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gps manipulations tailored to sim7600h hat

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This commit is contained in:
Mikkeli Matlock
2026-02-09 02:11:55 +09:00
parent 992270ed00
commit 629c735eec
20 changed files with 2503 additions and 2355 deletions
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38
pi/ui/lib/app_root.dart
View File

@@ -41,6 +41,7 @@ class _AppRootState extends State<AppRoot> {
// Show all items from the start so the row doesn't jump around
_updateStatus('Config', '...');
_updateStatus('UART', '...');
_updateStatus('GPS', '...');
_updateStatus('Navigator', '...');
// Config must load first (everything else depends on it)
@@ -48,11 +49,13 @@ class _AppRootState extends State<AppRoot> {
await ConfigService.instance.load();
_updateStatus('Config', 'Ready');
// UART health check and navigator image preload run truly in parallel
// UART, GPS, and navigator image preload run truly in parallel
_updateStatus('UART', 'Connecting');
_updateStatus('GPS', 'Waiting');
_updateStatus('Navigator', 'Loading');
await Future.wait([
_waitForUart(),
_waitForGps(),
_preloadNavigatorImages(),
]);
@@ -100,6 +103,39 @@ class _AppRootState extends State<AppRoot> {
_updateStatus('UART', 'Timeout');
}
/// Poll backend health endpoint until GPS has a fix, or bail after 7.5s
Future<void> _waitForGps() async {
final backendUrl = ConfigService.instance.backendUrl;
const bailOut = Duration(milliseconds: 7500);
const retryDelay = Duration(seconds: 1);
final deadline = DateTime.now().add(bailOut);
_updateStatus('GPS', 'Acquiring');
while (DateTime.now().isBefore(deadline)) {
try {
final response = await http
.get(Uri.parse('$backendUrl/health'))
.timeout(const Duration(seconds: 2));
if (response.statusCode == 200) {
final data = jsonDecode(response.body) as Map<String, dynamic>;
if (data['gps_state'] == 'fix') {
_updateStatus('GPS', 'Ready');
return;
}
}
} catch (e) {
// Backend not reachable yet - keep trying
}
await Future.delayed(retryDelay);
}
// Bail out - dashboard will show live GPS state when it arrives
_updateStatus('GPS', 'Timeout');
}
/// Preload navigator images into Flutter's image cache
///
/// Scans for all PNGs in the navigator folder and precaches them.

