PilotVault/Fly App/test/fly/hud_test.dart

import 'package:flutter/material.dart';
import 'package:flutter_test/flutter_test.dart';
import 'package:pilotvault_fly/dji_service.dart';
import 'package:pilotvault_fly/flight_model.dart';
import 'package:pilotvault_fly/fly/flight_status.dart';
import 'package:pilotvault_fly/fly/flight_trail.dart';
import 'package:pilotvault_fly/fly/hud_geometry.dart';
import 'package:pilotvault_fly/fly/product_profile.dart';
import 'package:pilotvault_fly/fly/state/aircraft_state.dart';
import 'package:pilotvault_fly/fly/state/alert_state.dart';
import 'package:pilotvault_fly/fly/telemetry_reducer.dart';
import 'package:pilotvault_fly/ui/fly/fly_screen.dart';
import 'package:pilotvault_fly/ui/fly/hud_kit.dart';
import 'package:pilotvault_fly/ui/fly/top/smart_battery_bar.dart';

import 'profile_fixtures.dart';
import 'telemetry_fixtures.dart';

AircraftState aircraftFrom(Map<String, dynamic> tick) => AircraftState()..apply(tick);

void main() {
  group('FlightStatus', () {
    test('disconnected and not-yet-reported', () {
      expect(FlightStatus.of(connected: false, a: AircraftState()).text, 'Disconnected');
      expect(FlightStatus.of(connected: true, a: AircraftState()).text, 'Connecting…');
    });

    test('in flight on GPS is ready', () {
      expect(FlightStatus.of(connected: true, a: aircraftFrom(telemetryTick())), const FlightStatus('In Flight (GPS)', StatusLevel.ready));
    });

    test('on the ground with a weak GPS fix asks for caution', () {
      final AircraftState a = aircraftFrom(telemetryTick()
        ..['isFlying'] = false
        ..['gpsSignalLevel'] = 1);
      expect(FlightStatus.of(connected: true, a: a), const FlightStatus('Ready to Go (ATTI)', StatusLevel.caution));
      a.visionPositioningBeingUsed = true;
      expect(FlightStatus.of(connected: true, a: a).text, 'Ready to Go (Vision)');
    });

    test('automatic manoeuvres outrank battery and faults', () {
      final AlertState alerts = AlertState()..apply(<Map<String, dynamic>>[motorBlocked]);
      final AircraftState a = aircraftFrom(telemetryTick()
        ..['isGoingHome'] = true
        ..['isLowBattery'] = true);
      expect(FlightStatus.of(connected: true, a: a, alerts: alerts).text, 'Returning to Home');
      a.goingHome = false;
      expect(FlightStatus.of(connected: true, a: a, alerts: alerts), const FlightStatus('Low battery', StatusLevel.caution));
      a.lowBattery = false;
      expect(FlightStatus.of(connected: true, a: a, alerts: alerts), const FlightStatus('Warning', StatusLevel.danger));
      a.isFlying = false;
      expect(FlightStatus.of(connected: true, a: a, alerts: alerts).text, 'Cannot take off');
    });

    test('a warning-level alert tints a ready state amber', () {
      final AlertState alerts = AlertState()..apply(<Map<String, dynamic>>[sdSlow]);
      expect(alerts.worst, AlertSeverity.warning);
      expect(FlightStatus.of(connected: true, a: aircraftFrom(telemetryTick()), alerts: alerts).level, StatusLevel.caution);
    });
  });

  group('HudGeometry', () {
    test('bearing and distance', () {
      expect(HudGeometry.bearing(55, 12, 55.001, 12), closeTo(0, 0.01));
      expect(HudGeometry.bearing(55, 12, 55, 12.001), closeTo(90, 0.1));
      expect(HudGeometry.bearing(55, 12, 54.999, 12), closeTo(180, 0.01));
      expect(HudGeometry.bearing(55, 12, 55, 11.999), closeTo(270, 0.1));
      // 0.001° of latitude ≈ 111 m.
      expect(HudGeometry.distance(55, 12, 55.001, 12), closeTo(111.2, 0.5));
    });

    test('ball offset: north is up, east is right, beyond range pins to the rim', () {
      Offset at(double b, double d, {double up = 0}) =>
          HudGeometry.ballOffset(bearingDeg: b, distanceM: d, radius: 40, rangeM: 100, upDeg: up);
      expect(at(0, 50).dy, closeTo(-20, 1e-9));
      expect(at(0, 50).dx, closeTo(0, 1e-9));
      expect(at(90, 50).dx, closeTo(20, 1e-9));
      expect(at(180, 1000).dy, closeTo(40, 1e-9));
      // Heading-up: a point dead ahead of an east-facing aircraft is drawn up.
      expect(at(90, 100, up: 90).dy, closeTo(-40, 1e-9));
    });

