393 lines
14 KiB
Dart
393 lines
14 KiB
Dart
import 'dart:async';
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import 'dart:math' as math;
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import 'package:flutter/foundation.dart';
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import 'package:flutter_map/flutter_map.dart';
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import 'package:geolocator/geolocator.dart' as geo;
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import 'package:get/get.dart';
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import 'package:latlong2/latlong.dart';
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import 'package:supabase_flutter/supabase_flutter.dart';
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import 'package:terepi_seged/models/measure_source_point.dart';
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import 'package:terepi_seged/models/vibro_nav_route.dart';
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import 'package:terepi_seged/services/app_logger.dart';
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import 'package:terepi_seged/services/coord_converter_service.dart';
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import 'package:terepi_seged/services/gnss/gnss_connection.dart';
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import 'package:terepi_seged/services/gnss/gnss_service.dart';
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import 'package:terepi_seged/services/gnss/phone_gps_connection.dart';
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import 'package:terepi_seged/services/measure_source_point_service.dart';
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import 'package:terepi_seged/services/project_service.dart';
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import 'package:terepi_seged/services/vechicle_identity_service.dart';
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import 'package:terepi_seged/services/vibro_nav_route_service.dart';
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/// Forráspont + egyszer kiszámolt WGS84 pozíció. A térkép ebből rajzol,
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/// így GNSS-frissítéskor nincs újraszámolás.
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class GeoSourcePoint {
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final MeasureSourcePoint point;
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final LatLng latLng;
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const GeoSourcePoint(this.point, this.latLng);
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}
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/// Navigációs képernyő — a KÜLSŐ (Bluetooth/BLE RTK-vevő, vagy a telefon
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/// GPS-e, amit a GnssService-eszközválasztóval választasz ki) a FŐ
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/// pozíció. EMELLETT, attól teljesen FÜGGETLENÜL, mindig fut egy saját,
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/// belső telefon-GPS kapcsolat is — akkor is naplózódik, ha épp külső
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/// vevő az aktív forrás.
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///
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/// Mindkét adatfolyam a KÖZÖS, PC-szoftverrel is megosztott
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/// `TerepiSeged_VibratorTracker` táblába ír, a `gpsType` mezővel
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/// megkülönböztetve (1 = külső/fő forrás, 2 = belső telefon-GPS).
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class VibroNavController extends GetxController {
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static VibroNavController get to => Get.find();
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static const _gpsTypeExternal = 1;
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static const _gpsTypeInternal = 2;
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static const _trailMaxPoints = 300;
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static const _trailMinDistM = 3.0;
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final mapController = MapController();
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final mapReady = false.obs;
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final hasPosition = false.obs;
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final travelHeading = Rxn<double>();
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final speedKmh = 0.0.obs;
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/// Ha true, a térkép automatikusan követi a pozíciót. Amint a
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/// felhasználó kézzel elhúzza/nagyítja a térképet, false-ra vált — a
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/// nézet ilyenkor "ott marad", és egy gomb hozza vissza a követést.
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final followMode = true.obs;
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/// Track-up: a térkép a haladási irány szerint forogjon, ne mindig
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/// észak legyen fent. Kikapcsolható, ha inkább a hagyományos,
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/// észak-fent nézetet szeretnéd.
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final trackUpEnabled = true.obs;
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final trail = <LatLng>[].obs;
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final sourcePoints = <MeasureSourcePoint>[].obs;
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final geoSourcePoints = <GeoSourcePoint>[].obs;
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final Map<String, LatLng?> _geoCache = {};
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final isLoadingSourcePoints = false.obs;
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final routes = <VibroNavRoute>[].obs;
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StreamSubscription<List<VibroNavRoute>>? _routesSub;
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/// Ha false, a tartalék (plan_state = 0) pontok nem jelennek meg a
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/// térképen — csak a jelgerjesztés helyei (plan_state = 1) látszanak.
