Batch the Fly App's telemetry and split it per subsystem

The GO 4-style HUD needs far more live data than the bridge sent, and pushing every SDK callback straight to Dart would rebuild the screen dozens of times a second. This is the telemetry foundation (plan P1). On the Kotlin side, every source now writes into a TelemetryHub that emits one telemetry event per tick: flight-controller state, gimbal and vision at up to 10 Hz, battery, links, RC, storage and camera settings folded in at up to 2 Hz. Each event carries the full latest snapshot, so a consumer that drops packets never loses a slow group. New bridges cover batteries (every pack, cell voltages, warning thresholds), link quality and RC battery, diagnostics, and obstacle sensing per sensor. KeyBridge adds generic getKey/setKey/listenKey over KeyManager for the settings rows to come. The flight controller also gains smart-RTH confirmation and simulator start/stop. On the Dart side, FlightModel now owns one ChangeNotifier per subsystem (aircraft, battery, links, camera, gimbal, vision, alerts, mission), so a HUD widget can listen to just the one it draws. TelemetryReducer routes events into them, only notifies groups that changed, and gives FlightModel one notification per tick. Flat getters keep the existing screens working. Diagnostics become graded, de-duplicated alerts. Settings > About > Telemetry inspector shows every field live and can start the simulator. Battery no longer arrives as its own event, so the API Server reads the percentage from the telemetry snapshot (the old event is still accepted). Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
2026-10-19 18:34:56 +02:00
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commit f6bbb1cfee
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+import 'dart:async';
+
+import 'package:flutter/material.dart';
+import 'package:flutter/services.dart';
+
+import '../../../dji_service.dart';
+
+import '../../../flight_model.dart';
+import '../../../fly/state/aircraft_state.dart';
+import '../../../fly/state/alert_state.dart';
+import '../../../fly/state/battery_state.dart';
+import '../../../fly/state/camera_state.dart';
+import '../../../fly/state/vision_state.dart';
+import '../../../theme.dart';
+import '../../pv_icons.dart';
+
+/// Debug screen for the telemetry foundation (plan P1): every field the bridge
+/// now reports, grouped by sub-model, each section rebuilt only by its own
+/// sub-model — the same listening pattern the P2 HUD uses — with the age of
+/// its last update so a stalled source is obvious. The header starts and stops
+/// the flight controller's simulator, where P1's fields are verified.
+class TelemetryInspectorPage extends StatelessWidget {
+  const TelemetryInspectorPage({super.key, required this.model, required this.dji});
+
+  final FlightModel model;
+  final DjiService dji;
+
+  Future<void> _toggleSimulator(BuildContext context) async {
+    final bool active = model.aircraft.simulatorActive == true;
+    if (!active) {
+      final bool? go = await showDialog<bool>(
+        context: context,
+        builder: (BuildContext context) => AlertDialog(
+          title: const Text('Start the simulator?'),
+          content: const Text('Remove the propellers first: the motors can spin while the simulator runs. '
+              'The aircraft must be on the ground with motors off.'),
+          actions: <Widget>[
+            TextButton(onPressed: () => Navigator.of(context).pop(false), child: const Text('Cancel')),
+            TextButton(onPressed: () => Navigator.of(context).pop(true), child: const Text('Propellers are off — start')),
+          ],
+        ),
+      );
+      if (go != true) return;
+    }
+    try {
+      if (active) {
+        await dji.stopSimulator();
+      } else {
+        // Start where the pilot is, so the map and home distance make sense.
