From 3f3ee40c23a980505b04bcfcb183043b7fe91771 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Wed, 3 Jul 2024 13:34:03 -0700
Subject: [PATCH] Move cancel_all() out of SwervePathBuilder FFI class (#225)

---
 include/trajopt/path/SwervePathBuilder.hpp |  5 -----
 src/RustFFI.cpp                            |  9 +++++----
 src/RustFFI.hpp                            |  4 ++--
 src/lib.rs                                 | 12 ++++++------
 src/path/SwervePathBuilder.cpp             |  4 ----
 5 files changed, 13 insertions(+), 21 deletions(-)

diff --git a/include/trajopt/path/SwervePathBuilder.hpp b/include/trajopt/path/SwervePathBuilder.hpp
index abd6dd24..421c7019 100644
--- a/include/trajopt/path/SwervePathBuilder.hpp
+++ b/include/trajopt/path/SwervePathBuilder.hpp
@@ -181,11 +181,6 @@ class TRAJOPT_DLLEXPORT SwervePathBuilder {
   void AddIntermediateCallback(
       const std::function<void(SwerveSolution&, int64_t)> callback);
 
-  /**
-   * Cancel all currently generating SwervePathBuilders.
-   */
-  void CancelAll();
-
  private:
   SwervePath path;
 
diff --git a/src/RustFFI.cpp b/src/RustFFI.cpp
index c6a41eaa..b8d3fcaf 100644
--- a/src/RustFFI.cpp
+++ b/src/RustFFI.cpp
@@ -17,6 +17,7 @@
 #include "trajopt/drivetrain/SwerveModule.hpp"
 #include "trajopt/trajectory/HolonomicTrajectory.hpp"
 #include "trajopt/trajectory/HolonomicTrajectorySample.hpp"
+#include "trajopt/util/Cancellation.hpp"
 #include "trajoptlib/src/lib.rs.h"
 
 namespace trajopt::rsffi {
@@ -240,12 +241,12 @@ void SwervePathBuilder::add_progress_callback(
       });
 }
 
-void SwervePathBuilder::cancel_all() {
-  path_builder.CancelAll();
-}
-
 std::unique_ptr<SwervePathBuilder> swerve_path_builder_new() {
   return std::make_unique<SwervePathBuilder>();
 }
 
+void cancel_all() {
+  trajopt::GetCancellationFlag() = 1;
+}
+
 }  // namespace trajopt::rsffi
diff --git a/src/RustFFI.hpp b/src/RustFFI.hpp
index dd4915b1..723af323 100644
--- a/src/RustFFI.hpp
+++ b/src/RustFFI.hpp
@@ -65,12 +65,12 @@ class SwervePathBuilder {
   void add_progress_callback(
       rust::Fn<void(HolonomicTrajectory, int64_t)> callback);
 
-  void cancel_all();
-
  private:
   trajopt::SwervePathBuilder path_builder;
 };
 
 std::unique_ptr<SwervePathBuilder> swerve_path_builder_new();
 
+void cancel_all();
+
 }  // namespace trajopt::rsffi
diff --git a/src/lib.rs b/src/lib.rs
index 719d7daf..7f3a9f9a 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -162,9 +162,9 @@ mod ffi {
             callback: fn(HolonomicTrajectory, i64),
         );
 
-        fn cancel_all(self: Pin<&mut SwervePathBuilder>);
-
         fn swerve_path_builder_new() -> UniquePtr<SwervePathBuilder>;
+
+        fn cancel_all();
     }
 }
 
@@ -424,10 +424,6 @@ impl SwervePathBuilder {
     pub fn add_progress_callback(&mut self, callback: fn(HolonomicTrajectory, i64)) {
         crate::ffi::SwervePathBuilder::add_progress_callback(self.path_builder.pin_mut(), callback);
     }
-
-    pub fn cancel_all(&mut self) {
-        crate::ffi::SwervePathBuilder::cancel_all(self.path_builder.pin_mut());
-    }
 }
 
 impl Default for SwervePathBuilder {
@@ -436,6 +432,10 @@ impl Default for SwervePathBuilder {
     }
 }
 
+pub fn cancel_all() {
+    crate::ffi::cancel_all();
+}
+
 pub use ffi::HolonomicTrajectory;
 pub use ffi::HolonomicTrajectorySample;
 pub use ffi::Pose2d;
diff --git a/src/path/SwervePathBuilder.cpp b/src/path/SwervePathBuilder.cpp
index f9404981..73afbc4a 100644
--- a/src/path/SwervePathBuilder.cpp
+++ b/src/path/SwervePathBuilder.cpp
@@ -198,10 +198,6 @@ void SwervePathBuilder::AddIntermediateCallback(
   path.callbacks.push_back(callback);
 }
 
-void SwervePathBuilder::CancelAll() {
-  trajopt::GetCancellationFlag() = 1;
-}
-
 void SwervePathBuilder::NewWpts(size_t finalIndex) {
   int64_t targetIndex = finalIndex;
   int64_t greatestIndex = path.waypoints.size() - 1;