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

import 'package:flutter/material.dart';

import '../../fly/hud_features.dart';
import '../../fly/product_profile.dart';
import '../../fly/safety_gate.dart';
import '../../theme.dart';
import 'dialogs/rth_target_dialog.dart';
import 'dialogs/slide_to_confirm.dart';
import 'hud_kit.dart';

/// Turns a rail press into the GO 4 confirm flow (plan P3): ask the
/// [SafetyGate], offer the Aircraft Status sheet before the first take-off of a
/// connection, ask the RTH target when the pilot has moved, show the
/// slide-to-confirm dialog, then let the gate send the command.
///
/// Commands that stop the aircraft moving (cancel landing, cancel RTH, stop an
/// intelligent mode) skip the slider: they make it hover, and a pilot reaching
/// for them is in a hurry. They still go through the gate.
class FlightCommandFlow {
  FlightCommandFlow({required this.gate, required this.onError, this.reviewBeforeTakeOff});

  final SafetyGate gate;
  final void Function(String label, Object error) onError;

  /// Opens the Aircraft Status sheet offering take-off; resolves true when the
  /// pilot chose to continue.
  final Future<bool> Function(BuildContext context)? reviewBeforeTakeOff;

  bool _reviewed = false;

  /// The status sheet is offered again before the next connection's first take-off.
  void resetReview() => _reviewed = false;

  /// Take-off's own review step is done (the sheet was opened from the status chip).
  void markReviewed() => _reviewed = true;

  static String labelOf(FlightCommand c) => switch (c) {
        FlightCommand.takeOff => 'Take off',
        FlightCommand.land => 'Land',
        FlightCommand.cancelLanding => 'Cancel landing',
        FlightCommand.confirmLanding => 'Confirm landing',
        FlightCommand.goHome => 'Return to Home',
        FlightCommand.cancelGoHome => 'Cancel RTH',
        FlightCommand.stopMode => 'Stop',
      };

  static bool _immediate(FlightCommand c) =>
      c == FlightCommand.cancelLanding || c == FlightCommand.cancelGoHome || c == FlightCommand.stopMode;

  Future<void> request(BuildContext context, FlightCommand command) async {
    GateVerdict verdict = gate.check(command);

    if (_immediate(command) && verdict.allowed) {
      await _send(command);
      return;
    }

    if (command == FlightCommand.takeOff && verdict.allowed && !_reviewed && reviewBeforeTakeOff != null) {
      _reviewed = true;
      final bool go = await reviewBeforeTakeOff!(context);
      if (!go || !context.mounted) return;
      verdict = gate.check(command); // the sheet may have been open a while
    }

    RthTarget target = RthTarget.originalHome;
    if (command == FlightCommand.goHome && verdict.allowed && gate.offersRthTarget) {
      final RthTarget? t = await showRthTargetDialog(context, pilotToHomeM: gate.pilotToHome!);
      if (t == null || !context.mounted) return;
      target = t;
    }

    if (!context.mounted) return;
    final SlideResult? r = await showSlideToConfirm(context, _spec(context, command, verdict, target));
    if (r == null) return;
    await _send(
      command,
      precision: r.checked,
      rthHeight: command == FlightCommand.goHome ? r.number : null,
      homeToPilot: target == RthTarget.pilot,
    );
  }

  Future<void> _send(FlightCommand command, {bool precision = false, int? rthHeight, bool homeToPilot = false}) async {
    try {
      await gate.run(command, precision: precision, rthHeight: rthHeight, homeToPilot: homeToPilot);
    } catch (e) {
      onError(labelOf(command), e);
    }
  }

  SlideConfirmSpec _spec(BuildContext context, FlightCommand c, GateVerdict v, RthTarget target) {
    switch (c) {
      case FlightCommand.takeOff:
        final ProductProfile p = ProductProfileScope.of(context);
        final bool precision = p.connected && HudFeatures.precisionTakeoff.enabledFor(p);
        return SlideConfirmSpec(
          icon: 'takeoff',
          title: 'Take off',
          description: 'The aircraft will take off and hover at about 1.2 m. Keep people clear of the propellers.',
          sliderLabel: 'Slide to take off',
          checks: v.checks,
          checkbox: precision ? 'Precision Takeoff' : null,
          checkboxHint: precision ? 'Records the take-off spot with the downward cameras, so RTH lands back on it.' : null,
        );
      case FlightCommand.land:
        return SlideConfirmSpec(
          icon: 'land',
          title: 'Land',
          description: 'The aircraft will descend and land where it is now. Make sure the ground below is clear and level.',
          sliderLabel: 'Slide to land',
          color: HudColors.caution,
          checks: v.checks,
        );
      case FlightCommand.confirmLanding:
        return SlideConfirmSpec(
          icon: 'land',
          title: 'Confirm landing',
          description: 'The aircraft is hovering just above the ground and needs your OK to touch down. Check the spot is flat and clear.',
          sliderLabel: 'Slide to land',
          color: HudColors.caution,
          checks: v.checks,
        );
      case FlightCommand.goHome:
        final int current = (gate.model.aircraft.goHomeHeight ?? 60).round().clamp(SafetyGate.minRthHeight, SafetyGate.maxRthHeight);
        return SlideConfirmSpec(
          icon: 'rth',
          title: 'Return to Home',
          description: target == RthTarget.pilot
              ? 'The home point moves to your position. The aircraft climbs to the RTH altitude, flies back to you and lands.'
              : 'The aircraft climbs to the RTH altitude, flies back to the home point and lands.',
          sliderLabel: 'Slide to return home',
          checks: v.checks,
          number: SlideNumber(label: 'RTH altitude', initial: current, min: SafetyGate.minRthHeight, max: SafetyGate.maxRthHeight),
        );
      case FlightCommand.cancelLanding:
      case FlightCommand.cancelGoHome:
      case FlightCommand.stopMode:
        // Only reached when the gate refused: show why.
        return SlideConfirmSpec(
          icon: 'stop',
          title: labelOf(c),
          description: 'This cannot be done right now.',
          sliderLabel: labelOf(c),
          color: Glass.accent,
          checks: v.checks,
        );
    }
  }
}