diff --git a/ground-suite/.gitignore b/ground-suite/.gitignore new file mode 100644 index 0000000..3820a95 --- /dev/null +++ b/ground-suite/.gitignore @@ -0,0 +1,45 @@ +# Miscellaneous +*.class +*.log +*.pyc +*.swp +.DS_Store +.atom/ +.build/ +.buildlog/ +.history +.svn/ +.swiftpm/ +migrate_working_dir/ + +# IntelliJ related +*.iml +*.ipr +*.iws +.idea/ + +# The .vscode folder contains launch configuration and tasks you configure in +# VS Code which you may wish to be included in version control, so this line +# is commented out by default. +#.vscode/ + +# Flutter/Dart/Pub related +**/doc/api/ +**/ios/Flutter/.last_build_id +.dart_tool/ +.flutter-plugins-dependencies +.pub-cache/ +.pub/ +/build/ +/coverage/ + +# Symbolication related +app.*.symbols + +# Obfuscation related +app.*.map.json + +# Android Studio will place build artifacts here +/android/app/debug +/android/app/profile +/android/app/release diff --git a/ground-suite/.metadata b/ground-suite/.metadata new file mode 100644 index 0000000..2215ee3 --- /dev/null +++ b/ground-suite/.metadata @@ -0,0 +1,30 @@ +# This file tracks properties of this Flutter project. +# Used by Flutter tool to assess capabilities and perform upgrades etc. +# +# This file should be version controlled and should not be manually edited. + +version: + revision: "nixpkgs000000000000000000000000000000000" + channel: "stable" + +project_type: app + +# Tracks metadata for the flutter migrate command +migration: + platforms: + - platform: root + create_revision: nixpkgs000000000000000000000000000000000 + base_revision: nixpkgs000000000000000000000000000000000 + - platform: linux + create_revision: nixpkgs000000000000000000000000000000000 + base_revision: nixpkgs000000000000000000000000000000000 + + # User provided section + + # List of Local paths (relative to this file) that should be + # ignored by the migrate tool. + # + # Files that are not part of the templates will be ignored by default. + unmanaged_files: + - 'lib/main.dart' + - 'ios/Runner.xcodeproj/project.pbxproj' diff --git a/ground-suite/README.md b/ground-suite/README.md new file mode 100644 index 0000000..ff8846a --- /dev/null +++ b/ground-suite/README.md @@ -0,0 +1,61 @@ +# Ground Suite + +Ground Suite is Kaptan's desktop ground-control software. Its application +identifier is `com.orkavian.ground_suite`. + +## Current scope + +The first vertical slice is a **read-only observability console**. It uses a +deterministic replay fixture to present a vehicle identity, heartbeat state, +telemetry presence, ordinary logs, runtime errors, and orderly-shutdown +observations. It never sends bytes to a vehicle. + +This is deliberate: the current F722 firmware rejects every inbound MAVLink +frame, and `kaptan-sitl serve` has no MAVLink endpoint. A connected-looking UI +must not suggest the vehicle is controllable, safe, armed, or writable. + +## Architecture + +```text +VehicleDataPort (replay now; MAVLink adapter later) + -> typed observation-or-drop updates + -> Riverpod observability state + -> Overview / Diagnostics presentation +``` + +`MavlinkByteSource` and `MavlinkEventDecoder` are receive-only seams. The +future decoder must combine pinned MAVLink Common definitions with Kaptan's +`kaptan.xml` root, and preserve the firmware's semantic rules for bounded +`KAPTAN_LOG`, `KAPTAN_ERROR`, and `KAPTAN_SHUTDOWN` payloads. Raw severity, +shutdown-reason, and diagnostic-flag values remain visible even when an app +does not yet recognise them. Expected malformed or unsupported frames become +parser/semantic drop updates and never terminate the observation stream. + +## Development + +From the repository root: + +```sh +nix develop -c flutter analyze ground-suite +nix develop -c dart format --set-exit-if-changed ground-suite +nix develop -c sh -c 'cd ground-suite && flutter test' +nix develop -c sh -c 'cd ground-suite && flutter run -d linux' +``` + +Linux is the first tested desktop runner. Native macOS and Windows runners +will be added only with their respective CI coverage. + +## Deliberately deferred work + +- TODO(gcs-live-mavlink): generated MAVLink Common plus custom-dialect + bindings, a MAVLink 2 receive parser, semantic validation, and + serial/UDP/recording endpoints. +- TODO(gcs-connection): endpoint lifecycle, reconnect generation, link-loss + policy, and parser/semantic-drop accounting sourced from real frames. +- TODO(gcs-config): descriptor-driven configuration UI only after firmware has + authenticated ingress, source binding, persistent anti-replay state, target + storage, and a disarmed atomic activation path. +- TODO(gcs-upload): CBOR import/export only through the reviewed transaction + protocol; never treat a local file as active vehicle configuration. +- TODO(gcs-control): arm, command, calibration, and shutdown workflows need + their own reviewed authority and safety contracts. diff --git a/ground-suite/analysis_options.yaml b/ground-suite/analysis_options.yaml new file mode 100644 index 0000000..0d29021 --- /dev/null +++ b/ground-suite/analysis_options.yaml @@ -0,0 +1,28 @@ +# This file configures the analyzer, which statically analyzes Dart code to +# check for errors, warnings, and lints. +# +# The issues identified by the analyzer are surfaced in the UI of Dart-enabled +# IDEs (https://dart.dev/tools#ides-and-editors). The analyzer can also be +# invoked from the command line by running `flutter analyze`. + +# The following line activates a set of recommended lints for Flutter apps, +# packages, and plugins designed to encourage good coding practices. +include: package:flutter_lints/flutter.yaml + +linter: + # The lint rules applied to this project can be customized in the + # section below to disable rules from the `package:flutter_lints/flutter.yaml` + # included above or to enable additional rules. A list of all available lints + # and their documentation is published at https://dart.dev/lints. + # + # Instead of disabling a lint rule for the entire project in the + # section below, it can also be suppressed for a single line of code + # or a specific dart file by using the `// ignore: name_of_lint` and + # `// ignore_for_file: name_of_lint` syntax on the line or in the file + # producing the lint. + rules: + # avoid_print: false # Uncomment to disable the `avoid_print` rule + # prefer_single_quotes: true # Uncomment to enable the `prefer_single_quotes` rule + +# Additional information about this file can be found at +# https://dart.dev/guides/language/analysis-options diff --git a/ground-suite/lib/app/app.dart b/ground-suite/lib/app/app.dart new file mode 100644 index 0000000..56673c4 --- /dev/null +++ b/ground-suite/lib/app/app.dart @@ -0,0 +1,18 @@ +import 'package:flutter/material.dart'; + +import 'app_shell.dart'; +import 'theme.dart'; + +class GroundSuiteApp extends StatelessWidget { + const GroundSuiteApp({super.key}); + + @override + Widget build(BuildContext context) { + return MaterialApp( + title: 'Ground Suite', + debugShowCheckedModeBanner: false, + theme: groundSuiteTheme(), + home: const AppShell(), + ); + } +} diff --git a/ground-suite/lib/app/app_shell.dart b/ground-suite/lib/app/app_shell.dart new file mode 100644 index 0000000..e35463b --- /dev/null +++ b/ground-suite/lib/app/app_shell.dart @@ -0,0 +1,242 @@ +import 'package:flutter/material.dart'; +import 'package:flutter_riverpod/flutter_riverpod.dart'; + +import '../features/diagnostics/presentation/diagnostics_page.dart'; +import '../features/observability/presentation/observability_controller.dart'; +import '../features/overview/presentation/overview_page.dart'; + +enum _Destination { overview, diagnostics } + +class AppShell extends ConsumerStatefulWidget { + const AppShell({super.key}); + + @override + ConsumerState createState() => _AppShellState(); +} + +class _AppShellState extends ConsumerState { + _Destination _destination = _Destination.overview; + + @override + Widget build(BuildContext context) { + final state = ref.watch(observabilityControllerProvider); + const pages = [OverviewPage(), DiagnosticsPage()]; + + return Scaffold( + body: SafeArea( + child: Stack( + children: [ + LayoutBuilder( + builder: (context, constraints) { + final compact = constraints.maxWidth < 760; + final content = _Workspace( + state: state, + selectedIndex: _destination.index, + pages: pages, + compact: compact, + ); + return compact + ? _CompactShell( + selectedIndex: _destination.index, + onSelected: _selectDestination, + content: content, + ) + : _WideShell( + selectedIndex: _destination.index, + onSelected: _selectDestination, + content: content, + ); + }, + ), + if (state.accessibilityAnnouncement case final announcement?) + _CriticalAnnouncement(message: announcement), + ], + ), + ), + ); + } + + void _selectDestination(int index) { + setState(() => _destination = _Destination.values[index]); + } +} + +class _WideShell extends StatelessWidget { + const _WideShell({ + required this.selectedIndex, + required this.onSelected, + required this.content, + }); + + final int selectedIndex; + final ValueChanged onSelected; + final Widget content; + + @override + Widget build(BuildContext context) { + return Row( + children: [ + NavigationRail( + selectedIndex: selectedIndex, + labelType: NavigationRailLabelType.all, + onDestinationSelected: onSelected, + leading: const Padding( + padding: EdgeInsets.symmetric(vertical: 16), + child: Icon(Icons.flight_takeoff_outlined, size: 28), + ), + destinations: _destinations, + ), + const VerticalDivider(width: 1), + Expanded(child: content), + ], + ); + } +} + +class _CompactShell extends StatelessWidget { + const _CompactShell({ + required this.selectedIndex, + required this.onSelected, + required this.content, + }); + + final int selectedIndex; + final ValueChanged onSelected; + final Widget content; + + @override + Widget build(BuildContext context) { + return Column( + children: [ + Expanded(child: content), + NavigationBar( + selectedIndex: selectedIndex, + onDestinationSelected: onSelected, + destinations: const [ + NavigationDestination( + icon: Icon(Icons.space_dashboard_outlined), + selectedIcon: Icon(Icons.space_dashboard), + label: 'Overview', + ), + NavigationDestination( + icon: Icon(Icons.receipt_long_outlined), + selectedIcon: Icon(Icons.receipt_long), + label: 'Diagnostics', + ), + ], + ), + ], + ); + } +} + +const _destinations = [ + NavigationRailDestination( + icon: Icon(Icons.space_dashboard_outlined), + selectedIcon: Icon(Icons.space_dashboard), + label: Text('Overview'), + ), + NavigationRailDestination( + icon: Icon(Icons.receipt_long_outlined), + selectedIcon: Icon(Icons.receipt_long), + label: Text('Diagnostics'), + ), +]; + +class _Workspace extends StatelessWidget { + const _Workspace({ + required this.state, + required this.selectedIndex, + required this.pages, + required this.compact, + }); + + final ObservabilityState state; + final int selectedIndex; + final List pages; + final bool compact; + + @override + Widget build(BuildContext context) { + return Column( + children: [ + _ConnectionBar(state: state, compact: compact), + const Divider(height: 1), + Expanded( + child: IndexedStack(index: selectedIndex, children: pages), + ), + ], + ); + } +} + +class _ConnectionBar extends StatelessWidget { + const _ConnectionBar({required this.state, required this.compact}); + + final ObservabilityState state; + final bool compact; + + @override + Widget build(BuildContext context) { + final theme = Theme.of(context); + final heartbeat = state.lastHeartbeat; + final peer = heartbeat == null + ? 