PilotVault/Fly App/lib/ui/fly/fly_screen.dart

import 'package:flutter/material.dart';
import 'package:flutter/services.dart';
import 'package:latlong2/latlong.dart' show LatLng;

import '../../dji_service.dart';
import '../../flight_model.dart';
import '../../fly/flight_trail.dart';
import '../../fly/fly_prefs.dart';
import '../../fly/hud_features.dart';
import '../../fly/modes/mission_library.dart';
import '../../fly/modes/waypoint_editor.dart';
import '../../fly/modes/waypoint_mission.dart' show MissionLimits;
import '../../fly/product_profile.dart';
import '../../fly/safety_gate.dart';
import '../../fly/state/mission_state.dart';
import '../../theme.dart';
import '../album_page.dart';
import '../capture_modes_page.dart';
import '../pv_icons.dart';
import 'bottom/attitude_ball.dart';
import 'bottom/minimap.dart';
import 'bottom/telemetry_strip.dart';
import 'flight_command_flow.dart';
import 'hud_kit.dart';
import 'layers/video_layer.dart';
import 'left/action_rail.dart';
import 'left/gimbal_slider.dart';
import 'modes/mode_picker.dart';
import 'modes/waypoints/point_editor.dart';
import 'modes/waypoints/waypoint_layers.dart';
import 'modes/waypoints/waypoint_panels.dart';
import 'modes/waypoints/waypoint_sheets.dart';
import 'modes/waypoints/waypoint_start.dart';
import 'overlays/alert_stack.dart';
import 'overlays/camera_touch_layer.dart';
import 'overlays/gimbal_drag_layer.dart';
import 'overlays/histogram_view.dart';
import 'overlays/safety_banners.dart';
import 'panels/aircraft_status_sheet.dart';
import 'panels/camera_menu/camera_menu_sheet.dart';
import 'panels/camera_quick_exposure.dart';
import 'panels/gimbal_sheet.dart';
import 'panels/settings/settings_sheet.dart';
import 'right/camera_column.dart';
import 'right/zoom_column.dart';
import 'top/camera_info_strip.dart';
import 'top/smart_battery_bar.dart';
import 'top/status_bar.dart';

/// The flight HUD v2 (plan P2), replacing [FlightControlPage].
///
/// A stack of layers in `fpv_litchi`'s order — video → visual overlays → map →
/// camera column → gimbal → top bar → bottom attitude → left rail → minimap —
/// where every readout listens to its own telemetry sub-model, so a 10 Hz tick
/// rebuilds only what moved. The HUD is laid out once in design pixels and
/// scaled to phone or tablet by [HudCanvas]; capability-gated parts use
/// [Requires] against the connected [ProductProfile].
///
/// Tapping the minimap swaps it with the video: the map goes full-bleed (and
/// becomes interactive) while the feed shrinks into the corner, and back.
///
/// Safety (plan P3): every aircraft-moving command on the rail goes through
/// one [SafetyGate] via [FlightCommandFlow]; the error stack and low-battery
/// banners sit under the top bar; the status chip opens the Aircraft Status
/// sheet, which is also offered before each connection's first take-off.
///
/// Camera (plan P4): the camera column, the zoom column on zoom cameras, the
/// quick exposure panel (from the camera info strip), the tabbed camera menu,
/// tap-to-focus / tap-to-meter on the video and the histogram.
///
/// Gimbal (plan P5): the pitch slider with its value bubble, press-and-drag
/// on the video as a speed joystick, and the gimbal settings sheet from the
/// button under the slider.
///
/// Intelligent modes (plan P7): the rail's MODES button opens the picker.
/// Waypoints turns the map big and editable — tap to add, the point editor
/// along the bottom, the tool column on the right — and the run panel at the
/// head of the left column follows the upload and the flight, whatever the
/// screen shows. The route stays on the map after leaving the mode.
class FlyScreen extends StatefulWidget {
  const FlyScreen({super.key, required this.model, required this.dji, this.waypoints});

  final FlightModel model;
  final DjiService dji;

  /// The Waypoints editor to use; the screen makes (and disposes) its own when null.
  final WaypointEditor? waypoints;

