app-flutter/lib/main.dart

// Yukart display — starter. A text readout of whatever svc-gw sends, proving the
// boundary contract before anything is drawn (initial plan, step 1).

import 'dart:math';

import 'package:flutter/material.dart';

import 'boundary.dart';
import 'camview.dart';
import 'checklist.dart';
import 'linktest.dart';
import 'net.dart';

/// Override for development, e.g. `--dart-define=YUKART_GW=ws://halogen.local:7700/`.
const defaultUrl = String.fromEnvironment(
  'YUKART_GW',
  defaultValue: 'ws://192.168.55.1:7700/',
);

Future<void> main() async {
  WidgetsFlutterBinding.ensureInitialized();
  final usb = UsbLink();
  await usb.bindFor(Uri.parse(defaultUrl));
  final boundary = Boundary(defaultUrl)..start();
  final linkTest = LinkTest(usb);
  // Development hook: `am start ... --es linktest [dl:|bi:]<label>[@<host>]` runs the test
  // (`dl:` the download series, `bi:` burst latency against idle gaps), on the gateway's host unless one is given.
  Future<void> runLinkTest(String request) async {
    final mode = request.startsWith('dl:') || request.startsWith('bi:')
        ? request.substring(0, 2)
        : '';
    if (mode.isNotEmpty) request = request.substring(3);
    final at = request.indexOf('@');
    final label = at < 0 ? request : request.substring(0, at);
    final host = at < 0
        ? Uri.parse(boundary.url).host
        : request.substring(at + 1);
    navigatorKey.currentState?.push(
      MaterialPageRoute<void>(
        builder: (_) => linkTestPage(boundary, linkTest, usb),
      ),
    );
    await switch (mode) {
      'dl' => linkTest.runDownload(host, label),
      'bi' => linkTest.runBurstIdle(host, label),
      _ => linkTest.run(host, label),
    };
    await usb.bindFor(Uri.parse(boundary.url));
  }

  usb.onLinkTest = runLinkTest;
  runApp(YukartApp(boundary: boundary, usb: usb, linkTest: linkTest));
  final pending = await usb.takeLinkTest();
  if (pending != null) {
    WidgetsBinding.instance.addPostFrameCallback((_) => runLinkTest(pending));
  }
}

final navigatorKey = GlobalKey<NavigatorState>();

Widget linkTestPage(Boundary b, LinkTest t, UsbLink usb) => LinkTestPage(
  test: t,
  host: Uri.parse(b.url).host,
  restoreBinding: () => usb.bindFor(Uri.parse(b.url)),
);

class YukartApp extends StatelessWidget {
  const YukartApp({
    super.key,
    required this.boundary,
    required this.usb,
    required this.linkTest,
  });
  final Boundary boundary;
  final UsbLink usb;
  final LinkTest linkTest;

  @override
  Widget build(BuildContext context) {
    return MaterialApp(
      title: 'Yukart',
      navigatorKey: navigatorKey,
      debugShowCheckedModeBanner: false,
      theme: ThemeData(
        colorSchemeSeed: Colors.teal,
        brightness: Brightness.dark,
        useMaterial3: true,
      ),
      home: ListenableBuilder(
        listenable: Listenable.merge([boundary, usb]),
        builder: (context, _) =>
            Readout(boundary: boundary, usb: usb, linkTest: linkTest),
      ),
    );
  }
}

class Readout extends StatelessWidget {
  const Readout({
    super.key,
    required this.boundary,
    required this.usb,
    required this.linkTest,
  });
  final Boundary boundary;
  final UsbLink usb;
  final LinkTest linkTest;

  @override
  Widget build(BuildContext context) {
    final b = boundary;
    return Scaffold(
      body: SafeArea(
        child: Column(
          crossAxisAlignment: CrossAxisAlignment.stretch,
          children: [
            // Mock data must look like mock data: on the surface, not in a menu.
            if (b.mock) const MockBanner(),
            LinkBar(boundary: b, usb: usb, linkTest: linkTest),
            Expanded(
              child: LayoutBuilder(
                builder: (context, c) {
                  final wide = c.maxWidth > 800;
                  final signals = SignalList(boundary: b);
                  final raw = RawLog(boundary: b);
                  return wide
                      ? Row(
                          crossAxisAlignment: CrossAxisAlignment.stretch,
                          children: [
                            Expanded(flex: 3, child: signals),
                            const VerticalDivider(width: 1),
                            Expanded(flex: 2, child: raw),
                          ],
                        )
                      : Column(
                          children: [
                            Expanded(child: signals),
                            const Divider(height: 1),
                            Expanded(child: raw),
                          ],
                        );
                },
              ),
            ),
          ],
        ),
      ),
      floatingActionButton: FloatingActionButton.extended(
        onPressed: () => showMarkSheet(context, b),
        icon: const Icon(Icons.flag),
        label: Text(
          b.pending.isEmpty ? 'Mark' : 'Mark (${b.pending.length} pending)',
        ),
      ),
    );
  }
}

class MockBanner extends StatelessWidget {
  const MockBanner({super.key});