+        await dji.startSimulator(
+          latitude: model.phoneLatitude ?? model.aircraft.latitude ?? 55.6761,
+          longitude: model.phoneLongitude ?? model.aircraft.longitude ?? 12.5683,
+        );
+      }
+    } catch (e) {
+      if (!context.mounted) return;
+      ScaffoldMessenger.of(context)
+        ..clearSnackBars()
+        ..showSnackBar(SnackBar(content: Text('Simulator: ${e is PlatformException ? (e.message ?? e.code) : e}')));
+    }
+  }
+
+  @override
+  Widget build(BuildContext context) {
+    return Scaffold(
+      backgroundColor: const Color(0xFF0A1120),
+      body: SafeArea(
+        child: Column(crossAxisAlignment: CrossAxisAlignment.stretch, children: <Widget>[
+          Padding(
+            padding: const EdgeInsets.fromLTRB(16, 10, 10, 6),
+            child: Row(children: <Widget>[
+              const Expanded(
+                child: Text('Telemetry inspector',
+                    style: TextStyle(fontFamily: PV.fontSans, fontSize: 15, fontWeight: FontWeight.w700, color: Glass.ink)),
+              ),
+              ListenableBuilder(
+                listenable: Listenable.merge(<Listenable>[model, model.aircraft]),
+                builder: (BuildContext context, _) {
+                  final bool active = model.aircraft.simulatorActive == true;
+                  final bool canStart = model.connected && model.profile.hasSimulator && model.aircraft.motorsOn != true;
+                  return TextButton.icon(
+                    onPressed: active || canStart ? () => _toggleSimulator(context) : null,
+                    icon: Icon(active ? Icons.stop_circle_outlined : Icons.play_circle_outline, size: 18),
+                    label: Text(active ? 'Stop simulator' : 'Simulator'),
+                    style: TextButton.styleFrom(foregroundColor: active ? const Color(0xFFD9852B) : Glass.sat),
+                  );
+                },
+              ),
+              IconButton(
+                onPressed: () => Navigator.of(context).maybePop(),
+                icon: const PVIcon('close', size: 17, color: Glass.ink),
+              ),
+            ]),
+          ),
+          Expanded(child: TelemetryInspector(model: model)),
+        ]),
+      ),
+    );
+  }
+}
+
+/// The inspector body, separate from the page so widget tests can pump it.
+class TelemetryInspector extends StatefulWidget {
+  const TelemetryInspector({super.key, required this.model});
+
+  final FlightModel model;
+
+  @override
+  State<TelemetryInspector> createState() => _TelemetryInspectorState();
+}
+
+class _TelemetryInspectorState extends State<TelemetryInspector> {
+  /// Ticks the "updated … ago" labels; sections otherwise rebuild on their own data.
+  final ValueNotifier<DateTime> _clock = ValueNotifier<DateTime>(DateTime.now());
+  Timer? _timer;
+
+  @override
+  void initState() {
+    super.initState();
+    _timer = Timer.periodic(const Duration(milliseconds: 500), (_) => _clock.value = DateTime.now());
+  }
+
+  @override
+  void dispose() {
+    _timer?.cancel();
+    _clock.dispose();
+    super.dispose();
+  }
+
+  FlightModel get _m => widget.model;
+
+  @override
+  Widget build(BuildContext context) {
+    return ListView(padding: const EdgeInsets.fromLTRB(16, 0, 16, 24), children: <Widget>[
+      _Section(
+        title: 'Aircraft · 10 Hz',
+        listenable: _m.aircraft,
+        clock: _clock,
+        updatedAt: () => _m.aircraft.updatedAt,
