PilotVault/Fly App/lib/ui/fly/panels/gimbal_sheet.dart

import 'package:flutter/material.dart';

import '../../../dji_service.dart';
import '../../../flight_model.dart';
import '../../../fly/calibration.dart';
import '../../../fly/gimbal_control.dart';
import '../../../fly/hud_features.dart';
import '../../../fly/product_profile.dart';
import '../../../fly/state/gimbal_state.dart';
import '../../../fly/state/parse.dart';
import '../../../theme.dart';
import '../../pv_icons.dart';
import '../dialogs/slide_to_confirm.dart';
import '../hud_kit.dart';
import 'camera_menu/camera_rows.dart';
import 'camera_write.dart';
import 'settings/calibration/calibration_hub.dart';

/// Opens the gimbal settings (plan P5) as a right-side glass sheet over the
/// live view, like the camera menu.
Future<void> showGimbalSettings(
  BuildContext context, {
  required FlightModel model,
  required DjiService dji,
  required void Function(String label, Object error) onError,
}) {
  return showGeneralDialog<void>(
    context: context,
    barrierDismissible: true,
    barrierLabel: 'Gimbal settings',
    barrierColor: const Color(0x55050A14),
    transitionDuration: const Duration(milliseconds: 200),
    pageBuilder: (BuildContext context, _, __) => Align(
      alignment: Alignment.centerRight,
      // The dialog route sits outside the flight screen's scope.
      child: ListenableBuilder(
        listenable: model,
        builder: (BuildContext context, Widget? child) => ProductProfileScope(profile: model.profile, child: child!),
        child: _GimbalSheet(model: model, dji: dji, onError: onError),
      ),
    ),
    transitionBuilder: (BuildContext context, Animation<double> a, _, Widget child) => SlideTransition(
      position: Tween<Offset>(begin: const Offset(1, 0), end: Offset.zero).animate(CurvedAnimation(parent: a, curve: Curves.easeOut)),
      child: child,
    ),
  );
}

class _GimbalSheet extends StatelessWidget {
  const _GimbalSheet({required this.model, required this.dji, required this.onError});

  final FlightModel model;
  final DjiService dji;
  final void Function(String label, Object error) onError;

  static const double width = 380;

  @override
  Widget build(BuildContext context) {
    return Material(
      color: const Color(0xF20B1426),
      child: SizedBox(
        width: width,
        height: MediaQuery.sizeOf(context).height,
        child: SafeArea(
          left: false,
          child: Column(crossAxisAlignment: CrossAxisAlignment.stretch, children: <Widget>[
            Padding(
              padding: const EdgeInsets.fromLTRB(16, 6, 4, 6),
              child: Row(children: <Widget>[
                const PVIcon('gimbal', size: 16, color: Glass.ink),
                const SizedBox(width: 8),
                Expanded(child: Text('Gimbal', style: HudText.sans.copyWith(fontSize: 14, fontWeight: FontWeight.w700))),
                IconButton(
                  onPressed: () => Navigator.of(context).pop(),
                  icon: const PVIcon('close', size: 18, color: HudText.dim),
                ),
              ]),
            ),
            const Divider(height: 1, color: Glass.hairline),
            Expanded(child: GimbalSettingsList(model: model, dji: dji, onError: onError)),
          ]),
        ),
      ),
    );
  }
}

/// The gimbal rows — mode, position, adjust, calibration, advanced — as one
/// scrolling list, so the P6 settings sheet's Gimbal tab can host it as is.
///
/// Rows hide per [HudFeature] on the connected profile, and the getter-only
/// settings also hide once the gimbal has reported and left them out.
class GimbalSettingsList extends StatelessWidget {
  const GimbalSettingsList({super.key, required this.model, required this.dji, required this.onError});

  final FlightModel model;
  final DjiService dji;
  final void Function(String label, Object error) onError;

  GimbalState get _g => model.gimbal;

  /// A getter-only setting is there unless the gimbal reported and omitted it.
  bool _reported(ProductProfile p, String id) => !p.connected || _g.reportedSettings[id] != null;

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

  Future<void> _write(String label, String id, Object value) => writeCameraSetting(
        _g,
        label: label,
        pending: <String, Object?>{id: value},
        send: () => dji.setGimbalSetting(id, value),
        onError: onError,
      );

