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App structure: a swipe-in menu shell; pages/, link/, actions/; Settings
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The shell (shell.dart): a drawer from the left edge or each page's menu button.
Dash, Signals, Captures; Tools (Camera, Link test, Orin power options), the
rarely used ones, after pirate-station-aide; Settings (gateway address, dark/bright,
build-time theme and landing). Landing view at build time: YUKART_HOME=dash|signals,
signals for now. Dash, Signals and Captures stay alive while hidden; Captures has its
own navigator, so a run survives switching views. Back goes inside Captures, then to
the landing view, then out. The mock banner sits over every page.

main.dart is startup only; the old home screen is pages/signals.dart; dialogs and
sheets moved to actions/; the protocol client, USB binding and Reading to link/.
lib/README.md catalogues it.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
This commit is contained in:
Mikkeli Matlock
2026-10-14 14:08:56 +09:00
parent 3aeb09d61f
commit 4cf7a786d6
22 changed files with 941 additions and 579 deletions
Download Patch File Download Diff File Expand all files Collapse all files
lib/main.dart
+19 -535
View File
@@ -1,16 +1,13 @@
// Yukart display — starter. A text readout of whatever svc-gw sends, proving the
// boundary contract before anything is drawn (initial plan, step 1).
import 'dart:math';
// Yukart display: the tablet app. Starts the link to the Orin and hands the screen to
// the shell (lib/shell.dart). Code layout: lib/README.md.
import 'package:flutter/material.dart';
import 'boundary.dart';
import 'camview.dart';
import 'checklist.dart';
import 'dash.dart';
import 'linktest.dart';
import 'net.dart';
import 'link/boundary.dart';
import 'link/net.dart';
import 'pages/link_test.dart';
import 'shell.dart';
import 'shell_scope.dart';
import 'theme/palette.dart';
/// Override for development, e.g. `--dart-define=YUKART_GW=ws://halogen.local:7700/`.
@@ -21,7 +18,7 @@ const defaultUrl = String.fromEnvironment(
Future<void> main() async {
WidgetsFlutterBinding.ensureInitialized();
themes = await Themes.load();
final themes = await Themes.load();
final usb = UsbLink();
await usb.bindFor(Uri.parse(defaultUrl));
final boundary = Boundary(defaultUrl)..start();
@@ -38,11 +35,7 @@ Future<void> main() async {
final host = at < 0
? Uri.parse(boundary.url).host
: request.substring(at + 1);
navigatorKey.currentState?.push(
MaterialPageRoute<void>(
builder: (_) => linkTestPage(boundary, linkTest, usb),
),
);
shellView.value = ShellView.linkTest;
await switch (mode) {
'dl' => linkTest.runDownload(host, label),
'bi' => linkTest.runBurstIdle(host, label),
@@ -52,34 +45,27 @@ Future<void> main() async {
}
usb.onLinkTest = runLinkTest;
runApp(YukartApp(boundary: boundary, usb: usb, linkTest: linkTest));
runApp(
YukartApp(boundary: boundary, usb: usb, linkTest: linkTest, themes: themes),
);
final pending = await usb.takeLinkTest();
if (pending != null) {
WidgetsBinding.instance.addPostFrameCallback((_) => runLinkTest(pending));
}
}
final navigatorKey = GlobalKey<NavigatorState>();
/// The palette (lib/theme/palette.dart), loaded before the first frame.
late final Themes themes;
Widget linkTestPage(Boundary b, LinkTest t, UsbLink usb) => LinkTestPage(
test: t,
host: Uri.parse(b.url).host,
restoreBinding: () => usb.bindFor(Uri.parse(b.url)),
);
class YukartApp extends StatelessWidget {
const YukartApp({
super.key,
required this.boundary,
required this.usb,
required this.linkTest,
required this.themes,
});
final Boundary boundary;
final UsbLink usb;
final LinkTest linkTest;
final Themes themes;
@override
Widget build(BuildContext context) {
@@ -88,519 +74,17 @@ class YukartApp extends StatelessWidget {
listenable: themes,
builder: (context, _) => MaterialApp(
title: 'Yukart',
navigatorKey: navigatorKey,
debugShowCheckedModeBanner: false,
theme: themes.material(),
builder: (context, child) =>
AppTheme(palette: themes.current, child: child!),
home: ListenableBuilder(
listenable: Listenable.merge([boundary, usb]),
builder: (context, _) =>
Readout(boundary: boundary, usb: usb, linkTest: linkTest),
home: AppShell(
boundary: boundary,
usb: usb,
linkTest: linkTest,
themes: themes,
),
),
);
}
}
class Readout extends StatelessWidget {
const Readout({
super.key,
required this.boundary,
required this.usb,
required this.linkTest,
});
final Boundary boundary;
final UsbLink usb;
final LinkTest linkTest;
@override
Widget build(BuildContext context) {
final b = boundary;
return Scaffold(
body: SafeArea(
child: Column(
crossAxisAlignment: CrossAxisAlignment.stretch,
children: [
// Mock data must look like mock data: on the surface, not in a menu.
