PilotVault/Fly App/lib/fly/state/aircraft_state.dart

import 'package:flutter/foundation.dart';

import 'parse.dart';

/// Return-to-home budget from the flight controller (`GoHomeAssessment`):
/// what the smart battery bar draws its markers and remaining time from.
@immutable
class GoHomeAssessment {
  const GoHomeAssessment({
    this.remainingFlightTime,
    this.timeNeededToGoHome,
    this.timeNeededToLand,
    this.batteryNeededToGoHome,
    this.batteryNeededToLand,
    this.maxRadiusCanFlyAndGoHome,
    this.smartRTHState,
    this.smartRTHCountdown,
  });

  factory GoHomeAssessment.fromMap(Map<String, dynamic> m) => GoHomeAssessment(
        remainingFlightTime: asInt(m['remainingFlightTime']),
        timeNeededToGoHome: asInt(m['timeNeededToGoHome']),
        timeNeededToLand: asInt(m['timeNeededToLand']),
        batteryNeededToGoHome: asInt(m['batteryNeededToGoHome']),
        batteryNeededToLand: asInt(m['batteryNeededToLand']),
        maxRadiusCanFlyAndGoHome: finite(m['maxRadiusCanFlyAndGoHome']),
        smartRTHState: asString(m['smartRTHState']),
        smartRTHCountdown: asInt(m['smartRTHCountdown']),
      );

  /// Seconds of flight left on the current battery.
  final int? remainingFlightTime;
  final int? timeNeededToGoHome; // s
  final int? timeNeededToLand; // s, from the current height
  final int? batteryNeededToGoHome; // %
  final int? batteryNeededToLand; // %
  final double? maxRadiusCanFlyAndGoHome; // m

  /// `IDLE` / `COUNTING_DOWN` / `EXECUTED` / `CANCELLED`.
  final String? smartRTHState;
  final int? smartRTHCountdown; // s

  bool get smartRTHCountingDown => smartRTHState == 'COUNTING_DOWN';

  @override
  bool operator ==(Object other) =>
      other is GoHomeAssessment &&
      other.remainingFlightTime == remainingFlightTime &&
      other.timeNeededToGoHome == timeNeededToGoHome &&
      other.timeNeededToLand == timeNeededToLand &&
      other.batteryNeededToGoHome == batteryNeededToGoHome &&
      other.batteryNeededToLand == batteryNeededToLand &&
      other.maxRadiusCanFlyAndGoHome == maxRadiusCanFlyAndGoHome &&
      other.smartRTHState == smartRTHState &&
      other.smartRTHCountdown == smartRTHCountdown;

  @override
  int get hashCode => Object.hash(remainingFlightTime, timeNeededToGoHome, timeNeededToLand, batteryNeededToGoHome,
      batteryNeededToLand, maxRadiusCanFlyAndGoHome, smartRTHState, smartRTHCountdown);
}

/// The flight controller's state: position, motion, attitude, flight mode and
/// the safety flags. Fed from the flat keys of every `telemetry` tick (~10 Hz).
class AircraftState extends ChangeNotifier {
  int? satellites;
  int? gpsSignalLevel; // 0..5
  bool? isFlying;
  bool? motorsOn;

  /// Human-readable mode from the SDK ("P-GPS", "Sport", "Atti", "GoHome" …).
  String? flightMode;

  /// The `FlightMode` enum name behind [flightMode] (`GPS_ATTI`, `GO_HOME` …),
  /// which is what logic should branch on.
  String? flightModeEnum;

  double? altitude; // m, relative to take-off
  double? latitude;
  double? longitude;
  double? homeLatitude;
  double? homeLongitude;
  bool? homeLocationSet;
  double? homeDistance; // m, aircraft ↔ home
  double? horizontalSpeed; // m/s
  double? verticalSpeed; // m/s (up positive)
  double? heading; // deg, −180..180 (= yaw)
  double? pitch; // deg
  double? roll; // deg
  double? velocityX; // m/s, north
  double? velocityY; // m/s, east
  double? velocityZ; // m/s, down
  int? flightTimeSeconds;
  double? goHomeHeight; // m

  /// VPS: downward ultrasonic height, valid only while [ultrasonicBeingUsed].
  double? ultrasonicHeight; // m
  bool? ultrasonicBeingUsed;
  bool? ultrasonicError;
  bool? visionPositioningBeingUsed;

  bool? landingConfirmationNeeded;
  bool? goingHome;

  /// `GoHomeExecutionState` name: `NOT_EXECUTING`, `GO_UP_TO_HEIGHT`, `AUTO_FLY_TO_HOME_POINT` …
  String? goHomeExecutionState;
  GoHomeAssessment? goHome;

  bool? lowBattery;
  bool? seriousLowBattery;
  String? batteryThresholdBehavior; // FLY_NORMALLY / GO_HOME / LAND_IMMEDIATELY
  String? windWarning; // LEVEL_0..LEVEL_2
  bool? reachedMaxHeight;
  bool? reachedMaxRadius;
  bool? imuPreheating;
  bool? failsafe;
  String? orientationMode; // AIRCRAFT_HEADING / COURSE_LOCK / HOME_LOCK

