Starter display: boundary v0 client, readout, mark button, CI
Connects to svc-gw over one WebSocket, heartbeats, treats timeout_ms of silence as a dead link, and retries commands under the same id until acked. Shows link state, signals with stale/null/missing told apart, the raw stream, a mock banner on the surface, and a Mark button that stamps the recording. Android: keeps the screen on and binds the process to the USB NCM network when the gateway is on it. CI mirrors android-stuff's host-mode runner setup. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
This commit is contained in:
@@ -0,0 +1,206 @@
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// Client side of the display boundary, protocol v0 (contracts docs/BOUNDARY.md).
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//
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// This side always connects and owns reconnection. The link drops routinely —
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// ~3 s at every power change, and an asleep peer looks connected — so silence is
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// treated as a dead link, and commands are retried under the same id until acked.
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import 'dart:async';
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import 'dart:convert';
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import 'dart:io';
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import 'dart:math';
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import 'package:flutter/foundation.dart';
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enum LinkState { connecting, up, down }
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class PendingCommand {
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PendingCommand(this.id, this.cmd, this.args) : queuedAt = DateTime.now();
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final String id;
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final String cmd;
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final Map<String, dynamic> args;
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final DateTime queuedAt;
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}
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class Ack {
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Ack(this.id, this.ok, this.detail, this.at);
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final String id;
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final bool ok;
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final String detail;
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final DateTime at;
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}
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class Boundary extends ChangeNotifier {
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Boundary(this.url, {this.connectTimeout = const Duration(seconds: 3)});
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String url;
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final Duration connectTimeout;
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LinkState state = LinkState.down;
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String detail = 'not started';
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Map<String, dynamic>? hello;
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Map<String, dynamic> signals = {};
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DateTime? lastState;
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DateTime? lastMessage;
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/// Orin clock minus tablet clock, from heartbeats. Large values mean one side is unsynced.
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Duration? clockOffset;
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final List<String> recent = [];
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final List<PendingCommand> pending = [];
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final List<Ack> acks = [];
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WebSocket? _ws;
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Timer? _hb;
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Timer? _watchdog;
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bool _running = false;
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int _attempt = 0;
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final _rng = Random();
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/// True when any message seen on this connection said mock.
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bool get mock => hello?['mock'] == true || signals.values.any((e) => e is Map && e['mock'] == true);
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Duration get _hbInterval => Duration(milliseconds: (hello?['hb_ms'] as int?) ?? 1000);
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Duration get _timeout => Duration(milliseconds: (hello?['timeout_ms'] as int?) ?? 5000);
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void start() {
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if (_running) return;
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_running = true;
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_loop();
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}
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Future<void> stop() async {
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_running = false;
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await _ws?.close();
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}
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/// Change the target; the current connection is dropped and the loop reconnects.
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void retarget(String newUrl) {
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url = newUrl;
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_ws?.close();
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}
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/// Queue a command; it is sent now if connected and resent after every reconnect until acked.
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String command(String cmd, [Map<String, dynamic> args = const {}]) {
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final id = '${DateTime.now().microsecondsSinceEpoch.toRadixString(36)}-${_rng.nextInt(1 << 32).toRadixString(36)}';
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final c = PendingCommand(id, cmd, args);
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pending.add(c);
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_send(c);
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notifyListeners();
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return id;
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}
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Future<void> _loop() async {
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while (_running) {
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_set(LinkState.connecting, 'connecting to $url');
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try {
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final ws = await WebSocket.connect(url).timeout(connectTimeout);
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_ws = ws;
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_attempt = 0;
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lastMessage = DateTime.now();
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_armWatchdog();
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await for (final raw in ws) {
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_onMessage(raw as String);
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}
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_set(LinkState.down, 'closed${ws.closeReason != null && ws.closeReason!.isNotEmpty ? ': ${ws.closeReason}' : ''}');
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} catch (e) {
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_set(LinkState.down, '$e'.split('\n').first);
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} finally {
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_hb?.cancel();
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_watchdog?.cancel();
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_ws = null;
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hello = null;
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}
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if (!_running) break;
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// 0.5 s, 1 s, 2 s, then every 3 s: a replugged hub is back in about 3 s.