if (b.mock) const MockBanner(),
LinkBar(boundary: b, usb: usb, linkTest: linkTest),
Expanded(
child: LayoutBuilder(
builder: (context, c) {
final wide = c.maxWidth > 800;
final signals = SignalList(boundary: b);
final raw = RawLog(boundary: b);
return wide
? Row(
crossAxisAlignment: CrossAxisAlignment.stretch,
children: [
Expanded(flex: 3, child: signals),
const VerticalDivider(width: 1),
Expanded(flex: 2, child: raw),
],
)
: Column(
children: [
Expanded(child: signals),
const Divider(height: 1),
Expanded(child: raw),
],
);
},
),
),
],
),
),
floatingActionButton: FloatingActionButton.extended(
onPressed: () => showMarkSheet(context, b),
icon: const Icon(Icons.flag),
label: Text(
b.pending.isEmpty ? 'Mark' : 'Mark (${b.pending.length} pending)',
),
),
);
}
}
class MockBanner extends StatelessWidget {
const MockBanner({super.key});
@override
Widget build(BuildContext context) {
final p = AppTheme.of(context);
return Container(
color: p.caution,
padding: const EdgeInsets.symmetric(vertical: 6),
child: Text(
'MOCK DATA — NOT FROM THE CAR',
textAlign: TextAlign.center,
style: TextStyle(
color: p.onFill(p.caution),
fontWeight: FontWeight.w900,
fontSize: 20,
letterSpacing: 2,
),
),
);
}
}
class LinkBar extends StatelessWidget {
const LinkBar({
super.key,
required this.boundary,
required this.usb,
required this.linkTest,
});
final Boundary boundary;
final UsbLink usb;
final LinkTest linkTest;
@override
Widget build(BuildContext context) {
final b = boundary;
final p = AppTheme.of(context);
final (color, label) = switch (b.state) {
LinkState.up => (p.good, 'CONNECTED'),
LinkState.connecting => (p.caution, 'CONNECTING'),
LinkState.down => (p.alarm, 'DOWN'),
};
// Fixed-width numbers, padded with figure spaces (U+2007, digit-wide): the bar must
// not reflow every time a value gains a digit.
String pad(String v, int n) => v.padLeft(n, '\u2007');
final age = b.lastMessage == null
? pad('—', 4)
: pad(
'${DateTime.now().difference(b.lastMessage!).inMilliseconds.clamp(0, 9999)}',
4,
);
final offset = b.clockOffset == null
? pad('—', 6)
: pad((b.clockOffset!.inMilliseconds / 1000).toStringAsFixed(1), 6);
const fixed = TextStyle(fontFeatures: [FontFeature.tabularFigures()]);
return Material(
color: Theme.of(context).colorScheme.surfaceContainerHigh,
child: InkWell(
onTap: () => editUrl(context, b, usb),
child: Padding(
padding: const EdgeInsets.symmetric(horizontal: 12, vertical: 8),
child: Wrap(
spacing: 16,
runSpacing: 4,
crossAxisAlignment: WrapCrossAlignment.center,
children: [
Chip(
label: Text(
label,
style: TextStyle(color: color, fontWeight: FontWeight.w600),
),
backgroundColor: color.withValues(alpha: 0.3),
),
Text(b.url, style: const TextStyle(fontFamily: 'monospace')),
Text(b.detail),
Text('last msg $age ms', style: fixed),
Text('Orin−tablet clock $offset s', style: fixed),
if (usb.supported)
Text(
'USB link ${usb.up ? 'up' : 'absent'}${usb.bound ? ', bound' : ''}',
),
TextButton.icon(
onPressed: () => Navigator.of(context).push(
MaterialPageRoute<void>(
builder: (_) => DashPage(boundary: b, themes: themes),
),
),
icon: const Icon(Icons.dashboard),
label: const Text('Dash'),
),
TextButton.icon(
onPressed: () => Navigator.of(context).push(
MaterialPageRoute<void>(
builder: (_) => linkTestPage(b, linkTest, usb),
),
),
icon: const Icon(Icons.speed),
label: const Text('Link test'),
),
TextButton.icon(
onPressed: () => Navigator.of(context).push(
MaterialPageRoute<void>(
builder: (_) => CamViewPage(host: Uri.parse(b.url).host),
),
),
icon: const Icon(Icons.videocam),
label: const Text('Camera'),
),
TextButton.icon(
onPressed: () => Navigator.of(context).push(
MaterialPageRoute<void>(
builder: (_) => ChecklistsPage(boundary: b),
),
),
icon: const Icon(Icons.checklist),
label: const Text('Captures'),
),
if (b.state == LinkState.up && b.hello?['boot_id'] is String)
TextButton.icon(
onPressed: () => orinPowerOptions(context, b),
icon: const Icon(Icons.power_settings_new),
label: const Text('Orin power options'),
),
],
),
),
),
);
}
}
/// Confirm, then send `poweroff` once (contracts BOUNDARY.md): it carries this
/// connection's boot id, so it can never take effect on a later boot.
