field movement layer improvements by a-png129 · Pull Request #3720 · UBC-Thunderbots/Software

a-png129 · 2026-05-19T05:18:05Z

Description

Added drag-to-orient movement control
- Shift+Alt+click begins a movement command
- Dragging sets the robot's final orientation
- Releasing sends the move command with the selected orientation
- Instead of defaulting to facing downward, the default orientation is the selected robot's current orientation
Added robot position preview on hover
- While holding Shift+Alt, hovering over the field displays a preview of the target robot position and orientation before committing the command
Added selected robot indicator
- The currently selected robot is now highlighted with an outline that follows its live position and orientation

Testing Done

Manual testing in Thunderscope
(the frame rate only looks this bad in my recording... it's fine otherwise)

Screencast.from.2026-05-20.23-01-05.webm

Resolved Issues

#3719

Review Checklist

It is the reviewers responsibility to also make sure every item here has been covered

Function & Class comments: All function definitions (usually in the .h file) should have a javadoc style comment at the start of them. For examples, see the functions defined in thunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.
Remove all commented out code
Remove extra print statements: for example, those just used for testing
Resolve all TODO's: All TODO (or similar) statements should either be completed or associated with a github issue

a-png129 · 2026-05-21T06:09:28Z


        # This must be enabled for the mouse_moved_in_scene_signal to be emitted
-        self.detect_mouse_movement_in_scene = False
+        self.detect_mouse_movement_in_scene = True


I needed this turned on to implement the robot preview on hover. Previously, it was only turned on when the measure tool was in use. I'm not sure if keeping this always on would be a problem. If so, maybe we could implement some sort of counter so it's only turned off if neither the measure tool nor the field movement layer are enabled?

I think I added this flag because detecting mouse movements every tick was hurting performance.

Software/src/software/thunderscope/gl/gl_widget.py

Lines 311 to 317 in 31720f6

# Enable/disable detect_mouse_movement_in_scene in ExtendedGLViewWidget

# so that the mouse_in_scene_moved_signal is emitted if measure mode is on.

#

# Normally we want to disable detect_mouse_movement_in_scene so that we

# don't do unnecessary calculations every tick to find the point in the scene

# that the mouse is pointing at.

self.gl_view_widget.detect_mouse_movement_in_scene = self.measure_mode_enabled

We can get rid of the flag, seems like it was just premature optimization. I haven't noticed any extra lag when measure mode is on, at least not on my PC

Yea I agree it should be fine to make this change, but perhaps if there is a way to just use a boolean to check if field movement layer is enabled that would be best

Added the boolean! Now when a layer or the measure tool is enabled/disabled, it checks to see if any other layers/tools require mouse movements and changes the flag accordingly

…vements' into alice/field_movement_layer_improvements

williamckha

This is sweet, thanks alice!

williamckha · 2026-05-23T01:13:44Z


        # This must be enabled for the mouse_moved_in_scene_signal to be emitted
-        self.detect_mouse_movement_in_scene = False
+        self.detect_mouse_movement_in_scene = True


I think I added this flag because detecting mouse movements every tick was hurting performance.

Software/src/software/thunderscope/gl/gl_widget.py

Lines 311 to 317 in 31720f6

# Enable/disable detect_mouse_movement_in_scene in ExtendedGLViewWidget

# so that the mouse_in_scene_moved_signal is emitted if measure mode is on.

#

# Normally we want to disable detect_mouse_movement_in_scene so that we

# don't do unnecessary calculations every tick to find the point in the scene

# that the mouse is pointing at.

self.gl_view_widget.detect_mouse_movement_in_scene = self.measure_mode_enabled

We can get rid of the flag, seems like it was just premature optimization. I haven't noticed any extra lag when measure mode is on, at least not on my PC

nycrat

Hey Alice I tested this PR and everything looks good except one minor issue about when the robot preview visual is updated (see review comment)

nycrat · 2026-05-23T20:01:30Z

+    def mouse_in_scene_moved(self, event: MouseInSceneEvent) -> None:
+        """Handle mouse moved events to update robot position preview.
+
+        :param event: The event
+        """


The overlay for the target robot position only shows up after the mouse has been dragged, and only disappears once the mouse moves.

Perhaps add a key press handler to set the target_point whenever shift+alt is pressed so it will updated immediately.