  @override
  Widget build(BuildContext context) {
    return Container(
      color: Colors.amber.shade700,
      padding: const EdgeInsets.symmetric(vertical: 6),
      child: const Text(
        'MOCK DATA — NOT FROM THE CAR',
        textAlign: TextAlign.center,
        style: TextStyle(
          color: Colors.black,
          fontWeight: FontWeight.w900,
          fontSize: 20,
          letterSpacing: 2,
        ),
      ),
    );
  }
}

class LinkBar extends StatelessWidget {
  const LinkBar({
    super.key,
    required this.boundary,
    required this.usb,
    required this.linkTest,
  });
  final Boundary boundary;
  final UsbLink usb;
  final LinkTest linkTest;

  @override
  Widget build(BuildContext context) {
    final b = boundary;
    final (color, label) = switch (b.state) {
      LinkState.up => (Colors.green, 'CONNECTED'),
      LinkState.connecting => (Colors.orange, 'CONNECTING'),
      LinkState.down => (Colors.red, 'DOWN'),
    };
    // Fixed-width numbers, padded with figure spaces (U+2007, digit-wide): the bar must
    // not reflow every time a value gains a digit.
    String pad(String v, int n) => v.padLeft(n, '\u2007');
    final age = b.lastMessage == null
        ? pad('—', 4)
        : pad(
            '${DateTime.now().difference(b.lastMessage!).inMilliseconds.clamp(0, 9999)}',
            4,
          );
    final offset = b.clockOffset == null
        ? pad('—', 6)
        : pad((b.clockOffset!.inMilliseconds / 1000).toStringAsFixed(1), 6);
    const fixed = TextStyle(fontFeatures: [FontFeature.tabularFigures()]);
    return Material(
      color: Theme.of(context).colorScheme.surfaceContainerHigh,
      child: InkWell(
        onTap: () => editUrl(context, b, usb),
        child: Padding(
          padding: const EdgeInsets.symmetric(horizontal: 12, vertical: 8),
          child: Wrap(
            spacing: 16,
            runSpacing: 4,
            crossAxisAlignment: WrapCrossAlignment.center,
            children: [
              Chip(
                label: Text(label),
                backgroundColor: color.withValues(alpha: 0.3),
              ),
              Text(b.url, style: const TextStyle(fontFamily: 'monospace')),
              Text(b.detail),
              Text('last msg $age ms', style: fixed),
              Text('Orin−tablet clock $offset s', style: fixed),
              if (usb.supported)
                Text(
                  'USB link ${usb.up ? 'up' : 'absent'}${usb.bound ? ', bound' : ''}',
                ),
              TextButton.icon(
                onPressed: () => Navigator.of(context).push(
                  MaterialPageRoute<void>(
                    builder: (_) => linkTestPage(b, linkTest, usb),
                  ),
                ),
                icon: const Icon(Icons.speed),
                label: const Text('Link test'),
              ),
              TextButton.icon(
                onPressed: () => Navigator.of(context).push(
                  MaterialPageRoute<void>(
                    builder: (_) => CamViewPage(host: Uri.parse(b.url).host),
                  ),
                ),
                icon: const Icon(Icons.videocam),
                label: const Text('Camera'),
              ),
              TextButton.icon(
                onPressed: () => Navigator.of(context).push(
                  MaterialPageRoute<void>(
                    builder: (_) => ChecklistsPage(boundary: b),
                  ),
                ),
                icon: const Icon(Icons.checklist),
                label: const Text('Captures'),
              ),
              if (b.state == LinkState.up && b.hello?['boot_id'] is String)
                TextButton.icon(
                  onPressed: () => orinPowerOptions(context, b),
                  icon: const Icon(Icons.power_settings_new),
                  label: const Text('Orin power options'),
                ),
            ],
          ),
        ),
      ),
    );
  }
}

