Arm widget #131
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| Original file line number | Diff line number | Diff line change |
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| import 'package:collection/collection.dart'; | ||
| import 'package:flutter/material.dart'; | ||
| import 'package:viam_sdk/viam_sdk.dart'; | ||
| import 'package:viam_sdk/widgets.dart'; | ||
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| /// A widget to control an [Arm]. | ||
| class ViamArmWidget extends StatefulWidget { | ||
| /// The [Arm] | ||
| final Arm arm; | ||
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| const ViamArmWidget({ | ||
| Key? key, | ||
| required this.arm, | ||
| }) : super(key: key); | ||
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| @override | ||
| State<ViamArmWidget> createState() => _ViamArmWidgetState(); | ||
| } | ||
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| enum _PoseField { x, y, z, theta, oX, oY, oZ } | ||
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| class _ViamArmWidgetState extends State<ViamArmWidget> { | ||
| Pose endPosition = Pose(); | ||
| List<double> jointPositions = []; | ||
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| Future<void> _getPositions() async { | ||
| final ep = await widget.arm.endPosition(); | ||
| final jp = await widget.arm.jointPositions(); | ||
| setState(() { | ||
| jointPositions = jp; | ||
| endPosition = ep; | ||
| }); | ||
| } | ||
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| @override | ||
| void initState() { | ||
| super.initState(); | ||
| _getPositions(); | ||
| } | ||
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| Future<void> updateEndPosition(_PoseField field, double increment) async { | ||
| final ep = endPosition; | ||
| switch (field) { | ||
| case _PoseField.x: | ||
| ep.x += increment; | ||
| case _PoseField.y: | ||
| ep.y += increment; | ||
| case _PoseField.z: | ||
| ep.z += increment; | ||
| case _PoseField.theta: | ||
| ep.theta += increment; | ||
| case _PoseField.oX: | ||
| ep.oX += increment; | ||
| case _PoseField.oY: | ||
| ep.oY += increment; | ||
| case _PoseField.oZ: | ||
| ep.oZ += increment; | ||
| } | ||
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| await widget.arm.moveToPosition(ep); | ||
| await _getPositions(); | ||
| } | ||
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| Future<void> updateJointPosition(int joint, double increment) async { | ||
| final jp = jointPositions; | ||
| jp[joint] += increment; | ||
| await widget.arm.moveToJointPositions(jp); | ||
| await _getPositions(); | ||
| } | ||
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| TableRow _getEndPositionRow(_PoseField field) { | ||
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There was a problem hiding this comment. Nice! Can we put this in it's own widget instead of a helper function? See here for a bit more of a deep dive on why. Basically it's more performant when the widget tree rebuilds. There was a problem hiding this comment. @njooma and I spoke offline, I was mistaken and TableRow is not a |
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| double value; | ||
| switch (field) { | ||
| case _PoseField.x: | ||
| value = endPosition.x; | ||
| case _PoseField.y: | ||
| value = endPosition.y; | ||
| case _PoseField.z: | ||
| value = endPosition.z; | ||
| case _PoseField.theta: | ||
| value = endPosition.theta; | ||
| case _PoseField.oX: | ||
| value = endPosition.oX; | ||
| case _PoseField.oY: | ||
| value = endPosition.oY; | ||
| case _PoseField.oZ: | ||
| value = endPosition.oZ; | ||
| } | ||
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| return TableRow(children: [ | ||
| TableCell( | ||
| child: Padding( | ||
| padding: const EdgeInsets.symmetric(horizontal: 2), | ||
| child: Text('${field.name[0].toUpperCase()}${field.name.substring(1).toLowerCase()}', textAlign: TextAlign.end))), | ||
| TableCell( | ||
| child: Padding( | ||
| padding: const EdgeInsets.symmetric(horizontal: 2), | ||
| child: ViamButton(onPressed: () => updateEndPosition(field, -10), text: '--', size: ViamButtonSizeClass.small))), | ||
| TableCell( | ||
| child: Padding( | ||
| padding: const EdgeInsets.symmetric(horizontal: 2), | ||
| child: ViamButton(onPressed: () => updateEndPosition(field, -1), text: '-', size: ViamButtonSizeClass.small))), | ||