I did try adding an alt key press handler but it had some unreliable behaviour. When I only pressed and released alt, it worked fine. But when I pressed shift first and then alt, it didn't register. There was some similar weirdness with the key release, depending on the order of events. I figured it was simpler to just leave it at mouse movements than introduce something unreliable

nycrat · 2026-05-23T20:02:47Z


        # This must be enabled for the mouse_moved_in_scene_signal to be emitted
-        self.detect_mouse_movement_in_scene = False
+        self.detect_mouse_movement_in_scene = True


Yea I agree it should be fine to make this change, but perhaps if there is a way to just use a boolean to check if field movement layer is enabled that would be best

Andrewyx

looks good so far!

Andrewyx · 2026-05-28T23:27:59Z

@a-png129 bumping this ticket for updates, since we will need it for testing soon

a-png129 · 2026-05-29T16:19:53Z

So sorry about the delay!! I'll make sure to address the comments today

…vements' into alice/field_movement_layer_improvements

a-png129 · 2026-05-31T02:46:44Z

@williamckha @nycrat @Andrewyx ready for another review 🫡

Andrewyx

CI seems to be failing, and pending eric's comment, but otherwise lgtm

Andrewyx · 2026-05-31T19:08:42Z

@@ -1,134 +0,0 @@
-#


not sure what triggered this deletion

#3564 again...

a-png129 added 4 commits May 16, 2026 23:47

feat: drag-to-orient

be2f42a

refactor: default orientation constant

be09d04

feat: robot position preview on hover

a512f38

feat: identifier for selected robots

83cf4d1

a-png129 changed the title ~~Alice/field movement layer improvements~~ field movement layer improvements May 19, 2026

a-png129 linked an issue May 19, 2026 that may be closed by this pull request

Field Test Layer Add Hover #3719

Open

3 tasks

a-png129 added 2 commits May 18, 2026 22:30

refactor

ac59cd0

refactor

f4fae8b

a-png129 commented May 21, 2026

View reviewed changes

a-png129 added 3 commits May 20, 2026 23:42

cleanup

71f66b9

cleanup

bb2b856

fix: persist orientation

951a0fd

a-png129 marked this pull request as ready for review May 21, 2026 06:53

a-png129 requested review from Andrewyx, sauravbanna and williamckha as code owners May 21, 2026 06:53

pre-commit-ci-lite Bot and others added 3 commits May 21, 2026 06:59

[pre-commit.ci lite] apply automatic fixes

cd7fcb7

cleanup

ced1c3b

Merge remote-tracking branch 'origin/alice/field_movement_layer_impro…

83d6c8b

…vements' into alice/field_movement_layer_improvements

williamckha reviewed May 23, 2026

View reviewed changes

nycrat reviewed May 23, 2026

View reviewed changes

Andrewyx reviewed May 24, 2026

View reviewed changes

Comment thread src/software/thunderscope/gl/layers/gl_movement_field_test_layer.py Outdated

Comment thread src/software/thunderscope/gl/layers/gl_movement_field_test_layer.py Outdated

Comment thread src/software/thunderscope/gl/layers/gl_movement_field_test_layer.py Outdated

a-png129 and others added 6 commits May 30, 2026 10:39

refactor: address comments

377be27

[pre-commit.ci lite] apply automatic fixes

2da0bff

only detect mouse movements when needed

669dad2

Merge remote-tracking branch 'origin/alice/field_movement_layer_impro…

d94126c

…vements' into alice/field_movement_layer_improvements

[pre-commit.ci lite] apply automatic fixes

f4782a0

rename flag

cd83ef9

a-png129 added 2 commits May 30, 2026 19:32

Merge remote-tracking branch 'origin/alice/field_movement_layer_impro…

6d80c6d

…vements' into alice/field_movement_layer_improvements

rename constant

c02de0b

[pre-commit.ci lite] apply automatic fixes

2f9ee55

Andrewyx reviewed May 31, 2026

View reviewed changes

	# Enable/disable detect_mouse_movement_in_scene in ExtendedGLViewWidget
	# so that the mouse_in_scene_moved_signal is emitted if measure mode is on.
	#
	# Normally we want to disable detect_mouse_movement_in_scene so that we
	# don't do unnecessary calculations every tick to find the point in the scene
	# that the mouse is pointing at.
	self.gl_view_widget.detect_mouse_movement_in_scene = self.measure_mode_enabled

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a-png129 commented May 19, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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Andrewyx commented May 28, 2026

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a-png129 commented May 29, 2026

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a-png129 commented May 19, 2026 •

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