tajniak81andClaude Opus 5.5
e02bb0e5cd
Vision radar: graded obstacle sectors around the centre of the video, the nearest distance per side, the obstacle overhead, and BLOCKED on a side whose sensors cannot see once the motors run. On aircraft with 360° sensing, sides without their own readings are filled from the perception ring. The same sectors sit on the attitude ball's rim, turned by the heading. Settings > Vision gains Display radar chart and the braking / sensing distances per direction. On-screen sticks: the rail's STICKS button hands the aircraft to two stick pads after a slide-to-confirm. The 25 Hz stream runs natively and sends zeros once Dart's last command is 300 ms old, so a stalled UI leaves the aircraft hovering. The sticks close when the remote takes over, on RTH or on landing. They are simulator-only on aircraft with a remote unless Settings > General > Developer allows real flights; Spark and Mavic Air on Wi-Fi may fly them for real. Which MSDK axis is forward in velocity + body mode is coded from DJI's documentation and must be checked in the simulator first. AirSense: a banner for manned aircraft at warning level 2 and up, with distance, direction and ICAO code; the planes on the map; the full list in a sheet and Settings > Safety; and the aircraft's own avoidance action with its countdown. Fly zones: DJI GEO zones around the aircraft (or the phone) on the map with their height limits, a banner for FlySafe notices and in/near-zone states, take-off refused in restricted and locked authorization zones, self-unlock of authorization zones, the aircraft's licences (enable, sync from the DJI account, remove all; ground only), and the GEO database version with an update button. Tested with unit and widget tests and screenshot renders only; nothing has run on an aircraft or the simulator yet. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
804 lines
31 KiB
Dart
804 lines
31 KiB
Dart
import 'package:flutter/material.dart';
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import 'package:flutter/services.dart';
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import 'package:latlong2/latlong.dart' show LatLng;
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import '../../dji_service.dart';
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import '../../flight_model.dart';
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import '../../fly/flight_trail.dart';
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import '../../fly/fly_zone_loader.dart';
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import '../../fly/fly_prefs.dart';
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import '../../fly/hud_features.dart';
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import '../../fly/modes/mission_library.dart';
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import '../../fly/modes/mission_sync.dart' show ApiMissionRemote;
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import '../../fly/modes/vision_modes.dart';
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import '../../fly/modes/waypoint_editor.dart';
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import '../../fly/modes/waypoint_mission.dart' show MissionLimits;
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import '../../fly/product_profile.dart';
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import '../../fly/safety_gate.dart';
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import '../../fly/state/mission_state.dart';
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import '../../fly/virtual_sticks.dart';
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import '../../theme.dart';
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import '../album_page.dart';
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import '../capture_modes_page.dart';
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import '../pv_icons.dart';
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import 'bottom/attitude_ball.dart';
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import 'bottom/minimap.dart';
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import 'bottom/telemetry_strip.dart';
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import 'control/virtual_stick_pads.dart';
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import 'flight_command_flow.dart';
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import 'hud_kit.dart';
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import 'layers/video_layer.dart';
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import 'left/action_rail.dart';
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import 'left/gimbal_slider.dart';
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import 'modes/mode_picker.dart';
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import 'modes/vision/vision_layers.dart';
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import 'modes/vision/vision_panel.dart';
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import 'modes/waypoints/point_editor.dart';
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import 'modes/waypoints/waypoint_layers.dart';
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import 'modes/waypoints/waypoint_panels.dart';
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import 'modes/waypoints/waypoint_sheets.dart';
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import 'modes/waypoints/waypoint_start.dart';
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import 'overlays/airsense.dart';
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import 'overlays/alert_stack.dart';
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import 'overlays/camera_touch_layer.dart';
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import 'overlays/fly_zone_licences.dart';
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import 'overlays/fly_zones.dart';
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import 'overlays/gimbal_drag_layer.dart';
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import 'overlays/histogram_view.dart';
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import 'overlays/safety_banners.dart';
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import 'overlays/vision_radar.dart';
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import 'panels/aircraft_status_sheet.dart';
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import 'panels/camera_menu/camera_menu_sheet.dart';
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import 'panels/camera_quick_exposure.dart';
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import 'panels/gimbal_sheet.dart';
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import 'panels/settings/settings_sheet.dart';
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import 'right/camera_column.dart';
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import 'right/zoom_column.dart';
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import 'top/camera_info_strip.dart';
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import 'top/smart_battery_bar.dart';
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import 'top/status_bar.dart';
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/// The flight HUD v2 (plan P2), replacing [FlightControlPage].