| TableCell( | ||
| child: Padding( | ||
| padding: const EdgeInsets.symmetric(horizontal: 2), child: Text(value.toStringAsFixed(2), textAlign: TextAlign.center))), | ||
| TableCell( | ||
| child: Padding( | ||
| padding: const EdgeInsets.symmetric(horizontal: 2), | ||
| child: ViamButton(onPressed: () => updateEndPosition(field, 1), text: '+', size: ViamButtonSizeClass.small))), | ||
| TableCell( | ||
| child: Padding( | ||
| padding: const EdgeInsets.symmetric(horizontal: 2, vertical: 1), | ||
| child: ViamButton(onPressed: () => updateEndPosition(field, 10), text: '++', size: ViamButtonSizeClass.small))), | ||
| ]); | ||
| } | ||
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| @override | ||
| Widget build(BuildContext context) { | ||
| return Column( | ||
| mainAxisAlignment: MainAxisAlignment.center, | ||
| crossAxisAlignment: CrossAxisAlignment.center, | ||
| children: [ | ||
| const Text('End Positions (mm)', style: TextStyle(fontWeight: FontWeight.bold)), | ||
| Table( | ||
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There was a problem hiding this comment. [minor] This Table is a BEEFY widget, can we break it out into its own widget? |
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| columnWidths: const {0: IntrinsicColumnWidth()}, | ||
| defaultVerticalAlignment: TableCellVerticalAlignment.middle, | ||
| children: _PoseField.values.map((e) => _getEndPositionRow(e)).toList(), | ||
| ), | ||
| const SizedBox(height: 16), | ||
| const Text('Joints (degrees)', style: TextStyle(fontWeight: FontWeight.bold)), | ||
| Table( | ||
| columnWidths: const {0: IntrinsicColumnWidth()}, | ||
| defaultVerticalAlignment: TableCellVerticalAlignment.middle, | ||
| children: jointPositions | ||
| .mapIndexed((index, element) => TableRow(children: [ | ||
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| TableCell( | ||
| child: Padding( | ||
| padding: const EdgeInsets.symmetric(horizontal: 2), child: Text('Joint $index', textAlign: TextAlign.end))), | ||
| TableCell( | ||
| child: Padding( | ||
| padding: const EdgeInsets.symmetric(horizontal: 2), | ||
| child: | ||
| ViamButton(onPressed: () => updateJointPosition(index, -10), text: '--', size: ViamButtonSizeClass.small))), | ||
| TableCell( | ||
| child: Padding( | ||
| padding: const EdgeInsets.symmetric(horizontal: 2), | ||
| child: | ||
| ViamButton(onPressed: () => updateJointPosition(index, -1), text: '-', size: ViamButtonSizeClass.small))), | ||
| TableCell( | ||
| child: Padding( | ||
| padding: const EdgeInsets.symmetric(horizontal: 2), | ||
| child: Text(element.toStringAsFixed(2), textAlign: TextAlign.center))), | ||
| TableCell( | ||
| child: Padding( | ||
| padding: const EdgeInsets.symmetric(horizontal: 2), | ||
| child: ViamButton(onPressed: () => updateJointPosition(index, 1), text: '+', size: ViamButtonSizeClass.small))), | ||
| TableCell( | ||
| child: Padding( | ||
| padding: const EdgeInsets.symmetric(horizontal: 2, vertical: 1), | ||
| child: | ||
| ViamButton(onPressed: () => updateJointPosition(index, 10), text: '++', size: ViamButtonSizeClass.small))), | ||
| ])) | ||
| .toList(), | ||
| ) | ||
| ], | ||
| ); | ||
| } | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -34,8 +34,8 @@ class _ViamBaseWidgetState extends State<ViamBaseWidget> { | |
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| @override | ||
| void initState() { | ||
| super.initState(); | ||
| camera = widget.cameras.firstOrNull; | ||
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There was a problem hiding this comment. [q] why move this after the super init state? Was it getting overwritten or something? There was a problem hiding this comment. We've just been doing it wrong the entire time. From the documentation:
There was a problem hiding this comment. Similarly, you might see changes to
There was a problem hiding this comment. Cool; makes intuitive sense too that you want to do the inherited construction/destruction before the custom class construction/destruction. |
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| } | ||
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| Widget _buildCamera() { | ||
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Nice, good catch here; definitely agree with preferring native types where possible.