Skip to content

Commit

Permalink
Fixed nt widget variable and methods scopes
Browse files Browse the repository at this point in the history
  • Loading branch information
@Gold872
Gold872 committed Feb 24, 2024
1 parent 0255313 commit 72ed221
Show file tree
Hide file tree
Showing 32 changed files with 1,226 additions and 1,163 deletions.
20 changes: 10 additions & 10 deletions lib/widgets/nt_widgets/multi-topic/accelerometer.dart
View file
Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,8 @@ class AccelerometerWidget extends NTWidget {
@override
String type = widgetType;

late String valueTopic;
late NT4Subscription valueSubscription;
late String _valueTopic;
late NT4Subscription _valueSubscription;

AccelerometerWidget({
super.key,
Expand All @@ -29,23 +29,23 @@ class AccelerometerWidget extends NTWidget {
void init() {
super.init();

valueTopic = '$topic/Value';
valueSubscription = ntConnection.subscribe(valueTopic, super.period);
_valueTopic = '$topic/Value';
_valueSubscription = ntConnection.subscribe(_valueTopic, super.period);
}

@override
void resetSubscription() {
ntConnection.unSubscribe(valueSubscription);
ntConnection.unSubscribe(_valueSubscription);

valueTopic = '$topic/Value';
valueSubscription = ntConnection.subscribe(valueTopic, super.period);
_valueTopic = '$topic/Value';
_valueSubscription = ntConnection.subscribe(_valueTopic, super.period);

super.resetSubscription();
}

@override
void unSubscribe() {
ntConnection.unSubscribe(valueSubscription);
ntConnection.unSubscribe(_valueSubscription);

super.unSubscribe();
}
Expand All @@ -55,8 +55,8 @@ class AccelerometerWidget extends NTWidget {
notifier = context.watch<NTWidgetModel>();

return StreamBuilder(
stream: valueSubscription.periodicStream(yieldAll: false),
initialData: ntConnection.getLastAnnouncedValue(valueTopic),
stream: _valueSubscription.periodicStream(yieldAll: false),
initialData: ntConnection.getLastAnnouncedValue(_valueTopic),
builder: (context, snapshot) {
double value = tryCast(snapshot.data) ?? 0.0;

Expand Down
141 changes: 73 additions & 68 deletions lib/widgets/nt_widgets/multi-topic/basic_swerve_drive.dart
View file
Original file line number Diff line number Diff line change
Expand Up @@ -15,74 +15,76 @@ class SwerveDriveWidget extends NTWidget {
@override
String type = widgetType;

late String frontLeftAngleTopic;
late String frontLeftVelocityTopic;
late String _frontLeftAngleTopic;
late String _frontLeftVelocityTopic;

late String frontRightAngleTopic;
late String frontRightVelocityTopic;
late String _frontRightAngleTopic;
late String _frontRightVelocityTopic;

late String backLeftAngleTopic;
late String backLeftVelocityTopic;
late String _backLeftAngleTopic;
late String _backLeftVelocityTopic;

late String backRightAngleTopic;
late String backRightVelocityTopic;
late String _backRightAngleTopic;
late String _backRightVelocityTopic;

late String robotAngleTopic;
late String _robotAngleTopic;

bool showRobotRotation = true;
bool _showRobotRotation = true;

String rotationUnit = 'Radians';
String _rotationUnit = 'Radians';

SwerveDriveWidget({
super.key,
required super.topic,
this.showRobotRotation = true,
this.rotationUnit = 'Radians',
bool showRobotRotation = true,
String rotationUnit = 'Radians',
super.dataType,
super.period,
}) : super();
}) : _rotationUnit = rotationUnit,
_showRobotRotation = showRobotRotation,
super();

SwerveDriveWidget.fromJson(
{super.key, required Map<String, dynamic> jsonData})
: super.fromJson(jsonData: jsonData) {
showRobotRotation = tryCast(jsonData['show_robot_rotation']) ?? true;
rotationUnit = tryCast(jsonData['rotation_unit']) ?? 'Degrees';
_showRobotRotation = tryCast(jsonData['show_robot_rotation']) ?? true;
_rotationUnit = tryCast(jsonData['rotation_unit']) ?? 'Degrees';
}