/// Power off or reboot the Orin: one confirmation that is also the choice. Sent once,
/// never resent (contracts BOUNDARY.md: the ack cache does not survive the restart).
Future<void> orinPowerOptions(BuildContext context, Boundary b) async {
final host = b.hello?['host'] ?? 'the Orin';
final verb = await showDialog<String>(
context: context,
builder: (context) => AlertDialog(
title: Text('Power options: $host'),
content: const Text(
'Either way, recording stops and the session is closed cleanly.\n\n'
'Power off: the Orin stays off until its power button is pressed.\n'
'Reboot: it is back in about a minute; this screen reconnects by itself.',
),
actions: [
TextButton(
onPressed: () => Navigator.of(context).pop(),
child: const Text('Cancel'),
),
OutlinedButton.icon(
onPressed: () => Navigator.of(context).pop('reboot'),
icon: const Icon(Icons.restart_alt),
label: const Text('Reboot'),
),
FilledButton.icon(
style: FilledButton.styleFrom(
backgroundColor: AppTheme.of(context).alarm,
foregroundColor: AppTheme.of(context).onFill(AppTheme.of(context).alarm),
),
onPressed: () => Navigator.of(context).pop('poweroff'),
icon: const Icon(Icons.power_settings_new),
label: const Text('Power off'),
),
],
),
);
if (verb == null || !context.mounted) return;
final messenger = ScaffoldMessenger.of(context);
final id = b.commandOnce(verb, {
'confirm': verb,
'boot_id': b.hello?['boot_id'],
});
if (id == null) {
messenger.showSnackBar(
const SnackBar(content: Text('Not sent: no link to the Orin')),
);
return;
}
final ack = await b.ackFor(id);
final what = verb == 'reboot' ? 'rebooting' : 'shutting down';
messenger.showSnackBar(
SnackBar(
content: Text(
ack == null
? 'No reply: the Orin may or may not be $what'
: ack.ok
? 'Orin: ${ack.detail}'
: 'Refused: ${ack.detail}',
),
),
);
}
class SignalList extends StatelessWidget {
const SignalList({super.key, required this.boundary});
final Boundary boundary;
@override
Widget build(BuildContext context) {
final b = boundary;
if (b.state != LinkState.up) {
return const Center(child: Text('No link to the Orin'));
}
if (b.seen.isEmpty) {
return Center(
child: Text(
'Connected — the Orin is sending no vehicle state\n(source: ${b.hello?['source'] ?? '?'})',
textAlign: TextAlign.center,
),
);
}
// Rows stay put: a signal that drops out is shown as missing, not removed.
final names = b.seen.keys.toList()..sort();
return ListView(
padding: const EdgeInsets.all(12),
children: [
for (final n in names)
b.signals[n] is Map
? SignalTile(
name: n,
envelope: Map<String, dynamic>.from(b.signals[n] as Map),
)
: SignalTile(name: n, envelope: b.seen[n]!, missing: true),
],
);
}
}
/// Missing, known-without-value, stale and fresh each look different: all four are normal in a car.
class SignalTile extends StatelessWidget {
const SignalTile({
super.key,
required this.name,
required this.envelope,
this.missing = false,
});
final String name;
/// The current envelope, or the last one seen when [missing] (only its unit is used then).