  Future<void> _setMode(String mode) async {
    final String? before = _g.mode;
    _g.setModeOptimistic(mode);
    try {
      await dji.setGimbalMode(mode);
    } catch (e) {
      if (before != null) _g.setModeOptimistic(before);
      onError('Gimbal mode', e);
    }
  }

  Future<void> _open(BuildContext context, CalibrationKind kind) =>
      openCalibration(context, kind, model: model, dji: dji, onError: onError);

  Future<void> _resetAdvanced(BuildContext context) async {
    final SlideResult? ok = await showSlideToConfirm(
      context,
      const SlideConfirmSpec(
        icon: 'gimbal',
        title: 'Reset gimbal settings',
        description: 'Speed, smoothness and sensitivity go back to their defaults.',
        sliderLabel: 'Slide to reset',
      ),
    );
    if (ok == null) return;
    await _run('Reset gimbal settings', dji.resetGimbalControlParameters);
  }

  static Widget _section(String title) => Padding(
        padding: const EdgeInsets.fromLTRB(16, 14, 16, 4),
        child: Text(title, style: HudText.label),
      );

  static String _signed(double v, {int decimals = 1}) => '${v > 0 ? '+' : ''}${v.toStringAsFixed(decimals)}°';

  @override
  Widget build(BuildContext context) {
    final ProductProfile p = ProductProfileScope.of(context);
    return ListenableBuilder(
      listenable: Listenable.merge(<Listenable>[_g, model.aircraft]),
      builder: (BuildContext context, _) => ListView(
        key: const ValueKey<String>('gimbal-settings'),
        padding: const EdgeInsets.only(bottom: 16),
        children: <Widget>[
          _status(p),
          // ── Mode ──────────────────────────────────────────────────────────
          ChoiceTile(
            key: const ValueKey<String>('row-gimbalMode'),
            label: 'Gimbal mode',
            options: <(String, String)>[for (final GimbalModeOption o in GimbalModes.optionsFor(p.gimbal)) (o.value, o.label)],
            selected: _g.mode,
            onSelect: _setMode,
          ),
          Requires(
            HudFeatures.gimbalPitchExtension,
            child: _reported(p, 'pitchExtension')
                ? SwitchTile(
                    key: const ValueKey<String>('row-pitchExtension'),
                    label: '30° extended upward',
                    value: _g.pitchExtension,
                    onChanged: (bool on) => _write('Extended pitch', 'pitchExtension', on),
                  )
                : const SizedBox.shrink(),
          ),
          Requires(
            HudFeatures.gimbalYaw,
            child: _reported(p, 'yawFollow')
                ? SwitchTile(
                    key: const ValueKey<String>('row-yawFollow'),
                    label: 'Yaw synchronous follow',
                    value: _g.yawFollow,
                    onChanged: (bool on) => _write('Yaw follow', 'yawFollow', on),
                  )
                : const SizedBox.shrink(),
          ),
          // ── Position ──────────────────────────────────────────────────────
          _section('POSITION'),
          ButtonTile(
            id: 'recenter',
            label: 'Recenter gimbal',
            button: 'Recenter',
            onTap: () => _run('Recenter gimbal', dji.resetGimbal),
          ),
          ButtonTile(
            id: 'faceDown',
            label: 'Face down',
            button: 'Down',
            onTap: () => _run('Gimbal down', () => dji.rotateGimbalPitch(GimbalActions.faceDownPitch(p.gimbal?.pitch))),
          ),
          Requires(
            HudFeatures.gimbalYaw,
            child: ButtonTile(
              id: 'yawRecenter',
              label: 'Yaw recenter',
              button: 'Recenter',
              onTap: () => _run('Yaw recenter', dji.resetGimbalYaw),
            ),
          ),
          // ── Adjust ────────────────────────────────────────────────────────
          Requires(
            HudFeatures.gimbalRollAdjust,
            child: Column(mainAxisSize: MainAxisSize.min, crossAxisAlignment: CrossAxisAlignment.stretch, children: <Widget>[
              _section('ADJUST'),
              StepperTile(
                id: 'rollFineTune',
                label: 'Roll fine-tune',
                hint: 'Level the horizon against the video',
                shown: _g.rollFineTune == null ? '—' : _signed(_g.rollFineTune!),
                canDown: true,
                canUp: true,
                onStep: (int dir) => _run('Roll adjust', () => dji.fineTuneGimbal('roll', dir * GimbalActions.fineTuneStep)),
              ),
              Requires(
                HudFeatures.gimbalAdjust,
                child: ButtonTile(
                  id: 'adjustGimbal',
                  label: 'Adjust gimbal',
                  hint: 'Roll, pitch and yaw against a horizon line on the video',
                  button: 'Adjust',
                  onTap: () => _open(context, CalibrationKind.gimbalAdjust),
                ),
              ),
            ]),
          ),
          // ── Calibration ───────────────────────────────────────────────────
          Requires(
            HudFeatures.gimbalCalibration,
            child: Column(mainAxisSize: MainAxisSize.min, crossAxisAlignment: CrossAxisAlignment.stretch, children: <Widget>[
              _section('CALIBRATION'),
              _calibrationRow(context),
            ]),
          ),
          // ── Advanced ──────────────────────────────────────────────────────
          Requires(
            HudFeatures.gimbalAdvanced,
            whenDisconnected: false,
            child: Column(mainAxisSize: MainAxisSize.min, crossAxisAlignment: CrossAxisAlignment.stretch, children: <Widget>[
              _section('ADVANCED'),
              for (final (GimbalTuning t, AxisRange r) in GimbalTuning.rowsFor(p))
                if (_g.reportedSettings[t.id] != null) _tuningRow(t, r),
              ButtonTile(
                id: 'resetAdvanced',
                label: 'Reset all gimbal settings',
                button: 'Reset',
                danger: true,
                onTap: () => _resetAdvanced(context),
              ),
            ]),
          ),
        ],
      ),
    );
  }

