PilotVault/Fly App/lib/ui/fly/modes/waypoints/waypoint_panels.dart

import 'package:flutter/material.dart';
import 'package:latlong2/latlong.dart' show LatLng;

import '../../../../flight_model.dart';
import '../../../../fly/hud_geometry.dart';
import '../../../../fly/modes/waypoint_editor.dart';
import '../../../../fly/modes/waypoint_mission.dart';
import '../../../../fly/safety_gate.dart';
import '../../../../fly/state/mission_state.dart';
import '../../../../theme.dart';
import '../../../pv_icons.dart';
import '../../flight_command_flow.dart';
import '../../hud_kit.dart';

/// The route summary across the top of the map while editing (GO 4's top
/// board): name, waypoints, length, time, cruise speed, and the issue count.
class WaypointBoard extends StatelessWidget {
  const WaypointBoard({super.key, required this.editor, required this.limits, required this.onTap});

  final WaypointEditor editor;
  final MissionLimits limits;

  /// Opens the route settings (where the issues are listed).
  final VoidCallback onTap;

  @override
  Widget build(BuildContext context) {
    return ListenableBuilder(
      listenable: editor,
      builder: (BuildContext context, _) {
        final WaypointMissionSpec m = editor.mission;
        final List<MissionIssue> issues = m.points.isEmpty ? const <MissionIssue>[] : m.validate(limits);
        final int errors = issues.where((MissionIssue i) => i.blocks).length;
        final int warnings = issues.length - errors;
        final String hint = switch ((m.points.length, editor.tool)) {
          (_, MapTool.poi) => 'Tap the map to add a point of interest',
          (0, _) => 'Tap the map to add waypoints',
          (1, _) => 'Tap the map to add the next waypoint',
          _ => '',
        };
        return GlassPill(
          key: const ValueKey<String>('wp-board'),
          height: 30,
          color: Glass.pillStrong,
          onTap: onTap,
          child: Row(mainAxisSize: MainAxisSize.min, children: <Widget>[
            const PVIcon('route', size: 14, color: Glass.ink),
            const SizedBox(width: 6),
            ConstrainedBox(
              constraints: const BoxConstraints(maxWidth: 120),
              child: Text(m.name, overflow: TextOverflow.ellipsis, style: HudText.sans.copyWith(fontSize: 11.5)),
            ),
            if (editor.dirty) Text(' •', style: HudText.sans.copyWith(color: HudColors.caution)),
            _sep(),
            _stat('${m.points.length}', 'WP'),
            _sep(),
            _stat(m.length >= 1000 ? (m.length / 1000).toStringAsFixed(2) : m.length.round().toString(), m.length >= 1000 ? 'km' : 'm'),
            _sep(),
            _stat('≈${formatDuration(m.estimatedSeconds)}', ''),
            _sep(),
            _stat(m.cruiseSpeed.toStringAsFixed(1), 'm/s'),
            if (errors > 0 || warnings > 0) ...<Widget>[
              const SizedBox(width: 8),
              _badge(errors > 0 ? '$errors' : '$warnings', errors > 0 ? HudColors.danger : HudColors.caution),
            ],
            if (hint.isNotEmpty) ...<Widget>[
              _sep(),
              Text(hint, style: HudText.label.copyWith(color: Glass.ink)),
            ],
          ]),
        );
      },
    );
  }

  static Widget _sep() => Container(width: 1, height: 14, margin: const EdgeInsets.symmetric(horizontal: 8), color: Glass.hairline);

  static Widget _stat(String v, String unit) => Row(mainAxisSize: MainAxisSize.min, crossAxisAlignment: CrossAxisAlignment.end, children: <Widget>[
        Text(v, style: HudText.mono.copyWith(fontWeight: FontWeight.w700)),
        if (unit.isNotEmpty) ...<Widget>[const SizedBox(width: 2), Text(unit, style: HudText.unit)],
      ]);

  static Widget _badge(String n, Color c) => Container(
        key: const ValueKey<String>('wp-issues'),
        padding: const EdgeInsets.symmetric(horizontal: 5, vertical: 1),
        decoration: BoxDecoration(color: c, borderRadius: BorderRadius.circular(6)),
        child: Text(n, style: HudText.label.copyWith(color: Colors.white, fontWeight: FontWeight.w700)),
      );
}

