tajniak81andClaude Opus 5.5
43a66df8df
P7a of the GO 4-parity plan. The rail's GRID button becomes MODES, which opens a picker of the product's intelligent flight modes with first-use terms; Waypoints is the first one built. Waypoints opens on the big map: tap to add waypoints or POIs, long-press to drag, "+" to insert on a leg, and a point editor for altitude, speed, heading (route / custom / POI), gimbal (set or aim at POI), camera action and hover, and turn radius, with a swipe-to-adjust readout. Route settings, a local mission library and undo sit in a tool column. Start runs the SafetyGate's pre-start check in the slide-to-confirm dialog, then uploads and starts; a run panel shows upload and flight progress with Pause, Resume and Stop. MissionBridge now listens to the waypoint operator and builds the full V1 mission (per-waypoint headings, turn direction, gimbal pitch, actions). Not yet run on a simulator or aircraft. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
389 lines
17 KiB
Dart
389 lines
17 KiB
Dart
import 'package:flutter/material.dart';
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import '../../../../fly/hud_geometry.dart';
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import '../../../../fly/modes/mission_library.dart';
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import '../../../../fly/modes/waypoint_editor.dart';
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import '../../../../fly/modes/waypoint_mission.dart';
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import '../../../../theme.dart';
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import '../../../pv_icons.dart';
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import '../../hud_kit.dart';
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import '../../panels/camera_menu/camera_rows.dart';
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/// Opens a right-side glass sheet over the map, like the camera and gimbal menus.
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Future<void> _showSheet(BuildContext context, {required String title, required String icon, required Widget body}) {
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return showGeneralDialog<void>(
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context: context,
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barrierDismissible: true,
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barrierLabel: title,
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barrierColor: const Color(0x55050A14),
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transitionDuration: const Duration(milliseconds: 200),
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pageBuilder: (BuildContext context, _, __) => Align(
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alignment: Alignment.centerRight,
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child: Material(
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color: const Color(0xF20B1426),
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child: SizedBox(
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width: 380,
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height: MediaQuery.sizeOf(context).height,
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child: SafeArea(
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left: false,
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child: Column(crossAxisAlignment: CrossAxisAlignment.stretch, children: <Widget>[
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Padding(
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padding: const EdgeInsets.fromLTRB(16, 6, 4, 6),
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child: Row(children: <Widget>[
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PVIcon(icon, size: 16, color: Glass.ink),
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const SizedBox(width: 8),
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Expanded(child: Text(title, style: HudText.sans.copyWith(fontSize: 14, fontWeight: FontWeight.w700))),
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IconButton(
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key: const ValueKey<String>('sheet-close'),
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onPressed: () => Navigator.of(context).pop(),
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icon: const PVIcon('close', size: 18, color: HudText.dim),
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),
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]),
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),
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const Divider(height: 1, color: Glass.hairline),
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Expanded(child: body),
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]),
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),
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),
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),
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),
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transitionBuilder: (BuildContext context, Animation<double> a, _, Widget child) => SlideTransition(
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position: Tween<Offset>(begin: const Offset(1, 0), end: Offset.zero).animate(CurvedAnimation(parent: a, curve: Curves.easeOut)),
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child: child,
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),
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);
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}
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// ── Route settings ─────────────────────────────────────────────────────────
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/// GO 4's Route Settings: route type, cruise speed, heading, finish and
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/// signal-lost actions, how to reach waypoint 1, repeats — plus the route's
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/// issues and Clear.
