Create waypoint queue widget

flutter_app/lib/widgets/waypoint_queue_widget.dart

@@ -0,0 +1,186 @@
+import 'package:flutter/material.dart';
+import 'package:imacs/modules/queue_waypoints.dart';
+
+/// Widget to queue waypoints of a drone using MAVLink communication.
+///
+/// This widget displays a table that contains a queue of waypoints to be
+/// sent to the drone. It provides functionality to add a waypoint to the
+/// queue as well as bypass the queue and send a waypoint to the drone
+/// immediately.
+class WaypointQueue extends StatefulWidget {
+  /// @brief Constructs a WaypointQueue widget.
+  ///
+  /// @param queueWaypoints
+  /// QueueWaypoints class instance
+  ///
+  /// @param systemId
+  /// system ID for command constructor
+  ///
+  /// @param componentId
+  /// component ID for command constructor
+  ///
+  final QueueWaypoints queueWaypoints;
+  final int systemId;
+  final int componentId;
+
+  const WaypointQueue({
+    Key? key,
+    required this.systemId,
+    required this.componentId,
+    required this.queueWaypoints,
+  }) : super(key: key);
+
+  @override
+  WaypointQueueState createState() => WaypointQueueState();
+}
+
+/// State for the QueueWaypoints widget.
+class WaypointQueueState extends State<WaypointQueue> {
+  final TextEditingController _latitudeInput = TextEditingController();
+  final TextEditingController _longitudeInput = TextEditingController();
+  final TextEditingController _altitudeInput = TextEditingController();
+
+  late double _latitude;
+  late double _longitude;
+  late double _altitude;
+
+  /// Gets the waypoints from the TextFields
+  void _getWaypointsFromInput() {
+    try {
+      _latitude = double.parse(_latitudeInput.text);
+      _longitude = double.parse(_longitudeInput.text);
+      _altitude = double.parse(_altitudeInput.text);
+    } catch (e) {
+      print('Enter valid numbers.');
+    }
+  }
+
+  /// Sends a command to queue a waypoint.
+  void _queueWaypoint() {
+    _getWaypointsFromInput();
+    widget.queueWaypoints.queueWaypoint(
+      widget.systemId,
+      widget.componentId,
+      _latitude,
+      _longitude,
+      _altitude,
+    );
+    setState(() {});
+  }
+
+  /// Sends a command to send a waypoint, bypassing the queue.
+  void _queueWaypointWithoutQueue() {
+    _getWaypointsFromInput();
+    widget.queueWaypoints.sendWaypointWithoutQueue(
+      widget.systemId,
+      widget.componentId,
+      _latitude,
+      _longitude,
+      _altitude,
+    );
+  }
+
+  /// Sends the first waypoint in the queue to the drone.
+  void _sendNextWaypointInQueue() {
+    widget.queueWaypoints.sendNextWaypointInQueue();
+    setState(() {});
+  }
+
+  @override
+  Widget build(BuildContext context) {
+    return Column(
+      children: [
+        const Text(
+          'Waypoint Queue',
+          style: TextStyle(fontWeight: FontWeight.bold),
+        ),
+        Expanded(
+          child: ListView(
+            children: [
+              DataTable(
+                columns: const [
+                  DataColumn(label: Text('Latitude')),
+                  DataColumn(label: Text('Longitude')),
+                  DataColumn(label: Text('Altitude')),
+                ],
+                rows: widget.queueWaypoints.waypointQueue
+                    .map(
+                      ((element) => DataRow(
+                            cells: <DataCell>[
+                              DataCell(Text(element.x.toString())),
+                              DataCell(Text(element.y.toString())),
+                              DataCell(Text(element.z.toString())),
+                            ],
+                          )),
+                    )
+                    .toList(),
+              ),
+              const SizedBox(height: 16),
+              ElevatedButton(
+                  onPressed: _sendNextWaypointInQueue,
+                  child: const Text('Send Next Waypoint in Queue to Drone')),
+              const SizedBox(height: 16),
+              const Text(
+                'Enter a Waypoint Below',
+                style: TextStyle(fontWeight: FontWeight.bold),
+              ),