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final wait = Duration(milliseconds: min(3000, 500 * (1 << min(_attempt, 3))));
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_attempt++;
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await Future.delayed(wait);
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}
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}
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void _onMessage(String raw) {
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lastMessage = DateTime.now();
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recent.insert(0, raw.length > 400 ? '${raw.substring(0, 400)}…' : raw);
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if (recent.length > 30) recent.removeLast();
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final Map<String, dynamic> m;
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try {
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m = jsonDecode(raw) as Map<String, dynamic>;
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} catch (_) {
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return;
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}
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switch (m['t']) {
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case 'hello':
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hello = m;
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_set(LinkState.up, '${m['server']} on ${m['host']}');
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_hb?.cancel();
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_hb = Timer.periodic(_hbInterval, (_) => _add('{"t":"hb"}'));
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_armWatchdog();
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for (final c in pending) {
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_send(c);
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}
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case 'hb':
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final ts = m['ts'];
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if (ts is int) {
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clockOffset = DateTime.fromMillisecondsSinceEpoch(ts).difference(DateTime.now());
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}
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case 'state':
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signals = Map<String, dynamic>.from(m['signals'] as Map);
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lastState = DateTime.now();
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case 'ack':
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final id = m['id'] as String?;
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pending.removeWhere((c) => c.id == id);
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acks.insert(0, Ack(id ?? '?', m['ok'] == true, '${m['detail'] ?? ''}', DateTime.now()));
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if (acks.length > 10) acks.removeLast();
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}
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notifyListeners();
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}
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/// Silence for timeout_ms means the link is dead, whatever the socket says.
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void _armWatchdog() {
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_watchdog?.cancel();
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_watchdog = Timer.periodic(const Duration(milliseconds: 500), (_) {
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final last = lastMessage;
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if (last != null && DateTime.now().difference(last) > _timeout) {
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detail = 'no message for ${_timeout.inMilliseconds} ms';
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_hb?.cancel();
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_ws?.close();
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}
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notifyListeners();
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});
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}
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void _send(PendingCommand c) {
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if (_ws == null || hello == null) return;
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final args = Map<String, dynamic>.from(c.args);
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if (c.cmd == 'mark') {
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args['delay_ms'] = DateTime.now().difference(c.queuedAt).inMilliseconds;
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}
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_add(jsonEncode({'t': 'cmd', 'id': c.id, 'cmd': c.cmd, 'args': args}));
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}
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/// A send on a link that just died is a no-op: the reconnect resends what matters.
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void _add(String msg) {
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final ws = _ws;
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if (ws == null || ws.closeCode != null) return;
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try {
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ws.add(msg);
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} on StateError {
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// closed between the check and the add
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}
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}
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void _set(LinkState s, String d) {
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state = s;
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detail = d;
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if (s != LinkState.up) signals = {};
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notifyListeners();
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}
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@override
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void dispose() {
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_running = false;
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_hb?.cancel();
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_watchdog?.cancel();
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_ws?.close();
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super.dispose();
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}
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}
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+241
-95
@@ -1,122 +1,268 @@
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// Yukart display — starter. A text readout of whatever svc-gw sends, proving the
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// boundary contract before anything is drawn (initial plan, step 1).
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import 'package:flutter/material.dart';
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void main() {
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runApp(const MyApp());
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import 'boundary.dart';
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import 'net.dart';
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/// Override for development, e.g. `--dart-define=YUKART_GW=ws://halogen.local:7700/`.