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Future<void> showRouteSettings(BuildContext context, {required WaypointEditor editor, required MissionLimits limits}) =>
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_showSheet(context, title: 'Route settings', icon: 'route', body: RouteSettingsList(editor: editor, limits: limits));
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class RouteSettingsList extends StatelessWidget {
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const RouteSettingsList({super.key, required this.editor, required this.limits});
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final WaypointEditor editor;
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final MissionLimits limits;
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void _set(WaypointMissionSpec Function(WaypointMissionSpec m) f) => editor.updateRoute(f);
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@override
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Widget build(BuildContext context) {
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return ListenableBuilder(
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listenable: editor,
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builder: (BuildContext context, _) {
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final WaypointMissionSpec m = editor.mission;
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final List<MissionIssue> issues = m.validate(limits);
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return ListView(padding: const EdgeInsets.only(bottom: 16), children: <Widget>[
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ValueTile(
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label: 'Name',
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value: m.name,
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onTap: () async {
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final String? name = await showRenameDialog(context, m.name);
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if (name != null) _set((WaypointMissionSpec m) => m.copyWith(name: name));
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},
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),
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ChoiceTile(
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label: 'Route type',
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hint: 'Curved routes fly through waypoints without stopping.',
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options: <(String, String)>[for (final RoutePathMode v in RoutePathMode.values) (v.name, v.label)],
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selected: m.pathMode.name,
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onSelect: (String v) => _set((WaypointMissionSpec m) => m.copyWith(pathMode: RoutePathMode.values.byName(v))),
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),
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StepperTile(
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id: 'cruise',
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label: 'Cruise speed',
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shown: '${m.cruiseSpeed.toStringAsFixed(1)} m/s',
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canDown: m.cruiseSpeed > WaypointMissionSpec.minSpeed,
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canUp: m.cruiseSpeed < WaypointMissionSpec.maxSpeed,
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onStep: (int d) => _set((WaypointMissionSpec m) => m.copyWith(cruiseSpeed: WaypointEditor.speedRange.clamp(m.cruiseSpeed + d * 0.5))),
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),
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ChoiceTile(
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label: 'Heading',
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hint: m.headingMode == RouteHeadingMode.perPoint ? 'Set on each waypoint\'s Heading tab.' : null,
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options: <(String, String)>[
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for (final RouteHeadingMode v in RouteHeadingMode.values)
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if (v != RouteHeadingMode.poi || m.pois.isNotEmpty) (v.name, v.label),
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],
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selected: m.headingMode.name,
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onSelect: (String v) => _set((WaypointMissionSpec m) => m.copyWith(headingMode: RouteHeadingMode.values.byName(v))),
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),
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ChoiceTile(
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label: 'When finished',
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options: <(String, String)>[for (final RouteFinishAction v in RouteFinishAction.values) (v.name, v.label)],
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selected: m.finishAction.name,
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onSelect: (String v) => _set((WaypointMissionSpec m) => m.copyWith(finishAction: RouteFinishAction.values.byName(v))),
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),
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ChoiceTile(
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label: 'RC signal lost',
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hint: m.exitOnSignalLost ? 'The mission ends and the aircraft does its signal-lost action (Settings → Safety).' : 'The aircraft finishes the route on its own.',
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options: const <(String, String)>[('exit', 'End mission'), ('continue', 'Finish the route')],
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selected: m.exitOnSignalLost ? 'exit' : 'continue',
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onSelect: (String v) => _set((WaypointMissionSpec m) => m.copyWith(exitOnSignalLost: v == 'exit')),
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),
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ChoiceTile(
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label: 'To waypoint 1',
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options: <(String, String)>[for (final RouteGotoFirst v in RouteGotoFirst.values) (v.name, v.label)],
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selected: m.gotoFirst.name,
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onSelect: (String v) => _set((WaypointMissionSpec m) => m.copyWith(gotoFirst: RouteGotoFirst.values.byName(v))),
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),
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StepperTile(
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id: 'repeat',
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label: 'Fly the route',
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shown: m.repeatTimes == 1 ? 'once' : '${m.repeatTimes}×',
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canDown: m.repeatTimes > 1,
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canUp: m.repeatTimes < 10,
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onStep: (int d) => _set((WaypointMissionSpec m) => m.copyWith(repeatTimes: (m.repeatTimes + d).clamp(1, 10))),
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),
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ValueTile(label: 'Length', value: '${m.length.round()} m · ≈${formatDuration(m.estimatedSeconds)}'),
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if (issues.isNotEmpty) ...<Widget>[
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Padding(
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padding: const EdgeInsets.fromLTRB(16, 14, 16, 4),
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child: Text('CHECKS', style: HudText.label),
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),
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for (final MissionIssue i in issues) IssueRow(issue: i, onTap: i.point == null ? null : () => editor.select(i.point)),
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],
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const SizedBox(height: 8),
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ButtonTile(
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id: 'clear-route',
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label: 'Clear the route',
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button: 'Clear',
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danger: true,
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onTap: m.points.isEmpty && m.pois.isEmpty
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? null
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: () async {
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if (await confirmHud(context, title: 'Clear the route?', body: 'Every waypoint and POI is removed. Undo brings them back.', action: 'Clear')) {
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editor.clear();
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}
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},
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),
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]);
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},
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);
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}
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}
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class IssueRow extends StatelessWidget {
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const IssueRow({super.key, required this.issue, this.onTap});
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final MissionIssue issue;
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final VoidCallback? onTap;
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@override
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Widget build(BuildContext context) => GestureDetector(
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behavior: HitTestBehavior.opaque,
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onTap: onTap,
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child: Padding(
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padding: const EdgeInsets.symmetric(horizontal: 16, vertical: 5),
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child: Row(crossAxisAlignment: CrossAxisAlignment.start, children: <Widget>[
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PVIcon('alert', size: 13, color: issue.blocks ? HudColors.danger : HudColors.caution),
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const SizedBox(width: 8),
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Expanded(child: Text(issue.message, style: HudText.sans.copyWith(fontSize: 11, fontWeight: FontWeight.w400, height: 1.3))),
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]),
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),
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);
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}
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// ── Mission library ────────────────────────────────────────────────────────
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/// The saved routes: save the current one, start a new one, load or delete.
