feat(display): Sprint 7 — USB serial link to AR-Concentrador via NMEA $PARP
- Add flutter_libserialport dependency (pubspec.yaml) - New ParpCodec: XOR-checksum NMEA parser + command builders for all PARP sentences - New ConcentradorService: manages two independent COM ports (RX-OUT broadcast, TX-IN commands) at 115200/8N1; auto-fires onConnectionChanged on link drop - AutopilotState: dual-mode operation (demo timer OR live serial); connectToSerial / disconnectSerial; command methods (engage/disengage/adjustSetpoint) forward to ConcentradorService when connected; falls back to demo on disconnect - New PortSettingsScreen (/settings/ports): RX+TX dropdowns populated from SerialPort.availablePorts, persisted in SharedPreferences; Connect/Disconnect buttons with error display and snackbar feedback - main.dart: auto-connect to saved ports on startup (silent fail → demo mode); registers /settings/ports route - CockpitScreen: gear icon replaced with PopupMenuButton (Puertos COM / Apariencia) AR_electronics — AR-Autopilot Project
This commit is contained in:
@@ -2,9 +2,15 @@
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// data/autopilot_state.dart — Live autopilot data model
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// =============================================================================
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//
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// Sprint 4: simulated demo data (vessel drifting / heading-hold correction).
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// Sprint 7: internals replaced by Modbus RTU over USB serial.
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// The public API (fields + methods) must not change between sprints.
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// Dual-mode: demo simulation (Sprint 4) or live USB serial (Sprint 7).
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//
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// Default constructor starts in demo mode (animated vessel simulation).
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// Call [connectToSerial] to switch to live data from the AR-Concentrador.
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// If the serial link drops, the state automatically falls back to demo.
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//
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// The public API (fields + methods) is identical in both modes — the UI
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// never needs to know which mode is active; it reads [isConnected] for
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// the status indicator only.
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// =============================================================================
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import 'dart:async';
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@@ -12,48 +18,30 @@ import 'dart:math' as math;
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import 'package:flutter/foundation.dart';
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import '../services/concentrador_service.dart';
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import '../services/parp_codec.dart';
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import '../widgets/themed/mode_selector.dart';
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/// Live state of the autopilot and navigation instruments.
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///
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/// Consumed by [CockpitScreen] via `context.watch<AutopilotState>()`.
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///
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/// ## Data sources (Sprint 4 → Sprint 7)
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/// Sprint 4: internal [Timer]-driven demo that simulates a vessel at sea.
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/// Sprint 7: [AutopilotStateModbus] subclass (or internal swap) feeds real
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/// Modbus RTU data received over USB serial from the AR-Concentrador.
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class AutopilotState extends ChangeNotifier {
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// ── Navigation data ──────────────────────────────────────────────────────────
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/// Current vessel heading from NMEA 2000 backbone (degrees, magnetic, 0–359.9).
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double headingDeg = 125.0;
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/// Operator-commanded heading setpoint sent to autopilot (degrees, magnetic).
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double setpointDeg = 125.0;
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/// Rudder angle in degrees. Negative = port, positive = starboard.
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double rudderDeg = 0.0;
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/// Speed over ground (knots).
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double sogKn = 6.2;
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/// Course over ground (degrees, true).
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double cogDeg = 127.0;
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/// Rate of turn (degrees per minute). Positive = turning starboard.
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double rotDpm = 0.0;
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/// Water depth below keel (metres).
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double depthM = 42.5;
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// ── Autopilot state ──────────────────────────────────────────────────────────
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/// Current autopilot mode as reported by the concentrador $PARP,STATUS.
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AutopilotMode mode = AutopilotMode.standby;
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/// True when the Modbus RTU link to the concentrador is active.
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/// Sprint 4: always false (demo mode label shown in UI).
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/// True when the USB serial link to the concentrador is active.
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bool isConnected = false;
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// ── Internal ─────────────────────────────────────────────────────────────────
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// ── Serial service ───────────────────────────────────────────────────────────
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ConcentradorService? _service;
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// ── Demo simulation ──────────────────────────────────────────────────────────
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Timer? _demoTimer;
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final _rng = math.Random();
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@@ -62,55 +50,92 @@ class AutopilotState extends ChangeNotifier {
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}
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// ---------------------------------------------------------------------------
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// Demo simulation (Sprint 4 only)
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// Serial connection
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// ---------------------------------------------------------------------------
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/// Connect to the AR-Concentrador via USB serial.
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///
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/// Stops the demo timer and switches to live data.
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/// Falls back to demo automatically if the link drops.
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///
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/// Throws if the ports cannot be opened (caller should catch and show error).
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Future<void> connectToSerial({
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required String rxPort,
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required String txPort,
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int stationId = 2,
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}) async {
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_demoTimer?.cancel();
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_demoTimer = null;
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_service?.disconnect();
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_service = ConcentradorService(
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rxPort: rxPort,
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txPort: txPort,
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stationId: stationId,
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);
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_service!.onStatus = _onSerialStatus;
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_service!.onConnectionChanged = _onConnectionChanged;
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await _service!.connect(); // may throw — caller handles
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}
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/// Disconnect the serial link and return to demo mode.
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Future<void> disconnectSerial() async {
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await _service?.disconnect();
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_service = null;
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_startDemo();
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}
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void _onConnectionChanged(bool connected) {
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isConnected = connected;
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if (!connected) {
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// Link dropped — fall back to animated demo so the UI stays alive.
