Thu Feb 24 12:05:32 PM HKT 2022
This commit is contained in:
Terence Tong
parent
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commit
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16
example/pspad/README.md
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16
example/pspad/README.md
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# pspad
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A new Flutter project.
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## Getting Started
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This project is a starting point for a Flutter application.
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A few resources to get you started if this is your first Flutter project:
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- [Lab: Write your first Flutter app](https://flutter.dev/docs/get-started/codelab)
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- [Cookbook: Useful Flutter samples](https://flutter.dev/docs/cookbook)
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For help getting started with Flutter, view our
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[online documentation](https://flutter.dev/docs), which offers tutorials,
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samples, guidance on mobile development, and a full API reference.
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180
example/pspad/lib/main.dart
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180
example/pspad/lib/main.dart
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import 'package:flutter/material.dart';
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import 'pad.dart';
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import 'package:roslibdart/roslibdart.dart';
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import 'dart:async';
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import 'dart:convert';
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void main() {
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runApp(const MyApp());
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}
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class MyApp extends StatelessWidget {
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const MyApp({Key? key}) : super(key: key);
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// This widget is the root of your application.
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@override
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Widget build(BuildContext context) {
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String title = 'PS Pad';
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return MaterialApp(
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title: title,
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home: RoslibPSPad(title: title),
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);
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}
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}
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class RoslibPSPad extends StatefulWidget {
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const RoslibPSPad({Key? key, required this.title}) : super(key: key);
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final String title;
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@override
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State<RoslibPSPad> createState() => _RoslibPSPadState();
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}
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class _RoslibPSPadState extends State<RoslibPSPad> {
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String host = 'ws://127.0.0.1:9090';
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late Ros ros;
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late Topic cmdVelTopic;
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double turnAngularVelocity = 1.5;
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double forwardVelocity = 1.5;
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@override
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void initState() {
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ros = Ros(url: host);
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cmdVelTopic = Topic(
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ros: ros,
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name: '/turtle1/cmd_vel',
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type: "geometry_msgs/msg/Twist",
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reconnectOnClose: true,
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queueLength: 10,
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queueSize: 10);
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ros.connect();
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super.initState();
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Timer.periodic(const Duration(milliseconds: 200), directionFired);
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Timer.periodic(const Duration(milliseconds: 200), keyFired);
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}
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int leftButtonState = 1;
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int rightButtonState = 1;
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int forwardButtonState = 1;
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int backwardButtonState = 1;
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int triangleButtonState = 1;
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int squareButtonState = 1;
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int circleButtonState = 1;
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int crossButtonState = 1;
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var lastDirectionTwist = {};
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var lastKeyTwist = {};
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void directionFired(Timer timer) {
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var linear = {'x': 0.0, 'y': 0.0, 'z': 0.0};
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var angular = {'x': 0.0, 'y': 0.0, 'z': 0.0};
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if (leftButtonState == -1) {
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linear = {'x': 0.0, 'y': 0.0, 'z': 0.0};
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angular = {'x': 0.0, 'y': 0.0, 'z': turnAngularVelocity};
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} else if (rightButtonState == -1) {
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linear = {'x': 0.0, 'y': 0.0, 'z': 0.0};
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angular = {'x': 0.0, 'y': 0.0, 'z': -turnAngularVelocity};
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} else if (forwardButtonState == -1) {
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linear = {'x': forwardVelocity, 'y': 0.0, 'z': 0.0};
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angular = {'x': 0.0, 'y': 0.0, 'z': 0};
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} else if (backwardButtonState == -1) {
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linear = {'x': -forwardVelocity, 'y': 0.0, 'z': 0.0};
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angular = {'x': 0.0, 'y': 0.0, 'z': 0};
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}
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var twist = {'linear': linear, 'angular': angular};
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if (lastDirectionTwist == twist &&
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twist['linear'] == {'x': 0.0, 'y': 0.0, 'z': 0.0} &&
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twist['angular'] == {'x': 0.0, 'y': 0.0, 'z': 0.0}) {
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return;
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}
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cmdVelTopic.publish(twist);
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lastDirectionTwist = twist;
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}
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void keyFired(Timer timer) {
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var keys = {
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'triangle': triangleButtonState,
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'square': squareButtonState,
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'circle': circleButtonState,
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'cross': crossButtonState
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};
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if (lastKeyTwist == keys &&
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keys['triangle'] == 1 &&
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keys['square'] == 1 &&
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keys['circle'] == 1 &&
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keys['cross'] == 1) {
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return;
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}
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print('Key to published ' + jsonEncode(keys));
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lastKeyTwist = keys;
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}
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void leftCallback(int event) {
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leftButtonState = event;
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}
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void rightCallback(int event) {
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rightButtonState = event;
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}
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void forwardCallback(int event) {
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forwardButtonState = event;
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}
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void backwardCallback(int event) {
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backwardButtonState = event;
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}
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void squareCallback(int event) {
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squareButtonState = event;
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}
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void circleCallback(int event) {
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circleButtonState = event;
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}
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void triangleCallback(int event) {
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triangleButtonState = event;
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}
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void crossCallback(int event) {
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crossButtonState = event;
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}
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@override
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Widget build(BuildContext context) {
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return Scaffold(
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appBar: AppBar(
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title: Text(widget.title),
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),
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body: Center(
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// Center is a layout widget. It takes a single child and positions it
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// in the middle of the parent.