final Map<String, dynamic> envelope;
final bool missing;
@override
Widget build(BuildContext context) {
final p = AppTheme.of(context);
if (missing) {
return ListTile(
title: Text(
name,
style: TextStyle(fontFamily: 'monospace', color: p.subdued),
),
subtitle: Text(
'MISSING · not in the latest state',
style: TextStyle(color: p.alarm),
),
trailing: Text.rich(
TextSpan(
children: [
TextSpan(
text: '?',
style: TextStyle(fontSize: 34, color: p.subdued),
),
TextSpan(
text: ' ${envelope['unit'] ?? ''}',
style: TextStyle(fontSize: 16, color: p.subdued),
),
],
),
),
);
}
final v = envelope['value'];
final quality = envelope['quality'] as String? ?? 'ok';
final stale = quality != 'ok';
final text = v == null
? '—'
: (v is double && v == v.roundToDouble() ? v.toInt().toString() : '$v');
final style = TextStyle(
fontSize: 34,
fontWeight: FontWeight.w600,
fontFeatures: const [FontFeature.tabularFigures()],
color: stale || v == null ? p.subdued : p.foreground,
fontStyle: stale ? FontStyle.italic : null,
);
return ListTile(
title: Text(name, style: const TextStyle(fontFamily: 'monospace')),
subtitle: Text(
style: stale ? TextStyle(color: p.caution) : null,
[
if (stale) quality.toUpperCase(),
if (v == null) 'no value',
if (envelope['mock'] == true) 'mock',
].join(' · '),
),
trailing: Text.rich(
TextSpan(
children: [
TextSpan(text: text, style: style),
TextSpan(
text: ' ${envelope['unit'] ?? ''}',
style: const TextStyle(fontSize: 16),
),
],
),
),
);
}
}
class RawLog extends StatelessWidget {
const RawLog({super.key, required this.boundary});
final Boundary boundary;
@override
Widget build(BuildContext context) {
final b = boundary;
return ListView(
padding: const EdgeInsets.all(8),
children: [
if (b.pending.isNotEmpty || b.acks.isNotEmpty) ...[
Text('Commands', style: Theme.of(context).textTheme.titleSmall),
for (final p in b.pending)
Text(
'… ${p.cmd} ${p.args['text'] ?? ''} (unacked)',
style: TextStyle(color: AppTheme.of(context).caution),
),
for (final a in b.acks)
Text(
'${a.ok ? '✓' : '✗'} ${a.detail}',
style: TextStyle(color: a.ok ? AppTheme.of(context).good : AppTheme.of(context).alarm),
),
const Divider(),
],
Text(
'Raw messages, newest first',
style: Theme.of(context).textTheme.titleSmall,
),
for (final r in b.recent)
Padding(
padding: const EdgeInsets.symmetric(vertical: 2),
child: Text(
r,
style: const TextStyle(fontFamily: 'monospace', fontSize: 11),
),
),
],
);
}
}
const quickMarks = [
'cold start',
'engine start',
'indicator left',
'indicator right',
'brake',
'headlights',
'something odd',
];
Future<void> showMarkSheet(BuildContext context, Boundary b) {
final custom = TextEditingController();
return showModalBottomSheet(
context: context,
isScrollControlled: true,
useSafeArea: true,
builder: (ctx) {
void send(String text) {
if (text.trim().isEmpty) return;
b.command('mark', {'text': text.trim()});
Navigator.pop(ctx);
}
return Padding(
// Clear the keyboard when it is up, the navigation bar when it is not.
padding: EdgeInsets.fromLTRB(
16,
16,
16,
16 +
max(
MediaQuery.of(ctx).viewInsets.bottom,
MediaQuery.of(ctx).viewPadding.bottom,
),
),
child: Column(
mainAxisSize: MainAxisSize.min,
crossAxisAlignment: CrossAxisAlignment.stretch,
children: [
Text(
'Stamp into the recording',
style: Theme.of(ctx).textTheme.titleMedium,
),
const SizedBox(height: 8),
Wrap(
spacing: 8,
runSpacing: 8,
children: [
for (final q in quickMarks)
ActionChip(label: Text(q), onPressed: () => send(q)),
],
),
TextField(
controller: custom,
decoration: const InputDecoration(labelText: 'Other'),
onSubmitted: send,
),
],
),
);
},
);
}
Future<void> editUrl(BuildContext context, Boundary b, UsbLink usb) async {
final c = TextEditingController(text: b.url);
final url = await showDialog<String>(
context: context,
builder: (ctx) => AlertDialog(
title: const Text('Gateway address'),
content: TextField(controller: c, autofocus: true),
actions: [
TextButton(
onPressed: () => Navigator.pop(ctx),
child: const Text('Cancel'),
),
TextButton(
onPressed: () => Navigator.pop(ctx, c.text.trim()),
child: const Text('Connect'),
),
],
),
);
if (url == null || url.isEmpty) return;
await usb.bindFor(Uri.parse(url));
b.retarget(url);
}