    test('ball range steps up to fit the farthest point', () {
      expect(HudGeometry.ballRange(0), 25);
      expect(HudGeometry.ballRange(26), 50);
      expect(HudGeometry.ballRange(450), 500);
      expect(HudGeometry.ballRange(1e6), HudGeometry.ballRanges.last);
    });

    test('horizon moves up when the nose drops', () {
      expect(HudGeometry.horizonShift(-9), lessThan(0));
      expect(HudGeometry.horizonShift(9), greaterThan(0));
      expect(HudGeometry.horizonShift(-90), -1);
    });

    test('formatDuration', () {
      expect(formatDuration(null), '--:--');
      expect(formatDuration(65), '01:05');
      expect(formatDuration(3725), '1:02:05');
    });
  });

  group('BatteryBarLayout', () {
    BatteryBarLayout layout(int p) => BatteryBarLayout.from(
          percent: p,
          batteryNeededToLand: 6,
          batteryNeededToGoHome: 12,
          lowThreshold: 30,
          criticalThreshold: 15,
        );

    test('markers sit at the reported percentages', () {
      final BatteryBarLayout l = layout(64);
      expect(l.fill, 0.64);
      expect(l.landMarker, 0.06);
      expect(l.homeMarker, 0.12);
      expect(l.band, 0);
    });

    test('band follows the thresholds', () {
      expect(layout(25).band, 1, reason: 'below the low warning');
      expect(layout(14).band, 2, reason: 'below the critical warning');
      expect(BatteryBarLayout.from(percent: 10, batteryNeededToGoHome: 12).band, 1);
      expect(BatteryBarLayout.from(percent: 5, batteryNeededToLand: 6).band, 2);
    });

    test('unreported markers are absent', () {
      final BatteryBarLayout l = BatteryBarLayout.from(percent: 50, batteryNeededToLand: 0);
      expect(l.landMarker, isNull);
      expect(l.homeMarker, isNull);
    });
  });

  group('FlightTrail', () {
    test('keeps a point every few metres and ignores no-fix zeros', () {
      final AircraftState a = AircraftState();
      final FlightTrail t = FlightTrail(a, minSpacing: 5);
      a.apply(telemetryTick()
        ..['latitude'] = 0.0
        ..['longitude'] = 0.0);
      expect(t.points, isEmpty);
      a.apply(telemetryTick());
      a.apply(telemetryTick()..['latitude'] = 55.67611); // ~1 m: dropped
      a.apply(telemetryTick()..['latitude'] = 55.6762); // ~11 m: kept
      expect(t.points, hasLength(2));
      t.clear();
      expect(t.points, isEmpty);
      t.dispose();
    });
  });

  group('P2 telemetry groups', () {
    test('ssd, thermal and the RC role reach their sub-models', () {
      final FlightModel m = FlightModel()..connected = true;
      TelemetryReducer(m).apply(telemetryTick()
        ..['ssd'] = <Object?, Object?>{'connected': true, 'state': 'IDLE', 'remainingMB': 400000, 'availableRecordingSeconds': 3600}
        ..['thermal'] = <Object?, Object?>{'spotTemperature': 36.6}
        ..['rc'] = <Object?, Object?>{'batteryPercent': 80, 'mode': 'SLAVE', 'masterSlaveConnected': true});
      expect(m.camera.ssd!.status, 'OK');
      expect(m.camera.ssd!.availableRecordingSeconds, 3600);
      expect(m.camera.thermalSpot, 36.6);
      expect(m.links.rcRoleBadge, 'S');
    });
  });

  group('HudScale', () {
    test('phones shrink slightly, tablets grow', () {
      expect(HudScale.scaleFor(390), 1.0);
      expect(HudScale.scaleFor(340), lessThan(1.0));
      expect(HudScale.scaleFor(800), greaterThan(1.2));
    });
  });

  group('FlyScreen', () {
    FlightModel modelFor(Map<String, dynamic> profile, {Map<String, dynamic>? tick}) {
      final FlightModel m = FlightModel()
        ..connected = true
        ..profile = ProductProfile.fromBridge(profile);
      TelemetryReducer(m).apply(tick ?? telemetryTick());
      return m;
    }

    Map<String, dynamic> dualPackTick() {
      final Map<String, dynamic> t = telemetryTick();
      final Map<Object?, Object?> b = Map<Object?, Object?>.from(t['battery'] as Map);
      final List<Object?> packs = List<Object?>.from(b['packs'] as List);
      packs.add(<Object?, Object?>{...(packs.first as Map), 'index': 1, 'percent': 61});
      b['packs'] = packs;
      t['battery'] = b;
      t['ssd'] = <Object?, Object?>{'connected': true, 'state': 'IDLE', 'remainingMB': 400000, 'availableRecordingSeconds': 3600};
      t['rc'] = <Object?, Object?>{'batteryPercent': 80, 'mode': 'MASTER', 'masterSlaveConnected': true};
      return t;
    }

