PilotVault/Fly App/lib/ui/fly/panels/settings/settings_sheet.dart

import 'package:flutter/material.dart';

import '../../../../dji_service.dart';
import '../../../../flight_model.dart';
import '../../../../fly/fly_prefs.dart';
import '../../../../fly/hud_features.dart';
import '../../../../fly/product_profile.dart';
import '../../../../fly/safety_gate.dart';
import '../../../../fly/settings/settings_spec.dart';
import '../../../../fly/settings/settings_tabs.dart';
import '../../../../fly/state/key_state.dart';
import '../../../../fly/state/parse.dart';
import '../../../../fly/virtual_sticks.dart' show StickMode;
import '../../../../theme.dart';
import '../../../pv_icons.dart';
import '../../debug/product_profile_page.dart';
import '../../debug/telemetry_inspector_page.dart';
import '../../dialogs/slide_to_confirm.dart';
import '../../hud_kit.dart';
import '../../overlays/airsense.dart';
import '../../overlays/fly_zone_licences.dart';
import '../../overlays/fly_zones.dart';
import '../camera_menu/camera_rows.dart';
import '../gimbal_sheet.dart';
import 'calibration/calibration_hub.dart';
import 'sensing_rows.dart';
import 'setting_tiles.dart';

/// Opens the aircraft settings (plan P6, GO 4's "•••") as a right-side glass
/// sheet over the live view, so the video stays visible.
///
/// [onOpenStatus] opens the Aircraft Status sheet (Sensors → calibrate);
/// [onClearRoute] clears the map's flown trail. Either may be null where the
/// host has no such thing.
Future<void> showFlySettings(
  BuildContext context, {
  required FlightModel model,
  required DjiService dji,
  required void Function(String label, Object error) onError,
  String initialTab = SettingsTabs.safety,
  VoidCallback? onOpenStatus,
  VoidCallback? onClearRoute,
}) {
  return showGeneralDialog<void>(
    context: context,
    barrierDismissible: true,
    barrierLabel: 'Settings',
    barrierColor: const Color(0x55050A14),
    transitionDuration: const Duration(milliseconds: 200),
    pageBuilder: (BuildContext context, _, __) => Align(
      alignment: Alignment.centerRight,
      child: FlySettingsSheet(
        model: model,
        dji: dji,
        onError: onError,
        initialTab: initialTab,
        onOpenStatus: onOpenStatus,
        onClearRoute: onClearRoute,
      ),
    ),
    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 FlySettingsSheet extends StatefulWidget {
  const FlySettingsSheet({
    super.key,
    required this.model,
    required this.dji,
    required this.onError,
    this.initialTab = SettingsTabs.safety,
    this.onOpenStatus,
    this.onClearRoute,
  });

  final FlightModel model;
  final DjiService dji;
  final void Function(String label, Object error) onError;
  final String initialTab;
  final VoidCallback? onOpenStatus;
  final VoidCallback? onClearRoute;

  static const double maxWidth = 540;
  static const double railWidth = 112;

  @override
  State<FlySettingsSheet> createState() => _FlySettingsSheetState();
}

class _FlySettingsSheetState extends State<FlySettingsSheet> {
  late final KeySubscriptions _subs = KeySubscriptions(widget.dji, widget.model.keys);
  late String _tab = widget.initialTab;

  // What the sheet rebuilds on — not every 10 Hz telemetry tick.
  late ProductProfile _profile = widget.model.profile;
  late bool _connected = widget.model.connected;
  late bool _airborne = _isAirborne;

  /// The profile the current subscriptions were made for.
  ProductProfile? _watchedFor;

  FlightModel get _m => widget.model;
  KeyState get _keys => _m.keys;

  bool get _isAirborne => _m.aircraft.isFlying == true || _m.aircraft.motorsOn == true;

  @override
  void initState() {
    super.initState();
    _m.addListener(_onModel);
    _watch();
  }