+        rows: () => _aircraftRows(_m.aircraft),
+      ),
+      _Section(
+        title: 'Return to home',
+        listenable: _m.aircraft,
+        clock: _clock,
+        updatedAt: () => _m.aircraft.updatedAt,
+        rows: () => _goHomeRows(_m.aircraft),
+      ),
+      _Section(
+        title: 'Battery · 2 Hz',
+        listenable: _m.battery,
+        clock: _clock,
+        updatedAt: () => _m.battery.updatedAt,
+        rows: () => _batteryRows(_m.battery),
+      ),
+      _Section(
+        title: 'Links · 2 Hz',
+        listenable: _m.links,
+        clock: _clock,
+        updatedAt: () => _m.links.updatedAt,
+        rows: () => <(String, String)>[
+          ('Kind', _s(_m.links.kind)),
+          ('Uplink (RC)', _q(_m.links.uplinkQuality)),
+          ('Downlink (HD)', _q(_m.links.downlinkQuality)),
+          ('RC battery', _m.links.rcBatteryPercent == null
+              ? '—'
+              : '${_m.links.rcBatteryPercent}% · ${_m.links.rcBatteryMah ?? '—'} mAh${_m.links.rcCharging == true ? ' · charging' : ''}'),
+        ],
+      ),
+      _Section(
+        title: 'Camera · 2 Hz',
+        listenable: _m.camera,
+        clock: _clock,
+        updatedAt: () => _m.camera.updatedAt,
+        rows: () => _cameraRows(_m.camera),
+      ),
+      _Section(
+        title: 'Gimbal · 10 Hz',
+        listenable: _m.gimbal,
+        clock: _clock,
+        updatedAt: () => _m.gimbal.updatedAt,
+        rows: () => <(String, String)>[
+          ('Pitch / roll / yaw', '${_deg(_m.gimbal.pitch)} / ${_deg(_m.gimbal.roll)} / ${_deg(_m.gimbal.yaw)}'),
+        ],
+      ),
+      _Section(
+        title: 'Vision · 10 Hz',
+        listenable: _m.vision,
+        clock: _clock,
+        updatedAt: () => _m.vision.updatedAt,
+        rows: () => _visionRows(_m.vision),
+      ),
+      _Section(
+        title: 'Diagnostics',
+        listenable: _m.alerts,
+        clock: _clock,
+        updatedAt: () => _m.alerts.updatedAt,
+        rows: () => _alertRows(_m.alerts),
+      ),
+    ]);
+  }
+
+  static List<(String, String)> _aircraftRows(AircraftState a) => <(String, String)>[
+        ('Flight mode', '${_s(a.flightMode)}  (${_s(a.flightModeEnum)})'),
+        ('Flying / motors', '${_b(a.isFlying)} / ${_b(a.motorsOn)}'),
+        ('GPS', '${a.satellites ?? '—'} sats · level ${a.gpsSignalLevel ?? '—'}'),
+        ('Attitude p/r/y', '${_deg(a.pitch)} / ${_deg(a.roll)} / ${_deg(a.heading)}'),
+        ('Height', _m1(a.altitude)),
+        ('VPS', a.vpsHeight == null
+            ? 'not in use${a.ultrasonicError == true ? ' · ERROR' : ''}'
+            : '${_m1(a.vpsHeight)}${a.ultrasonicError == true ? ' · ERROR' : ''}'),
+        ('Vision positioning', _b(a.visionPositioningBeingUsed)),
+        ('H / V speed', '${_ms(a.horizontalSpeed)} / ${_ms(a.verticalSpeed)}'),
+        ('Position', a.latitude == null ? '—' : '${a.latitude!.toStringAsFixed(6)}, ${a.longitude!.toStringAsFixed(6)}'),
+        ('Home', a.homeLatitude == null ? 'not set' : '${_m1(a.homeDistance)} away'),
+        ('Flight time', _mmss(a.flightTimeSeconds)),
+        ('Landing confirm', _b(a.landingConfirmationNeeded)),
+        ('Low / serious low', '${_b(a.lowBattery)} / ${_b(a.seriousLowBattery)} · ${_s(a.batteryThresholdBehavior)}'),
+        ('Wind', _s(a.windWarning)),
+        ('Max height / radius hit', '${_b(a.reachedMaxHeight)} / ${_b(a.reachedMaxRadius)}'),