568
pi/ui/lib/screens/dashboard_screen.dart
View File

@@ -1,282 +1,286 @@
import 'dart:async';
import 'dart:math' show sqrt, sin, cos, pi;
import 'package:flutter/material.dart';
import '../services/backend_service.dart';
import '../services/websocket_service.dart';
import '../services/pi_io.dart';
import '../theme/app_theme.dart';
import '../widgets/navigator_widget.dart';
import '../widgets/stat_box.dart';
import '../widgets/stat_box_main.dart';
import '../widgets/system_bar.dart';
import '../widgets/debug_console.dart';
import '../widgets/whiskey_mark.dart';
import '../widgets/accel_graph.dart';
import '../widgets/gps_compass.dart';
// test service for triggers
import '../services/test_flipflop_service.dart';
/// Main dashboard - displays Pi vitals and placeholder stats
class DashboardScreen extends StatefulWidget {
const DashboardScreen({super.key});
@override
State<DashboardScreen> createState() => _DashboardScreenState();
}
class _DashboardScreenState extends State<DashboardScreen> {
static const _surpriseThreshold = 0.24; // G threshold for navigator surprise
final _navigatorKey = GlobalKey<NavigatorWidgetState>();
// Timer for Pi temp only (safety critical, direct file read)
Timer? _piTempTimer;
// WebSocket stream subscriptions
StreamSubscription<ArduinoData>? _arduinoSub;
StreamSubscription<GpsData>? _gpsSub;
StreamSubscription<WsConnectionState>? _connectionSub;
// Pi temperature - direct file read (safety critical)
double? _piTemp;
// From backend - Arduino data
int? _rpm;
double? _voltage;
int? _engineTemp;
int? _gear;
double? _roll;
double? _pitch;
double? _ax;
double? _ay;
double? _dynamicAx; // Gravity-compensated
double? _dynamicAy;
// From backend - GPS data
double? _gpsSpeed;
double? _gpsTrack;
// Placeholder values for system bar
int? _gpsSatellites;
int? _lteSignal;
// WebSocket connection state
WsConnectionState _wsState = WsConnectionState.disconnected;
@override
void initState() {
super.initState();
// Connect to WebSocket
WebSocketService.instance.connect();
// Subscribe to Arduino data stream
_arduinoSub = WebSocketService.instance.arduinoStream.listen((data) {
// Gravity-compensated acceleration
// When tilted, gravity "leaks" into horizontal axes - subtract it out
final rollRad = (data.roll ?? 0) * pi / 180;
final pitchRad = (data.pitch ?? 0) * pi / 180;
// Subtract gravity leakage from measured acceleration
// Axes swapped for IMU mounting orientation
final dynamicAx = (data.ay ?? 0) + sin(rollRad);
final dynamicAy = (data.ax ?? 0) - (sin(pitchRad) * cos(rollRad));
setState(() {
_voltage = data.voltage;
_rpm = data.rpm;
_engineTemp = data.engTemp;
_gear = data.gear;
_roll = data.roll;
_pitch = data.pitch;
_ax = data.ax;
_ay = data.ay;
_dynamicAx = dynamicAx;
_dynamicAy = dynamicAy;
});
final gMagnitude = sqrt(dynamicAx * dynamicAx + dynamicAy * dynamicAy);
if (gMagnitude > _surpriseThreshold) {
_navigatorKey.currentState?.setEmotion('surprise');
}
});
// Subscribe to GPS data stream
_gpsSub = WebSocketService.instance.gpsStream.listen((data) {
setState(() {
_gpsSpeed = data.speed;
_gpsTrack = data.track;
_gpsSatellites = data.satellites;
});
});
// Subscribe to connection state
_connectionSub = WebSocketService.instance.connectionStream.listen((state) {
setState(() {
_wsState = state;
});
});
// Timer for Pi temp only (safety critical - bypasses backend)
_piTempTimer = Timer.periodic(const Duration(milliseconds: 500), (_) {
setState(() {
_piTemp = PiIO.instance.getTemperature();
});
});
// Initialize with any cached data from WebSocketService
final cachedArduino = WebSocketService.instance.latestArduino;
if (cachedArduino != null) {
_voltage = cachedArduino.voltage;
_rpm = cachedArduino.rpm;
_engineTemp = cachedArduino.engTemp;
_gear = cachedArduino.gear;
_roll = cachedArduino.roll;
_pitch = cachedArduino.pitch;
_ax = cachedArduino.ax;
_ay = cachedArduino.ay;
}
final cachedGps = WebSocketService.instance.latestGps;
if (cachedGps != null) {
_gpsSpeed = cachedGps.speed;
_gpsTrack = cachedGps.track;
_gpsSatellites = cachedGps.satellites;
}
_wsState = WebSocketService.instance.connectionState;
// Placeholder: LTE signal (TODO: wire up when LTE service exists)
_lteSignal = null;
// DEBUG: flip-flop theme + navigator every 2s
TestFlipFlopService.instance.start(navigatorKey: _navigatorKey);
}
@override
void dispose() {
_piTempTimer?.cancel();
_arduinoSub?.cancel();
_gpsSub?.cancel();
_connectionSub?.cancel();
TestFlipFlopService.instance.stop();
super.dispose();
}
/// Format gear for display: null → "—", 0 → "N", 1-6 → "1"-"6"
String _formatGear(int? gear) {
if (gear == null) return '—';
if (gear == 0) return 'N';
return gear.toString();
}
/// Format nullable int for display
String _formatInt(int? value) => value?.toString() ?? '—';
/// Format nullable double for display with decimal places
String _formatDouble(double? value, [int decimals = 1]) {
if (value == null) return '—';
return value.toStringAsFixed(decimals);
}
@override
Widget build(BuildContext context) {
final theme = AppTheme.of(context);
return Scaffold(
backgroundColor: theme.background,
body: Padding(
padding: const EdgeInsets.all(16),
child: Row(
children: [
// Left side: All dashboard widgets (flex: 2)
Expanded(
flex: 2,
child: Column(
crossAxisAlignment: CrossAxisAlignment.stretch,
children: [
// System status bar
SystemBar(
gpsSatellites: _gpsSatellites,
lteSignal: _lteSignal,
piTemp: _piTemp,
voltage: _voltage,
wsState: _wsState,
),
// Main content area - big widgets
Expanded(
flex: 7,
child: Row(
children: [
// Attitude indicator (whiskey mark)
Expanded(
child: WhiskeyMark(
roll: _roll,
pitch: _pitch,
),
),
Expanded(
child: AccelGraph(
ax: _dynamicAx, // Gravity-compensated lateral
ay: _dynamicAy, // Gravity-compensated longitudinal
maxG: 0.8,
ghostTrackPeriod: const Duration(seconds: 4),
),
)
],
),
),
// Bottom stats row
Expanded(
flex: 3,
child: Row(
mainAxisAlignment: MainAxisAlignment.spaceEvenly,
children: [
StatBox(value: _formatInt(_rpm), label: 'RPM', isWarning: () => (_rpm ?? 0) > 4000),
GpsCompass(heading: _gpsTrack),
StatBox(value: _formatGear(_gear), label: 'GEAR'),
],
),
),
],
),
),
const SizedBox(width: 32),
// Right side: Navigator on top, debug console below
Expanded(
flex: 1,
child: Column(
children: [
// Navigator
Expanded(
flex: 3,
child: Center(
child: NavigatorWidget(key: _navigatorKey),
),
),
// Debug console
Expanded(
flex: 1,
child:
DebugConsole(
messageStream: WebSocketService.instance.debugStream,
initialMessages: WebSocketService.instance.debugMessages,
maxLines: 6,
title: 'WebSocket messages',
),
),
],
),
),
],
),
),
);
}
}
import 'dart:async';
import 'dart:math' show sqrt, sin, cos, pi;
import 'package:flutter/material.dart';
import '../services/backend_service.dart';
import '../services/websocket_service.dart';
import '../services/pi_io.dart';
import '../theme/app_theme.dart';
import '../widgets/navigator_widget.dart';
import '../widgets/stat_box.dart';
import '../widgets/stat_box_main.dart';
import '../widgets/system_bar.dart';
import '../widgets/debug_console.dart';
import '../widgets/whiskey_mark.dart';
import '../widgets/accel_graph.dart';
import '../widgets/gps_compass.dart';
// test service for triggers
import '../services/test_flipflop_service.dart';
/// Main dashboard - displays Pi vitals and placeholder stats
class DashboardScreen extends StatefulWidget {
const DashboardScreen({super.key});
@override
State<DashboardScreen> createState() => _DashboardScreenState();
}
class _DashboardScreenState extends State<DashboardScreen> {
static const _surpriseThreshold = 0.24; // G threshold for navigator surprise
final _navigatorKey = GlobalKey<NavigatorWidgetState>();
// Timer for Pi temp only (safety critical, direct file read)
Timer? _piTempTimer;
// WebSocket stream subscriptions
StreamSubscription<ArduinoData>? _arduinoSub;
StreamSubscription<GpsData>? _gpsSub;
StreamSubscription<WsConnectionState>? _connectionSub;
// Pi temperature - direct file read (safety critical)
double? _piTemp;
// From backend - Arduino data
int? _rpm;
double? _voltage;
int? _engineTemp;
int? _gear;
double? _roll;
double? _pitch;
double? _ax;
double? _ay;
double? _dynamicAx; // Gravity-compensated
double? _dynamicAy;
// From backend - GPS data
double? _gpsSpeed;
double? _gpsTrack;
// Placeholder values for system bar
int? _gpsSatellites;
String? _gpsState;
int? _lteSignal;
// WebSocket connection state
WsConnectionState _wsState = WsConnectionState.disconnected;
@override
void initState() {
super.initState();
// Connect to WebSocket
WebSocketService.instance.connect();
// Subscribe to Arduino data stream
_arduinoSub = WebSocketService.instance.arduinoStream.listen((data) {
// Gravity-compensated acceleration
// When tilted, gravity "leaks" into horizontal axes - subtract it out
final rollRad = (data.roll ?? 0) * pi / 180;
final pitchRad = (data.pitch ?? 0) * pi / 180;
// Subtract gravity leakage from measured acceleration
// Axes swapped for IMU mounting orientation
final dynamicAx = (data.ay ?? 0) + sin(rollRad);
final dynamicAy = (data.ax ?? 0) - (sin(pitchRad) * cos(rollRad));
setState(() {
_voltage = data.voltage;
_rpm = data.rpm;
_engineTemp = data.engTemp;
_gear = data.gear;
_roll = data.roll;
_pitch = data.pitch;
_ax = data.ax;
_ay = data.ay;
_dynamicAx = dynamicAx;
_dynamicAy = dynamicAy;
});
final gMagnitude = sqrt(dynamicAx * dynamicAx + dynamicAy * dynamicAy);
if (gMagnitude > _surpriseThreshold) {
_navigatorKey.currentState?.setEmotion('surprise');
}
});
// Subscribe to GPS data stream
_gpsSub = WebSocketService.instance.gpsStream.listen((data) {
setState(() {
_gpsSpeed = data.speed;
_gpsTrack = data.track;
_gpsSatellites = data.satellites;
_gpsState = data.gpsState;
});
});
// Subscribe to connection state
_connectionSub = WebSocketService.instance.connectionStream.listen((state) {
setState(() {
_wsState = state;
});
});
// Timer for Pi temp only (safety critical - bypasses backend)
_piTempTimer = Timer.periodic(const Duration(milliseconds: 500), (_) {
setState(() {
_piTemp = PiIO.instance.getTemperature();
});
});
// Initialize with any cached data from WebSocketService
final cachedArduino = WebSocketService.instance.latestArduino;
if (cachedArduino != null) {
_voltage = cachedArduino.voltage;
_rpm = cachedArduino.rpm;
_engineTemp = cachedArduino.engTemp;
_gear = cachedArduino.gear;
_roll = cachedArduino.roll;
_pitch = cachedArduino.pitch;
_ax = cachedArduino.ax;
_ay = cachedArduino.ay;
}
final cachedGps = WebSocketService.instance.latestGps;
if (cachedGps != null) {
_gpsSpeed = cachedGps.speed;
_gpsTrack = cachedGps.track;
_gpsSatellites = cachedGps.satellites;
_gpsState = cachedGps.gpsState;
}
_wsState = WebSocketService.instance.connectionState;
// Placeholder: LTE signal (TODO: wire up when LTE service exists)
_lteSignal = null;
// DEBUG: flip-flop theme + navigator every 2s
TestFlipFlopService.instance.start(navigatorKey: _navigatorKey);
}
@override
void dispose() {
_piTempTimer?.cancel();
_arduinoSub?.cancel();
_gpsSub?.cancel();
_connectionSub?.cancel();
TestFlipFlopService.instance.stop();
super.dispose();
}
/// Format gear for display: null → "—", 0 → "N", 1-6 → "1"-"6"
String _formatGear(int? gear) {
if (gear == null) return '—';
if (gear == 0) return 'N';
return gear.toString();
}
/// Format nullable int for display
String _formatInt(int? value) => value?.toString() ?? '—';
/// Format nullable double for display with decimal places
String _formatDouble(double? value, [int decimals = 1]) {
if (value == null) return '—';
return value.toStringAsFixed(decimals);
}
@override
Widget build(BuildContext context) {
final theme = AppTheme.of(context);
return Scaffold(
backgroundColor: theme.background,
body: Padding(
padding: const EdgeInsets.all(16),
child: Row(
children: [
// Left side: All dashboard widgets (flex: 2)
Expanded(
flex: 2,
child: Column(
crossAxisAlignment: CrossAxisAlignment.stretch,
children: [
// System status bar
SystemBar(
gpsSatellites: _gpsSatellites,
gpsState: _gpsState,
lteSignal: _lteSignal,
piTemp: _piTemp,
voltage: _voltage,
wsState: _wsState,
),
// Main content area - big widgets
Expanded(
flex: 7,
child: Row(
children: [
// Attitude indicator (whiskey mark)
Expanded(
child: WhiskeyMark(
roll: _roll,
pitch: _pitch,
),
),
Expanded(
child: AccelGraph(
ax: _dynamicAx, // Gravity-compensated lateral
ay: _dynamicAy, // Gravity-compensated longitudinal
maxG: 0.8,
ghostTrackPeriod: const Duration(seconds: 4),
),
)
],
),
),
// Bottom stats row
Expanded(
flex: 3,
child: Row(
mainAxisAlignment: MainAxisAlignment.spaceEvenly,
children: [
StatBox(value: _formatInt(_rpm), label: 'RPM', isWarning: () => (_rpm ?? 0) > 4000),
GpsCompass(heading: _gpsTrack, gpsState: _gpsState),
StatBox(value: _formatGear(_gear), label: 'GEAR'),
],
),
),
],
),
),
const SizedBox(width: 32),
// Right side: Navigator on top, debug console below
Expanded(
flex: 1,
child: Column(
children: [
// Navigator
Expanded(
flex: 3,
child: Center(
child: NavigatorWidget(key: _navigatorKey),
),
),
// Debug console
Expanded(
flex: 1,
child:
DebugConsole(
messageStream: WebSocketService.instance.debugStream,
initialMessages: WebSocketService.instance.debugMessages,
maxLines: 6,
title: 'WebSocket messages',
),
),
],
),
),
],
),
),
);
}
}

