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base auto stop bug fix #152

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merged 2 commits into from
Dec 4, 2023
Merged

base auto stop bug fix #152

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eb2cdf1
fix base auto stop bug
clintpurser Nov 29, 2023
73b206f
fix touchActive logic
clintpurser Nov 30, 2023
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19 changes: 19 additions & 0 deletions lib/widgets/joystick.dart
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Original file line number Diff line number Diff line change
@@ -1,3 +1,5 @@
import 'dart:async';

import 'package:flutter/widgets.dart';
import 'package:flutter_joystick/flutter_joystick.dart';
import 'package:viam_sdk/viam_sdk.dart';
Expand All @@ -19,6 +21,7 @@ class ViamBaseJoystick extends StatefulWidget {
class _ViamBaseJoystickState extends State<ViamBaseJoystick> {
num y = 0;
num z = 0;
bool touchActive = false;

@override
Widget build(BuildContext context) {
Expand All @@ -28,12 +31,14 @@ class _ViamBaseJoystickState extends State<ViamBaseJoystick> {
const SizedBox(height: 16),
Joystick(
listener: callSetPower,
onStickDragEnd: () => callSetPower(StickDragDetails(0, 0)),
)
],
);
}

void callSetPower(StickDragDetails details) {
touchActive = (details.x != 0 || details.y != 0);
widget.base.setPower(
Vector3()..y = details.y * -1,
Vector3()..z = details.x * -1,
Expand All @@ -42,5 +47,19 @@ class _ViamBaseJoystickState extends State<ViamBaseJoystick> {
y = details.y * -100;
z = details.x * -100;
});

// When the client has spotty network conditions,
// the joystick has a tendency to cause the machine
// to hang on the most recent setPower call and keep moving
// after the touch has been released. This is a workaround that
// will work faster than the session being canceled,
// if network conditions allowed. The session being canceled
// will eventually stop the base if network conditions become too spotty.
Future.delayed(const Duration(milliseconds: 100)).then((_) async {
final isMoving = await widget.base.isMoving();
if (isMoving && !touchActive) {
unawaited(widget.base.stop());
}
});
}
}