  @override
  State<FlyScreen> createState() => _FlyScreenState();
}

class _FlyScreenState extends State<FlyScreen> {
  late final FlightTrail _trail = FlightTrail(widget.model.aircraft);
  final MinimapController _minimap = MinimapController();
  late final SafetyGate _gate = SafetyGate(model: widget.model, dji: widget.dji);
  late final FlightCommandFlow _flow = FlightCommandFlow(
    gate: _gate,
    onError: _error,
    reviewBeforeTakeOff: (BuildContext context) => _openStatus(context, offerTakeOff: true),
  );
  bool _wasConnected = false;

  bool _mapBig = false;

  /// The intelligent mode whose editor is open, or null.
  IntelligentMode? _mode;
  late final WaypointEditor _waypoints = widget.waypoints ?? WaypointEditor();
  late final MissionLibrary _library = MissionLibrary()..load();
  MissionLimits _limits = const MissionLimits();
  int _seenFinishes = 0;

  /// Waypoints is open on the big map and nothing is flying: taps edit.
  bool get _editing {
    final WaypointProgress run = _m.mission.waypoint;
    return _mode == IntelligentMode.waypoint && _mapBig && !run.active && !run.uploading;
  }

  /// The picture-in-picture box, in HUD canvas pixels from the bottom-left corner.
  static const Size _pipSize = Size(150, 90);

  FlightModel get _m => widget.model;
  DjiService get _dji => widget.dji;

  @override
  void initState() {
    super.initState();
    SystemChrome.setPreferredOrientations(<DeviceOrientation>[
      DeviceOrientation.landscapeLeft,
      DeviceOrientation.landscapeRight,
    ]);
    SystemChrome.setEnabledSystemUIMode(SystemUiMode.immersiveSticky);
    _wasConnected = _m.connected;
    _m.addListener(_onModel);
    _seenFinishes = _m.mission.waypointFinishes;
    _m.mission.addListener(_onMission);
  }

  /// Says how a waypoint mission ended, and leaves edit mode when one starts.
  void _onMission() {
    final MissionState ms = _m.mission;
    if (ms.waypointFinishes != _seenFinishes) {
      _seenFinishes = ms.waypointFinishes;
      final String? r = ms.waypointResult;
      if (mounted && r != null) {
        ScaffoldMessenger.of(context)
          ..clearSnackBars()
          ..showSnackBar(SnackBar(content: Text(r.isEmpty ? 'Waypoint mission complete' : 'Waypoint mission ended: $r')));
      }
    }
    // Execution events arrive at ~10 Hz; rebuild the screen only when editing turns on or off.
    final bool editing = _editing;
    if (mounted && editing != _wasEditing) setState(() => _wasEditing = editing);
  }

  bool _wasEditing = false;

  Future<void> _openModes(BuildContext context) async {
    final IntelligentMode? m = await showModePicker(context, profile: _m.profile);
    if (m == null || !mounted) return;
    switch (m) {
      case IntelligentMode.waypoint:
        setState(() {
          _mode = m;
          _mapBig = true;
        });
        _minimap.setFollow(_waypoints.mission.points.isEmpty);
        final MissionLimits limits = await _gate.missionLimits();
        if (mounted) setState(() => _limits = limits);
      default:
        break; // the picker only returns built modes
    }
  }

  void _exitMode() => setState(() {
        _mode = null;
        _mapBig = false;
        _waypoints.select(null);
      });

  /// A new connection gets its own pre-flight review.
  void _onModel() {
    if (_m.connected == _wasConnected) return;
    _wasConnected = _m.connected;
    if (!_m.connected) _flow.resetReview();
  }

  Future<bool> _openStatus(BuildContext context, {bool offerTakeOff = false}) {
    // Looking at the sheet on purpose counts as the pre-flight review.
    if (!offerTakeOff) _flow.markReviewed();
    return showAircraftStatusSheet(context, model: _m, dji: _dji, onError: _error, offerTakeOff: offerTakeOff);
  }