    Future<void> pump(WidgetTester tester, FlightModel m, {Size size = const Size(844, 390)}) async {
      tester.view.physicalSize = size;
      tester.view.devicePixelRatio = 1;
      addTearDown(tester.view.reset);
      await tester.pumpWidget(MaterialApp(home: FlyScreen(model: m, dji: DjiService())));
      await tester.pump(const Duration(milliseconds: 50));
    }

    int batteryBars(WidgetTester tester) =>
        tester.widgetList(find.byWidgetPredicate((Widget w) => w is CustomPaint && w.painter is SmartBatteryPainter)).length;

    testWidgets('Spark on Wi-Fi: Wi-Fi bars, one battery bar, no SSD', (WidgetTester tester) async {
      await pump(tester, modelFor(sparkWifi));
      expect(find.text('WI-FI'), findsOneWidget);
      expect(find.text('RC'), findsNothing);
      expect(batteryBars(tester), 1);
      expect(find.textContaining('SSD'), findsNothing);
      expect(find.text('In Flight (GPS)'), findsOneWidget);
      expect(tester.takeException(), isNull);
    });

    testWidgets('the mode chip does not repeat a lock the mode already names', (WidgetTester tester) async {
      await pump(tester, modelFor(phantom4, tick: telemetryTick()..['flightMode'] = 'CL'..['orientationMode'] = 'COURSE_LOCK'));
      expect(find.text('CL'), findsOneWidget);
      expect(find.text('CL · CL'), findsNothing);
    });

    testWidgets('the mode chip adds the lock to a plain mode', (WidgetTester tester) async {
      await pump(tester, modelFor(phantom4, tick: telemetryTick()..['orientationMode'] = 'HOME_LOCK'));
      expect(find.text('P-GPS · HL'), findsOneWidget);
    });

    testWidgets('hudHidden leaves only the feed, full-screen', (WidgetTester tester) async {
      final FlightModel m = modelFor(phantom4);
      await pump(tester, m);
      expect(find.text('64%'), findsOneWidget);

      m.hudHidden.value = true;
      await tester.pump();
      expect(find.text('64%'), findsNothing, reason: 'the HUD is offstage');
      final Rect video = tester.getRect(find.byKey(const ValueKey<String>('video-slot')));
      expect(video, Offset.zero & const Size(844, 390));

      m.hudHidden.value = false;
      await tester.pump();
      expect(find.text('64%'), findsOneWidget);
      expect(tester.takeException(), isNull);
    });

    testWidgets('Phantom 4: RC + HD bars and the telemetry strip', (WidgetTester tester) async {
      await pump(tester, modelFor(phantom4));
      expect(find.text('RC'), findsOneWidget);
      expect(find.text('HD'), findsOneWidget);
      expect(find.text('WI-FI'), findsNothing);
      expect(batteryBars(tester), 1);
      expect(find.text('32.4 m', findRichText: true), findsOneWidget, reason: 'altitude');
      expect(find.text('13:00'), findsOneWidget, reason: 'remaining flight time');
      expect(find.text('64%'), findsOneWidget);
      expect(tester.takeException(), isNull);
    });

    testWidgets('Inspire 2 + X5S: dual battery, SSD, aperture and master badge', (WidgetTester tester) async {
      await pump(tester, modelFor(inspire2X5s, tick: dualPackTick()));
      expect(batteryBars(tester), 2);
      expect(find.text('SSD'), findsOneWidget);
      expect(find.text('F'), findsOneWidget);
      expect(find.text('M'), findsOneWidget);
      expect(tester.takeException(), isNull);
    });

    testWidgets('lays out without overflow on a tablet and a small phone', (WidgetTester tester) async {
      for (final Size s in const <Size>[Size(1280, 800), Size(740, 340)]) {
        await pump(tester, modelFor(inspire2X5s, tick: dualPackTick()), size: s);
        expect(tester.takeException(), isNull, reason: '$s');
      }
    });

    testWidgets('tapping the corner box swaps map and video', (WidgetTester tester) async {
      await pump(tester, modelFor(phantom4));
      expect(find.text('MAP'), findsOneWidget);
      await tester.tap(find.text('MAP'));
      await tester.pump();
      expect(find.text('VIDEO'), findsOneWidget);
      expect(find.text('CLR'), findsOneWidget, reason: 'minimap controls while the map is big');
      await tester.tap(find.text('VIDEO'));
      await tester.pump();
      expect(find.text('MAP'), findsOneWidget);
    });
  });
}