PilotVault/Fly App/lib/fly/action_rail_state.dart

import 'state/aircraft_state.dart';
import 'state/mission_state.dart';

/// Every command the flight screen can send that moves the aircraft (or stops
/// it moving). All of them go through `SafetyGate`.
enum FlightCommand { takeOff, land, cancelLanding, confirmLanding, goHome, cancelGoHome, stopMode }

/// What is running when the rail offers [FlightCommand.stopMode], i.e. which
/// operator "Stop" has to address.
enum ActiveMode { none, waypoint, activeTrack, other }

/// The left rail's slots for the current flight state (plan P3, GO 4's
/// `fpv_leftmenu`): one primary button that walks Take-off → Land → Cancel
/// landing / Confirm landing, an RTH slot that turns into Cancel RTH, and a
/// Stop button while an intelligent mode flies the aircraft.
///
/// Pure: read off the flight controller and mission state, so the whole state
/// machine is unit-tested without a widget.
class RailState {
  const RailState({required this.primary, this.rth, this.mode = ActiveMode.none, this.enabled = true});

  /// Take-off, Land, Cancel landing or Confirm landing.
  final FlightCommand primary;

  /// Go home or Cancel RTH; null on the ground.
  final FlightCommand? rth;

  /// The intelligent mode a Stop button would end; [ActiveMode.none] hides it.
  final ActiveMode mode;

  /// False until the flight controller has reported: the buttons show but do nothing.
  final bool enabled;

  bool get showStop => mode != ActiveMode.none;

  /// Flight-controller modes in which an intelligent mode is flying the aircraft.
  static const Set<String> _waypointModes = <String>{'GPS_WAYPOINT'};
  static const Set<String> _trackModes = <String>{'ACTIVE_TRACK', 'ACTIVE_TRACK_SPOTLIGHT'};
  static const Set<String> _otherModes = <String>{'GPS_HOT_POINT', 'GPS_FOLLOW_ME', 'TAP_FLY', 'DRAW', 'TERRAIN_FOLLOW'};

  static RailState of({required bool connected, required AircraftState a, MissionState? mission}) {
    final bool reported = connected && a.updatedAt != null;
    final bool airborne = a.isFlying == true;
    final String mode = a.flightModeEnum ?? '';
    final bool goingHome = a.goingHome == true || mode == 'GO_HOME';

    final FlightCommand primary;
    if (a.landingConfirmationNeeded == true || mode == 'CONFIRM_LANDING') {
      primary = FlightCommand.confirmLanding;
    } else if (mode == 'AUTO_LANDING') {
      primary = FlightCommand.cancelLanding;
    } else if (airborne) {
      primary = FlightCommand.land;
    } else {
      primary = FlightCommand.takeOff;
    }

    return RailState(
      primary: primary,
      rth: airborne ? (goingHome ? FlightCommand.cancelGoHome : FlightCommand.goHome) : null,
      mode: airborne ? activeMode(a, mission) : ActiveMode.none,
      enabled: reported,
    );
  }

  /// The intelligent mode in control, from the bridge's mission state first
  /// (it knows which operator it started) and the flight mode second.
  static ActiveMode activeMode(AircraftState a, MissionState? mission) {
    switch (mission?.state) {
      case 'executing':
        return ActiveMode.waypoint;
      case 'tracking':
      case 'quickshot':
        return ActiveMode.activeTrack;
    }
    final String mode = a.flightModeEnum ?? '';
    if (_waypointModes.contains(mode)) return ActiveMode.waypoint;
    if (_trackModes.contains(mode)) return ActiveMode.activeTrack;
    if (_otherModes.contains(mode)) return ActiveMode.other;
    return ActiveMode.none;
  }

  @override
  bool operator ==(Object other) =>
      other is RailState && other.primary == primary && other.rth == rth && other.mode == mode && other.enabled == enabled;

  @override
  int get hashCode => Object.hash(primary, rth, mode, enabled);

  @override
  String toString() => 'RailState($primary, rth: $rth, mode: $mode, enabled: $enabled)';
}