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child: Container(
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margin: const EdgeInsets.all(50),
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child: Row(
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mainAxisAlignment: MainAxisAlignment.spaceBetween,
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children: <Widget>[
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DirectionPad(
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diameter: 200,
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leftCallback: leftCallback,
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rightCallback: rightCallback,
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forwardCallback: forwardCallback,
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backwardCallback: backwardCallback,
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),
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KeyPad(
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diameter: 200,
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squareCallback: squareCallback,
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circleCallback: circleCallback,
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triangleCallback: triangleCallback,
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crossCallback: crossCallback,
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),
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],
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),
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)),
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);
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}
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}
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448
example/pspad/lib/pad.dart
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448
example/pspad/lib/pad.dart
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import 'package:flutter/material.dart';
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import 'dart:math';
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class TrianglePainter extends CustomPainter {
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double sideSize;
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Color color;
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TrianglePainter({required this.sideSize, required this.color});
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@override
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void paint(Canvas canvas, Size size) {
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double ySize = sideSize * cos(30 * pi / 180);
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double xSize = sideSize;
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double point0x = xSize / 2;
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double point0y = ySize / 2;
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double point1x = -xSize / 2;
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double point1y = ySize / 2;
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double point2x = 0;
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double point2y = -ySize / 2;
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Path path = Path();
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path.moveTo(point0x, point0y);
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path.lineTo(point1x, point1y);
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path.lineTo(point2x, point2y);
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path.lineTo(point0x, point0y);
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path.close();
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canvas.drawPath(
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path,
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Paint()
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..color = color
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..strokeWidth = 4
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..style = PaintingStyle.stroke);
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canvas.save();
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canvas.restore();
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}
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@override
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bool shouldRepaint(TrianglePainter oldDelegate) {
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return oldDelegate.color != color || oldDelegate.sideSize != sideSize;
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}
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}
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Widget triangle(double sideSize, Color color, double angle) {
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return Transform.rotate(
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child: CustomPaint(
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painter: TrianglePainter(
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color: color,
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sideSize: sideSize,
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),
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),
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angle: angle * pi / 180);
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}
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class SquarePainter extends CustomPainter {
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double xSize, ySize;
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Color color;
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SquarePainter(
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{required this.xSize, required this.ySize, required this.color});
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@override
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void paint(Canvas canvas, Size size) {
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double point0x = xSize / 2;
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double point0y = ySize / 2;
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double point1x = -xSize / 2;
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double point1y = ySize / 2;
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double point2x = -xSize / 2;
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double point2y = -ySize / 2;
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double point3x = xSize / 2;
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double point3y = -ySize / 2;
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Path path = Path();
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path.moveTo(point0x, point0y);
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path.lineTo(point1x, point1y);
