tajniak81andClaude Opus 5.5
636da1ac2c
Intelligent modes: Point of Interest (orbit on the map, live radius and speed), Follow Me (follows the phone), QuickShots on a boxed subject, Course Lock / Home Lock, Tripod and Cinematic, a Free hyperlapse, and Waypoints 2.0 for V2-only aircraft. ActiveTrack gains Spotlight Pro and Circle. Every mode has a first-use tutorial and stops from the rail. Waypoints can resume an interrupted mission, change cruise speed in flight and check terrain clearance (Open-Meteo, on tap). Settings: units, C1/C2 actions, dual-operator master/slave, HDMI/SDI output, a link spectrum chart, Wi-Fi name and password, aircraft name, video cache, battery warning history and pairing, non-smart cell voltages. Calibration: compass interference meter, per-IMU calibration, lens infinity focus and a first-manual-focus prompt. Also an RTK chip, gimbal movement presets and motor tuning, Precision Takeoff gated on the flight controller, and the precise GEO database's server version. Built and unit/widget-tested only; nothing has flown yet. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
392 lines
16 KiB
Dart
392 lines
16 KiB
Dart
import 'package:flutter/material.dart';
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import 'package:latlong2/latlong.dart' show LatLng;
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import '../../../../flight_model.dart';
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import '../../../../fly/hud_geometry.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 '../../../../fly/safety_gate.dart';
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import '../../../../fly/state/mission_state.dart';
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import '../../../../theme.dart';
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import '../../../pv_icons.dart';
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import '../../flight_command_flow.dart';
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import '../../hud_kit.dart';
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/// The route summary across the top of the map while editing (GO 4's top
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/// board): name, waypoints, length, time, cruise speed, and the issue count.
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class WaypointBoard extends StatelessWidget {
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const WaypointBoard({super.key, required this.editor, required this.limits, required this.onTap, this.resumeFrom, this.onResume});
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final WaypointEditor editor;
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final MissionLimits limits;
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/// Opens the route settings (where the issues are listed).
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final VoidCallback onTap;
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/// The waypoint (0-based) this route was interrupted before, when it was:
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/// a RESUME chip flies the rest of it.
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final int? resumeFrom;
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final VoidCallback? onResume;
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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.points.isEmpty ? const <MissionIssue>[] : m.validate(limits);
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final int errors = issues.where((MissionIssue i) => i.blocks).length;
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final int warnings = issues.length - errors;
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final String hint = switch ((m.points.length, editor.tool)) {
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(_, MapTool.poi) => 'Tap the map to add a point of interest',
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(0, _) => 'Tap the map to add waypoints',
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(1, _) => 'Tap the map to add the next waypoint',
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_ => '',
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};
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return GlassPill(
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key: const ValueKey<String>('wp-board'),
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height: 30,
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color: Glass.pillStrong,
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onTap: onTap,
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child: Row(mainAxisSize: MainAxisSize.min, children: <Widget>[
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const PVIcon('route', size: 14, color: Glass.ink),
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const SizedBox(width: 6),
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ConstrainedBox(
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constraints: const BoxConstraints(maxWidth: 120),
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child: Text(m.name, overflow: TextOverflow.ellipsis, style: HudText.sans.copyWith(fontSize: 11.5)),
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),
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if (editor.dirty) Text(' •', style: HudText.sans.copyWith(color: HudColors.caution)),
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_sep(),
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_stat('${m.points.length}', 'WP'),
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_sep(),
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_stat(m.length >= 1000 ? (m.length / 1000).toStringAsFixed(2) : m.length.round().toString(), m.length >= 1000 ? 'km' : 'm'),
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_sep(),
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_stat('≈${formatDuration(m.estimatedSeconds)}', ''),
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_sep(),
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_stat(m.cruiseSpeed.toStringAsFixed(1), 'm/s'),
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if (errors > 0 || warnings > 0) ...<Widget>[
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const SizedBox(width: 8),
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_badge(errors > 0 ? '$errors' : '$warnings', errors > 0 ? HudColors.danger : HudColors.caution),
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],
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if (hint.isNotEmpty) ...<Widget>[
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_sep(),
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Text(hint, style: HudText.label.copyWith(color: Glass.ink)),
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],
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if (resumeFrom != null && onResume != null && resumeFrom! < m.points.length) ...<Widget>[
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const SizedBox(width: 8),
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GestureDetector(
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key: const ValueKey<String>('wp-resume'),
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behavior: HitTestBehavior.opaque,
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onTap: onResume,
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child: Container(
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padding: const EdgeInsets.symmetric(horizontal: 6, vertical: 2),
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decoration: BoxDecoration(color: Glass.accent, borderRadius: BorderRadius.circular(6)),
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child: Text('RESUME FROM ${resumeFrom! + 1}', style: HudText.label.copyWith(color: Colors.white, fontWeight: FontWeight.w700)),
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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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static Widget _sep() => Container(width: 1, height: 14, margin: const EdgeInsets.symmetric(horizontal: 8), color: Glass.hairline);