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final showReservePoints = false.obs;
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final lastExternalUploadAt = Rxn<DateTime>();
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final lastInternalUploadAt = Rxn<DateTime>();
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final externalUploadPulse = false.obs;
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final internalUploadPulse = false.obs;
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StreamSubscription? _gnssUpdateSub;
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Timer? _externalUploadTimer;
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final _internalGps = PhoneGpsConnection();
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StreamSubscription<geo.Position>? _internalPositionSub;
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StreamSubscription<SourcePointFetchResult>? _sourcePointsSub;
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geo.Position? _lastInternalPosition;
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Timer? _internalUploadTimer;
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double? _histY, _histX;
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DateTime? _histTime;
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static const _headingFreezeSpeedKmh = 5.0;
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@override
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void onInit() {
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super.onInit();
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watchSourcePoints();
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watchRoutes();
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ever(ProjectService.to.activeProject, (_) {
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watchSourcePoints();
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watchRoutes();
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});
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if (Get.isRegistered<GnssService>()) {
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_gnssUpdateSub =
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GnssService.to.onDataUpdated.listen((_) => _onExternalPosition());
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GnssService.to.determineInitialPosition().whenComplete(() {
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// A kezdő pozíció lekérése önmagában NEM vált ki onDataUpdated-et
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// — ha lett érvényes koordináta, itt kell külön jeleznünk, hogy a
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// térkép ne maradjon a "nincs pozíció" alapértéken.
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final gnss = GnssService.to;
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if (gnss.latitude.value != 0) {
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hasPosition.value = true;
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_addTrailPoint(LatLng(gnss.latitude.value, gnss.longitude.value));
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}
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mapReady.value = true;
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});
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} else {
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mapReady.value = true;
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}
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// A kézi térkép-húzás felismerése mostantól a MapOptions
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// onPositionChanged (hasGesture) callback-jén megy, közvetlenül a
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// View-ban — az megbízhatóbb, mint a nyers mapEventStream-forrás
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// találgatása volt.
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_externalUploadTimer =
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Timer.periodic(const Duration(seconds: 5), (_) => _uploadExternal());
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_startInternalGps();
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_internalUploadTimer =
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Timer.periodic(const Duration(seconds: 10), (_) => _uploadInternal());
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}
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@override
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void onClose() {
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_gnssUpdateSub?.cancel();
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_sourcePointsSub?.cancel();
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_routesSub?.cancel();
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_externalUploadTimer?.cancel();
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_internalUploadTimer?.cancel();
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_internalPositionSub?.cancel();
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_internalGps.disconnect().whenComplete(_internalGps.dispose);
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super.onClose();
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}
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void resumeFollowing() {
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followMode.value = true;
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}
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void toggleTrackUp() {
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trackUpEnabled.value = !trackUpEnabled.value;
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}
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// ═════════════════════════════════════════════════════════════════
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// Külső (fő) pozíció
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// ═════════════════════════════════════════════════════════════════
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void _onExternalPosition() {
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final gnss = GnssService.to;
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if (gnss.gpsQuality.value <= 0 ||
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gnss.latitude.value == 0 ||
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!Get.isRegistered<CoordConverterService>()) {
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return;
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}
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final p = CoordConverterService.to
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.wgsToEovPoint(gnss.longitude.value, gnss.latitude.value);
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if (!p.x.isFinite || !p.y.isFinite) return;
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final now = DateTime.now();
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if (_histY != null && _histTime != null) {
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final dy = p.x - _histY!;
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final dx = p.y - _histX!;
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final dist = math.sqrt(dy * dy + dx * dx);
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final dtSec = now.difference(_histTime!).inMilliseconds / 1000.0;
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if (dtSec > 0) {
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final v = (dist / dtSec) * 3.6;
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speedKmh.value = v;
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if (v >= _headingFreezeSpeedKmh && dist > 0.3) {
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travelHeading.value =
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(math.atan2(dy, dx) * 180 / math.pi + 360) % 360;
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}
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}
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}
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_histY = p.x;
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_histX = p.y;
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_histTime = now;