/// Confirm, then send `poweroff` once (contracts BOUNDARY.md): it carries this
/// connection's boot id, so it can never take effect on a later boot.
/// Power off or reboot the Orin: one confirmation that is also the choice. Sent once,
/// never resent (contracts BOUNDARY.md: the ack cache does not survive the restart).
Future<void> orinPowerOptions(BuildContext context, Boundary b) async {
  final host = b.hello?['host'] ?? 'the Orin';
  final verb = await showDialog<String>(
    context: context,
    builder: (context) => AlertDialog(
      title: Text('Power options: $host'),
      content: const Text(
        'Either way, recording stops and the session is closed cleanly.\n\n'
        'Power off: the Orin stays off until its power button is pressed.\n'
        'Reboot: it is back in about a minute; this screen reconnects by itself.',
      ),
      actions: [
        TextButton(
          onPressed: () => Navigator.of(context).pop(),
          child: const Text('Cancel'),
        ),
        OutlinedButton.icon(
          onPressed: () => Navigator.of(context).pop('reboot'),
          icon: const Icon(Icons.restart_alt),
          label: const Text('Reboot'),
        ),
        FilledButton.icon(
          style: FilledButton.styleFrom(backgroundColor: Colors.red.shade700),
          onPressed: () => Navigator.of(context).pop('poweroff'),
          icon: const Icon(Icons.power_settings_new),
          label: const Text('Power off'),
        ),
      ],
    ),
  );
  if (verb == null || !context.mounted) return;
  final messenger = ScaffoldMessenger.of(context);
  final id = b.commandOnce(verb, {
    'confirm': verb,
    'boot_id': b.hello?['boot_id'],
  });
  if (id == null) {
    messenger.showSnackBar(
      const SnackBar(content: Text('Not sent: no link to the Orin')),
    );
    return;
  }
  final ack = await b.ackFor(id);
  final what = verb == 'reboot' ? 'rebooting' : 'shutting down';
  messenger.showSnackBar(
    SnackBar(
      content: Text(
        ack == null
            ? 'No reply: the Orin may or may not be $what'
            : ack.ok
            ? 'Orin: ${ack.detail}'
            : 'Refused: ${ack.detail}',
      ),
    ),
  );
}

class SignalList extends StatelessWidget {
  const SignalList({super.key, required this.boundary});
  final Boundary boundary;

  @override
  Widget build(BuildContext context) {
    final b = boundary;
    if (b.state != LinkState.up) {
      return const Center(child: Text('No link to the Orin'));
    }
    if (b.seen.isEmpty) {
      return Center(
        child: Text(
          'Connected — the Orin is sending no vehicle state\n(source: ${b.hello?['source'] ?? '?'})',
          textAlign: TextAlign.center,
        ),
      );
    }
    // Rows stay put: a signal that drops out is shown as missing, not removed.
    final names = b.seen.keys.toList()..sort();
    return ListView(
      padding: const EdgeInsets.all(12),
      children: [
        for (final n in names)
          b.signals[n] is Map
              ? SignalTile(
                  name: n,
                  envelope: Map<String, dynamic>.from(b.signals[n] as Map),
                )
              : SignalTile(name: n, envelope: b.seen[n]!, missing: true),
      ],
    );
  }
}

/// Missing, known-without-value, stale and fresh each look different: all four are normal in a car.
class SignalTile extends StatelessWidget {
  const SignalTile({
    super.key,
    required this.name,
    required this.envelope,
    this.missing = false,
  });
  final String name;

  /// The current envelope, or the last one seen when [missing] (only its unit is used then).
  final Map<String, dynamic> envelope;
  final bool missing;