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static Widget _stat(String v, String unit) => Row(mainAxisSize: MainAxisSize.min, crossAxisAlignment: CrossAxisAlignment.end, children: <Widget>[
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Text(v, style: HudText.mono.copyWith(fontWeight: FontWeight.w700)),
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if (unit.isNotEmpty) ...<Widget>[const SizedBox(width: 2), Text(unit, style: HudText.unit)],
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]);
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static Widget _badge(String n, Color c) => Container(
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key: const ValueKey<String>('wp-issues'),
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padding: const EdgeInsets.symmetric(horizontal: 5, vertical: 1),
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decoration: BoxDecoration(color: c, borderRadius: BorderRadius.circular(6)),
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child: Text(n, style: HudText.label.copyWith(color: Colors.white, fontWeight: FontWeight.w700)),
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);
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}
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/// The Waypoints tool column on the right of the map: Start, the map tool
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/// (waypoint / POI), route settings, library, undo, exit.
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class WaypointTools extends StatelessWidget {
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const WaypointTools({
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super.key,
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required this.editor,
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required this.onStart,
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required this.onSettings,
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required this.onLibrary,
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required this.onExit,
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});
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final WaypointEditor editor;
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final VoidCallback onStart;
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final VoidCallback onSettings;
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final VoidCallback onLibrary;
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final VoidCallback onExit;
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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, _) => Column(mainAxisSize: MainAxisSize.min, children: <Widget>[
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_ToolButton(
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id: 'start',
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icon: 'play2',
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label: 'START',
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color: editor.mission.points.length >= WaypointMissionSpec.minPoints ? Glass.accent : Glass.pillStrong,
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onTap: editor.mission.points.length >= WaypointMissionSpec.minPoints ? onStart : null,
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),
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_ToolButton(
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id: 'tool',
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icon: editor.tool == MapTool.poi ? 'circle' : 'pin',
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label: editor.tool == MapTool.poi ? 'POI' : 'WAYPT',
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active: editor.tool == MapTool.poi,
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onTap: () => editor.setTool(editor.tool == MapTool.poi ? MapTool.waypoint : MapTool.poi),
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),
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_ToolButton(id: 'settings', icon: 'settings', label: 'ROUTE', onTap: onSettings),
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_ToolButton(id: 'library', icon: 'album', label: 'LIBRARY', onTap: onLibrary),
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_ToolButton(id: 'undo', icon: 'chevronLeft', label: 'UNDO', onTap: editor.canUndo ? editor.undo : null),
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_ToolButton(id: 'exit', icon: 'close', label: 'EXIT', onTap: onExit, last: true),
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]),
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);
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}
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}
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class _ToolButton extends StatelessWidget {
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const _ToolButton({
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required this.id,
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required this.icon,
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required this.label,
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required this.onTap,
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this.color,
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this.active = false,
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this.last = false,
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});
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final String id;
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final String icon;
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final String label;
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final VoidCallback? onTap;
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final Color? color;
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final bool active;
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final bool last;
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@override
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Widget build(BuildContext context) => Padding(
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padding: EdgeInsets.only(bottom: last ? 0 : 5),
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child: Opacity(
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opacity: onTap == null ? 0.4 : 1,
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child: GestureDetector(
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key: ValueKey<String>('wp-tool-$id'),
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behavior: HitTestBehavior.opaque,
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onTap: onTap,
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child: Container(
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width: 44,
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height: 40,
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decoration: BoxDecoration(
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color: color ?? (active ? Glass.accent : Glass.pillStrong),
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borderRadius: BorderRadius.circular(10),
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border: Border.all(color: Glass.hairline),
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),
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child: Column(mainAxisAlignment: MainAxisAlignment.center, children: <Widget>[
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PVIcon(icon, size: 14, color: Glass.ink),
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const SizedBox(height: 2),
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Text(label, style: HudText.label.copyWith(color: Glass.ink, fontSize: 7)),
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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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/// The mission in flight (and its upload): waypoint n / N, what it is doing,
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/// distance left, and Pause / Resume and Stop. Shown whenever the waypoint
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/// operator is uploading or flying, whatever the screen shows.