+              Padding(
+                padding: const EdgeInsets.all(10.0),
+                child: Row(
+                  mainAxisSize: MainAxisSize.min,
+                  children: [
+                    SizedBox(
+                      width: 120,
+                      height: 40,
+                      child: TextField(
+                        decoration: const InputDecoration(
+                          border: OutlineInputBorder(),
+                          hintText: 'Latitude',
+                        ),
+                        controller: _latitudeInput,
+                      ),
+                    ),
+                    SizedBox(
+                      width: 120,
+                      height: 40,
+                      child: TextField(
+                        decoration: const InputDecoration(
+                          border: OutlineInputBorder(),
+                          hintText: 'Longitude',
+                        ),
+                        controller: _longitudeInput,
+                      ),
+                    ),
+                    SizedBox(
+                      width: 120,
+                      height: 40,
+                      child: TextField(
+                        decoration: const InputDecoration(
+                          border: OutlineInputBorder(),
+                          hintText: 'Altitude',
+                        ),
+                        controller: _altitudeInput,
+                      ),
+                    ),
+                  ],
+                ),
+              ),
+              const SizedBox(height: 16),
+              OverflowBar(spacing: 10, children: [
+                ElevatedButton(
+                  onPressed: _queueWaypoint,
+                  child: const Text('Add Waypoint to Queue'),
+                ),
+                const SizedBox(height: 16),
+                ElevatedButton(
+                  onPressed: _queueWaypointWithoutQueue,
+                  child: const Text('Send Waypoint Immediately'),
+                ),
+              ]),
+            ],
+          ),
+        ),
+      ],
+    );
+  }
+}

flutter_app/test/widget/waypoint_queue_widget_test.dart

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+import 'package:flutter/material.dart';
+import 'package:flutter_test/flutter_test.dart';
+import 'package:imacs/modules/mavlink_communication.dart';
+import 'package:imacs/modules/queue_waypoints.dart';
+import 'package:imacs/widgets/waypoint_queue_widget.dart';
+
+void main() {
+  group('WaypointQueue widget', () {
+    testWidgets(
+        'WaypointQueueWidget displays a table, text input fields, and 3 buttons',
+        (WidgetTester tester) async {
+      final mavlinkCommunication = MavlinkCommunication(
+          MavlinkCommunicationType.tcp, '127.0.0.1', 14550);
+      final queueWaypoints = QueueWaypoints(comm: mavlinkCommunication);
+
+      await tester.pumpWidget(MaterialApp(
+        home: Scaffold(
+          body: WaypointQueue(
+            queueWaypoints: queueWaypoints,
+            systemId: 0,
+            componentId: 0,
+          ),
+        ),
+      ));
+
+      expect(find.byType(ElevatedButton), findsNWidgets(3));
+      expect(find.byType(DataTable), findsOneWidget);
+      expect(find.byType(TextField), findsNWidgets(3));
+    });
+    testWidgets(
+        'WaypointQueue sends a waypoint to the drone without queueing it',
+        (WidgetTester tester) async {
+      final mavlinkCommunication = MavlinkCommunication(
+          MavlinkCommunicationType.tcp, '127.0.0.1', 14550);
+      final queueWaypoints = QueueWaypoints(comm: mavlinkCommunication);
+
+      await tester.pumpWidget(MaterialApp(
+        home: Scaffold(
+          body: WaypointQueue(
+            queueWaypoints: queueWaypoints,
+            systemId: 0,
+            componentId: 0,
+          ),
+        ),
+      ));
+
+      /// Enter a waypoint in the text fields
+      await tester.enterText(
+          find.ancestor(
+            of: find.text('Latitude'),
+            matching: find.byType(TextField),
+          ),
+          '10.01');