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_startDemo();
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}
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notifyListeners();
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}
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void _onSerialStatus(ParpStatus status) {
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isConnected = true;
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headingDeg = status.headingDeg;
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setpointDeg = status.setpointDeg;
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rudderDeg = status.rudderDeg;
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mode = status.mode;
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notifyListeners();
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}
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// ---------------------------------------------------------------------------
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// Demo simulation
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// ---------------------------------------------------------------------------
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void _startDemo() {
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_demoTimer = Timer.periodic(const Duration(milliseconds: 500), (_) {
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_tick();
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});
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_demoTimer?.cancel();
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_demoTimer = Timer.periodic(const Duration(milliseconds: 500), (_) => _tick());
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}
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void _tick() {
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switch (mode) {
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case AutopilotMode.standby:
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// Vessel drifts slightly — small random walk on heading and rudder.
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headingDeg = (headingDeg + (_rng.nextDouble() - 0.5) * 0.5) % 360;
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if (headingDeg < 0) headingDeg += 360;
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rudderDeg = (rudderDeg + (_rng.nextDouble() - 0.5) * 0.8)
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.clamp(-5.0, 5.0);
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rudderDeg = (rudderDeg + (_rng.nextDouble() - 0.5) * 0.8).clamp(-5.0, 5.0);
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rotDpm = rudderDeg * 0.3 + (_rng.nextDouble() - 0.5) * 0.2;
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case AutopilotMode.headingHold:
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// Simulated P-controller: autopilot drives rudder toward setpoint.
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final error = _angleDiff(setpointDeg, headingDeg);
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rudderDeg = (error * 1.2 + (_rng.nextDouble() - 0.5) * 0.5)
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.clamp(-35.0, 35.0);
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headingDeg =
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(headingDeg + error * 0.025 + (_rng.nextDouble() - 0.5) * 0.08)
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% 360;
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if (headingDeg < 0) headingDeg += 360;
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rotDpm = error * 0.4;
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case AutopilotMode.trackKeep:
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// Sprint 6: identical to headingHold for demo purposes.
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final error = _angleDiff(setpointDeg, headingDeg);
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rudderDeg =
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(error * 1.2).clamp(-35.0, 35.0);
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headingDeg = (headingDeg + error * 0.025) % 360;
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rudderDeg = (error * 1.2 + (_rng.nextDouble() - 0.5) * 0.5).clamp(-35.0, 35.0);
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headingDeg = (headingDeg + error * 0.025 + (_rng.nextDouble() - 0.5) * 0.08) % 360;
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if (headingDeg < 0) headingDeg += 360;
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rotDpm = error * 0.4;
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}
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// COG tracks heading with a small lag.
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cogDeg = (headingDeg + rudderDeg * 0.15 + (_rng.nextDouble() - 0.5) * 0.3)
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% 360;
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cogDeg = (headingDeg + rudderDeg * 0.15 + (_rng.nextDouble() - 0.5) * 0.3) % 360;
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if (cogDeg < 0) cogDeg += 360;
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notifyListeners();
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}
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/// Signed difference in [−180, +180]: target − current.
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double _angleDiff(double target, double current) {
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double d = (target - current) % 360;
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if (d > 180) d -= 360;
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@@ -119,32 +144,39 @@ class AutopilotState extends ChangeNotifier {
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}
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// ---------------------------------------------------------------------------
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// Commands — called by UI; Sprint 7 will also send Modbus frames here.
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// Commands — work in both demo and serial modes
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// ---------------------------------------------------------------------------
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/// Engage heading hold on the current heading.
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void engage() {
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setpointDeg = headingDeg;
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mode = AutopilotMode.headingHold;
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_service?.sendEngage(headingDeg);
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notifyListeners();
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}
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/// Return to STANDBY (manual helm).
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void disengage() {
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mode = AutopilotMode.standby;
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_service?.sendDisengage();
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notifyListeners();
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}
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/// Adjust the heading setpoint while in heading-hold mode.
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/// No-op in STANDBY or TRACK.
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void adjustSetpoint(double deltaDeg) {
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if (mode != AutopilotMode.headingHold) return;
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setpointDeg = (setpointDeg + deltaDeg) % 360;
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if (setpointDeg < 0) setpointDeg += 360;
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// Route to the appropriate serial command
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if (_service != null && isConnected) {
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if (deltaDeg == -10) _service!.sendPortTen(setpointDeg);
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else if (deltaDeg == -1) _service!.sendPortOne(setpointDeg);
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else if (deltaDeg == 1) _service!.sendStbdOne(setpointDeg);
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else if (deltaDeg == 10) _service!.sendStbdTen(setpointDeg);
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else _service!.sendSetHeading(setpointDeg);
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}
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notifyListeners();
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}
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/// Handle ModeSelector taps.
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void selectMode(AutopilotMode newMode) {
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switch (newMode) {
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case AutopilotMode.standby:
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@@ -152,16 +184,22 @@ class AutopilotState extends ChangeNotifier {
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case AutopilotMode.headingHold:
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engage();
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case AutopilotMode.trackKeep:
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// Sprint 6: engage track-keep mode (requires GPS cross-track error).
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mode = AutopilotMode.trackKeep;
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setpointDeg = headingDeg;
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notifyListeners();
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}
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}
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// ---------------------------------------------------------------------------
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// Port discovery (delegate to service layer)
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// ---------------------------------------------------------------------------
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static List<String> availablePorts() => ConcentradorService.availablePorts();
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@override
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void dispose() {
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_demoTimer?.cancel();
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_service?.disconnect();
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super.dispose();
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}
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}
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+30
-7
@@ -1,25 +1,48 @@
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import 'package:flutter/material.dart';
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import 'package:provider/provider.dart';
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import 'package:shared_preferences/shared_preferences.dart';
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import 'data/autopilot_state.dart';
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import 'theme/theme_provider.dart';
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import 'screens/cockpit/cockpit_screen.dart';
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import 'screens/settings/appearance_settings.dart';
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import 'screens/settings/port_settings_screen.dart';
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// SharedPreferences keys — must match port_settings_screen.dart
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const _kRxKey = 'port.rx';
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const _kTxKey = 'port.tx';
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Future<void> main() async {
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WidgetsFlutterBinding.ensureInitialized();
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// Load persisted theme before first frame.
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final themeProvider = await AutopilotThemeProvider.load();
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// Create state object early so we can attempt auto-connect.
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final autopilotState = AutopilotState();
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// Attempt to reconnect to the last-used COM ports silently.
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// If the ports are not available (hardware unplugged, different PC, etc.)
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// the exception is swallowed and the UI stays in demo mode.
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try {
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final prefs = await SharedPreferences.getInstance();
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final rxPort = prefs.getString(_kRxKey);
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final txPort = prefs.getString(_kTxKey);
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if (rxPort != null && txPort != null) {
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await autopilotState.connectToSerial(rxPort: rxPort, txPort: txPort);
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}
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} catch (_) {
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// Hardware not available — stay in demo mode.
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}
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runApp(
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MultiProvider(
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providers: [
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ChangeNotifierProvider<AutopilotThemeProvider>.value(
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value: themeProvider,
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),
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// AutopilotState drives the cockpit UI.
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// Sprint 4: internal demo timer (vessel simulation).
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// Sprint 7: replace with AutopilotStateModbus or wire Modbus RTU here.
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ChangeNotifierProvider<AutopilotState>(
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create: (_) => AutopilotState(),
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ChangeNotifierProvider<AutopilotState>.value(
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value: autopilotState,
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),
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],
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child: const ArAutopilotApp(),
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@@ -39,8 +62,8 @@ class ArAutopilotApp extends StatelessWidget {
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initialRoute: CockpitScreen.routeName,
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routes: {
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CockpitScreen.routeName: (_) => const CockpitScreen(),
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AppearanceSettingsScreen.routeName: (_) =>
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const AppearanceSettingsScreen(),
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AppearanceSettingsScreen.routeName: (_) => const AppearanceSettingsScreen(),
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PortSettingsScreen.routeName: (_) => const PortSettingsScreen(),
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},
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);
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}
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@@ -31,6 +31,7 @@ import '../../widgets/themed/mode_selector.dart';
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import '../../widgets/themed/rudder_indicator.dart';
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import '../../widgets/themed/status_chip.dart';
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import '../settings/appearance_settings.dart';
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import '../settings/port_settings_screen.dart';
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class CockpitScreen extends StatelessWidget {
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const CockpitScreen({super.key});
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@@ -138,14 +139,47 @@ class _TopBar extends StatelessWidget {
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status: ap.isConnected ? StatusLevel.ok : StatusLevel.warn,
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),
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const SizedBox(width: 16),
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GestureDetector(
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onTap: () => Navigator.pushNamed(
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context, AppearanceSettingsScreen.routeName),
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child: Icon(
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PopupMenuButton<String>(
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icon: Icon(
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Icons.settings_outlined,
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color: theme.textMuted,
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size: 22,
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),
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color: theme.backgroundMid,
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shape: RoundedRectangleBorder(
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borderRadius: BorderRadius.circular(8),
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side: BorderSide(color: theme.panelBorder),
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),
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onSelected: (route) => Navigator.pushNamed(context, route),
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itemBuilder: (_) => [
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PopupMenuItem(
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value: PortSettingsScreen.routeName,
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child: Row(
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children: [
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Icon(Icons.usb, color: theme.accentMid, size: 18),
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const SizedBox(width: 10),
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Text(
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'Puertos COM',
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style: TextStyle(color: theme.textMain, fontSize: 13),
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),
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],
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),
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),
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PopupMenuItem(
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value: AppearanceSettingsScreen.routeName,
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child: Row(
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children: [
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Icon(Icons.palette_outlined,
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color: theme.accentMid, size: 18),
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const SizedBox(width: 10),
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Text(
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'Apariencia',
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style: TextStyle(color: theme.textMain, fontSize: 13),
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),
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],
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),
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),
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],
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),
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],
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),
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@@ -0,0 +1,367 @@
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// =============================================================================
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// screens/settings/port_settings_screen.dart — COM port configuration
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// =============================================================================
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//
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// Lets the operator choose which COM port is the concentrador RX-OUT
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// (the one the display reads from) and which is the TX-IN
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// (the one the display writes commands to).
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//
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// Ports are persisted in SharedPreferences and auto-applied at startup.
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//
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// Layout:
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// • Two dropdowns — RX port, TX port — populated from available COM ports
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// • [Conectar] button — tries to open both ports; shows error if it fails
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// • [Desconectar] button — drops to demo mode
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// • Status row — green ● CONECTADO / grey ● DEMO
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// =============================================================================
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import 'package:flutter/material.dart';
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import 'package:provider/provider.dart';
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import 'package:shared_preferences/shared_preferences.dart';
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import '../../data/autopilot_state.dart';
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import '../../theme/autopilot_theme.dart';
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import '../../theme/theme_provider.dart';
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class PortSettingsScreen extends StatefulWidget {
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const PortSettingsScreen({super.key});
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static const String routeName = '/settings/ports';
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@override
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State<PortSettingsScreen> createState() => _PortSettingsScreenState();
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}
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class _PortSettingsScreenState extends State<PortSettingsScreen> {
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static const _kRxKey = 'port.rx';
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static const _kTxKey = 'port.tx';
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List<String> _ports = [];
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String? _rxPort;
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String? _txPort;
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bool _connecting = false;
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String? _errorMsg;
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@override
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void initState() {
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super.initState();
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_loadPorts();
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}
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||||
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Future<void> _loadPorts() async {
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final available = AutopilotState.availablePorts();
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final prefs = await SharedPreferences.getInstance();
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setState(() {
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_ports = available;
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_rxPort = prefs.getString(_kRxKey);
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_txPort = prefs.getString(_kTxKey);
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// If saved port no longer exists, clear it.
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if (_rxPort != null && !_ports.contains(_rxPort)) _rxPort = null;
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if (_txPort != null && !_ports.contains(_txPort)) _txPort = null;
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||||
});
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}
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Future<void> _connect() async {
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if (_rxPort == null || _txPort == null) return;
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||||
setState(() {
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||||
_connecting = true;
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||||
_errorMsg = null;
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||||
});
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||||
|
||||
try {
|
||||
final ap = context.read<AutopilotState>();
|
||||
await ap.connectToSerial(rxPort: _rxPort!, txPort: _txPort!);
|
||||
|
||||
// Persist the working configuration
|
||||
final prefs = await SharedPreferences.getInstance();
|
||||
await prefs.setString(_kRxKey, _rxPort!);
|
||||
await prefs.setString(_kTxKey, _txPort!);
|
||||
|
||||
if (mounted) {
|
||||
ScaffoldMessenger.of(context).showSnackBar(
|
||||
SnackBar(
|
||||
content: Text('Conectado — RX: $_rxPort TX: $_txPort'),
|
||||
backgroundColor: Colors.green.shade700,
|
||||
duration: const Duration(seconds: 3),
|
||||
),
|
||||
);
|
||||
Navigator.pop(context);
|
||||
}
|
||||
} catch (e) {
|
||||
setState(() => _errorMsg = 'Error al abrir puertos: $e');
|
||||
} finally {
|
||||
if (mounted) setState(() => _connecting = false);
|
||||
}
|
||||
}
|
||||
|
||||
Future<void> _disconnect() async {
|
||||
final ap = context.read<AutopilotState>();
|
||||
await ap.disconnectSerial();
|
||||
if (mounted) {
|
||||
ScaffoldMessenger.of(context).showSnackBar(
|
||||
const SnackBar(
|
||||
content: Text('Desconectado — modo demo activo'),
|
||||
duration: Duration(seconds: 2),
|
||||
),
|
||||
);
|
||||
Navigator.pop(context);
|
||||
}
|
||||
}
|
||||
|
||||
@override
|
||||
Widget build(BuildContext context) {
|
||||
final theme = context.watch<AutopilotThemeProvider>().current;
|
||||
final ap = context.watch<AutopilotState>();
|
||||
|
||||
return Scaffold(
|
||||
backgroundColor: theme.background,
|
||||
appBar: AppBar(
|
||||
backgroundColor: theme.backgroundMid,
|
||||
foregroundColor: theme.textMain,
|
||||
elevation: 0,
|
||||
title: Text(
|
||||
'Conexión al Concentrador',
|
||||
style: TextStyle(color: theme.textMain, fontWeight: FontWeight.w600),
|
||||
),
|
||||
),
|
||||
body: AnimatedContainer(
|
||||
duration: const Duration(milliseconds: 400),
|
||||
decoration: theme.backgroundDecoration,
|
||||
child: ListView(
|
||||
padding: const EdgeInsets.all(20),
|
||||
children: [
|
||||
// ── Status ────────────────────────────────────────────────────────
|
||||
_StatusRow(theme: theme, connected: ap.isConnected),
|
||||
const SizedBox(height: 24),
|
||||
|
||||
// ── Port selection ────────────────────────────────────────────────
|
||||
_SectionLabel(label: 'Puerto RX (leer datos del concentrador)', theme: theme),
|
||||
const SizedBox(height: 8),
|
||||
_PortDropdown(
|
||||
theme: theme,
|
||||
value: _rxPort,
|
||||
ports: _ports,
|
||||
onChanged: (v) => setState(() => _rxPort = v),
|
||||
),
|
||||
const SizedBox(height: 16),
|
||||
|
||||
_SectionLabel(label: 'Puerto TX (enviar comandos al concentrador)', theme: theme),
|
||||
const SizedBox(height: 8),
|
||||
_PortDropdown(
|
||||
theme: theme,
|
||||
value: _txPort,
|
||||
ports: _ports,
|
||||
onChanged: (v) => setState(() => _txPort = v),
|
||||
),
|
||||
const SizedBox(height: 8),
|
||||
|
||||
// Note
|
||||
Text(
|
||||
'Conectar el cable USB-OUT del concentrador al puerto RX,\n'
|
||||
'y el USB-IN al puerto TX. Ambos a 115 200 baud, 8N1.',
|
||||
style: TextStyle(color: theme.textMuted, fontSize: 11),
|
||||
),
|
||||
const SizedBox(height: 24),
|
||||
|
||||
// ── Error message ─────────────────────────────────────────────────
|
||||
if (_errorMsg != null) ...[
|
||||
Container(
|
||||
padding: const EdgeInsets.all(12),
|
||||
decoration: BoxDecoration(
|
||||
color: theme.disengageBackground.colors.first.withValues(alpha: 0.15),
|
||||
borderRadius: BorderRadius.circular(6),
|
||||
border: Border.all(color: theme.disengageBorder.withValues(alpha: 0.4)),
|
||||
),
|
||||
child: Text(
|
||||
_errorMsg!,
|
||||
style: TextStyle(color: theme.disengageText, fontSize: 12),
|
||||
),
|
||||
),
|
||||
const SizedBox(height: 16),
|
||||
],
|
||||
|
||||
// ── Buttons ───────────────────────────────────────────────────────
|
||||
Row(
|
||||
children: [
|
||||
Expanded(
|
||||
child: _ActionButton(
|
||||
theme: theme,
|
||||
label: _connecting ? 'Conectando…' : 'Conectar',
|
||||
enabled: !_connecting && _rxPort != null && _txPort != null,
|
||||
primary: true,
|
||||
onPressed: _connect,
|
||||
),
|
||||
),
|
||||
const SizedBox(width: 12),
|
||||
Expanded(
|
||||
child: _ActionButton(
|
||||
theme: theme,
|
||||
label: 'Desconectar',
|
||||
enabled: ap.isConnected && !_connecting,
|
||||
primary: false,
|
||||
onPressed: _disconnect,
|
||||
),
|
||||
),
|
||||
],
|
||||
),
|
||||
const SizedBox(height: 16),
|
||||
|
||||
// ── Refresh ports ─────────────────────────────────────────────────
|
||||
TextButton(
|
||||
onPressed: _loadPorts,
|
||||
child: Text(
|
||||
'Actualizar lista de puertos',
|
||||
style: TextStyle(color: theme.textMuted, fontSize: 12),
|
||||
),
|
||||
),
|
||||
],
|
||||
),
|
||||
),
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
// ── Private widgets ───────────────────────────────────────────────────────────
|
||||
|
||||
class _StatusRow extends StatelessWidget {
|
||||
const _StatusRow({required this.theme, required this.connected});
|
||||
final AutopilotTheme theme;
|
||||
final bool connected;
|
||||
|
||||
@override
|
||||
Widget build(BuildContext context) {
|
||||
final color = connected ? theme.okColor : theme.textMuted;
|
||||
final label = connected ? 'CONECTADO AL CONCENTRADOR' : 'MODO DEMO (sin conexión)';
|
||||
return Row(
|
||||
children: [
|
||||
Container(
|
||||
width: 10,
|
||||
height: 10,
|
||||
decoration: BoxDecoration(
|
||||
shape: BoxShape.circle,
|
||||
color: color,
|
||||
boxShadow: connected
|
||||
? [BoxShadow(color: color.withValues(alpha: 0.5), blurRadius: 8)]
|
||||
: null,
|
||||
),
|
||||
),
|
||||
const SizedBox(width: 10),
|
||||
Text(
|
||||
label,
|
||||
style: TextStyle(
|
||||
color: color,
|
||||
fontSize: 12,
|
||||
fontWeight: FontWeight.w600,
|
||||
letterSpacing: 0.8,
|
||||
),
|
||||
),
|
||||
],
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
class _SectionLabel extends StatelessWidget {
|
||||
const _SectionLabel({required this.label, required this.theme});
|
||||
final String label;
|
||||
final AutopilotTheme theme;
|
||||
|
||||
@override
|
||||
Widget build(BuildContext context) => Text(
|
||||
label.toUpperCase(),
|
||||
style: TextStyle(
|
||||
color: theme.textMuted,
|
||||
fontSize: 10,
|
||||
letterSpacing: 1.2,
|
||||
fontWeight: FontWeight.w600,
|
||||
),
|
||||
);
|
||||
}
|
||||
|
||||
class _PortDropdown extends StatelessWidget {
|
||||
const _PortDropdown({
|
||||
required this.theme,
|
||||
required this.value,
|
||||
required this.ports,
|
||||
required this.onChanged,
|
||||
});
|
||||
final AutopilotTheme theme;
|
||||
final String? value;
|
||||
final List<String> ports;
|
||||
final ValueChanged<String?> onChanged;
|
||||
|
||||
@override
|
||||
Widget build(BuildContext context) {
|
||||
return Container(
|
||||
padding: const EdgeInsets.symmetric(horizontal: 14),
|
||||
decoration: BoxDecoration(
|
||||
gradient: theme.panelBackground,
|
||||
borderRadius: BorderRadius.circular(6),
|
||||
border: Border.all(color: theme.panelBorder),
|
||||
),
|
||||
child: DropdownButtonHideUnderline(
|
||||
child: DropdownButton<String>(
|
||||
value: ports.contains(value) ? value : null,
|
||||
hint: Text(
|
||||
ports.isEmpty ? 'Sin puertos disponibles' : 'Seleccionar puerto…',
|
||||
style: TextStyle(color: theme.textMuted, fontSize: 13),
|
||||
),
|
||||
dropdownColor: theme.backgroundMid,
|
||||
style: TextStyle(color: theme.textMain, fontSize: 13),
|
||||
icon: Icon(Icons.expand_more, color: theme.textMuted),
|
||||
isExpanded: true,
|
||||
items: ports
|
||||
.map((p) => DropdownMenuItem(value: p, child: Text(p)))
|
||||
.toList(),
|
||||
onChanged: onChanged,
|
||||
),
|
||||
),
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
class _ActionButton extends StatelessWidget {
|
||||
const _ActionButton({
|
||||
required this.theme,
|
||||
required this.label,
|
||||
required this.enabled,
|
||||
required this.primary,
|
||||
required this.onPressed,
|
||||
});
|
||||
final AutopilotTheme theme;
|
||||
final String label;
|
||||
final bool enabled;
|
||||
final bool primary;
|
||||
final VoidCallback onPressed;
|
||||
|
||||
@override
|
||||
Widget build(BuildContext context) {
|
||||
final color = primary ? theme.okColor : theme.accentMid;
|
||||
return GestureDetector(
|
||||
onTap: enabled ? onPressed : null,
|
||||
child: AnimatedContainer(
|
||||
duration: const Duration(milliseconds: 150),
|
||||
padding: const EdgeInsets.symmetric(vertical: 14),
|
||||
alignment: Alignment.center,
|
||||
decoration: BoxDecoration(
|
||||
color: enabled
|
||||
? color.withValues(alpha: 0.15)
|
||||
: theme.backgroundDeep,
|
||||
borderRadius: BorderRadius.circular(7),
|
||||
border: Border.all(
|
||||
color: enabled ? color : theme.panelBorder,
|
||||
width: 1.5,
|
||||
),
|
||||
),
|
||||
child: Text(
|
||||
label,
|
||||
style: TextStyle(
|
||||
color: enabled ? color : theme.textDisabled,
|
||||
fontSize: 13,
|
||||
fontWeight: FontWeight.w700,
|
||||
letterSpacing: 1,
|
||||
),
|
||||
),
|
||||
),
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,197 @@
|
||||
// =============================================================================
|
||||
// services/concentrador_service.dart — USB serial link to AR-Concentrador
|
||||
// =============================================================================
|
||||
//
|
||||
// The AR-Concentrador exposes two separate CH340N virtual COM ports:
|
||||
// rxPort — USB-OUT: concentrador broadcasts $PARP,STATUS + NMEA at 2 Hz
|
||||
// txPort — USB-IN : display sends $PARP commands to the concentrador
|
||||
//
|
||||
// Both ports run at 115 200 baud, 8N1, no flow control.
|
||||
//
|
||||
// Usage:
|
||||
// final svc = ConcentradorService(rxPort: 'COM3', txPort: 'COM4', stationId: 2);
|
||||
// svc.onStatus = (status) { ... };
|
||||
// svc.onConnectionChanged = (connected) { ... };
|
||||
// await svc.connect();
|
||||
// svc.sendEngage(headingDeg: 125.0);
|
||||
// svc.disconnect();
|
||||
// =============================================================================
|
||||
|
||||
import 'dart:async';
|
||||
import 'dart:typed_data';
|
||||
|
||||
import 'package:flutter_libserialport/flutter_libserialport.dart';
|
||||
|
||||
import 'parp_codec.dart';
|
||||
|
||||
/// Callback type for status updates from the concentrador.
|
||||
typedef StatusCallback = void Function(ParpStatus status);
|
||||
|
||||
/// Callback type for connection state changes.
|
||||
typedef ConnectionCallback = void Function(bool connected);
|
||||
|
||||
class ConcentradorService {
|
||||
ConcentradorService({
|
||||
required this.rxPort,
|
||||
required this.txPort,
|
||||
this.stationId = 2,
|
||||
this.baudRate = 115200,
|
||||
});
|
||||
|
||||
final String rxPort;
|
||||
final String txPort;
|
||||
final int stationId;
|
||||
final int baudRate;
|
||||
|
||||
/// Called whenever a valid $PARP,STATUS sentence is received.
|
||||
StatusCallback? onStatus;
|
||||
|
||||
/// Called when the connection state changes.
|
||||
ConnectionCallback? onConnectionChanged;
|
||||
|
||||
SerialPort? _rx;
|
||||
SerialPort? _tx;
|
||||
SerialPortReader? _reader;
|
||||
StreamSubscription<Uint8List>? _rxSub;
|
||||
|
||||
bool _connected = false;
|
||||
bool get isConnected => _connected;
|
||||
|
||||
// Accumulation buffer for partial sentences
|
||||
final StringBuffer _buf = StringBuffer();
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// Connection lifecycle
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
/// Open both serial ports and start listening for STATUS sentences.
|
||||
///
|
||||
/// Throws [SerialPortError] if either port cannot be opened.
|
||||
Future<void> connect() async {
|
||||
await disconnect(); // clean slate
|
||||
|
||||
_rx = SerialPort(rxPort);
|
||||
_tx = SerialPort(txPort);
|
||||
|
||||
_configPort(_rx!);
|
||||
_configPort(_tx!);
|
||||
|
||||
if (!_rx!.openRead()) {
|
||||
throw SerialPortError('Cannot open RX port $rxPort');
|
||||
}
|
||||
if (!_tx!.openWrite()) {
|
||||
throw SerialPortError('Cannot open TX port $txPort');
|
||||
}
|
||||
|
||||
_reader = SerialPortReader(_rx!);
|
||||
_rxSub = _reader!.stream.listen(
|
||||
_onData,
|
||||
onError: (_) => _handleDisconnect(),
|
||||
onDone: _handleDisconnect,
|
||||
);
|
||||
|
||||
_connected = true;
|
||||
onConnectionChanged?.call(true);
|
||||
}
|
||||
|
||||
/// Close both ports gracefully.
|
||||
Future<void> disconnect() async {
|
||||
_rxSub?.cancel();
|
||||
_rxSub = null;
|
||||
_reader = null;
|
||||
|
||||
_rx?.close();
|
||||
_tx?.close();
|
||||
_rx = null;
|
||||
_tx = null;
|
||||
|
||||
if (_connected) {
|
||||
_connected = false;
|
||||
onConnectionChanged?.call(false);
|
||||
}
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// Command senders
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
void sendEngage(double headingDeg) =>
|
||||
_send(ParpCodec.engage(stationId, headingDeg));
|
||||
|
||||
void sendDisengage() =>
|
||||
_send(ParpCodec.disengage(stationId));
|
||||
|
||||
void sendSetHeading(double headingDeg) =>
|
||||
_send(ParpCodec.setHeading(stationId, headingDeg));
|
||||
|
||||
void sendPortOne(double setpointDeg) =>
|
||||
_send(ParpCodec.portOne(stationId, setpointDeg));
|
||||
|
||||
void sendStbdOne(double setpointDeg) =>
|
||||
_send(ParpCodec.stbdOne(stationId, setpointDeg));
|
||||
|
||||
void sendPortTen(double setpointDeg) =>
|
||||
_send(ParpCodec.portTen(stationId, setpointDeg));
|
||||
|
||||
void sendStbdTen(double setpointDeg) =>
|
||||
_send(ParpCodec.stbdTen(stationId, setpointDeg));
|
||||
|
||||
void sendReqCmd() =>
|
||||
_send(ParpCodec.reqCmd(stationId));
|
||||
|
||||
void sendRelCmd() =>
|
||||
_send(ParpCodec.relCmd(stationId));
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// Port listing (for settings screen)
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
/// All serial ports currently visible to the OS.
|
||||
static List<String> availablePorts() => SerialPort.availablePorts;
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// Private
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
void _configPort(SerialPort port) {
|
||||
final cfg = SerialPortConfig()
|
||||
..baudRate = baudRate
|
||||
..bits = 8
|
||||
..stopBits = 1
|
||||
..parity = SerialPortParity.none
|
||||
..setFlowControl(SerialPortFlowControl.none);
|
||||
port.config = cfg;
|
||||
}
|
||||
|
||||
void _onData(Uint8List data) {
|
||||
_buf.write(String.fromCharCodes(data));
|
||||
final raw = _buf.toString();
|
||||
final lines = raw.split('\n');
|
||||
|
||||
// Keep the last (possibly incomplete) chunk in the buffer.
|
||||
_buf.clear();
|
||||
_buf.write(lines.last);
|
||||
|
||||
for (int i = 0; i < lines.length - 1; i++) {
|
||||
final line = lines[i].trim();
|
||||
if (line.isEmpty) continue;
|
||||
final status = ParpCodec.parseStatus(line);
|
||||
if (status != null) {
|
||||
onStatus?.call(status);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void _send(String sentence) {
|
||||
if (_tx == null || !_connected) return;
|
||||
try {
|
||||
_tx!.write(Uint8List.fromList(sentence.codeUnits));
|
||||
} catch (_) {
|
||||
_handleDisconnect();
|
||||
}
|
||||
}
|
||||
|
||||
void _handleDisconnect() {
|
||||
disconnect();
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,144 @@
|
||||
// =============================================================================
|
||||
// services/parp_codec.dart — $PARP sentence parser and builder
|
||||
// =============================================================================
|
||||
//
|
||||
// Protocol reference: docs/concentrador_protocol.md
|
||||
//
|
||||
// Inbound ($PARP,STATUS — broadcast by concentrador at 2 Hz):
|
||||
// $PARP,STATUS,<mode>,<setpoint>,<heading>,<rudder>,<commander>*XX\r\n
|
||||
// Example: $PARP,STATUS,HEADING_HOLD,125.0,125.3,2.5,01*3A
|
||||
//
|
||||
// Outbound ($PARP commands — sent by display to concentrador):
|
||||
// $PARP,<CMD>,<value>,<station_id>*XX\r\n
|
||||
// Example: $PARP,ENGAGE,0.0,02*XX
|
||||
// =============================================================================
|
||||
|
||||
import '../widgets/themed/mode_selector.dart';
|
||||
|
||||
/// Parsed content of a $PARP,STATUS sentence.
|
||||
class ParpStatus {
|
||||
const ParpStatus({
|
||||
required this.mode,
|
||||
required this.setpointDeg,
|
||||
required this.headingDeg,
|
||||
required this.rudderDeg,
|
||||
required this.commander,
|
||||
});
|
||||
|
||||
final AutopilotMode mode;
|
||||
final double setpointDeg;
|
||||
final double headingDeg;
|
||||
final double rudderDeg;
|
||||
final int commander; // station ID of the current commander (0 = none)
|
||||
}
|
||||
|
||||
/// Stateless NMEA $PARP sentence codec.
|
||||
abstract final class ParpCodec {
|
||||
// ---------------------------------------------------------------------------
|
||||
// Inbound parser
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
/// Parse a complete NMEA sentence string (with or without leading $).
|
||||
///
|
||||
/// Returns [ParpStatus] if the sentence is a valid $PARP,STATUS with correct
|
||||
/// checksum. Returns null for any other sentence type or if CRC fails.
|
||||
static ParpStatus? parseStatus(String sentence) {
|
||||
// Strip whitespace / CRLF
|
||||
final s = sentence.trim();
|
||||
|
||||
// Locate checksum delimiter
|
||||
final starIdx = s.lastIndexOf('*');
|
||||
if (starIdx < 0) return null;
|
||||
|
||||
final body = s.startsWith('\$') ? s.substring(1, starIdx) : s.substring(0, starIdx);
|
||||
final crcHex = s.substring(starIdx + 1);
|
||||
|
||||
// Verify checksum
|
||||
if (!_crcOk(body, crcHex)) return null;
|
||||
|
||||
// Tokenise
|
||||
final parts = body.split(',');
|
||||
if (parts.length < 7) return null;
|
||||
if (parts[0] != 'PARP' || parts[1] != 'STATUS') return null;
|
||||
|
||||
final mode = _parseMode(parts[2]);
|
||||
final setpoint = double.tryParse(parts[3]);
|
||||
final heading = double.tryParse(parts[4]);
|
||||
final rudder = double.tryParse(parts[5]);
|
||||
final commander = int.tryParse(parts[6]);
|
||||
|
||||
if (setpoint == null || heading == null || rudder == null || commander == null) {
|
||||
return null;
|
||||
}
|
||||
|
||||
return ParpStatus(
|
||||
mode: mode,
|
||||
setpointDeg: setpoint,
|
||||
headingDeg: heading,
|
||||
rudderDeg: rudder,
|
||||
commander: commander,
|
||||
);
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// Outbound builders
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
static String engage(int stationId, double currentHeadingDeg) =>
|
||||
_build('ENGAGE', currentHeadingDeg, stationId);
|
||||
|
||||
static String disengage(int stationId) =>
|
||||
_build('DISENGAGE', 0.0, stationId);
|
||||
|
||||
static String setHeading(int stationId, double headingDeg) =>
|
||||
_build('SETHEADING', headingDeg, stationId);
|
||||
|
||||
static String portOne(int stationId, double currentSetpoint) =>
|
||||
_build('PORTONE', currentSetpoint, stationId);
|
||||
|
||||
static String stbdOne(int stationId, double currentSetpoint) =>
|
||||
_build('STBDONE', currentSetpoint, stationId);
|
||||
|
||||
static String portTen(int stationId, double currentSetpoint) =>
|
||||
_build('PORTTEN', currentSetpoint, stationId);
|
||||
|
||||
static String stbdTen(int stationId, double currentSetpoint) =>
|
||||
_build('STBDTEN', currentSetpoint, stationId);
|
||||
|
||||
static String reqCmd(int stationId) =>
|
||||
_build('REQCMD', 0.0, stationId);
|
||||
|
||||
static String relCmd(int stationId) =>
|
||||
_build('RELCMD', 0.0, stationId);
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// Private helpers
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
static String _build(String cmd, double value, int stationId) {
|
||||
final body = 'PARP,$cmd,${value.toStringAsFixed(1)},'
|
||||
'${stationId.toString().padLeft(2, '0')}';
|
||||
final crc = _computeCrc(body);
|
||||
return '\$$body*${crc.toRadixString(16).toUpperCase().padLeft(2, '0')}\r\n';
|
||||
}
|
||||
|
||||
static int _computeCrc(String body) {
|
||||
int crc = 0;
|
||||
for (final ch in body.codeUnits) {
|
||||
crc ^= ch;
|
||||
}
|
||||
return crc;
|
||||
}
|
||||
|
||||
static bool _crcOk(String body, String crcHex) {
|
||||
final expected = _computeCrc(body);
|
||||
final received = int.tryParse(crcHex, radix: 16);
|
||||
return received != null && received == expected;
|
||||
}
|
||||
|
||||
static AutopilotMode _parseMode(String raw) => switch (raw) {
|
||||
'HEADING_HOLD' => AutopilotMode.headingHold,
|
||||
'TRACK' => AutopilotMode.trackKeep,
|
||||
_ => AutopilotMode.standby,
|
||||
};
|
||||
}
|
||||
@@ -13,6 +13,8 @@ dependencies:
|
||||
provider: ^6.1.2
|
||||
# Theme persistence — stores selected theme id locally on the display device
|
||||
shared_preferences: ^2.3.2
|
||||
# USB serial communication with AR-Concentrador (CH340N virtual COM ports)
|
||||
flutter_libserialport: ^0.2.1
|
||||
|
||||
dev_dependencies:
|
||||
flutter_test:
|
||||
|
||||
Reference in New Issue
Block a user