  /// Live attitude, plus whatever the gimbal is complaining about.
  Widget _status(ProductProfile p) {
    final List<String> warnings = <String>[
      if (_g.motorOverloaded) 'Motor overloaded — check for obstructions',
      if (_g.pitchAtStop) 'Pitch at its limit',
      if (_g.yawAtStop && (p.gimbal?.yawAdjustable ?? false)) 'Yaw at its limit',
    ];
    String deg(double? v) => v == null ? '—' : '${v.round()}°';
    return Padding(
      padding: const EdgeInsets.fromLTRB(16, 10, 16, 4),
      child: Column(crossAxisAlignment: CrossAxisAlignment.start, children: <Widget>[
        Text(
          'PITCH ${deg(_g.pitch)}   ROLL ${deg(_g.roll)}   YAW ${deg(_g.yawRelative ?? _g.yaw)}',
          key: const ValueKey<String>('gimbal-attitude'),
          style: HudText.mono,
        ),
        for (final String w in warnings)
          Padding(
            padding: const EdgeInsets.only(top: 4),
            child: Text(w, style: HudText.sans.copyWith(color: HudColors.caution)),
          ),
      ]),
    );
  }

  Widget _calibrationRow(BuildContext context) {
    final String? blocked = GimbalActions.calibrationBlocked(model.aircraft, _g);
    final String? hint = _g.calibrating
        ? 'Calibrating… ${_g.calibrationProgress ?? 0}%'
        : blocked ??
            switch (_g.lastCalibrationOk) {
              true => 'Calibrated',
              false => 'Calibration failed — retry on level ground',
              null => null,
            };
    return ButtonTile(
      id: 'calibrateGimbal',
      label: 'Auto calibrate gimbal',
      button: 'Calibrate',
      hint: hint,
      onTap: blocked == null ? () => _open(context, CalibrationKind.gimbal) : null,
    );
  }

  Widget _tuningRow(GimbalTuning t, AxisRange r) {
    final int? v = asInt(_g.setting(t.id));
    final int step = GimbalTuning.stepFor(r);
    final int lo = r.min.round(), hi = r.max.round();
    return StepperTile(
      key: ValueKey<String>('row-${t.id}'),
      id: t.id,
      label: t.label,
      shown: v?.toString() ?? '—',
      pending: _g.isPending(t.id),
      canDown: v != null && v > lo,
      canUp: v != null && v < hi,
      onStep: (int dir) => _write(t.label, t.id, (v! + dir * step).clamp(lo, hi)),
    );
  }
}