PilotVault/Fly App/lib/fly/state/calibration_state.dart

import 'package:flutter/foundation.dart';

import 'parse.dart';

/// One IMU unit's calibration report.
@immutable
class ImuUnit {
  const ImuUnit({required this.index, this.state, this.progress, this.gyroscope, this.accelerometer, this.connected});

  factory ImuUnit.fromMap(Map<String, dynamic> m) => ImuUnit(
        index: asInt(m['index']) ?? 0,
        state: asString(m['state']),
        progress: asInt(m['progress']),
        gyroscope: asString(m['gyroscope']),
        accelerometer: asString(m['accelerometer']),
        connected: asBool(m['connected']),
      );

  final int index;

  /// `NONE` / `CALIBRATING` / `SUCCESSFUL` / `FAILED` / `UNKNOWN`.
  final String? state;
  final int? progress; // 0..100
  /// `SensorState` names: `NORMAL_BIAS`, `WARMING_UP`, `IN_MOTION`, `LARGE_BIAS` …
  final String? gyroscope;
  final String? accelerometer;
  final bool? connected;
}

/// The RC wizard's live sticks (−660…660) and dials.
@immutable
class RcHardware {
  const RcHardware({this.lx, this.ly, this.rx, this.ry, this.leftDial, this.rightDial});

  factory RcHardware.fromMap(Map<String, dynamic> m) => RcHardware(
        lx: asInt(m['lx']),
        ly: asInt(m['ly']),
        rx: asInt(m['rx']),
        ry: asInt(m['ry']),
        leftDial: asInt(m['leftDial']),
        rightDial: asInt(m['rightDial']),
      );

  final int? lx, ly, rx, ry, leftDial, rightDial;
}

/// The calibration and maintenance wizards' state (plan P6b), from the
/// `calibration` group of the telemetry tick (`CalibrationBridge.kt`). The
/// compass reports through [AircraftState] and the gimbal through
/// [GimbalState]; everything else is here.
class CalibrationState extends ChangeNotifier {
  // ── What the aircraft offers; null = not known yet ─────────────────────────
  int? compassCount;
  int? imuCount;
  bool? gravityCenterSupported;
  bool? propellerSupported;
  bool? lensSupported;
  bool? sensorCleaningSupported;
  bool? rcSupported;

  // ── IMU ────────────────────────────────────────────────────────────────────
  List<ImuUnit> imuUnits = const <ImuUnit>[];

  /// The aircraft wants to be turned onto several sides.
  bool? imuMultiSide;

  /// `CALIBRATING` / `COMPLETED` / `UNKNOWN` for the multi-side sequence.
  String? imuOrientationState;

  /// `CalibrationOrientation` names: `BOTTOM_DOWN`, `NOSE_DOWN` …
  List<String> imuToCalibrate = const <String>[];
  List<String> imuCalibrated = const <String>[];

  // ── Gravity centre / lens / sensor cleaning ───────────────────────────────
  /// `NONE` / `CALCULATING` / `SUCCESSFUL` / `FAILED`.
  String? gravityCenterState;
  String? gravityCenterError;

  /// `NOT_CALIBRATE` / `CALIBRATING` / `CALIBRATED` / `WAITING_FOR_CALIBRATE`.
  String? lensState;

  /// `IDLE` / `COMPLETED` / `FAIL_NORMAL` / `DATA_ERROR`.
  String? lensResult;

  /// `SensorCleaningState` name: `IDLE`, `INITIATING`, `WAITING_FOR_LENS_REMOVAL` …
  String? sensorCleaning;

  // ── Remote controller ─────────────────────────────────────────────────────
  /// `NORMAL` / `MIDDLE` / `LIMITS` / `QUIT` / `TIMEOUT` / `DISCONNECT`.
  String? rcState;
  int? rcSegments;

  /// Per-axis calibration status (`A`…`H`) as the remote reports it.
  Map<String, Object?> rcAxes = const <String, Object?>{};

  /// Only while the RC wizard watches the hardware.
  RcHardware? rcHardware;

  void apply(Map<String, dynamic>? g) {
    final Map<String, dynamic> support = asMap(g?['support']) ?? const <String, dynamic>{};
    compassCount = asInt(support['compassCount']);
    imuCount = asInt(support['imuCount']);
    gravityCenterSupported = asBool(support['gravityCenter']);
    propellerSupported = asBool(support['propeller']);
    lensSupported = asBool(support['lens']);
    sensorCleaningSupported = asBool(support['sensorCleaning']);
    rcSupported = asBool(support['rc']);

    final Map<String, dynamic>? imu = asMap(g?['imu']);
    imuUnits = <ImuUnit>[for (final Map<String, dynamic> u in asMapList(imu?['units'])) ImuUnit.fromMap(u)];
    imuMultiSide = asBool(imu?['multiSide']);
    imuOrientationState = asString(imu?['orientationState']);
    imuToCalibrate = _strings(imu?['toCalibrate']);
    imuCalibrated = _strings(imu?['calibrated']);

    final Map<String, dynamic>? gc = asMap(g?['gravityCenter']);
    gravityCenterState = asString(gc?['state']);
    gravityCenterError = asString(gc?['error']);

    final Map<String, dynamic>? lens = asMap(g?['lens']);
    lensState = asString(lens?['state']);
    lensResult = asString(lens?['result']);

    sensorCleaning = asString(g?['sensorCleaning']);

    final Map<String, dynamic>? rc = asMap(g?['rc']);
    rcState = asString(rc?['state']);
    rcSegments = asInt(rc?['segments']);
    rcAxes = asMap(rc?['axes']) ?? const <String, Object?>{};
    final Map<String, dynamic>? hw = asMap(g?['rcHardware']);
    rcHardware = hw == null ? null : RcHardware.fromMap(hw);
    notifyListeners();
  }

  void clear() => apply(null);

  static List<String> _strings(Object? v) => v is List ? <String>[for (final Object? e in v) if (e is String) e] : const <String>[];
}