PilotVault/Fly App/lib/ui/fly/modes/waypoints/point_editor.dart

import 'package:flutter/material.dart';

import '../../../../fly/modes/waypoint_editor.dart';
import '../../../../fly/modes/waypoint_mission.dart';
import '../../../../theme.dart';
import '../../../pv_icons.dart';
import '../../hud_kit.dart';

/// The bottom point editor (plan P7, GO 4's `gs_waypoint_2_point_editor_view`):
/// tabs for Altitude · Speed · Heading · Gimbal · Action · POI · Turn radius,
/// numbers set by swiping over a big readout or with −/+, plus prev / next,
/// "apply to all" and delete. Shows the POI editor instead when a POI is selected.
class PointEditorPanel extends StatelessWidget {
  const PointEditorPanel({super.key, required this.editor, this.gimbalMin = -90, this.gimbalMax = 30});

  final WaypointEditor editor;
  final double gimbalMin;
  final double gimbalMax;

  static const double height = 150;

  @override
  Widget build(BuildContext context) {
    return ListenableBuilder(
      listenable: editor,
      builder: (BuildContext context, _) {
        final Widget? body = editor.selectedPoint != null
            ? _PointBody(editor: editor, gimbalMin: gimbalMin, gimbalMax: gimbalMax)
            : editor.selectedPoiSpec != null
                ? _PoiBody(editor: editor)
                : null;
        if (body == null) return const SizedBox.shrink();
        return Container(
          height: height,
          decoration: BoxDecoration(
            color: const Color(0xE60B1426),
            borderRadius: BorderRadius.circular(12),
            border: Border.all(color: Glass.hairline),
          ),
          padding: const EdgeInsets.fromLTRB(10, 6, 10, 8),
          child: body,
        );
      },
    );
  }
}

class _PointBody extends StatelessWidget {
  const _PointBody({required this.editor, required this.gimbalMin, required this.gimbalMax});

  final WaypointEditor editor;
  final double gimbalMin;
  final double gimbalMax;

  int get _i => editor.selected!;
  WaypointSpec get _p => editor.selectedPoint!;
  WaypointMissionSpec get _m => editor.mission;

  void _update(WaypointSpec Function(WaypointSpec p) f, {bool record = true}) => editor.updatePoint(_i, f, record: record);

  @override
  Widget build(BuildContext context) {
    final bool curved = _m.pathMode == RoutePathMode.curved;
    final List<PointField> tabs = <PointField>[
      for (final PointField f in PointField.values)
        if (f != PointField.radius || curved) f,
    ];
    final PointField field = tabs.contains(editor.field) ? editor.field : PointField.altitude;
    return Column(crossAxisAlignment: CrossAxisAlignment.stretch, children: <Widget>[
      Row(children: <Widget>[
        _IconBtn(key: const ValueKey<String>('wp-prev'), icon: 'chevronLeft', onTap: _i > 0 ? () => editor.selectNext(-1) : null),
        SizedBox(
          width: 92,
          child: Text('WAYPOINT ${_i + 1}/${_m.points.length}', textAlign: TextAlign.center, style: HudText.label.copyWith(color: Glass.ink)),
        ),
        _IconBtn(
          key: const ValueKey<String>('wp-next'),
          icon: 'chevronRight',
          onTap: _i + 1 < _m.points.length ? () => editor.selectNext(1) : null,
        ),
        const Spacer(),
        _TextBtn(key: const ValueKey<String>('wp-apply-all'), label: 'APPLY TO ALL', onTap: () => editor.applyToAll(field)),
        const SizedBox(width: 6),
        _IconBtn(key: const ValueKey<String>('wp-delete'), icon: 'close', color: HudColors.danger, onTap: () => editor.removePoint(_i)),
        _IconBtn(key: const ValueKey<String>('wp-deselect'), icon: 'chevronDown', onTap: () => editor.select(null)),
      ]),
      const SizedBox(height: 4),
      SingleChildScrollView(
        scrollDirection: Axis.horizontal,
        child: Row(children: <Widget>[
          for (final PointField f in tabs)
            Padding(
              padding: const EdgeInsets.only(right: 4),
              child: HudChip(key: ValueKey<String>('tab-${f.name}'), label: f.label, selected: f == field, onTap: () => editor.setField(f)),
            ),
        ]),
      ),
      const SizedBox(height: 6),
      Expanded(child: _fieldBody(field)),
    ]);
  }