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///
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/// A stack of layers in `fpv_litchi`'s order — video → visual overlays → map →
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/// camera column → gimbal → top bar → bottom attitude → left rail → minimap —
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/// where every readout listens to its own telemetry sub-model, so a 10 Hz tick
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/// rebuilds only what moved. The HUD is laid out once in design pixels and
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/// scaled to phone or tablet by [HudCanvas]; capability-gated parts use
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/// [Requires] against the connected [ProductProfile].
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///
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/// Tapping the minimap swaps it with the video: the map goes full-bleed (and
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/// becomes interactive) while the feed shrinks into the corner, and back.
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///
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/// Safety (plan P3): every aircraft-moving command on the rail goes through
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/// one [SafetyGate] via [FlightCommandFlow]; the error stack and low-battery
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/// banners sit under the top bar; the status chip opens the Aircraft Status
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/// sheet, which is also offered before each connection's first take-off.
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///
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/// Camera (plan P4): the camera column, the zoom column on zoom cameras, the
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/// quick exposure panel (from the camera info strip), the tabbed camera menu,
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/// tap-to-focus / tap-to-meter on the video and the histogram.
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///
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/// Gimbal (plan P5): the pitch slider with its value bubble, press-and-drag
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/// on the video as a speed joystick, and the gimbal settings sheet from the
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/// button under the slider.
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///
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/// Intelligent modes (plan P7): the rail's MODES button opens the picker.
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/// Waypoints turns the map big and editable — tap to add, the point editor
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/// along the bottom, the tool column on the right — and the run panel at the
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/// head of the left column follows the upload and the flight, whatever the
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/// screen shows. The route stays on the map after leaving the mode.
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///
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/// Radar, sticks, AirSense (plan P8): the vision radar around the picture's
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/// centre; the rail's STICKS button hands the aircraft to two on-screen stick
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/// pads through the SafetyGate (simulator first); AirSense warnings above the
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/// error stack and the planes it hears on the map; DJI GEO fly zones on the
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/// map with their banner, and the radar ring on the attitude ball.
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class FlyScreen extends StatefulWidget {
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const FlyScreen({super.key, required this.model, required this.dji, this.waypoints});
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final FlightModel model;
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final DjiService dji;
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/// The Waypoints editor to use; the screen makes (and disposes) its own when null.
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final WaypointEditor? waypoints;
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@override
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State<FlyScreen> createState() => _FlyScreenState();
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}
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class _FlyScreenState extends State<FlyScreen> {
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late final FlightTrail _trail = FlightTrail(widget.model.aircraft);
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final MinimapController _minimap = MinimapController();
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late final SafetyGate _gate = SafetyGate(model: widget.model, dji: widget.dji);
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late final FlightCommandFlow _flow = FlightCommandFlow(
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gate: _gate,
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onError: _error,
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reviewBeforeTakeOff: (BuildContext context) => _openStatus(context, offerTakeOff: true),
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);
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bool _wasConnected = false;
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bool _mapBig = false;
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/// The intelligent mode whose editor is open, or null.
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IntelligentMode? _mode;
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late final WaypointEditor _waypoints = widget.waypoints ?? WaypointEditor();
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final VisionSession _vision = VisionSession();
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late final MissionLibrary _library = MissionLibrary(remote: ApiMissionRemote())..load();
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MissionLimits _limits = const MissionLimits();
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int _seenFinishes = 0;
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/// The on-screen sticks (plan P8); [_sticksOpen] mirrors its `open` for layout.
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late final VirtualStickController _sticks = VirtualStickController(send: _gate.sendSticks)..mode = FlyPrefs.stickMode.value;
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bool _sticksOpen = false;
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/// Keeps the GEO zones around the aircraft loaded (plan P8).
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late final FlyZoneLoader _zones = FlyZoneLoader(model: widget.model, dji: widget.dji);
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/// Waypoints is open on the big map and nothing is flying: taps edit.
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bool get _editing {
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final WaypointProgress run = _m.mission.waypoint;
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return _mode == IntelligentMode.waypoint && _mapBig && !run.active && !run.uploading;
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}
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/// The picture-in-picture box, in HUD canvas pixels from the bottom-left corner.
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static const Size _pipSize = Size(150, 90);
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/// An on-screen stick pad's diameter, in HUD canvas pixels.
