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martha-johnstonmartha-johnston
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[APP-9878] Add joint angles (#439)
* add joint positions widget * arm_new generic screen * Change label from 'Joint Angles' to 'Joint Positions' * Implement joint position functionality (#441) * use theme for colors * update joint angle limits
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‎lib/widgets/resources/arm_new.dart‎

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@@ -1,6 +1,7 @@
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import 'package:flutter/material.dart';
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import '../../viam_sdk.dart';
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import 'arm_widgets/joint_positions_widget.dart';
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import 'arm_widgets/pose_widget.dart';
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/// A widget to control an [Arm].
@@ -17,6 +18,7 @@ class ViamArmWidgetNew extends StatelessWidget {
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Widget build(BuildContext context) {
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return Column(
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children: [
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JointPositionsWidget(arm: arm),
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PoseWidget(arm: arm),
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],
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);

‎lib/widgets/resources/arm_widgets/joint_positions_widget.dart‎

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import 'package:flutter/material.dart';
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import 'package:flutter/services.dart';
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import '../../../viam_sdk.dart' as viam;
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class JointPositionsWidget extends StatefulWidget {
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final viam.Arm arm;
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const JointPositionsWidget({super.key, required this.arm});
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@override
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State<JointPositionsWidget> createState() => _JointPositionsWidgetState();
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}
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bool _isLive = false;
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class _JointPositionsWidgetState extends State<JointPositionsWidget> {
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List<double> _jointValues = [];
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@override
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void initState() {
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super.initState();
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_getJointPositions();
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}
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Future<void> _getJointPositions() async {
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_jointValues = await widget.arm.jointPositions();
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setState(() {});
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}
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Future<void> _setJointPositions() async {
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await widget.arm.moveToJointPositions(_jointValues);
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}
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@override
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Widget build(BuildContext context) {
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return Column(
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children: [
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Divider(),
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Text(
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'Joint Positions',
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style: TextStyle(
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fontWeight: FontWeight.bold,
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),
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),
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Divider(),
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Padding(
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padding: const EdgeInsets.all(20.0),
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child: Column(
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mainAxisSize: MainAxisSize.min,
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children: _jointValues.isEmpty
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? [CircularProgressIndicator.adaptive()]
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: List.generate(_jointValues.length, (index) {
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return _BuildJointControlRow(index: index, arm: widget.arm, startJointValues: _jointValues);
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}),
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),
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),
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Padding(
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padding: const EdgeInsets.fromLTRB(20.0, 0, 20.0, 20.0),
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child: Row(
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spacing: 8,
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children: [
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Switch(
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value: _isLive,
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onChanged: (newValue) {
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setState(() {
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_isLive = newValue;
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});
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},
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),
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Text(
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'Live',
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),
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Spacer(),
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OutlinedButton.icon(
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onPressed: _isLive ? null : _setJointPositions,
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label: Text('Execute'),
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icon: Icon(Icons.play_arrow),
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),
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],
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),
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),
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],
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);
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}
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}
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class _BuildJointControlRow extends StatefulWidget {
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final int index;
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final viam.Arm arm;
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final List<double> startJointValues;
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const _BuildJointControlRow({required this.index, required this.arm, required this.startJointValues});
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@override
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State<_BuildJointControlRow> createState() => _BuildJointControlRowState();
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}
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class _BuildJointControlRowState extends State<_BuildJointControlRow> {
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static const double _minPosition = -359.0;
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static const double _maxPosition = 359.0;
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List<double> _jointValues = [];
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List<TextEditingController> _textControllers = [];
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@override
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void initState() {
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_jointValues = widget.startJointValues;
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_textControllers = List.generate(
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_jointValues.length,
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(index) => TextEditingController(text: _jointValues[index].toStringAsFixed(1)),
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);
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super.initState();
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}
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@override
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void dispose() {
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for (final controller in _textControllers) {
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controller.dispose();
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}
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super.dispose();
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}
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void _updateJointValue(int index, double value) {
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final clampedValue = value.clamp(_minPosition, _maxPosition);
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setState(() {
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_jointValues[index] = clampedValue;
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final formattedValue = clampedValue.toStringAsFixed(1);
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if (_textControllers[index].text != formattedValue) {
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_textControllers[index].text = formattedValue;
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_textControllers[index].selection = TextSelection.fromPosition(
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TextPosition(offset: _textControllers[index].text.length),
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);
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}
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});
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if (_isLive) {
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widget.arm.moveToJointPositions(_jointValues);
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}
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}
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@override
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Widget build(BuildContext context) {
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return Padding(
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padding: const EdgeInsets.symmetric(vertical: 8.0),
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child: Row(
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children: [
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SizedBox(
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width: 30,
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child: Text(
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'J${widget.index + 1}',
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style: Theme.of(context).textTheme.titleMedium,
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),
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),
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Expanded(
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child: Slider(
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value: _jointValues[widget.index],
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min: _minPosition,
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max: _maxPosition,
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divisions: (_maxPosition - _minPosition).toInt(),
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onChanged: (newValue) => _updateJointValue(widget.index, newValue),
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),
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),
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SizedBox(
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width: 70,
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child: TextField(
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controller: _textControllers[widget.index],
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textAlign: TextAlign.center,
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keyboardType: const TextInputType.numberWithOptions(decimal: true),
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inputFormatters: [
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FilteringTextInputFormatter.allow(RegExp(r'^\d+\.?\d{0,1}')),
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],
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onSubmitted: (newValue) {
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final parsedValue = double.tryParse(newValue) ?? _jointValues[widget.index];
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_updateJointValue(widget.index, parsedValue);
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},
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),
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),
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const SizedBox(width: 8),
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IconButton(
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icon: const Icon(Icons.remove),
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onPressed: () {
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_updateJointValue(widget.index, _jointValues[widget.index] - 1.0);
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},
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),
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IconButton(
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icon: const Icon(Icons.add),
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onPressed: () {
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_updateJointValue(widget.index, _jointValues[widget.index] + 1.0);
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},
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),
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],
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),
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);
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}
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}

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