324
pi/ui/lib/services/backend_service.dart
View File

@@ -1,161 +1,163 @@
import 'dart:async';
import 'dart:convert';
import 'package:http/http.dart' as http;
/// Data from Arduino (voltage, rpm, engine temp, gear, IMU)
class ArduinoData {
final double? voltage;
final int? rpm;
final int? engTemp;
final int? gear; // 0 = neutral, 1-6 = gear
final double? roll; // Euler angle in degrees (negative = left, positive = right)
final double? pitch; // Euler angle in degrees (negative = nose down)
final double? ax; // Lateral acceleration (g)
final double? ay; // Longitudinal acceleration (g)
final double? az; // Vertical acceleration (g)
ArduinoData({this.voltage, this.rpm, this.engTemp, this.gear, this.roll, this.pitch, this.ax, this.ay, this.az});
factory ArduinoData.fromJson(Map<String, dynamic> json) {
return ArduinoData(
voltage: (json['voltage'] as num?)?.toDouble(),
rpm: (json['rpm'] as num?)?.toInt(),
engTemp: (json['eng_temp'] as num?)?.toInt(),
gear: (json['gear'] as num?)?.toInt(),
roll: (json['roll'] as num?)?.toDouble(), // IMU mounted with axes swapped
pitch: (json['pitch'] as num?)?.toDouble(),
ax: (json['ax'] as num?)?.toDouble(),
ay: (json['ay'] as num?)?.toDouble(),
az: (json['az'] as num?)?.toDouble(),
);
}
}
/// Data from GPS
class GpsData {
final double? lat;
final double? lon;
final double? speed; // m/s
final double? alt;
final double? track;
final int? mode; // 0=no fix, 2=2D, 3=3D
final int? satellites;
GpsData({this.lat, this.lon, this.speed, this.alt, this.track, this.mode, this.satellites});
factory GpsData.fromJson(Map<String, dynamic> json) {
return GpsData(
lat: (json['lat'] as num?)?.toDouble(),
lon: (json['lon'] as num?)?.toDouble(),
speed: (json['speed'] as num?)?.toDouble(),
alt: (json['alt'] as num?)?.toDouble(),
track: (json['track'] as num?)?.toDouble(),
mode: (json['mode'] as num?)?.toInt(),
satellites: (json['satellites'] as num?)?.toInt(),
);
}
}
/// HTTP client for Flask backend - fire-and-forget async fetch, sync cache return
///
/// Follows the same pattern as PiIO: never blocks UI, always returns cached data.
class BackendService {
BackendService._() {
// Kick off initial fetches
_refreshArduino();
_refreshGps();
}
static final instance = BackendService._();
static const _baseUrl = 'http://127.0.0.1:5000';
static const _timeout = Duration(seconds: 2);
// Caches
ArduinoData? _arduinoCache;
GpsData? _gpsCache;
bool _connected = false;
// In-progress flags (prevent duplicate requests)
bool _arduinoFetchInProgress = false;
bool _gpsFetchInProgress = false;
/// Whether backend is reachable
bool get isConnected => _connected;
/// Get Arduino data (sync, returns cached value)
ArduinoData? getArduinoData() {
if (!_arduinoFetchInProgress) {
_refreshArduino();
}
return _arduinoCache;
}
/// Get GPS data (sync, returns cached value)
GpsData? getGpsData() {
if (!_gpsFetchInProgress) {
_refreshGps();
}
return _gpsCache;
}
/// Background fetch for Arduino data
Future<void> _refreshArduino() async {
if (_arduinoFetchInProgress) return;
_arduinoFetchInProgress = true;
try {
final response = await http
.get(Uri.parse('$_baseUrl/arduino'))
.timeout(_timeout);
if (response.statusCode == 200) {
final json = jsonDecode(response.body) as Map<String, dynamic>;
// Skip if backend returns error (no data yet) - keep cached value
if (!json.containsKey('error')) {
_arduinoCache = ArduinoData.fromJson(json);
}
_connected = true;
}
// Non-200: keep cached data, just mark disconnected
} catch (e) {
// Network error, timeout, etc - keep cached data for transient hiccups
_connected = false;
} finally {
_arduinoFetchInProgress = false;
}
}
/// Background fetch for GPS data
Future<void> _refreshGps() async {
if (_gpsFetchInProgress) return;
_gpsFetchInProgress = true;
try {
final response = await http
.get(Uri.parse('$_baseUrl/gps'))
.timeout(_timeout);
if (response.statusCode == 200) {
final json = jsonDecode(response.body) as Map<String, dynamic>;
// Skip if backend returns error (no data yet) - keep cached value
if (!json.containsKey('error')) {
_gpsCache = GpsData.fromJson(json);
}
_connected = true;
}
// Non-200: keep cached data, just mark disconnected
} catch (e) {
// Network error, timeout, etc - keep cached data for transient hiccups
_connected = false;
} finally {
_gpsFetchInProgress = false;
}
}
/// Force clear all caches
void clearCache() {
_arduinoCache = null;
_gpsCache = null;
_connected = false;
}
}
import 'dart:async';
import 'dart:convert';
import 'package:http/http.dart' as http;
/// Data from Arduino (voltage, rpm, engine temp, gear, IMU)
class ArduinoData {
final double? voltage;
final int? rpm;
final int? engTemp;
final int? gear; // 0 = neutral, 1-6 = gear
final double? roll; // Euler angle in degrees (negative = left, positive = right)
final double? pitch; // Euler angle in degrees (negative = nose down)
final double? ax; // Lateral acceleration (g)
final double? ay; // Longitudinal acceleration (g)
final double? az; // Vertical acceleration (g)
ArduinoData({this.voltage, this.rpm, this.engTemp, this.gear, this.roll, this.pitch, this.ax, this.ay, this.az});
factory ArduinoData.fromJson(Map<String, dynamic> json) {
return ArduinoData(
voltage: (json['voltage'] as num?)?.toDouble(),
rpm: (json['rpm'] as num?)?.toInt(),
engTemp: (json['eng_temp'] as num?)?.toInt(),
gear: (json['gear'] as num?)?.toInt(),
roll: (json['roll'] as num?)?.toDouble(), // IMU mounted with axes swapped
pitch: (json['pitch'] as num?)?.toDouble(),
ax: (json['ax'] as num?)?.toDouble(),
ay: (json['ay'] as num?)?.toDouble(),
az: (json['az'] as num?)?.toDouble(),
);
}
}
/// Data from GPS
class GpsData {
final double? lat;
final double? lon;
final double? speed; // m/s
final double? alt;
final double? track;
final int? mode; // 0=no fix, 2=2D, 3=3D
final int? satellites;
final String? gpsState; // "acquiring", "fix", or "lost"
GpsData({this.lat, this.lon, this.speed, this.alt, this.track, this.mode, this.satellites, this.gpsState});
factory GpsData.fromJson(Map<String, dynamic> json) {
return GpsData(
lat: (json['lat'] as num?)?.toDouble(),
lon: (json['lon'] as num?)?.toDouble(),
speed: (json['speed'] as num?)?.toDouble(),
alt: (json['alt'] as num?)?.toDouble(),
track: (json['track'] as num?)?.toDouble(),
mode: (json['mode'] as num?)?.toInt(),
satellites: (json['satellites'] as num?)?.toInt(),
gpsState: json['gps_state'] as String?,
);
}
}
/// HTTP client for Flask backend - fire-and-forget async fetch, sync cache return
///
/// Follows the same pattern as PiIO: never blocks UI, always returns cached data.
class BackendService {
BackendService._() {
// Kick off initial fetches
_refreshArduino();
_refreshGps();
}
static final instance = BackendService._();
static const _baseUrl = 'http://127.0.0.1:5000';
static const _timeout = Duration(seconds: 2);
// Caches
ArduinoData? _arduinoCache;
GpsData? _gpsCache;
bool _connected = false;
// In-progress flags (prevent duplicate requests)
bool _arduinoFetchInProgress = false;
bool _gpsFetchInProgress = false;
/// Whether backend is reachable
bool get isConnected => _connected;
/// Get Arduino data (sync, returns cached value)
ArduinoData? getArduinoData() {
if (!_arduinoFetchInProgress) {
_refreshArduino();
}
return _arduinoCache;
}
/// Get GPS data (sync, returns cached value)
GpsData? getGpsData() {
if (!_gpsFetchInProgress) {
_refreshGps();
}
return _gpsCache;
}
/// Background fetch for Arduino data
Future<void> _refreshArduino() async {
if (_arduinoFetchInProgress) return;
_arduinoFetchInProgress = true;
try {
final response = await http
.get(Uri.parse('$_baseUrl/arduino'))
.timeout(_timeout);
if (response.statusCode == 200) {
final json = jsonDecode(response.body) as Map<String, dynamic>;
// Skip if backend returns error (no data yet) - keep cached value
if (!json.containsKey('error')) {
_arduinoCache = ArduinoData.fromJson(json);
}
_connected = true;
}
// Non-200: keep cached data, just mark disconnected
} catch (e) {
// Network error, timeout, etc - keep cached data for transient hiccups
_connected = false;
} finally {
_arduinoFetchInProgress = false;
}
}
/// Background fetch for GPS data
Future<void> _refreshGps() async {
if (_gpsFetchInProgress) return;
_gpsFetchInProgress = true;
try {
final response = await http
.get(Uri.parse('$_baseUrl/gps'))
.timeout(_timeout);
if (response.statusCode == 200) {
final json = jsonDecode(response.body) as Map<String, dynamic>;
// Skip if backend returns error (no data yet) - keep cached value
if (!json.containsKey('error')) {
_gpsCache = GpsData.fromJson(json);
}
_connected = true;
}
// Non-200: keep cached data, just mark disconnected
} catch (e) {
// Network error, timeout, etc - keep cached data for transient hiccups
_connected = false;
} finally {
_gpsFetchInProgress = false;
}
}
/// Force clear all caches
void clearCache() {
_arduinoCache = null;
_gpsCache = null;
_connected = false;
}
}