/// The Waypoints tool column on the right of the map: Start, the map tool
/// (waypoint / POI), route settings, library, undo, exit.
class WaypointTools extends StatelessWidget {
  const WaypointTools({
    super.key,
    required this.editor,
    required this.onStart,
    required this.onSettings,
    required this.onLibrary,
    required this.onExit,
  });

  final WaypointEditor editor;
  final VoidCallback onStart;
  final VoidCallback onSettings;
  final VoidCallback onLibrary;
  final VoidCallback onExit;

  @override
  Widget build(BuildContext context) {
    return ListenableBuilder(
      listenable: editor,
      builder: (BuildContext context, _) => Column(mainAxisSize: MainAxisSize.min, children: <Widget>[
        _ToolButton(
          id: 'start',
          icon: 'play2',
          label: 'START',
          color: editor.mission.points.length >= WaypointMissionSpec.minPoints ? Glass.accent : Glass.pillStrong,
          onTap: editor.mission.points.length >= WaypointMissionSpec.minPoints ? onStart : null,
        ),
        _ToolButton(
          id: 'tool',
          icon: editor.tool == MapTool.poi ? 'circle' : 'pin',
          label: editor.tool == MapTool.poi ? 'POI' : 'WAYPT',
          active: editor.tool == MapTool.poi,
          onTap: () => editor.setTool(editor.tool == MapTool.poi ? MapTool.waypoint : MapTool.poi),
        ),
        _ToolButton(id: 'settings', icon: 'settings', label: 'ROUTE', onTap: onSettings),
        _ToolButton(id: 'library', icon: 'album', label: 'LIBRARY', onTap: onLibrary),
        _ToolButton(id: 'undo', icon: 'chevronLeft', label: 'UNDO', onTap: editor.canUndo ? editor.undo : null),
        _ToolButton(id: 'exit', icon: 'close', label: 'EXIT', onTap: onExit, last: true),
      ]),
    );
  }
}

class _ToolButton extends StatelessWidget {
  const _ToolButton({
    required this.id,
    required this.icon,
    required this.label,
    required this.onTap,
    this.color,
    this.active = false,
    this.last = false,
  });

  final String id;
  final String icon;
  final String label;
  final VoidCallback? onTap;
  final Color? color;
  final bool active;
  final bool last;

  @override
  Widget build(BuildContext context) => Padding(
        padding: EdgeInsets.only(bottom: last ? 0 : 5),
        child: Opacity(
          opacity: onTap == null ? 0.4 : 1,
          child: GestureDetector(
            key: ValueKey<String>('wp-tool-$id'),
            behavior: HitTestBehavior.opaque,
            onTap: onTap,
            child: Container(
              width: 44,
              height: 40,
              decoration: BoxDecoration(
                color: color ?? (active ? Glass.accent : Glass.pillStrong),
                borderRadius: BorderRadius.circular(10),
                border: Border.all(color: Glass.hairline),
              ),
              child: Column(mainAxisAlignment: MainAxisAlignment.center, children: <Widget>[
                PVIcon(icon, size: 14, color: Glass.ink),
                const SizedBox(height: 2),
                Text(label, style: HudText.label.copyWith(color: Glass.ink, fontSize: 7)),
              ]),
            ),
          ),
        ),
      );
}

/// The mission in flight (and its upload): waypoint n / N, what it is doing,
/// distance left, and Pause / Resume and Stop. Shown whenever the waypoint
/// operator is uploading or flying, whatever the screen shows.
class WaypointRunPanel extends StatelessWidget {
  const WaypointRunPanel({
    super.key,
    required this.model,
    required this.editor,
    required this.gate,
    required this.flow,
    required this.onError,
  });

  final FlightModel model;
  final WaypointEditor editor;
  final SafetyGate gate;
  final FlightCommandFlow flow;
  final void Function(String label, Object error) onError;

  /// Metres left: aircraft → target waypoint, then the remaining legs. Null
  /// when the route on screen is not the one flying.
  static double? remaining(WaypointMissionSpec m, WaypointProgress run, LatLng? aircraft) {
    final int? t = run.target;
    if (t == null || run.total != m.points.length || t >= m.points.length) return null;
    double d = 0;
    if (aircraft != null) {
      final LatLng p = m.points[t].at;
      d += HudGeometry.distance(aircraft.latitude, aircraft.longitude, p.latitude, p.longitude);
    }
    final List<double> legs = m.legs;
    for (int i = t; i < legs.length; i++) {
      d += legs[i];
    }
    return d;
  }

