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

import 'dart:async';

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/calibration.dart' show CalibrationKind;
import '../../fly/flight_trail.dart';
import '../../fly/fly_zone_loader.dart';
import '../../fly/fly_prefs.dart';
import '../../fly/gimbal_control.dart' show GimbalActions;
import '../../fly/hud_features.dart';
import '../../fly/modes/mission_library.dart';
import '../../fly/modes/mission_sync.dart' show ApiMissionRemote;
import '../../fly/modes/orbit_modes.dart';
import '../../fly/modes/vision_modes.dart';
import '../../fly/state/link_extras.dart' show RcButtonPress;
import '../../fly/state/parse.dart' show asString;
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 '../../fly/virtual_sticks.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 'control/virtual_stick_pads.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_panels.dart';
import 'modes/mode_picker.dart';
import 'modes/vision/vision_layers.dart';
import 'modes/vision/vision_panel.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/airsense.dart';
import 'overlays/alert_stack.dart';
import 'overlays/camera_touch_layer.dart';
import 'overlays/fly_zone_licences.dart';
import 'overlays/fly_zones.dart';
import 'overlays/gimbal_drag_layer.dart';
import 'overlays/live_stream.dart';
import 'overlays/histogram_view.dart';
import 'overlays/safety_banners.dart';
import 'overlays/vision_radar.dart';
import 'panels/aircraft_status_sheet.dart';
import 'panels/camera_menu/camera_menu_sheet.dart';
import 'panels/camera_quick_exposure.dart';
import 'panels/camera_write.dart';
import 'panels/gimbal_sheet.dart';
import 'panels/settings/calibration/calibration_hub.dart' show openCalibration;
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.
///
/// Radar, sticks, AirSense (plan P8): the vision radar around the picture's
/// centre; the rail's STICKS button hands the aircraft to two on-screen stick
/// pads through the SafetyGate (simulator first); AirSense warnings above the
/// error stack and the planes it hears on the map; DJI GEO fly zones on the
/// map with their banner, and the radar ring on the attitude ball.
///
/// Secondary screens (plan P9): the camera column's playback button opens the
/// album over the live view (videos play on the aircraft into the feed), and
/// a LIVE pill heads the left column while an RTMP stream runs.
class FlyScreen extends StatefulWidget {
  const FlyScreen({super.key, required this.model, required this.dji, this.waypoints, this.onOpenFlightLogs});

  final FlightModel model;
  final DjiService dji;

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

  /// Opens the flight records (Settings → General → Flight logs).
  final VoidCallback? onOpenFlightLogs;

  @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();
  final VisionSession _vision = VisionSession();
  late final MissionLibrary _library = MissionLibrary(remote: ApiMissionRemote())..load();
  MissionLimits _limits = const MissionLimits();
  int _seenFinishes = 0;

  /// The on-screen sticks (plan P8); [_sticksOpen] mirrors its `open` for layout.
  late final VirtualStickController _sticks = VirtualStickController(send: _gate.sendSticks)..mode = FlyPrefs.stickMode.value;
  bool _sticksOpen = false;

  /// Keeps the GEO zones around the aircraft loaded (plan P8).
  late final FlyZoneLoader _zones = FlyZoneLoader(model: widget.model, dji: widget.dji);

  /// POI / Follow Me / Hyperlapse set-up (plan P7).
  final ModeSetup _setup = ModeSetup();

  /// Sends the phone's position to Follow Me while it runs.
  Timer? _followTimer;

  /// The waypoint the current route was interrupted before, if it was.
  int? _resumeFrom;
  int _seenModeFinishes = 0;

  /// The live-feed cache is recording (plan P6): the aircraft flies and the pref is on.
  bool _caching = false;

  /// The last focus mode seen, for the first-manual-focus lens prompt.
  String? _focusMode;
  bool _lensPromptShown = false;

  /// 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);

  /// An on-screen stick pad's diameter, in HUD canvas pixels.
  static const double _stickPad = 110;

  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;
    _seenModeFinishes = _m.mission.modeFinishes;
    _m.mission.addListener(_onMission);
    _m.aircraft.addListener(_onSticksAircraft);
    _m.aircraft.addListener(_onCacheAircraft);
    FlyPrefs.videoCache.addListener(_onCacheAircraft);
    _m.rcButton.addListener(_onRcButton);
    _focusMode = asString(_m.camera.setting('focusMode'));
    _m.camera.addListener(_onCamera);
    _sticks.addListener(_onSticks);
    FlyPrefs.stickMode.addListener(_onStickMode);
    _zones.start();
  }