664
pi/ui/lib/services/websocket_service.dart
View File

@@ -1,332 +1,332 @@
import 'dart:async';
import 'package:socket_io_client/socket_io_client.dart' as io;
import 'backend_service.dart'; // Reuse ArduinoData, GpsData
import 'theme_service.dart';
/// Connection state for WebSocket
enum WsConnectionState {
disconnected,
connecting,
connected,
}
/// Acknowledgment from backend for a command
class CommandAck {
final String id;
final String status;
final String? error;
final String? extra;
CommandAck({
required this.id,
required this.status,
this.error,
this.extra,
});
bool get isSuccess => status == 'ok' || status == 'sent';
}
/// Alert from backend
class BackendAlert {
final String type;
final String message;
BackendAlert({required this.type, required this.message});
}
/// Backend status (connection states of GPS/Arduino)
class BackendStatus {
final bool gpsConnected;
final bool arduinoConnected;
BackendStatus({required this.gpsConnected, required this.arduinoConnected});
}
/// WebSocket service for real-time data from backend.
///
/// Replaces HTTP polling with push-based updates.
/// Maintains dual logical channels:
/// - Telemetry: arduino/gps data streams (throttled by backend)
/// - Control: button commands and acknowledgments
class WebSocketService {
WebSocketService._() {
_setupStreams();
}
static final instance = WebSocketService._();
static const _serverUrl = 'http://127.0.0.1:5000';
io.Socket? _socket;
WsConnectionState _connectionState = WsConnectionState.disconnected;
Timer? _reconnectTimer;
// Latest values for sync access (backward compat)
ArduinoData? _latestArduino;
GpsData? _latestGps;
BackendStatus? _latestStatus;
// Stream controllers
late StreamController<ArduinoData> _arduinoController;
late StreamController<GpsData> _gpsController;
late StreamController<BackendStatus> _statusController;
late StreamController<CommandAck> _ackController;
late StreamController<BackendAlert> _alertController;
late StreamController<WsConnectionState> _connectionController;
late StreamController<String> _debugController;
// Debug message buffer
static const int _maxDebugMessages = 50;
final List<String> _debugMessages = [];
void _setupStreams() {
_arduinoController = StreamController<ArduinoData>.broadcast();
_gpsController = StreamController<GpsData>.broadcast();
_statusController = StreamController<BackendStatus>.broadcast();
_ackController = StreamController<CommandAck>.broadcast();
_alertController = StreamController<BackendAlert>.broadcast();
_connectionController = StreamController<WsConnectionState>.broadcast();
_debugController = StreamController<String>.broadcast();
}
/// Log a debug message (adds to buffer and stream)
void _log(String message) {
_debugMessages.add(message);
if (_debugMessages.length > _maxDebugMessages) {
_debugMessages.removeAt(0);
}
_debugController.add(message);
}
// --- Public API: Streams ---
/// Stream of Arduino telemetry updates
Stream<ArduinoData> get arduinoStream => _arduinoController.stream;
/// Stream of GPS updates
Stream<GpsData> get gpsStream => _gpsController.stream;
/// Stream of backend status updates
Stream<BackendStatus> get statusStream => _statusController.stream;
/// Stream of command acknowledgments
Stream<CommandAck> get ackStream => _ackController.stream;
/// Stream of alerts from backend
Stream<BackendAlert> get alertStream => _alertController.stream;
/// Stream of connection state changes
Stream<WsConnectionState> get connectionStream => _connectionController.stream;
/// Stream of debug log messages
Stream<String> get debugStream => _debugController.stream;
/// Current debug message buffer (for initial display)
List<String> get debugMessages => List.unmodifiable(_debugMessages);
// --- Public API: Sync getters (backward compat) ---
/// Current connection state
WsConnectionState get connectionState => _connectionState;
/// Whether connected to backend
bool get isConnected => _connectionState == WsConnectionState.connected;
/// Latest Arduino data (may be null if not yet received)
ArduinoData? get latestArduino => _latestArduino;
/// Latest GPS data (may be null if not yet received)
GpsData? get latestGps => _latestGps;
/// Latest backend status
BackendStatus? get latestStatus => _latestStatus;
// --- Public API: Connection ---
/// Connect to backend WebSocket
void connect() {
if (_socket != null) return; // Already connected or connecting
_setConnectionState(WsConnectionState.connecting);
_socket = io.io(_serverUrl, <String, dynamic>{
'transports': ['websocket'],
'autoConnect': true,
'reconnection': false, // We handle reconnection ourselves
});
_socket!.onConnect((_) {
_log('connected');
_setConnectionState(WsConnectionState.connected);
_cancelReconnect();
});
_socket!.onDisconnect((_) {
_log('disconnected');
_setConnectionState(WsConnectionState.disconnected);
_scheduleReconnect();
});
_socket!.onConnectError((error) {
_log('error: $error');
_setConnectionState(WsConnectionState.disconnected);
_scheduleReconnect();
});
_socket!.onError((error) {
_log('error: $error');
});
// --- Telemetry Events ---
_socket!.on('arduino', (data) {
if (data is Map<String, dynamic>) {
final arduino = ArduinoData.fromJson(data);
_latestArduino = arduino;
_arduinoController.add(arduino);
final rollStr = arduino.roll != null ? 'r${arduino.roll!.round()}' : '';
final pitchStr = arduino.pitch != null ? 'p${arduino.pitch!.round()}' : '';
final imuStr = (rollStr.isNotEmpty || pitchStr.isNotEmpty) ? ' $rollStr$pitchStr' : '';
_log('ard: ${arduino.rpm ?? "-"}rpm ${arduino.voltage ?? "-"}V g${arduino.gear ?? "-"}$imuStr');
// Theme switch piggybacks on arduino packets (edge-triggered from backend)
if (data.containsKey('theme_switch')) {
final isDark = data['theme_switch'] as bool;
ThemeService.instance.setDarkMode(isDark);
_log('theme: ${isDark ? "dark" : "light"}');
}
}
});
_socket!.on('gps', (data) {
if (data is Map<String, dynamic>) {
final gps = GpsData.fromJson(data);
_latestGps = gps;
_gpsController.add(gps);
_log('gps: ${gps.speed?.toStringAsFixed(1) ?? "-"}m/s hdg=${gps.track?.round() ?? "-"}° mode${gps.mode ?? "-"}');
}
});
_socket!.on('status', (data) {
if (data is Map<String, dynamic>) {
final status = BackendStatus(
gpsConnected: data['gps_connected'] ?? false,
arduinoConnected: data['arduino_connected'] ?? false,
);
_latestStatus = status;
_statusController.add(status);
_log('status: gps=${status.gpsConnected} ard=${status.arduinoConnected}');
// Initial theme state comes with status on connect
if (data.containsKey('theme_switch')) {
final isDark = data['theme_switch'] as bool;
ThemeService.instance.setDarkMode(isDark);
_log('theme: ${isDark ? "dark" : "light"} (initial)');
}
}
});
// --- Control Events ---
_socket!.on('ack', (data) {
if (data is Map<String, dynamic>) {
final ack = CommandAck(
id: data['id'] ?? 'unknown',
status: data['status'] ?? 'unknown',
error: data['error'],
extra: data['extra'],
);
_ackController.add(ack);
_log('ack: ${ack.id}=${ack.status}${ack.error != null ? " err:${ack.error}" : ""}');
}
});
_socket!.on('alert', (data) {
if (data is Map<String, dynamic>) {
final alert = BackendAlert(
type: data['type'] ?? 'unknown',
message: data['message'] ?? '',
);
_alertController.add(alert);
_log('alert: [${alert.type}] ${alert.message}');
}
});
_socket!.connect();
}
/// Disconnect from backend
void disconnect() {
_cancelReconnect();
_socket?.disconnect();
_socket?.dispose();
_socket = null;
_setConnectionState(WsConnectionState.disconnected);
}
// --- Public API: Commands ---
/// Send button event to backend
void sendButton(String id, String action, [Map<String, dynamic>? params]) {
if (_socket == null || !isConnected) {
print('[WS] Cannot send button, not connected');
return;
}
final data = <String, dynamic>{
'id': id,
'action': action,
...?params,
};
_socket!.emit('button', data);
}
/// Send emergency signal to backend
void sendEmergency(String type) {
if (_socket == null) {
print('[WS] Cannot send emergency, not connected');
return;
}
// Emergency should be sent even if not fully connected
_socket!.emit('emergency', {'type': type});
}
// --- Private ---
void _setConnectionState(WsConnectionState state) {
if (_connectionState != state) {
_connectionState = state;
_connectionController.add(state);
}
}
void _scheduleReconnect() {
_cancelReconnect();
_reconnectTimer = Timer(const Duration(seconds: 3), () {
print('[WS] Attempting reconnect...');
_socket?.dispose();
_socket = null;
connect();
});
}
void _cancelReconnect() {
_reconnectTimer?.cancel();
_reconnectTimer = null;
}
/// Dispose all resources (call on app shutdown)
void dispose() {
disconnect();
_arduinoController.close();
_gpsController.close();
_statusController.close();
_ackController.close();
_alertController.close();
_connectionController.close();
