field movement layer improvements

src/software/embedded/robot_diagnostics_cli/requirements_lock.txt

@@ -1,134 +0,0 @@
-#
-# This file is autogenerated by pip-compile with Python 3.12
-# by the following command:
-#
-#    bazel run //software/embedded/robot_diagnostics_cli:requirements.update
-#
-click==8.1.7 \
-    --hash=sha256:ae74fb96c20a0277a1d615f1e4d73c8414f5a98db8b799a7931d1582f3390c28 \
-    --hash=sha256:ca9853ad459e787e2192211578cc907e7594e294c7ccc834310722b41b9ca6de
-    # via
-    #   click-shell
-    #   typer
-    #   typer-shell
-click-shell==2.1 \
-    --hash=sha256:2d971a2e50eb7ad387cf0ce79ba4b844e66e0580784e2efe2df58b50a2f047f0 \
-    --hash=sha256:ce0c91faae284c41a39bec966f928791ad4a45763755445f1fe2041fd091aa37
-    # via typer-shell
-inquirerpy==0.3.4 \
-    --hash=sha256:89d2ada0111f337483cb41ae31073108b2ec1e618a49d7110b0d7ade89fc197e \
-    --hash=sha256:c65fdfbac1fa00e3ee4fb10679f4d3ed7a012abf4833910e63c295827fe2a7d4
-    # via -r software/embedded/robot_diagnostics_cli/requirements.in
-markdown-it-py==3.0.0 \
-    --hash=sha256:355216845c60bd96232cd8d8c40e8f9765cc86f46880e43a8fd22dc1a1a8cab1 \
-    --hash=sha256:e3f60a94fa066dc52ec76661e37c851cb232d92f9886b15cb560aaada2df8feb
-    # via rich
-mdurl==0.1.2 \
-    --hash=sha256:84008a41e51615a49fc9966191ff91509e3c40b939176e643fd50a5c2196b8f8 \
-    --hash=sha256:bb413d29f5eea38f31dd4754dd7377d4465116fb207585f97bf925588687c1ba
-    # via markdown-it-py
-pfzy==0.3.4 \
-    --hash=sha256:5f50d5b2b3207fa72e7ec0ef08372ef652685470974a107d0d4999fc5a903a96 \
-    --hash=sha256:717ea765dd10b63618e7298b2d98efd819e0b30cd5905c9707223dceeb94b3f1
-    # via inquirerpy
-prompt-toolkit==3.0.48 \
-    --hash=sha256:d6623ab0477a80df74e646bdbc93621143f5caf104206aa29294d53de1a03d90 \
-    --hash=sha256:f49a827f90062e411f1ce1f854f2aedb3c23353244f8108b89283587397ac10e
-    # via inquirerpy
-protobuf==6.31.1 \
-    --hash=sha256:0414e3aa5a5f3ff423828e1e6a6e907d6c65c1d5b7e6e975793d5590bdeecc16 \
-    --hash=sha256:426f59d2964864a1a366254fa703b8632dcec0790d8862d30034d8245e1cd447 \
-    --hash=sha256:4ee898bf66f7a8b0bd21bce523814e6fbd8c6add948045ce958b73af7e8878c6 \
-    --hash=sha256:6f1227473dc43d44ed644425268eb7c2e488ae245d51c6866d19fe158e207402 \
-    --hash=sha256:720a6c7e6b77288b85063569baae8536671b39f15cc22037ec7045658d80489e \
-    --hash=sha256:7fa17d5a29c2e04b7d90e5e32388b8bfd0e7107cd8e616feef7ed3fa6bdab5c9 \
-    --hash=sha256:8764cf4587791e7564051b35524b72844f845ad0bb011704c3736cce762d8fe9 \
-    --hash=sha256:a40fc12b84c154884d7d4c4ebd675d5b3b5283e155f324049ae396b95ddebc39 \
-    --hash=sha256:d8cac4c982f0b957a4dc73a80e2ea24fab08e679c0de9deb835f4a12d69aca9a
-    # via -r software/embedded/robot_diagnostics_cli/requirements.in
-pygments==2.18.0 \
-    --hash=sha256:786ff802f32e91311bff3889f6e9a86e81505fe99f2735bb6d60ae0c5004f199 \
-    --hash=sha256:b8e6aca0523f3ab76fee51799c488e38782ac06eafcf95e7ba832985c8e7b13a
-    # via rich
-pyyaml==6.0.2 \