  // ── Video cache (plan P6) ───────────────────────────────────────────────────

  /// Records the live feed while the aircraft flies, when the pref is on.
  void _onCacheAircraft() {
    final bool want = FlyPrefs.videoCache.value && _m.connected && _m.aircraft.isFlying == true;
    if (want == _caching) return;
    _caching = want;
    _dji.setVideoCacheRecording(want, limitMb: FlyPrefs.videoCacheLimitMb.value).catchError((Object _) {});
  }

  // ── C1 / C2 (plan P6) ───────────────────────────────────────────────────────

  void _onRcButton() {
    final RcButtonPress? p = _m.rcButton.value;
    if (p == null || !mounted) return;
    _runButtonAction(FlyPrefs.rcButton(p.button));
  }

  Future<void> _runButtonAction(RcButtonAction a) async {
    try {
      switch (a) {
        case RcButtonAction.none:
          break;
        case RcButtonAction.gimbalRecenter:
          await _dji.resetGimbal();
        case RcButtonAction.gimbalToggleDown:
          // Down when roughly level, level when pointing down.
          final double pitch = _m.gimbal.pitch ?? 0;
          await _dji.rotateGimbalPitch(pitch < -45 ? 0 : GimbalActions.faceDownPitch(_m.profile.gimbal?.pitch));
        case RcButtonAction.mapSwap:
          setState(() => _mapBig = !_mapBig);
        case RcButtonAction.cameraSettings:
          await showCameraMenu(context, model: _m, dji: _dji, onError: _error);
        case RcButtonAction.aircraftStatus:
          await _openStatus(context);
        case RcButtonAction.aeLock:
          final bool on = _m.camera.aeLock != true;
          await writeCameraSetting(_m.camera, label: 'AE lock', pending: <String, Object?>{'aeLock': on}, send: () => _dji.setCameraValue('aeLock', on), onError: _error);
        case RcButtonAction.radar:
          await FlyPrefs.setShowRadar(!FlyPrefs.showRadar.value);
      }
    } catch (e) {
      _error(a.label, e);
    }
  }

  // ── First manual focus: offer the lens calibration (plan P6b) ──────────────

  void _onCamera() {
    final String? mode = asString(_m.camera.setting('focusMode'));
    if (mode == _focusMode) return;
    final bool toManual = mode == 'MANUAL' && _focusMode != null;
    _focusMode = mode;
    if (!toManual || _lensPromptShown || !mounted) return;
    final String camera = _m.profile.camera?.displayName ?? _m.model ?? 'camera';
    if (!HudFeatures.calibrationLens.enabledFor(_m.profile) || FlyPrefs.lensCalibrated.value.contains(camera)) return;
    _lensPromptShown = true;
    _offerLensCalibration(camera);
  }

  Future<void> _offerLensCalibration(String camera) async {
    final bool? go = await showDialog<bool>(
      context: context,
      builder: (BuildContext ctx) => AlertDialog(
        backgroundColor: const Color(0xFF10203F),
        title: Text('Calibrate the lens?', style: HudText.sans.copyWith(fontSize: 15)),
        content: Text(
          'Manual focus is only accurate once the lens has been calibrated on this camera. It takes a minute, on the ground.',
          style: HudText.sans.copyWith(fontWeight: FontWeight.w400),
        ),
        actions: <Widget>[
          TextButton(onPressed: () => Navigator.of(ctx).pop(false), child: const Text('Not now')),
          FilledButton(key: const ValueKey<String>('lens-prompt-go'), onPressed: () => Navigator.of(ctx).pop(true), child: const Text('Calibrate')),
        ],
      ),
    );
    if (go != true || !mounted) return;
    await openCalibration(context, CalibrationKind.lens, model: _m, dji: _dji, onError: _error);
    if (_m.calibration.lensResult == 'COMPLETED') await FlyPrefs.markLensCalibrated(camera);
  }

  void _onStickMode() => _sticks.mode = FlyPrefs.stickMode.value;