+      await tester.enterText(
+          find.ancestor(
+            of: find.text('Longitude'),
+            matching: find.byType(TextField),
+          ),
+          '-20.02');
+      await tester.enterText(
+          find.ancestor(
+            of: find.text('Altitude'),
+            matching: find.byType(TextField),
+          ),
+          '30.03');
+
+      expect(find.text('10.01'), findsOneWidget);
+      expect(find.text('-20.02'), findsOneWidget);
+      expect(find.text('30.03'), findsOneWidget);
+
+      await tester.tap(
+          find.widgetWithText(ElevatedButton, 'Send Waypoint Immediately'));
+      await tester.pump();
+
+      expect(queueWaypoints.waypointQueue.length, 0);
+      expect(find.text('10.01'), findsOneWidget);
+      expect(find.text('-20.02'), findsOneWidget);
+      expect(find.text('30.03'), findsOneWidget);
+    });
+
+    testWidgets('WaypointQueue adds waypoint to queue on button press',
+        (WidgetTester tester) async {
+      final mavlinkCommunication = MavlinkCommunication(
+          MavlinkCommunicationType.tcp, '127.0.0.1', 14550);
+      final queueWaypoints = QueueWaypoints(comm: mavlinkCommunication);
+
+      await tester.pumpWidget(MaterialApp(
+        home: Scaffold(
+          body: WaypointQueue(
+            queueWaypoints: queueWaypoints,
+            systemId: 0,
+            componentId: 0,
+          ),
+        ),
+      ));
+
+      /// Enter a waypoint in the text fields
+      await tester.enterText(
+          find.ancestor(
+            of: find.text('Latitude'),
+            matching: find.byType(TextField),
+          ),
+          '10.01');
+      await tester.enterText(
+          find.ancestor(
+            of: find.text('Longitude'),
+            matching: find.byType(TextField),
+          ),
+          '-20.02');
+      await tester.enterText(
+          find.ancestor(
+            of: find.text('Altitude'),
+            matching: find.byType(TextField),
+          ),
+          '30.03');
+
+      expect(find.text('10.01'), findsOneWidget);
+      expect(find.text('-20.02'), findsOneWidget);
+      expect(find.text('30.03'), findsOneWidget);
+
+      await tester
+          .tap(find.widgetWithText(ElevatedButton, 'Add Waypoint to Queue'));
+      await tester.pump();
+
+      expect(find.text('10.01'), findsNWidgets(2));
+      expect(find.text('-20.02'), findsNWidgets(2));
+      expect(find.text('30.03'), findsNWidgets(2));
+      expect(queueWaypoints.waypointQueue.length, 1);
+      expect(queueWaypoints.waypointQueue[0].x, 10.01);
+      expect(queueWaypoints.waypointQueue[0].y, -20.02);
+      expect(queueWaypoints.waypointQueue[0].z, 30.03);
+    });
+    testWidgets('WaypointQueue sends first waypoint in queue to drone',
+        (WidgetTester tester) async {
+      final mavlinkCommunication = MavlinkCommunication(
+          MavlinkCommunicationType.tcp, '127.0.0.1', 14550);
+      await mavlinkCommunication.tcpSocketInitializationFlag.future;
+      final queueWaypoints = QueueWaypoints(comm: mavlinkCommunication);
+
+      queueWaypoints.queueWaypoint(0, 0, 10.01, -20.02, 30.03);
+
+      await tester.pumpWidget(MaterialApp(
+        home: Scaffold(
+          body: WaypointQueue(
+            queueWaypoints: queueWaypoints,
+            systemId: 0,
+            componentId: 0,
+          ),
+        ),
+      ));
+
+      expect(queueWaypoints.waypointQueue.length, 1);
+      expect(find.text('10.01'), findsOneWidget);
+      expect(find.text('-20.02'), findsOneWidget);
+      expect(find.text('30.03'), findsOneWidget);
+      expect(queueWaypoints.waypointQueue[0].x, 10.01);
+      expect(queueWaypoints.waypointQueue[0].y, -20.02);
+      expect(queueWaypoints.waypointQueue[0].z, 30.03);
+
+      await tester.tap(find.widgetWithText(
+          ElevatedButton, 'Send Next Waypoint in Queue to Drone'));
+      await tester.pumpAndSettle();
+
+      expect(find.text('10.01'), findsNothing);
+      expect(find.text('-20.02'), findsNothing);
+      expect(find.text('30.03'), findsNothing);
+      expect(queueWaypoints.waypointQueue.length, 0);
+    });
+  });
+}