  @override
  void dispose() {
    _m.removeListener(_onModel);
    _subs.dispose();
    super.dispose();
  }

  void _onModel() {
    final bool airborne = _isAirborne;
    if (identical(_profile, _m.profile) && _connected == _m.connected && _airborne == airborne) return;
    setState(() {
      _profile = _m.profile;
      _connected = _m.connected;
      _airborne = airborne;
    });
    _watch();
  }

  List<SettingsTab> get _tabs => <SettingsTab>[
        for (final SettingsTab t in SettingsTabs.all(_profile))
          if (t.visible(_profile)) t,
      ];

  SettingsTab get _current {
    final List<SettingsTab> tabs = _tabs;
    return tabs.firstWhere((SettingsTab t) => t.id == _tab, orElse: () => tabs.first);
  }

  /// Subscribes to the open tab's keys; a new aircraft asks every key afresh.
  /// Without a connection nothing is asked, so no row hides as "unsupported".
  void _watch() {
    if (!_connected) {
      _watchedFor = null;
      return;
    }
    final Iterable<DjiKey> keys = _current.watched;
    if (!identical(_watchedFor, _profile)) {
      final bool fresh = _watchedFor == null;
      _watchedFor = _profile;
      fresh ? _subs.watch(keys) : _subs.rewatch(keys);
    } else {
      _subs.watch(keys);
    }
  }

  void _select(String id) {
    setState(() => _tab = id);
    _watch();
  }

  @override
  Widget build(BuildContext context) {
    final double width = (MediaQuery.sizeOf(context).width * 0.7).clamp(360.0, FlySettingsSheet.maxWidth);
    final SettingsTab tab = _current;
    return ProductProfileScope(
      profile: _profile,
      child: Material(
        color: const Color(0xF20B1426),
        child: SizedBox(
          width: width,
          height: MediaQuery.sizeOf(context).height,
          child: SafeArea(
            left: false,
            child: Row(crossAxisAlignment: CrossAxisAlignment.stretch, children: <Widget>[
              _rail(tab),
              const VerticalDivider(width: 1, color: Glass.hairline),
              Expanded(
                child: Column(crossAxisAlignment: CrossAxisAlignment.stretch, children: <Widget>[
                  _header(tab),
                  const Divider(height: 1, color: Glass.hairline),
                  Expanded(child: _body(tab)),
                ]),
              ),
            ]),
          ),
        ),
      ),
    );
  }

  Widget _rail(SettingsTab current) {
    return SizedBox(
      width: FlySettingsSheet.railWidth,
      child: ListView(
        padding: const EdgeInsets.symmetric(vertical: 8, horizontal: 6),
        children: <Widget>[
          for (final SettingsTab t in _tabs)
            GestureDetector(
              key: ValueKey<String>('settings-tab-${t.id}'),
              behavior: HitTestBehavior.opaque,
              onTap: () => _select(t.id),
              child: Container(
                height: 36,
                margin: const EdgeInsets.only(bottom: 4),
                padding: const EdgeInsets.symmetric(horizontal: 8),
                decoration: BoxDecoration(
                  color: t.id == current.id ? Glass.accent : Colors.transparent,
                  borderRadius: BorderRadius.circular(8),
                ),
                child: Row(children: <Widget>[
                  PVIcon(t.icon, size: 15, stroke: 1.7, color: Glass.ink),
                  const SizedBox(width: 7),
                  Flexible(
                    child: Text(t.label, overflow: TextOverflow.ellipsis, style: HudText.sans.copyWith(fontSize: 11.5)),
                  ),
                ]),
              ),
            ),
        ],
      ),
    );
  }

  Widget _header(SettingsTab tab) {
    return Padding(
      padding: const EdgeInsets.fromLTRB(16, 4, 4, 4),
      child: Row(children: <Widget>[
        Expanded(child: Text(tab.label, style: HudText.sans.copyWith(fontSize: 14, fontWeight: FontWeight.w700))),
        if (!_connected) Text('NOT CONNECTED', style: HudText.label.copyWith(color: HudColors.caution)),
        IconButton(
          key: const ValueKey<String>('settings-close'),
          onPressed: () => Navigator.of(context).pop(),
          icon: const PVIcon('close', size: 18, color: HudText.dim),
        ),
      ]),
    );
  }