  /// The flight controller can end virtual-stick mode on its own (the remote's
  /// mode switch, RTH, landing): the controller closes, and the loop is told to stop.
  void _onSticksAircraft() {
    final String mode = _m.aircraft.flightModeEnum ?? '';
    _sticks.onAircraft(
      enabled: _m.aircraft.virtualStickEnabled,
      goingHome: _m.aircraft.goingHome == true || mode == 'GO_HOME',
      landing: mode == 'AUTO_LANDING' || mode == 'CONFIRM_LANDING',
    );
  }

  void _onSticks() {
    if (_sticks.open == _sticksOpen) return;
    final String? reason = _sticks.closedReason;
    if (!_sticks.open && reason != null) {
      _gate.disableVirtualSticks().catchError((Object _) {});
      if (mounted) {
        ScaffoldMessenger.of(context)
          ..clearSnackBars()
          ..showSnackBar(SnackBar(content: Text('On-screen sticks off: $reason')));
      }
    }
    if (mounted) setState(() => _sticksOpen = _sticks.open);
  }

  Future<void> _toggleSticks(BuildContext context) async {
    if (_sticks.open) {
      _sticks.close();
      try {
        await _gate.disableVirtualSticks();
      } catch (e) {
        _error('On-screen sticks', e);
      }
      return;
    }
    await startVisionMode(
      context,
      title: 'On-screen sticks',
      icon: 'rc',
      description: '${FlyPrefs.stickMode.value.label}. Lift your thumbs and the aircraft hovers. Tap STICKS again to hand back to the remote.',
      checks: _gate.checkVirtualSticks(),
      start: () async {
        await _gate.enableVirtualSticks();
        _sticks.opened();
      },
      onError: _error,
    );
  }

  /// 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')));
      }
      // A mission cut short may be resumed from where it stopped.
      _checkResume();
    }
    if (ms.modeFinishes != _seenModeFinishes) {
      _seenModeFinishes = ms.modeFinishes;
      final String? r = ms.modeResult;
      if (mounted && r != null && r.isNotEmpty) {
        ScaffoldMessenger.of(context)
          ..clearSnackBars()
          ..showSnackBar(SnackBar(content: Text('Mode ended: $r')));
      }
    }
    // Follow Me needs the phone's position for as long as it follows.
    final bool following = ms.followMe.active;
    if (following && _followTimer == null) {
      _followTimer = Timer.periodic(FollowMeSpec.updateEvery, (_) => _gate.updateFollowMe().catchError((Object _) {}));
    } else if (!following && _followTimer != null) {
      _followTimer!.cancel();
      _followTimer = null;
    }
    // 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:
      case IntelligentMode.waypointV2:
        setState(() {
          _mode = IntelligentMode.waypoint;
          _mapBig = true;
        });
        _minimap.setFollow(_waypoints.mission.points.isEmpty);
        final MissionLimits limits = await _gate.missionLimits();
        if (mounted) setState(() => _limits = limits);
        _checkResume();
      case IntelligentMode.activeTrack:
      case IntelligentMode.tapFly:
      case IntelligentMode.quickShots:
        // Vision modes work on the live video.
        _vision.clearPending();
        setState(() {
          _mode = m;
          _mapBig = false;
        });
        if (m == IntelligentMode.activeTrack && _m.connected) {
          try {
            _vision.setRetreat(await _dji.getActiveTrackRetreat());
          } catch (_) {
            _vision.setRetreat(null); // not reported: the chip starts off
          }
        }
      case IntelligentMode.pointOfInterest:
        // The centre is picked on the map; it stays big until GO.
        setState(() {
          _mode = m;
          _mapBig = !_m.mission.hotpoint.active;
        });
        if (_setup.poi.center == null && _m.aircraft.latitude != null && _m.aircraft.longitude != null) {
          _minimap.setFollow(true);
        }
      case IntelligentMode.followMe:
      case IntelligentMode.courseLock:
      case IntelligentMode.homeLock:
      case IntelligentMode.tripod:
      case IntelligentMode.hyperlapse:
        setState(() {
          _mode = m;
          _mapBig = false;
        });
    }
  }

