feat: Add serial compass support #0

2026-08-11 16:30:28 +00:00 · 2026-03-19 21:38:54 +01:00
parent 5a58e45e13
commit 721fb7e7a2
26 changed files with 1014 additions and 217 deletions
--- a/lib/widgets/connection_dialog.dart
+++ b/lib/widgets/connection_dialog.dart
@@ -1,13 +1,11 @@
-import 'package:flutter/foundation.dart';
 import 'package:flutter/material.dart';
-import 'package:meshcore_client/meshcore_client.dart' hide Contact;
 import 'package:provider/provider.dart';
-import 'package:usb_serial/usb_serial.dart';

 import '../l10n/app_localizations.dart';
 import '../providers/app_provider.dart';
 import '../providers/connection_provider.dart';
 import '../services/network_scanner_service.dart';
+import '../services/serial/serial_transport.dart';

 /// Connection Dialog with tabs for BLE devices and Network servers
 class ConnectionDialog extends StatefulWidget {
@@ -166,7 +164,7 @@ class _ConnectionDialogState extends State<ConnectionDialog>
                          ),
                          const SizedBox(height: 2),
                          Text(
-                            'Choose Bluetooth, WiFi, or USB transport',
+                            'Choose Bluetooth, WiFi, or Serial transport',
                            textAlign: TextAlign.center,
                            style: theme.textTheme.bodySmall?.copyWith(
                              color: theme.colorScheme.onSurfaceVariant,
@@ -192,7 +190,7 @@ class _ConnectionDialogState extends State<ConnectionDialog>
                  tabs: const [
                    Tab(text: 'BLE', icon: Icon(Icons.bluetooth_rounded)),
                    Tab(text: 'Network', icon: Icon(Icons.wifi_rounded)),
-                    Tab(text: 'USB', icon: Icon(Icons.usb_rounded)),
+                    Tab(text: 'Serial', icon: Icon(Icons.usb_rounded)),
                  ],
                ),
              ],
@@ -250,6 +248,36 @@ class _ConnectionDialogState extends State<ConnectionDialog>
    );
  }

+  Widget _buildErrorBanner(String message) {
+    final theme = Theme.of(context);
+    return Container(
+      margin: const EdgeInsets.fromLTRB(16, 0, 16, 12),
+      padding: const EdgeInsets.all(14),
+      decoration: BoxDecoration(
+        color: theme.colorScheme.errorContainer,
+        borderRadius: BorderRadius.circular(16),
+      ),
+      child: Row(
+        crossAxisAlignment: CrossAxisAlignment.start,
+        children: [
+          Icon(
+            Icons.error_outline_rounded,
+            color: theme.colorScheme.onErrorContainer,
+          ),
+          const SizedBox(width: 10),
+          Expanded(
+            child: Text(
+              message,
+              style: theme.textTheme.bodySmall?.copyWith(
+                color: theme.colorScheme.onErrorContainer,
+              ),
+            ),
+          ),
+        ],
+      ),
+    );
+  }
+
  Widget _buildEmptyState({
    required IconData icon,
    required String title,
@@ -371,6 +399,8 @@ class _ConnectionDialogState extends State<ConnectionDialog>
          message: AppLocalizations.of(context)!.defaultPinInfo,
          onRefresh: _refreshBleDevices,
        ),
+        if (connectionProvider.error != null)
+          _buildErrorBanner(connectionProvider.error!),
        Expanded(
          child:
              connectionProvider.isScanning &&
@@ -597,7 +627,7 @@ class _ConnectionDialogState extends State<ConnectionDialog>
  }

  Widget _buildUsbTab() {
-    return _UsbDeviceList(
+    return _SerialDeviceList(
      buildTransportCard:
          ({
            required icon,
@@ -654,38 +684,48 @@ typedef _EmptyStateBuilder =
      required VoidCallback onAction,
    });

-class _UsbDeviceList extends StatefulWidget {
+class _SerialDeviceList extends StatefulWidget {
  final VoidCallback onConnected;
  final _TransportCardBuilder buildTransportCard;
  final _EmptyStateBuilder buildEmptyState;

-  const _UsbDeviceList({
+  const _SerialDeviceList({
    required this.onConnected,
    required this.buildTransportCard,
    required this.buildEmptyState,
  });

  @override
-  State<_UsbDeviceList> createState() => _UsbDeviceListState();
+  State<_SerialDeviceList> createState() => _SerialDeviceListState();
 }

-class _UsbDeviceListState extends State<_UsbDeviceList> {
-  List<UsbDevice> _devices = [];
+class _SerialDeviceListState extends State<_SerialDeviceList> {
+  final SerialTransport _transport = createSerialTransport();
+  List<SerialDeviceInfo> _devices = [];
  bool _isScanning = false;
  bool _isConnecting = false;

  @override
  void initState() {
    super.initState();
-    if (defaultTargetPlatform == TargetPlatform.android) {
+    if (_transport.isSupported) {
      _scanDevices();
    }
  }

+  @override
+  void dispose() {
+    _transport.dispose();
+    super.dispose();
+  }
+
  Future<void> _scanDevices() async {
+    if (!_transport.isSupported) {
+      return;
+    }
    setState(() => _isScanning = true);
    try {
-      final devices = await UsbSerial.listDevices();
+      final devices = await _transport.listDevices();
      if (!mounted) return;
      setState(() {
        _devices = devices;
@@ -700,81 +740,66 @@ class _UsbDeviceListState extends State<_UsbDeviceList> {
    }
  }

-  Future<void> _connectToDevice(UsbDevice device) async {
+  Future<void> _requestDevice() async {
+    if (!_transport.canRequestDevice) {
+      await _scanDevices();
+      return;
+    }
+
+    setState(() => _isScanning = true);
+    try {
+      final selectedDevice = await _transport.requestDevice();
+      final devices = await _transport.listDevices();
+      if (!mounted) return;
+      setState(() {
+        _devices = selectedDevice == null
+            ? devices
+            : _mergeDevices(devices, selectedDevice);
+        _isScanning = false;
+      });
+    } catch (_) {
+      if (!mounted) return;
+      setState(() {
+        _isScanning = false;
+      });
+    }
+  }
+
+  List<SerialDeviceInfo> _mergeDevices(
+    List<SerialDeviceInfo> devices,
+    SerialDeviceInfo selectedDevice,
+  ) {
+    final merged = [...devices];
+    if (!merged.any((device) => device.id == selectedDevice.id)) {
+      merged.insert(0, selectedDevice);
+    }
+    return merged;
+  }
+
+  Future<void> _connectToDevice(SerialDeviceInfo device) async {
    setState(() => _isConnecting = true);
    try {
      final connectionProvider = context.read<ConnectionProvider>();
-      final service = MeshCoreSerialService(appName: 'MeshCore SAR');
-
-      final port = await device.create();
-      if (port == null) {
-        if (mounted) {
-          setState(() => _isConnecting = false);
-          ScaffoldMessenger.of(context).showSnackBar(
-            const SnackBar(content: Text('Failed to create USB port')),
-          );
-        }
-        return;
-      }
-
-      final opened = await port.open();
-      if (!opened) {
-        if (mounted) {
-          setState(() => _isConnecting = false);
-          ScaffoldMessenger.of(context).showSnackBar(
-            const SnackBar(content: Text('Failed to open USB port')),
-          );
-        }
-        return;
-      }
-
-      await port.setDTR(true);
-      await port.setRTS(true);
-      await port.setPortParameters(
-        115200,
-        UsbPort.DATABITS_8,
-        UsbPort.STOPBITS_1,
-        UsbPort.PARITY_NONE,
+      final appProvider = context.read<AppProvider>();
+      final connection = await _transport.connect(device);
+      final success = await connectionProvider.connectSerial(
+        service: connection.service,
+        disconnectTransport: connection.disconnect,
+        deviceId: connection.deviceId,
+        deviceName: connection.deviceName,
      );
-
-      service.writeRaw = (data) async {
-        await port.write(data);
-      };
-
-      port.inputStream?.listen(
-        (data) => service.feedRawBytes(data),
-        onError: (_) {
-          service.markDisconnected();
-          port.close();
-        },
-        onDone: () {
-          service.markDisconnected();
-        },
-      );
-
-      final sessionOk = await service.markConnected();
-      if (!sessionOk) {
-        await port.close();
-        if (mounted) {
-          setState(() => _isConnecting = false);
-          ScaffoldMessenger.of(context).showSnackBar(
-            const SnackBar(content: Text('USB session initialization failed')),
-          );
-        }
-        return;
-      }
-
-      final success = await connectionProvider.connectSerial(service);
      if (!mounted) return;

      if (success) {
+        await appProvider.initialize();
        widget.onConnected();
      } else {
-        await port.close();
+        await connection.disconnect();
+        connection.service.dispose();
        if (!mounted) return;
        setState(() => _isConnecting = false);
        ScaffoldMessenger.of(context).showSnackBar(
-          const SnackBar(content: Text('Failed to connect via USB')),
+          const SnackBar(content: Text('Failed to connect via serial')),
        );
      }
    } catch (e) {
@@ -782,20 +807,18 @@ class _UsbDeviceListState extends State<_UsbDeviceList> {
      setState(() => _isConnecting = false);
      ScaffoldMessenger.of(
        context,
-      ).showSnackBar(SnackBar(content: Text('USB error: $e')));
+      ).showSnackBar(SnackBar(content: Text('Serial error: $e')));
    }
  }

  @override
  Widget build(BuildContext context) {
-    if (defaultTargetPlatform != TargetPlatform.android) {
+    if (!_transport.isSupported) {
      return Center(
        child: Padding(
          padding: const EdgeInsets.all(24),
          child: Text(
-            kIsWeb
-                ? 'Web Serial is not yet supported.\nUse BLE or Network instead.'
-                : 'USB serial is available on Android only.\nConnect via OTG cable.',
+            _transport.unsupportedMessage,
            textAlign: TextAlign.center,
          ),
        ),
@@ -811,19 +834,22 @@ class _UsbDeviceListState extends State<_UsbDeviceList> {
        Padding(
          padding: const EdgeInsets.fromLTRB(16, 16, 16, 8),
          child: FilledButton.tonalIcon(
-            onPressed: _isConnecting ? null : _scanDevices,
+            onPressed: _isConnecting
+                ? null
+                : (_transport.canRequestDevice ? _requestDevice : _scanDevices),
            icon: const Icon(Icons.usb_rounded),
-            label: const Text('Scan USB devices'),
+            label: Text(_transport.actionLabel),
          ),
        ),
        if (_devices.isEmpty)
          Expanded(
            child: widget.buildEmptyState(
              icon: Icons.usb_off_rounded,
-              title:
-                  'No USB serial devices found.\nConnect a MeshCore device via OTG cable.',
-              actionLabel: 'Scan USB devices',
-              onAction: _scanDevices,
+              title: _transport.emptyStateTitle,
+              actionLabel: _transport.actionLabel,
+              onAction: _transport.canRequestDevice
+                  ? _requestDevice
+                  : _scanDevices,
            ),
          )
        else
@@ -835,10 +861,8 @@ class _UsbDeviceListState extends State<_UsbDeviceList> {
                return widget.buildTransportCard(
                  icon: Icons.usb_rounded,
                  iconColor: Theme.of(context).colorScheme.primary,
-                  title: device.productName ?? 'USB Device',
-                  subtitle: (device.manufacturerName?.isNotEmpty ?? false)
-                      ? device.manufacturerName!
-                      : 'Ready over OTG serial',
+                  title: device.title,
+                  subtitle: device.subtitle,
                  trailing: _isConnecting
                      ? const SizedBox(
                          width: 24,
--- a/lib/widgets/map/compass/compass_header.dart
+++ b/lib/widgets/map/compass/compass_header.dart
@@ -6,6 +6,7 @@ import 'package:latlong2/latlong.dart';
 import '../../../l10n/app_localizations.dart';
 import '../../../models/contact.dart';
 import '../../../models/sar_marker.dart';
+import 'compass_math.dart';