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static const double _stickPad = 110;
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FlightModel get _m => widget.model;
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DjiService get _dji => widget.dji;
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@override
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void initState() {
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super.initState();
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SystemChrome.setPreferredOrientations(<DeviceOrientation>[
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DeviceOrientation.landscapeLeft,
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DeviceOrientation.landscapeRight,
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]);
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SystemChrome.setEnabledSystemUIMode(SystemUiMode.immersiveSticky);
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_wasConnected = _m.connected;
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_m.addListener(_onModel);
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_seenFinishes = _m.mission.waypointFinishes;
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_m.mission.addListener(_onMission);
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_m.aircraft.addListener(_onSticksAircraft);
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_sticks.addListener(_onSticks);
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FlyPrefs.stickMode.addListener(_onStickMode);
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_zones.start();
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}
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void _onStickMode() => _sticks.mode = FlyPrefs.stickMode.value;
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/// The flight controller can end virtual-stick mode on its own (the remote's
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/// mode switch, RTH, landing): the controller closes, and the loop is told to stop.
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void _onSticksAircraft() {
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final String mode = _m.aircraft.flightModeEnum ?? '';
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_sticks.onAircraft(
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enabled: _m.aircraft.virtualStickEnabled,
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goingHome: _m.aircraft.goingHome == true || mode == 'GO_HOME',
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landing: mode == 'AUTO_LANDING' || mode == 'CONFIRM_LANDING',
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);
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}
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void _onSticks() {
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if (_sticks.open == _sticksOpen) return;
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final String? reason = _sticks.closedReason;
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if (!_sticks.open && reason != null) {
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_gate.disableVirtualSticks().catchError((Object _) {});
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if (mounted) {
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ScaffoldMessenger.of(context)
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..clearSnackBars()
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..showSnackBar(SnackBar(content: Text('On-screen sticks off: $reason')));
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}
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}
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if (mounted) setState(() => _sticksOpen = _sticks.open);
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}
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Future<void> _toggleSticks(BuildContext context) async {
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if (_sticks.open) {
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_sticks.close();
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try {
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await _gate.disableVirtualSticks();
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} catch (e) {
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_error('On-screen sticks', e);
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}
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return;
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}
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await startVisionMode(
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context,
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title: 'On-screen sticks',
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icon: 'rc',
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description: '${FlyPrefs.stickMode.value.label}. Lift your thumbs and the aircraft hovers. Tap STICKS again to hand back to the remote.',
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checks: _gate.checkVirtualSticks(),
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start: () async {
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await _gate.enableVirtualSticks();
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_sticks.opened();
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},
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onError: _error,
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);
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}
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/// Says how a waypoint mission ended, and leaves edit mode when one starts.
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void _onMission() {
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final MissionState ms = _m.mission;
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if (ms.waypointFinishes != _seenFinishes) {
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_seenFinishes = ms.waypointFinishes;
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final String? r = ms.waypointResult;
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if (mounted && r != null) {
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ScaffoldMessenger.of(context)
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..clearSnackBars()
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..showSnackBar(SnackBar(content: Text(r.isEmpty ? 'Waypoint mission complete' : 'Waypoint mission ended: $r')));
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}
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}
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// Execution events arrive at ~10 Hz; rebuild the screen only when editing turns on or off.
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final bool editing = _editing;
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if (mounted && editing != _wasEditing) setState(() => _wasEditing = editing);
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}
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bool _wasEditing = false;
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Future<void> _openModes(BuildContext context) async {
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final IntelligentMode? m = await showModePicker(context, profile: _m.profile);
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if (m == null || !mounted) return;
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switch (m) {
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case IntelligentMode.waypoint:
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setState(() {
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_mode = m;
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_mapBig = true;
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});
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_minimap.setFollow(_waypoints.mission.points.isEmpty);
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final MissionLimits limits = await _gate.missionLimits();
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if (mounted) setState(() => _limits = limits);
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case IntelligentMode.activeTrack:
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case IntelligentMode.tapFly:
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// Vision modes work on the live video.
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_vision.clearPending();
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setState(() {
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_mode = m;
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_mapBig = false;
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});
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if (m == IntelligentMode.activeTrack && _m.connected) {
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try {
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_vision.setRetreat(await _dji.getActiveTrackRetreat());
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} catch (_) {
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_vision.setRetreat(null); // not reported: the chip starts off
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}
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}
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default:
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break; // the picker only returns built modes
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}
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}
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void _exitMode() => setState(() {
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_mode = null;
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_mapBig = false;
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_waypoints.select(null);
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});
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bool get _visionMode => _mode == IntelligentMode.activeTrack || _mode == IntelligentMode.tapFly;
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/// Leaving a vision mode while it flies stops it first (GO 4's Exit).
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Future<void> _exitVision(BuildContext context) async {
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final MissionState ms = _m.mission;
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final bool running = _mode == IntelligentMode.tapFly ? ms.tapFly.active : ms.activeTrack.active;
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if (running) await _flow.request(context, FlightCommand.stopMode);
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_vision.clearPending();
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if (mounted) setState(() => _mode = null);
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}
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void _goTrack(BuildContext context, Rect box, {int? subject}) {
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final TrackMode mode = _vision.trackMode;
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startVisionMode(
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context,
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title: 'ActiveTrack · ${mode.label}',
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icon: 'crosshair',
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description: 'The aircraft follows the boxed subject. Stop, the remote\'s pause button, or the sticks take back control.',
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checks: _gate.checkActiveTrack(mode),
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start: () async {
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// A subject the aircraft sensed itself is started by its index, not a drawn box.
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await (subject != null ? _gate.startActiveTrackSubject(subject, mode) : _gate.startActiveTrack(box, mode));
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_vision.setPendingBox(null);
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},
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onError: _error,
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);
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}
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void _goTapFly(BuildContext context, Offset target) {
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final TapFlyDirection d = _vision.direction;
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startVisionMode(
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context,
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title: 'TapFly · ${d.label}',
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icon: 'chevronsRight',
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description: 'The aircraft flies towards the point at ${_vision.speed.toStringAsFixed(0)} m/s until you stop it.',
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checks: _gate.checkTapFly(d),
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start: () async {
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await _gate.startTapFly(target, d, speed: _vision.speed);
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_vision.setPendingPoint(null);
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},
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onError: _error,
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);
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}
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Future<void> _confirmTrack(bool yes) async {
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try {
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await _gate.confirmActiveTrack(yes: yes);
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} catch (e) {
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_error('ActiveTrack', e);
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}
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}
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/// A new connection gets its own pre-flight review.
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void _onModel() {
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if (_m.connected == _wasConnected) return;
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_wasConnected = _m.connected;
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if (!_m.connected) {
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_flow.resetReview();
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_sticks.close();
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}
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}
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Future<bool> _openStatus(BuildContext context, {bool offerTakeOff = false}) {
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// Looking at the sheet on purpose counts as the pre-flight review.
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if (!offerTakeOff) _flow.markReviewed();
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return showAircraftStatusSheet(context, model: _m, dji: _dji, onError: _error, offerTakeOff: offerTakeOff);
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}
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@override
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void dispose() {
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_m.removeListener(_onModel);
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_m.mission.removeListener(_onMission);
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_m.aircraft.removeListener(_onSticksAircraft);
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FlyPrefs.stickMode.removeListener(_onStickMode);
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_zones.dispose();
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// Leaving the screen hands the aircraft back to the remote.
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if (_sticks.open) _gate.disableVirtualSticks().catchError((Object _) {});
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_sticks.dispose();
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if (widget.waypoints == null) _waypoints.dispose();
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_vision.dispose();
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_library.dispose();
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_trail.dispose();
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_minimap.dispose();
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SystemChrome.setPreferredOrientations(<DeviceOrientation>[DeviceOrientation.portraitUp]);
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SystemChrome.setEnabledSystemUIMode(SystemUiMode.edgeToEdge);
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super.dispose();
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}
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void _error(String label, Object e) {
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if (!mounted) return;
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final String reason = e is PlatformException ? (e.message ?? e.code) : e.toString();
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ScaffoldMessenger.of(context)
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..clearSnackBars()
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..showSnackBar(SnackBar(content: Text('$label failed: $reason')));
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}
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void _push(Widget page) => Navigator.of(context).push(MaterialPageRoute<void>(builder: (_) => page));
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@override
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Widget build(BuildContext context) {
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final MediaQueryData mq = MediaQuery.of(context);
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final double s = HudScale.scaleFor(mq.size.shortestSide);
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final Rect area = HudCanvas.screenRect(mq);
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final double canvasHeight = area.height / s;
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final Rect pip = HudCanvas.toScreen(mq, Rect.fromLTWH(0, canvasHeight - _pipSize.height, _pipSize.width, _pipSize.height));
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final Rect full = Offset.zero & mq.size;
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_wasEditing = _editing;
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final Widget video = ListenableBuilder(
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key: const ValueKey<String>('video'),
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listenable: _m,
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builder: (BuildContext context, _) => VideoLayer(connected: _m.connected),
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);
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final Widget map = FlyMap(
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key: const ValueKey<String>('map'),
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model: _m,
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trail: _trail,
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controller: _minimap,
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interactive: _mapBig,
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layers: <Widget>[
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// Zones under the route, planes on top.
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flyZoneMapLayer(_m.flyZones),
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flyZoneLicenceLayer(_m.flyZones),
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flyZoneHeightLayer(_m.flyZones),
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...waypointMapLayers(editor: _waypoints, mission: _m.mission, editable: _editing),
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airSenseMapLayer(_m.airSense),
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],
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onTap: (LatLng at) {
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if (_editing) _waypoints.tapMap(at);
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},
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);
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final Widget body = Stack(fit: StackFit.expand, children: <Widget>[
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// The background view, then whatever sits in the corner box. Keyed, so
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// the swap moves the native video view instead of recreating it.
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if (!_mapBig) ...<Widget>[
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Positioned.fromRect(key: const ValueKey<String>('video-slot'), rect: full, child: video),
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Positioned.fill(child: VisualOverlays(video: _m.videoSize)),
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// A vision mode owns every touch on the video: a box or a point.
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if (_mode == IntelligentMode.activeTrack)
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Positioned.fill(
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child: ActiveTrackLayer(
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mission: _m.mission,
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session: _vision,
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video: _m.videoSize,
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onGo: (Rect box, int? subject) => _goTrack(context, box, subject: subject),
|
|
onConfirm: _confirmTrack,
|
|
),
|
|
)
|
|
else if (_mode == IntelligentMode.tapFly)
|
|
Positioned.fill(
|
|
child: TapFlyLayer(mission: _m.mission, session: _vision, video: _m.videoSize, onGo: (Offset p) => _goTapFly(context, p)),
|
|
)
|
|
else ...<Widget>[
|
|
// Under the camera touch layer, in the same gesture arena: drags aim
|
|
// the gimbal, taps and long presses still reach the camera.
|
|
Positioned.fill(
|
|
child: Requires(
|
|
HudFeatures.gimbalDrag,
|
|
child: ListenableBuilder(
|
|
listenable: _m,
|
|
builder: (BuildContext context, _) => GimbalDragLayer(
|
|
gimbal: _m.gimbal,
|
|
dji: _dji,
|
|
connected: _m.connected,
|
|
yaw: HudFeatures.gimbalYaw.enabledFor(ProductProfileScope.of(context)),
|
|
onError: _error,
|
|
),
|
|
),
|
|
),
|
|
),
|
|
Positioned.fill(
|
|
child: Requires(
|
|
HudFeatures.cameraControls,
|
|
child: ListenableBuilder(
|
|
listenable: _m,
|
|
builder: (BuildContext context, _) =>
|
|
CameraTouchLayer(camera: _m.camera, dji: _dji, connected: _m.connected, onError: _error, video: _m.videoSize),
|
|
),
|
|
),
|
|
),
|
|
],
|
|
// Obstacles around the picture's centre; touch-transparent.
|
|
Positioned.fill(
|
|
child: Requires(
|
|
HudFeatures.visionRadar,
|
|
whenDisconnected: false,
|
|
child: VisionRadarOverlay(vision: _m.vision, aircraft: _m.aircraft, video: _m.videoSize),
|
|
),
|
|
),
|
|
Positioned.fromRect(key: const ValueKey<String>('map-slot'), rect: pip, child: map),
|
|
] else ...<Widget>[
|
|
Positioned.fromRect(key: const ValueKey<String>('map-slot'), rect: full, child: map),
|
|
Positioned.fromRect(key: const ValueKey<String>('video-slot'), rect: pip, child: video),
|
|
],
|
|
Positioned.fill(child: HudCanvas(builder: _hud)),
|
|
Positioned(
|
|
left: 0,
|
|
right: 0,
|
|
bottom: 0,
|
|
child: IgnorePointer(
|
|
child: ValueListenableBuilder<bool>(
|
|
valueListenable: FlyPrefs.perfOverlay,
|
|
builder: (BuildContext context, bool on, _) => on ? PerformanceOverlay.allEnabled() : const SizedBox.shrink(),
|
|
),
|
|
),
|
|
),
|
|
]);
|
|
|
|
return Scaffold(
|
|
backgroundColor: const Color(0xFF0A1120),
|
|
body: ListenableBuilder(
|
|
listenable: _m,
|
|
// Only the scope is rebuilt per tick; it notifies [Requires] below it
|
|
// when the profile object itself changes.