  @override
  Widget build(BuildContext context) {
    if (missing) {
      return ListTile(
        title: Text(
          name,
          style: const TextStyle(fontFamily: 'monospace', color: Colors.grey),
        ),
        subtitle: const Text(
          'MISSING · not in the latest state',
          style: TextStyle(color: Colors.redAccent),
        ),
        trailing: Text.rich(
          TextSpan(
            children: [
              const TextSpan(
                text: '?',
                style: TextStyle(fontSize: 34, color: Colors.grey),
              ),
              TextSpan(
                text: '  ${envelope['unit'] ?? ''}',
                style: const TextStyle(fontSize: 16, color: Colors.grey),
              ),
            ],
          ),
        ),
      );
    }
    final v = envelope['value'];
    final quality = envelope['quality'] as String? ?? 'ok';
    final stale = quality != 'ok';
    final text = v == null
        ? '—'
        : (v is double && v == v.roundToDouble() ? v.toInt().toString() : '$v');
    final style = TextStyle(
      fontSize: 34,
      fontWeight: FontWeight.w600,
      fontFeatures: const [FontFeature.tabularFigures()],
      color: stale || v == null ? Colors.grey : null,
      fontStyle: stale ? FontStyle.italic : null,
    );
    return ListTile(
      title: Text(name, style: const TextStyle(fontFamily: 'monospace')),
      subtitle: Text(
        [
          if (stale) quality.toUpperCase(),
          if (v == null) 'no value',
          if (envelope['mock'] == true) 'mock',
        ].join(' · '),
      ),
      trailing: Text.rich(
        TextSpan(
          children: [
            TextSpan(text: text, style: style),
            TextSpan(
              text: '  ${envelope['unit'] ?? ''}',
              style: const TextStyle(fontSize: 16),
            ),
          ],
        ),
      ),
    );
  }
}

class RawLog extends StatelessWidget {
  const RawLog({super.key, required this.boundary});
  final Boundary boundary;

  @override
  Widget build(BuildContext context) {
    final b = boundary;
    return ListView(
      padding: const EdgeInsets.all(8),
      children: [
        if (b.pending.isNotEmpty || b.acks.isNotEmpty) ...[
          Text('Commands', style: Theme.of(context).textTheme.titleSmall),
          for (final p in b.pending)
            Text('… ${p.cmd} ${p.args['text'] ?? ''} (unacked)'),
          for (final a in b.acks)
            Text(
              '${a.ok ? '✓' : '✗'} ${a.detail}',
              style: TextStyle(color: a.ok ? null : Colors.redAccent),
            ),
          const Divider(),
        ],
        Text(
          'Raw messages, newest first',
          style: Theme.of(context).textTheme.titleSmall,
        ),
        for (final r in b.recent)
          Padding(
            padding: const EdgeInsets.symmetric(vertical: 2),
            child: Text(
              r,
              style: const TextStyle(fontFamily: 'monospace', fontSize: 11),
            ),
          ),
      ],
    );
  }
}

const quickMarks = [
  'cold start',
  'engine start',
  'indicator left',
  'indicator right',
  'brake',
  'headlights',
  'something odd',
];

Future<void> showMarkSheet(BuildContext context, Boundary b) {
  final custom = TextEditingController();
  return showModalBottomSheet(
    context: context,
    isScrollControlled: true,
    useSafeArea: true,
    builder: (ctx) {
      void send(String text) {
        if (text.trim().isEmpty) return;
        b.command('mark', {'text': text.trim()});
        Navigator.pop(ctx);
      }

      return Padding(
        // Clear the keyboard when it is up, the navigation bar when it is not.
        padding: EdgeInsets.fromLTRB(
          16,
          16,
          16,
          16 +
              max(
                MediaQuery.of(ctx).viewInsets.bottom,
                MediaQuery.of(ctx).viewPadding.bottom,
              ),
        ),
        child: Column(
          mainAxisSize: MainAxisSize.min,
          crossAxisAlignment: CrossAxisAlignment.stretch,
          children: [
            Text(
              'Stamp into the recording',
              style: Theme.of(ctx).textTheme.titleMedium,
            ),
            const SizedBox(height: 8),
            Wrap(
              spacing: 8,
              runSpacing: 8,
              children: [
                for (final q in quickMarks)
                  ActionChip(label: Text(q), onPressed: () => send(q)),
              ],
            ),
            TextField(
              controller: custom,
              decoration: const InputDecoration(labelText: 'Other'),
              onSubmitted: send,
            ),
          ],
        ),
      );
    },
  );
}

Future<void> editUrl(BuildContext context, Boundary b, UsbLink usb) async {
  final c = TextEditingController(text: b.url);
  final url = await showDialog<String>(
    context: context,
    builder: (ctx) => AlertDialog(
      title: const Text('Gateway address'),
      content: TextField(controller: c, autofocus: true),
      actions: [
        TextButton(
          onPressed: () => Navigator.pop(ctx),
          child: const Text('Cancel'),
        ),
        TextButton(
          onPressed: () => Navigator.pop(ctx, c.text.trim()),
          child: const Text('Connect'),
        ),
      ],
    ),
  );
  if (url == null || url.isEmpty) return;
  await usb.bindFor(Uri.parse(url));
  b.retarget(url);
}