 /// Header component for the compass dialog showing compass rose,
 /// heading, elevation, accuracy, and current location in multiple formats.
@@ -76,7 +77,11 @@ class CompassHeader extends StatelessWidget {
    );
  }

-  Widget _buildInfoRow(BuildContext context, double? heading, Position? position) {
+  Widget _buildInfoRow(
+    BuildContext context,
+    double? heading,
+    Position? position,
+  ) {
    final l10n = AppLocalizations.of(context)!;
    return Row(
      mainAxisAlignment: MainAxisAlignment.spaceAround,
@@ -90,17 +95,13 @@ class CompassHeader extends StatelessWidget {
        _buildInfoCard(
          context,
          l10n.elevation,
-          position?.altitude != null
-              ? '${position!.altitude.round()}m'
-              : '--',
+          position?.altitude != null ? '${position!.altitude.round()}m' : '--',
          Icons.terrain,
        ),
        _buildInfoCard(
          context,
          l10n.accuracy,
-          position?.accuracy != null
-              ? '±${position!.accuracy.round()}m'
-              : '--',
+          position?.accuracy != null ? '±${position!.accuracy.round()}m' : '--',
          Icons.gps_fixed,
        ),
      ],
@@ -108,21 +109,22 @@ class CompassHeader extends StatelessWidget {
  }

  Widget _buildInfoCard(
-      BuildContext context, String label, String value, IconData icon) {
+    BuildContext context,
+    String label,
+    String value,
+    IconData icon,
+  ) {
    return Column(
      children: [
        Icon(icon, size: 20, color: Theme.of(context).colorScheme.primary),
        const SizedBox(height: 4),
        Text(
          value,
-          style: Theme.of(context).textTheme.titleMedium?.copyWith(
-                fontWeight: FontWeight.bold,
-              ),
-        ),
-        Text(
-          label,
-          style: Theme.of(context).textTheme.bodySmall,
+          style: Theme.of(
+            context,
+          ).textTheme.titleMedium?.copyWith(fontWeight: FontWeight.bold),
        ),
+        Text(label, style: Theme.of(context).textTheme.bodySmall),
      ],
    );
  }
@@ -193,11 +195,16 @@ class _LargeCompassPainter extends CustomPainter {

    // Draw degree markers
    for (int i = 0; i < 360; i += 10) {
-      final angle = i * pi / 180 - pi / 2 + heading * pi / 180;
+      final angle = compassDialAngleRadians(
+        markerDegrees: i.toDouble(),
+        headingDegrees: heading,
+      );
      final isCardinal = i % 90 == 0;
      final isMajor = i % 30 == 0;

-      final startRadius = isCardinal ? radius - 25 : (isMajor ? radius - 15 : radius - 10);
+      final startRadius = isCardinal
+          ? radius - 25
+          : (isMajor ? radius - 15 : radius - 10);
      final start = Offset(
        center.dx + startRadius * cos(angle),
        center.dy + startRadius * sin(angle),
@@ -218,7 +225,10 @@ class _LargeCompassPainter extends CustomPainter {
    final textPainter = TextPainter(textDirection: TextDirection.ltr);
    final directions = ['N', 'E', 'S', 'W'];
    for (int i = 0; i < 4; i++) {
-      final angle = i * pi / 2 - pi / 2 + heading * pi / 180;
+      final angle = compassDialAngleRadians(
+        markerDegrees: (i * 90).toDouble(),
+        headingDegrees: heading,
+      );
      final x = center.dx + (radius - 35) * cos(angle);
      final y = center.dy + (radius - 35) * sin(angle);

