tajniak81andClaude Opus 5.5
a892bfb209
P6b: a new CalibrationBridge owns every calibration call and publishes a `calibration` telemetry group (IMU per-unit and per-side progress, gravity centre, lens, sensor cleaning, RC calibration state and live sticks). Guided full-screen wizards cover compass, IMU, remote controller, gimbal auto calibration, lens, sensor cleaning, centre of gravity, propellers and a vision-sensor guide; gimbal adjust is a horizon-line overlay on the live video. Every start goes through SafetyGate.runMaintenance, and closing mid-run stops what the SDK can stop. Reachable from Settings > Safety > Calibration & maintenance, the Aircraft Status calibrate buttons and the gimbal sheet. Not yet run on an aircraft; the RC key sequence still needs checking per remote. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
95 lines
3.8 KiB
Dart
95 lines
3.8 KiB
Dart
import '../flight_model.dart';
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import 'state/parse.dart';
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/// Routes the bridge's telemetry-bearing events into [FlightModel]'s sub-models
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/// (plan P1). Kept out of the widget tree so it can be unit-tested against
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/// recorded events.
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///
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/// A `telemetry` event is the native [TelemetryHub]'s full snapshot: the flight
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/// controller's flat keys plus one nested group per subsystem (`battery`,
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/// `links`, `rc`, `storage`, `ssd`, `thermal`, `cameraSettings`, `gimbal`,
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/// `gimbalSettings`, `vision`, `calibration`). It arrives at
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/// up to 10 Hz with the slow groups repeated unchanged between their 2 Hz
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/// refreshes, so each group is compared with the last one seen and its
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/// sub-model only notified when it actually moved. A group missing from the
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/// snapshot was never reported by this aircraft and leaves its sub-model empty.
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class TelemetryReducer {
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TelemetryReducer(this.model);
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final FlightModel model;
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final Map<String, Object?> _lastGroups = <String, Object?>{};
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static const List<String> _groups = <String>['battery', 'links', 'rc', 'storage', 'ssd', 'thermal', 'cameraSettings', 'gimbal', 'gimbalSettings', 'vision', 'calibration'];
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/// Applies [event] if it is one of the telemetry types; returns whether it was.
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bool apply(Map<String, dynamic> event) {
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switch (event['type'] as String?) {
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case 'telemetry':
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// Stray packets trailing a disconnect would repopulate what was cleared.
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if (model.connected) model.batch(() => _telemetry(event));
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return true;
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case 'camera':
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if (model.connected) model.camera.applySystem(event);
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return true;
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case 'exposure':
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if (model.connected) model.camera.applyExposure(event);
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return true;
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case 'histogram':
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if (model.connected) model.camera.applyHistogram(event);
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return true;
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case 'diagnostics':
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if (model.connected) model.alerts.apply(asMapList(event['items']));
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return true;
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case 'key':
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final String? id = asString(event['id']);
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if (model.connected && id != null) model.keys.apply(id, event['value']);
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return true;
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case 'mission':
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model.mission.apply(event);
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return true;
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}
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return false;
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}
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/// Forgets the last-seen groups, so the next aircraft's first tick applies in full.
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void reset() => _lastGroups.clear();
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void _telemetry(Map<String, dynamic> t) {
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// Flight-controller keys change every tick; absent until the FC first reports.
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if (t.containsKey('satelliteCount')) model.aircraft.apply(t);
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final Set<String> changed = <String>{};
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for (final String g in _groups) {
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final Object? v = t[g];
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if (_lastGroups.containsKey(g) && deepEquals(_lastGroups[g], v)) continue;
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_lastGroups[g] = v;
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changed.add(g);
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}
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if (changed.isEmpty) return;
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if (changed.contains('battery')) {
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final Map<String, dynamic>? b = asMap(t['battery']);
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b == null ? model.battery.clear() : model.battery.apply(b);
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}
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if (changed.contains('links') || changed.contains('rc')) {
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model.links.apply(links: asMap(t['links']), rc: asMap(t['rc']));
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}
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if (const <String>['storage', 'ssd', 'thermal', 'cameraSettings'].any(changed.contains)) {
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model.camera.applyTelemetry(
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storage: asMap(t['storage']),
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ssd: asMap(t['ssd']),
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thermal: asMap(t['thermal']),
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settings: asMap(t['cameraSettings']),
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);
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}
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if (changed.contains('gimbal')) {
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final Map<String, dynamic>? g = asMap(t['gimbal']);
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g == null ? model.gimbal.clear() : model.gimbal.apply(g);
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}
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if (changed.contains('gimbalSettings')) model.gimbal.applySettings(asMap(t['gimbalSettings']));
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if (changed.contains('vision')) model.vision.apply(asMap(t['vision']));
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if (changed.contains('calibration')) model.calibration.apply(asMap(t['calibration']));
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}
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}
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