_debugController.close();
}
}
import 'dart:async';
import 'package:socket_io_client/socket_io_client.dart' as io;
import 'backend_service.dart'; // Reuse ArduinoData, GpsData
import 'theme_service.dart';
/// Connection state for WebSocket
enum WsConnectionState {
disconnected,
connecting,
connected,
}
/// Acknowledgment from backend for a command
class CommandAck {
final String id;
final String status;
final String? error;
final String? extra;
CommandAck({
required this.id,
required this.status,
this.error,
this.extra,
});
bool get isSuccess => status == 'ok' || status == 'sent';
}
/// Alert from backend
class BackendAlert {
final String type;
final String message;
BackendAlert({required this.type, required this.message});
}
/// Backend status (connection states of GPS/Arduino)
class BackendStatus {
final bool gpsConnected;
final bool arduinoConnected;
BackendStatus({required this.gpsConnected, required this.arduinoConnected});
}
/// WebSocket service for real-time data from backend.
///
/// Replaces HTTP polling with push-based updates.
/// Maintains dual logical channels:
/// - Telemetry: arduino/gps data streams (throttled by backend)
/// - Control: button commands and acknowledgments
class WebSocketService {
WebSocketService._() {
_setupStreams();
}
static final instance = WebSocketService._();
static const _serverUrl = 'http://127.0.0.1:5000';
io.Socket? _socket;
WsConnectionState _connectionState = WsConnectionState.disconnected;
Timer? _reconnectTimer;
// Latest values for sync access (backward compat)
ArduinoData? _latestArduino;
GpsData? _latestGps;
BackendStatus? _latestStatus;
// Stream controllers
late StreamController<ArduinoData> _arduinoController;
late StreamController<GpsData> _gpsController;
late StreamController<BackendStatus> _statusController;
late StreamController<CommandAck> _ackController;
late StreamController<BackendAlert> _alertController;
late StreamController<WsConnectionState> _connectionController;
late StreamController<String> _debugController;
// Debug message buffer
static const int _maxDebugMessages = 50;
final List<String> _debugMessages = [];
void _setupStreams() {
_arduinoController = StreamController<ArduinoData>.broadcast();
_gpsController = StreamController<GpsData>.broadcast();
_statusController = StreamController<BackendStatus>.broadcast();
_ackController = StreamController<CommandAck>.broadcast();
_alertController = StreamController<BackendAlert>.broadcast();
_connectionController = StreamController<WsConnectionState>.broadcast();
_debugController = StreamController<String>.broadcast();
}
/// Log a debug message (adds to buffer and stream)
void _log(String message) {
_debugMessages.add(message);
if (_debugMessages.length > _maxDebugMessages) {
_debugMessages.removeAt(0);
}
_debugController.add(message);
}
// --- Public API: Streams ---
/// Stream of Arduino telemetry updates
Stream<ArduinoData> get arduinoStream => _arduinoController.stream;
/// Stream of GPS updates
Stream<GpsData> get gpsStream => _gpsController.stream;
/// Stream of backend status updates
Stream<BackendStatus> get statusStream => _statusController.stream;
/// Stream of command acknowledgments
Stream<CommandAck> get ackStream => _ackController.stream;
/// Stream of alerts from backend
Stream<BackendAlert> get alertStream => _alertController.stream;
/// Stream of connection state changes
Stream<WsConnectionState> get connectionStream => _connectionController.stream;
/// Stream of debug log messages
Stream<String> get debugStream => _debugController.stream;
/// Current debug message buffer (for initial display)
List<String> get debugMessages => List.unmodifiable(_debugMessages);
// --- Public API: Sync getters (backward compat) ---
/// Current connection state
WsConnectionState get connectionState => _connectionState;
/// Whether connected to backend
bool get isConnected => _connectionState == WsConnectionState.connected;
/// Latest Arduino data (may be null if not yet received)
ArduinoData? get latestArduino => _latestArduino;
/// Latest GPS data (may be null if not yet received)
GpsData? get latestGps => _latestGps;
/// Latest backend status
BackendStatus? get latestStatus => _latestStatus;
// --- Public API: Connection ---
/// Connect to backend WebSocket
void connect() {
if (_socket != null) return; // Already connected or connecting
_setConnectionState(WsConnectionState.connecting);
_socket = io.io(_serverUrl, <String, dynamic>{
'transports': ['websocket'],
'autoConnect': true,
'reconnection': false, // We handle reconnection ourselves
});
_socket!.onConnect((_) {
_log('connected');
_setConnectionState(WsConnectionState.connected);
_cancelReconnect();
});
_socket!.onDisconnect((_) {
_log('disconnected');
_setConnectionState(WsConnectionState.disconnected);
_scheduleReconnect();
});
_socket!.onConnectError((error) {
_log('error: $error');
_setConnectionState(WsConnectionState.disconnected);
_scheduleReconnect();
});
_socket!.onError((error) {
_log('error: $error');
});
// --- Telemetry Events ---
_socket!.on('arduino', (data) {
if (data is Map<String, dynamic>) {
final arduino = ArduinoData.fromJson(data);
_latestArduino = arduino;
_arduinoController.add(arduino);
final rollStr = arduino.roll != null ? 'r${arduino.roll!.round()}' : '';
final pitchStr = arduino.pitch != null ? 'p${arduino.pitch!.round()}' : '';
final imuStr = (rollStr.isNotEmpty || pitchStr.isNotEmpty) ? ' $rollStr$pitchStr' : '';
_log('ard: ${arduino.rpm ?? "-"}rpm ${arduino.voltage ?? "-"}V g${arduino.gear ?? "-"}$imuStr');
// Theme switch piggybacks on arduino packets (edge-triggered from backend)
if (data.containsKey('theme_switch')) {
final isDark = data['theme_switch'] as bool;
ThemeService.instance.setDarkMode(isDark);
_log('theme: ${isDark ? "dark" : "light"}');
}
}
});
_socket!.on('gps', (data) {
if (data is Map<String, dynamic>) {
final gps = GpsData.fromJson(data);
_latestGps = gps;
_gpsController.add(gps);
_log('gps: ${gps.speed?.toStringAsFixed(1) ?? "-"}m/s hdg=${gps.track?.round() ?? "-"}° mode${gps.mode ?? "-"}');
}
});
_socket!.on('status', (data) {
if (data is Map<String, dynamic>) {
final status = BackendStatus(
gpsConnected: data['gps_connected'] ?? false,
arduinoConnected: data['arduino_connected'] ?? false,
);
_latestStatus = status;
_statusController.add(status);
_log('status: gps=${status.gpsConnected} ard=${status.arduinoConnected}');
// Initial theme state comes with status on connect
if (data.containsKey('theme_switch')) {
final isDark = data['theme_switch'] as bool;
ThemeService.instance.setDarkMode(isDark);
_log('theme: ${isDark ? "dark" : "light"} (initial)');
}
}
});
// --- Control Events ---
_socket!.on('ack', (data) {
if (data is Map<String, dynamic>) {
final ack = CommandAck(
id: data['id'] ?? 'unknown',
status: data['status'] ?? 'unknown',
error: data['error'],
extra: data['extra'],
);
_ackController.add(ack);
_log('ack: ${ack.id}=${ack.status}${ack.error != null ? " err:${ack.error}" : ""}');
}
});
_socket!.on('alert', (data) {
if (data is Map<String, dynamic>) {
final alert = BackendAlert(
type: data['type'] ?? 'unknown',
message: data['message'] ?? '',
);
_alertController.add(alert);
_log('alert: [${alert.type}] ${alert.message}');
}
});
_socket!.connect();
}
/// Disconnect from backend
void disconnect() {
_cancelReconnect();
_socket?.disconnect();
_socket?.dispose();
_socket = null;
_setConnectionState(WsConnectionState.disconnected);
}
// --- Public API: Commands ---
/// Send button event to backend
void sendButton(String id, String action, [Map<String, dynamic>? params]) {
if (_socket == null || !isConnected) {
print('[WS] Cannot send button, not connected');
return;
}
final data = <String, dynamic>{
'id': id,
'action': action,
...?params,
};
_socket!.emit('button', data);
}
/// Send emergency signal to backend
void sendEmergency(String type) {
if (_socket == null) {
print('[WS] Cannot send emergency, not connected');
return;
}
// Emergency should be sent even if not fully connected
_socket!.emit('emergency', {'type': type});
}
// --- Private ---
void _setConnectionState(WsConnectionState state) {
if (_connectionState != state) {
_connectionState = state;
_connectionController.add(state);
}
}
void _scheduleReconnect() {
_cancelReconnect();
_reconnectTimer = Timer(const Duration(seconds: 3), () {
print('[WS] Attempting reconnect...');
_socket?.dispose();
_socket = null;
connect();
});
}
void _cancelReconnect() {
_reconnectTimer?.cancel();
_reconnectTimer = null;
}
/// Dispose all resources (call on app shutdown)
void dispose() {
disconnect();
_arduinoController.close();
_gpsController.close();
_statusController.close();
_ackController.close();
_alertController.close();
_connectionController.close();
_debugController.close();
}
}