'No vehicle identity observed' + : 'System ${heartbeat.systemId} / component ${heartbeat.componentId}'; + final frameTime = state.lastFrameAt == null + ? 'No frames received' + : 'Last frame ${_formatTimestamp(state.lastFrameAt!)}'; + + return Semantics( + label: '${state.status.label}; ${state.sourceLabel}; $peer; $frameTime', + child: Padding( + padding: EdgeInsets.symmetric( + horizontal: compact ? 16 : 24, + vertical: 12, + ), + child: Wrap( + spacing: 8, + runSpacing: 8, + crossAxisAlignment: WrapCrossAlignment.center, + children: [ + Icon(Icons.visibility_outlined, color: theme.colorScheme.primary), + Text('Observation only', style: theme.textTheme.titleSmall), + _StatusChip(label: state.sourceLabel), + _StatusChip(label: state.status.label), + Text(peer), + Text(frameTime), + ], + ), + ), + ); + } +} + +class _CriticalAnnouncement extends StatelessWidget { + const _CriticalAnnouncement({required this.message}); + + final String message; + + @override + Widget build(BuildContext context) { + return Semantics( + container: true, + liveRegion: true, + label: message, + child: const SizedBox.square(dimension: 1), + ); + } +} + +class _StatusChip extends StatelessWidget { + const _StatusChip({required this.label}); + + final String label; + + @override + Widget build(BuildContext context) { + return Chip(label: Text(label), visualDensity: VisualDensity.compact); + } +} + +String _formatTimestamp(DateTime value) => value.toIso8601String(); diff --git a/ground-suite/lib/app/theme.dart b/ground-suite/lib/app/theme.dart new file mode 100644 index 0000000..2ee4fea --- /dev/null +++ b/ground-suite/lib/app/theme.dart @@ -0,0 +1,17 @@ +import 'package:flutter/material.dart'; + +ThemeData groundSuiteTheme() { + const seed = Color(0xff006c8f); + final scheme = ColorScheme.fromSeed(seedColor: seed); + + return ThemeData( + useMaterial3: true, + colorScheme: scheme, + scaffoldBackgroundColor: scheme.surface, + visualDensity: VisualDensity.standard, + cardTheme: CardThemeData( + elevation: 0, + shape: RoundedRectangleBorder(borderRadius: BorderRadius.circular(12)), + ), + ); +} diff --git a/ground-suite/lib/core/mavlink/mavlink_byte_source.dart b/ground-suite/lib/core/mavlink/mavlink_byte_source.dart new file mode 100644 index 0000000..3a2d39d --- /dev/null +++ b/ground-suite/lib/core/mavlink/mavlink_byte_source.dart @@ -0,0 +1,12 @@ +import 'dart:typed_data'; + +/// Receive-only bytes from one MAVLink transport endpoint. +/// +/// A source has one reader and owns its close lifecycle. A future adapter will +/// bind serial, UDP, or a recording source here; no source in the first slice +/// may write bytes to a vehicle. +abstract interface class MavlinkByteSource { + Stream get chunks; + + Future close(); +} diff --git a/ground-suite/lib/core/mavlink/mavlink_event_decoder.dart b/ground-suite/lib/core/mavlink/mavlink_event_decoder.dart new file mode 100644 index 0000000..8312764 --- /dev/null +++ b/ground-suite/lib/core/mavlink/mavlink_event_decoder.dart @@ -0,0 +1,13 @@ +import '../observations/vehicle_data_update.dart'; +import 'mavlink_byte_source.dart'; + +/// Converts a receive-only MAVLink byte stream into semantically safe events. +/// +/// TODO(gcs-live-mavlink): generate this adapter from pinned MAVLink Common +/// definitions plus Kaptan's `kaptan.xml` root. It must reject MAVLink 1 and +/// CRC-invalid MAVLink 2 frames, validate every fixed diagnostic length before +/// UTF-8 decoding, retain unknown enum values and flags, and emit parser or +/// semantic drop updates without ending the connection. +abstract interface class MavlinkEventDecoder { + Stream decode(MavlinkByteSource source); +} diff --git a/ground-suite/lib/core/observations/observed_event.dart b/ground-suite/lib/core/observations/observed_event.dart new file mode 100644 index 0000000..89621a0 --- /dev/null +++ b/ground-suite/lib/core/observations/observed_event.dart @@ -0,0 +1,136 @@ +/// A MAVLink severity value retained exactly as it appeared on the wire. +/// +/// Known values follow MAVLink's numeric severity semantics. Unknown values +/// remain displayable so a newer vehicle cannot silently lose diagnostic +/// meaning before Ground Suite has been updated. +final class MavSeverity { + const MavSeverity(this.wireValue); + + static const emergency = MavSeverity(0); + static const alert = MavSeverity(1); + static const critical = MavSeverity(2); + static const error = MavSeverity(3); + static const warning = MavSeverity(4); + static const notice = MavSeverity(5); + static const info = MavSeverity(6); + static const debug = MavSeverity(7); + + final int wireValue; + + String get label => switch (wireValue) { + 0 => 'Emergency', + 1 => 'Alert', + 2 => 'Critical', + 3 => 'Error', + 4 => 'Warning', + 5 => 'Notice', + 6 => 'Info', + 7 => 'Debug', + _ => 'Unknown ($wireValue)', + }; +} + +/// A KAPTAN_SHUTDOWN reason retained exactly as it appeared on the wire. +final class KaptanShutdownReason { + const KaptanShutdownReason(this.wireValue); + + static const operator = KaptanShutdownReason(1); + static const safety = KaptanShutdownReason(2); + + final int wireValue; + + String get label => switch (wireValue) { + 1 => 'Operator', + 2 => 'Safety', + _ => 'Unknown ($wireValue)', + }; +} + +enum TelemetryKind { + rawImu, + distanceSensor, + opticalFlow; + + String get label => switch (this) { + TelemetryKind.rawImu => 'Raw IMU', + TelemetryKind.distanceSensor => 'Distance sensor', + TelemetryKind.opticalFlow => 'Optical flow', + }; +} + +sealed class ObservedEvent { + const ObservedEvent({required this.receivedAt}); + + final DateTime receivedAt; +} + +final class HeartbeatEvent extends ObservedEvent { + const HeartbeatEvent({ + required super.receivedAt, + required this.systemId, + required this.componentId, + required this.armed, + required this.vehicleState, + }); + + final int systemId; + final int componentId; + final bool armed; + final String vehicleState; +} + +final class TelemetryEvent extends ObservedEvent { + const TelemetryEvent({required super.receivedAt, required this.kind}); + + final TelemetryKind kind; +} + +final class LogEvent extends ObservedEvent { + const LogEvent({ + required super.receivedAt, + required this.level, + required this.message, + this.flags = 0, + }); + + static const traceFlag = 1; + static const truncatedFlag = 2; + static const coalescedFlag = 4; + static const knownFlags = traceFlag | truncatedFlag | coalescedFlag; + + final MavSeverity level; + final String message; + final int flags; + + bool get isTrace => flags & traceFlag != 0; + bool get isTruncated => flags & truncatedFlag != 0; + bool get isCoalesced => flags & coalescedFlag != 0; + int get unknownFlags => flags & ~knownFlags; +} + +final class ErrorEvent extends ObservedEvent { + const ErrorEvent({ + required super.receivedAt, + required this.path, + this.additionalInformation = '', + this.flags = 0, + }); + + static const truncatedFlag = 2; + static const coalescedFlag = 4; + static const knownFlags = truncatedFlag | coalescedFlag; + + final String path; + final String additionalInformation; + final int flags; + + bool get isTruncated => flags & truncatedFlag != 0; + bool get isCoalesced => flags & coalescedFlag != 0; + int get unknownFlags => flags & ~knownFlags; +} + +final class ShutdownEvent extends ObservedEvent { + const ShutdownEvent({required super.receivedAt, required this.reason}); + + final KaptanShutdownReason reason; +} diff --git a/ground-suite/lib/core/observations/vehicle_data_port.dart b/ground-suite/lib/core/observations/vehicle_data_port.dart new file mode 100644 index 0000000..31bcec6 --- /dev/null +++ b/ground-suite/lib/core/observations/vehicle_data_port.dart @@ -0,0 +1,16 @@ +import 'vehicle_data_update.dart'; + +/// A receive-only source of already-classified vehicle observations. +/// +/// The replay implementation is the first concrete port. A live port may be +/// added only after the custom MAVLink decoder has its length/CRC/enum safety +/// contract and endpoint lifecycle tests. +abstract interface class VehicleDataPort { + String get label; + + bool get isReplay; + + Stream observe(); + + Future close(); +} diff --git a/ground-suite/lib/core/observations/vehicle_data_update.dart b/ground-suite/lib/core/observations/vehicle_data_update.dart new file mode 100644 index 0000000..3a83e12 --- /dev/null +++ b/ground-suite/lib/core/observations/vehicle_data_update.dart @@ -0,0 +1,28 @@ +import 'observed_event.dart'; + +/// One receive-side outcome from a vehicle-data transport. +/// +/// Expected malformed or unsupported MAVLink frames are reported as drops and +/// must not terminate the transport stream. Transport failures remain stream +/// errors because the connection lifecycle must handle them separately. +sealed class VehicleDataUpdate { + const VehicleDataUpdate(); +} + +/// A classified observation that is safe to present. +final class ObservationReceived extends VehicleDataUpdate { + const ObservationReceived(this.event); + + final ObservedEvent event; +} + +enum ObservationDropKind { parser, semantic } + +/// One or more rejected frames, retained only as bounded accounting. +final class ObservationDropped extends VehicleDataUpdate { + const ObservationDropped({required this.kind, this.count = 1}) + : assert(count > 0); + + final ObservationDropKind kind; + final int count; +} diff --git a/ground-suite/lib/core/transport/replay_vehicle_data_port.dart b/ground-suite/lib/core/transport/replay_vehicle_data_port.dart new file mode 100644 index 0000000..480e82f --- /dev/null +++ b/ground-suite/lib/core/transport/replay_vehicle_data_port.dart @@ -0,0 +1,65 @@ +import '../observations/observed_event.dart'; +import '../observations/vehicle_data_port.dart'; +import '../observations/vehicle_data_update.dart'; + +/// Deterministic observations for the first Ground Suite workflow. +/// +/// This is intentionally a typed replay rather than a pretend connected +/// vehicle. Raw frame replay moves behind the MAVLink decoder once bindings +/// are generated from the MAVLink Common and Kaptan dialect definitions. +final class ReplayVehicleDataPort implements VehicleDataPort { + const ReplayVehicleDataPort(); + + @override + String get label => 'Replay fixture'; + + @override + bool get isReplay => true; + + @override + Stream observe() => Stream.fromIterable( + _events.map(ObservationReceived.new), + ); + + @override + Future close() async {} + + static final List _events = [ + HeartbeatEvent( + receivedAt: DateTime.utc(2026, 8, 10, 12), + systemId: 1, + componentId: 1, + armed: false, + vehicleState: 'Standby', + ), + TelemetryEvent( + receivedAt: DateTime.utc(2026, 8, 10, 12, 0, 1), + kind: TelemetryKind.rawImu, + ), + TelemetryEvent( + receivedAt: DateTime.utc(2026, 8, 10, 12, 0, 2), + kind: TelemetryKind.distanceSensor, + ), + LogEvent( + receivedAt: DateTime.utc(2026, 8, 10, 12, 0, 3), + level: MavSeverity.warning, + message: 'Range aid stale', + flags: LogEvent.coalescedFlag, + ), + ErrorEvent( + receivedAt: DateTime.utc(2026, 8, 10, 12, 0, 4), + path: 'kaptan_drivers::lidar_lite_v3::error::Error::TransferFault', + additionalInformation: 'The replay contains a bounded error detail.', + flags: ErrorEvent.truncatedFlag, + ), + LogEvent( + receivedAt: DateTime.utc(2026, 8, 10, 12, 0, 5), + level: MavSeverity.info, + message: 'Replay fixture complete', + ), + ShutdownEvent( + receivedAt: DateTime.utc(2026, 8, 10, 12, 0, 6), + reason: KaptanShutdownReason.operator, + ), + ]; +} diff --git a/ground-suite/lib/features/diagnostics/presentation/diagnostics_page.dart b/ground-suite/lib/features/diagnostics/presentation/diagnostics_page.dart new file mode 100644 index 0000000..cd6489e --- /dev/null +++ b/ground-suite/lib/features/diagnostics/presentation/diagnostics_page.dart @@ -0,0 +1,273 @@ +import 'package:flutter/material.dart'; +import 'package:flutter_riverpod/flutter_riverpod.dart'; + +import '../../../core/observations/observed_event.dart'; +import '../../../shared/widgets/severity_badge.dart'; +import '../../observability/presentation/observability_controller.dart'; + +enum _DiagnosticFilter { all, logs, errors, shutdowns } + +class DiagnosticsPage extends ConsumerStatefulWidget { + const DiagnosticsPage({super.key}); + + @override + ConsumerState createState() => _DiagnosticsPageState(); +} + +class _DiagnosticsPageState extends ConsumerState { + _DiagnosticFilter _filter = _DiagnosticFilter.all; + String _query = ''; + + @override + Widget build(BuildContext context) { + final state = ref.watch(observabilityControllerProvider); + final events = state.events.where(_matches).toList(growable: false); + + return ListView( + padding: const EdgeInsets.all(24), + children: [ + Text('Diagnostics', style: Theme.of(context).textTheme.headlineMedium), + const SizedBox(height: 8), + const Text( + 'Messages remain distinct by protocol class. A configuration result ' + 'will remain authoritative when configuration support is added.', + ), + const SizedBox(height: 16), + Wrap( + spacing: 8, + runSpacing: 8, + children: _DiagnosticFilter.values + .map( + (filter) => ChoiceChip( + label: Text(_labelFor(filter)), + selected: _filter == filter, + onSelected: (_) => setState(() => _filter = filter), + ), + ) + .toList(growable: false), + ), + const SizedBox(height: 12), + TextField( + decoration: const InputDecoration( + border: OutlineInputBorder(), + labelText: 'Filter diagnostics', + prefixIcon: Icon(Icons.search), + ), + onChanged: (value) { + setState(() => _query = value.trim().toLowerCase()); + }, + ), + const SizedBox(height: 16), + if (events.isEmpty) + const Card( + child: Padding( + padding: EdgeInsets.all(20), + child: Text('No diagnostic observations match this filter.'), + ), + ) + else + ...events.map((event) => _DiagnosticCard(event: event)), + ], + ); + } + + bool _matches(ObservedEvent event) { + final typeMatches = switch (_filter) { + _DiagnosticFilter.all => + event is LogEvent || event is ErrorEvent || event is ShutdownEvent, + _DiagnosticFilter.logs => event is LogEvent, + _DiagnosticFilter.errors => event is ErrorEvent, + _DiagnosticFilter.shutdowns => event is ShutdownEvent, + }; + if (!typeMatches) { + return false; + } + if (_query.isEmpty) { + return true; + } + return _searchableText(event).toLowerCase().contains(_query); + } +} + +class _DiagnosticCard extends StatelessWidget { + const _DiagnosticCard({required this.event}); + + final ObservedEvent event; + + @override + Widget build(BuildContext context) { + final theme = Theme.of(context); + final content = switch (event) { + LogEvent(:final level, :final message, :final flags) => _LogContent( + level: level, + message: message, + flags: flags, + ), + ErrorEvent(:final path, :final additionalInformation, :final flags) => + _ErrorContent( + path: path, + additionalInformation: additionalInformation, + flags: flags, + ), + ShutdownEvent(:final reason) => _ShutdownContent(reason: reason), + _ => null, + }; + if (content == null) { + return const SizedBox.shrink(); + } + + return Semantics( + container: true, + label: content.semanticLabel, + child: Card( + margin: const EdgeInsets.only(bottom: 12), + child: Padding( + padding: const EdgeInsets.all(16), + child: Row( + crossAxisAlignment: CrossAxisAlignment.start, + children: [ + content.leading, + const SizedBox(width: 12), + Expanded( + child: SelectionArea( + child: Column( + crossAxisAlignment: CrossAxisAlignment.start, + children: [ + Text(content.title, style: theme.textTheme.titleMedium), + const SizedBox(height: 4), + Text(content.detail), + if (content.additionalDetail case final detail?) ...[ + const SizedBox(height: 8), + Text(detail), + ], + const SizedBox(height: 8), + Text( + event.receivedAt.toIso8601String(), + style: theme.textTheme.bodySmall, + ), + ], + ), + ), + ), + ], + ), + ), + ), + ); + } +} + +class _DiagnosticContent { + const _DiagnosticContent({ + required this.leading, + required this.title, + required this.detail, + required this.semanticLabel, + this.additionalDetail, + }); + + final Widget leading; + final String title; + final String detail; + final String? additionalDetail; + final String semanticLabel; +} + +class _LogContent extends _DiagnosticContent { + _LogContent({ + required MavSeverity level, + required String message, + required int flags, + }) : super( + leading: SeverityBadge(level: level), + title: 'Log — ${level.label}', + detail: message, + additionalDetail: _formatLogFlags(flags), + semanticLabel: _semanticLogLabel(level, message, flags), + ); +} + +class _ErrorContent extends _DiagnosticContent { + _ErrorContent({ + required String path, + required String additionalInformation, + required int flags, + }) : super( + leading: const SeverityBadge(level: MavSeverity.error), + title: 'Error', + detail: path, + additionalDetail: _formatErrorDetail(additionalInformation, flags), + semanticLabel: _semanticErrorLabel(path, additionalInformation, flags), + ); +} + +class _ShutdownContent extends _DiagnosticContent { + _ShutdownContent({required KaptanShutdownReason reason}) + : super( + leading: const Icon(Icons.power_settings_new_outlined), + title: 'Orderly shutdown observed', + detail: 'Reason: ${reason.label}', + semanticLabel: 'Orderly shutdown observed: ${reason.label}', + ); +} + +String _labelFor(_DiagnosticFilter filter) => switch (filter) { + _DiagnosticFilter.all => 'All', + _DiagnosticFilter.logs => 'Logs', + _DiagnosticFilter.errors => 'Errors', + _DiagnosticFilter.shutdowns => 'Shutdowns', +}; + +String _searchableText(ObservedEvent event) => switch (event) { + LogEvent(:final level, :final message) => '${level.label} $message', + ErrorEvent(:final path, :final additionalInformation) => + '$path $additionalInformation', + ShutdownEvent(:final reason) => reason.label, + _ => '', +}; + +String? _formatLogFlags(int flags) { + final labels = [ + if (flags & LogEvent.traceFlag != 0) 'Trace', + if (flags & LogEvent.truncatedFlag != 0) 'Truncated', + if (flags & LogEvent.coalescedFlag != 0) 'Coalesced', + if (flags & ~LogEvent.knownFlags != 0) + 'Unknown bits 0x${(flags & ~LogEvent.knownFlags).toRadixString(16)}', + ]; + return labels.isEmpty ? null : 'Flags: ${labels.join(', ')}'; +} + +String? _formatErrorDetail(String additionalInformation, int flags) { + final flagDetail = _formatErrorFlags(flags); + final details = [ + if (additionalInformation.isNotEmpty) additionalInformation, + ?flagDetail, + ]; + return details.isEmpty ? null : details.join('\n'); +} + +String? _formatErrorFlags(int flags) { + final labels = [ + if (flags & ErrorEvent.truncatedFlag != 0) 'Truncated', + if (flags & ErrorEvent.coalescedFlag != 0) 'Coalesced', + if (flags & ~ErrorEvent.knownFlags != 0) + 'Unknown bits 0x${(flags & ~ErrorEvent.knownFlags).toRadixString(16)}', + ]; + return labels.isEmpty ? null : 'Flags: ${labels.join(', ')}'; +} + +String _semanticLogLabel(MavSeverity level, String message, int flags) { + final flagDetail = _formatLogFlags(flags); + return flagDetail == null + ? '${level.label} log: $message' + : '${level.label} log: $message. $flagDetail'; +} + +String _semanticErrorLabel( + String path, + String additionalInformation, + int flags, +) { + final detail = _formatErrorDetail(additionalInformation, flags); + return detail == null ? 'Error: $path' : 'Error: $path. $detail'; +} diff --git a/ground-suite/lib/features/observability/presentation/observability_controller.dart b/ground-suite/lib/features/observability/presentation/observability_controller.dart new file mode 100644 index 0000000..db50f04 --- /dev/null +++ b/ground-suite/lib/features/observability/presentation/observability_controller.dart @@ -0,0 +1,206 @@ +import 'dart:async'; + +import 'package:flutter_riverpod/flutter_riverpod.dart'; + +import '../../../core/observations/observed_event.dart'; +import '../../../core/observations/vehicle_data_port.dart'; +import '../../../core/observations/vehicle_data_update.dart'; +import '../../../core/transport/replay_vehicle_data_port.dart'; + +final vehicleDataPortProvider = Provider((ref) { + final port = const ReplayVehicleDataPort(); + ref.onDispose(() => unawaited(port.close())); + return port; +}); + +final observabilityControllerProvider = + NotifierProvider( + ObservabilityController.new, + ); + +class ObservabilityController extends Notifier { + static const _criticalAnnouncementWindow = Duration(seconds: 2); + + StreamSubscription? _subscription; + DateTime? _lastCriticalAnnouncementAt; + + @override + ObservabilityState build() { + final source = ref.read(vehicleDataPortProvider); + ref.onDispose(_cancelSubscription); + Future.microtask(() => _observe(source)); + return ObservabilityState.initial(source); + } + + void _observe(VehicleDataPort source) { + _subscription = source.observe().listen( + _handleUpdate, + onError: (Object _, StackTrace _) { + state = state.copyWith( + status: ObservationStatus.disconnected, + accessibilityAnnouncement: 'Observation connection closed.', + replaceAccessibilityAnnouncement: true, + ); + }, + onDone: () { + state = state.copyWith( + status: source.isReplay + ? ObservationStatus.replayComplete + : ObservationStatus.disconnected, + accessibilityAnnouncement: source.isReplay + ? 