[APP-10023] Update joint positions when pose changes and vice versa

example/hotspot_provisioning_example_app/pubspec.lock

@@ -157,10 +157,10 @@ packages:
     dependency: transitive
     description:
       name: fake_async
-      sha256: "5368f224a74523e8d2e7399ea1638b37aecfca824a3cc4dfdf77bf1fa905ac44"
+      sha256: "6a95e56b2449df2273fd8c45a662d6947ce1ebb7aafe80e550a3f68297f3cacc"
       url: "https://pub.dev"
     source: hosted
-    version: "1.3.3"
+    version: "1.3.2"
   ffi:
     dependency: transitive
     description:
@@ -300,26 +300,26 @@ packages:
     dependency: transitive
     description:
       name: leak_tracker
-      sha256: "33e2e26bdd85a0112ec15400c8cbffea70d0f9c3407491f672a2fad47915e2de"
+      sha256: c35baad643ba394b40aac41080300150a4f08fd0fd6a10378f8f7c6bc161acec
       url: "https://pub.dev"
     source: hosted
-    version: "11.0.2"
+    version: "10.0.8"
   leak_tracker_flutter_testing:
     dependency: transitive
     description:
       name: leak_tracker_flutter_testing
-      sha256: "1dbc140bb5a23c75ea9c4811222756104fbcd1a27173f0c34ca01e16bea473c1"
+      sha256: f8b613e7e6a13ec79cfdc0e97638fddb3ab848452eff057653abd3edba760573
       url: "https://pub.dev"
     source: hosted
-    version: "3.0.10"
+    version: "3.0.9"
   leak_tracker_testing:
     dependency: transitive
     description:
       name: leak_tracker_testing
-      sha256: "8d5a2d49f4a66b49744b23b018848400d23e54caf9463f4eb20df3eb8acb2eb1"
+      sha256: "6ba465d5d76e67ddf503e1161d1f4a6bc42306f9d66ca1e8f079a47290fb06d3"
       url: "https://pub.dev"
     source: hosted
-    version: "3.0.2"
+    version: "3.0.1"
   lints:
     dependency: transitive
     description:
@@ -633,10 +633,10 @@ packages:
     dependency: transitive
     description:
       name: test_api
-      sha256: "522f00f556e73044315fa4585ec3270f1808a4b186c936e612cab0b565ff1e00"
+      sha256: fb31f383e2ee25fbbfe06b40fe21e1e458d14080e3c67e7ba0acfde4df4e0bbd
       url: "https://pub.dev"
     source: hosted
-    version: "0.7.6"
+    version: "0.7.4"
   typed_data:
     dependency: transitive
     description:
@@ -657,10 +657,10 @@ packages:
     dependency: transitive
     description:
       name: vector_math
-      sha256: d530bd74fea330e6e364cda7a85019c434070188383e1cd8d9777ee586914c5b
+      sha256: "80b3257d1492ce4d091729e3a67a60407d227c27241d6927be0130c98e741803"
       url: "https://pub.dev"
     source: hosted
-    version: "2.2.0"
+    version: "2.1.4"
   viam_flutter_hotspot_provisioning_widget:
     dependency: "direct main"
     description:
@@ -717,5 +717,5 @@ packages:
     source: hosted
     version: "6.5.0"
 sdks:
-  dart: ">=3.8.0-0 <4.0.0"
+  dart: ">=3.7.0 <4.0.0"
   flutter: ">=3.27.0"

lib/widgets/resources/arm.dart

@@ -1,171 +1,45 @@
-import 'package:collection/collection.dart';
 import 'package:flutter/material.dart';
 
 import '../../viam_sdk.dart';
-import '../../widgets.dart';
+import 'arm_widgets/joint_positions_widget.dart';
+import 'arm_widgets/pose_widget.dart';
+
+class ArmNotifier extends ChangeNotifier {
+  void armHasMoved() {
+    notifyListeners();
+  }
+}
 
 /// A widget to control an [Arm].
-class ViamArmWidget extends StatefulWidget {
+class ViamArmWidgetNew extends StatefulWidget {
   /// The [Arm]
   final Arm arm;
 
