yukart/app-flutter
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Link bar: fixed-width age and clock offset, so the bar no longer reflows
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Browse Source 
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
2026-10-11 17:43:27 +09:00
parent 5ebca82e9b
commit d343e77903
1 changed files with 235 additions and 77 deletions
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lib/main.dart
+235 -77
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@@ -11,7 +11,10 @@ import 'linktest.dart';
import 'net.dart';
/// Override for development, e.g. `--dart-define=YUKART_GW=ws://halogen.local:7700/`.
const defaultUrl = String.fromEnvironment('YUKART_GW', defaultValue: 'ws://192.168.55.1:7700/');
const defaultUrl = String.fromEnvironment(
'YUKART_GW',
defaultValue: 'ws://192.168.55.1:7700/',
);
Future<void> main() async {
WidgetsFlutterBinding.ensureInitialized();
@@ -22,12 +25,20 @@ Future<void> main() async {
// Development hook: `am start ... --es linktest [dl:|bi:]<label>[@<host>]` runs the test
// (`dl:` the download series, `bi:` burst latency against idle gaps), on the gateway's host unless one is given.
Future<void> runLinkTest(String request) async {
final mode = request.startsWith('dl:') || request.startsWith('bi:') ? request.substring(0, 2) : '';
final mode = request.startsWith('dl:') || request.startsWith('bi:')
? request.substring(0, 2)
: '';
if (mode.isNotEmpty) request = request.substring(3);
final at = request.indexOf('@');
final label = at < 0 ? request : request.substring(0, at);
final host = at < 0 ? Uri.parse(boundary.url).host : request.substring(at + 1);
navigatorKey.currentState?.push(MaterialPageRoute<void>(builder: (_) => linkTestPage(boundary, linkTest, usb)));
final host = at < 0
? Uri.parse(boundary.url).host
: request.substring(at + 1);
navigatorKey.currentState?.push(
MaterialPageRoute<void>(
builder: (_) => linkTestPage(boundary, linkTest, usb),
),
);
await switch (mode) {
'dl' => linkTest.runDownload(host, label),
'bi' => linkTest.runBurstIdle(host, label),
@@ -47,13 +58,18 @@ Future<void> main() async {
final navigatorKey = GlobalKey<NavigatorState>();
Widget linkTestPage(Boundary b, LinkTest t, UsbLink usb) => LinkTestPage(
test: t,
host: Uri.parse(b.url).host,
restoreBinding: () => usb.bindFor(Uri.parse(b.url)),
);
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});
const YukartApp({
super.key,
required this.boundary,
required this.usb,
required this.linkTest,
});
final Boundary boundary;
final UsbLink usb;
final LinkTest linkTest;
@@ -64,17 +80,27 @@ class YukartApp extends StatelessWidget {
title: 'Yukart',
navigatorKey: navigatorKey,
debugShowCheckedModeBanner: false,
theme: ThemeData(colorSchemeSeed: Colors.teal, brightness: Brightness.dark, useMaterial3: true),
theme: ThemeData(
colorSchemeSeed: Colors.teal,
brightness: Brightness.dark,
useMaterial3: true,
),
home: ListenableBuilder(
listenable: Listenable.merge([boundary, usb]),
builder: (context, _) => Readout(boundary: boundary, usb: usb, linkTest: linkTest),
builder: (context, _) =>
Readout(boundary: boundary, usb: usb, linkTest: linkTest),
),
);
}
}
class Readout extends StatelessWidget {
const Readout({super.key, required this.boundary, required this.usb, required this.linkTest});
const Readout({
super.key,
required this.boundary,
required this.usb,
required this.linkTest,
});
final Boundary boundary;
final UsbLink usb;
final LinkTest linkTest;
@@ -97,12 +123,21 @@ class Readout extends StatelessWidget {
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)]);
? 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),
],
);
},
),
),
@@ -112,7 +147,9 @@ class Readout extends StatelessWidget {
floatingActionButton: FloatingActionButton.extended(
onPressed: () => showMarkSheet(context, b),
icon: const Icon(Icons.flag),
label: Text(b.pending.isEmpty ? 'Mark' : 'Mark (${b.pending.length} pending)'),
label: Text(
b.pending.isEmpty ? 'Mark' : 'Mark (${b.pending.length} pending)',
),
),
);
}
@@ -129,14 +166,24 @@ class MockBanner extends StatelessWidget {
child: const Text(
'MOCK DATA — NOT FROM THE CAR',
textAlign: TextAlign.center,
style: TextStyle(color: Colors.black, fontWeight: FontWeight.w900, fontSize: 20, letterSpacing: 2),
style: TextStyle(
color: Colors.black,
fontWeight: FontWeight.w900,
fontSize: 20,
letterSpacing: 2,
),
),
);
}
}
class LinkBar extends StatelessWidget {
const LinkBar({super.key, required this.boundary, required this.usb, required this.linkTest});
const LinkBar({
super.key,
required this.boundary,
required this.usb,
required this.linkTest,
});
final Boundary boundary;
final UsbLink usb;
final LinkTest linkTest;
