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Merged
mxgrey merged 7 commits into from
Mar 19, 2026
Merged

Uday/feat/customize debug search count #39

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38d30e9
add state management for debug_ticket_size
uday-kalyan-s Mar 18, 2026
4b9cf82
added UI
uday-kalyan-s Mar 18, 2026
33349f3
made the code use the new state
uday-kalyan-s Mar 18, 2026
03fef14
put the buttons together to make it look better
uday-kalyan-s Mar 18, 2026
9842161
split function, removed TODO and added clearing of trajectories
uday-kalyan-s Mar 18, 2026
19be2ab
switched from button to slider
uday-kalyan-s Mar 19, 2026
6b7a81f
vertically aligned slider
uday-kalyan-s Mar 19, 2026
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76 changes: 54 additions & 22 deletions mapf-viz/examples/grid.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -786,6 +786,7 @@ struct App {
agent_radius_slider: slider::State,
agent_speed_slider: slider::State,
agent_spin_slider: slider::State,
debug_ticket_size_slider: slider::State,
add_agent_button: button::State,
remove_agent_button: button::State,
pick_agent_state: pick_list::State<String>,
Expand All @@ -802,6 +803,7 @@ struct App {
search_memory: Vec<TreeTicket>,
negotiation_history: Vec<NegotiationNode>,
name_map: HashMap<usize, String>,
debug_ticket_size: u32,
debug_step_count: u64,
debug_node_selected: Option<usize>,
negotiation_node_selected: Option<usize>,
Expand Down Expand Up @@ -970,9 +972,32 @@ impl App {
}

fn step_progress(&mut self) {
self.debug_step_count += 1;
self.draw_search_paths();
// step towards solution here
if let Some((radius, search)) = &mut self.search {
self.debug_step_count += 1;
if let SearchStatus::Solved(solution) = search.step().unwrap() {
println!("Queue length: {}", search.memory().queue_length());
println!("Solution: {:#?}", solution);
self.canvas.program.layers.3.solutions.clear();
self.canvas.program.layers.3.solutions.extend(
solution
.make_trajectory()
.unwrap()
.map(|t| (*radius, t.trajectory))
.into_iter(),
);
self.debug_node_selected = None;
self.search = None;
self.canvas.cache.clear();
} else {
println!("Queue length: {}", search.memory().queue_length());
}
}
}

fn draw_search_paths(&mut self) {
if let Some((radius, search)) = &mut self.search {
self.search_memory = search
.memory()
.0
Expand All @@ -982,8 +1007,9 @@ impl App {
.map(|n| n.0.clone())
.collect();

// TODO(@mxgrey): Make the number to take configurable
for ticket in self.search_memory.iter().take(10) {
self.canvas.program.layers.3.searches.clear();

for ticket in self.search_memory.iter().take(self.debug_ticket_size as usize) {
if let Some(mt) = search
.memory()
.0
Expand All @@ -1001,25 +1027,8 @@ impl App {
.push((*radius, mt.trajectory));
}
}

if let SearchStatus::Solved(solution) = search.step().unwrap() {
println!("Queue length: {}", search.memory().queue_length());
println!("Solution: {:#?}", solution);
self.canvas.program.layers.3.solutions.clear();
self.canvas.program.layers.3.solutions.extend(
solution
.make_trajectory()
.unwrap()
.map(|t| (*radius, t.trajectory))
.into_iter(),
);
self.debug_node_selected = None;
self.search = None;
} else {
println!("Queue length: {}", search.memory().queue_length());
if let Some(selection) = self.debug_node_selected {
self.select_search_node(selection);
}
if let Some(selection) = self.debug_node_selected {
self.select_search_node(selection);
}

self.canvas.cache.clear();
Expand Down Expand Up @@ -1450,6 +1459,7 @@ impl Application for App {
agent_radius_slider: slider::State::new(),
agent_speed_slider: slider::State::new(),
agent_spin_slider: slider::State::new(),
debug_ticket_size_slider: slider::State::new(),
add_agent_button: button::State::new(),
remove_agent_button: button::State::new(),
pick_agent_state: pick_list::State::new(),
Expand All @@ -1470,6 +1480,7 @@ impl Application for App {
debug_node_selected: None,
negotiation_node_selected: None,
next_robot_name_index: 0,
debug_ticket_size: 10,
};

if app.canvas.program.layers.2.agents.is_empty() {
Expand Down Expand Up @@ -1779,6 +1790,10 @@ impl Application for App {
self.canvas.cache.clear();
}
}
Message::ChangeDebugTicketSize(value) => {
self.debug_ticket_size = value;
self.draw_search_paths();
}
}