|
|
builder: (BuildContext context, Widget? child) => ProductProfileScope(profile: _m.profile, child: child!),
|
|
child: body,
|
|
),
|
|
);
|
|
}
|
|
|
|
Widget _hud(BuildContext context, Size canvas, double scale) {
|
|
return Stack(clipBehavior: Clip.none, children: <Widget>[
|
|
// ── Camera column (right) ─────────────────────────────────────────────
|
|
Positioned(
|
|
right: 0,
|
|
top: 76,
|
|
bottom: 0,
|
|
child: Center(
|
|
child: Requires(
|
|
HudFeatures.cameraControls,
|
|
child: CameraColumn(
|
|
model: _m,
|
|
dji: _dji,
|
|
onError: _error,
|
|
onCameraMenu: () => showCameraMenu(context, model: _m, dji: _dji, onError: _error),
|
|
onPlayback: () => _push(AlbumPage(model: _m, dji: _dji)),
|
|
onCaptureModes: () => _push(CaptureModesPage(model: _m, dji: _dji)),
|
|
),
|
|
),
|
|
),
|
|
),
|
|
// ── Zoom column (zoom cameras only) ───────────────────────────────────
|
|
// The right stick pad takes its place while the sticks fly.
|
|
if (!_mapBig && !_sticksOpen)
|
|
Positioned(
|
|
right: 68,
|
|
top: 76,
|
|
bottom: 0,
|
|
child: Center(
|
|
child: Requires(
|
|
HudFeatures.zoomColumn,
|
|
whenDisconnected: false,
|
|
child: ZoomColumn(camera: _m.camera, dji: _dji, onError: _error),
|
|
),
|
|
),
|
|
),
|
|
if (!_editing)
|
|
Positioned(
|
|
right: 68,
|
|
top: StatusBar.height + SmartBatteryBar.height + 32,
|
|
child: Requires(HudFeatures.histogram, child: HistogramView(camera: _m.camera)),
|
|
),
|
|
// ── Gimbal ────────────────────────────────────────────────────────────
|
|
Positioned(
|
|
left: 54,
|
|
top: 64,
|
|
bottom: _pipSize.height + 24,
|
|
child: Column(crossAxisAlignment: CrossAxisAlignment.start, children: <Widget>[
|
|
Expanded(
|
|
child: Requires(
|
|
HudFeatures.gimbalPitch,
|
|
child: Builder(
|
|
builder: (BuildContext context) => GimbalSlider(
|
|
gimbal: _m.gimbal,
|
|
dji: _dji,
|
|
range: ProductProfileScope.of(context).gimbal?.pitch,
|
|
onError: _error,
|
|
),
|
|
),
|
|
),
|
|
),
|
|
const SizedBox(height: 8),
|
|
Requires(
|
|
HudFeatures.gimbalSettings,
|
|
child: GlassPill(
|
|
key: const ValueKey<String>('gimbal-settings-button'),
|
|
height: 28,
|
|
padding: const EdgeInsets.symmetric(horizontal: 6),
|
|
onTap: () => showGimbalSettings(context, model: _m, dji: _dji, onError: _error),
|
|
child: const PVIcon('gimbal', size: 16, color: Glass.ink),
|
|
),
|
|
),
|
|
]),
|
|
),
|
|
// ── Top bar, battery bar, camera info ─────────────────────────────────
|
|
Positioned(
|
|
left: 0,
|
|
right: 0,
|
|
top: 0,
|
|
child: StatusBar(
|
|
model: _m,
|
|
onBack: () => Navigator.of(context).maybePop(),
|
|
onStatus: () => _openStatus(context),
|
|
onMore: () => showFlySettings(
|
|
context,
|
|
model: _m,
|
|
dji: _dji,
|
|
onError: _error,
|
|
onOpenStatus: () => _openStatus(context),
|
|
onClearRoute: _trail.clear,
|
|
),
|
|
),
|
|
),
|
|
Positioned(left: 0, right: 0, top: StatusBar.height + 3, child: SmartBatteryBar(model: _m)),
|
|
// Exposure means nothing while planning a route on the map.
|
|
if (!_editing)
|
|
Positioned(
|
|
right: 0,
|
|
top: StatusBar.height + SmartBatteryBar.height + 5,
|
|
child: CameraInfoStrip(
|
|
camera: _m.camera,
|
|
onTap: () => showQuickExposure(context, model: _m, dji: _dji, onError: _error),
|
|
),
|
|
),
|
|
// ── Bottom: attitude ball + telemetry ─────────────────────────────────
|
|
// Gives way to the point editor while a waypoint or POI is selected.