  @override
  void dispose() {
    _m.removeListener(_onModel);
    _m.mission.removeListener(_onMission);
    if (widget.waypoints == null) _waypoints.dispose();
    _library.dispose();
    _trail.dispose();
    _minimap.dispose();
    SystemChrome.setPreferredOrientations(<DeviceOrientation>[DeviceOrientation.portraitUp]);
    SystemChrome.setEnabledSystemUIMode(SystemUiMode.edgeToEdge);
    super.dispose();
  }

  void _error(String label, Object e) {
    if (!mounted) return;
    final String reason = e is PlatformException ? (e.message ?? e.code) : e.toString();
    ScaffoldMessenger.of(context)
      ..clearSnackBars()
      ..showSnackBar(SnackBar(content: Text('$label failed: $reason')));
  }

  void _push(Widget page) => Navigator.of(context).push(MaterialPageRoute<void>(builder: (_) => page));

  @override
  Widget build(BuildContext context) {
    final MediaQueryData mq = MediaQuery.of(context);
    final double s = HudScale.scaleFor(mq.size.shortestSide);
    final Rect area = HudCanvas.screenRect(mq);
    final double canvasHeight = area.height / s;
    final Rect pip = HudCanvas.toScreen(mq, Rect.fromLTWH(0, canvasHeight - _pipSize.height, _pipSize.width, _pipSize.height));
    final Rect full = Offset.zero & mq.size;
    _wasEditing = _editing;

    final Widget video = ListenableBuilder(
      key: const ValueKey<String>('video'),
      listenable: _m,
      builder: (BuildContext context, _) => VideoLayer(connected: _m.connected),
    );
    final Widget map = FlyMap(
      key: const ValueKey<String>('map'),
      model: _m,
      trail: _trail,
      controller: _minimap,
      interactive: _mapBig,
      layers: waypointMapLayers(editor: _waypoints, mission: _m.mission, editable: _editing),
      onTap: (LatLng at) {
        if (_editing) _waypoints.tapMap(at);
      },
    );

    final Widget body = Stack(fit: StackFit.expand, children: <Widget>[
      // The background view, then whatever sits in the corner box. Keyed, so
      // the swap moves the native video view instead of recreating it.
      if (!_mapBig) ...<Widget>[
        Positioned.fromRect(key: const ValueKey<String>('video-slot'), rect: full, child: video),
        const Positioned.fill(child: VisualOverlays()),
        // Under the camera touch layer, in the same gesture arena: drags aim
        // the gimbal, taps and long presses still reach the camera.
        Positioned.fill(
          child: Requires(
            HudFeatures.gimbalDrag,
            child: ListenableBuilder(
              listenable: _m,
              builder: (BuildContext context, _) => GimbalDragLayer(
                gimbal: _m.gimbal,
                dji: _dji,
                connected: _m.connected,
                yaw: HudFeatures.gimbalYaw.enabledFor(ProductProfileScope.of(context)),
                onError: _error,
              ),
            ),
          ),
        ),
        Positioned.fill(
          child: Requires(
            HudFeatures.cameraControls,
            child: ListenableBuilder(
              listenable: _m,
              builder: (BuildContext context, _) =>
                  CameraTouchLayer(camera: _m.camera, dji: _dji, connected: _m.connected, onError: _error),
            ),
          ),
        ),
        Positioned.fromRect(key: const ValueKey<String>('map-slot'), rect: pip, child: map),
      ] else ...<Widget>[
        Positioned.fromRect(key: const ValueKey<String>('map-slot'), rect: full, child: map),
        Positioned.fromRect(key: const ValueKey<String>('video-slot'), rect: pip, child: video),
      ],
      Positioned.fill(child: HudCanvas(builder: _hud)),
      Positioned(
        left: 0,
        right: 0,
        bottom: 0,
        child: IgnorePointer(
          child: ValueListenableBuilder<bool>(
            valueListenable: FlyPrefs.perfOverlay,
            builder: (BuildContext context, bool on, _) => on ? PerformanceOverlay.allEnabled() : const SizedBox.shrink(),
          ),
        ),
      ),
    ]);

    return Scaffold(
      backgroundColor: const Color(0xFF0A1120),
      body: ListenableBuilder(
        listenable: _m,
        // Only the scope is rebuilt per tick; it notifies [Requires] below it
        // when the profile object itself changes.
        builder: (BuildContext context, Widget? child) => ProductProfileScope(profile: _m.profile, child: child!),
        child: body,
      ),
    );
  }