  Widget _fieldBody(PointField f) {
    switch (f) {
      case PointField.altitude:
        return SwipeReadout(
          id: 'altitude',
          value: _p.altitude,
          range: WaypointEditor.altitudeRange,
          caption: 'above take-off',
          onStart: editor.beginDrag,
          onChanged: (double v, bool drag) => _update((WaypointSpec p) => p.copyWith(altitude: v), record: !drag),
        );
      case PointField.speed:
        final bool own = _p.speed != null;
        return Row(children: <Widget>[
          _choices(<(String, bool, VoidCallback)>[
            ('Cruise ${_m.cruiseSpeed.toStringAsFixed(1)}', !own, () => _update((WaypointSpec p) => p.copyWith(speed: null))),
            ('Custom', own, () => _update((WaypointSpec p) => p.copyWith(speed: p.speed ?? _m.cruiseSpeed))),
          ]),
          const SizedBox(width: 12),
          if (own)
            Expanded(
              child: SwipeReadout(
                id: 'speed',
                value: _p.speed!,
                range: WaypointEditor.speedRange,
                digits: 1,
                caption: 'to the next waypoint',
                onStart: editor.beginDrag,
                onChanged: (double v, bool drag) => _update((WaypointSpec p) => p.copyWith(speed: v), record: !drag),
              ),
            )
          else
            Expanded(child: _note('Flies the route\'s cruise speed.')),
        ]);
      case PointField.heading:
        final bool perPoint = _m.headingMode == RouteHeadingMode.perPoint;
        return Row(children: <Widget>[
          _choices(<(String, bool, VoidCallback)>[
            for (final WaypointHeading h in WaypointHeading.values)
              if (h != WaypointHeading.poi || _p.poiId != null)
                (h.label, perPoint && _p.heading == h, () => editor.setHeading(_i, h)),
          ]),
          const SizedBox(width: 12),
          if (perPoint && _p.heading == WaypointHeading.custom)
            Expanded(
              child: SwipeReadout(
                id: 'heading',
                value: _p.customHeading.toDouble(),
                range: WaypointEditor.headingRange,
                caption: 'from north',
                onStart: editor.beginDrag,
                onChanged: (double v, bool drag) => _update((WaypointSpec p) => p.copyWith(customHeading: v.round()), record: !drag),
              ),
            )
          else
            Expanded(
              child: _note(perPoint
                  ? (_p.heading == WaypointHeading.poi ? 'Faces its POI.' : 'Faces along the route.')
                  : 'Route heading: ${_m.headingMode.label}. Pick one here to set it per waypoint.'),
            ),
        ]);
      case PointField.gimbal:
        final bool aim = _p.gimbalAimPoi && _p.poiId != null;
        final bool set = !aim && _p.gimbalPitch != null;
        return Row(children: <Widget>[
          _choices(<(String, bool, VoidCallback)>[
            ('Keep', !aim && !set, () => _update((WaypointSpec p) => p.copyWith(gimbalPitch: null, gimbalAimPoi: false))),
            ('Set', set, () => _update((WaypointSpec p) => p.copyWith(gimbalPitch: p.gimbalPitch ?? -30, gimbalAimPoi: false))),
            if (_p.poiId != null) ('Aim at POI', aim, () => _update((WaypointSpec p) => p.copyWith(gimbalAimPoi: true))),
          ]),
          const SizedBox(width: 12),
          if (set)
            Expanded(
              child: SwipeReadout(
                id: 'gimbal',
                value: _p.gimbalPitch!.clamp(gimbalMin, gimbalMax).toDouble(),
                range: WaypointEditor.gimbalRange(min: gimbalMin, max: gimbalMax),
                caption: 'pitch',
                onStart: editor.beginDrag,
                onChanged: (double v, bool drag) => _update((WaypointSpec p) => p.copyWith(gimbalPitch: v), record: !drag),
              ),
            )
          else
            Expanded(
              child: _note(aim
                  ? 'Tilts to the POI: ${_m.resolvedGimbal(min: gimbalMin, max: gimbalMax)?[_i].round() ?? '—'}°.'
                  : 'Keeps the pitch from the waypoint before, or yours.'),
            ),
        ]);
      case PointField.action:
        return Row(children: <Widget>[
          _choices(<(String, bool, VoidCallback)>[
            for (final WaypointCameraAction a in WaypointCameraAction.values)
              (a.label, _p.action == a, () => _update((WaypointSpec p) => p.copyWith(action: a))),
          ]),
          const SizedBox(width: 12),
          Expanded(
            child: SwipeReadout(
              id: 'hover',
              value: _p.hoverSeconds.toDouble(),
              range: WaypointEditor.hoverRange,
              caption: 'hover first',
              onStart: editor.beginDrag,
              onChanged: (double v, bool drag) => _update((WaypointSpec p) => p.copyWith(hoverSeconds: v.round()), record: !drag),
            ),
          ),
        ]);
      case PointField.poi:
        return Row(children: <Widget>[
          _choices(<(String, bool, VoidCallback)>[
            ('None', _p.poiId == null, () => editor.linkPoi(_i, null)),
            for (int k = 0; k < _m.pois.length; k++) ('P${k + 1}', _p.poiId == _m.pois[k].id, () => editor.linkPoi(_i, _m.pois[k].id)),
          ]),
          const SizedBox(width: 12),
          Expanded(
            child: _note(_m.pois.isEmpty
                ? 'No POI yet: switch the map tool to POI and tap the map.'
                : 'A linked waypoint faces its POI and can aim the gimbal at it.'),
          ),
        ]);
      case PointField.radius:
        return SwipeReadout(
          id: 'radius',
          value: _p.turnRadius,
          range: WaypointEditor.radiusRange,
          digits: 1,
          caption: 'curve through this waypoint',
          onStart: editor.beginDrag,
          onChanged: (double v, bool drag) => _update((WaypointSpec p) => p.copyWith(turnRadius: v), record: !drag),
        );
    }
  }
}