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Future<void> showMissionLibrary(BuildContext context, {required WaypointEditor editor, required MissionLibrary library}) =>
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_showSheet(context, title: 'Mission library', icon: 'album', body: MissionLibraryList(editor: editor, library: library));
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class MissionLibraryList extends StatelessWidget {
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const MissionLibraryList({super.key, required this.editor, required this.library});
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final WaypointEditor editor;
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final MissionLibrary library;
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Future<void> _save(BuildContext context) async {
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WaypointMissionSpec m = editor.mission;
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if (m.id.isEmpty) {
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final String? name = await showRenameDialog(context, m.name, title: 'Save route as');
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if (name == null) return;
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m = m.copyWith(name: name);
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}
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editor.markSaved(await library.save(m));
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}
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Future<bool> _discardOk(BuildContext context) async {
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if (!editor.dirty || editor.mission.points.isEmpty) return true;
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return confirmHud(context, title: 'Discard changes?', body: 'The route on the map has unsaved changes.', action: 'Discard');
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}
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@override
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Widget build(BuildContext context) {
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return ListenableBuilder(
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listenable: Listenable.merge(<Listenable>[editor, library]),
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builder: (BuildContext context, _) {
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final WaypointMissionSpec current = editor.mission;
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return ListView(padding: const EdgeInsets.only(bottom: 16), children: <Widget>[
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ButtonTile(
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id: 'save-route',
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label: current.id.isEmpty ? 'This route is not saved' : (editor.dirty ? 'Unsaved changes' : 'Saved'),
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button: 'Save',
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onTap: current.points.isEmpty || (!editor.dirty && current.id.isNotEmpty) ? null : () => _save(context),
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),
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ButtonTile(
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id: 'new-route',
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label: 'Start a new route',
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button: 'New',
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onTap: current.points.isEmpty && current.id.isEmpty
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? null
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: () async {
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if (await _discardOk(context)) editor.load(const WaypointMissionSpec());
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},
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),
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Padding(
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padding: const EdgeInsets.fromLTRB(16, 14, 16, 4),
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child: Text('SAVED ON THIS DEVICE', style: HudText.label),
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),
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if (library.missions.isEmpty)
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Padding(
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padding: const EdgeInsets.symmetric(horizontal: 16, vertical: 8),
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child: Text('No saved routes yet.', style: HudText.sans.copyWith(color: HudText.dim, fontWeight: FontWeight.w400)),
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),
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for (final WaypointMissionSpec m in library.missions)
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_MissionRow(
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mission: m,
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current: m.id == current.id,
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onLoad: () async {
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if (!await _discardOk(context)) return;
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editor.load(m);
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if (context.mounted) Navigator.of(context).pop();
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},
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onDelete: () async {
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if (await confirmHud(context, title: 'Delete "${m.name}"?', body: 'The saved route is removed from this device.', action: 'Delete')) {
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await library.delete(m.id);
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}
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},
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),
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]);
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},
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);
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}
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}
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class _MissionRow extends StatelessWidget {
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const _MissionRow({required this.mission, required this.current, required this.onLoad, required this.onDelete});
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final WaypointMissionSpec mission;
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final bool current;
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final VoidCallback onLoad;
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final VoidCallback onDelete;
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@override
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Widget build(BuildContext context) {
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final DateTime? at = mission.updatedAt?.toLocal();
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final String when = at == null
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? ''
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: '${at.year}-${at.month.toString().padLeft(2, '0')}-${at.day.toString().padLeft(2, '0')} '
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'${at.hour.toString().padLeft(2, '0')}:${at.minute.toString().padLeft(2, '0')}';
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return GestureDetector(
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key: ValueKey<String>('mission-${mission.id}'),
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behavior: HitTestBehavior.opaque,
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onTap: onLoad,
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child: Container(