+        ('IMU preheating', _b(a.imuPreheating)),
+        ('Orientation', _s(a.orientationMode)),
+        ('Simulator', _b(a.simulatorActive)),
+      ];
+
+  static List<(String, String)> _goHomeRows(AircraftState a) {
+    final GoHomeAssessment? g = a.goHome;
+    return <(String, String)>[
+      ('Going home', '${_b(a.goingHome)} · ${_s(a.goHomeExecutionState)}'),
+      ('RTH height', _m1(a.goHomeHeight)),
+      ('Remaining flight', _mmss(g?.remainingFlightTime)),
+      ('Needed to go home', g == null ? '—' : '${g.batteryNeededToGoHome ?? '—'}% · ${_mmss(g.timeNeededToGoHome)}'),
+      ('Needed to land', g == null ? '—' : '${g.batteryNeededToLand ?? '—'}% · ${_mmss(g.timeNeededToLand)}'),
+      ('Max radius & return', _m1(g?.maxRadiusCanFlyAndGoHome)),
+      ('Smart RTH', g == null ? '—' : '${_s(g.smartRTHState)} · ${g.smartRTHCountdown ?? '—'} s'),
+    ];
+  }
+
+  static List<(String, String)> _batteryRows(BatteryState b) => <(String, String)>[
+        ('Weakest pack', b.percent == null ? '—' : '${b.percent}% · ${_v(b.voltage)} · ${_c(b.temperature)}'),
+        ('Thresholds', 'low ${b.lowWarningThreshold ?? '—'}% · serious ${b.seriousLowWarningThreshold ?? '—'}%'),
+        for (final BatteryPack p in b.packs) ...<(String, String)>[
+          ('Pack ${p.index}', '${p.percent ?? '—'}% · ${_v(p.voltage)} · ${p.current?.toStringAsFixed(2) ?? '—'} A · ${_c(p.temperature)}'),
+          ('  charge', '${p.chargeRemainingMah ?? '—'} / ${p.fullChargeCapacityMah ?? '—'} mAh (design ${p.designCapacityMah ?? '—'})'),
+          ('  cells', p.cellVoltages.isEmpty
+              ? '—'
+              : '${p.cellVoltages.map((double v) => v.toStringAsFixed(2)).join(' ')} V · Δ ${(p.cellDeviation! * 1000).round()} mV'),
+          ('  health', '${p.discharges ?? '—'} cycles · life ${p.lifetimePercent ?? '—'}% · ${_s(p.connectionState)}'),
+        ],
+      ];
+
+  static List<(String, String)> _cameraRows(CameraState c) {
+    final StorageInfo? s = c.storage;
+    return <(String, String)>[
+      ('Mode', '${_s(c.mode)}${c.isRecording ? ' · REC ${_mmss(c.recordSeconds)}' : ''}'),
+      ('Exposure', 'ISO ${_s(c.iso)} · ${_s(c.shutter)} · ${_s(c.aperture)} · EV ${_s(c.ev)}'),
+      ('Storage', s == null ? '—' : '${s.status} · ${_s(s.location)}'),
+      ('Space', s == null ? '—' : '${s.remainingMB ?? '—'} / ${s.totalMB ?? '—'} MB'),
+      ('Remaining', s == null ? '—' : '${s.availableCaptureCount ?? '—'} shots · ${_mmss(s.availableRecordingSeconds)}'),
+      ('AE lock / focus', '${_b(c.aeLock)} / ${_s(c.focusMode)}'),
+      ('Photo', '${_s(c.photoAspectRatio)} · ${_s(c.photoFileFormat)}'),
+      ('Video', '${_s(c.videoResolution)} · ${_s(c.videoFrameRate)} · ${_s(c.videoFileFormat)}'),
+      ('Colour', _s(c.colorProfile)),
+    ];
+  }
+
+  static List<(String, String)> _visionRows(VisionState v) {
+    if (v.sensors.isEmpty) return const <(String, String)>[('Sensors', 'none reporting')];
+    return <(String, String)>[
+      ('Closest', _m1(v.closest)),
+      for (final VisionReading r in v.sensors.values)
+        (
+          r.position,
+          '${r.isSensorBeingUsed ? 'active' : 'idle'}${r.isDisabled ? ' · disabled' : ''} · ${_s(r.systemWarning)} · '
+              '${_m1(r.distance)} · [${r.sectors.map((VisionSector s) => s.distance?.toStringAsFixed(1) ?? '·').join(' ')}]'
+        ),
+    ];
+  }
+
+  static List<(String, String)> _alertRows(AlertState a) {