-    --hash=sha256:01179a4a8559ab5de078078f37e5c1a30d76bb88519906844fd7bdea1b7729ff \
-    --hash=sha256:0833f8694549e586547b576dcfaba4a6b55b9e96098b36cdc7ebefe667dfed48 \
-    --hash=sha256:0a9a2848a5b7feac301353437eb7d5957887edbf81d56e903999a75a3d743086 \
-    --hash=sha256:0b69e4ce7a131fe56b7e4d770c67429700908fc0752af059838b1cfb41960e4e \
-    --hash=sha256:0ffe8360bab4910ef1b9e87fb812d8bc0a308b0d0eef8c8f44e0254ab3b07133 \
-    --hash=sha256:11d8f3dd2b9c1207dcaf2ee0bbbfd5991f571186ec9cc78427ba5bd32afae4b5 \
-    --hash=sha256:17e311b6c678207928d649faa7cb0d7b4c26a0ba73d41e99c4fff6b6c3276484 \
-    --hash=sha256:1e2120ef853f59c7419231f3bf4e7021f1b936f6ebd222406c3b60212205d2ee \
-    --hash=sha256:1f71ea527786de97d1a0cc0eacd1defc0985dcf6b3f17bb77dcfc8c34bec4dc5 \
-    --hash=sha256:23502f431948090f597378482b4812b0caae32c22213aecf3b55325e049a6c68 \
-    --hash=sha256:24471b829b3bf607e04e88d79542a9d48bb037c2267d7927a874e6c205ca7e9a \
-    --hash=sha256:29717114e51c84ddfba879543fb232a6ed60086602313ca38cce623c1d62cfbf \
-    --hash=sha256:2e99c6826ffa974fe6e27cdb5ed0021786b03fc98e5ee3c5bfe1fd5015f42b99 \
-    --hash=sha256:39693e1f8320ae4f43943590b49779ffb98acb81f788220ea932a6b6c51004d8 \
-    --hash=sha256:3ad2a3decf9aaba3d29c8f537ac4b243e36bef957511b4766cb0057d32b0be85 \
-    --hash=sha256:3b1fdb9dc17f5a7677423d508ab4f243a726dea51fa5e70992e59a7411c89d19 \
-    --hash=sha256:41e4e3953a79407c794916fa277a82531dd93aad34e29c2a514c2c0c5fe971cc \
-    --hash=sha256:43fa96a3ca0d6b1812e01ced1044a003533c47f6ee8aca31724f78e93ccc089a \
-    --hash=sha256:50187695423ffe49e2deacb8cd10510bc361faac997de9efef88badc3bb9e2d1 \
-    --hash=sha256:5ac9328ec4831237bec75defaf839f7d4564be1e6b25ac710bd1a96321cc8317 \
-    --hash=sha256:5d225db5a45f21e78dd9358e58a98702a0302f2659a3c6cd320564b75b86f47c \
-    --hash=sha256:6395c297d42274772abc367baaa79683958044e5d3835486c16da75d2a694631 \
-    --hash=sha256:688ba32a1cffef67fd2e9398a2efebaea461578b0923624778664cc1c914db5d \
-    --hash=sha256:68ccc6023a3400877818152ad9a1033e3db8625d899c72eacb5a668902e4d652 \
-    --hash=sha256:70b189594dbe54f75ab3a1acec5f1e3faa7e8cf2f1e08d9b561cb41b845f69d5 \
-    --hash=sha256:797b4f722ffa07cc8d62053e4cff1486fa6dc094105d13fea7b1de7d8bf71c9e \
-    --hash=sha256:7c36280e6fb8385e520936c3cb3b8042851904eba0e58d277dca80a5cfed590b \
-    --hash=sha256:7e7401d0de89a9a855c839bc697c079a4af81cf878373abd7dc625847d25cbd8 \
-    --hash=sha256:80bab7bfc629882493af4aa31a4cfa43a4c57c83813253626916b8c7ada83476 \
-    --hash=sha256:82d09873e40955485746739bcb8b4586983670466c23382c19cffecbf1fd8706 \
-    --hash=sha256:8388ee1976c416731879ac16da0aff3f63b286ffdd57cdeb95f3f2e085687563 \
-    --hash=sha256:8824b5a04a04a047e72eea5cec3bc266db09e35de6bdfe34c9436ac5ee27d237 \
-    --hash=sha256:8b9c7197f7cb2738065c481a0461e50ad02f18c78cd75775628afb4d7137fb3b \
-    --hash=sha256:9056c1ecd25795207ad294bcf39f2db3d845767be0ea6e6a34d856f006006083 \
-    --hash=sha256:936d68689298c36b53b29f23c6dbb74de12b4ac12ca6cfe0e047bedceea56180 \