@override
void init() {
super.init();

frontLeftAngleTopic = '$topic/Front Left Angle';
frontLeftVelocityTopic = '$topic/Front Left Velocity';
_frontLeftAngleTopic = '$topic/Front Left Angle';
_frontLeftVelocityTopic = '$topic/Front Left Velocity';

frontRightAngleTopic = '$topic/Front Right Angle';
frontRightVelocityTopic = '$topic/Front Right Velocity';
_frontRightAngleTopic = '$topic/Front Right Angle';
_frontRightVelocityTopic = '$topic/Front Right Velocity';

backLeftAngleTopic = '$topic/Back Left Angle';
backLeftVelocityTopic = '$topic/Back Left Velocity';
_backLeftAngleTopic = '$topic/Back Left Angle';
_backLeftVelocityTopic = '$topic/Back Left Velocity';

backRightAngleTopic = '$topic/Back Right Angle';
backRightVelocityTopic = '$topic/Back Right Velocity';
_backRightAngleTopic = '$topic/Back Right Angle';
_backRightVelocityTopic = '$topic/Back Right Velocity';

robotAngleTopic = '$topic/Robot Angle';
_robotAngleTopic = '$topic/Robot Angle';
}

@override
void resetSubscription() {
frontLeftAngleTopic = '$topic/Front Left Angle';
frontLeftVelocityTopic = '$topic/Front Left Velocity';
_frontLeftAngleTopic = '$topic/Front Left Angle';
_frontLeftVelocityTopic = '$topic/Front Left Velocity';

frontRightAngleTopic = '$topic/Front Right Angle';
frontRightVelocityTopic = '$topic/Front Right Velocity';
_frontRightAngleTopic = '$topic/Front Right Angle';
_frontRightVelocityTopic = '$topic/Front Right Velocity';

backLeftAngleTopic = '$topic/Back Left Angle';
backLeftVelocityTopic = '$topic/Back Left Velocity';
_backLeftAngleTopic = '$topic/Back Left Angle';
_backLeftVelocityTopic = '$topic/Back Left Velocity';

backRightAngleTopic = '$topic/Back Right Angle';
backRightVelocityTopic = '$topic/Back Right Velocity';
_backRightAngleTopic = '$topic/Back Right Angle';
_backRightVelocityTopic = '$topic/Back Right Velocity';

robotAngleTopic = '$topic/Robot Angle';
_robotAngleTopic = '$topic/Robot Angle';

super.resetSubscription();
}
Expand All @@ -91,8 +93,8 @@ class SwerveDriveWidget extends NTWidget {
Map<String, dynamic> toJson() {
return {
...super.toJson(),
'show_robot_rotation': showRobotRotation,
'rotation_unit': rotationUnit,
'show_robot_rotation': _showRobotRotation,
'rotation_unit': _rotationUnit,
};
}

Expand All @@ -101,10 +103,10 @@ class SwerveDriveWidget extends NTWidget {
return [
Center(
child: DialogToggleSwitch(
initialValue: showRobotRotation,
initialValue: _showRobotRotation,
label: 'Show Robot Rotation',
onToggle: (value) {
showRobotRotation = value;
_showRobotRotation = value;

refresh();
},
Expand All @@ -120,9 +122,9 @@ class SwerveDriveWidget extends NTWidget {
dense: true,
leading: Radio(
value: 'Radians',
groupValue: rotationUnit,
groupValue: _rotationUnit,
onChanged: (value) {
rotationUnit = 'Radians';
_rotationUnit = 'Radians';

setState(() {});
refresh();
Expand All @@ -134,9 +136,9 @@ class SwerveDriveWidget extends NTWidget {
dense: true,
leading: Radio(
value: 'Degrees',
groupValue: rotationUnit,
groupValue: _rotationUnit,
onChanged: (value) {
rotationUnit = 'Degrees';
_rotationUnit = 'Degrees';

setState(() {});
refresh();
Expand All @@ -148,9 +150,9 @@ class SwerveDriveWidget extends NTWidget {
dense: true,
leading: Radio(
value: 'Rotations',
groupValue: rotationUnit,
groupValue: _rotationUnit,
onChanged: (value) {
rotationUnit = 'Rotations';
_rotationUnit = 'Rotations';

setState(() {});
refresh();
Expand All @@ -166,32 +168,34 @@ class SwerveDriveWidget extends NTWidget {
@override
List<Object> getCurrentData() {
double frontLeftAngle =
tryCast(ntConnection.getLastAnnouncedValue(frontLeftAngleTopic)) ?? 0.0;
tryCast(ntConnection.getLastAnnouncedValue(_frontLeftAngleTopic)) ??
0.0;
double frontLeftVelocity =
tryCast(ntConnection.getLastAnnouncedValue(frontLeftVelocityTopic)) ??
tryCast(ntConnection.getLastAnnouncedValue(_frontLeftVelocityTopic)) ??
0.0;

double frontRightAngle =
tryCast(ntConnection.getLastAnnouncedValue(frontRightAngleTopic)) ??
tryCast(ntConnection.getLastAnnouncedValue(_frontRightAngleTopic)) ??
0.0;
double frontRightVelocity =
tryCast(ntConnection.getLastAnnouncedValue(frontRightVelocityTopic)) ??
tryCast(ntConnection.getLastAnnouncedValue(_frontRightVelocityTopic)) ??
0.0;