238
pi/ui/lib/widgets/debug_console.dart
View File

@@ -1,119 +1,119 @@
import 'dart:async';
import 'package:flutter/material.dart';
import '../theme/app_theme.dart';
/// Generic debug console that displays streaming log messages.
///
/// Can be wired to any message source via [messageStream] and [initialMessages].
/// Example sources: WebSocketService.debugStream, ArduinoService logs, etc.
class DebugConsole extends StatefulWidget {
/// Stream of new messages to display
final Stream<String> messageStream;
/// Initial messages to populate (e.g., from a buffer)
final List<String> initialMessages;
/// Maximum lines to display
final int maxLines;
/// Optional title for the console (shown in title bar)
final String? title;
const DebugConsole({
super.key,
required this.messageStream,
this.initialMessages = const [],
this.maxLines = 8,
this.title,
});
@override
State<DebugConsole> createState() => _DebugConsoleState();
}
class _DebugConsoleState extends State<DebugConsole> {
final List<String> _messages = [];
StreamSubscription<String>? _sub;
@override
void initState() {
super.initState();
// Initialize with existing buffer
_messages.addAll(widget.initialMessages);
_trimMessages();
// Subscribe to new messages
_sub = widget.messageStream.listen((msg) {
setState(() {
_messages.add(msg);
_trimMessages();
});
});
}
void _trimMessages() {
while (_messages.length > widget.maxLines) {
_messages.removeAt(0);
}
}
@override
void dispose() {
_sub?.cancel();
super.dispose();
}
@override
Widget build(BuildContext context) {
final theme = AppTheme.of(context);
return Container(
decoration: BoxDecoration(
color: theme.background.withAlpha(64),
border: Border.all(color: theme.subdued, width: 2),
borderRadius: BorderRadius.circular(8),
),
child: Column(
mainAxisSize: MainAxisSize.max,
crossAxisAlignment: CrossAxisAlignment.stretch,
children: [
// Title bar (optional)
if (widget.title != null)
Container(
padding: const EdgeInsets.symmetric(horizontal: 8, vertical: 4),
decoration: BoxDecoration(
border: Border(
bottom: BorderSide(color: theme.subdued, width: 1),
),
),
child: Text(
widget.title!,
style: TextStyle(
fontFamily: 'monospace',
fontSize: 24,
color: theme.subdued,
),
),
),
// Console content
Expanded(
child: Padding(
padding: const EdgeInsets.all(8),
child: Text(
_messages.isEmpty ? '(no messages)' : _messages.join('\n'),
style: TextStyle(
fontFamily: 'monospace',
fontSize: 30,
color: theme.foreground,
height: 1.0,
),
),
),
),
],
),
);
}
}
import 'dart:async';
import 'package:flutter/material.dart';
import '../theme/app_theme.dart';
/// Generic debug console that displays streaming log messages.
///
/// Can be wired to any message source via [messageStream] and [initialMessages].
/// Example sources: WebSocketService.debugStream, ArduinoService logs, etc.
class DebugConsole extends StatefulWidget {
/// Stream of new messages to display
final Stream<String> messageStream;
/// Initial messages to populate (e.g., from a buffer)
final List<String> initialMessages;
/// Maximum lines to display
final int maxLines;
/// Optional title for the console (shown in title bar)
final String? title;
const DebugConsole({
super.key,
required this.messageStream,
this.initialMessages = const [],
this.maxLines = 8,
this.title,
});
@override
State<DebugConsole> createState() => _DebugConsoleState();
}
class _DebugConsoleState extends State<DebugConsole> {
final List<String> _messages = [];
StreamSubscription<String>? _sub;
@override
void initState() {
super.initState();
// Initialize with existing buffer
_messages.addAll(widget.initialMessages);
_trimMessages();
// Subscribe to new messages
_sub = widget.messageStream.listen((msg) {
setState(() {
_messages.add(msg);
_trimMessages();
});
});
}
void _trimMessages() {
while (_messages.length > widget.maxLines) {
_messages.removeAt(0);
}
}
@override
void dispose() {
_sub?.cancel();
super.dispose();
}
@override
Widget build(BuildContext context) {
final theme = AppTheme.of(context);
return Container(
decoration: BoxDecoration(
color: theme.background.withAlpha(64),
border: Border.all(color: theme.subdued, width: 2),
borderRadius: BorderRadius.circular(8),
),
child: Column(
mainAxisSize: MainAxisSize.max,
crossAxisAlignment: CrossAxisAlignment.stretch,
children: [
// Title bar (optional)
if (widget.title != null)
Container(
padding: const EdgeInsets.symmetric(horizontal: 8, vertical: 4),
decoration: BoxDecoration(
border: Border(
bottom: BorderSide(color: theme.subdued, width: 1),
),
),
child: Text(
widget.title!,
style: TextStyle(
fontFamily: 'monospace',
fontSize: 24,
color: theme.subdued,
),
),
),
// Console content
Expanded(
child: Padding(
padding: const EdgeInsets.all(8),
child: Text(
_messages.isEmpty ? '(no messages)' : _messages.join('\n'),
style: TextStyle(
fontFamily: 'monospace',
fontSize: 30,
color: theme.foreground,
height: 1.0,
),
),
),
),
],
),
);
}
}