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path.lineTo(point2x, point2y);
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path.lineTo(point3x, point3y);
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path.lineTo(point0x, point0y);
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path.close();
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canvas.drawPath(
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path,
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Paint()
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..color = color
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..strokeWidth = 4
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..style = PaintingStyle.stroke);
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canvas.save();
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canvas.restore();
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}
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@override
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bool shouldRepaint(SquarePainter oldDelegate) {
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return oldDelegate.color != color ||
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oldDelegate.xSize != xSize ||
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oldDelegate.ySize != ySize;
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}
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}
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Widget square(double size, Color color) {
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return CustomPaint(
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painter: SquarePainter(
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color: color,
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xSize: size,
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ySize: size,
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));
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}
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Widget circle(double diameter, Color? color) {
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return Container(
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width: diameter,
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height: diameter,
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decoration: BoxDecoration(
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color: color,
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shape: BoxShape.circle,
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),
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);
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}
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Widget hollowCircle(double diameter, Color color) {
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return Container(
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width: diameter,
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height: diameter,
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decoration: BoxDecoration(
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shape: BoxShape.circle,
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border: Border.all(
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width: 4,
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color: color,
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),
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),
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);
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}
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class CrossPainter extends CustomPainter {
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double xSize, ySize;
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Color color;
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CrossPainter({required this.xSize, required this.ySize, required this.color});
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@override
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void paint(Canvas canvas, Size size) {
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double point0x = xSize / 2;
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double point0y = ySize / 2;
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double point1x = -xSize / 2;
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double point1y = ySize / 2;
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double point2x = -xSize / 2;
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double point2y = -ySize / 2;
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double point3x = xSize / 2;
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double point3y = -ySize / 2;
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final paint = Paint()
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..color = color
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..strokeWidth = 4;
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canvas.drawLine(Offset(point0x, point0y), Offset(point2x, point2y), paint);
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canvas.drawLine(Offset(point1x, point1y), Offset(point3x, point3y), paint);
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}
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@override
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bool shouldRepaint(CrossPainter oldDelegate) {
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return oldDelegate.color != color ||
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oldDelegate.xSize != xSize ||
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oldDelegate.ySize != ySize;
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}
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}
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Widget cross(double size, Color color) {
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return CustomPaint(
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painter: CrossPainter(
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color: color,
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xSize: size,
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ySize: size,
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));
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}
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class DirectionPad extends StatefulWidget {
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final double diameter;
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final Function leftCallback, rightCallback, forwardCallback, backwardCallback;
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const DirectionPad(
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{Key? key,
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required this.diameter,
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required this.leftCallback,
