self.generatedWaypoints.forEach((point, i)=>{
+
+            // start and end points are always bounds for split parts
+            if (point.isStopPoint || i == 0 || i == self.generatedWaypoints.length - 1) {
+              split.push(stopPointIndex);
+            }
+            stopPointIndex += point.controlIntervalCount;
+          })
+        }
+        //const split = this.stopPointIndices();
         for (let i = 1; i < split.length; i++) {
           const prev = split[i - 1];
           let cur = split[i];
@@ -300,7 +312,6 @@ export const HolonomicPathStore = types
                 m.timestamp <= endTime
             )
             .map((m) => ({
-              name: m.name,
               timestamp: m.timestamp! - startTime,
               command: m.command.asSavedCommand(),
             }));
@@ -662,7 +673,7 @@ export const HolonomicPathStore = types
             name: saved.name,
             target: target as WaypointID,
             offset: saved.offset,
-            trajTargetIndex: targetIndex,
+            trajTargetIndex: self.isTrajectoryStale ? undefined : targetIndex,
             command: CommandStore.create({
               type: rootCommandType,
               name: "",
@@ -684,7 +695,7 @@ export const HolonomicPathStore = types
           marker = EventMarkerStore.create({
             name: "Marker",
             target: "first",
-            trajTargetIndex: 0,
+            trajTargetIndex: undefined,
             offset: 0,
             command: CommandStore.create({
               type: "named",
@@ -766,18 +777,49 @@ export const HolonomicPathStore = types
       },
     };
   })
-  .actions((self) => ({
-    afterCreate() {
+  .actions((self) => {
+    let staleDisposer : IReactionDisposer;
+    let autosaveDisposer : IReactionDisposer;
+    let exporter : (uuid:string)=>void;
+    let afterCreate = () => {
       // Anything accessed in here will cause the trajectory to be marked stale
-      autorun(() => {
-        console.log(toJS(self.waypoints));
-        console.log(toJS(self.constraints));
+      staleDisposer = autorun(() => {
+        toJS(self.waypoints);
+        toJS(self.constraints);
         // does not need toJS to do a deep check on this, since it's just a boolean
-        console.log(self.usesControlIntervalGuessing);
-        console.log(toJS(self.obstacles));
+        self.usesControlIntervalGuessing;
+        toJS(self.obstacles);
         self.setIsTrajectoryStale(true);
       });
-    },
-  }));
+      autosaveDisposer = reaction(
+        ()=>{
+          if (self.generated.length == 0) {
+            return [];
+          }
+          //toJS(self.splitTrajectories());
+          return self.splitTrajectories()},
+        (value)=>{
+          if (value.length > 0) {
+            exporter(self.uuid);
+          }
+        }
+      )
+
+    }
+    let setExporter = (exportFunction: (uuid:string)=>void) =>{
+      exporter = exportFunction;
+    }
+    let beforeDestroy = ()=>{
+      staleDisposer();
+      autosaveDisposer();
+      console.log("Deleted ", self.uuid);
+    }
+    return {
+      afterCreate, setExporter, beforeDestroy
+    }
+
+
+
+  });
 export interface IHolonomicPathStore
   extends Instance<typeof HolonomicPathStore> {}

src/document/PathListStore.ts

@@ -9,6 +9,18 @@ export const PathListStore = types
     paths: types.map(HolonomicPathStore),
     activePathUUID: "",
   })
+  .actions((self)=>{
+    let pathExporter: (uuid: string) =>void = (uuid)=>{};
+    return {
+      setExporter(exportFunction: (uuid:string)=>void) {
+        pathExporter = exportFunction;
+        self.paths.forEach((p)=>p.setExporter(pathExporter));
+      },
+      getExporter() : (uuid:string) => void {
+        return pathExporter;
+      }
+    }
+  })
   .views((self) => {
     return {
       asSavedPathList(): SavedPathList {
@@ -73,6 +85,7 @@ export const PathListStore = types
           name: usedName,
           waypoints: [],
         });
+        path.setExporter(self.getExporter());
         path.addConstraint(ConstraintStores.StopPoint)?.setScope(["first"]);
         path.addConstraint(ConstraintStores.StopPoint)?.setScope(["last"]);
         self.paths.put(path);