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

import 'package:flutter/foundation.dart';

import 'state/vision_state.dart';

/// The four horizontal radar sides, clockwise from the nose.
enum RadarSide {
  front('Front', 'NOSE', 'forward', 0, 60),
  right('Right', 'RIGHT', 'right', 90, 40),
  back('Rear', 'TAIL', 'backward', 180, 60),
  left('Left', 'LEFT', 'left', 270, 40);

  const RadarSide(this.label, this.position, this.healthKey, this.bearing, this.span);

  final String label;

  /// `VisionDetectionState` position name.
  final String position;

  /// `obstacleSensors` key.
  final String healthKey;

  /// Centre of the side, degrees clockwise from the nose.
  final double bearing;

  /// Arc the side covers on the radar, degrees.
  final double span;
}

/// How alarming a sector is, for its colour.
enum RadarBand { none, notice, caution, danger }

@immutable
class RadarSector {
  const RadarSector({required this.start, required this.sweep, this.distance, this.level = 0});

  /// Degrees clockwise from the nose.
  final double start;
  final double sweep;
  final double? distance; // m
  /// 0 (nothing / invalid) … 6 (very close), as MSDK's `ObstacleDetectionSectorWarning`.
  final int level;

  RadarBand get band => VisionRadar.bandFor(level);
}

@immutable
class RadarSideView {
  const RadarSideView({required this.side, this.sectors = const <RadarSector>[], this.closest, this.blocked = false, this.off = false});

  final RadarSide side;
  final List<RadarSector> sectors;
  final double? closest; // m
  /// Switched on but not seeing (covered, dirty, too dark).
  final bool blocked;

  /// Obstacle sensing for this side is switched off.
  final bool off;

  int get level => sectors.fold(0, (int w, RadarSector s) => s.level > w ? s.level : w);
  RadarBand get band => VisionRadar.bandFor(level);
}

/// What the vision radar overlay (plan P8, GO 4's `vision_radar_view`) draws:
/// per side, sectors graded by distance, the nearest distance, and whether the
/// side's sensors are blocked; plus the obstacle overhead.
///
/// Pure: built from [VisionState] so the grading is unit-tested without a
/// painter. Each side prefers the aircraft's own `VisionDetectionState`
/// sectors (and their warning levels); a side that has none is filled from
/// omni perception's distance ring, graded by [levelFor].
@immutable
class VisionRadar {
  const VisionRadar({this.sides = const <RadarSide, RadarSideView>{}, this.up});

  /// Obstacles further than this are not drawn.
  static const double range = 16;

  /// Above this the overhead distance is not shown.
  static const double upRange = 10;

  /// Sectors a perception-filled side is split into.
  static const int perceptionSectors = 4;

  final Map<RadarSide, RadarSideView> sides;

  /// Overhead obstacle, m, when within [upRange].
  final double? up;

  bool get isEmpty => sides.values.every((RadarSideView s) => s.sectors.every((RadarSector x) => x.level == 0) && !s.blocked) && up == null;

  int get level => sides.values.fold(0, (int w, RadarSideView s) => s.level > w ? s.level : w);

  List<RadarSide> get blocked => <RadarSide>[for (final RadarSideView s in sides.values) if (s.blocked) s.side];

  static RadarBand bandFor(int level) => level >= 5
      ? RadarBand.danger
      : level >= 3
          ? RadarBand.caution
          : level >= 1
              ? RadarBand.notice
              : RadarBand.none;

  /// A warning level for a bare distance (perception reports no level).
  static int levelFor(double? d) {
    if (d == null || d > range) return 0;
    if (d <= 1.5) return 6;
    if (d <= 2.5) return 5;
    if (d <= 4) return 4;
    if (d <= 6) return 3;
    if (d <= 10) return 2;
    return 1;
  }

  static int _sdkLevel(VisionSector s) => s.distance != null && s.distance! > range ? 0 : s.level;

  static VisionRadar of(VisionState v) {
    final Map<RadarSide, RadarSideView> sides = <RadarSide, RadarSideView>{};
    final Perception? p = v.perception;
    for (final RadarSide side in RadarSide.values) {
      final VisionReading? r = v.sensors[side.position];
      final SensorHealth? h = v.health[side.healthKey];
      List<RadarSector> sectors = const <RadarSector>[];
      if (r != null && r.sectors.isNotEmpty) {
        // Sectors run left to right as the sensor sees them: clockwise, whichever way it faces.
        final double sweep = side.span / r.sectors.length;
        final double start = side.bearing - side.span / 2;
        sectors = <RadarSector>[
          for (int i = 0; i < r.sectors.length; i++)
            RadarSector(start: start + i * sweep, sweep: sweep, distance: r.sectors[i].distance, level: _sdkLevel(r.sectors[i])),
        ];
      } else if (p != null && p.angleInterval > 0 && p.distances.isNotEmpty) {
        sectors = _fromPerception(side, p);
      }
      final bool off = r?.isDisabled == true || (h != null && !h.enabled);
      final bool blocked = !off && (h?.blocked ?? false);
      if (sectors.isEmpty && !blocked && !off && r == null) continue;
      double? closest;
      for (final RadarSector s in sectors) {
        final double? d = s.distance;
        if (s.level > 0 && d != null && (closest == null || d < closest)) closest = d;
      }
      sides[side] = RadarSideView(side: side, sectors: sectors, closest: closest, blocked: blocked, off: off);
    }
    final double? up = p?.up;
    return VisionRadar(sides: sides, up: up != null && up <= upRange ? up : null);
  }

  /// Splits [side]'s arc into [perceptionSectors] and takes the nearest ring
  /// sample in each.
  static List<RadarSector> _fromPerception(RadarSide side, Perception p) {
    final int n = p.distances.length;
    final double sweep = side.span / perceptionSectors;
    final double start = side.bearing - side.span / 2;
    return <RadarSector>[
      for (int i = 0; i < perceptionSectors; i++)
        () {
          double? nearest;
          final double a0 = start + i * sweep, a1 = a0 + sweep;
          for (int k = 0; k < n; k++) {
            final double? d = p.distances[k];
            if (d == null || !_within(k * p.angleInterval, a0, a1)) continue;
            if (nearest == null || d < nearest) nearest = d;
          }
          return RadarSector(start: a0, sweep: sweep, distance: nearest, level: levelFor(nearest));
        }(),
    ];
  }

  /// Whether bearing [a] lies in [a0, a1), all in degrees, wrapping at 360.
  static bool _within(double a, double a0, double a1) {
    double norm(double x) => ((x % 360) + 360) % 360;
    final double x = norm(a - a0);
    return x < a1 - a0;
  }
}