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class WaypointRunPanel extends StatelessWidget {
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const WaypointRunPanel({
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super.key,
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required this.model,
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required this.editor,
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required this.gate,
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required this.flow,
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required this.onError,
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});
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final FlightModel model;
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final WaypointEditor editor;
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final SafetyGate gate;
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final FlightCommandFlow flow;
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final void Function(String label, Object error) onError;
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/// Metres left: aircraft → target waypoint, then the remaining legs. Null
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/// when the route on screen is not the one flying.
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static double? remaining(WaypointMissionSpec m, WaypointProgress run, LatLng? aircraft) {
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final int? t = run.target;
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if (t == null || run.total != m.points.length || t >= m.points.length) return null;
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double d = 0;
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if (aircraft != null) {
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final LatLng p = m.points[t].at;
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d += HudGeometry.distance(aircraft.latitude, aircraft.longitude, p.latitude, p.longitude);
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}
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final List<double> legs = m.legs;
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for (int i = t; i < legs.length; i++) {
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d += legs[i];
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}
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return d;
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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>[model.mission, model.aircraft]),
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builder: (BuildContext context, _) {
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final WaypointProgress run = model.mission.waypoint;
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if (!run.uploading && !run.active) return const SizedBox.shrink();
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final Widget content;
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if (run.uploading) {
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final double f = run.uploadFraction ?? 0;
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content = Row(mainAxisSize: MainAxisSize.min, children: <Widget>[
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const PVIcon('download', size: 13, color: Glass.ink),
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const SizedBox(width: 6),
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Text('UPLOADING ${(run.uploaded ?? -1) + 1}/${run.total ?? '—'}', style: HudText.label.copyWith(color: Glass.ink)),
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const SizedBox(width: 8),
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SizedBox(
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width: 90,
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child: ClipRRect(
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borderRadius: BorderRadius.circular(2),
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child: LinearProgressIndicator(value: f, minHeight: 4, color: Glass.accent, backgroundColor: HudColors.off),
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),
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),
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]);
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} else {
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final double? lat = model.aircraft.latitude, lon = model.aircraft.longitude;
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final double? left = remaining(editor.mission, run, lat == null || lon == null ? null : LatLng(lat, lon));
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content = Row(mainAxisSize: MainAxisSize.min, children: <Widget>[
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const PVIcon('route', size: 13, color: Glass.ink),
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const SizedBox(width: 6),
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Text('WAYPOINT ${(run.target ?? 0) + 1}/${run.total ?? '—'}', style: HudText.label.copyWith(color: Glass.ink)),
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const SizedBox(width: 8),
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Text(run.executeLabel.toUpperCase(),
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style: HudText.label.copyWith(color: run.paused ? HudColors.caution : HudColors.ready, fontWeight: FontWeight.w700)),
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if (left != null) ...<Widget>[
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const SizedBox(width: 8),
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Text(left >= 1000 ? '${(left / 1000).toStringAsFixed(2)} km left' : '${left.round()} m left', style: HudText.label),
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],
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const SizedBox(width: 8),
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_CruiseSpeed(initial: editor.mission.cruiseSpeed, gate: gate, onError: onError),
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const SizedBox(width: 10),
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_RunButton(
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id: run.paused ? 'resume' : 'pause',
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icon: run.paused ? 'play2' : 'pause',
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label: run.paused ? 'RESUME' : 'PAUSE',
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onTap: () => _guard(run.paused ? 'Resume' : 'Pause', run.paused ? gate.resumeWaypointMission : gate.pauseWaypointMission),
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),
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const SizedBox(width: 6),
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_RunButton(
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id: 'stop',
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icon: 'stop',
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label: 'STOP',
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color: HudColors.danger,
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onTap: () => flow.request(context, FlightCommand.stopMode),
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),
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]);
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}
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return Container(
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key: const ValueKey<String>('wp-run'),
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padding: const EdgeInsets.symmetric(horizontal: 10, vertical: 5),
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decoration: BoxDecoration(color: Glass.pillStrong, borderRadius: BorderRadius.circular(10), border: Border.all(color: Glass.hairline)),
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child: content,
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);
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},
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);
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}
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Future<void> _guard(String label, Future<void> Function() send) async {
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try {
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await send();
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} catch (e) {
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onError(label, e);
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}
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}
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}
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/// The mission's cruise speed, changed in flight (`setAutoFlightSpeed`): − / +
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/// by 1 m/s. Starts at the route's speed; the operator does not report it back.
