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initial switch to websocket

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This commit is contained in:
Mikkeli Matlock
2026-01-26 16:50:52 +09:00
parent 62eaaff88e
commit d6ea28163e
11 changed files with 976 additions and 35 deletions
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128
pi/ui/lib/screens/dashboard_screen.dart
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@@ -1,7 +1,8 @@
import 'dart:async';
import 'dart:math';
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';
@@ -21,53 +22,125 @@ class DashboardScreen extends StatefulWidget {
}
class _DashboardScreenState extends State<DashboardScreen> {
final _random = Random();
final _navigatorKey = GlobalKey<NavigatorWidgetState>();
Timer? _timer;
// 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;
int _rpm = 0;
double _voltage = 12.6;
int _engineTemp = 25;
// From backend - Arduino data
int? _rpm;
double? _voltage;
int? _engineTemp;
int? _gear;
// From backend - GPS data
double? _gpsSpeed;
// Placeholder values for system bar
int? _gpsSatellites;
int? _lteSignal;
// WebSocket connection state
WsConnectionState _wsState = WsConnectionState.disconnected;
@override
void initState() {
super.initState();
// Update values periodically
_timer = Timer.periodic(const Duration(milliseconds: 500), (_) {
// Connect to WebSocket
WebSocketService.instance.connect();
// Subscribe to Arduino data stream
_arduinoSub = WebSocketService.instance.arduinoStream.listen((data) {
setState(() {
// Pi temp - sync read from cache, async refresh happens in background
_piTemp = PiIO.instance.getTemperature();
// Placeholder random data - will be replaced with real sensors
_rpm = 1000 + _random.nextInt(8000);
_voltage = 11.5 + _random.nextDouble() * 2;
_engineTemp = 20 + _random.nextInt(60);
// Placeholder: GPS satellites (null = disconnected, 0 = no fix, 3-12 = typical)
_gpsSatellites = _random.nextBool() ? _random.nextInt(12) : null;
// Placeholder: LTE signal (null = disconnected, 0-4 = signal bars)
_lteSignal = _random.nextBool() ? _random.nextInt(5) : null;
_voltage = data.voltage;
_rpm = data.rpm;
_engineTemp = data.engTemp;
_gear = data.gear;
});
});
// Subscribe to GPS data stream
_gpsSub = WebSocketService.instance.gpsStream.listen((data) {
setState(() {
_gpsSpeed = data.speed;
// Derive satellites from mode (placeholder logic)
_gpsSatellites = data.mode == 3 ? 8 : (data.mode == 2 ? 4 : 0);
});
});
// 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;
}
final cachedGps = WebSocketService.instance.latestGps;
if (cachedGps != null) {
_gpsSpeed = cachedGps.speed;
_gpsSatellites = cachedGps.mode == 3 ? 8 : (cachedGps.mode == 2 ? 4 : 0);
}
_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() {
_timer?.cancel();
_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);
@@ -90,6 +163,7 @@ class _DashboardScreenState extends State<DashboardScreen> {
lteSignal: _lteSignal,
piTemp: _piTemp,
voltage: _voltage,
wsState: _wsState,
),
const SizedBox(height: 10),
@@ -99,9 +173,9 @@ class _DashboardScreenState extends State<DashboardScreen> {
flex: 8,
child: Row(
children: [
// Speed - placeholder, will come from GPS
// RPM from Arduino
StatBoxMain(
value: _rpm.toString(),
value: _formatInt(_rpm),
label: 'RPM',
),
// Add second StatBoxMain here for 2-up layout:
@@ -116,9 +190,9 @@ class _DashboardScreenState extends State<DashboardScreen> {
child: Row(
mainAxisAlignment: MainAxisAlignment.spaceEvenly,
children: [
StatBox(value: _rpm.toString(), label: 'RPM'),
StatBox(value: '$_engineTemp', unit: '°C', label: 'ENG'),
const StatBox(value: '—', label: 'GEAR'),
StatBox(value: _formatInt(_rpm), label: 'RPM'),
StatBox(value: _formatInt(_engineTemp), unit: '°C', label: 'ENG'),
StatBox(value: _formatGear(_gear), label: 'GEAR'),
],
),
),

149
pi/ui/lib/services/backend_service.dart Normal file
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@@ -0,0 +1,149 @@
import 'dart:async';
import 'dart:convert';
import 'package:http/http.dart' as http;
/// Data from Arduino (voltage, rpm, engine temp, gear)
class ArduinoData {
final double? voltage;
final int? rpm;
final int? engTemp;
final int? gear; // 0 = neutral, 1-6 = gear
ArduinoData({this.voltage, this.rpm, this.engTemp, this.gear});
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(),
);
}
}
/// 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
GpsData({this.lat, this.lon, this.speed, this.alt, this.track, this.mode});
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(),
);
}
}
/// 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;
}
}