|
|
Positioned(
|
|
left: _pipSize.width + 10,
|
|
bottom: 0,
|
|
child: ListenableBuilder(
|
|
listenable: _waypoints,
|
|
builder: (BuildContext context, Widget? child) =>
|
|
_editing && (_waypoints.selected != null || _waypoints.selectedPoi != null) ? const SizedBox.shrink() : child!,
|
|
// The left stick pad takes the attitude ball's place while the sticks fly.
|
|
child: Row(crossAxisAlignment: CrossAxisAlignment.end, children: <Widget>[
|
|
if (_sticksOpen) const SizedBox(width: _stickPad + 10) else AttitudeBall(model: _m, size: 84),
|
|
const SizedBox(width: 6),
|
|
TelemetryStrip(aircraft: _m.aircraft),
|
|
]),
|
|
),
|
|
),
|
|
// ── On-screen sticks (plan P8) ────────────────────────────────────────
|
|
if (_sticksOpen)
|
|
Positioned(
|
|
left: _pipSize.width + 10,
|
|
bottom: 0,
|
|
child: ListenableBuilder(
|
|
listenable: _sticks,
|
|
builder: (BuildContext context, _) => StickPad(
|
|
key: const ValueKey<String>('stick-left'),
|
|
size: _stickPad,
|
|
value: _sticks.left,
|
|
onChanged: _sticks.setLeft,
|
|
caption: stickCaptions(_sticks.mode).left,
|
|
),
|
|
),
|
|
),
|
|
if (_sticksOpen)
|
|
Positioned(
|
|
right: 70,
|
|
bottom: 0,
|
|
child: ListenableBuilder(
|
|
listenable: _sticks,
|
|
builder: (BuildContext context, _) => StickPad(
|
|
key: const ValueKey<String>('stick-right'),
|
|
size: _stickPad,
|
|
value: _sticks.right,
|
|
onChanged: _sticks.setRight,
|
|
caption: stickCaptions(_sticks.mode).right,
|
|
),
|
|
),
|
|
),
|
|
// ── Mission run panel / route board, error stack, low-battery banners ─
|
|
// Bounded above the attitude ball; the stack fits what is left under the banners.
|
|
Positioned(
|
|
left: 108,
|
|
top: StatusBar.height + SmartBatteryBar.height + 8,
|
|
bottom: _sticksOpen ? _stickPad + 18 : 104,
|
|
child: Column(mainAxisSize: MainAxisSize.min, crossAxisAlignment: CrossAxisAlignment.start, children: <Widget>[
|
|
WaypointRunPanel(model: _m, editor: _waypoints, gate: _gate, flow: _flow, onError: _error),
|
|
// Palm control (Spark) flies the aircraft from the pilot's hand: say so.
|
|
ListenableBuilder(
|
|
listenable: _m.vision,
|
|
builder: (BuildContext context, _) => !_m.vision.palmActive
|
|
? const SizedBox.shrink()
|
|
: Padding(
|
|
padding: const EdgeInsets.only(bottom: 6),
|
|
child: GlassPill(
|
|
key: const ValueKey<String>('palm-control'),
|
|
color: Glass.pillStrong,
|
|
child: Row(mainAxisSize: MainAxisSize.min, children: <Widget>[
|
|
const PVIcon('user', size: 12, color: Glass.ink),
|
|
const SizedBox(width: 6),
|
|
Text('PALM CONTROL', style: HudText.label.copyWith(color: Glass.ink, fontWeight: FontWeight.w700)),
|
|
const SizedBox(width: 6),
|
|
Text(_m.vision.palmLabel.toUpperCase(), style: HudText.label.copyWith(color: HudColors.ready)),
|
|
]),
|
|
),
|
|
),
|
|
),
|
|
if (_visionMode)
|
|
Padding(
|
|
padding: const EdgeInsets.only(bottom: 6),
|
|
child: VisionModePanel(
|
|
tapFly: _mode == IntelligentMode.tapFly,
|
|
model: _m,
|
|
session: _vision,
|
|
gate: _gate,
|
|
flow: _flow,
|
|
onExit: () => _exitVision(context),
|
|
onError: _error,
|
|
),
|
|
),
|
|
if (_editing)
|
|
Padding(
|
|
padding: const EdgeInsets.only(bottom: 6),
|
|
child: WaypointBoard(
|
|
editor: _waypoints,
|
|
limits: _limits,
|
|
onTap: () => showRouteSettings(context, editor: _waypoints, limits: _limits),
