Ready widgets to be expanded (viamrobotics#120)

Makefile

@@ -30,7 +30,7 @@ setup:
 	dart pub global activate cider
 
 format:
-	dart format --line-length=140 --set-exit-if-changed $$(find . -name "*.dart" -not -path "./lib/src/gen/*" -not -path "**.mocks.dart")
+	dart format --line-length=140 --set-exit-if-changed $$(find . -name "*.dart" -not -path "./lib/src/gen/*" -not -path "**.mocks.dart" -not -path "./.dart_tool/*")
 
 test:
 	flutter test

example/viam_example_app/lib/screens/base.dart

@@ -18,7 +18,7 @@ class BaseScreen extends StatelessWidget {
       ),
       iosContentPadding: true,
       body: Center(
-        child: ViamBaseScreen(
+        child: ViamBaseWidget(
           base: base,
           cameras: cameras,
           robotClient: robot,

example/viam_example_app/lib/screens/gripper.dart

@@ -18,7 +18,7 @@ class GripperScreen extends StatelessWidget {
       ),
       iosContentPadding: true,
       body: Center(
-        child: ViamGripperScreen(
+        child: ViamGripperWidget(
           gripper: gripper,
           cameras: cameras,
           robotClient: robot,

lib/widgets.dart

@@ -7,3 +7,4 @@ export 'widgets/resources/board.dart';
 export 'widgets/resources/gripper.dart';
 export 'widgets/resources/motor.dart';
 export 'widgets/resources/sensor.dart';
+export 'widgets/resources/servo.dart';

lib/widgets/resources/base.dart

@@ -8,7 +8,7 @@ import '../multi_camera_stream.dart';
 ///
 /// This widget provides a joystick for moving a [Base],
 /// along with displaying any camera streams that might be available on the robot.
-class ViamBaseScreen extends StatefulWidget {
+class ViamBaseWidget extends StatefulWidget {
   /// The [Base]
   final Base base;
 
@@ -18,18 +18,18 @@ class ViamBaseScreen extends StatefulWidget {
   /// The current [RobotClient]
   final RobotClient robotClient;
 
-  const ViamBaseScreen({
+  const ViamBaseWidget({
     Key? key,
     required this.base,
     required this.cameras,
     required this.robotClient,
   }) : super(key: key);
 
   @override
-  State<ViamBaseScreen> createState() => _ViamBaseScreenState();
+  State<ViamBaseWidget> createState() => _ViamBaseWidgetState();
 }
 
-class _ViamBaseScreenState extends State<ViamBaseScreen> {
+class _ViamBaseWidgetState extends State<ViamBaseWidget> {
   Camera? camera;
 
   @override
@@ -45,22 +45,15 @@ class _ViamBaseScreenState extends State<ViamBaseScreen> {
     return const SizedBox.shrink();
   }
 
-  Widget _spacer() {
-    if (widget.cameras.isNotEmpty) {
-      return const Spacer();
-    }
-    return const SizedBox.shrink();
-  }
-
   @override
   Widget build(BuildContext context) {
     return Column(
       mainAxisAlignment: MainAxisAlignment.center,
+      crossAxisAlignment: CrossAxisAlignment.center,
       children: [
         _buildCamera(),
-        _spacer(),
         Padding(
-          padding: const EdgeInsets.fromLTRB(0, 0, 0, 48),
+          padding: const EdgeInsets.only(bottom: 48),
           child: Center(
             child: ViamBaseJoystick(base: widget.base),
           ),

lib/widgets/resources/gripper.dart

@@ -10,7 +10,7 @@ import '../multi_camera_stream.dart';
 ///
 /// This widget provides open and grab functionality for a [Gripper],
 /// along with displaying any camera streams that might be available on the robot.
-class ViamGripperScreen extends StatefulWidget {
+class ViamGripperWidget extends StatefulWidget {
   /// The [Gripper]
   final Gripper gripper;
 
@@ -20,18 +20,18 @@ class ViamGripperScreen extends StatefulWidget {
   /// The current [RobotClient]
   final RobotClient robotClient;
 
-  const ViamGripperScreen({
+  const ViamGripperWidget({
     Key? key,
     required this.gripper,
     required this.cameras,
     required this.robotClient,
   }) : super(key: key);
 
   @override
-  State<ViamGripperScreen> createState() => _ViamGripperScreenState();
+  State<ViamGripperWidget> createState() => _ViamGripperWidgetState();
 }
 