Command::none()
Expand Down Expand Up @@ -1973,6 +1988,22 @@ impl Application for App {
.on_press(Message::StepProgress),
)
.push(iced::Space::with_width(Length::Units(16)))
.push(
Column::new()
.push(Text::new(format!("Debug Paths: {}", &self.debug_ticket_size)))
.push(iced::Space::with_height(Length::Units(2)))
.push(
Slider::new(
&mut self.debug_ticket_size_slider,
1..=100,
self.debug_ticket_size,
Message::ChangeDebugTicketSize,
)
.width(Length::Units(120)),
)
.align_items(Alignment::Center),
)
Comment on lines +1991 to +2005
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@mxgrey mxgrey Mar 18, 2026 •
edited
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While trying this out I found it a bit tedious to repeatedly click the - or + to change the count. I wonder if we could change this to a text input that gets interpreted as a number. It would be better to do a NumberInput, but we're currently relying on a fork of iced, so I suspect this more recent version of iced_aw will be incompatible (edited) without a considerable amount of work.

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@uday-kalyan-s uday-kalyan-s Mar 18, 2026

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Ohhh right yeah that seems like a much better option. I'l switch over to that then

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@uday-kalyan-s uday-kalyan-s Mar 18, 2026

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@mxgrey I'm running into a version dependency issue on all versions of iced_aw > 0.5 :(

error: failed to select a version for `web-sys`.
    ... required by package `wgpu v0.16.0`
    ... which satisfies dependency `wgpu = "^0.16"` of package `iced_wgpu v0.11.0`
    ... which satisfies dependency `iced_wgpu = "^0.11"` of package `iced_renderer v0.1.0`
    ... which satisfies dependency `iced_renderer = "^0.1"` of package `iced_widget v0.1.1`
    ... which satisfies dependency `iced_widget = "^0.1.1"` of package `iced_aw v0.6.0 (https://github.com/iced-rs/iced_aw?tag=v0.6.0#12c3bc0e)`
    ... which satisfies git dependency `iced_aw` of package `mapf-viz v0.3.0 (/home/uday/gsoc/fork/mapf/mapf-viz)`
versions that meet the requirements `^0.3.61` are: 0.3.91, 0.3.90, 0.3.89, 0.3.88, 0.3.87, 0.3.86, 0.3.85, 0.3.84, 0.3.83, 0.3.82, 0.3.81, 0.3.80, 0.3.79, 0.3.78, 0.3.77, 0.3.76, 0.3.75, 0.3.74, 0.3.73, 0.3.72, 0.3.70, 0.3.69, 0.3.68, 0.3.67, 0.3.66, 0.3.65, 0.3.64, 0.3.63, 0.3.62, 0.3.61

all possible versions conflict with previously selected packages.

  previously selected package `web-sys v0.3.57`
    ... which satisfies dependency `web-sys = "^0.3.46"` (locked to 0.3.57) of package `rfd v0.12.1`
    ... which satisfies dependency `rfd = "^0.12"` (locked to 0.12.1) of package `mapf-viz v0.3.0 (/home/uday/gsoc/fork/mapf/mapf-viz)`

failed to select a version for `web-sys` which could resolve this conflict

and updating rfd gives

error: failed to select a version for `web-sys`.
    ... required by package `wgpu v0.12.0`
    ... which satisfies dependency `wgpu = "^0.12"` of package `iced_wgpu v0.4.0 (https://github.com/mxgrey/iced?branch=asymmetric_scale#036769a9)`
    ... which satisfies git dependency `iced_wgpu` (locked to 0.4.0) of package `iced v0.3.0 (https://github.com/mxgrey/iced?branch=asymmetric_scale#036769a9)`
    ... which satisfies git dependency `iced` (locked to 0.3.0) of package `mapf-viz v0.3.0 (/home/uday/gsoc/fork/mapf/mapf-viz)`
versions that meet the requirements `^0.3.53` are: 0.3.57, 0.3.91, 0.3.90, 0.3.89, 0.3.88, 0.3.87, 0.3.86, 0.3.85, 0.3.84, 0.3.83, 0.3.82, 0.3.81, 0.3.80, 0.3.79, 0.3.78, 0.3.77, 0.3.76, 0.3.75, 0.3.74, 0.3.73, 0.3.72, 0.3.70, 0.3.69, 0.3.68, 0.3.67, 0.3.66, 0.3.65, 0.3.64, 0.3.63, 0.3.62, 0.3.61, 0.3.60, 0.3.59, 0.3.58, 0.3.56, 0.3.55, 0.3.54, 0.3.53