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hasPosition.value = true;
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_addTrailPoint(LatLng(gnss.latitude.value, gnss.longitude.value));
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}
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void _addTrailPoint(LatLng p) {
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if (trail.isNotEmpty) {
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final d = const Distance().as(LengthUnit.Meter, trail.last, p);
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if (d < _trailMinDistM) return;
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}
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trail.add(p);
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if (trail.length > _trailMaxPoints) trail.removeAt(0);
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}
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Future<void> _uploadExternal() async {
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final gnss = GnssService.to;
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if (!hasPosition.value) return;
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final vehicleNumber =
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_vehicleNumberFrom(VehicleIdentityService.to.selectedVehicle.value);
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if (vehicleNumber == null) return;
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try {
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final p = Get.isRegistered<CoordConverterService>()
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? CoordConverterService.to
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.wgsToEovPoint(gnss.longitude.value, gnss.latitude.value)
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: null;
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await Supabase.instance.client
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.from('TerepiSeged_VibratorTracker')
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.insert({
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'gpsType': _gpsTypeExternal,
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'vibratorNumber': vehicleNumber,
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'gpsQuality': gnss.gpsQuality.value,
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'gpsDateTime': gnss.gpsDateTime.value.toUtc().toIso8601String(),
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'latitude': gnss.latitude.value,
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'longitude': gnss.longitude.value,
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'altitude': gnss.altitude.value,
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'eovY': p?.x,
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'eovX': p?.y,
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'horizontalError':
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math.max(gnss.latitudeError.value, gnss.longitudeError.value),
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'verticalError': gnss.altitudeError.value,
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});
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lastExternalUploadAt.value = DateTime.now();
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_pulse(externalUploadPulse);
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} catch (e) {
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AppLogger.e(
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'NavigationController', 'Külső GPS-pozíció feltöltési hiba: $e');
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}
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}
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// ═════════════════════════════════════════════════════════════════
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// Belső (telefon) GPS
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// ═════════════════════════════════════════════════════════════════
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Future<void> _startInternalGps() async {
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_internalPositionSub = _internalGps.positionStream.listen((pos) {
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_lastInternalPosition = pos;
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});
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await _internalGps.connect('internal');
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}
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Future<void> _uploadInternal() async {
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final pos = _lastInternalPosition;
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if (pos == null) return;
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final vehicleNumber =
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_vehicleNumberFrom(VehicleIdentityService.to.selectedVehicle.value);
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if (vehicleNumber == null) return;
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try {
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final p = Get.isRegistered<CoordConverterService>()
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? CoordConverterService.to.wgsToEovPoint(pos.longitude, pos.latitude)
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: null;
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await Supabase.instance.client
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.from('TerepiSeged_VibratorTracker')
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.insert({
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'gpsType': _gpsTypeInternal,
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'vibratorNumber': vehicleNumber,
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'gpsQuality': 1,
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'gpsDateTime': pos.timestamp.toUtc().toIso8601String(),
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'latitude': pos.latitude,
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'longitude': pos.longitude,
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'altitude': pos.altitude,
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'eovY': p?.x,
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'eovX': p?.y,
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'horizontalError': pos.accuracy,
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'verticalError': pos.altitudeAccuracy,
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});
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lastInternalUploadAt.value = DateTime.now();
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_pulse(internalUploadPulse);
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} catch (e) {
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AppLogger.e('NavigationController',
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'Belső (telefon) GPS-pozíció feltöltési hiba: $e');
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}
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}
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// ═════════════════════════════════════════════════════════════════
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// Segéd
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// ═════════════════════════════════════════════════════════════════
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void _pulse(RxBool flag) {
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flag.value = true;
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Future.delayed(const Duration(milliseconds: 900), () => flag.value = false);
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}
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/// A "Teszt" egy jól elkülöníthető, a valódi 1-4-es járművekkel SOHA
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/// nem ütköző azonosítót kap (99) — így tesztelés közben is végigfut
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/// a teljes feltöltési lánc, csak a PC-szoftver oldalán egyértelműen
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/// megkülönböztethető a valódi terepi adatoktól.