@@ -149,36 +196,62 @@ class LinkBar extends StatelessWidget {
LinkState.connecting => (Colors.orange, 'CONNECTING'),
LinkState.down => (Colors.red, 'DOWN'),
};
final age = b.lastMessage == null ? '—' : '${DateTime.now().difference(b.lastMessage!).inMilliseconds} ms';
final offset = b.clockOffset == null ? '—' : '${(b.clockOffset!.inMilliseconds / 1000).toStringAsFixed(1)} s';
// 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, 99999)}',
5,
);
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), backgroundColor: color.withValues(alpha: 0.3)),
Text(b.url, style: const TextStyle(fontFamily: 'monospace')),
Text(b.detail),
Text('last msg $age'),
Text('Orin−tablet clock $offset'),
if (usb.supported) Text('USB link ${usb.up ? 'up' : 'absent'}${usb.bound ? ', bound' : ''}'),
TextButton.icon(
onPressed: () => Navigator.of(context).push(
MaterialPageRoute<void>(builder: (_) => linkTestPage(b, linkTest, usb)),
child: Wrap(
spacing: 16,
runSpacing: 4,
crossAxisAlignment: WrapCrossAlignment.center,
children: [
Chip(
label: Text(label),
backgroundColor: color.withValues(alpha: 0.3),
),
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)),
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: (_) => linkTestPage(b, linkTest, usb),
),
),
icon: const Icon(Icons.speed),
label: const Text('Link test'),
),
icon: const Icon(Icons.videocam),
label: const Text('Camera'),
),
]),
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'),
),
],
),
),
),
);
@@ -210,7 +283,10 @@ class SignalList extends StatelessWidget {
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: Map<String, dynamic>.from(b.signals[n] as Map),
)
: SignalTile(name: n, envelope: b.seen[n]!, missing: true),
],
);
@@ -219,7 +295,12 @@ class SignalList extends StatelessWidget {
/// 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});
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).
@@ -230,18 +311,36 @@ class SignalTile extends StatelessWidget {
Widget build(BuildContext context) {
if (missing) {
return ListTile(
title: Text(name, style: const TextStyle(fontFamily: 'monospace', color: Colors.grey)),
subtitle: const Text('MISSING · not in the latest state', style: TextStyle(color: Colors.redAccent)),
trailing: Text.rich(TextSpan(children: [
const TextSpan(text: '?', style: TextStyle(fontSize: 34, color: Colors.grey)),
TextSpan(text: ' ${envelope['unit'] ?? ''}', style: const TextStyle(fontSize: 16, color: Colors.grey)),
])),
title: Text(
name,
style: const TextStyle(fontFamily: 'monospace', color: Colors.grey),
),
subtitle: const Text(
'MISSING · not in the latest state',
style: TextStyle(color: Colors.redAccent),
),
trailing: Text.rich(
TextSpan(
children: [
const TextSpan(
text: '?',
style: TextStyle(fontSize: 34, color: Colors.grey),
),
TextSpan(
text: ' ${envelope['unit'] ?? ''}',
style: const TextStyle(fontSize: 16, color: Colors.grey),
),
],
),
),
);
}
final v = envelope['value'];
final quality = envelope['quality'] as String? ?? 'ok';
final stale = quality != 'ok';
final text = v == null ? '—' : (v is double && v == v.roundToDouble() ? v.toInt().toString() : '$v');
final text = v == null
? '—'
: (v is double && v == v.roundToDouble() ? v.toInt().toString() : '$v');
final style = TextStyle(
fontSize: 34,
fontWeight: FontWeight.w600,
@@ -251,15 +350,24 @@ class SignalTile extends StatelessWidget {
);
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)),
])),
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),
),
],
),
),
);
}
}
@@ -276,22 +384,41 @@ class RawLog extends StatelessWidget {
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)),
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),
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)),
child: Text(
r,
style: const TextStyle(fontFamily: 'monospace', fontSize: 11),
),
),
],
);
}
}
const quickMarks = ['cold start', 'engine start', 'indicator left', 'indicator right', 'brake', 'headlights', 'something odd'];
const quickMarks = [
'cold start',
'engine start',
'indicator left',
'indicator right',
'brake',
'headlights',
'something odd',
];
Future<void> showMarkSheet(BuildContext context, Boundary b) {
final custom = TextEditingController();
@@ -308,15 +435,40 @@ Future<void> showMarkSheet(BuildContext context, Boundary b) {
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),
]),
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,
),
],
),
);
},
);
@@ -330,8 +482,14 @@ Future<void> editUrl(BuildContext context, Boundary b, UsbLink usb) async {
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')),
TextButton(
onPressed: () => Navigator.pop(ctx),
child: const Text('Cancel'),
),
TextButton(
onPressed: () => Navigator.pop(ctx, c.text.trim()),
child: const Text('Connect'),
),
],
),
);