@@ -243,20 +253,25 @@ class _LargeCompassPainter extends CustomPainter {
      final contactsWithDistance = contacts
          .where((c) => c.displayLocation != null)
          .map((contact) {
-        final bearing = _calculateBearing(
-          currentPosition!.latitude,
-          currentPosition!.longitude,
-          contact.displayLocation!.latitude,
-          contact.displayLocation!.longitude,
-        );
-        final distance = _calculateDistance(
-          currentPosition!.latitude,
-          currentPosition!.longitude,
-          contact.displayLocation!.latitude,
-          contact.displayLocation!.longitude,
-        );
-        return {'contact': contact, 'bearing': bearing, 'distance': distance};
-      }).toList();
+            final bearing = _calculateBearing(
+              currentPosition!.latitude,
+              currentPosition!.longitude,
+              contact.displayLocation!.latitude,
+              contact.displayLocation!.longitude,
+            );
+            final distance = _calculateDistance(
+              currentPosition!.latitude,
+              currentPosition!.longitude,
+              contact.displayLocation!.latitude,
+              contact.displayLocation!.longitude,
+            );
+            return {
+              'contact': contact,
+              'bearing': bearing,
+              'distance': distance,
+            };
+          })
+          .toList();

      if (contactsWithDistance.isEmpty) return;

@@ -277,7 +292,8 @@ class _LargeCompassPainter extends CustomPainter {
        double normalizedDistance = (distance / baseDistance).clamp(0.0, 1.0);

        // Calculate contact position radius (from center to rim based on distance)
-        final contactRadius = radius * normalizedDistance * 0.85; // 0.85 to keep inside rim
+        final contactRadius =
+            radius * normalizedDistance * 0.85; // 0.85 to keep inside rim

        // Position of contact dot
        final dotX = center.dx + contactRadius * cos(angle);
@@ -288,11 +304,7 @@ class _LargeCompassPainter extends CustomPainter {
          ..color = Colors.lightBlue.withValues(alpha: 0.3)
          ..style = PaintingStyle.stroke
          ..strokeWidth = 1.5;
-        canvas.drawLine(
-          center,
-          Offset(dotX, dotY),
-          linePaint,
-        );
+        canvas.drawLine(center, Offset(dotX, dotY), linePaint);

        // Draw contact dot (size varies with zoom)
        final dotSize = (6.0 * (1.0 + zoomLevel * 0.3)).clamp(4.0, 12.0);
@@ -341,7 +353,10 @@ class _LargeCompassPainter extends CustomPainter {

          textPainter.paint(
            canvas,
-            Offset(labelX - textPainter.width / 2, labelY - textPainter.height / 2),
+            Offset(
+              labelX - textPainter.width / 2,
+              labelY - textPainter.height / 2,
+            ),
          );
        }
      }
@@ -419,11 +434,7 @@ class _LargeCompassPainter extends CustomPainter {
          ..color = markerColor.withValues(alpha: 0.3)
          ..style = PaintingStyle.stroke
          ..strokeWidth = 2;
-        canvas.drawLine(
-          center,
-          Offset(dotX, dotY),
-          linePaint,
-        );
+        canvas.drawLine(center, Offset(dotX, dotY), linePaint);

        // Draw SAR marker dot (slightly larger than contacts)
        final dotSize = (8.0 * (1.0 + zoomLevel * 0.3)).clamp(6.0, 14.0);
@@ -472,7 +483,10 @@ class _LargeCompassPainter extends CustomPainter {

          textPainter.paint(
            canvas,
-            Offset(labelX - textPainter.width / 2, labelY - textPainter.height / 2),
+            Offset(
+              labelX - textPainter.width / 2,
+              labelY - textPainter.height / 2,
+            ),
          );
        }
      }
@@ -492,27 +506,31 @@ class _LargeCompassPainter extends CustomPainter {
    canvas.drawPath(path, indicatorPaint);
  }