  /// Asks whether the route on screen was cut short, to offer RESUME.
  Future<void> _checkResume() async {
    final int? i = await _gate.interruptionFor(_waypoints.mission);
    if (mounted && i != _resumeFrom) setState(() => _resumeFrom = i);
  }

  void _resume(BuildContext context) {
    final int? i = _resumeFrom;
    if (i == null) return;
    startWaypointFlow(context, gate: _gate, spec: _waypoints.mission.from(i), onError: _error);
  }

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

  bool get _visionMode => _mode == IntelligentMode.activeTrack || _mode == IntelligentMode.tapFly || _mode == IntelligentMode.quickShots;

  /// Leaving a vision mode while it flies stops it first (GO 4's Exit).
  Future<void> _exitVision(BuildContext context) async {
    final MissionState ms = _m.mission;
    final bool running = _mode == IntelligentMode.tapFly ? ms.tapFly.active : ms.activeTrack.active;
    if (running) await _flow.request(context, FlightCommand.stopMode);
    _vision.clearPending();
    if (mounted) setState(() => _mode = null);
  }

  /// Leaving POI or Follow Me while it flies stops it first, like the vision modes.
  Future<void> _exitAuto(BuildContext context) async {
    final MissionState ms = _m.mission;
    final bool running = (_mode == IntelligentMode.pointOfInterest && ms.hotpoint.active) || (_mode == IntelligentMode.followMe && ms.followMe.active);
    if (running) await _flow.request(context, FlightCommand.stopMode);
    if (mounted) {
      setState(() {
        _mode = null;
        _mapBig = false;
      });
    }
  }

  void _goQuickShot(BuildContext context, Rect box) {
    final QuickShot shot = _vision.quickShot;
    startVisionMode(
      context,
      title: 'QuickShot · ${shot.label}',
      icon: 'dronie',
      description: '${shot.blurb}. The aircraft records, flies the shot and comes back. Stop, the sticks or the remote\'s pause button end it.',
      // QuickShots always get the slider: the aircraft flies far on its own.
      checks: <GateCheck>[..._gate.checkQuickShot(shot), if (_gate.checkQuickShot(shot).isEmpty) const GateCheck.warn('The aircraft flies the whole shot on its own.')],
      start: () async {
        await _gate.startQuickShot(box, shot);
        _vision.setPendingBox(null);
      },
      onError: _error,
    );
  }

  void _goTrack(BuildContext context, Rect box, {int? subject}) {
    final TrackMode mode = _vision.trackMode;
    startVisionMode(
      context,
      title: 'ActiveTrack · ${mode.label}',
      icon: 'crosshair',
      description: 'The aircraft follows the boxed subject. Stop, the remote\'s pause button, or the sticks take back control.',
      checks: _gate.checkActiveTrack(mode),
      start: () async {
        // A subject the aircraft sensed itself is started by its index, not a drawn box.
        await (subject != null ? _gate.startActiveTrackSubject(subject, mode) : _gate.startActiveTrack(box, mode));
        _vision.setPendingBox(null);
      },
      onError: _error,
    );
  }

  void _goTapFly(BuildContext context, Offset target) {
    final TapFlyDirection d = _vision.direction;
    startVisionMode(
      context,
      title: 'TapFly · ${d.label}',
      icon: 'chevronsRight',
      description: 'The aircraft flies towards the point at ${_vision.speed.toStringAsFixed(0)} m/s until you stop it.',
      checks: _gate.checkTapFly(d),
      start: () async {
        await _gate.startTapFly(target, d, speed: _vision.speed);
        _vision.setPendingPoint(null);
      },
      onError: _error,
    );
  }

  Future<void> _confirmTrack(bool yes) async {
    try {
      await _gate.confirmActiveTrack(yes: yes);
    } catch (e) {
      _error('ActiveTrack', e);
    }
  }