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const defaultUrl = String.fromEnvironment('YUKART_GW', defaultValue: 'ws://192.168.55.1:7700/');
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Future<void> main() async {
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WidgetsFlutterBinding.ensureInitialized();
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final usb = UsbLink();
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await usb.bindFor(Uri.parse(defaultUrl));
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final boundary = Boundary(defaultUrl)..start();
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runApp(YukartApp(boundary: boundary, usb: usb));
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}
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class MyApp extends StatelessWidget {
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const MyApp({super.key});
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class YukartApp extends StatelessWidget {
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const YukartApp({super.key, required this.boundary, required this.usb});
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final Boundary boundary;
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final UsbLink usb;
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// This widget is the root of your application.
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@override
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Widget build(BuildContext context) {
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return MaterialApp(
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title: 'Flutter Demo',
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theme: ThemeData(
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// This is the theme of your application.
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//
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// TRY THIS: Try running your application with "flutter run". You'll see
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// the application has a purple toolbar. Then, without quitting the app,
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// try changing the seedColor in the colorScheme below to Colors.green
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// and then invoke "hot reload" (save your changes or press the "hot
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// reload" button in a Flutter-supported IDE, or press "r" if you used
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// the command line to start the app).
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//
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// Notice that the counter didn't reset back to zero; the application
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// state is not lost during the reload. To reset the state, use hot
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// restart instead.
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//
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// This works for code too, not just values: Most code changes can be
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// tested with just a hot reload.
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colorScheme: .fromSeed(seedColor: Colors.deepPurple),
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title: 'Yukart',
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debugShowCheckedModeBanner: false,
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theme: ThemeData(colorSchemeSeed: Colors.teal, brightness: Brightness.dark, useMaterial3: true),
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home: ListenableBuilder(
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listenable: Listenable.merge([boundary, usb]),
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builder: (context, _) => Readout(boundary: boundary, usb: usb),
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),
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home: const MyHomePage(title: 'Flutter Demo Home Page'),
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);
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}
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}
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class MyHomePage extends StatefulWidget {
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const MyHomePage({super.key, required this.title});
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// This widget is the home page of your application. It is stateful, meaning
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// that it has a State object (defined below) that contains fields that affect
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// how it looks.
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// This class is the configuration for the state. It holds the values (in this
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// case the title) provided by the parent (in this case the App widget) and
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// used by the build method of the State. Fields in a Widget subclass are
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// always marked "final".
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final String title;
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@override
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State<MyHomePage> createState() => _MyHomePageState();
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}
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class _MyHomePageState extends State<MyHomePage> {
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int _counter = 0;
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void _incrementCounter() {
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setState(() {
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// This call to setState tells the Flutter framework that something has
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// changed in this State, which causes it to rerun the build method below
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// so that the display can reflect the updated values. If we changed
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// _counter without calling setState(), then the build method would not be
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// called again, and so nothing would appear to happen.
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_counter++;
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});
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}
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class Readout extends StatelessWidget {
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const Readout({super.key, required this.boundary, required this.usb});
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final Boundary boundary;
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final UsbLink usb;
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@override
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Widget build(BuildContext context) {
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// This method is rerun every time setState is called, for instance as done
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// by the _incrementCounter method above.
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//
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// The Flutter framework has been optimized to make rerunning build methods
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// fast, so that you can just rebuild anything that needs updating rather
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// than having to individually change instances of widgets.
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final b = boundary;
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return Scaffold(
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appBar: AppBar(
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// TRY THIS: Try changing the color here to a specific color (to
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// Colors.amber, perhaps?) and trigger a hot reload to see the AppBar
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// change color while the other colors stay the same.
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backgroundColor: Theme.of(context).colorScheme.inversePrimary,
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// Here we take the value from the MyHomePage object that was created by
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// the App.build method, and use it to set our appbar title.
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title: Text(widget.title),
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),
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body: Center(
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// Center is a layout widget. It takes a single child and positions it
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// in the middle of the parent.