double backLeftAngle =
tryCast(ntConnection.getLastAnnouncedValue(backLeftAngleTopic)) ?? 0.0;
tryCast(ntConnection.getLastAnnouncedValue(_backLeftAngleTopic)) ?? 0.0;
double backLeftVelocity =
tryCast(ntConnection.getLastAnnouncedValue(backLeftVelocityTopic)) ??
tryCast(ntConnection.getLastAnnouncedValue(_backLeftVelocityTopic)) ??
0.0;

double backRightAngle =
tryCast(ntConnection.getLastAnnouncedValue(backRightAngleTopic)) ?? 0.0;
tryCast(ntConnection.getLastAnnouncedValue(_backRightAngleTopic)) ??
0.0;
double backRightVelocity =
tryCast(ntConnection.getLastAnnouncedValue(backRightVelocityTopic)) ??
tryCast(ntConnection.getLastAnnouncedValue(_backRightVelocityTopic)) ??
0.0;

double robotAngle =
tryCast(ntConnection.getLastAnnouncedValue(robotAngleTopic)) ?? 0.0;
tryCast(ntConnection.getLastAnnouncedValue(_robotAngleTopic)) ?? 0.0;

return [
frontLeftAngle,
Expand All @@ -203,7 +207,7 @@ class SwerveDriveWidget extends NTWidget {
backRightAngle,
backRightVelocity,
robotAngle,
showRobotRotation,
_showRobotRotation,
];
}

Expand All @@ -215,44 +219,45 @@ class SwerveDriveWidget extends NTWidget {
stream: multiTopicPeriodicStream,
builder: (context, snapshot) {
double frontLeftAngle =
tryCast(ntConnection.getLastAnnouncedValue(frontLeftAngleTopic)) ??
tryCast(ntConnection.getLastAnnouncedValue(_frontLeftAngleTopic)) ??
0.0;
double frontLeftVelocity = tryCast(
ntConnection.getLastAnnouncedValue(frontLeftVelocityTopic)) ??
ntConnection.getLastAnnouncedValue(_frontLeftVelocityTopic)) ??
0.0;

double frontRightAngle =
tryCast(ntConnection.getLastAnnouncedValue(frontRightAngleTopic)) ??
0.0;
double frontRightAngle = tryCast(
ntConnection.getLastAnnouncedValue(_frontRightAngleTopic)) ??
0.0;
double frontRightVelocity = tryCast(
ntConnection.getLastAnnouncedValue(frontRightVelocityTopic)) ??
ntConnection.getLastAnnouncedValue(_frontRightVelocityTopic)) ??
0.0;

double backLeftAngle =
tryCast(ntConnection.getLastAnnouncedValue(backLeftAngleTopic)) ??
tryCast(ntConnection.getLastAnnouncedValue(_backLeftAngleTopic)) ??
0.0;
double backLeftVelocity = tryCast(
ntConnection.getLastAnnouncedValue(backLeftVelocityTopic)) ??
ntConnection.getLastAnnouncedValue(_backLeftVelocityTopic)) ??
0.0;

double backRightAngle =
tryCast(ntConnection.getLastAnnouncedValue(backRightAngleTopic)) ??
tryCast(ntConnection.getLastAnnouncedValue(_backRightAngleTopic)) ??
0.0;
double backRightVelocity = tryCast(
ntConnection.getLastAnnouncedValue(backRightVelocityTopic)) ??
ntConnection.getLastAnnouncedValue(_backRightVelocityTopic)) ??
0.0;

double robotAngle =
tryCast(ntConnection.getLastAnnouncedValue(robotAngleTopic)) ?? 0.0;
tryCast(ntConnection.getLastAnnouncedValue(_robotAngleTopic)) ??
0.0;

if (rotationUnit == 'Degrees') {
if (_rotationUnit == 'Degrees') {
frontLeftAngle = radians(frontLeftAngle);
frontRightAngle = radians(frontRightAngle);
backLeftAngle = radians(backLeftAngle);
backRightAngle = radians(backRightAngle);

robotAngle = radians(robotAngle);
} else if (rotationUnit == 'Rotations') {
} else if (_rotationUnit == 'Rotations') {
frontLeftAngle *= 2 * pi;
frontRightAngle *= 2 * pi;
backLeftAngle *= 2 * pi;
Expand All @@ -266,7 +271,7 @@ class SwerveDriveWidget extends NTWidget {
double sideLength =
min(constraints.maxWidth, constraints.maxHeight) * 0.9;
return Transform.rotate(
angle: (showRobotRotation) ? -robotAngle : 0.0,
angle: (_showRobotRotation) ? -robotAngle : 0.0,
child: SizedBox(
width: sideLength,
height: sideLength,
Expand Down
Loading

0 comments on commit 72ed221

Please sign in to comment.