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

import 'package:flutter/material.dart';
import 'package:flutter_test/flutter_test.dart';
import 'package:pilotvault_fly/flight_model.dart';
import 'package:pilotvault_fly/fly/state/alert_state.dart';
import 'package:pilotvault_fly/fly/state/link_state.dart';
import 'package:pilotvault_fly/fly/telemetry_reducer.dart';
import 'package:pilotvault_fly/ui/fly/debug/telemetry_inspector_page.dart';

import 'telemetry_fixtures.dart';

/// Counts notifications from [l].
int Function() counter(Listenable l) {
  int n = 0;
  l.addListener(() => n++);
  return () => n;
}

void main() {
  late FlightModel m;
  late TelemetryReducer r;

  setUp(() {
    m = FlightModel()..connected = true;
    r = TelemetryReducer(m);
  });

  group('TelemetryReducer', () {
    test('a tick fills every sub-model', () {
      expect(r.apply(telemetryTick()), isTrue);

      expect(m.aircraft.flightMode, 'P-GPS');
      expect(m.aircraft.flightModeEnum, 'GPS_ATTI');
      expect(m.aircraft.pitch, -1.2);
      expect(m.aircraft.flightTimeSeconds, 245);
      expect(m.aircraft.ultrasonicHeight, isNull, reason: 'NaN reads as unreported');
      expect(m.aircraft.vpsHeight, isNull);
      expect(m.aircraft.goHome!.batteryNeededToGoHome, 12);
      expect(m.aircraft.goHome!.remainingFlightTime, 780);

      expect(m.battery.percent, 64);
      expect(m.battery.lowWarningThreshold, 30);
      expect(m.battery.packs.single.cellVoltages, <double>[3.91, 3.90, 3.92, 3.88]);
      expect(m.battery.packs.single.cellDeviation, closeTo(0.04, 1e-9));

      expect(m.links.uplinkQuality, 88);
      expect(m.links.downlinkQuality, 74);
      expect(m.links.rcBatteryPercent, 81);

      expect(m.camera.storage!.status, 'OK');
      expect(m.camera.storage!.availableRecordingSeconds, 7260);
      expect(m.camera.focusMode, 'AFC');

      expect(m.gimbal.pitch, -30);
      expect(m.vision.nose!.sectors, hasLength(4));
      expect(m.vision.nose!.sectors[1].level, 2);
      expect(m.vision.nose!.sectors[3].level, 0);
      expect(m.vision.closest, 6.5);

      // Pre-P2 screens read the same values through the flat getters.
      expect(m.batteryPercent, 64);
      expect(m.altitude, 32.4);
      expect(m.gimbalPitch, -30);
      expect(m.sdRemainingMB, 48211);
    });

    test('FlightModel notifies once per tick, not once per sub-model', () {
      final int Function() n = counter(m);
      r.apply(telemetryTick());
      expect(n(), 1);
    });

    test('an unchanged slow group does not re-notify its sub-model', () {
      r.apply(telemetryTick());
      final int Function() battery = counter(m.battery);
      final int Function() links = counter(m.links);
      final int Function() aircraft = counter(m.aircraft);

      r.apply(telemetryTick(altitude: 33)); // only flight state moved
      expect(aircraft(), 1);
      expect(battery(), 0);
      expect(links(), 0);

      r.apply(telemetryTick(altitude: 33, battery: 63, uplink: 60));
      expect(battery(), 1);
      expect(links(), 1);
      expect(m.battery.percent, 63);
      expect(LinkState.bars(m.links.uplinkQuality), 3);
    });

    test('a group missing from the snapshot leaves its sub-model empty', () {
      r.apply(telemetryTick());
      final Map<String, dynamic> noVision = telemetryTick()..remove('vision');
      r.apply(noVision);
      expect(m.vision.sensors, isEmpty);
    });

    test('telemetry after a disconnect is ignored', () {
      m.connected = false;
      r.apply(telemetryTick());
      expect(m.aircraft.flightMode, isNull);
      expect(m.battery.percent, isNull);
    });