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required this.rightCallback,
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required this.forwardCallback,
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required this.backwardCallback})
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: super(key: key);
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@override
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State<DirectionPad> createState() => _DirectionPadState();
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}
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class _DirectionPadState extends State<DirectionPad> {
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Widget horizontalBar(double longSize, double shortSize, Color color) {
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return Container(
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width: longSize,
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height: shortSize,
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decoration: BoxDecoration(
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color: color,
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border: Border.all(
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color: color,
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),
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borderRadius: const BorderRadius.all(Radius.circular(5))));
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}
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@override
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Widget build(BuildContext context) {
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double diameter = widget.diameter;
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double circleDiameter = diameter;
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double keyLongSize = diameter * 0.8;
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double keyShortSize = diameter * 0.25;
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double longMargin = (circleDiameter - keyLongSize) / 2;
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double shortMargin = (circleDiameter - keyShortSize) / 2;
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double triangleSize = diameter * 0.175;
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Color callbackColor = const Color(0x00000000).withOpacity(0.0);
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return Stack(
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children: [
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circle(circleDiameter, Colors.grey[300]),
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Positioned(
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left: longMargin,
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top: shortMargin,
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child: horizontalBar(keyLongSize, keyShortSize, Colors.grey[600]!)),
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Positioned(
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left: shortMargin,
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top: longMargin,
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child: horizontalBar(keyShortSize, keyLongSize, Colors.grey[600]!)),
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// Left Button
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Positioned(
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left: longMargin + keyLongSize / 6,
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top: shortMargin + keyShortSize / 2,
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child: triangle(triangleSize, Colors.grey[800]!, -90.0)),
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Positioned(
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left: longMargin + keyLongSize / 6 - triangleSize / 2,
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top: shortMargin + keyShortSize / 2 - triangleSize / 2,
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child: Listener(
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onPointerDown: (event) {
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widget.leftCallback(-1);
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},
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onPointerUp: (event) {
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widget.leftCallback(1);
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},
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||||
child: Container(
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width: triangleSize,
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height: triangleSize,
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||||
color: callbackColor,
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))),
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// Forward Button
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Positioned(
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left: diameter / 2,
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top: longMargin + keyLongSize / 6,
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child: triangle(triangleSize, Colors.grey[800]!, 0.0)),
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||||
Positioned(
|
||||
left: diameter / 2 - triangleSize / 2,
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top: longMargin + keyLongSize / 6 - triangleSize / 2,
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||||
child: Listener(
|
||||
onPointerDown: (event) {
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widget.forwardCallback(-1);
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||||
},
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onPointerUp: (event) {
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widget.forwardCallback(1);
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},
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child: Container(
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||||
width: triangleSize,
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||||
height: triangleSize,
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||||
color: callbackColor))),
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||||
// Backward Button
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Positioned(
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left: diameter / 2,
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top: longMargin + keyLongSize * 2 / 3 + keyLongSize / 6,
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||||
child: triangle(triangleSize, Colors.grey[800]!, 180.0)),
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Positioned(
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||||
left: diameter / 2 - triangleSize / 2,
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||||