10
pi/ui/lib/widgets/gps_compass.dart
View File

@@ -4,14 +4,16 @@ import '../theme/app_theme.dart';
class GpsCompass extends StatelessWidget {
final double? heading;
final String? gpsState; // "acquiring", "fix", "lost"
const GpsCompass({super.key, this.heading});
const GpsCompass({super.key, this.heading, this.gpsState});
bool get _hasSignal => heading != null;
bool get _isAcquiring => gpsState == 'acquiring';
String get _displayHeading {
if (!_hasSignal) return 'N/A'; // Just make it clear; redundant anyways, this only gets called when _hasSignal
return '${(heading! % 360).round()}'; // No need for the degree symbol
if (!_hasSignal) return 'N/A';
return '${(heading! % 360).round()}';
}
String get _compassDirection {
@@ -56,7 +58,7 @@ class GpsCompass extends StatelessWidget {
child: FittedBox(
fit: BoxFit.contain,
child: Text(
_hasSignal ? "${_displayHeading} ${_compassDirection}" : "N/A",
_hasSignal ? "${_displayHeading} ${_compassDirection}" : (_isAcquiring ? "ACQ" : "N/A"),
style: TextStyle(
fontSize: 80,
color: theme.subdued,

200
pi/ui/lib/widgets/navigator_widget.dart
View File

@@ -1,100 +1,100 @@
import 'dart:io';
import 'dart:math';
import 'package:flutter/material.dart';
import '../services/config_service.dart';
/// Displays the navigator character with emotion support.
///
/// Use a GlobalKey to control emotions from parent:
/// ```dart
/// final _navigatorKey = GlobalKey<NavigatorWidgetState>();
/// NavigatorWidget(key: _navigatorKey)
/// // Later:
/// _navigatorKey.currentState?.setEmotion('happy');
/// ```
class NavigatorWidget extends StatefulWidget {
const NavigatorWidget({super.key});
@override
State<NavigatorWidget> createState() => NavigatorWidgetState();
}
class NavigatorWidgetState extends State<NavigatorWidget>
with SingleTickerProviderStateMixin {
String _emotion = 'default';
late AnimationController _shakeController;
@override
void initState() {
super.initState();
_shakeController = AnimationController(
duration: const Duration(milliseconds: 400),
vsync: this,
);
// Auto-reset to default after surprise animation completes
_shakeController.addStatusListener((status) {
if (status == AnimationStatus.completed && _emotion == 'surprise') {
setState(() => _emotion = 'default');
}
});
}
@override
void dispose() {
_shakeController.dispose();
super.dispose();
}
/// Change the displayed emotion.
/// Image file must exist at: {assetsPath}/navigator/{navigator}/{emotion}.png
void setEmotion(String emotion) {
if (emotion != _emotion) {
setState(() => _emotion = emotion);
if (emotion == 'surprise') {
_shakeController.forward(from: 0);
}
}
}
/// Reset to default emotion
void reset() => setEmotion('default');
/// Current emotion
String get emotion => _emotion;
@override
Widget build(BuildContext context) {
final config = ConfigService.instance;
final basePath = '${config.assetsPath}/navigator/${config.navigator}';
final image = Image.file(
File('$basePath/$_emotion.png'),
fit: BoxFit.contain,
errorBuilder: (context, error, stackTrace) {
// Fallback: try default.png if specific emotion missing
if (_emotion != 'default') {
return Image.file(
File('$basePath/default.png'),
fit: BoxFit.contain,
errorBuilder: (_, __, ___) => const SizedBox.shrink(),
);
}
return const SizedBox.shrink();
},
);
// Shake animation for surprise
return AnimatedBuilder(
animation: _shakeController,
child: image,
builder: (context, child) {
final shake = sin(_shakeController.value * pi * 6) * 25 *
(1 - _shakeController.value); // 6 oscillations, 25px amplitude, decay
return Transform.translate(
offset: Offset(shake, 0),
child: child,
);
},
);
}
}
import 'dart:io';
import 'dart:math';
import 'package:flutter/material.dart';
import '../services/config_service.dart';
/// Displays the navigator character with emotion support.
///
/// Use a GlobalKey to control emotions from parent:
/// ```dart
/// final _navigatorKey = GlobalKey<NavigatorWidgetState>();
/// NavigatorWidget(key: _navigatorKey)
/// // Later:
/// _navigatorKey.currentState?.setEmotion('happy');
/// ```
class NavigatorWidget extends StatefulWidget {
const NavigatorWidget({super.key});
@override
State<NavigatorWidget> createState() => NavigatorWidgetState();
}
class NavigatorWidgetState extends State<NavigatorWidget>
with SingleTickerProviderStateMixin {
String _emotion = 'default';
late AnimationController _shakeController;
@override
void initState() {
super.initState();
_shakeController = AnimationController(
duration: const Duration(milliseconds: 400),
vsync: this,
);
// Auto-reset to default after surprise animation completes
_shakeController.addStatusListener((status) {
if (status == AnimationStatus.completed && _emotion == 'surprise') {
setState(() => _emotion = 'default');
}
});
}
@override
void dispose() {
_shakeController.dispose();
super.dispose();
}
/// Change the displayed emotion.
/// Image file must exist at: {assetsPath}/navigator/{navigator}/{emotion}.png
void setEmotion(String emotion) {
if (emotion != _emotion) {
setState(() => _emotion = emotion);
if (emotion == 'surprise') {
_shakeController.forward(from: 0);
}
}
}
/// Reset to default emotion
void reset() => setEmotion('default');
/// Current emotion
String get emotion => _emotion;
@override
Widget build(BuildContext context) {
final config = ConfigService.instance;
final basePath = '${config.assetsPath}/navigator/${config.navigator}';
final image = Image.file(
File('$basePath/$_emotion.png'),
fit: BoxFit.contain,
errorBuilder: (context, error, stackTrace) {
// Fallback: try default.png if specific emotion missing
if (_emotion != 'default') {
return Image.file(
File('$basePath/default.png'),
fit: BoxFit.contain,
errorBuilder: (_, __, ___) => const SizedBox.shrink(),
);
}
return const SizedBox.shrink();
},
);
// Shake animation for surprise
return AnimatedBuilder(
animation: _shakeController,
child: image,
builder: (context, child) {
final shake = sin(_shakeController.value * pi * 6) * 25 *
(1 - _shakeController.value); // 6 oscillations, 25px amplitude, decay
return Transform.translate(
offset: Offset(shake, 0),
child: child,
);
},
);
}
}