  /// The flight controller's built-in simulator is running (developer only).
  bool? simulatorActive;

  /// The flight controller is in virtual-stick mode (plan P8), from the native
  /// stick loop's `virtualStick` group; null until sticks were first enabled.
  bool? virtualStickEnabled;

  bool? compassHasError;
  bool? compassCalibrating;

  /// `NOT_CALIBRATING` / `HORIZONTAL` / `VERTICAL` / `SUCCESSFUL` / `FAILED`.
  String? compassCalibrationState;

  DateTime? updatedAt;

  /// VPS height when the sensor is actually in use, else null.
  double? get vpsHeight => ultrasonicBeingUsed == true ? ultrasonicHeight : null;

  void apply(Map<String, dynamic> t) {
    satellites = asInt(t['satelliteCount']);
    gpsSignalLevel = asInt(t['gpsSignalLevel']);
    isFlying = asBool(t['isFlying']);
    motorsOn = asBool(t['areMotorsOn']);
    flightMode = asString(t['flightMode']);
    flightModeEnum = asString(t['flightModeEnum']);
    altitude = finite(t['altitude']);
    latitude = finite(t['latitude']);
    longitude = finite(t['longitude']);
    homeLatitude = finite(t['homeLatitude']);
    homeLongitude = finite(t['homeLongitude']);
    homeLocationSet = asBool(t['isHomeLocationSet']);
    homeDistance = finite(t['homeDistance']);
    horizontalSpeed = finite(t['horizontalSpeed']);
    verticalSpeed = finite(t['verticalSpeed']);
    heading = finite(t['heading']);
    pitch = finite(t['pitch']);
    roll = finite(t['roll']);
    velocityX = finite(t['velocityX']);
    velocityY = finite(t['velocityY']);
    velocityZ = finite(t['velocityZ']);
    flightTimeSeconds = asInt(t['flightTimeSeconds']);
    goHomeHeight = finite(t['goHomeHeight']);
    ultrasonicHeight = finite(t['ultrasonicHeight']);
    ultrasonicBeingUsed = asBool(t['isUltrasonicBeingUsed']);
    ultrasonicError = asBool(t['ultrasonicError']);
    visionPositioningBeingUsed = asBool(t['isVisionPositioningBeingUsed']);
    landingConfirmationNeeded = asBool(t['isLandingConfirmationNeeded']);
    goingHome = asBool(t['isGoingHome']);
    goHomeExecutionState = asString(t['goHomeExecutionState']);
    final Map<String, dynamic>? gh = asMap(t['goHome']);
    goHome = gh == null ? null : GoHomeAssessment.fromMap(gh);
    lowBattery = asBool(t['isLowBattery']);
    seriousLowBattery = asBool(t['isSeriousLowBattery']);
    batteryThresholdBehavior = asString(t['batteryThresholdBehavior']);
    windWarning = asString(t['windWarning']);
    reachedMaxHeight = asBool(t['reachedMaxHeight']);
    reachedMaxRadius = asBool(t['reachedMaxRadius']);
    imuPreheating = asBool(t['isIMUPreheating']);
    failsafe = asBool(t['isFailsafe']);
    orientationMode = asString(t['orientationMode']);
    simulatorActive = asBool(t['simulatorActive']);
    virtualStickEnabled = asBool(asMap(t['virtualStick'])?['enabled']);
    compassHasError = asBool(t['compassHasError']);
    compassCalibrating = asBool(t['compassCalibrating']);
    compassCalibrationState = asString(t['compassCalibrationState']);
    updatedAt = DateTime.now();
    notifyListeners();
  }

  void clear() {
    satellites = gpsSignalLevel = flightTimeSeconds = null;
    isFlying = motorsOn = homeLocationSet = ultrasonicBeingUsed = ultrasonicError = null;
    visionPositioningBeingUsed = landingConfirmationNeeded = goingHome = null;
    lowBattery = seriousLowBattery = reachedMaxHeight = reachedMaxRadius = imuPreheating = failsafe = simulatorActive = virtualStickEnabled = null;
    compassHasError = compassCalibrating = null;
    compassCalibrationState = null;
    flightMode = flightModeEnum = goHomeExecutionState = batteryThresholdBehavior = windWarning = orientationMode = null;
    altitude = latitude = longitude = homeLatitude = homeLongitude = homeDistance = null;
    horizontalSpeed = verticalSpeed = heading = pitch = roll = velocityX = velocityY = velocityZ = null;
    goHomeHeight = ultrasonicHeight = null;
    goHome = null;
    updatedAt = null;
    notifyListeners();
  }
}