Technical Documentation: Route Editor

Architecture

The Route Editor is a graph-based design system implemented with a custom Canvas engine. It manages a complex state of interrelated nodes and edges.

Technical Details

File Path: lib/screens/route_editor_screen.dart
State Management: RouteEditorProvider manages the graph data structure.
Output Format: Generates a standardized JSON "Route Graph" compatible with the robot's trajectory-following service.

Core Components

Nodes: Objects representing $(x, y)$ coordinates in the Map Frame. They serve as graph vertices.
Edges: Objects linking two Node IDs. They represent traversal paths and store metadata like directionality (Single/Dual) and speed limits.
Actions: Optional payloads attached to nodes, executed by the robot's state machine when the node is reached.

Interaction Engine

Canvas Math: Implements coordinate transformations between the Offset (UI pixels) and Point (Map Meters). It uses a MapScale factor derived from the underlying map's resolution.
Snapping Logic: When a user drags a node near another, the engine calculates the Euclidean distance and "snaps" to existing vertices if within a 10px threshold for clean graph building.
Intersection Detection: Prevents creating edges that cross restricted "No-Go" zones predefined in the Map Editor.

Performance

Uses RepaintBoundary around the canvas and its background map to ensure that dragging a node doesn't re-render the entire 4K map image, maintaining 60 FPS performance.