tajniak81andClaude Opus 5.5
f6bbb1cfee
The GO 4-style HUD needs far more live data than the bridge sent, and pushing every SDK callback straight to Dart would rebuild the screen dozens of times a second. This is the telemetry foundation (plan P1). On the Kotlin side, every source now writes into a TelemetryHub that emits one telemetry event per tick: flight-controller state, gimbal and vision at up to 10 Hz, battery, links, RC, storage and camera settings folded in at up to 2 Hz. Each event carries the full latest snapshot, so a consumer that drops packets never loses a slow group. New bridges cover batteries (every pack, cell voltages, warning thresholds), link quality and RC battery, diagnostics, and obstacle sensing per sensor. KeyBridge adds generic getKey/setKey/listenKey over KeyManager for the settings rows to come. The flight controller also gains smart-RTH confirmation and simulator start/stop. On the Dart side, FlightModel now owns one ChangeNotifier per subsystem (aircraft, battery, links, camera, gimbal, vision, alerts, mission), so a HUD widget can listen to just the one it draws. TelemetryReducer routes events into them, only notifies groups that changed, and gives FlightModel one notification per tick. Flat getters keep the existing screens working. Diagnostics become graded, de-duplicated alerts. Settings > About > Telemetry inspector shows every field live and can start the simulator. Battery no longer arrives as its own event, so the API Server reads the percentage from the telemetry snapshot (the old event is still accepted). Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
95 lines
2.9 KiB
Dart
95 lines
2.9 KiB
Dart
import 'package:flutter/foundation.dart';
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import 'parse.dart';
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/// One obstacle-detection sector of a sensor, left to right.
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@immutable
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class VisionSector {
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const VisionSector({this.distance, this.warningLevel});
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final double? distance; // m
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/// `LEVEL_1` (far) … `LEVEL_6` (very close), or `INVALID`.
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final String? warningLevel;
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/// 0 when invalid or unknown, else 1–6.
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int get level {
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final String? w = warningLevel;
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if (w == null || !w.startsWith('LEVEL_')) return 0;
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return int.tryParse(w.substring(6)) ?? 0;
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}
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}
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/// What one vision sensor position (nose, tail, left, right) sees.
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@immutable
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class VisionReading {
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const VisionReading({
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required this.position,
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this.isSensorBeingUsed = false,
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this.isDisabled = false,
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this.systemWarning,
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this.distance,
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this.avoidAlertLevel,
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this.sectors = const <VisionSector>[],
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});
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factory VisionReading.fromMap(String position, Map<String, dynamic> m) => VisionReading(
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position: position,
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isSensorBeingUsed: asBool(m['isSensorBeingUsed']) ?? false,
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isDisabled: asBool(m['isDisabled']) ?? false,
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systemWarning: asString(m['systemWarning']),
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distance: finite(m['distance']),
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avoidAlertLevel: asInt(m['avoidAlertLevel']),
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sectors: <VisionSector>[
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for (final Map<String, dynamic> s in asMapList(m['sectors']))
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VisionSector(distance: finite(s['distance']), warningLevel: asString(s['warningLevel'])),
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],
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);
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final String position; // NOSE / TAIL / LEFT / RIGHT
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final bool isSensorBeingUsed;
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final bool isDisabled;
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final String? systemWarning; // SAFE / DANGEROUS / INVALID
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final double? distance; // m, closest obstacle
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final int? avoidAlertLevel;
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final List<VisionSector> sectors;
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bool get dangerous => systemWarning == 'DANGEROUS';
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}
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/// Obstacle sensing per sensor position. Fed from the `vision` group of the
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/// telemetry tick; empty on aircraft without obstacle sensing.
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class VisionState extends ChangeNotifier {
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Map<String, VisionReading> sensors = const <String, VisionReading>{};
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DateTime? updatedAt;
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VisionReading? get nose => sensors['NOSE'];
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VisionReading? get tail => sensors['TAIL'];
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/// The nearest obstacle any sensor reports, in metres.
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double? get closest {
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double? best;
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for (final VisionReading r in sensors.values) {
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final double? d = r.distance;
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if (d != null && (best == null || d < best)) best = d;
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}
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return best;
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}
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void apply(Map<String, dynamic>? vision) {
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sensors = <String, VisionReading>{
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if (vision != null)
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for (final MapEntry<String, dynamic> e in vision.entries)
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if (e.value is Map) e.key: VisionReading.fromMap(e.key, Map<String, dynamic>.from(e.value as Map)),
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};
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if (vision != null) updatedAt = DateTime.now();
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notifyListeners();
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}
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void clear() {
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sensors = const <String, VisionReading>{};
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updatedAt = null;
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notifyListeners();
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}
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}
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