openrr-gui: Improvement of joint_position_sender

[taiki-e]

Features

• Add text box(?) to set the duration. openrr-gui: Improvement of joint_position_sender #101 (comment) (Currently I ordered to use 100msec); done in [openrr-gui] Add text input to set duration and improve error handling about text input #210
  The unit of time should be f64 sec.

Bugfixes

• Depending on how to move slider, response on urdf-viz side is very slow openrr-gui: joint_position_sender: Depending on how to move slider, response on urdf-viz side is very slow #108; fixed by [arci] Change the wait logic #130

Resolve TODOs

• fixed by [openrr-gui] Take urdf_rs::Robot instead of Path in joint_position_sender #281

  openrr/openrr-gui/src/joint_position_sender.rs

  Lines 52 to 53 in 1896893

  	// TODO: If the urdf file read by `robot_client` and this urdf file are different, we should emit an error.
  	let mut robot = urdf_rs::read_file(urdf_path)?;

• openrr/openrr-gui/src/joint_position_sender.rs

  Lines 139 to 142 in 1896893

  	// TODO: Currently, we have separate states for each joint_trajectory_client,
  	// but we initialize/update joint_positions based on current_joint_positions
  	// when joint_trajectory_client changed. Do we really need to separate state?
  	joint_states: HashMap<String, Vec<JointState>>,

• Decide how to handle errors. fixed by [openrr-gui] Send positions within the update method #257
  

  openrr/openrr-gui/src/joint_position_sender.rs

  Lines 208 to 209 in 1896893

  	// TODO: Decide how to handle errors.
  	Message::UpdateAll(vec![Default::default(); len])

  
  

  openrr/openrr-gui/src/joint_position_sender.rs

  Lines 301 to 302 in 1896893

  	// TODO: Decide how to handle errors.
  	Message::Ignore

• done in [openrr-gui] Change Center to Zero #134

  openrr/openrr-gui/src/joint_position_sender.rs

  Lines 238 to 239 in 1896893

  	// TODO: is the center always 0.00?
  	joint_state.position = 0.0;

• (Blocked on upstream)

  openrr/openrr-gui/src/joint_position_sender.rs

  Line 367 in 1896893

  // TODO: set horizontal_alignment on TextInput, once https://github.com/hecrj/iced/pull/373 merged and released.

• done in [openrr-gui] Update iced to 0.3 #241

  openrr/openrr-gui/src/error.rs

  Lines 16 to 18 in 1896893

  	// TODO: iced::Error doesn't implement Send/Sync, so for now, convert it to a string.
  	// Without this, it cannot be used in combination with `anyhow::Result`.
  	// https://github.com/hecrj/iced/issues/516

• pending in [openrr-gui] Use iced_style_config #663

  openrr/openrr-gui/src/style.rs

  Lines 1 to 2 in 1896893

  	// TODO: It's painful to recompile this crate every time I change the style.
  	// So remove and replace with https://github.com/taiki-e/iced_style_config or alternatives.

[OTL]

Request:

Add text box(?) to set the duration. (Currently I ordered to use 100msec)
The unit of time should be f64 sec.

[taiki-e]

We also need to rethink when to apply the joint position text box updates.
Perhaps it is preferable to request an explicit enter key (using iced::TextInput::on_submit).
Currently, it is updated every time you type a new character. (For example, if you try to type 1.35, joint_position_sender will send 1, 1.3, and 1.35.)