package `wgpu` depends on `web-sys` with feature `GpuBufferUsage` but `web-sys` does not have that feature.
 package `web-sys` does have feature `GpuBufferUsage`


all possible versions conflict with previously selected packages.

  previously selected package `web-sys v0.3.77`
    ... which satisfies dependency `web-sys = "^0.3.53"` of package `wgpu v0.12.0`
    ... which satisfies dependency `wgpu = "^0.12"` of package `iced_wgpu v0.4.0 (https://github.com/mxgrey/iced?branch=asymmetric_scale#036769a9)`
    ... which satisfies git dependency `iced_wgpu` (locked to 0.4.0) of package `iced v0.3.0 (https://github.com/mxgrey/iced?branch=asymmetric_scale#036769a9)`
    ... which satisfies git dependency `iced` (locked to 0.3.0) of package `mapf-viz v0.3.0 (/home/uday/gsoc/fork/mapf/mapf-viz)`

failed to select a version for `web-sys` which could resolve this conflict

Should I just move on with the v0.5 iced_aw? It does support number_input but its been through a lot of bug fixes in each version

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@mxgrey mxgrey Mar 18, 2026

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I'm running into a version dependency issue on all versions of iced_aw > 0.5 :(

I'm so sorry, there was a typo in my earlier comment which I've edited to correct. I was expecting the newer versions of iced_aw to be incompatible due to our fork, and that's exactly what you've found 😭

Should I just move on with the v0.5 iced_aw? It does support number_input but its been through a lot of bug fixes in each version

If you're able to find any version of iced_aw that has number_input and is compatible with the fork we use, that would be fantastic. I'm definitely not expecting the newest version of iced_aw to work without us doing a major overhaul of our fork of iced and probably other dependency migrations.

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@uday-kalyan-s uday-kalyan-s Mar 18, 2026

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Ohhh lolll. Thats alright! I'l just switch over to 0.5 then. it seems to be exactly what we are looking for

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@mxgrey mxgrey Mar 19, 2026

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Maybe as a last resort we could use a slider that ranges from 1 to 100 or 1000. It's certainly not ideal, but it's a significant improvement over the previous fixed value of 10.

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@uday-kalyan-s uday-kalyan-s Mar 19, 2026

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Yepp. I guess it's a bit hard to control, but I doubt anyone's looking to set a fine-grained value of this. Anyways, can you pls check the latest commit once to see if it's fine.

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@mxgrey mxgrey Mar 19, 2026

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A problem I'm noticing with the slider is that the text to its left will change size while sliding, which changes the spatial range of the sliding bar and creates an unstable feedback loop:

slider_problems.mp4

Moving the slider by a single pixel can make the numerical value jump around wildly. Instead of this side-by-side approach we should place the slider under the text, like you see for the other numerical sliders in the app:

image

That way when the slider changes the displayed number, it's not also changing the space of the slider itself.

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@uday-kalyan-s uday-kalyan-s Mar 19, 2026

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Ohhhh rightt yeah fairss that's true. I thought the issue was a glitch in the iced library 💀 . I'll change that bit over to a vertical layout then

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@uday-kalyan-s uday-kalyan-s Mar 19, 2026

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Yepp. Now it works much better thanks!!
image
Although it doesnt look the best asthetically 😅 , but im not sure if theres any other option

.push(iced::Space::with_width(Length::Units(16)))
.push(Text::new(format!("Steps: {}", self.debug_step_count)))
.push(iced::Space::with_width(Length::Units(16)))
.push(Text::new(format!(
Expand Down Expand Up @@ -2119,6 +2150,7 @@ enum Message {
SelectNegotiationNode(usize),
StepProgress,
Tick,
ChangeDebugTicketSize(u32),
}

fn main() -> iced::Result {
Expand Down
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