  Widget _body(SettingsTab tab) {
    if (tab.id == SettingsTabs.gimbal) {
      return GimbalSettingsList(model: _m, dji: widget.dji, onError: widget.onError);
    }
    return ListenableBuilder(
      listenable: _keys,
      builder: (BuildContext context, _) {
        final SettingsContext c = SettingsContext(profile: _profile, keys: _keys, aircraft: _m.aircraft);
        final List<SettingSpec> rows = <SettingSpec>[for (final SettingSpec r in tab.rows) if (r.visible(c)) r];
        return ListView(
          key: ValueKey<String>('settings-list-${tab.id}'),
          padding: const EdgeInsets.only(bottom: 16),
          children: <Widget>[
            for (int i = 0; i < rows.length; i++)
              // A group header with nothing under it (all rows unsupported) drops out.
              if (rows[i] is! GroupSpec || (i + 1 < rows.length && rows[i + 1] is! GroupSpec))
                SettingRowTile(
                  key: ValueKey<String>('spec-${rows[i].id}'),
                  spec: rows[i],
                  settings: c,
                  dji: widget.dji,
                  onError: widget.onError,
                  custom: (CustomSpec s) => _custom(s, c),
                ),
          ],
        );
      },
    );
  }

  // ── The sheet's own rows ────────────────────────────────────────────────────
  Widget _custom(CustomSpec s, SettingsContext c) => switch (s.id) {
        SettingsTabs.homePoint => _homePoint(c),
        SettingsTabs.leds => _leds(c),
        SettingsTabs.sensors => _sensors(c),
        SettingsTabs.stickDiagram => StickModeDiagram(mode: asString(_keys.value(SettingsKeys.stickMode))),
        SettingsTabs.showRoute => ValueListenableBuilder<bool>(
            valueListenable: FlyPrefs.showRoute,
            builder: (BuildContext context, bool on, _) =>
                SwitchTile(key: const ValueKey<String>('row-showRoute'), label: 'Show flight route', value: on, onChanged: FlyPrefs.setShowRoute),
          ),
        SettingsTabs.clearRoute => widget.onClearRoute == null
            ? const SizedBox.shrink()
            : ButtonTile(id: 'clearRoute', label: 'Clear flight route', button: 'Clear', onTap: widget.onClearRoute),
        SettingsTabs.radarChart => ValueListenableBuilder<bool>(
            valueListenable: FlyPrefs.showRadar,
            builder: (BuildContext context, bool on, _) => SwitchTile(
              key: const ValueKey<String>('row-radarChart'),
              label: 'Display radar chart',
              hint: 'Obstacle distances around the centre of the video',
              value: on,
              onChanged: FlyPrefs.setShowRadar,
            ),
          ),
        SettingsTabs.stickPads => ValueListenableBuilder<StickMode>(
            valueListenable: FlyPrefs.stickMode,
            builder: (BuildContext context, StickMode m, _) => ChoiceTile(
              key: const ValueKey<String>('row-stickPads'),
              label: 'Stick mode',
              hint: 'What each on-screen stick does; match your remote',
              options: <(String, String)>[for (final StickMode s in StickMode.values) (s.name, s.label)],
              selected: m.name,
              onSelect: (String v) => FlyPrefs.setStickMode(StickMode.values.byName(v)),
            ),
          ),
        SettingsTabs.sensingDistances =>
          SensingDistanceRows(key: const ValueKey<String>('row-sensingDistances'), dji: widget.dji, connected: c.connected, onError: widget.onError),
        SettingsTabs.flyZoneList => FlyZoneList(
            key: const ValueKey<String>('row-flyZones'),
            model: _m,
            gate: SafetyGate(model: _m, dji: widget.dji),
            onError: widget.onError,
            shrinkWrap: true,
          ),
        SettingsTabs.flyZoneLicences => FlyZoneLicences(
            key: const ValueKey<String>('row-flyZoneLicences'),
            model: _m,
            gate: SafetyGate(model: _m, dji: widget.dji),
            onError: widget.onError,
          ),
        SettingsTabs.flyZoneDatabase => FlyZoneDatabaseRow(
            key: const ValueKey<String>('row-flyZoneDatabase'),
            zones: _m.flyZones,
            gate: SafetyGate(model: _m, dji: widget.dji),
            onError: widget.onError,
          ),
        SettingsTabs.airSenseList => AirSenseList(key: const ValueKey<String>('row-airSense'), airSense: _m.airSense, shrinkWrap: true),
        SettingsTabs.about => _about(),
        SettingsTabs.developer => _developer(),
        _ => const SizedBox.shrink(),
      };