344
pi/ui/lib/widgets/system_bar.dart
View File

@@ -1,170 +1,174 @@
import 'package:flutter/material.dart';
import '../services/websocket_service.dart';
import '../theme/app_theme.dart';
/// Android-style persistent status bar for system indicators.
/// Shows GPS satellites, LTE signal, Pi temp, voltage, WS status at a glance.
class SystemBar extends StatelessWidget {
final int? gpsSatellites; // null = disconnected
final int? lteSignal; // null = disconnected, 0-4 bars
final double? piTemp; // null = unavailable
final double? voltage; // null = Arduino disconnected
final WsConnectionState? wsState; // WebSocket connection state
const SystemBar({
super.key,
this.gpsSatellites,
this.lteSignal,
this.piTemp,
this.voltage,
this.wsState,
});
/// Get WebSocket status text and abnormal flag
(String, bool) _wsStatus() {
switch (wsState) {
case WsConnectionState.connected:
return ('OK', false);
case WsConnectionState.connecting:
return ('...', true);
case WsConnectionState.disconnected:
case null:
return ('OFF', true);
}
}
@override
Widget build(BuildContext context) {
final theme = AppTheme.of(context);
final (wsText, wsAbnormal) = _wsStatus();
return Expanded(
flex: 1,
child: LayoutBuilder(
builder: (context, constraints) {
// Font sizes relative to bar height
final labelSize = constraints.maxHeight * 0.5;
final valueSize = constraints.maxHeight * 0.5;
return Container(
padding: const EdgeInsets.symmetric(horizontal: 24),
child: Row(
crossAxisAlignment: CrossAxisAlignment.center,
children: [
// Left group: WS, GPS, LTE
_Indicator(
label: 'WS',
value: wsText,
isAbnormal: wsAbnormal,
alignment: Alignment.centerLeft,
labelSize: labelSize,
valueSize: valueSize,
flex: 2,
theme: theme,
),
_Indicator(
label: 'GPS',
value: gpsSatellites?.toString() ?? 'N/A',
isAbnormal: gpsSatellites == null || gpsSatellites == 0,
alignment: Alignment.centerLeft,
labelSize: labelSize,
valueSize: valueSize,
flex: 2,
theme: theme,
),
_Indicator(
label: 'LTE',
value: lteSignal?.toString() ?? 'N/A',
isAbnormal: lteSignal == null,
alignment: Alignment.centerLeft,
labelSize: labelSize,
valueSize: valueSize,
flex: 2,
theme: theme,
),
// Right group: Pi, Chassis
_Indicator(
label: 'Pi',
value: piTemp != null ? '${piTemp!.toStringAsFixed(1)} °C' : 'N/A',
isAbnormal: piTemp == null || piTemp! > 80,
alignment: Alignment.centerLeft,
labelSize: labelSize,
valueSize: valueSize,
flex: 2,
theme: theme,
),
_Indicator(
label: 'Mains',
value: voltage != null ? '${voltage!.toStringAsFixed(1)} V' : 'N/A',
isAbnormal: voltage == null || voltage! < 11.7 || voltage! > 14.5,
alignment: Alignment.centerLeft,
labelSize: labelSize,
valueSize: valueSize,
flex: 3,
theme: theme,
),
],
),
);
},
),
);
}
}
/// Single status indicator in a fixed-width flex slot.
class _Indicator extends StatelessWidget {
final String label;
final String value;
final bool isAbnormal;
final Alignment alignment;
final double labelSize;
final double valueSize;
final int flex;
final AppTheme theme;
const _Indicator({
required this.label,
required this.value,
required this.isAbnormal,
required this.alignment,
required this.labelSize,
required this.valueSize,
required this.flex,
required this.theme,
});
@override
Widget build(BuildContext context) {
return Expanded(
flex: flex,
child: Align(
alignment: alignment,
child: Row(
mainAxisSize: MainAxisSize.min,
crossAxisAlignment: CrossAxisAlignment.baseline,
textBaseline: TextBaseline.alphabetic,
children: [
Text(
'$label ',
style: TextStyle(
fontSize: labelSize,
color: theme.subdued,
),
),
Text(
value,
style: TextStyle(
fontSize: valueSize,
fontFeatures: const [FontFeature.tabularFigures()],
color: isAbnormal ? theme.highlight : theme.foreground,
),
),
],
),
),
);
}
}
import 'package:flutter/material.dart';
import '../services/websocket_service.dart';
import '../theme/app_theme.dart';
/// Android-style persistent status bar for system indicators.
/// Shows GPS satellites, LTE signal, Pi temp, voltage, WS status at a glance.
class SystemBar extends StatelessWidget {
final int? gpsSatellites; // null = disconnected
final String? gpsState; // "acquiring", "fix", "lost"
final int? lteSignal; // null = disconnected, 0-4 bars
final double? piTemp; // null = unavailable
final double? voltage; // null = Arduino disconnected
final WsConnectionState? wsState; // WebSocket connection state
const SystemBar({
super.key,
this.gpsSatellites,
this.gpsState,
this.lteSignal,
this.piTemp,
this.voltage,
this.wsState,
});
/// Get WebSocket status text and abnormal flag
(String, bool) _wsStatus() {
switch (wsState) {
case WsConnectionState.connected:
return ('OK', false);
case WsConnectionState.connecting:
return ('...', true);
case WsConnectionState.disconnected:
case null:
return ('OFF', true);
}
}
@override
Widget build(BuildContext context) {
final theme = AppTheme.of(context);
final (wsText, wsAbnormal) = _wsStatus();
return Expanded(
flex: 1,
child: LayoutBuilder(
builder: (context, constraints) {
// Font sizes relative to bar height
final labelSize = constraints.maxHeight * 0.5;
final valueSize = constraints.maxHeight * 0.5;
return Container(
padding: const EdgeInsets.symmetric(horizontal: 24),
child: Row(
crossAxisAlignment: CrossAxisAlignment.center,
children: [
// Left group: WS, GPS, LTE
_Indicator(
label: 'WS',
value: wsText,
isAbnormal: wsAbnormal,
alignment: Alignment.centerLeft,
labelSize: labelSize,
valueSize: valueSize,
flex: 2,
theme: theme,
),
_Indicator(
label: 'GPS',
value: gpsState == 'acquiring' ? 'ACQ'
: gpsState == 'fix' ? (gpsSatellites?.toString() ?? 'N/A')
: '0', // lost or unknown
isAbnormal: gpsState != 'fix',
alignment: Alignment.centerLeft,
labelSize: labelSize,
valueSize: valueSize,
flex: 2,
theme: theme,
),
_Indicator(
label: 'LTE',
value: lteSignal?.toString() ?? 'N/A',
isAbnormal: lteSignal == null,
alignment: Alignment.centerLeft,
labelSize: labelSize,
valueSize: valueSize,
flex: 2,
theme: theme,
),
// Right group: Pi, Chassis
_Indicator(
label: 'Pi',
value: piTemp != null ? '${piTemp!.toStringAsFixed(1)} °C' : 'N/A',
isAbnormal: piTemp == null || piTemp! > 80,
alignment: Alignment.centerLeft,
labelSize: labelSize,
valueSize: valueSize,
flex: 2,
theme: theme,
),
_Indicator(
label: 'Mains',
value: voltage != null ? '${voltage!.toStringAsFixed(1)} V' : 'N/A',
isAbnormal: voltage == null || voltage! < 11.7 || voltage! > 14.5,
alignment: Alignment.centerLeft,
labelSize: labelSize,
valueSize: valueSize,
flex: 3,
theme: theme,
),
],
),
);
},
),
);
}
}
/// Single status indicator in a fixed-width flex slot.
class _Indicator extends StatelessWidget {
final String label;
final String value;
final bool isAbnormal;
final Alignment alignment;
final double labelSize;
final double valueSize;
final int flex;
final AppTheme theme;
const _Indicator({
required this.label,
required this.value,
required this.isAbnormal,
required this.alignment,
required this.labelSize,
required this.valueSize,
required this.flex,
required this.theme,
});
@override
Widget build(BuildContext context) {
return Expanded(
flex: flex,
child: Align(
alignment: alignment,
child: Row(
mainAxisSize: MainAxisSize.min,
crossAxisAlignment: CrossAxisAlignment.baseline,
textBaseline: TextBaseline.alphabetic,
children: [
Text(
'$label ',
style: TextStyle(
fontSize: labelSize,
color: theme.subdued,
),
),
Text(
value,
style: TextStyle(
fontSize: valueSize,
fontFeatures: const [FontFeature.tabularFigures()],
color: isAbnormal ? theme.highlight : theme.foreground,
),
),
],
),
),
);
}
}