-class _ViamGripperScreenState extends State<ViamGripperScreen> {
+class _ViamGripperWidgetState extends State<ViamGripperWidget> {
   Camera? camera;
   bool _isOpen = false;
 

lib/widgets/resources/motor.dart

@@ -21,15 +21,7 @@ class ViamMotorWidget extends StatefulWidget {
 class _ViamMotorWidgetState extends State<ViamMotorWidget> {
   double power = 0;
   bool autoStop = true;
-
-  void showError(Object error) {
-    showDialog(
-        context: context,
-        builder: ((context) => AlertDialog(
-              title: const Text('Error'),
-              content: Text('Caught error: $error'),
-            )));
-  }
+  Error? error;
 
   Future<void> setPower(double power) async {
     try {
@@ -38,7 +30,7 @@ class _ViamMotorWidgetState extends State<ViamMotorWidget> {
         this.power = power;
       });
     } catch (e) {
-      showError(e);
+      error = e as Error;
     }
   }
 
@@ -56,7 +48,7 @@ class _ViamMotorWidgetState extends State<ViamMotorWidget> {
         }
       }
     } catch (e) {
-      showError(e);
+      error = e as Error;
     }
   }
 
@@ -122,6 +114,7 @@ class _ViamMotorWidgetState extends State<ViamMotorWidget> {
               onChangeEnd: _handleSliderRelease,
             ),
           ),
+          if (error != null) Text('Error: $error', style: const TextStyle(color: Colors.red)),
         ],
       ),
     );

lib/widgets/resources/servo.dart

@@ -0,0 +1,104 @@
+import 'package:flutter/material.dart';
+import 'package:viam_sdk/viam_sdk.dart';
+import 'package:viam_sdk/widgets.dart';
+
+class ViamServoWidget extends StatefulWidget {
+  final Servo servo;
+
+  const ViamServoWidget({Key? key, required this.servo}) : super(key: key);
+
+  @override
+  State<ViamServoWidget> createState() {
+    return _ViamServoWidgetState();
+  }
+}
+
+class _ViamServoWidgetState extends State<ViamServoWidget> {
+  int angle = 0;
+  String moveTo = '0';
+  Error? error;
+
+  @override
+  void initState() {
+    _getPosition();
+
+    super.initState();
+  }
+
+  Future<void> _getPosition() async {
+    try {
+      final angle = await widget.servo.position();
+      if (mounted) {
+        setState(() {
+          this.angle = angle;
+        });
+      }
+    } catch (e) {
+      error = e as Error;
+    }
+  }
+
+  Future<void> _move(int distance) async {
+    try {
+      await widget.servo.move(distance);
+      await _getPosition();
+    } catch (e) {
+      error = e as Error;
+    }
+  }
+
+  Future<void> _stop() async {
+    await widget.servo.stop();
+    await _getPosition();
+  }
+
+  @override
+  Widget build(BuildContext context) {
+    return Column(
+      crossAxisAlignment: CrossAxisAlignment.start,
+      children: [
+        Text('Angle: $angle', style: Theme.of(context).textTheme.titleLarge),
+        const SizedBox(height: 5),
+        Row(
+          children: [
+            ViamButton(
+              onPressed: () => _move(angle - 10),
+              text: '-10',
+              size: ViamButtonSizeClass.small,
+            ),
+            const SizedBox(width: 4),
+            ViamButton(
+              onPressed: () => _move(angle - 1),
+              text: '-1',
+              size: ViamButtonSizeClass.small,
+            ),
+            const SizedBox(width: 4),
+            ViamButton(
+              onPressed: () => _move(angle + 1),
+              text: '1',
+              size: ViamButtonSizeClass.small,
+            ),
+            const SizedBox(width: 4),
+            ViamButton(
+              onPressed: () => _move(angle + 10),
+              text: '10',
+              size: ViamButtonSizeClass.small,
+            ),
+          ],
+        ),
+        const SizedBox(height: 8),
+        Row(
+          children: [
+            ViamButton(
+              onPressed: () => _stop(),
+              text: 'STOP',
+              role: ViamButtonRole.danger,
+              size: ViamButtonSizeClass.small,
+            ),
+          ],
+        ),
+        if (error != null) Text('Error: $error', style: const TextStyle(color: Colors.red)),
+      ],
+    );
+  }
+}