'Replay complete.' + : 'Observation connection closed.', + replaceAccessibilityAnnouncement: true, + ); + }, + ); + } + + void _handleUpdate(VehicleDataUpdate update) { + switch (update) { + case ObservationReceived(:final event): + _record(event); + case ObservationDropped(:final kind, :final count): + state = state.copyWith( + status: ObservationStatus.receiving, + parserDropCount: + state.parserDropCount + + (kind == ObservationDropKind.parser ? count : 0), + semanticDropCount: + state.semanticDropCount + + (kind == ObservationDropKind.semantic ? count : 0), + ); + } + } + + void _record(ObservedEvent event) { + final announcement = _announcementFor(event); + state = state.copyWith( + status: ObservationStatus.receiving, + lastFrameAt: event.receivedAt, + events: [...state.events, event], + accessibilityAnnouncement: announcement.message, + replaceAccessibilityAnnouncement: true, + coalescedAlertCount: + state.coalescedAlertCount + (announcement.coalesced ? 1 : 0), + ); + } + + _AnnouncementDecision _announcementFor(ObservedEvent event) { + final candidate = switch (event) { + ErrorEvent(:final path) => 'Error received: $path', + ShutdownEvent(:final reason) => + 'Orderly shutdown observed: ${reason.label}', + _ => null, + }; + if (candidate == null) { + return const _AnnouncementDecision(); + } + + final now = DateTime.now(); + final previous = _lastCriticalAnnouncementAt; + if (previous != null && + now.difference(previous) < _criticalAnnouncementWindow) { + return const _AnnouncementDecision(coalesced: true); + } + _lastCriticalAnnouncementAt = now; + return _AnnouncementDecision(message: candidate); + } + + void _cancelSubscription() { + _subscription?.cancel(); + } +} + +enum ObservationStatus { + starting('Starting'), + receiving('Observing'), + replayComplete('Replay complete'), + disconnected('Disconnected'); + + const ObservationStatus(this.label); + + final String label; +} + +class ObservabilityState { + const ObservabilityState({ + required this.sourceLabel, + required this.isReplay, + required this.status, + required this.events, + required this.parserDropCount, + required this.semanticDropCount, + required this.coalescedAlertCount, + this.lastFrameAt, + this.accessibilityAnnouncement, + }); + + factory ObservabilityState.initial(VehicleDataPort source) { + return ObservabilityState( + sourceLabel: source.label, + isReplay: source.isReplay, + status: ObservationStatus.starting, + events: const [], + parserDropCount: 0, + semanticDropCount: 0, + coalescedAlertCount: 0, + ); + } + + final String sourceLabel; + final bool isReplay; + final ObservationStatus status; + final List events; + final int parserDropCount; + final int semanticDropCount; + final int coalescedAlertCount; + final DateTime? lastFrameAt; + final String? accessibilityAnnouncement; + + HeartbeatEvent? get lastHeartbeat { + for (final event in events.reversed) { + if (event case HeartbeatEvent()) { + return event; + } + } + return null; + } + + Set get observedTelemetryKinds => { + for (final event in events) + if (event case TelemetryEvent(:final kind)) kind, + }; + + ObservabilityState copyWith({ + ObservationStatus? status, + List? events, + int? parserDropCount, + int? semanticDropCount, + int? coalescedAlertCount, + DateTime? lastFrameAt, + String? accessibilityAnnouncement, + bool replaceAccessibilityAnnouncement = false, + }) { + return ObservabilityState( + sourceLabel: sourceLabel, + isReplay: isReplay, + status: status ?? this.status, + events: events ?? this.events, + parserDropCount: parserDropCount ?? this.parserDropCount, + semanticDropCount: semanticDropCount ?? this.semanticDropCount, + coalescedAlertCount: coalescedAlertCount ?? this.coalescedAlertCount, + lastFrameAt: lastFrameAt ?? this.lastFrameAt, + accessibilityAnnouncement: replaceAccessibilityAnnouncement + ? accessibilityAnnouncement + : this.accessibilityAnnouncement, + ); + } +} + +class _AnnouncementDecision { + const _AnnouncementDecision({this.message, this.coalesced = false}); + + final String? message; + final bool coalesced; +} diff --git a/ground-suite/lib/features/overview/presentation/overview_page.dart b/ground-suite/lib/features/overview/presentation/overview_page.dart new file mode 100644 index 0000000..1591fe2 --- /dev/null +++ b/ground-suite/lib/features/overview/presentation/overview_page.dart @@ -0,0 +1,147 @@ +import 'package:flutter/material.dart'; +import 'package:flutter_riverpod/flutter_riverpod.dart'; + +import '../../observability/presentation/observability_controller.dart'; + +class OverviewPage extends ConsumerWidget { + const OverviewPage({super.key}); + + @override + Widget build(BuildContext context, WidgetRef ref) { + final state = ref.watch(observabilityControllerProvider); + final heartbeat = state.lastHeartbeat; + final telemetry = state.observedTelemetryKinds + .map((kind) => kind.label) + .join(', '); + final identity = heartbeat == null + ? 'Not observed' + : 'System ${heartbeat.systemId} / component ${heartbeat.componentId}'; + final identityDetail = heartbeat == null + ? 'Awaiting HEARTBEAT.' + : 'Reported by last HEARTBEAT: ' + '${heartbeat.armed ? 'Armed' : 'Disarmed'} · ${heartbeat.vehicleState}'; + + return LayoutBuilder( + builder: (context, constraints) { + final horizontalPadding = constraints.maxWidth < 600 ? 16.0 : 24.0; + final cardWidth = constraints.maxWidth < 640 + ? constraints.maxWidth - (horizontalPadding * 2) + : 280.0; + + return ListView( + padding: EdgeInsets.all(horizontalPadding), + children: [ + Text('Overview', style: Theme.of(context).textTheme.headlineMedium), + const SizedBox(height: 8), + const Text( + 'This workspace is receive-only. A link or replay never implies a ' + 'safe, armed, or command-capable vehicle.', + ), + const SizedBox(height: 24), + Wrap( + spacing: 16, + runSpacing: 16, + children: [ + _SummaryCard( + title: 'Source', + value: state.sourceLabel, + width: cardWidth, + detail: state.isReplay + ? 'Deterministic replay; no physical vehicle is connected.' + : 'Receive-only transport.', + icon: Icons.visibility_outlined, + ), + _SummaryCard( + title: 'Vehicle identity', + value: identity, + detail: identityDetail, + width: cardWidth, + icon: Icons.memory_outlined, + ), + _SummaryCard( + title: 'Observed streams', + value: telemetry.isEmpty ? 'None' : telemetry, + detail: state.isReplay + ? '${state.events.length} replayed observation(s).' + : '${state.events.length} observation(s).', + width: cardWidth, + icon: Icons.sensors_outlined, + ), + _SummaryCard( + title: 'Decoder accounting', + value: + '${state.parserDropCount} parser / ${state.semanticDropCount} semantic', + detail: 'Counters are zero in the typed replay fixture.', + width: cardWidth, + icon: Icons.rule_outlined, + ), + ], + ), + const SizedBox(height: 24), + Card( + child: Padding( + padding: const EdgeInsets.all(20), + child: Column( + crossAxisAlignment: CrossAxisAlignment.start, + children: [ + Text( + 'Configuration is unavailable', + style: Theme.of(context).textTheme.titleLarge, + ), + const SizedBox(height: 8), + const Text( + 'Kaptan firmware does not yet accept inbound configuration ' + 'authority. Ground Suite will not show upload, commit, arm, ' + 'or shutdown controls until the firmware exposes reviewed ' + 'authenticated ingress and safe activation.', + ), + ], + ), + ), + ), + ], + ); + }, + ); + } +} + +class _SummaryCard extends StatelessWidget { + const _SummaryCard({ + required this.title, + required this.value, + required this.detail, + required this.icon, + required this.width, + }); + + final String title; + final String value; + final String detail; + final IconData icon; + final double width; + + @override + Widget build(BuildContext context) { + return SizedBox( + width: width, + child: Card( + child: Padding( + padding: const EdgeInsets.all(20), + child: Column( + crossAxisAlignment: CrossAxisAlignment.start, + children: [ + Icon(icon), + const SizedBox(height: 16), + Text(title, style: Theme.of(context).textTheme.labelLarge), + const SizedBox(height: 4), + Text(value, style: Theme.of(context).textTheme.titleLarge), + const SizedBox(height: 8), + Text(detail), + ], + ), + ), + ), + ); + } +} diff --git a/ground-suite/lib/main.dart b/ground-suite/lib/main.dart new file mode 100644 index 0000000..1a337a8 --- /dev/null +++ b/ground-suite/lib/main.dart @@ -0,0 +1,8 @@ +import 'package:flutter/widgets.dart'; +import 'package:flutter_riverpod/flutter_riverpod.dart'; + +import 'app/app.dart'; + +void main() { + runApp(const ProviderScope(child: GroundSuiteApp())); +} diff --git a/ground-suite/lib/shared/widgets/severity_badge.dart b/ground-suite/lib/shared/widgets/severity_badge.dart new file mode 100644 index 0000000..43816fe --- /dev/null +++ b/ground-suite/lib/shared/widgets/severity_badge.dart @@ -0,0 +1,25 @@ +import 'package:flutter/material.dart'; + +import '../../core/observations/observed_event.dart'; + +class SeverityBadge extends StatelessWidget { + const SeverityBadge({required this.level, super.key}); + + final MavSeverity level; + + @override + Widget build(BuildContext context) { + final (icon, color) = switch (level.wireValue) { + 0 || 1 || 2 || 3 => (Icons.error_outline, Colors.red.shade700), + 4 => (Icons.warning_amber_outlined, Colors.orange.shade800), + 5 || 6 => (Icons.info_outline, Colors.blue.shade700), + 7 => (Icons.bug_report_outlined, Colors.grey.shade700), + _ => (Icons.help_outline, Colors.grey.shade700), + }; + + return Semantics( + label: 'Severity: ${level.label}', + child: Icon(icon, color: color), + ); + } +} diff --git a/ground-suite/linux/.gitignore b/ground-suite/linux/.gitignore new file mode 100644 index 0000000..d3896c9 --- /dev/null +++ b/ground-suite/linux/.gitignore @@ -0,0 +1 @@ +flutter/ephemeral diff --git a/ground-suite/linux/CMakeLists.txt b/ground-suite/linux/CMakeLists.txt new file mode 100644 index 0000000..702cdf2 --- /dev/null +++ b/ground-suite/linux/CMakeLists.txt @@ -0,0 +1,128 @@ +# Project-level configuration. +cmake_minimum_required(VERSION 3.13) +project(runner LANGUAGES CXX) + +# The name of the executable created for the application. Change this to change +# the on-disk name of your application. +set(BINARY_NAME "ground_suite") +# The unique GTK application identifier for this application. See: +# https://wiki.gnome.org/HowDoI/ChooseApplicationID +set(APPLICATION_ID "com.orkavian.ground_suite") + +# Explicitly opt in to modern CMake behaviors to avoid warnings with recent +# versions of CMake. +cmake_policy(SET CMP0063 NEW) + +# Load bundled libraries from the lib/ directory relative to the binary. +set(CMAKE_INSTALL_RPATH "$ORIGIN/lib") + +# Root filesystem for cross-building. +if(FLUTTER_TARGET_PLATFORM_SYSROOT) + set(CMAKE_SYSROOT ${FLUTTER_TARGET_PLATFORM_SYSROOT}) + set(CMAKE_FIND_ROOT_PATH ${CMAKE_SYSROOT}) + set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER) + set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY) + set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY) + set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY) +endif() + +# Define build configuration options. +if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES) + set(CMAKE_BUILD_TYPE "Debug" CACHE + STRING "Flutter build mode" FORCE) + set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS + "Debug" "Profile" "Release") +endif() + +# Compilation settings that should be applied to most targets. +# +# Be cautious about adding new options here, as plugins use this function by +# default. In most cases, you should add new options to specific targets instead +# of modifying this function. +function(APPLY_STANDARD_SETTINGS TARGET) + target_compile_features(${TARGET} PUBLIC cxx_std_14) + target_compile_options(${TARGET} PRIVATE -Wall -Werror) + target_compile_options(${TARGET} PRIVATE "$<$>:-O3>") + target_compile_definitions(${TARGET} PRIVATE "$<$>:NDEBUG>") +endfunction() + +# Flutter library and tool build rules. +set(FLUTTER_MANAGED_DIR "${CMAKE_CURRENT_SOURCE_DIR}/flutter") +add_subdirectory(${FLUTTER_MANAGED_DIR}) + +# System-level dependencies. +find_package(PkgConfig REQUIRED) +pkg_check_modules(GTK REQUIRED IMPORTED_TARGET gtk+-3.0) + +# Application build; see runner/CMakeLists.txt. +add_subdirectory("runner") + +# Run the Flutter tool portions of the build. This must not be removed. +add_dependencies(${BINARY_NAME} flutter_assemble) + +# Only the install-generated bundle's copy of the executable will launch +# correctly, since the resources must in the right relative locations. To avoid +# people trying to run the unbundled copy, put it in a subdirectory instead of +# the default top-level location. +set_target_properties(${BINARY_NAME} + PROPERTIES + RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/intermediates_do_not_run" +) + + +# Generated plugin build rules, which manage building the plugins and adding +# them to the application. +include(flutter/generated_plugins.cmake) + + +# === Installation === +# By default, "installing" just makes a relocatable bundle in the build +# directory. +set(BUILD_BUNDLE_DIR "${PROJECT_BINARY_DIR}/bundle") +if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT) + set(CMAKE_INSTALL_PREFIX "${BUILD_BUNDLE_DIR}" CACHE PATH "..." FORCE) +endif() + +# Start with a clean build bundle directory every time. +install(CODE " + file(REMOVE_RECURSE \"${BUILD_BUNDLE_DIR}/\") + " COMPONENT Runtime) + +set(INSTALL_BUNDLE_DATA_DIR "${CMAKE_INSTALL_PREFIX}/data") +set(INSTALL_BUNDLE_LIB_DIR "${CMAKE_INSTALL_PREFIX}/lib") + +install(TARGETS ${BINARY_NAME} RUNTIME DESTINATION "${CMAKE_INSTALL_PREFIX}" + COMPONENT Runtime) + +install(FILES "${FLUTTER_ICU_DATA_FILE}" DESTINATION "${INSTALL_BUNDLE_DATA_DIR}" + COMPONENT Runtime) + +install(FILES "${FLUTTER_LIBRARY}" DESTINATION "${INSTALL_BUNDLE_LIB_DIR}" + COMPONENT Runtime) + +foreach(bundled_library ${PLUGIN_BUNDLED_LIBRARIES}) + install(FILES "${bundled_library}" + DESTINATION "${INSTALL_BUNDLE_LIB_DIR}" + COMPONENT Runtime) +endforeach(bundled_library) + +# Copy the native assets provided by the build.dart from all packages. +set(NATIVE_ASSETS_DIR "${PROJECT_BUILD_DIR}native_assets/linux/") +install(DIRECTORY "${NATIVE_ASSETS_DIR}" + DESTINATION "${INSTALL_BUNDLE_LIB_DIR}" + COMPONENT Runtime) + +# Fully re-copy the assets directory on each build to avoid having stale files +# from a previous install. +set(FLUTTER_ASSET_DIR_NAME "flutter_assets") +install(CODE " + file(REMOVE_RECURSE \"${INSTALL_BUNDLE_DATA_DIR}/${FLUTTER_ASSET_DIR_NAME}\") + " COMPONENT Runtime) +install(DIRECTORY "${PROJECT_BUILD_DIR}/${FLUTTER_ASSET_DIR_NAME}" + DESTINATION "${INSTALL_BUNDLE_DATA_DIR}" COMPONENT Runtime) + +# Install the AOT library on non-Debug builds only. +if(NOT CMAKE_BUILD_TYPE MATCHES "Debug") + install(FILES "${AOT_LIBRARY}" DESTINATION "${INSTALL_BUNDLE_LIB_DIR}" + COMPONENT Runtime) +endif() diff --git a/ground-suite/linux/flutter/CMakeLists.txt b/ground-suite/linux/flutter/CMakeLists.txt new file mode 100644 index 0000000..d5bd016 --- /dev/null +++ b/ground-suite/linux/flutter/CMakeLists.txt @@ -0,0 +1,88 @@ +# This file controls Flutter-level build steps. It should not be edited. +cmake_minimum_required(VERSION 3.10) + +set(EPHEMERAL_DIR "${CMAKE_CURRENT_SOURCE_DIR}/ephemeral") + +# Configuration provided via flutter tool. +include(${EPHEMERAL_DIR}/generated_config.cmake) + +# TODO: Move the rest of this into files in ephemeral. See +# https://github.com/flutter/flutter/issues/57146. + +# Serves the same purpose as list(TRANSFORM ... PREPEND ...), +# which isn't available in 3.10. +function(list_prepend LIST_NAME PREFIX) + set(NEW_LIST "") + foreach(element ${${LIST_NAME}}) + list(APPEND NEW_LIST "${PREFIX}${element}") + endforeach(element) + set(${LIST_NAME} "${NEW_LIST}" PARENT_SCOPE) +endfunction() + +# === Flutter Library === +# System-level dependencies. +find_package(PkgConfig REQUIRED) +pkg_check_modules(GTK REQUIRED IMPORTED_TARGET gtk+-3.0) +pkg_check_modules(GLIB REQUIRED IMPORTED_TARGET glib-2.0) +pkg_check_modules(GIO REQUIRED IMPORTED_TARGET gio-2.0) + +set(FLUTTER_LIBRARY "${EPHEMERAL_DIR}/libflutter_linux_gtk.so") + +# Published to parent scope for install step. +set(FLUTTER_LIBRARY ${FLUTTER_LIBRARY} PARENT_SCOPE) +set(FLUTTER_ICU_DATA_FILE "${EPHEMERAL_DIR}/icudtl.dat" PARENT_SCOPE) +set(PROJECT_BUILD_DIR "${PROJECT_DIR}/build/" PARENT_SCOPE) +set(AOT_LIBRARY "${PROJECT_DIR}/build/lib/libapp.so" PARENT_SCOPE) + +list(APPEND FLUTTER_LIBRARY_HEADERS + "fl_basic_message_channel.h" + "fl_binary_codec.h" + "fl_binary_messenger.h" + "fl_dart_project.h" + "fl_engine.h" + "fl_json_message_codec.h" + "fl_json_method_codec.h" + "fl_message_codec.h" + "fl_method_call.h" + "fl_method_channel.h" + "fl_method_codec.h" + "fl_method_response.h" + "fl_plugin_registrar.h" + "fl_plugin_registry.h" + "fl_standard_message_codec.h" + "fl_standard_method_codec.h" + "fl_string_codec.h" + "fl_value.h" + "fl_view.h" + "flutter_linux.h" +) +list_prepend(FLUTTER_LIBRARY_HEADERS "${EPHEMERAL_DIR}/flutter_linux/") +add_library(flutter INTERFACE) +target_include_directories(flutter INTERFACE + "${EPHEMERAL_DIR}" +) +target_link_libraries(flutter INTERFACE "${FLUTTER_LIBRARY}") +target_link_libraries(flutter INTERFACE + PkgConfig::GTK + PkgConfig::GLIB + PkgConfig::GIO +) +add_dependencies(flutter flutter_assemble) + +# === Flutter tool backend === +# _phony_ is a non-existent file to force this command to run every time, +# since currently there's no way to get a full input/output list from the +# flutter tool. +add_custom_command( + OUTPUT ${FLUTTER_LIBRARY} ${FLUTTER_LIBRARY_HEADERS} + ${CMAKE_CURRENT_BINARY_DIR}/_phony_ + COMMAND ${CMAKE_COMMAND} -E env + ${FLUTTER_TOOL_ENVIRONMENT} + "${FLUTTER_ROOT}/packages/flutter_tools/bin/tool_backend.sh" + ${FLUTTER_TARGET_PLATFORM} ${CMAKE_BUILD_TYPE} + VERBATIM +) +add_custom_target(flutter_assemble DEPENDS + "${FLUTTER_LIBRARY}" + ${FLUTTER_LIBRARY_HEADERS} +) diff --git a/ground-suite/linux/flutter/generated_plugin_registrant.cc b/ground-suite/linux/flutter/generated_plugin_registrant.cc new file mode 100644 index 0000000..e71a16d --- /dev/null +++ b/ground-suite/linux/flutter/generated_plugin_registrant.cc @@ -0,0 +1,11 @@ +// +// Generated file. Do not edit. +// + +// clang-format off + +#include "generated_plugin_registrant.h" + + +void fl_register_plugins(FlPluginRegistry* registry) { +} diff --git a/ground-suite/linux/flutter/generated_plugin_registrant.h b/ground-suite/linux/flutter/generated_plugin_registrant.h new file mode 100644 index 0000000..e0f0a47 --- /dev/null +++ b/ground-suite/linux/flutter/generated_plugin_registrant.h @@ -0,0 +1,15 @@ +// +// Generated file. Do not edit. +// + +// clang-format off + +#ifndef GENERATED_PLUGIN_REGISTRANT_ +#define GENERATED_PLUGIN_REGISTRANT_ + +#include + +// Registers Flutter plugins. +void fl_register_plugins(FlPluginRegistry* registry); + +#endif // GENERATED_PLUGIN_REGISTRANT_ diff --git a/ground-suite/linux/flutter/generated_plugins.cmake b/ground-suite/linux/flutter/generated_plugins.cmake new file mode 100644 index 0000000..2e1de87 --- /dev/null +++ b/ground-suite/linux/flutter/generated_plugins.cmake @@ -0,0 +1,23 @@ +# +# Generated file, do not edit. +# + +list(APPEND FLUTTER_PLUGIN_LIST +) + +list(APPEND FLUTTER_FFI_PLUGIN_LIST +) + +set(PLUGIN_BUNDLED_LIBRARIES) + +foreach(plugin ${FLUTTER_PLUGIN_LIST}) + add_subdirectory(flutter/ephemeral/.plugin_symlinks/${plugin}/linux plugins/${plugin}) + target_link_libraries(${BINARY_NAME} PRIVATE ${plugin}_plugin) + list(APPEND PLUGIN_BUNDLED_LIBRARIES $) + list(APPEND PLUGIN_BUNDLED_LIBRARIES ${${plugin}_bundled_libraries}) +endforeach(plugin) + +foreach(ffi_plugin ${FLUTTER_FFI_PLUGIN_LIST}) + add_subdirectory(flutter/ephemeral/.plugin_symlinks/${ffi_plugin}/linux plugins/${ffi_plugin}) + list(APPEND PLUGIN_BUNDLED_LIBRARIES ${${ffi_plugin}_bundled_libraries}) +endforeach(ffi_plugin) diff --git a/ground-suite/linux/runner/CMakeLists.txt b/ground-suite/linux/runner/CMakeLists.txt new file mode 100644 index 0000000..e97dabc --- /dev/null +++ b/ground-suite/linux/runner/CMakeLists.txt @@ -0,0 +1,26 @@ +cmake_minimum_required(VERSION 3.13) +project(runner LANGUAGES CXX) + +# Define the application target. To change its name, change BINARY_NAME in the +# top-level CMakeLists.txt, not the value here, or `flutter run` will no longer +# work. +# +# Any new source files that you add to the application should be added here. +add_executable(${BINARY_NAME} + "main.cc" + "my_application.cc" + "${FLUTTER_MANAGED_DIR}/generated_plugin_registrant.cc" +) + +# Apply the standard set of build settings. This can be removed for applications +# that need different build settings. +apply_standard_settings(${BINARY_NAME}) + +# Add preprocessor definitions for the application ID. +add_definitions(-DAPPLICATION_ID="${APPLICATION_ID}") + +# Add dependency libraries. Add any application-specific dependencies here. +target_link_libraries(${BINARY_NAME} PRIVATE flutter) +target_link_libraries(${BINARY_NAME} PRIVATE PkgConfig::GTK) + +target_include_directories(${BINARY_NAME} PRIVATE "${CMAKE_SOURCE_DIR}") diff --git a/ground-suite/linux/runner/main.cc b/ground-suite/linux/runner/main.cc new file mode 100644 index 0000000..e7c5c54 --- /dev/null +++ b/ground-suite/linux/runner/main.cc @@ -0,0 +1,6 @@ +#include "my_application.h" + +int main(int argc, char** argv) { + g_autoptr(MyApplication) app = my_application_new(); + return g_application_run(G_APPLICATION(app), argc, argv); +} diff --git a/ground-suite/linux/runner/my_application.cc b/ground-suite/linux/runner/my_application.cc new file mode 100644 index 0000000..2c93a65 --- /dev/null +++ b/ground-suite/linux/runner/my_application.cc @@ -0,0 +1,148 @@ +#include "my_application.h" + +#include +#ifdef GDK_WINDOWING_X11 +#include +#endif + +#include "flutter/generated_plugin_registrant.h" + +struct _MyApplication { + GtkApplication parent_instance; + char** dart_entrypoint_arguments; +}; + +G_DEFINE_TYPE(MyApplication, my_application, GTK_TYPE_APPLICATION) + +// Called when first Flutter frame received. +static void first_frame_cb(MyApplication* self, FlView* view) { + gtk_widget_show(gtk_widget_get_toplevel(GTK_WIDGET(view))); +} + +// Implements GApplication::activate. +static void my_application_activate(GApplication* application) { + MyApplication* self = MY_APPLICATION(application); + GtkWindow* window = + GTK_WINDOW(gtk_application_window_new(GTK_APPLICATION(application))); + + // Use a header bar when running in GNOME as this is the common style used + // by applications and is the setup most users will be using (e.g. Ubuntu + // desktop). + // If running on X and not using GNOME then just use a traditional title bar + // in case the window manager does more exotic layout, e.g. tiling. + // If running on Wayland assume the header bar will work (may need changing + // if future cases occur). + gboolean use_header_bar = TRUE; +#ifdef GDK_WINDOWING_X11 + GdkScreen* screen = gtk_window_get_screen(window); + if (GDK_IS_X11_SCREEN(screen)) { + const gchar* wm_name = gdk_x11_screen_get_window_manager_name(screen); + if (g_strcmp0(wm_name, "GNOME Shell") != 0) { + use_header_bar = FALSE; + } + } +#endif + if (use_header_bar) { + GtkHeaderBar* header_bar = GTK_HEADER_BAR(gtk_header_bar_new()); + gtk_widget_show(GTK_WIDGET(header_bar)); + gtk_header_bar_set_title(header_bar, "Ground Suite"); + gtk_header_bar_set_show_close_button(header_bar, TRUE); + gtk_window_set_titlebar(window, GTK_WIDGET(header_bar)); + } else { + gtk_window_set_title(window, "Ground Suite"); + } + + gtk_window_set_default_size(window, 1280, 720); + + g_autoptr(FlDartProject) project = fl_dart_project_new(); + fl_dart_project_set_dart_entrypoint_arguments( + project, self->dart_entrypoint_arguments); + + FlView* view = fl_view_new(project); + GdkRGBA background_color; + // Background defaults to black, override it here if necessary, e.g. #00000000 + // for transparent. + gdk_rgba_parse(&background_color, "#000000"); + fl_view_set_background_color(view, &background_color); + gtk_widget_show(GTK_WIDGET(view)); + gtk_container_add(GTK_CONTAINER(window), GTK_WIDGET(view)); + + // Show the window when Flutter renders. + // Requires the view to be realized so we can start rendering. + g_signal_connect_swapped(view, "first-frame", G_CALLBACK(first_frame_cb), + self); + gtk_widget_realize(GTK_WIDGET(view)); + + fl_register_plugins(FL_PLUGIN_REGISTRY(view)); + + gtk_widget_grab_focus(GTK_WIDGET(view)); +} + +// Implements GApplication::local_command_line. +static gboolean my_application_local_command_line(GApplication* application, + gchar*** arguments, + int* exit_status) { + MyApplication* self = MY_APPLICATION(application); + // Strip out the first argument as it is the binary name. + self->dart_entrypoint_arguments = g_strdupv(*arguments + 1); + + g_autoptr(GError) error = nullptr; + if (!g_application_register(application, nullptr, &error)) { + g_warning("Failed to register: %s", error->message); + *exit_status = 1; + return TRUE; + } + + g_application_activate(application); + *exit_status = 0; + + return TRUE; +} + +// Implements GApplication::startup. +static void my_application_startup(GApplication* application) { + // MyApplication* self = MY_APPLICATION(object); + + // Perform any actions required at application startup. + + G_APPLICATION_CLASS(my_application_parent_class)->startup(application); +} + +// Implements GApplication::shutdown. +static void my_application_shutdown(GApplication* application) { + // MyApplication* self = MY_APPLICATION(object); + + // Perform any actions required at application shutdown. + + G_APPLICATION_CLASS(my_application_parent_class)->shutdown(application); +} + +// Implements GObject::dispose. +static void my_application_dispose(GObject* object) { + MyApplication* self = MY_APPLICATION(object); + g_clear_pointer(&self->dart_entrypoint_arguments, g_strfreev); + G_OBJECT_CLASS(my_application_parent_class)->dispose(object); +} + +static void my_application_class_init(MyApplicationClass* klass) { + G_APPLICATION_CLASS(klass)->activate = my_application_activate; + G_APPLICATION_CLASS(klass)->local_command_line = + my_application_local_command_line; + G_APPLICATION_CLASS(klass)->startup = my_application_startup; + G_APPLICATION_CLASS(klass)->shutdown = my_application_shutdown; + G_OBJECT_CLASS(klass)->dispose = my_application_dispose; +} + +static void my_application_init(MyApplication* self) {} + +MyApplication* my_application_new() { + // Set the program name to the application ID, which helps various systems + // like GTK and desktop environments map this running application to its + // corresponding .desktop file. This ensures better integration by allowing + // the application to be recognized beyond its binary name. + g_set_prgname(APPLICATION_ID); + + return MY_APPLICATION(g_object_new(my_application_get_type(), + "application-id", APPLICATION_ID, "flags", + G_APPLICATION_NON_UNIQUE, nullptr)); +} diff --git a/ground-suite/linux/runner/my_application.h b/ground-suite/linux/runner/my_application.h new file mode 100644 index 0000000..db16367 --- /dev/null +++ b/ground-suite/linux/runner/my_application.h @@ -0,0 +1,21 @@ +#ifndef FLUTTER_MY_APPLICATION_H_ +#define FLUTTER_MY_APPLICATION_H_ + +#include + +G_DECLARE_FINAL_TYPE(MyApplication, + my_application, + MY, + APPLICATION, + GtkApplication) + +/** + * my_application_new: + * + * Creates a new Flutter-based application. + * + * Returns: a new #MyApplication. + */ +MyApplication* my_application_new(); + +#endif // FLUTTER_MY_APPLICATION_H_ diff --git a/ground-suite/pubspec.lock b/ground-suite/pubspec.lock new file mode 100644 index 0000000..e86079d --- /dev/null +++ b/ground-suite/pubspec.lock @@ -0,0 +1,525 @@ +# Generated by pub +# See https://dart.dev/tools/pub/glossary#lockfile +packages: + _fe_analyzer_shared: + dependency: transitive + description: + name: _fe_analyzer_shared + sha256: a49d6cf99e8d8e7a8e93668d09ced0bbdb954d0b4fccc2f5f9241c6b87fad95c + url: "https://pub.dev" + source: hosted + version: "99.0.0" + analyzer: + dependency: transitive + description: + name: analyzer + sha256: "663efa951fb8a45e06f491223a604c93820598f20e6a99c25617a1576065e8b7" + url: "https://pub.dev" + source: hosted + version: "12.1.0" + args: + dependency: transitive + description: + name: args + sha256: d0481093c50b1da8910eb0bb301626d4d8eb7284aa739614d2b394ee09e3ea04 + url: "https://pub.dev" + source: hosted + version: "2.7.0" + async: + dependency: transitive + description: + name: async + sha256: e2eb0491ba5ddb6177742d2da23904574082139b07c1e33b8503b9f46f3e1a37 + url: "https://pub.dev" + source: hosted + version: "2.13.1" + boolean_selector: + dependency: transitive + description: + name: boolean_selector + sha256: "8aab1771e1243a5063b8b0ff68042d67334e3feab9e95b9490f9a6ebf73b42ea" + url: "https://pub.dev" + source: hosted + version: "2.1.2" + characters: + dependency: transitive + description: + name: characters + sha256: faf38497bda5ead2a8c7615f4f7939df04333478bf32e4173fcb06d428b5716b + url: "https://pub.dev" + source: hosted + version: "1.4.1" + cli_config: + dependency: transitive + description: + name: cli_config + sha256: ac20a183a07002b700f0c25e61b7ee46b23c309d76ab7b7640a028f18e4d99ec + url: "https://pub.dev" + source: hosted + version: "0.2.0" + clock: + dependency: transitive + description: + name: clock + sha256: fddb70d9b5277016c77a80201021d40a2247104d9f4aa7bab7157b7e3f05b84b + url: "https://pub.dev" + source: hosted + version: "1.1.2" + collection: + dependency: transitive + description: + name: collection + sha256: "2f5709ae4d3d59dd8f7cd309b4e023046b57d8a6c82130785d2b0e5868084e76" + url: "https://pub.dev" + source: hosted + version: "1.19.1" + convert: + dependency: transitive + description: + name: convert + sha256: b30acd5944035672bc15c6b7a8b47d773e41e2f17de064350988c5d02adb1c68 + url: "https://pub.dev" + source: hosted + version: "3.1.2" + coverage: + dependency: transitive + description: + name: coverage + sha256: "956a3de0725ca232ad353565a8290d3357592bf4250f6f298a185e2d949c5d3d" + url: "https://pub.dev" + source: hosted + version: "1.15.1" + crypto: + dependency: transitive + description: + name: crypto + sha256: c8ea0233063ba03258fbcf2ca4d6dadfefe14f02fab57702265467a19f27fadf + url: "https://pub.dev" + source: hosted + version: "3.0.7" + fake_async: + dependency: transitive + description: + name: fake_async + sha256: "5368f224a74523e8d2e7399ea1638b37aecfca824a3cc4dfdf77bf1fa905ac44" + url: "https://pub.dev" + source: hosted + version: "1.3.3" + file: + dependency: transitive + description: + name: file + sha256: a3b4f84adafef897088c160faf7dfffb7696046cb13ae90b508c2cbc95d3b8d4 + url: "https://pub.dev" + source: hosted + version: "7.0.1" + fixnum: + dependency: transitive + description: + name: fixnum + sha256: b6dc7065e46c974bc7c5f143080a6764ec7a4be6da1285ececdc37be96de53be + url: "https://pub.dev" + source: hosted + version: "1.1.1" + flutter: + dependency: "direct main" + description: flutter + source: sdk + version: "0.0.0" + flutter_lints: + dependency: "direct dev" + description: + name: flutter_lints + sha256: "3105dc8492f6183fb076ccf1f351ac3d60564bff92e20bfc4af9cc1651f4e7e1" + url: "https://pub.dev" + source: hosted + version: "6.0.0" + flutter_riverpod: + dependency: "direct main" + description: + name: flutter_riverpod + sha256: "56e81e662e6e54e59b231da57e90ac0d06ac67d8e3f2273c129a37ae6282b40c" + url: "https://pub.dev" + source: hosted + version: "3.4.2" + flutter_test: + dependency: "direct dev" + description: flutter + source: sdk + version: "0.0.0" + frontend_server_client: + dependency: transitive + description: + name: frontend_server_client + sha256: f64a0333a82f30b0cca061bc3d143813a486dc086b574bfb233b7c1372427694 + url: "https://pub.dev" + source: hosted + version: "4.0.0" + glob: + dependency: transitive + description: + name: glob + sha256: c3f1ee72c96f8f78935e18aa8cecced9ab132419e8625dc187e1c2408efc20de + url: "https://pub.dev" + source: hosted + version: "2.1.3" + http_multi_server: + dependency: transitive + description: + name: http_multi_server + sha256: aa6199f908078bb1c5efb8d8638d4ae191aac11b311132c3ef48ce352fb52ef8 + url: "https://pub.dev" + source: hosted + version: "3.2.2" + http_parser: + dependency: transitive + description: + name: http_parser + sha256: "178d74305e7866013777bab2c3d8726205dc5a4dd935297175b19a23a2e66571" + url: "https://pub.dev" + source: hosted + version: "4.1.2" + io: + dependency: transitive + description: + name: io + sha256: dfd5a80599cf0165756e3181807ed3e77daf6dd4137caaad72d0b7931597650b + url: "https://pub.dev" + source: hosted + version: "1.0.5" + leak_tracker: + dependency: transitive + description: + name: leak_tracker + sha256: "33e2e26bdd85a0112ec15400c8cbffea70d0f9c3407491f672a2fad47915e2de" + url: "https://pub.dev" + source: hosted + version: "11.0.2" + leak_tracker_flutter_testing: + dependency: transitive + description: + name: leak_tracker_flutter_testing + sha256: "1dbc140bb5a23c75ea9c4811222756104fbcd1a27173f0c34ca01e16bea473c1" + url: "https://pub.dev" + source: hosted + version: "3.0.10" + leak_tracker_testing: + dependency: transitive + description: + name: leak_tracker_testing + sha256: "8d5a2d49f4a66b49744b23b018848400d23e54caf9463f4eb20df3eb8acb2eb1" + url: "https://pub.dev" + source: hosted + version: "3.0.2" + lints: + dependency: transitive + description: + name: lints + sha256: "12f842a479589fea194fe5c5a3095abc7be0c1f2ddfa9a0e76aed1dbd26a87df" + url: "https://pub.dev" + source: hosted + version: "6.1.0" + listen: + dependency: transitive + description: + name: listen + sha256: "47501a08016a43fcad79252439d723f50f14f88fa7bfd8a177e0a417e5c9e1f2" + url: "https://pub.dev" + source: hosted + version: "1.0.1" + logging: + dependency: transitive + description: + name: logging + sha256: c8245ada5f1717ed44271ed1c26b8ce85ca3228fd2ffdb75468ab01979309d61 + url: "https://pub.dev" + source: hosted + version: "1.3.0" + matcher: + dependency: transitive + description: + name: matcher + sha256: dc0b7dc7651697ea4ff3e69ef44b0407ea32c487a39fff6a4004fa585e901861 + url: "https://pub.dev" + source: hosted + version: "0.12.19" + material_color_utilities: + dependency: transitive + description: + name: material_color_utilities + sha256: "9c337007e82b1889149c82ed242ed1cb24a66044e30979c44912381e9be4c48b" + url: "https://pub.dev" + source: hosted + version: "0.13.0" + meta: + dependency: transitive + description: + name: meta + sha256: "1741988757a65eb6b36abe716829688cf01910bbf91c34354ff7ec1c3de2b349" + url: "https://pub.dev" + source: hosted + version: "1.18.0" + mime: + dependency: transitive + description: + name: mime + sha256: "41a20518f0cb1256669420fdba0cd90d21561e560ac240f26ef8322e45bb7ed6" + url: "https://pub.dev" + source: hosted + version: "2.0.0" + node_preamble: + dependency: transitive + description: + name: node_preamble + sha256: "6e7eac89047ab8a8d26cf16127b5ed26de65209847630400f9aefd7cd5c730db" + url: "https://pub.dev" + source: hosted + version: "2.0.2" + package_config: + dependency: transitive + description: + name: package_config + sha256: f096c55ebb7deb7e384101542bfba8c52696c1b56fca2eb62827989ef2353bbc + url: "https://pub.dev" + source: hosted + version: "2.2.0" + path: + dependency: transitive + description: + name: path + sha256: "75cca69d1490965be98c73ceaea117e8a04dd21217b37b292c9ddbec0d955bc5" + url: "https://pub.dev" + source: hosted + version: "1.9.1" + pool: + dependency: transitive + description: + name: pool + sha256: "978783255c543aa3586a1b3c21f6e9d720eb315376a915872c61ef8b5c20177d" + url: "https://pub.dev" + source: hosted + version: "1.5.2" + pub_semver: + dependency: transitive + description: + name: pub_semver + sha256: "5bfcf68ca79ef689f8990d1160781b4bad40a3bd5e5218ad4076ddb7f4081585" + url: "https://pub.dev" + source: hosted + version: "2.2.0" + riverpod: + dependency: transitive + description: + name: riverpod + sha256: "84351b3472a447f7b89f961f95c73287009d58c59d8cc1267425d995f78e50f1" + url: "https://pub.dev" + source: hosted + version: "3.4.2" + shelf: + dependency: transitive + description: + name: shelf + sha256: e7dd780a7ffb623c57850b33f43309312fc863fb6aa3d276a754bb299839ef12 + url: "https://pub.dev" + source: hosted + version: "1.4.2" + shelf_packages_handler: + dependency: transitive + description: + name: shelf_packages_handler + sha256: "89f967eca29607c933ba9571d838be31d67f53f6e4ee15147d5dc2934fee1b1e" + url: "https://pub.dev" + source: hosted + version: "3.0.2" + shelf_static: + dependency: transitive + description: + name: shelf_static + sha256: c87c3875f91262785dade62d135760c2c69cb217ac759485334c5857ad89f6e3 + url: "https://pub.dev" + source: hosted + version: "1.1.3" + shelf_web_socket: + dependency: transitive + description: + name: shelf_web_socket + sha256: "3632775c8e90d6c9712f883e633716432a27758216dfb61bd86a8321c0580925" + url: "https://pub.dev" + source: hosted + version: "3.0.0" + sky_engine: + dependency: transitive + description: flutter + source: sdk + version: "0.0.0" + source_map_stack_trace: + dependency: transitive + description: + name: source_map_stack_trace + sha256: c0713a43e323c3302c2abe2a1cc89aa057a387101ebd280371d6a6c9fa68516b + url: "https://pub.dev" + source: hosted + version: "2.1.2" + source_maps: + dependency: transitive + description: + name: source_maps + sha256: "190222579a448b03896e0ca6eca5998fa810fda630c1d65e2f78b3f638f54812" + url: "https://pub.dev" + source: hosted + version: "0.10.13" + source_span: + dependency: transitive + description: + name: source_span + sha256: "56a02f1f4cd1a2d96303c0144c93bd6d909eea6bee6bf5a0e0b685edbd4c47ab" + url: "https://pub.dev" + source: hosted + version: "1.10.2" + stack_trace: + dependency: transitive + description: + name: stack_trace + sha256: "8b27215b45d22309b5cddda1aa2b19bdfec9df0e765f2de506401c071d38d1b1" + url: "https://pub.dev" + source: hosted + version: "1.12.1" + state_notifier: + dependency: transitive + description: + name: state_notifier + sha256: b8677376aa54f2d7c58280d5a007f9e8774f1968d1fb1c096adcb4792fba29bb + url: "https://pub.dev" + source: hosted + version: "1.0.0" + stream_channel: + dependency: transitive + description: + name: stream_channel + sha256: "969e04c80b8bcdf826f8f16579c7b14d780458bd97f56d107d3950fdbeef059d" + url: "https://pub.dev" + source: hosted + version: "2.1.4" + string_scanner: + dependency: transitive + description: + name: string_scanner + sha256: "921cd31725b72fe181906c6a94d987c78e3b98c2e205b397ea399d4054872b43" + url: "https://pub.dev" + source: hosted + version: "1.4.1" + term_glyph: + dependency: transitive + description: + name: term_glyph + sha256: "7f554798625ea768a7518313e58f83891c7f5024f88e46e7182a4558850a4b8e" + url: "https://pub.dev" + source: hosted + version: "1.2.2" + test: + dependency: transitive + description: + name: test + sha256: "8d9ceddbab833f180fbefed08afa76d7c03513dfdba87ffcec2718b02bbcbf20" + url: "https://pub.dev" + source: hosted + version: "1.31.0" + test_api: + dependency: transitive + description: + name: test_api + sha256: "949a932224383300f01be9221c39180316445ecb8e7547f70a41a35bf421fb9e" + url: "https://pub.dev" + source: hosted + version: "0.7.11" + test_core: + dependency: transitive + description: + name: test_core + sha256: "1991d4cfe85d5043241acac92962c3977c8d2f2add1ee73130c7b286417d1d34" + url: "https://pub.dev" + source: hosted + version: "0.6.17" + typed_data: + dependency: transitive + description: + name: typed_data + sha256: f9049c039ebfeb4cf7a7104a675823cd72dba8297f264b6637062516699fa006 + url: "https://pub.dev" + source: hosted + version: "1.4.0" + uuid: + dependency: transitive + description: + name: uuid + sha256: "9b129329f58692f6e6578329498a8fe9fbe98f090beb764ffbb8ee2eadd01dcd" + url: "https://pub.dev" + source: hosted + version: "4.6.0" + vector_math: + dependency: transitive + description: + name: vector_math + sha256: d530bd74fea330e6e364cda7a85019c434070188383e1cd8d9777ee586914c5b + url: "https://pub.dev" + source: hosted + version: "2.2.0" + vm_service: + dependency: transitive + description: + name: vm_service + sha256: "0016aef94fc66495ac78af5859181e3f3bf2026bd8eecc72b9565601e19ab360" + url: "https://pub.dev" + source: hosted + version: "15.2.0" + watcher: + dependency: transitive + description: + name: watcher + sha256: "1398c9f081a753f9226febe8900fce8f7d0a67163334e1c94a2438339d79d635" + url: "https://pub.dev" + source: hosted + version: "1.2.1" + web: + dependency: transitive + description: + name: web + sha256: "868d88a33d8a87b18ffc05f9f030ba328ffefba92d6c127917a2ba740f9cfe4a" + url: "https://pub.dev" + source: hosted + version: "1.1.1" + web_socket: + dependency: transitive + description: + name: web_socket + sha256: "34d64019aa8e36bf9842ac014bb5d2f5586ca73df5e4d9bf5c936975cae6982c" + url: "https://pub.dev" + source: hosted + version: "1.0.1" + web_socket_channel: + dependency: transitive + description: + name: web_socket_channel + sha256: d645757fb0f4773d602444000a8131ff5d48c9e47adfe9772652dd1a4f2d45c8 + url: "https://pub.dev" + source: hosted + version: "3.0.3" + webkit_inspection_protocol: + dependency: transitive + description: + name: webkit_inspection_protocol + sha256: "87d3f2333bb240704cd3f1c6b5b7acd8a10e7f0bc28c28dcf14e782014f4a572" + url: "https://pub.dev" + source: hosted + version: "1.2.1" + yaml: + dependency: transitive + description: + name: yaml + sha256: b9da305ac7c39faa3f030eccd175340f968459dae4af175130b3fc47e40d76ce + url: "https://pub.dev" + source: hosted + version: "3.1.3" +sdks: + dart: ">=3.12.2 <4.0.0" + flutter: ">=3.18.0-18.0.pre.54" diff --git a/ground-suite/pubspec.yaml