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class _CruiseSpeed extends StatefulWidget {
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const _CruiseSpeed({required this.initial, required this.gate, required this.onError});
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final double initial;
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final SafetyGate gate;
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final void Function(String label, Object error) onError;
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@override
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State<_CruiseSpeed> createState() => _CruiseSpeedState();
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}
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class _CruiseSpeedState extends State<_CruiseSpeed> {
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late double _speed = widget.initial;
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Future<void> _step(int d) async {
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final double before = _speed;
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final double next = (_speed + d).clamp(WaypointMissionSpec.minSpeed, WaypointMissionSpec.maxSpeed);
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setState(() => _speed = next);
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try {
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await widget.gate.setWaypointCruiseSpeed(next);
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} catch (e) {
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if (mounted) setState(() => _speed = before);
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widget.onError('Cruise speed', e);
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}
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}
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@override
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Widget build(BuildContext context) {
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Widget b(String l, int d, bool on) => Opacity(
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opacity: on ? 1 : 0.35,
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child: GestureDetector(
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key: ValueKey<String>('wp-speed-${d > 0 ? 'plus' : 'minus'}'),
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behavior: HitTestBehavior.opaque,
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onTap: on ? () => _step(d) : null,
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child: Container(
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width: 22,
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height: 22,
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decoration: BoxDecoration(color: Glass.pill, borderRadius: BorderRadius.circular(6), border: Border.all(color: Glass.hairline)),
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alignment: Alignment.center,
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child: Text(l, style: HudText.mono.copyWith(fontWeight: FontWeight.w700)),
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),
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),
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);
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return Row(mainAxisSize: MainAxisSize.min, children: <Widget>[
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b('−', -1, _speed > WaypointMissionSpec.minSpeed),
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SizedBox(width: 50, child: Text('${_speed.toStringAsFixed(0)} m/s', key: const ValueKey<String>('wp-speed'), textAlign: TextAlign.center, style: HudText.mono)),
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b('+', 1, _speed < WaypointMissionSpec.maxSpeed),
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]);
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}
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}
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class _RunButton extends StatelessWidget {
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const _RunButton({required this.id, required this.icon, required this.label, required this.onTap, this.color = Glass.accent});
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final String id;
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final String icon;
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final String label;
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final VoidCallback onTap;
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final Color color;
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@override
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Widget build(BuildContext context) => GestureDetector(
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key: ValueKey<String>('wp-run-$id'),
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behavior: HitTestBehavior.opaque,
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onTap: onTap,
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child: Container(
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height: 26,
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padding: const EdgeInsets.symmetric(horizontal: 8),
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decoration: BoxDecoration(color: color, borderRadius: BorderRadius.circular(7)),
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child: Row(mainAxisSize: MainAxisSize.min, children: <Widget>[
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PVIcon(icon, size: 12, color: Colors.white, fill: icon == 'play2'),
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const SizedBox(width: 4),
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Text(label, style: HudText.label.copyWith(color: Colors.white, fontWeight: FontWeight.w700)),
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]),
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),
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);
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}
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