    test('clearTelemetry + reset start the next aircraft from scratch', () {
      r.apply(telemetryTick());
      m.clearTelemetry();
      r.reset();
      expect(m.battery.percent, isNull);
      expect(m.camera.storage, isNull);
      r.apply(telemetryTick());
      expect(m.battery.percent, 64, reason: 'same groups as before must re-apply after a reset');
    });

    test('smart-RTH countdown is visible', () {
      r.apply(telemetryTick(smartRTHState: 'COUNTING_DOWN'));
      expect(m.aircraft.goHome!.smartRTHCountingDown, isTrue);
    });

    test('non-telemetry events pass through', () {
      expect(r.apply(<String, dynamic>{'type': 'connection', 'connected': true}), isFalse);
      expect(r.apply(<String, dynamic>{'type': 'mission', 'state': 'tracking'}), isTrue);
      expect(m.tracking, isTrue);
    });
  });

  group('AlertState', () {
    test('diagnostics are graded, ordered and de-duplicated', () {
      r.apply(diagnostics(<Map<String, Object?>>[compassInterference, sdSlow, motorBlocked, compassInterference]));
      final List<DiagnosticAlert> a = m.alerts.all;
      expect(a, hasLength(3));
      expect(a.first.reason, 'Motor blocked.');
      expect(a.first.severity, AlertSeverity.critical);
      expect(m.alerts.top!.code, 1301);
      expect(a.map((DiagnosticAlert d) => d.severity).skip(1), everyElement(AlertSeverity.warning));
      expect(m.alerts.lastAdded, hasLength(3));
    });

    test('a listed alert keeps its first-seen time; cleared ones drop out', () {
      final AlertState s = AlertState();
      final DateTime t0 = DateTime(2026, 10, 19, 12);
      s.apply(<Map<String, dynamic>>[compassInterference], now: t0);
      s.apply(<Map<String, dynamic>>[compassInterference, sdSlow], now: t0.add(const Duration(seconds: 5)));
      expect(s.all.firstWhere((DiagnosticAlert d) => d.code == 1004).firstSeen, t0);
      expect(s.lastAdded, <String>{'CAMERA/2010/0'});
      s.apply(<Map<String, dynamic>>[sdSlow]);
      expect(s.all.single.code, 2010);
    });

    test('a dismissed alert stays hidden until it clears and returns', () {
      final AlertState s = AlertState();
      s.apply(<Map<String, dynamic>>[sdSlow]);
      s.dismiss('CAMERA/2010/0');
      expect(s.active, isEmpty);
      expect(s.top, isNotNull, reason: 'the marquee still shows it');
      s.apply(<Map<String, dynamic>>[sdSlow]);
      expect(s.active, isEmpty);
      s.apply(const <Map<String, dynamic>>[]);
      s.apply(<Map<String, dynamic>>[sdSlow]);
      expect(s.active, hasLength(1));
    });

    test('grading heuristic', () {
      expect(AlertState.grade('BATTERY', 'Critically low battery.', null), AlertSeverity.critical);
      expect(AlertState.grade('FLIGHT_CONTROLLER', 'IMU preheating.', null), AlertSeverity.info);
      expect(AlertState.grade('GIMBAL', 'Gimbal motor overloaded.', null), AlertSeverity.critical);
      expect(AlertState.grade('CAMERA', 'SD card write speed slow.', null), AlertSeverity.warning);
    });
  });

  testWidgets('telemetry inspector renders every section from a tick', (WidgetTester tester) async {
    r.apply(telemetryTick());
    r.apply(diagnostics(<Map<String, Object?>>[motorBlocked]));
    await tester.pumpWidget(MaterialApp(home: Scaffold(body: TelemetryInspector(model: m))));

    expect(find.text('P-GPS  (GPS_ATTI)'), findsOneWidget);
    await tester.scrollUntilVisible(find.text('88 / 100'), 300);
    expect(find.text('88 / 100'), findsOneWidget);
    await tester.scrollUntilVisible(find.text('critical · FLIGHT_CONTROLLER 1301'), 300);
    expect(find.text('critical · FLIGHT_CONTROLLER 1301'), findsOneWidget);

    await tester.pumpWidget(const SizedBox()); // dispose the timer
  });
}