|
|
),
|
|
),
|
|
Requires(
|
|
HudFeatures.airSense,
|
|
child: AirSenseBanner(airSense: _m.airSense, onTap: () => showAirSenseSheet(context, airSense: _m.airSense)),
|
|
),
|
|
Requires(
|
|
HudFeatures.flyZones,
|
|
child: FlyZoneBanner(
|
|
zones: _m.flyZones,
|
|
onTap: () => showFlyZoneSheet(context, model: _m, gate: _gate, onError: _error),
|
|
),
|
|
),
|
|
SafetyBanners(gate: _gate, onError: _error),
|
|
Flexible(child: AlertStack(alerts: _m.alerts, onMore: () => _openStatus(context))),
|
|
]),
|
|
),
|
|
// ── Left rail ─────────────────────────────────────────────────────────
|
|
Positioned(
|
|
left: 0,
|
|
top: 60,
|
|
child: ActionRail(
|
|
model: _m,
|
|
flow: _flow,
|
|
modeActive: _mode != null,
|
|
onModes: () => _openModes(context),
|
|
trailing: Requires(
|
|
HudFeatures.virtualSticks,
|
|
whenDisconnected: false,
|
|
child: SticksButton(open: _sticksOpen, onTap: () => _toggleSticks(context)),
|
|
),
|
|
),
|
|
),
|
|
if (_mapBig) Positioned(right: _editing ? 122 : 70, top: 80, child: MinimapControls(controller: _minimap, trail: _trail)),
|
|
// ── Waypoints editor: tools + point editor ────────────────────────────
|
|
if (_editing) ...<Widget>[
|
|
Positioned(
|
|
right: 70,
|
|
top: 76,
|
|
child: WaypointTools(
|
|
editor: _waypoints,
|
|
onStart: () => startWaypointFlow(context, gate: _gate, spec: _waypoints.mission, onError: _error),
|
|
onSettings: () => showRouteSettings(context, editor: _waypoints, limits: _limits),
|
|
onLibrary: () => showMissionLibrary(context, editor: _waypoints, library: _library),
|
|
onExit: _exitMode,
|
|
),
|
|
),
|
|
Positioned(
|
|
left: _pipSize.width + 10,
|
|
right: 124,
|
|
bottom: 0,
|
|
child: Builder(
|
|
builder: (BuildContext context) {
|
|
final ProductProfile p = ProductProfileScope.of(context);
|
|
return PointEditorPanel(
|
|
editor: _waypoints,
|
|
gimbalMin: p.gimbal?.pitch?.min ?? -90,
|
|
gimbalMax: p.gimbal?.pitch?.max ?? 30,
|
|
);
|
|
},
|
|
),
|
|
),
|
|
],
|
|
// ── Minimap / video corner box ────────────────────────────────────────
|
|
Positioned(
|
|
left: 0,
|
|
bottom: 0,
|
|
width: _pipSize.width,
|
|
height: _pipSize.height,
|
|
child: _PipFrame(label: _mapBig ? 'VIDEO' : 'MAP', onTap: () => setState(() => _mapBig = !_mapBig)),
|
|
),
|
|
]);
|
|
}
|
|
}
|
|
|
|
/// The corner box's frame and tap target. The content underneath is the real
|
|
/// map or video layer, placed at the same spot by [FlyScreen].
|
|
class _PipFrame extends StatelessWidget {
|
|
const _PipFrame({required this.label, required this.onTap});
|
|
|
|
final String label;
|
|
final VoidCallback onTap;
|
|
|
|
@override
|
|
Widget build(BuildContext context) {
|
|
return GestureDetector(
|
|
behavior: HitTestBehavior.opaque,
|
|
onTap: onTap,
|
|
child: Container(
|
|
decoration: BoxDecoration(
|
|
borderRadius: BorderRadius.circular(4),
|
|
border: Border.all(color: const Color(0x66EAF0FA)),
|
|
),
|
|
alignment: Alignment.topLeft,
|
|
padding: const EdgeInsets.all(4),
|
|
child: Container(
|
|
padding: const EdgeInsets.symmetric(horizontal: 4, vertical: 1),
|
|
decoration: BoxDecoration(color: Glass.pillStrong, borderRadius: BorderRadius.circular(3)),
|
|
child: Text(label, style: HudText.label.copyWith(color: Glass.ink)),
|
|
),
|
|
),
|
|
);
|
|
}
|
|
}
|