  @override
  Widget build(BuildContext context) {
    return ListenableBuilder(
      listenable: Listenable.merge(<Listenable>[model.mission, model.aircraft]),
      builder: (BuildContext context, _) {
        final WaypointProgress run = model.mission.waypoint;
        if (!run.uploading && !run.active) return const SizedBox.shrink();
        final Widget content;
        if (run.uploading) {
          final double f = run.uploadFraction ?? 0;
          content = Row(mainAxisSize: MainAxisSize.min, children: <Widget>[
            const PVIcon('download', size: 13, color: Glass.ink),
            const SizedBox(width: 6),
            Text('UPLOADING ${(run.uploaded ?? -1) + 1}/${run.total ?? '—'}', style: HudText.label.copyWith(color: Glass.ink)),
            const SizedBox(width: 8),
            SizedBox(
              width: 90,
              child: ClipRRect(
                borderRadius: BorderRadius.circular(2),
                child: LinearProgressIndicator(value: f, minHeight: 4, color: Glass.accent, backgroundColor: HudColors.off),
              ),
            ),
          ]);
        } else {
          final double? lat = model.aircraft.latitude, lon = model.aircraft.longitude;
          final double? left = remaining(editor.mission, run, lat == null || lon == null ? null : LatLng(lat, lon));
          content = Row(mainAxisSize: MainAxisSize.min, children: <Widget>[
            const PVIcon('route', size: 13, color: Glass.ink),
            const SizedBox(width: 6),
            Text('WAYPOINT ${(run.target ?? 0) + 1}/${run.total ?? '—'}', style: HudText.label.copyWith(color: Glass.ink)),
            const SizedBox(width: 8),
            Text(run.executeLabel.toUpperCase(),
                style: HudText.label.copyWith(color: run.paused ? HudColors.caution : HudColors.ready, fontWeight: FontWeight.w700)),
            if (left != null) ...<Widget>[
              const SizedBox(width: 8),
              Text(left >= 1000 ? '${(left / 1000).toStringAsFixed(2)} km left' : '${left.round()} m left', style: HudText.label),
            ],
            const SizedBox(width: 10),
            _RunButton(
              id: run.paused ? 'resume' : 'pause',
              icon: run.paused ? 'play2' : 'pause',
              label: run.paused ? 'RESUME' : 'PAUSE',
              onTap: () => _guard(run.paused ? 'Resume' : 'Pause', run.paused ? gate.resumeWaypointMission : gate.pauseWaypointMission),
            ),
            const SizedBox(width: 6),
            _RunButton(
              id: 'stop',
              icon: 'stop',
              label: 'STOP',
              color: HudColors.danger,
              onTap: () => flow.request(context, FlightCommand.stopMode),
            ),
          ]);
        }
        return Container(
          key: const ValueKey<String>('wp-run'),
          padding: const EdgeInsets.symmetric(horizontal: 10, vertical: 5),
          decoration: BoxDecoration(color: Glass.pillStrong, borderRadius: BorderRadius.circular(10), border: Border.all(color: Glass.hairline)),
          child: content,
        );
      },
    );
  }

  Future<void> _guard(String label, Future<void> Function() send) async {
    try {
      await send();
    } catch (e) {
      onError(label, e);
    }
  }
}

class _RunButton extends StatelessWidget {
  const _RunButton({required this.id, required this.icon, required this.label, required this.onTap, this.color = Glass.accent});

  final String id;
  final String icon;
  final String label;
  final VoidCallback onTap;
  final Color color;

  @override
  Widget build(BuildContext context) => GestureDetector(
        key: ValueKey<String>('wp-run-$id'),
        behavior: HitTestBehavior.opaque,
        onTap: onTap,
        child: Container(
          height: 26,
          padding: const EdgeInsets.symmetric(horizontal: 8),
          decoration: BoxDecoration(color: color, borderRadius: BorderRadius.circular(7)),
          child: Row(mainAxisSize: MainAxisSize.min, children: <Widget>[
            PVIcon(icon, size: 12, color: Colors.white, fill: icon == 'play2'),
            const SizedBox(width: 4),
            Text(label, style: HudText.label.copyWith(color: Colors.white, fontWeight: FontWeight.w700)),
          ]),
        ),
      );
}