  Widget _hud(BuildContext context, Size canvas, double scale) {
    return Stack(clipBehavior: Clip.none, children: <Widget>[
      // ── Camera column (right) ─────────────────────────────────────────────
      Positioned(
        right: 0,
        top: 76,
        bottom: 0,
        child: Center(
          child: Requires(
            HudFeatures.cameraControls,
            child: CameraColumn(
              model: _m,
              dji: _dji,
              onError: _error,
              onCameraMenu: () => showCameraMenu(context, model: _m, dji: _dji, onError: _error),
              onPlayback: () => _push(AlbumPage(model: _m, dji: _dji)),
              onCaptureModes: () => _push(CaptureModesPage(model: _m, dji: _dji)),
            ),
          ),
        ),
      ),
      // ── Zoom column (zoom cameras only) ───────────────────────────────────
      if (!_mapBig)
        Positioned(
          right: 68,
          top: 76,
          bottom: 0,
          child: Center(
            child: Requires(
              HudFeatures.zoomColumn,
              whenDisconnected: false,
              child: ZoomColumn(camera: _m.camera, dji: _dji, onError: _error),
            ),
          ),
        ),
      if (!_editing)
        Positioned(
          right: 68,
          top: StatusBar.height + SmartBatteryBar.height + 32,
          child: Requires(HudFeatures.histogram, child: HistogramView(camera: _m.camera)),
        ),
      // ── Gimbal ────────────────────────────────────────────────────────────
      Positioned(
        left: 54,
        top: 64,
        bottom: _pipSize.height + 24,
        child: Column(crossAxisAlignment: CrossAxisAlignment.start, children: <Widget>[
          Expanded(
            child: Requires(
              HudFeatures.gimbalPitch,
              child: Builder(
                builder: (BuildContext context) => GimbalSlider(
                  gimbal: _m.gimbal,
                  dji: _dji,
                  range: ProductProfileScope.of(context).gimbal?.pitch,
                  onError: _error,
                ),
              ),
            ),
          ),
          const SizedBox(height: 8),
          Requires(
            HudFeatures.gimbalSettings,
            child: GlassPill(
              key: const ValueKey<String>('gimbal-settings-button'),
              height: 28,
              padding: const EdgeInsets.symmetric(horizontal: 6),
              onTap: () => showGimbalSettings(context, model: _m, dji: _dji, onError: _error),
              child: const PVIcon('gimbal', size: 16, color: Glass.ink),
            ),
          ),
        ]),
      ),
      // ── Top bar, battery bar, camera info ─────────────────────────────────
      Positioned(
        left: 0,
        right: 0,
        top: 0,
        child: StatusBar(
          model: _m,
          onBack: () => Navigator.of(context).maybePop(),
          onStatus: () => _openStatus(context),
          onMore: () => showFlySettings(
            context,
            model: _m,
            dji: _dji,
            onError: _error,
            onOpenStatus: () => _openStatus(context),
            onClearRoute: _trail.clear,
          ),
        ),
      ),
      Positioned(left: 0, right: 0, top: StatusBar.height + 3, child: SmartBatteryBar(model: _m)),
      // Exposure means nothing while planning a route on the map.
      if (!_editing)
        Positioned(
          right: 0,
          top: StatusBar.height + SmartBatteryBar.height + 5,
          child: CameraInfoStrip(
            camera: _m.camera,
            onTap: () => showQuickExposure(context, model: _m, dji: _dji, onError: _error),
          ),
        ),
      // ── Bottom: attitude ball + telemetry ─────────────────────────────────
      // Gives way to the point editor while a waypoint or POI is selected.
      Positioned(
        left: _pipSize.width + 10,
        bottom: 0,
        child: ListenableBuilder(
          listenable: _waypoints,
          builder: (BuildContext context, Widget? child) =>
              _editing && (_waypoints.selected != null || _waypoints.selectedPoi != null) ? const SizedBox.shrink() : child!,