class _PoiBody extends StatelessWidget {
  const _PoiBody({required this.editor});

  final WaypointEditor editor;

  @override
  Widget build(BuildContext context) {
    final MissionPoi poi = editor.selectedPoiSpec!;
    final List<MissionPoi> pois = editor.mission.pois;
    final int n = pois.indexOf(poi) + 1;
    final int linked = editor.mission.points.where((WaypointSpec p) => p.poiId == poi.id).length;
    return Column(crossAxisAlignment: CrossAxisAlignment.stretch, children: <Widget>[
      Row(children: <Widget>[
        Text('POINT OF INTEREST P$n', style: HudText.label.copyWith(color: Glass.ink)),
        const SizedBox(width: 10),
        Text('$linked waypoint${linked == 1 ? '' : 's'} linked', style: HudText.label),
        const Spacer(),
        _TextBtn(
          key: const ValueKey<String>('poi-link-all'),
          label: 'LINK ALL',
          onTap: editor.mission.points.isEmpty
              ? null
              : () {
                  for (int i = 0; i < editor.mission.points.length; i++) {
                    editor.linkPoi(i, poi.id);
                  }
                },
        ),
        const SizedBox(width: 4),
        _IconBtn(key: const ValueKey<String>('poi-delete'), icon: 'close', color: HudColors.danger, onTap: () => editor.removePoi(poi.id)),
        _IconBtn(key: const ValueKey<String>('poi-deselect'), icon: 'chevronDown', onTap: () => editor.selectPoi(null)),
      ]),
      const SizedBox(height: 6),
      Expanded(
        child: SwipeReadout(
          id: 'poi-height',
          value: poi.height,
          range: WaypointEditor.poiHeightRange,
          caption: 'subject height, for aiming the gimbal',
          onStart: editor.beginDrag,
          onChanged: (double v, bool drag) => editor.updatePoi(poi.id, (MissionPoi p) => p.copyWith(height: v), record: !drag),
        ),
      ),
    ]);
  }
}

Widget _note(String text) => Align(
      alignment: Alignment.centerLeft,
      child: Text(text, maxLines: 3, style: HudText.sans.copyWith(fontSize: 10.5, fontWeight: FontWeight.w400, color: HudText.dim)),
    );

Widget _choices(List<(String, bool, VoidCallback)> options) => ConstrainedBox(
      constraints: const BoxConstraints(maxWidth: 260),
      child: Wrap(spacing: 5, runSpacing: 5, children: <Widget>[
        for (final (String label, bool on, VoidCallback tap) in options)
          HudChip(key: ValueKey<String>('choice-$label'), label: label, selected: on, onTap: tap),
      ]),
    );

/// A big number set by swiping up / down over it (one step per [pxPerStep])
/// or with −/+ (GO 4's point editor readout). [onChanged]'s second argument
/// is true for swipe steps, which [onStart] has already put in the history.
class SwipeReadout extends StatefulWidget {
  const SwipeReadout({
    super.key,
    required this.id,
    required this.value,
    required this.range,
    required this.onChanged,
    this.onStart,
    this.caption,
    this.digits = 0,
  });

  /// Keys the parts as `readout-<id>`, `readout-<id>-minus`, `readout-<id>-plus`.
  final String id;
  final double value;
  final FieldRange range;
  final void Function(double value, bool drag) onChanged;
  final VoidCallback? onStart;
  final String? caption;
  final int digits;

  static const double pxPerStep = 8;

  @override
  State<SwipeReadout> createState() => _SwipeReadoutState();
}

class _SwipeReadoutState extends State<SwipeReadout> {
  double _acc = 0;
  double? _dragValue;

  double get _shown => _dragValue ?? widget.value;

  void _step(int dir) {
    final double next = widget.range.clamp(widget.value + dir * widget.range.step);
    if (next != widget.value) widget.onChanged(next, false);
  }