top: longMargin +
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keyLongSize * 2 / 3 +
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||||
keyLongSize / 6 -
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triangleSize / 2,
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||||
child: Listener(
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||||
onPointerDown: (event) {
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widget.backwardCallback(-1);
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||||
},
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||||
onPointerUp: (event) {
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widget.backwardCallback(1);
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},
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child: Container(
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||||
width: triangleSize,
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||||
height: triangleSize,
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||||
color: callbackColor,
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||||
))),
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||||
// Right Button
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||||
Positioned(
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||||
left: longMargin + keyLongSize * 2 / 3 + keyLongSize / 6,
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||||
top: shortMargin + keyShortSize / 2,
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||||
child: triangle(triangleSize, Colors.grey[800]!, 90.0)),
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||||
Positioned(
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||||
left: longMargin +
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||||
keyLongSize * 2 / 3 +
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||||
keyLongSize / 6 -
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||||
triangleSize / 2,
|
||||
top: shortMargin + keyShortSize / 2 - triangleSize / 2,
|
||||
child: Listener(
|
||||
onPointerDown: (event) {
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||||
widget.rightCallback(-1);
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||||
},
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||||
onPointerUp: (event) {
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||||
widget.rightCallback(1);
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||||
},
|
||||
child: Container(
|
||||
width: triangleSize,
|
||||
height: triangleSize,
|
||||
color: callbackColor,
|
||||
))),
|
||||
],
|
||||
);
|
||||
}
|
||||
}
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||||
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||||
class KeyPad extends StatefulWidget {
|
||||
final double diameter;
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||||
final Function squareCallback,
|
||||
circleCallback,
|
||||
triangleCallback,
|
||||
crossCallback;
|
||||
const KeyPad(
|
||||
{Key? key,
|
||||
required this.diameter,
|
||||
required this.squareCallback,
|
||||
required this.circleCallback,
|
||||
required this.triangleCallback,
|
||||
required this.crossCallback})
|
||||
: super(key: key);
|
||||
|
||||
@override
|
||||
State<KeyPad> createState() => _KeyPadState();
|
||||
}
|
||||
|
||||
class _KeyPadState extends State<KeyPad> {
|
||||
@override
|
||||
Widget build(BuildContext context) {
|
||||
double diameter = widget.diameter;
|
||||
double circleDiameter = diameter;
|
||||
double shortMargin = diameter * 0.225;
|
||||
double keySize = diameter * 0.275;
|
||||
double iconSize = diameter * 0.125;
|
||||
double hollowCircleDiameter = iconSize + 8;
|
||||
Color callbackColor = const Color(0x00000000).withOpacity(0.0);
|
||||
return Stack(children: [
|
||||
Positioned(child: circle(circleDiameter, Colors.grey[300]!)),
|
||||
Positioned(
|
||||
left: shortMargin - keySize / 2,
|
||||
top: circleDiameter / 2 - keySize / 2,
|
||||
child: circle(keySize, Colors.grey[700]!)),
|
||||
Positioned(
|
||||
left: circleDiameter - shortMargin - keySize / 2,
|
||||
top: circleDiameter / 2 - keySize / 2,
|
||||
child: circle(keySize, Colors.grey[700]!)),
|
||||
Positioned(
|
||||
left: circleDiameter / 2 - keySize / 2,
|
||||
top: circleDiameter - shortMargin - keySize / 2,
|
||||
child: circle(keySize, Colors.grey[700]!)),
|
||||
Positioned(
|
||||
left: circleDiameter / 2 - keySize / 2,
|
||||
top: shortMargin - keySize / 2,
|
||||
child: circle(keySize, Colors.grey[700]!)),
|
||||
Positioned(
|
||||
left: circleDiameter / 2,
|
||||
top: shortMargin - 4,
|
||||
child: triangle(iconSize, Colors.green[500]!, 0)),
|
||||
Positioned(
|
||||
left: circleDiameter / 2 - keySize / 2,
|
||||
top: shortMargin - keySize / 2,
|
||||
child: Listener(
|
||||
onPointerDown: (event) {
|
||||
widget.triangleCallback(-1);
|
||||
},
|
||||
onPointerUp: (event) {
|
||||
widget.triangleCallback(1);
|
||||
},
|
||||
child: Container(
|
||||
width: keySize,
|
||||
height: keySize,
|
||||
color: callbackColor,
|
||||
))),
|
||||
Positioned(
|
||||
left: circleDiameter / 2,
|
||||
top: circleDiameter - shortMargin,
|
||||
child: cross(iconSize, Colors.cyan[500]!)),
|
||||
Positioned(
|
||||
left: circleDiameter / 2 - keySize / 2,
|
||||
top: circleDiameter - shortMargin - keySize / 2,
|
||||
child: Listener(
|
||||
onPointerDown: (event) {
|
||||
widget.triangleCallback(-1);
|
||||
},
|
||||
onPointerUp: (event) {
|
||||
widget.triangleCallback(1);
|
||||
},
|
||||
child: Container(
|
||||
width: keySize,
|
||||
height: keySize,
|
||||
color: callbackColor,
|
||||
))),
|
||||
Positioned(
|
||||
left: shortMargin,
|
||||
top: circleDiameter / 2,
|
||||
child: square(iconSize, Colors.pink[500]!)),
|
||||
Positioned(
|
||||
left: shortMargin - keySize / 2,
|
||||
top: circleDiameter / 2 - keySize / 2,
|
||||
child: Listener(
|
||||
onPointerDown: (event) {
|
||||
widget.triangleCallback(-1);
|
||||
},
|
||||
onPointerUp: (event) {
|
||||
widget.triangleCallback(1);
|
||||
},
|
||||
child: Container(
|
||||
width: keySize,
|
||||
height: keySize,
|
||||
color: callbackColor,
|
||||
))),
|
||||
Positioned(
|
||||
left: -hollowCircleDiameter / 2 + circleDiameter - shortMargin,
|
||||
top: -hollowCircleDiameter / 2 + circleDiameter / 2,
|
||||
child: hollowCircle(hollowCircleDiameter, Colors.orange[500]!)),
|
||||
Positioned(
|
||||
left: -hollowCircleDiameter / 2 + circleDiameter - keySize,
|
||||
top: circleDiameter / 2 - keySize / 2,
|
||||
child: Listener(
|
||||
onPointerDown: (event) {
|
||||
widget.triangleCallback(-1);
|
||||
},
|
||||
onPointerUp: (event) {
|
||||
widget.triangleCallback(1);
|
||||
},
|
||||
child: Container(
|
||||
width: keySize,
|
||||
height: keySize,
|
||||
color: callbackColor,
|
||||
))),
|
||||
]);
|
||||
}
|
||||
}
|
||||
90
example/pspad/pubspec.yaml
Normal file
90
example/pspad/pubspec.yaml
Normal file
@ -0,0 +1,90 @@
|
||||
name: pspad
|
||||
description: A new Flutter project.