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static const testVehicleNumber = 99;
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int? _vehicleNumberFrom(String? vehicleId) {
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if (vehicleId == null) return null;
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if (vehicleId == 'Teszt') return testVehicleNumber;
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final digits = vehicleId.replaceAll(RegExp(r'[^0-9]'), '');
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return int.tryParse(digits);
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}
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void watchSourcePoints() {
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_sourcePointsSub?.cancel();
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final projectId = ProjectService.to.activeProject.value?.uuid;
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if (projectId == null) {
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sourcePoints.clear();
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geoSourcePoints.clear();
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return;
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}
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isLoadingSourcePoints.value = true;
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_sourcePointsSub =
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MeasureSourcePointService.to.watchTodayOrUndated(projectId).listen(
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(result) {
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sourcePoints.value = result.points;
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geoSourcePoints.value = _toGeo(result.points);
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isLoadingSourcePoints.value = false;
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if (result.capped) {
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Get.snackbar(
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'Sok forráspont',
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'A megjelenített pontok száma korlátozva lett — érdemes '
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'kitölteni a tervezett dátumot a projektben.',
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snackPosition: SnackPosition.BOTTOM,
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duration: const Duration(seconds: 5),
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);
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}
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},
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onError: (e) {
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isLoadingSourcePoints.value = false;
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AppLogger.e('NavigationController', 'Forráspont-stream hiba: $e');
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},
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);
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}
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void toggleReservePoints() {
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showReservePoints.value = !showReservePoints.value;
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}
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/// Átváltás pontonként EGYSZER. A nem véges eredményeket eldobjuk,
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/// mert a LatLng NaN összeomlasztja a kamerát.
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List<GeoSourcePoint> _toGeo(List<MeasureSourcePoint> pts) {
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if (!Get.isRegistered<CoordConverterService>()) return const [];
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final conv = CoordConverterService.to;
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final out = <GeoSourcePoint>[];
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for (final p in pts) {
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final key = '${p.eovX}_${p.eovY}';
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final ll = _geoCache.putIfAbsent(key, () {
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try {
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final w = conv.eovToWgsPoint(p.eovY, p.eovX);
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if (w.x.isFinite && w.y.isFinite) return LatLng(w.y, w.x);
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} catch (_) {}
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return null;
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});
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if (ll != null) out.add(GeoSourcePoint(p, ll));
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}
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return out;
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}
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List<GeoSourcePoint> get visibleGeoSourcePoints => showReservePoints.value
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? geoSourcePoints
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: geoSourcePoints.where((g) => g.point.isShotLocation).toList();
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void watchRoutes() {
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_routesSub?.cancel();
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final projectId = ProjectService.to.activeProject.value?.uuid;
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if (projectId == null) {
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routes.clear();
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return;
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}
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_routesSub = VibroNavRouteService.to.watchForToday(projectId).listen(
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(list) => routes.value = list,
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onError: (e) =>
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AppLogger.e('VibroNavController', 'Útvonal-stream hiba: $e'),
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);
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}
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/// A térkép ezt rajzolja: a mai napra érvényes útvonalak közül azok,
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/// amelyek minden járműre szólnak, vagy erre a járműre. A járműváltásra
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/// azonnal reagál.
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List<VibroNavRoute> get visibleRoutes {
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final v = VehicleIdentityService.to.selectedVehicle.value;
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return routes.where((r) => r.vehicle == null || r.vehicle == v).toList();
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}
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}
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