  @override
  Widget build(BuildContext context) {
    final FieldRange r = widget.range;
    Widget btn(String label, int dir) {
      final bool on = dir > 0 ? widget.value < r.max : widget.value > r.min;
      return Opacity(
        opacity: on ? 1 : 0.35,
        child: GestureDetector(
          key: ValueKey<String>('readout-${widget.id}-${dir > 0 ? 'plus' : 'minus'}'),
          behavior: HitTestBehavior.opaque,
          onTap: on ? () => _step(dir) : null,
          child: Container(
            width: 40,
            height: 40,
            decoration: BoxDecoration(color: Glass.pillStrong, borderRadius: BorderRadius.circular(9), border: Border.all(color: Glass.hairline)),
            alignment: Alignment.center,
            child: Text(label, style: HudText.value.copyWith(fontSize: 18)),
          ),
        ),
      );
    }

    return Row(children: <Widget>[
      btn('−', -1),
      Expanded(
        child: GestureDetector(
          key: ValueKey<String>('readout-${widget.id}'),
          behavior: HitTestBehavior.opaque,
          onVerticalDragStart: (_) {
            _acc = 0;
            _dragValue = widget.value;
            widget.onStart?.call();
          },
          onVerticalDragUpdate: (DragUpdateDetails d) {
            _acc -= d.delta.dy;
            int steps = 0;
            while (_acc >= SwipeReadout.pxPerStep) {
              _acc -= SwipeReadout.pxPerStep;
              steps++;
            }
            while (_acc <= -SwipeReadout.pxPerStep) {
              _acc += SwipeReadout.pxPerStep;
              steps--;
            }
            if (steps == 0) return;
            final double next = r.clamp(_shown + steps * r.step);
            if (next == _shown) return;
            setState(() => _dragValue = next);
            widget.onChanged(next, true);
          },
          onVerticalDragEnd: (_) => setState(() => _dragValue = null),
          onVerticalDragCancel: () => setState(() => _dragValue = null),
          child: Column(mainAxisAlignment: MainAxisAlignment.center, children: <Widget>[
            Row(mainAxisAlignment: MainAxisAlignment.center, crossAxisAlignment: CrossAxisAlignment.baseline, textBaseline: TextBaseline.alphabetic, children: <Widget>[
              Text(_shown.toStringAsFixed(widget.digits), style: HudText.value.copyWith(fontSize: 26)),
              const SizedBox(width: 3),
              Text(r.unit, style: HudText.unit.copyWith(fontSize: 11)),
            ]),
            if (widget.caption != null) Text(widget.caption!, style: HudText.label.copyWith(fontSize: 8)),
            Text('SWIPE', style: HudText.label.copyWith(fontSize: 7, color: const Color(0x66EAF0FA))),
          ]),
        ),
      ),
      btn('+', 1),
    ]);
  }
}

/// A small selectable chip, for tabs and choices on the HUD.
class HudChip extends StatelessWidget {
  const HudChip({super.key, required this.label, required this.selected, required this.onTap});

  final String label;
  final bool selected;
  final VoidCallback? onTap;

  @override
  Widget build(BuildContext context) => GestureDetector(
        behavior: HitTestBehavior.opaque,
        onTap: onTap,
        child: Container(
          padding: const EdgeInsets.symmetric(horizontal: 9, vertical: 5),
          decoration: BoxDecoration(
            color: selected ? Glass.accent : Glass.pill,
            borderRadius: BorderRadius.circular(7),
            border: Border.all(color: selected ? Glass.accent : Glass.hairline),
          ),
          child: Text(label, style: HudText.sans.copyWith(fontSize: 10.5)),
        ),
      );
}

class _IconBtn extends StatelessWidget {
  const _IconBtn({super.key, required this.icon, required this.onTap, this.color = Glass.ink});

  final String icon;
  final VoidCallback? onTap;
  final Color color;

  @override
  Widget build(BuildContext context) => Opacity(
        opacity: onTap == null ? 0.35 : 1,
        child: GestureDetector(
          behavior: HitTestBehavior.opaque,
          onTap: onTap,
          child: SizedBox(width: 28, height: 26, child: Center(child: PVIcon(icon, size: 15, color: color))),
        ),
      );
}

class _TextBtn extends StatelessWidget {
  const _TextBtn({super.key, required this.label, required this.onTap});

  final String label;
  final VoidCallback? onTap;

  @override
  Widget build(BuildContext context) => Opacity(
        opacity: onTap == null ? 0.35 : 1,
        child: GestureDetector(
          behavior: HitTestBehavior.opaque,
          onTap: onTap,
          child: Container(
            padding: const EdgeInsets.symmetric(horizontal: 7, vertical: 4),
            decoration: BoxDecoration(borderRadius: BorderRadius.circular(6), border: Border.all(color: Glass.accent)),
            child: Text(label, style: HudText.label.copyWith(color: Glass.ink, fontSize: 8.5)),
          ),
        ),
      );
}