-  const ViamArmWidget({
+  const ViamArmWidgetNew({
     super.key,
     required this.arm,
   });
 
   @override
-  State<ViamArmWidget> createState() => _ViamArmWidgetState();
-}
-
-enum _PoseField {
-  x,
-  y,
-  z,
-  theta,
-  oX,
-  oY,
-  oZ;
-
-  String get title {
-    switch (this) {
-      case x:
-        return 'X';
-      case y:
-        return 'Y';
-      case z:
-        return 'Z';
-      case theta:
-        return 'Theta';
-      case oX:
-        return 'OX';
-      case oY:
-        return 'OY';
-      case oZ:
-        return 'OZ';
-    }
-  }
+  State<ViamArmWidgetNew> createState() => _ViamArmWidgetNewState();
 }
 
-class _ViamArmWidgetState extends State<ViamArmWidget> {
-  Pose endPosition = Pose();
-  List<double> jointPositions = [];
-
-  Future<void> _getPositions() async {
-    final ep = await widget.arm.endPosition();
-    final jp = await widget.arm.jointPositions();
-    setState(() {
-      jointPositions = jp;
-      endPosition = ep;
-    });
-  }
+class _ViamArmWidgetNewState extends State<ViamArmWidgetNew> {
+  final ArmNotifier _armNotifier = ArmNotifier();
 
   @override
-  void initState() {
-    super.initState();
-    _getPositions();
-  }
-
-  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;
-    }
-
-    await widget.arm.moveToPosition(ep);
-    await _getPositions();
-  }
-
-  Future<void> updateJointPosition(int joint, double increment) async {
-    final jp = jointPositions;
-    jp[joint] += increment;
-    await widget.arm.moveToJointPositions(jp);
-    await _getPositions();
-  }
-
-  TableRow _getEndPositionRow(_PoseField field) {
-    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;
-    }
-
-    return TableRow(children: [
-      _ArmTableCell(Text(field.title, textAlign: TextAlign.end)),
-      _ArmTableCell(ViamButton(onPressed: () => updateEndPosition(field, -10), text: '--', size: ViamButtonSizeClass.small)),
-      _ArmTableCell(ViamButton(onPressed: () => updateEndPosition(field, -1), text: '-', size: ViamButtonSizeClass.small)),
-      _ArmTableCell(Text(value.toStringAsFixed(2), textAlign: TextAlign.center)),
-      _ArmTableCell(ViamButton(onPressed: () => updateEndPosition(field, 1), text: '+', size: ViamButtonSizeClass.small)),
-      _ArmTableCell(ViamButton(onPressed: () => updateEndPosition(field, 10), text: '++', size: ViamButtonSizeClass.small)),
-    ]);
+  void dispose() {
+    _armNotifier.dispose();
+    super.dispose();
   }
 
   @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(
-          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: [
-                    _ArmTableCell(Text('Joint $index', textAlign: TextAlign.end)),
-                    _ArmTableCell(
-                        ViamButton(onPressed: () => updateJointPosition(index, -10), text: '--', size: ViamButtonSizeClass.small)),
-                    _ArmTableCell(ViamButton(onPressed: () => updateJointPosition(index, -1), text: '-', size: ViamButtonSizeClass.small)),
-                    _ArmTableCell(Text(element.toStringAsFixed(2), textAlign: TextAlign.center)),
-                    _ArmTableCell(ViamButton(onPressed: () => updateJointPosition(index, 1), text: '+', size: ViamButtonSizeClass.small)),
-                    _ArmTableCell(ViamButton(onPressed: () => updateJointPosition(index, 10), text: '++', size: ViamButtonSizeClass.small)),
-                  ]))
-              .toList(),
-        )
+        JointPositionsWidget(arm: widget.arm, updateNotifier: _armNotifier),
+        PoseWidget(arm: widget.arm, updateNotifier: _armNotifier),
       ],
     );
   }
 }
-
-class _ArmTableCell extends StatelessWidget {
-  final Widget child;
-
-  const _ArmTableCell(this.child);
-
-  @override
-  Widget build(BuildContext context) {
-    return TableCell(child: Padding(padding: const EdgeInsets.symmetric(horizontal: 2, vertical: 1), child: child));
-  }
-}