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

  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);
    _m.aircraft.removeListener(_onSticksAircraft);
    _m.aircraft.removeListener(_onCacheAircraft);
    FlyPrefs.videoCache.removeListener(_onCacheAircraft);
    _m.rcButton.removeListener(_onRcButton);
    _m.camera.removeListener(_onCamera);
    FlyPrefs.stickMode.removeListener(_onStickMode);
    _followTimer?.cancel();
    // The cache records only while this screen flies.
    if (_caching) _dji.setVideoCacheRecording(false).catchError((Object _) {});
    _setup.dispose();
    _zones.dispose();
    // Leaving the screen hands the aircraft back to the remote.
    if (_sticks.open) _gate.disableVirtualSticks().catchError((Object _) {});
    _sticks.dispose();
    if (widget.waypoints == null) _waypoints.dispose();
    _vision.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: <Widget>[
        // Zones under the route, planes on top.
        flyZoneMapLayer(_m.flyZones),
        flyZoneLicenceLayer(_m.flyZones),
        flyZoneHeightLayer(_m.flyZones),
        ...waypointMapLayers(editor: _waypoints, mission: _m.mission, editable: _editing),
        if (_mode == IntelligentMode.pointOfInterest || _m.mission.hotpoint.active) ...poiMapLayers(_setup, _m.mission),
        airSenseMapLayer(_m.airSense),
      ],
      onTap: (LatLng at) {
        if (_editing) {
          _waypoints.tapMap(at);
        } else if (_mode == IntelligentMode.pointOfInterest && !_m.mission.hotpoint.active) {
          _setup.setPoi(_setup.poi.copyWith(center: 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),
        Positioned.fill(child: VisualOverlays(video: _m.videoSize)),
        // A vision mode owns every touch on the video: a box or a point.
        if (_mode == IntelligentMode.activeTrack || _mode == IntelligentMode.quickShots)
          Positioned.fill(
            child: ActiveTrackLayer(
              mission: _m.mission,
              session: _vision,
              video: _m.videoSize,
              onGo: (Rect box, int? subject) =>
                  _mode == IntelligentMode.quickShots ? _goQuickShot(context, box) : _goTrack(context, box, subject: subject),
              onConfirm: _confirmTrack,
            ),
          )
        else if (_mode == IntelligentMode.tapFly)
          Positioned.fill(
            child: TapFlyLayer(mission: _m.mission, session: _vision, video: _m.videoSize, onGo: (Offset p) => _goTapFly(context, p)),
          )
        else ...<Widget>[
        // 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, video: _m.videoSize),
            ),
          ),
        ),
        ],
        // Obstacles around the picture's centre; touch-transparent.
        Positioned.fill(
          child: Requires(
            HudFeatures.visionRadar,
            whenDisconnected: false,
            child: VisionRadarOverlay(vision: _m.vision, aircraft: _m.aircraft, video: _m.videoSize),
          ),
        ),
        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,
      ),
    );
  }

  /// The open mode's panel at the head of the left column, for the modes
  /// that are neither Waypoints nor a vision mode.
  Widget? _modePanel(BuildContext context) {
    final MissionState ms = _m.mission;
    // A POI or Follow Me flying keeps its panel even after the mode was left.
    final IntelligentMode? m = _mode ??
        (ms.hotpoint.active
            ? IntelligentMode.pointOfInterest
            : ms.followMe.active
                ? IntelligentMode.followMe
                : null);
    return switch (m) {
      IntelligentMode.pointOfInterest =>
        PoiPanel(model: _m, setup: _setup, gate: _gate, flow: _flow, dji: _dji, onExit: () => _exitAuto(context), onError: _error),
      IntelligentMode.followMe => FollowMePanel(model: _m, setup: _setup, gate: _gate, flow: _flow, onExit: () => _exitAuto(context), onError: _error),
      IntelligentMode.courseLock || IntelligentMode.homeLock => OrientationPanel(mode: m!, model: _m, gate: _gate, onExit: _exitMode, onError: _error),
      IntelligentMode.tripod => SlowModePanel(model: _m, dji: _dji, gate: _gate, onExit: _exitMode, onError: _error),
      IntelligentMode.hyperlapse => HyperlapsePanel(model: _m, setup: _setup, gate: _gate, onExit: _exitMode, onError: _error),
      _ => null,
    };
  }