-    --hash=sha256:9b22676e8097e9e22e36d6b7bda33190d0d400f345f23d4065d48f4ca7ae0425 \
-    --hash=sha256:a4d3091415f010369ae4ed1fc6b79def9416358877534caf6a0fdd2146c87a3e \
-    --hash=sha256:a8786accb172bd8afb8be14490a16625cbc387036876ab6ba70912730faf8e1f \
-    --hash=sha256:a9f8c2e67970f13b16084e04f134610fd1d374bf477b17ec1599185cf611d725 \
-    --hash=sha256:bc2fa7c6b47d6bc618dd7fb02ef6fdedb1090ec036abab80d4681424b84c1183 \
-    --hash=sha256:c70c95198c015b85feafc136515252a261a84561b7b1d51e3384e0655ddf25ab \
-    --hash=sha256:cc1c1159b3d456576af7a3e4d1ba7e6924cb39de8f67111c735f6fc832082774 \
-    --hash=sha256:ce826d6ef20b1bc864f0a68340c8b3287705cae2f8b4b1d932177dcc76721725 \
-    --hash=sha256:d584d9ec91ad65861cc08d42e834324ef890a082e591037abe114850ff7bbc3e \
-    --hash=sha256:d7fded462629cfa4b685c5416b949ebad6cec74af5e2d42905d41e257e0869f5 \
-    --hash=sha256:d84a1718ee396f54f3a086ea0a66d8e552b2ab2017ef8b420e92edbc841c352d \
-    --hash=sha256:d8e03406cac8513435335dbab54c0d385e4a49e4945d2909a581c83647ca0290 \
-    --hash=sha256:e10ce637b18caea04431ce14fabcf5c64a1c61ec9c56b071a4b7ca131ca52d44 \
-    --hash=sha256:ec031d5d2feb36d1d1a24380e4db6d43695f3748343d99434e6f5f9156aaa2ed \
-    --hash=sha256:ef6107725bd54b262d6dedcc2af448a266975032bc85ef0172c5f059da6325b4 \
-    --hash=sha256:efdca5630322a10774e8e98e1af481aad470dd62c3170801852d752aa7a783ba \
-    --hash=sha256:f753120cb8181e736c57ef7636e83f31b9c0d1722c516f7e86cf15b7aa57ff12 \
-    --hash=sha256:ff3824dc5261f50c9b0dfb3be22b4567a6f938ccce4587b38952d85fd9e9afe4
-    # via typer-shell
-rich==13.9.2 \
-    --hash=sha256:51a2c62057461aaf7152b4d611168f93a9fc73068f8ded2790f29fe2b5366d0c \
-    --hash=sha256:8c82a3d3f8dcfe9e734771313e606b39d8247bb6b826e196f4914b333b743cf1
-    # via
-    #   -r software/embedded/robot_diagnostics_cli/requirements.in
-    #   typer
-    #   typer-shell
-shellingham==1.5.4 \
-    --hash=sha256:7ecfff8f2fd72616f7481040475a65b2bf8af90a56c89140852d1120324e8686 \
-    --hash=sha256:8dbca0739d487e5bd35ab3ca4b36e11c4078f3a234bfce294b0a0291363404de
-    # via typer
-typer==0.12.5 \
-    --hash=sha256:62fe4e471711b147e3365034133904df3e235698399bc4de2b36c8579298d52b \
-    --hash=sha256:f592f089bedcc8ec1b974125d64851029c3b1af145f04aca64d69410f0c9b722
-    # via typer-shell
-typer-shell==0.1.12 \
-    --hash=sha256:63b0b6b46b24c906d027b410bc521eeabc893f72c970318a7dd7034e95186caa \
-    --hash=sha256:dc7742649e6dcdd77cc3ab909cbac23438a2e3ad6cf847cadc35bb0937b4965c
-    # via -r software/embedded/robot_diagnostics_cli/requirements.in
-typing-extensions==4.12.2 \
-    --hash=sha256:04e5ca0351e0f3f85c6853954072df659d0d13fac324d0072316b67d7794700d \
-    --hash=sha256:1a7ead55c7e559dd4dee8856e3a88b41225abfe1ce8df57b7c13915fe121ffb8
-    # via typer
-wcwidth==0.2.13 \
-    --hash=sha256:3da69048e4540d84af32131829ff948f1e022c1c6bdb8d6102117aac784f6859 \
-    --hash=sha256:72ea0c06399eb286d978fdedb6923a9eb47e1c486ce63e9b4e64fc18303972b5
-    # via prompt-toolkit