  Future<void> _setHome({required bool toPilot}) async {
    final SlideResult? ok = await showSlideToConfirm(
      context,
      SlideConfirmSpec(
        icon: 'home',
        title: toPilot ? 'Home point to your position' : 'Home point to the aircraft',
        description: toPilot
            ? 'Return-to-home will fly to where this phone is now.'
            : 'Return-to-home will fly to where the aircraft is now.',
        sliderLabel: 'Slide to set',
      ),
    );
    if (ok == null) return;
    try {
      if (toPilot) {
        await widget.dji.setHomeLocation(_m.phoneLatitude!, _m.phoneLongitude!);
      } else {
        await widget.dji.setHomeToCurrent();
      }
    } catch (e) {
      widget.onError('Home point', e);
    }
  }

  Widget _homePoint(SettingsContext c) {
    final bool hasGps = _m.aircraft.latitude != null && _m.aircraft.longitude != null;
    final bool hasPhone = _m.phoneLatitude != null && _m.phoneLongitude != null;
    return Column(mainAxisSize: MainAxisSize.min, crossAxisAlignment: CrossAxisAlignment.stretch, children: <Widget>[
      ButtonTile(
        id: 'homeAircraft',
        label: 'Home point: aircraft',
        hint: !c.connected ? 'Connect the aircraft to change' : (hasGps ? null : 'Waiting for the aircraft\'s GPS'),
        button: 'Set',
        onTap: c.connected && hasGps ? () => _setHome(toPilot: false) : null,
      ),
      ButtonTile(
        id: 'homePilot',
        label: 'Home point: pilot',
        hint: !c.connected ? 'Connect the aircraft to change' : (hasPhone ? null : 'This phone has no location fix'),
        button: 'Set',
        onTap: c.connected && hasPhone ? () => _setHome(toPilot: true) : null,
      ),
    ]);
  }

  /// GO 4's "Turn on aircraft arm LEDs": the front LEDs, leaving the rest alone.
  Widget _leds(SettingsContext c) {
    if (c.keys.supported(SettingsKeys.leds) == false) return const SizedBox.shrink();
    final Map<String, dynamic>? v = asMap(_keys.value(SettingsKeys.leds));
    final String? locked = c.connected ? null : 'Connect the aircraft to change';
    final Widget tile = SwitchTile(
      key: const ValueKey<String>('row-leds'),
      label: 'Front arm LEDs',
      hint: locked ?? 'Off hides the aircraft at night — check local rules',
      value: asBool(v?['front']),
      pending: _keys.pendingFor(SettingsKeys.leds),
      onChanged: (bool on) => writeKeySetting(
        _keys,
        widget.dji,
        SettingsKeys.leds,
        <String, dynamic>{...?v, 'front': on},
        label: 'Arm LEDs',
        onError: widget.onError,
      ),
    );
    return locked == null ? tile : IgnorePointer(child: Opacity(opacity: 0.5, child: tile));
  }