  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: () => Navigator.of(context).push(AlbumPage.route(model: _m, dji: _dji)),
              onCaptureModes: () => _push(CaptureModesPage(model: _m, dji: _dji)),
            ),
          ),
        ),
      ),
      // ── Zoom column (zoom cameras only) ───────────────────────────────────
      // The right stick pad takes its place while the sticks fly.
      if (!_mapBig && !_sticksOpen)
        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,
            onOpenFlightLogs: widget.onOpenFlightLogs,
          ),
        ),
      ),
      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!,
          // The left stick pad takes the attitude ball's place while the sticks fly.
          child: Row(crossAxisAlignment: CrossAxisAlignment.end, children: <Widget>[
            if (_sticksOpen) const SizedBox(width: _stickPad + 10) else AttitudeBall(model: _m, size: 84),
            const SizedBox(width: 6),
            TelemetryStrip(aircraft: _m.aircraft),
          ]),
        ),
      ),
      // ── On-screen sticks (plan P8) ────────────────────────────────────────
      if (_sticksOpen)
        Positioned(
          left: _pipSize.width + 10,
          bottom: 0,
          child: ListenableBuilder(
            listenable: _sticks,
            builder: (BuildContext context, _) => StickPad(
              key: const ValueKey<String>('stick-left'),
              size: _stickPad,
              value: _sticks.left,
              onChanged: _sticks.setLeft,
              caption: stickCaptions(_sticks.mode).left,
            ),
          ),
        ),
      if (_sticksOpen)
        Positioned(
          right: 70,
          bottom: 0,
          child: ListenableBuilder(
            listenable: _sticks,
            builder: (BuildContext context, _) => StickPad(
              key: const ValueKey<String>('stick-right'),
              size: _stickPad,
              value: _sticks.right,
              onChanged: _sticks.setRight,
              caption: stickCaptions(_sticks.mode).right,
            ),
          ),
        ),
      // ── 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: _sticksOpen ? _stickPad + 18 : 104,
        child: Column(mainAxisSize: MainAxisSize.min, crossAxisAlignment: CrossAxisAlignment.start, children: <Widget>[
          LiveBadge(live: _m.liveStream, dji: _dji, onError: _error),
          WaypointRunPanel(model: _m, editor: _waypoints, gate: _gate, flow: _flow, onError: _error),
          // Palm control (Spark) flies the aircraft from the pilot's hand: say so.
          ListenableBuilder(
            listenable: _m.vision,
            builder: (BuildContext context, _) => !_m.vision.palmActive
                ? const SizedBox.shrink()
                : Padding(
                    padding: const EdgeInsets.only(bottom: 6),
                    child: GlassPill(
                      key: const ValueKey<String>('palm-control'),
                      color: Glass.pillStrong,
                      child: Row(mainAxisSize: MainAxisSize.min, children: <Widget>[
                        const PVIcon('user', size: 12, color: Glass.ink),
                        const SizedBox(width: 6),
                        Text('PALM CONTROL', style: HudText.label.copyWith(color: Glass.ink, fontWeight: FontWeight.w700)),
                        const SizedBox(width: 6),
                        Text(_m.vision.palmLabel.toUpperCase(), style: HudText.label.copyWith(color: HudColors.ready)),
                      ]),
                    ),
                  ),
          ),
          if (_visionMode)
            Padding(
              padding: const EdgeInsets.only(bottom: 6),
              child: VisionModePanel(
                tapFly: _mode == IntelligentMode.tapFly,
                quickShots: _mode == IntelligentMode.quickShots,
                model: _m,
                session: _vision,
                gate: _gate,
                flow: _flow,
                onExit: () => _exitVision(context),
                onError: _error,
              ),
            ),
          if (_modePanel(context) case final Widget panel) Padding(padding: const EdgeInsets.only(bottom: 6), child: panel),
          if (_editing)
            Padding(
              padding: const EdgeInsets.only(bottom: 6),
              child: WaypointBoard(
                editor: _waypoints,
                limits: _limits,
                onTap: () => showRouteSettings(context, editor: _waypoints, limits: _limits),
                resumeFrom: _resumeFrom,
                onResume: () => _resume(context),
              ),
            ),
          Requires(
            HudFeatures.airSense,
            child: AirSenseBanner(airSense: _m.airSense, onTap: () => showAirSenseSheet(context, airSense: _m.airSense)),
          ),
          Requires(
            HudFeatures.flyZones,
            child: FlyZoneBanner(
              zones: _m.flyZones,
              onTap: () => showFlyZoneSheet(context, model: _m, gate: _gate, onError: _error),
            ),
          ),
          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),
          trailing: Requires(
            HudFeatures.virtualSticks,
            whenDisconnected: false,
            child: SticksButton(open: _sticksOpen, onTap: () => _toggleSticks(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)),
        ),
      ),
    );
  }
}