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padding: const EdgeInsets.fromLTRB(16, 8, 6, 8),
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color: current ? const Color(0x1A3D7BF0) : null,
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child: Row(children: <Widget>[
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const PVIcon('route', size: 15, color: Glass.ink),
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const SizedBox(width: 10),
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Expanded(
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child: Column(crossAxisAlignment: CrossAxisAlignment.start, children: <Widget>[
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Text(mission.name, style: HudText.sans),
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const SizedBox(height: 2),
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Text('${mission.points.length} WP · ${mission.length.round()} m · $when', style: HudText.label),
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]),
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),
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IconButton(
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key: ValueKey<String>('mission-delete-${mission.id}'),
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onPressed: onDelete,
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icon: const PVIcon('close', size: 15, color: HudText.dim),
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),
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]),
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),
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);
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}
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}
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// ── Small dialogs ──────────────────────────────────────────────────────────
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/// Asks for a route name. The dialog's own State owns the text controller:
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/// disposing it right after `showDialog` returns would crash the exit animation.
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Future<String?> showRenameDialog(BuildContext context, String initial, {String title = 'Route name'}) =>
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showDialog<String>(context: context, builder: (BuildContext context) => _RenameDialog(initial: initial, title: title));
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class _RenameDialog extends StatefulWidget {
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const _RenameDialog({required this.initial, required this.title});
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final String initial;
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final String title;
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@override
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State<_RenameDialog> createState() => _RenameDialogState();
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}
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class _RenameDialogState extends State<_RenameDialog> {
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late final TextEditingController _c = TextEditingController(text: widget.initial);
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@override
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void dispose() {
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_c.dispose();
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super.dispose();
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}
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void _done() {
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final String v = _c.text.trim();
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Navigator.of(context).pop(v.isEmpty ? null : v);
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}
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@override
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Widget build(BuildContext context) => AlertDialog(
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backgroundColor: const Color(0xF20B1426),
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title: Text(widget.title, style: HudText.sans.copyWith(fontSize: 14)),
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content: TextField(
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key: const ValueKey<String>('rename-field'),
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controller: _c,
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autofocus: true,
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maxLength: 40,
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style: HudText.sans.copyWith(fontWeight: FontWeight.w400),
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onSubmitted: (_) => _done(),
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),
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actions: <Widget>[
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TextButton(onPressed: () => Navigator.of(context).pop(), child: Text('Cancel', style: HudText.sans.copyWith(color: HudText.dim))),
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FilledButton(
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key: const ValueKey<String>('rename-ok'),
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style: FilledButton.styleFrom(backgroundColor: PV.accent),
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onPressed: _done,
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child: Text('OK', style: HudText.sans.copyWith(color: Colors.white)),
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),
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],
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);
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}
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/// A yes / no question in the HUD's style; true on [action].
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Future<bool> confirmHud(BuildContext context, {required String title, required String body, required String action}) async {
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final bool? ok = await showDialog<bool>(
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context: context,
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builder: (BuildContext context) => AlertDialog(
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backgroundColor: const Color(0xF20B1426),
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title: Text(title, style: HudText.sans.copyWith(fontSize: 14)),
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content: Text(body, style: HudText.sans.copyWith(fontWeight: FontWeight.w400, height: 1.3)),
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actions: <Widget>[
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TextButton(onPressed: () => Navigator.of(context).pop(false), child: Text('Cancel', style: HudText.sans.copyWith(color: HudText.dim))),
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FilledButton(
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key: const ValueKey<String>('confirm-ok'),
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style: FilledButton.styleFrom(backgroundColor: HudColors.danger),
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onPressed: () => Navigator.of(context).pop(true),
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child: Text(action, style: HudText.sans.copyWith(color: Colors.white)),
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),
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],
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),
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);
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return ok == true;
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}
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