287
pi/ui/lib/services/websocket_service.dart Normal file
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@@ -0,0 +1,287 @@
import 'dart:async';
import 'package:socket_io_client/socket_io_client.dart' as io;
import 'backend_service.dart'; // Reuse ArduinoData, GpsData
/// 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;
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();
}
// --- 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;
// --- 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((_) {
print('[WS] Connected to $_serverUrl');
_setConnectionState(WsConnectionState.connected);
_cancelReconnect();
});
_socket!.onDisconnect((_) {
print('[WS] Disconnected');
_setConnectionState(WsConnectionState.disconnected);
_scheduleReconnect();
});
_socket!.onConnectError((error) {
print('[WS] Connection error: $error');
_setConnectionState(WsConnectionState.disconnected);
_scheduleReconnect();
});
_socket!.onError((error) {
print('[WS] Error: $error');
});
// --- Telemetry Events ---
_socket!.on('arduino', (data) {
if (data is Map<String, dynamic>) {
final arduino = ArduinoData.fromJson(data);
_latestArduino = arduino;
_arduinoController.add(arduino);
}
});
_socket!.on('gps', (data) {
if (data is Map<String, dynamic>) {
final gps = GpsData.fromJson(data);
_latestGps = gps;
_gpsController.add(gps);
}
});
_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);
}
});
// --- 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);
}
});
_socket!.on('alert', (data) {
if (data is Map<String, dynamic>) {
final alert = BackendAlert(
type: data['type'] ?? 'unknown',
message: data['message'] ?? '',
);
_alertController.add(alert);
}
});
_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();
}
}

35
pi/ui/lib/widgets/system_bar.dart
View File

@@ -1,14 +1,16 @@
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 at a glance.
/// 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,
@@ -16,11 +18,26 @@ class SystemBar extends StatelessWidget {
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,
@@ -43,7 +60,17 @@ class SystemBar extends StatelessWidget {
child: Row(
crossAxisAlignment: CrossAxisAlignment.center,
children: [
// Left group: GPS, LTE
// 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',
@@ -70,7 +97,7 @@ class SystemBar extends StatelessWidget {
label: 'Pi',
value: piTemp != null ? '${piTemp!.toStringAsFixed(1)} °C' : 'N/A',
isAbnormal: piTemp == null || piTemp! > 80,
alignment: Alignment.centerRight,
alignment: Alignment.centerLeft,
labelSize: labelSize,
valueSize: valueSize,
flex: 2,
@@ -80,7 +107,7 @@ class SystemBar extends StatelessWidget {
label: 'Chassis',
value: voltage != null ? '${voltage!.toStringAsFixed(1)} V' : 'N/A',
isAbnormal: voltage == null || voltage! < 11.9,
alignment: Alignment.centerRight,
alignment: Alignment.centerLeft,
labelSize: labelSize,
valueSize: valueSize,
flex: 3,

64
pi/ui/pubspec.lock
View File

@@ -67,6 +67,30 @@ packages:
description: flutter
source: sdk
version: "0.0.0"
http:
dependency: "direct main"
description:
name: http
sha256: "87721a4a50b19c7f1d49001e51409bddc46303966ce89a65af4f4e6004896412"
url: "https://pub.dev"
source: hosted
version: "1.6.0"
http_parser:
dependency: transitive
description:
name: http_parser
sha256: "178d74305e7866013777bab2c3d8726205dc5a4dd935297175b19a23a2e66571"
url: "https://pub.dev"
source: hosted
version: "4.1.2"
js:
dependency: transitive
description:
name: js
sha256: f2c445dce49627136094980615a031419f7f3eb393237e4ecd97ac15dea343f3
url: "https://pub.dev"
source: hosted
version: "0.6.7"
leak_tracker:
dependency: transitive
description:
@@ -99,6 +123,14 @@ packages:
url: "https://pub.dev"
source: hosted
version: "3.0.0"
logging:
dependency: transitive
description:
name: logging
sha256: c8245ada5f1717ed44271ed1c26b8ce85ca3228fd2ffdb75468ab01979309d61
url: "https://pub.dev"
source: hosted
version: "1.3.0"
matcher:
dependency: transitive
description:
@@ -136,6 +168,22 @@ packages:
description: flutter
source: sdk
version: "0.0.0"
socket_io_client:
dependency: "direct main"
description:
name: socket_io_client
sha256: ede469f3e4c55e8528b4e023bdedbc20832e8811ab9b61679d1ba3ed5f01f23b
url: "https://pub.dev"
source: hosted
version: "2.0.3+1"
socket_io_common:
dependency: transitive
description:
name: socket_io_common
sha256: "2ab92f8ff3ebbd4b353bf4a98bee45cc157e3255464b2f90f66e09c4472047eb"
url: "https://pub.dev"
source: hosted
version: "2.0.3"
source_span:
dependency: transitive
description:
@@ -184,6 +232,14 @@ packages:
url: "https://pub.dev"
source: hosted
version: "0.7.4"
typed_data:
dependency: transitive
description:
name: typed_data
sha256: f9049c039ebfeb4cf7a7104a675823cd72dba8297f264b6637062516699fa006
url: "https://pub.dev"
source: hosted
version: "1.4.0"
vector_math:
dependency: transitive
description:
@@ -200,6 +256,14 @@ packages:
url: "https://pub.dev"
source: hosted
version: "14.3.1"
web:
dependency: transitive
description:
name: web
sha256: "868d88a33d8a87b18ffc05f9f030ba328ffefba92d6c127917a2ba740f9cfe4a"
url: "https://pub.dev"
source: hosted
version: "1.1.1"
sdks:
dart: ">=3.7.0-0 <4.0.0"
flutter: ">=3.18.0-18.0.pre.54"

2
pi/ui/pubspec.yaml
View File

@@ -9,6 +9,8 @@ environment:
dependencies:
flutter:
sdk: flutter
http: ^1.2.0
socket_io_client: ^2.0.3+1
dev_dependencies:
flutter_test: