feat(display): Sprint 4 — pantalla principal del autopilot
Archivos nuevos:
display/lib/data/autopilot_state.dart
- ChangeNotifier con todos los datos del autopilot
- Simulación de velero en mar (heading drift / P-controller)
- API pública estable: engage(), disengage(), adjustSetpoint(), selectMode()
- Sprint 7: los internos se reemplazan por Modbus RTU, la API no cambia
display/lib/screens/cockpit/cockpit_screen.dart
- Pantalla principal: TopBar, ModeSelector, CompassRose, DataStrip,
HeadingAdjustBar, RudderIndicator, ENGAGE/DISENGAGE
- Logo con triple-tap para ciclar temas (StateWidget con Timer)
- Indicador DEMO visible cuando isConnected == false
- Engranaje → AppearanceSettingsScreen
display/lib/widgets/themed/engage_button.dart
- Botón verde con glow; dimmed cuando ya está engaged
display/lib/widgets/themed/heading_adjust_bar.dart
- Botones << < [SET 048.0°] > >>
- Deshabilitado cuando mode == STANDBY
display/lib/widgets/themed/status_chip.dart
- Indicador de punto + label para NMEA / GPS (ok / warn / off)
Modificado:
display/lib/main.dart
- MultiProvider: agrega AutopilotState al árbol de providers
- Ruta inicial: CockpitScreen.routeName ('/') en lugar de Appearance
AR_electronics — AR-Autopilot Project
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// =============================================================================
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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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// =============================================================================
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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 '../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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bool isConnected = false;
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// ── Internal ─────────────────────────────────────────────────────────────────
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Timer? _demoTimer;
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final _rng = math.Random();
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AutopilotState() {
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_startDemo();
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}
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// ---------------------------------------------------------------------------
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// Demo simulation (Sprint 4 only)
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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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}
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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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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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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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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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if (d < -180) d += 360;
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return d;
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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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// ---------------------------------------------------------------------------
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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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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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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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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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disengage();
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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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@override
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void dispose() {
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_demoTimer?.cancel();
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super.dispose();
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}
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}
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