b/ground-suite/pubspec.yaml new file mode 100644 index 0000000..a1f2b92 --- /dev/null +++ b/ground-suite/pubspec.yaml @@ -0,0 +1,87 @@ +name: ground_suite +description: "Kaptan's desktop ground-control observability console." +# The following line prevents the package from being accidentally published to +# pub.dev using `flutter pub publish`. This is preferred for private packages. +publish_to: 'none' # Remove this line if you wish to publish to pub.dev + +# The following defines the version and build number for your application. +# A version number is three numbers separated by dots, like 1.2.43 +# followed by an optional build number separated by a +. +# Both the version and the builder number may be overridden in flutter +# build by specifying --build-name and --build-number, respectively. +# In Android, build-name is used as versionName while build-number used as versionCode. +# Read more about Android versioning at https://developer.android.com/studio/publish/versioning +# In iOS, build-name is used as CFBundleShortVersionString while build-number is used as CFBundleVersion. +# Read more about iOS versioning at +# https://developer.apple.com/library/archive/documentation/General/Reference/InfoPlistKeyReference/Articles/CoreFoundationKeys.html +# In Windows, build-name is used as the major, minor, and patch parts +# of the product and file versions while build-number is used as the build suffix. +version: 0.1.0+1 + +environment: + sdk: ^3.12.2 + +# Dependencies specify other packages that your package needs in order to work. +# To automatically upgrade your package dependencies to the latest versions +# consider running `flutter pub upgrade --major-versions`. Alternatively, +# dependencies can be manually updated by changing the version numbers below to +# the latest version available on pub.dev. To see which dependencies have newer +# versions available, run `flutter pub outdated`. +dependencies: + flutter: + sdk: flutter + + flutter_riverpod: ^3.4.2 + +dev_dependencies: + flutter_test: + sdk: flutter + + # The "flutter_lints" package below contains a set of recommended lints to + # encourage good coding practices. The lint set provided by the package is + # activated in the `analysis_options.yaml` file located at the root of your + # package. See that file for information about deactivating specific lint + # rules and activating additional ones. + flutter_lints: ^6.0.0 + +# For information on the generic Dart part of this file, see the +# following page: https://dart.dev/tools/pub/pubspec + +# The following section is specific to Flutter packages. +flutter: + + # The following line ensures that the Material Icons font is + # included with your application, so that you can use the icons in + # the material Icons class. + uses-material-design: true + + # To add assets to your application, add an assets section, like this: + # assets: + # - images/a_dot_burr.jpeg + # - images/a_dot_ham.jpeg + + # An image asset can refer to one or more resolution-specific "variants", see + # https://flutter.dev/to/resolution-aware-images + + # For details regarding adding assets from package dependencies, see + # https://flutter.dev/to/asset-from-package + + # To add custom fonts to your application, add a fonts section here, + # in this "flutter" section. Each entry in this list should have a + # "family" key with the font family name, and a "fonts" key with a + # list giving the asset and other descriptors for the font. For + # example: + # fonts: + # - family: Schyler + # fonts: + # - asset: fonts/Schyler-Regular.ttf + # - asset: fonts/Schyler-Italic.ttf + # style: italic + # - family: Trajan Pro + # fonts: + # - asset: fonts/TrajanPro.ttf + # - asset: fonts/TrajanPro_Bold.ttf + # weight: 700 + # + # For details regarding fonts from package dependencies, + # see https://flutter.dev/to/font-from-package diff --git a/ground-suite/test/core/transport/replay_vehicle_data_port_test.dart b/ground-suite/test/core/transport/replay_vehicle_data_port_test.dart new file mode 100644 index 0000000..4cf6318 --- /dev/null +++ b/ground-suite/test/core/transport/replay_vehicle_data_port_test.dart @@ -0,0 +1,30 @@ +import 'package:flutter_test/flutter_test.dart'; +import 'package:ground_suite/core/observations/observed_event.dart'; +import 'package:ground_suite/core/observations/vehicle_data_update.dart'; +import 'package:ground_suite/core/transport/replay_vehicle_data_port.dart'; + +void main() { + test('replay covers identity, telemetry, log, error, and shutdown', () async { + const port = ReplayVehicleDataPort(); + + final events = [ + for (final update in await port.observe().toList()) + if (update case ObservationReceived(:final event)) event, + ]; + + expect(events.whereType(), hasLength(1)); + expect(events.whereType(), hasLength(2)); + final logs = events.whereType().toList(); + final errors = events.whereType().toList(); + expect(logs, hasLength(2)); + expect(errors, hasLength(1)); + expect(events.whereType(), hasLength(1)); + expect(logs.first.isCoalesced, isTrue); + expect(errors.single.isTruncated, isTrue); + }); + + test('unknown wire enum values remain visible', () { + expect(const MavSeverity(99).label, 'Unknown (99)'); + expect(const KaptanShutdownReason(99).label, 'Unknown (99)'); + }); +} diff --git a/ground-suite/test/features/observability/observability_controller_test.dart b/ground-suite/test/features/observability/observability_controller_test.dart new file mode 100644 index 0000000..90565dc --- /dev/null +++ b/ground-suite/test/features/observability/observability_controller_test.dart @@ -0,0 +1,112 @@ +import 'dart:async'; + +import 'package:flutter_riverpod/flutter_riverpod.dart'; +import 'package:flutter_test/flutter_test.dart'; +import 'package:ground_suite/core/observations/observed_event.dart'; +import 'package:ground_suite/core/observations/vehicle_data_port.dart'; +import 'package:ground_suite/core/observations/vehicle_data_update.dart'; +import 'package:ground_suite/features/observability/presentation/observability_controller.dart'; + +void main() { + test('coalesces rapid critical accessibility announcements', () async { + final port = _ControlledDataPort(); + final container = ProviderContainer( + overrides: [vehicleDataPortProvider.overrideWithValue(port)], + ); + addTearDown(container.dispose); + + container.read(observabilityControllerProvider); + await Future.delayed(Duration.zero); + + port.events.add( + ObservationReceived( + ErrorEvent( + receivedAt: DateTime.utc(2026, 8, 10), + path: 'kaptan_drivers::lidar_lite_v3::error::Error::TransferFault', + ), + ), + ); + await Future.delayed(Duration.zero); + + expect( + container.read(observabilityControllerProvider).accessibilityAnnouncement, + 'Error received: kaptan_drivers::lidar_lite_v3::error::Error::TransferFault', + ); + + port.events.add( + ObservationReceived( + ShutdownEvent( + receivedAt: DateTime.utc(2026, 8, 10, 0, 0, 1), + reason: KaptanShutdownReason.safety, + ), + ), + ); + await Future.delayed(Duration.zero); + + final state = container.read(observabilityControllerProvider); + expect(state.accessibilityAnnouncement, isNull); + expect(state.coalescedAlertCount, 1); + }); + + test( + 'retains expected parser and semantic drops without ending observation', + () async { + final port = _ControlledDataPort(); + final container = ProviderContainer( + overrides: [vehicleDataPortProvider.overrideWithValue(port)], + ); + addTearDown(container.dispose); + + container.read(observabilityControllerProvider); + await Future.delayed(Duration.zero); + + port.events.add( + const ObservationDropped(kind: ObservationDropKind.parser, count: 2), + ); + port.events.add( + const ObservationDropped(kind: ObservationDropKind.semantic), + ); + await Future.delayed(Duration.zero); + + final state = container.read(observabilityControllerProvider); + expect(state.status, ObservationStatus.receiving); + expect(state.parserDropCount, 2); + expect(state.semanticDropCount, 1); + }, + ); + + test('treats a transport stream failure as a disconnected link', () async { + final port = _ControlledDataPort(); + final container = ProviderContainer( + overrides: [vehicleDataPortProvider.overrideWithValue(port)], + ); + addTearDown(container.dispose); + + container.read(observabilityControllerProvider); + await Future.delayed(Duration.zero); + + port.events.addError(StateError('serial endpoint closed')); + await Future.delayed(Duration.zero); + + final state = container.read(observabilityControllerProvider); + expect(state.status, ObservationStatus.disconnected); + expect(state.parserDropCount, 0); + expect(state.semanticDropCount, 0); + }); +} + +class _ControlledDataPort implements VehicleDataPort { + final events = StreamController(); + + @override + bool get isReplay => false; + + @override + String get label => 'Test transport'; + + @override + Future close() => events.close(); + + @override + Stream observe() => events.stream; +} diff --git a/ground-suite/test/widget_test.dart b/ground-suite/test/widget_test.dart new file mode 100644 index 0000000..bdc967a --- /dev/null +++ b/ground-suite/test/widget_test.dart @@ -0,0 +1,45 @@ +import 'package:flutter/material.dart'; +import 'package:flutter_riverpod/flutter_riverpod.dart'; +import 'package:flutter_test/flutter_test.dart'; +import 'package:ground_suite/app/app.dart'; + +void main() { + testWidgets('replay workspace keeps diagnostics distinct and read-only', ( + tester, + ) async { + await tester.pumpWidget(const ProviderScope(child: GroundSuiteApp())); + await tester.pumpAndSettle(); + + expect(find.text('Observation only'), findsOneWidget); + expect(find.text('Replay fixture'), findsAtLeastNWidgets(1)); + expect(find.text('Vehicle identity'), findsOneWidget); + + await tester.tap(find.byIcon(Icons.receipt_long_outlined)); + await tester.pumpAndSettle(); + + expect(find.text('Diagnostics'), findsAtLeastNWidgets(1)); + expect( + find.text('kaptan_drivers::lidar_lite_v3::error::Error::TransferFault'), + findsOneWidget, + ); + + await tester.tap(find.text('Shutdowns')); + await tester.pumpAndSettle(); + + expect(find.text('Orderly shutdown observed'), findsOneWidget); + }); + + testWidgets( + 'compact desktop layout uses bottom navigation without overflow', + (tester) async { + await tester.binding.setSurfaceSize(const Size(480, 800)); + addTearDown(() => tester.binding.setSurfaceSize(null)); + + await tester.pumpWidget(const ProviderScope(child: GroundSuiteApp())); + await tester.pumpAndSettle(); + + expect(find.byType(NavigationBar), findsOneWidget); + expect(tester.takeException(), isNull); + }, + ); +}