src/software/thunderscope/constants.py

@@ -264,6 +264,7 @@ class Colors:
     TRANSPARENT = QtGui.QColor(0, 0, 0, 0)
     SPEED_VECTOR_COLOR = QtGui.QColor(255, 0, 255, 100)
 
+    SELECTED_ROBOT_OUTLINE = QtGui.QColor(0, 255, 255, 200)
     DESIRED_ROBOT_LOCATION_OUTLINE = QtGui.QColor(255, 0, 0, 255)
     NAVIGATOR_PATH_COLOR = QtGui.QColor(0, 255, 0, 255)
     NAVIGATOR_OBSTACLE_COLOR = QtGui.QColor(255, 80, 0, 100)

src/software/thunderscope/gl/gl_widget.py

@@ -241,6 +241,8 @@ def add_layer(self, layer: GLLayer, visible: bool = True) -> None:
         layer_checkbox.stateChanged.connect(
             lambda: layer.setVisible(layer_checkbox.isChecked())
         )
+        if layer.needs_mouse_movement_tracking:
+            layer_checkbox.stateChanged.connect(self._update_mouse_tracking)
 
     def remove_layer(self, layer: GLLayer) -> None:
         """Remove a layer from this GLWidget
@@ -304,17 +306,23 @@ def set_camera_view(self, camera_view: CameraView) -> None:
                 pos=pg.Vector(2.5, 0, 0), distance=10, elevation=45, azimuth=0
             )
 
+    def _update_mouse_tracking(self) -> None:
+        """Enable detect_mouse_movement_in_scene if measure mode or any layer that
+        requires mouse movement tracking is active; disable it when both are off.
+        """
+        movement_layer_active = any(
+            layer.needs_mouse_movement_tracking and layer.visible()
+            for layer in self.layers
+        )
+        self.gl_view_widget.detect_mouse_movement_in_scene = (
+            self.measure_mode_enabled or movement_layer_active
+        )
+
     def toggle_measure_mode(self) -> None:
         """Toggles measure mode in the 3D visualizer"""
         self.measure_mode_enabled = not self.measure_mode_enabled
 
-        # 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
+        self._update_mouse_tracking()
 
         if self.measure_mode_enabled:
             self.measure_layer = GLMeasureLayer("Measure")

src/software/thunderscope/gl/layers/gl_layer.py

@@ -17,6 +17,8 @@ class GLLayer(GLGraphicsItem):
     enabling us to group together related layers.
     """
 
+    needs_mouse_movement_tracking: bool = False
+
     def __init__(self, name: str, parent_item: GLGraphicsItem | None = None) -> None:
         """Initialize the GLLayer