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body: SafeArea(
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child: Column(
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// Column is also a layout widget. It takes a list of children and
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// arranges them vertically. By default, it sizes itself to fit its
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// children horizontally, and tries to be as tall as its parent.
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//
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// Column has various properties to control how it sizes itself and
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// how it positions its children. Here we use mainAxisAlignment to
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// center the children vertically; the main axis here is the vertical
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// axis because Columns are vertical (the cross axis would be
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// horizontal).
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//
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// TRY THIS: Invoke "debug painting" (choose the "Toggle Debug Paint"
|
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// action in the IDE, or press "p" in the console), to see the
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// wireframe for each widget.
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mainAxisAlignment: .center,
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crossAxisAlignment: CrossAxisAlignment.stretch,
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children: [
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const Text('You have pushed the button this many times:'),
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Text(
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'$_counter',
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style: Theme.of(context).textTheme.headlineMedium,
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// Mock data must look like mock data: on the surface, not in a menu.
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if (b.mock) const MockBanner(),
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LinkBar(boundary: b, usb: usb),
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Expanded(
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child: LayoutBuilder(
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builder: (context, c) {
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final wide = c.maxWidth > 800;
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final signals = SignalList(boundary: b);
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final raw = RawLog(boundary: b);
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return wide
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? Row(crossAxisAlignment: CrossAxisAlignment.stretch, children: [
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Expanded(flex: 3, child: signals),
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const VerticalDivider(width: 1),
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Expanded(flex: 2, child: raw),
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])
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: Column(children: [Expanded(child: signals), const Divider(height: 1), Expanded(child: raw)]);
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},
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),
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),
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],
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),
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),
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floatingActionButton: FloatingActionButton(
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onPressed: _incrementCounter,
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tooltip: 'Increment',
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child: const Icon(Icons.add),
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floatingActionButton: FloatingActionButton.extended(
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onPressed: () => showMarkSheet(context, b),
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icon: const Icon(Icons.flag),
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label: Text(b.pending.isEmpty ? 'Mark' : 'Mark (${b.pending.length} pending)'),
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),
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);
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}
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}
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class MockBanner extends StatelessWidget {
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const MockBanner({super.key});
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@override
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Widget build(BuildContext context) {
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return Container(
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color: Colors.amber.shade700,
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padding: const EdgeInsets.symmetric(vertical: 6),
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child: const Text(
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'MOCK DATA — NOT FROM THE CAR',
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textAlign: TextAlign.center,
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style: TextStyle(color: Colors.black, fontWeight: FontWeight.w900, fontSize: 20, letterSpacing: 2),
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),
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||||
);
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||||
}
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||||
}
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||||
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class LinkBar extends StatelessWidget {
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const LinkBar({super.key, required this.boundary, required this.usb});
|
||||
final Boundary boundary;
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||||
final UsbLink usb;
|
||||
|
||||
@override
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||||
Widget build(BuildContext context) {
|
||||
final b = boundary;
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||||
final (color, label) = switch (b.state) {
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LinkState.up => (Colors.green, 'CONNECTED'),
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LinkState.connecting => (Colors.orange, 'CONNECTING'),
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LinkState.down => (Colors.red, 'DOWN'),
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||||
};
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final age = b.lastMessage == null ? '—' : '${DateTime.now().difference(b.lastMessage!).inMilliseconds} ms';
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||||
final offset = b.clockOffset == null ? '—' : '${(b.clockOffset!.inMilliseconds / 1000).toStringAsFixed(1)} s';
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||||
return Material(
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||||
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), backgroundColor: color.withValues(alpha: 0.3)),
|
||||
Text(b.url, style: const TextStyle(fontFamily: 'monospace')),
|
||||
Text(b.detail),
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||||
Text('last msg $age'),
|
||||
Text('Orin−tablet clock $offset'),
|
||||
if (usb.supported) Text('USB link ${usb.up ? 'up' : 'absent'}${usb.bound ? ', bound' : ''}'),
|
||||
]),
|
||||
),
|
||||
),
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
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.signals.isEmpty) {
|
||||
return Center(
|
||||
child: Text(
|
||||
'Connected — the Orin is sending no vehicle state\n(source: ${b.hello?['source'] ?? '?'})',
|
||||
textAlign: TextAlign.center,
|
||||
),
|
||||
);
|
||||
}
|
||||
final names = b.signals.keys.toList()..sort();
|
||||
return ListView(
|
||||
padding: const EdgeInsets.all(12),
|
||||
children: [
|
||||
for (final n in names) SignalTile(name: n, envelope: Map<String, dynamic>.from(b.signals[n] as Map)),
|
||||
],
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
/// Known-without-value, stale and fresh each look different: all three are normal in a car.