|
||||
|
||||
# The following line prevents the package from being accidentally published to
|
||||
# pub.dev using `flutter pub publish`. This is preferred for private packages.
|
||||
publish_to: 'none' # Remove this line if you wish to publish to pub.dev
|
||||
|
||||
# The following defines the version and build number for your application.
|
||||
# A version number is three numbers separated by dots, like 1.2.43
|
||||
# followed by an optional build number separated by a +.
|
||||
# Both the version and the builder number may be overridden in flutter
|
||||
# build by specifying --build-name and --build-number, respectively.
|
||||
# In Android, build-name is used as versionName while build-number used as versionCode.
|
||||
# Read more about Android versioning at https://developer.android.com/studio/publish/versioning
|
||||
# In iOS, build-name is used as CFBundleShortVersionString while build-number used as CFBundleVersion.
|
||||
# Read more about iOS versioning at
|
||||
# https://developer.apple.com/library/archive/documentation/General/Reference/InfoPlistKeyReference/Articles/CoreFoundationKeys.html
|
||||
version: 1.0.0+1
|
||||
|
||||
environment:
|
||||
sdk: ">=2.16.0-134.5.beta <3.0.0"
|
||||
|
||||
# Dependencies specify other packages that your package needs in order to work.
|
||||
# To automatically upgrade your package dependencies to the latest versions
|
||||
# consider running `flutter pub upgrade --major-versions`. Alternatively,
|
||||
# dependencies can be manually updated by changing the version numbers below to
|
||||
# the latest version available on pub.dev. To see which dependencies have newer
|
||||
# versions available, run `flutter pub outdated`.
|
||||
dependencies:
|
||||
flutter:
|
||||
sdk: flutter
|
||||
|
||||
|
||||
# The following adds the Cupertino Icons font to your application.
|
||||
# Use with the CupertinoIcons class for iOS style icons.
|
||||
cupertino_icons: ^1.0.2
|
||||
roslibdart: ^0.0.1-dev+2
|
||||
|
||||
dev_dependencies:
|
||||
flutter_test:
|
||||
sdk: flutter
|
||||
|
||||
# The "flutter_lints" package below contains a set of recommended lints to
|
||||
# encourage good coding practices. The lint set provided by the package is
|
||||
# activated in the `analysis_options.yaml` file located at the root of your
|
||||
# package. See that file for information about deactivating specific lint
|
||||
# rules and activating additional ones.
|
||||
flutter_lints: ^1.0.0
|
||||
|
||||
# For information on the generic Dart part of this file, see the
|
||||
# following page: https://dart.dev/tools/pub/pubspec
|
||||
|
||||
# The following section is specific to Flutter.
|
||||
flutter:
|
||||
|
||||
# The following line ensures that the Material Icons font is
|
||||
# included with your application, so that you can use the icons in
|
||||
# the material Icons class.
|
||||
uses-material-design: true
|
||||
|
||||
# To add assets to your application, add an assets section, like this:
|
||||
# assets:
|
||||
# - images/a_dot_burr.jpeg
|
||||
# - images/a_dot_ham.jpeg
|
||||
|
||||
# An image asset can refer to one or more resolution-specific "variants", see
|
||||
# https://flutter.dev/assets-and-images/#resolution-aware.
|
||||
|
||||
# For details regarding adding assets from package dependencies, see
|
||||
# https://flutter.dev/assets-and-images/#from-packages
|
||||
|
||||
# To add custom fonts to your application, add a fonts section here,
|
||||
# in this "flutter" section. Each entry in this list should have a
|
||||
# "family" key with the font family name, and a "fonts" key with a
|
||||
# list giving the asset and other descriptors for the font. For
|
||||
# example:
|
||||
# fonts:
|
||||
# - family: Schyler
|
||||
# fonts:
|
||||
# - asset: fonts/Schyler-Regular.ttf
|
||||
# - asset: fonts/Schyler-Italic.ttf
|
||||
# style: italic
|
||||
# - family: Trajan Pro
|
||||
# fonts:
|
||||
# - asset: fonts/TrajanPro.ttf
|
||||
# - asset: fonts/TrajanPro_Bold.ttf
|
||||
# weight: 700
|
||||
#
|
||||
# For details regarding fonts from package dependencies,
|
||||
# see https://flutter.dev/custom-fonts/#from-packages
|
||||
Loading…
Reference in New Issue
Block a user