arm_new generic screen

Author: martha-johnston

lib/widgets/resources/arm_new.dart

@@ -1,8 +1,7 @@
 import 'package:flutter/material.dart';
 
 import '../../viam_sdk.dart';
-
-final size = 300.0;
+import 'arm_widgets/joint_positions_widget.dart';
 
 /// A widget to control an [Arm].
 class ViamArmWidgetNew extends StatelessWidget {
@@ -18,235 +17,8 @@ class ViamArmWidgetNew extends StatelessWidget {
   Widget build(BuildContext context) {
     return Column(
       children: [
-        Divider(),
-        Text(
-          'End-effector Position',
-          style: TextStyle(
-            fontWeight: FontWeight.bold,
-          ),
-        ),
-        Divider(),
-        Stack(
-          children: [
-            _SlantedArrowPad(
-              // TODO: add functions for arrow functionality
-              onUp: () {},
-              onDown: () {},
-              onLeft: () {},
-              onRight: () {},
-            ),
-            _BuildCornerButton(
-              alignment: Alignment.topLeft,
-              direction: ArrowDirection.up,
-              label: 'Z+',
-              onPressed: () {},
-            ),
-            _BuildCornerButton(
-              alignment: Alignment.topRight,
-              direction: ArrowDirection.down,
-              label: 'Z-',
-              onPressed: () {},
-            ),
-          ],
-        ),
+        JointPositionsWidget(arm: arm),
       ],
     );
   }
 }
-
-class _BuildCornerButton extends StatelessWidget {
-  final Alignment alignment;
-  final ArrowDirection direction;
-  final String label;
-  final VoidCallback onPressed;
-
-  const _BuildCornerButton({
-    required this.alignment,
-    required this.direction,
-    required this.label,
-    required this.onPressed,
-  });
-
-  @override
-  Widget build(BuildContext context) {
-    return Align(
-      alignment: alignment,
-      child: Padding(
-        padding: const EdgeInsets.all(24.0),
-        child: SizedBox(
-          width: 100,
-          height: 100,
-          child: IconButton(
-            icon: Stack(
-              alignment: Alignment.center,
-              children: [
-                CustomPaint(
-                  painter: _LinearArrowPainter(direction: direction, color: Colors.black),
-                  child: const SizedBox.expand(),
-                ),
-                Text(
-                  label,
-                  style: const TextStyle(
-                    color: Colors.white,
-                    fontWeight: FontWeight.bold,
-                    fontSize: 16,
-                  ),
-                ),
-              ],
-            ),
-            onPressed: onPressed,
-          ),
-        ),
-      ),
-    );
-  }
-}
-
-enum ArrowDirection { up, down, left, right }
-
-class _LinearArrowPainter extends CustomPainter {
-  final ArrowDirection direction;
-  final Color color;
-
-  _LinearArrowPainter({required this.direction, required this.color});
-
-  @override
-  void paint(Canvas canvas, Size size) {
-    final paint = Paint()
-      ..color = color
-      ..style = PaintingStyle.fill;
-
-    final path = Path();
-    final w = size.width;
-    final h = size.height;
-
-    switch (direction) {
-      case ArrowDirection.up:
-        path.moveTo(w / 2, 0);
-        path.lineTo(w, h * 0.6);
-        path.lineTo(w * 0.8, h * 0.6);
-        path.lineTo(w * 0.8, h);
-        path.lineTo(w * 0.2, h);
-        path.lineTo(w * 0.2, h * 0.6);
-        path.lineTo(0, h * 0.6);
-        break;
-      case ArrowDirection.down:
-        path.moveTo(w / 2, h);
-        path.lineTo(0, h * 0.4);
-        path.lineTo(w * 0.2, h * 0.4);
-        path.lineTo(w * 0.2, 0);
-        path.lineTo(w * 0.8, 0);
-        path.lineTo(w * 0.8, h * 0.4);
-        path.lineTo(w, h * 0.4);
-        break;
-      case ArrowDirection.left:
-        path.moveTo(0, h / 2);
-        path.lineTo(w * 0.6, 0);
-        path.lineTo(w * 0.6, h * 0.2);
-        path.lineTo(w, h * 0.2);
-        path.lineTo(w, h * 0.8);
-        path.lineTo(w * 0.6, h * 0.8);
-        path.lineTo(w * 0.6, h);
-        break;
-      case ArrowDirection.right:
-        path.moveTo(w, h / 2);
-        path.lineTo(w * 0.4, h);
-        path.lineTo(w * 0.4, h * 0.8);
-        path.lineTo(0, h * 0.8);
-        path.lineTo(0, h * 0.2);
-        path.lineTo(w * 0.4, h * 0.2);
-        path.lineTo(w * 0.4, 0);
-        break;
-    }
-
-    path.close();
-    canvas.drawPath(path, paint);
-  }
-
-  @override
-  bool shouldRepaint(covariant _LinearArrowPainter oldDelegate) => false;
-}
-
-class _SlantedArrowPad extends StatelessWidget {
-  final VoidCallback? onUp;
-  final VoidCallback? onDown;
-  final VoidCallback? onLeft;
-  final VoidCallback? onRight;
-
-  const _SlantedArrowPad({
-    super.key,
-    this.onUp,
-    this.onDown,
-    this.onLeft,
-    this.onRight,
-  });
-
-  @override
-  Widget build(BuildContext context) {
-    return Center(
-      child: Transform(
-        transform: Matrix4.identity()
-          ..setEntry(3, 2, 0.0015)
-          ..rotateX(-0.9),
-        alignment: FractionalOffset.center,
-        child: SizedBox(
-          height: size,
-          width: size,
-          child: Stack(
-            children: [
-              _BuildArrowButton(alignment: Alignment.topCenter, direction: ArrowDirection.up, onPressed: onUp, label: 'X-'),
-              _BuildArrowButton(alignment: Alignment.bottomCenter, direction: ArrowDirection.down, onPressed: onDown, label: 'X+'),
-              _BuildArrowButton(alignment: Alignment.centerLeft, direction: ArrowDirection.left, onPressed: onLeft, label: 'Y-'),
-              _BuildArrowButton(alignment: Alignment.centerRight, direction: ArrowDirection.right, onPressed: onRight, label: 'Y+'),
-            ],
-          ),
-        ),
-      ),
-    );
-  }
-}
-
-class _BuildArrowButton extends StatelessWidget {
-  final Alignment alignment;
-  final ArrowDirection direction;
-  final String label;
-  final VoidCallback? onPressed;
-
-  const _BuildArrowButton({
-    required this.alignment,
-    required this.direction,
-    required this.onPressed,
-    required this.label,
-  });
-
-  @override
-  Widget build(BuildContext context) {
-    return Align(
-      alignment: alignment,
-      child: SizedBox(
-        width: size / 2.5,
-        height: size / 2.5,
-        child: IconButton(
-          icon: Stack(
-            alignment: Alignment.center,
-            children: [
-              CustomPaint(
-                painter: _LinearArrowPainter(direction: direction, color: Colors.black),
-                child: const SizedBox.expand(),
-              ),
-              Text(
-                label,
-                style: const TextStyle(
-                  color: Colors.white,
-                  fontWeight: FontWeight.bold,
-                  fontSize: 16,
-                ),
-              ),
-            ],
-          ),
-          onPressed: onPressed,
-        ),
-      ),
-    );
-  }
-}