|
||||
class SignalTile extends StatelessWidget {
|
||||
const SignalTile({super.key, required this.name, required this.envelope});
|
||||
final String name;
|
||||
final Map<String, dynamic> envelope;
|
||||
|
||||
@override
|
||||
Widget build(BuildContext context) {
|
||||
final v = envelope['value'];
|
||||
final quality = envelope['quality'] as String? ?? 'ok';
|
||||
final stale = quality != 'ok';
|
||||
final text = v == null ? '—' : (v is double && v == v.roundToDouble() ? v.toInt().toString() : '$v');
|
||||
final style = TextStyle(
|
||||
fontSize: 34,
|
||||
fontWeight: FontWeight.w600,
|
||||
fontFeatures: const [FontFeature.tabularFigures()],
|
||||
color: stale || v == null ? Colors.grey : null,
|
||||
fontStyle: stale ? FontStyle.italic : null,
|
||||
);
|
||||
return ListTile(
|
||||
title: Text(name, style: const TextStyle(fontFamily: 'monospace')),
|
||||
subtitle: Text([
|
||||
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} ${p.args['text'] ?? ''} (unacked)'),
|
||||
for (final a in b.acks) Text('${a.ok ? '✓' : '✗'} ${a.detail}', style: TextStyle(color: a.ok ? null : Colors.redAccent)),
|
||||
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,
|
||||
builder: (ctx) {
|
||||
void send(String text) {
|
||||
if (text.trim().isEmpty) return;
|
||||
b.command('mark', {'text': text.trim()});
|
||||
Navigator.pop(ctx);
|
||||
}
|
||||
|
||||
return Padding(
|
||||
padding: EdgeInsets.fromLTRB(16, 16, 16, 16 + MediaQuery.of(ctx).viewInsets.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);
|
||||
}
|
||||
|
||||
@@ -0,0 +1,34 @@
|
||||
// Android only: binding the process to the USB (NCM) Ethernet link to the Orin.
|
||||
// See MainActivity.kt for why Android needs telling.
|
||||
|
||||
import 'dart:io';
|
||||
|
||||
import 'package:flutter/foundation.dart';
|
||||
import 'package:flutter/services.dart';
|
||||
|
||||
class UsbLink extends ChangeNotifier {
|
||||
static const _ch = MethodChannel('yukart/net');
|
||||
|
||||
bool supported = Platform.isAndroid;
|
||||
bool up = false;
|
||||
bool bound = false;
|
||||
|
||||
UsbLink() {
|
||||
if (!supported) return;
|
||||
_ch.setMethodCallHandler((call) async {
|
||||
if (call.method == 'ethernet') {
|
||||
final a = Map<String, dynamic>.from(call.arguments as Map);
|
||||
up = a['up'] == true;
|
||||
bound = a['bound'] == true;
|
||||
notifyListeners();
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
/// Bind only when the target is on the USB link; a workstation over WiFi must stay reachable.
|
||||
Future<void> bindFor(Uri target) async {
|
||||
if (!supported) return;
|
||||
final want = target.host.startsWith('192.168.55.');
|
||||
await _ch.invokeMethod<bool>('bindEthernet', want);
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user