+    if (a.all.isEmpty) return const <(String, String)>[('Active', 'none')];
+    return <(String, String)>[
+      for (final DiagnosticAlert d in a.all) ('${d.severity.name} · ${d.component} ${d.code}', '${d.reason}${d.solution == null ? '' : ' — ${d.solution}'}'),
+    ];
+  }
+
+  static String _s(String? v) => v ?? '—';
+  static String _b(bool? v) => v == null ? '—' : (v ? 'yes' : 'no');
+  static String _q(int? v) => v == null ? '—' : '$v / 100';
+  static String _deg(double? v) => v == null ? '—' : '${v.toStringAsFixed(1)}°';
+  static String _m1(double? v) => v == null ? '—' : '${v.toStringAsFixed(1)} m';
+  static String _ms(double? v) => v == null ? '—' : '${v.toStringAsFixed(1)} m/s';
+  static String _v(double? v) => v == null ? '—' : '${v.toStringAsFixed(2)} V';
+  static String _c(double? v) => v == null ? '—' : '${v.toStringAsFixed(1)} °C';
+  static String _mmss(int? s) => s == null || s < 0 ? '—' : '${s ~/ 60}:${(s % 60).toString().padLeft(2, '0')}';
+}
+
+class _Section extends StatelessWidget {
+  const _Section({
+    required this.title,
+    required this.listenable,
+    required this.clock,
+    required this.updatedAt,
+    required this.rows,
+  });
+
+  final String title;
+  final Listenable listenable;
+  final ValueNotifier<DateTime> clock;
+  final DateTime? Function() updatedAt;
+  final List<(String, String)> Function() rows;
+
+  static const TextStyle _label = TextStyle(fontFamily: PV.fontSans, fontSize: 12, color: Glass.ink);
+  static const TextStyle _value = TextStyle(fontFamily: PV.fontMono, fontSize: 11, color: Color(0xCCEAF0FA));
+  static const TextStyle _eyebrow =
+      TextStyle(fontFamily: PV.fontMono, fontSize: 10, letterSpacing: 1.4, color: Color(0x8CEAF0FA));
+
+  @override
+  Widget build(BuildContext context) {
+    return Column(crossAxisAlignment: CrossAxisAlignment.stretch, children: <Widget>[
+      Padding(
+        padding: const EdgeInsets.only(top: 18, bottom: 6),
+        child: Row(children: <Widget>[
+          Expanded(child: Text(title.toUpperCase(), style: _eyebrow)),
+          ListenableBuilder(
+            listenable: Listenable.merge(<Listenable>[listenable, clock]),
+            builder: (BuildContext context, _) {
+              final DateTime? at = updatedAt();
+              final int? ms = at == null ? null : clock.value.difference(at).inMilliseconds;
+              final bool stale = ms == null || ms > 3000;
+              return Text(
+                ms == null ? 'no data' : (ms < 1000 ? 'live' : '${(ms / 1000).toStringAsFixed(0)} s ago'),
+                style: _eyebrow.copyWith(color: stale ? const Color(0xFFD9852B) : Glass.sat),
+              );
+            },
+          ),
+        ]),
+      ),
+      ListenableBuilder(
+        listenable: listenable,
+        builder: (BuildContext context, _) => Column(children: <Widget>[
+          for (final (String, String) r in rows())
+            Container(
+              padding: const EdgeInsets.symmetric(vertical: 5),
+              decoration: const BoxDecoration(border: Border(bottom: BorderSide(color: Color(0x12FFFFFF)))),
+              child: Row(crossAxisAlignment: CrossAxisAlignment.start, children: <Widget>[
+                SizedBox(width: 150, child: Text(r.$1, style: _label)),
+                Expanded(child: Text(r.$2, style: _value)),
+              ]),
+            ),
+        ]),
+      ),
+    ]);
+  }
+}