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[APP-9877] Add pose sliders #440

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Merged
merged 2 commits into from
Oct 31, 2025
Merged

[APP-9877] Add pose sliders #440

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580ecd0
add pose widget
martha-johnston Oct 29, 2025
6762a84
use theme data
martha-johnston Oct 30, 2025
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232 changes: 2 additions & 230 deletions lib/widgets/resources/arm_new.dart
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Original file line number Diff line number Diff line change
@@ -1,8 +1,7 @@
import 'package:flutter/material.dart';

import '../../viam_sdk.dart';

final size = 300.0;
import 'arm_widgets/pose_widget.dart';

/// A widget to control an [Arm].
class ViamArmWidgetNew extends StatelessWidget {
Expand All @@ -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: () {},
),
],
),
PoseWidget(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,
),
),
);
}
}
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