          child: Row(crossAxisAlignment: CrossAxisAlignment.end, children: <Widget>[
            AttitudeBall(model: _m, size: 84),
            const SizedBox(width: 6),
            TelemetryStrip(aircraft: _m.aircraft),
          ]),
        ),
      ),
      // ── Mission run panel / route board, error stack, low-battery banners ─
      // Bounded above the attitude ball; the stack fits what is left under the banners.
      Positioned(
        left: 108,
        top: StatusBar.height + SmartBatteryBar.height + 8,
        bottom: 104,
        child: Column(mainAxisSize: MainAxisSize.min, crossAxisAlignment: CrossAxisAlignment.start, children: <Widget>[
          WaypointRunPanel(model: _m, editor: _waypoints, gate: _gate, flow: _flow, onError: _error),
          if (_editing)
            Padding(
              padding: const EdgeInsets.only(bottom: 6),
              child: WaypointBoard(
                editor: _waypoints,
                limits: _limits,
                onTap: () => showRouteSettings(context, editor: _waypoints, limits: _limits),
              ),
            ),
          SafetyBanners(gate: _gate, onError: _error),
          Flexible(child: AlertStack(alerts: _m.alerts, onMore: () => _openStatus(context))),
        ]),
      ),
      // ── Left rail ─────────────────────────────────────────────────────────
      Positioned(
        left: 0,
        top: 60,
        child: ActionRail(
          model: _m,
          flow: _flow,
          modeActive: _mode != null,
          onModes: () => _openModes(context),
        ),
      ),
      if (_mapBig) Positioned(right: _editing ? 122 : 70, top: 80, child: MinimapControls(controller: _minimap, trail: _trail)),
      // ── Waypoints editor: tools + point editor ────────────────────────────
      if (_editing) ...<Widget>[
        Positioned(
          right: 70,
          top: 76,
          child: WaypointTools(
            editor: _waypoints,
            onStart: () => startWaypointFlow(context, gate: _gate, spec: _waypoints.mission, onError: _error),
            onSettings: () => showRouteSettings(context, editor: _waypoints, limits: _limits),
            onLibrary: () => showMissionLibrary(context, editor: _waypoints, library: _library),
            onExit: _exitMode,
          ),
        ),
        Positioned(
          left: _pipSize.width + 10,
          right: 124,
          bottom: 0,
          child: Builder(
            builder: (BuildContext context) {
              final ProductProfile p = ProductProfileScope.of(context);
              return PointEditorPanel(
                editor: _waypoints,
                gimbalMin: p.gimbal?.pitch?.min ?? -90,
                gimbalMax: p.gimbal?.pitch?.max ?? 30,
              );
            },
          ),
        ),
      ],
      // ── Minimap / video corner box ────────────────────────────────────────
      Positioned(
        left: 0,
        bottom: 0,
        width: _pipSize.width,
        height: _pipSize.height,
        child: _PipFrame(label: _mapBig ? 'VIDEO' : 'MAP', onTap: () => setState(() => _mapBig = !_mapBig)),
      ),
    ]);
  }
}

/// The corner box's frame and tap target. The content underneath is the real
/// map or video layer, placed at the same spot by [FlyScreen].
class _PipFrame extends StatelessWidget {
  const _PipFrame({required this.label, required this.onTap});

  final String label;
  final VoidCallback onTap;

  @override
  Widget build(BuildContext context) {
    return GestureDetector(
      behavior: HitTestBehavior.opaque,
      onTap: onTap,
      child: Container(
        decoration: BoxDecoration(
          borderRadius: BorderRadius.circular(4),
          border: Border.all(color: const Color(0x66EAF0FA)),
        ),
        alignment: Alignment.topLeft,
        padding: const EdgeInsets.all(4),
        child: Container(
          padding: const EdgeInsets.symmetric(horizontal: 4, vertical: 1),
          decoration: BoxDecoration(color: Glass.pillStrong, borderRadius: BorderRadius.circular(3)),
          child: Text(label, style: HudText.label.copyWith(color: Glass.ink)),
        ),
      ),
    );
  }
}