  Widget _sensors(SettingsContext c) {
    final int? imus = asInt(_keys.value(SettingsKeys.imuCount)) ?? _profile.flightController?.imuCount;
    final int? compasses = asInt(_keys.value(SettingsKeys.compassCount)) ?? _profile.flightController?.compassCount;
    String count(int? n, String one) => n == null ? '' : (n == 1 ? '1 $one · ' : '$n ${one}s · ');
    final bool? compassError = _m.aircraft.compassHasError;
    final bool? preheating = _m.aircraft.imuPreheating;
    return Column(mainAxisSize: MainAxisSize.min, crossAxisAlignment: CrossAxisAlignment.stretch, children: <Widget>[
      ValueTile(
        key: const ValueKey<String>('row-imu'),
        label: 'IMU',
        value: '${count(imus, 'unit')}${switch (preheating) {
          true => 'Warming up',
          false => 'Normal',
          null => '—',
        }}',
        valueColor: preheating == true ? HudColors.caution : null,
      ),
      ValueTile(
        key: const ValueKey<String>('row-compass'),
        label: 'Compass',
        value: '${count(compasses, 'unit')}${switch (compassError) {
          true => 'Error',
          false => 'Normal',
          null => '—',
        }}',
        valueColor: compassError == true ? HudColors.danger : null,
      ),
      ButtonTile(
        id: 'openCalibration',
        label: 'Calibration & maintenance',
        hint: 'Compass, IMU, remote, gimbal and more',
        button: 'Open',
        onTap: () => showCalibrationHub(context, model: _m, dji: widget.dji, onError: widget.onError),
      ),
      if (widget.onOpenStatus != null)
        ButtonTile(
          id: 'openStatus',
          label: 'Aircraft status',
          hint: 'Every subsystem at a glance',
          button: 'Open',
          onTap: widget.onOpenStatus,
        ),
    ]);
  }

  Widget _about() {
    String or(String? a, Object? b) => a ?? (b == null ? '—' : formatValue(b));
    return Column(mainAxisSize: MainAxisSize.min, crossAxisAlignment: CrossAxisAlignment.stretch, children: <Widget>[
      ValueTile(label: 'Aircraft', value: _m.model ?? '—'),
      ValueTile(label: 'Flight controller SN', value: or(_m.flightControllerSerial, _keys.value(SettingsKeys.fcSerial))),
      ValueTile(label: 'Aircraft firmware', value: or(_m.firmwareVersion, _keys.value(SettingsKeys.firmwarePackage))),
      ValueTile(label: 'Remote firmware', value: _m.controllerFirmwareVersion ?? '—'),
      ValueTile(label: 'DJI Mobile SDK', value: _m.sdkVersion),
    ]);
  }

  void _push(Widget page) => Navigator.of(context).push(MaterialPageRoute<void>(builder: (_) => page));

  Widget _developer() {
    return Column(mainAxisSize: MainAxisSize.min, crossAxisAlignment: CrossAxisAlignment.stretch, children: <Widget>[
      ValueTile(
        key: const ValueKey<String>('row-capabilityProfile'),
        label: 'Capability profile',
        value: 'View',
        onTap: () => _push(ProductProfilePage(model: _m, dji: widget.dji)),
      ),
      ValueTile(
        key: const ValueKey<String>('row-telemetryInspector'),
        label: 'Telemetry inspector',
        value: 'View',
        onTap: () => _push(TelemetryInspectorPage(model: _m, dji: widget.dji)),
      ),
      ValueListenableBuilder<bool>(
        valueListenable: FlyPrefs.classicHud,
        builder: (BuildContext context, bool on, _) => SwitchTile(
          label: 'Classic flight screen',
          hint: 'Takes effect the next time the flight screen opens',
          value: on,
          onChanged: FlyPrefs.setClassicHud,
        ),
      ),
      ValueListenableBuilder<bool>(
        valueListenable: FlyPrefs.perfOverlay,
        builder: (BuildContext context, bool on, _) =>
            SwitchTile(label: 'HUD performance overlay', value: on, onChanged: FlyPrefs.setPerfOverlay),
      ),
      if (HudFeatures.virtualSticks.enabledFor(_profile) || !_profile.connected)
        ValueListenableBuilder<bool>(
          valueListenable: FlyPrefs.sticksInRealFlight,
          builder: (BuildContext context, bool on, _) => SwitchTile(
            key: const ValueKey<String>('row-sticksRealFlight'),
            label: 'On-screen sticks in real flight',
            hint: 'Off: the sticks only fly the simulator on aircraft with a remote',
            value: on,
            onChanged: FlyPrefs.setSticksInRealFlight,
          ),
        ),
    ]);
  }
}