-  double _calculateBearing(
-      double lat1, double lon1, double lat2, double lon2) {
+  double _calculateBearing(double lat1, double lon1, double lat2, double lon2) {
    final dLon = (lon2 - lon1) * pi / 180;
    final lat1Rad = lat1 * pi / 180;
    final lat2Rad = lat2 * pi / 180;

    final y = sin(dLon) * cos(lat2Rad);
-    final x = cos(lat1Rad) * sin(lat2Rad) -
-        sin(lat1Rad) * cos(lat2Rad) * cos(dLon);
+    final x =
+        cos(lat1Rad) * sin(lat2Rad) - sin(lat1Rad) * cos(lat2Rad) * cos(dLon);

    final bearing = atan2(y, x) * 180 / pi;
    return (bearing + 360) % 360;
  }

  double _calculateDistance(
-      double lat1, double lon1, double lat2, double lon2) {
+    double lat1,
+    double lon1,
+    double lat2,
+    double lon2,
+  ) {
    const R = 6371000; // Earth's radius in meters
    final dLat = (lat2 - lat1) * pi / 180;
    final dLon = (lon2 - lon1) * pi / 180;

-    final a = sin(dLat / 2) * sin(dLat / 2) +
+    final a =
+        sin(dLat / 2) * sin(dLat / 2) +
        cos(lat1 * pi / 180) *
            cos(lat2 * pi / 180) *
            sin(dLon / 2) *
@@ -572,7 +590,8 @@ class _LocationFormatToggleState extends State<_LocationFormatToggle> {
    final String displayText;

    if (_showDMS) {
-      displayText = '${_formatDMS(position.latitude, true)} ${_formatDMS(position.longitude, false)}';
+      displayText =
+          '${_formatDMS(position.latitude, true)} ${_formatDMS(position.longitude, false)}';
    } else {
      displayText = l10n.latLonFormat(
        position.latitude.toStringAsFixed(5),
@@ -598,9 +617,9 @@ class _LocationFormatToggleState extends State<_LocationFormatToggle> {
            displayText,
            textAlign: TextAlign.center,
            style: Theme.of(context).textTheme.titleMedium?.copyWith(
-                  fontWeight: FontWeight.w600,
-                  fontFamily: 'monospace',
-                ),
+              fontWeight: FontWeight.w600,
+              fontFamily: 'monospace',
+            ),
          ),
        ),
      ),
--- a/lib/widgets/map/compass/compass_math.dart
+++ b/lib/widgets/map/compass/compass_math.dart
@@ -0,0 +1,22 @@
+import 'dart:math';
+
+/// Rotate the compass rose opposite the device heading so the current heading
+/// stays under the fixed indicator at the top of the dial.
+double compassRoseRotationRadians(double headingDegrees) {
+  final normalizedHeading = headingDegrees % 360;
+  return _normalizeRadians(-normalizedHeading * pi / 180);
+}
+
+/// Convert a compass marker bearing into an on-screen angle for the dial.
+double compassDialAngleRadians({
+  required double markerDegrees,
+  required double headingDegrees,
+}) {
+  return _normalizeRadians(
+    markerDegrees * pi / 180 -
+        pi / 2 +
+        compassRoseRotationRadians(headingDegrees),
+  );
+}
+
+double _normalizeRadians(double angle) => atan2(sin(angle), cos(angle));
--- a/lib/widgets/map/compass_widget.dart
+++ b/lib/widgets/map/compass_widget.dart
@@ -1,5 +1,6 @@
 import 'dart:math';
 import 'package:flutter/material.dart';
+import 'compass/compass_math.dart';

 class CompassWidget extends StatelessWidget {
  final double heading;
@@ -21,9 +22,9 @@ class CompassWidget extends StatelessWidget {
        child: Stack(
          alignment: Alignment.center,
          children: [
-            // Compass rose background - rotates to show true north at top
+            // Rotate the rose opposite the heading under the fixed needle.
            Transform.rotate(
-              angle: heading * pi / 180,
+              angle: compassRoseRotationRadians(heading),
              child: CustomPaint(
                size: const Size(40, 40),
                painter: _CompassRosePainter(),
@@ -76,9 +77,7 @@ class _CompassRosePainter extends CustomPainter {
    canvas.drawCircle(center, radius, paint);

    // Draw cardinal direction markers
-    final textPainter = TextPainter(
-      textDirection: TextDirection.ltr,
-    );
+    final textPainter = TextPainter(textDirection: TextDirection.ltr);

    final directions = ['N', 'E', 'S', 'W'];
    for (int i = 0; i < 4; i++) {