Show the drone's locked home point on the fly-mode map
Adds MSP_WP (118) support to query the flightcontroller's stored home point (WP#0 is a special case for this in iNAV's getWaypoint(), per navigation.c) - the FC reports (0,0,0) rather than an error before one is set, so parseMspHomePoint() treats that pair as "unset". Rendered with a small pentagon house icon (design/homepoint-pentagon.svg, ported to a CustomPainter like the other map icons). Deliberately not polled continuously: a new home_point_provider.dart refreshes it only at the three moments the FC's home point can actually change - connect/reconnect, GPS fix acquired, and arming (iNAV's default reset_home_type=FIRST_ARM only freezes it at the first arm; before that it continuously follows the aircraft while disarmed). Mock's implementation offsets the point 25m from the anchor so it doesn't sit exactly under the drone marker during UI testing.
This commit is contained in:
Constantin Leue
@@ -30,6 +30,14 @@ class _FakeFlightController {
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bool wpGetInfoValid = false;
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int wpGetInfoCount = 0;
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/// null simuliert "FC hat noch keinen Homepoint gesetzt" (`!STATE(
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/// GPS_FIX_HOME)`, meldet dann (0,0,0) statt eines Fehlers).
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({int lat, int lon, int altCm})? homePoint = (
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lat: 525000000,
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lon: 134000000,
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altCm: 6000,
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);
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void _tick(Timer _) {
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while (_answered < transport.sentData.length) {
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final request =
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@@ -76,6 +84,17 @@ class _FakeFlightController {
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case MspCommands.wpGetInfo:
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payload = Uint8List.fromList(
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[0, 15, wpGetInfoValid ? 1 : 0, wpGetInfoCount]);
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case MspCommands.getWp:
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final wpNo = request.payload[0];
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final point = homePoint;
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final d = ByteData(21);
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d.setUint8(0, wpNo);
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if (wpNo == 0 && point != null) {
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d.setInt32(2, point.lat, Endian.little);
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d.setInt32(6, point.lon, Endian.little);
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d.setInt32(10, point.altCm, Endian.little);
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}
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payload = d.buffer.asUint8List();
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default:
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payload = Uint8List(0);
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}
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@@ -170,6 +189,43 @@ void main() {
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responder.cancel();
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}, timeout: const Timeout(Duration(seconds: 5)));
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group('readHomePoint', () {
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test('fragt MSP_WP mit wp_no=0 ab und dekodiert den Homepoint', () async {
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final transport = LoopbackTransport();
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final responder = _startFakeFlightController(transport);
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final link = MspFlightControllerLink(transport: transport);
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await link.connect();
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final home = await link.readHomePoint();
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expect(home, isNotNull);
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expect(home!.lat, closeTo(52.5, 1e-6));
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expect(home.lon, closeTo(13.4, 1e-6));
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expect(home.altitudeM, closeTo(60.0, 1e-9));
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await link.disconnect();
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responder.cancel();
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}, timeout: const Timeout(Duration(seconds: 5)));
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test('liefert null, wenn der FC noch keinen Homepoint gesetzt hat '
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'(meldet (0,0,0) statt eines Fehlers)', () async {
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final transport = LoopbackTransport();
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final responder = _startFakeFlightController(transport)..homePoint = null;
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final link = MspFlightControllerLink(transport: transport);
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await link.connect();
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expect(await link.readHomePoint(), isNull);
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await link.disconnect();
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responder.cancel();
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}, timeout: const Timeout(Duration(seconds: 5)));
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test('readHomePoint() vor connect() wirft StateError', () {
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final link = MspFlightControllerLink(transport: LoopbackTransport());
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expect(() => link.readHomePoint(), throwsStateError);
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});
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});
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test('subscribeTelemetry() vor connect() wirft StateError', () {
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final link = MspFlightControllerLink(transport: LoopbackTransport());
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expect(() => link.subscribeTelemetry(), throwsStateError);
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@@ -152,4 +152,68 @@ void main() {
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expect(info.isValid, isFalse);
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});
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});
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group('encodeMspGetWaypointRequest', () {
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test('kodiert wp_no als einzelnes Byte', () {
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expect(encodeMspGetWaypointRequest(0), Uint8List.fromList([0]));
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expect(encodeMspGetWaypointRequest(255), Uint8List.fromList([255]));
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});
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test('mspWpNumberHome ist 0 (WP#0 = Homepoint laut getWaypoint())', () {
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expect(mspWpNumberHome, 0);
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});
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});
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group('parseMspHomePoint', () {
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/// Baut die 21-Byte MSP_WP-Antwort wie der echte FC (`fc_msp.c`,
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/// `mspFcWaypointOutCommand()`) - dient nur der Testverifikation.
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Uint8List encodeFakeWpResponse({
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int wpNo = 0,
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int action = 0,
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required int lat,
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required int lon,
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required int altCm,
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}) {
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final d = ByteData(21);
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d.setUint8(0, wpNo);
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d.setUint8(1, action);
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d.setInt32(2, lat, Endian.little);
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d.setInt32(6, lon, Endian.little);
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d.setInt32(10, altCm, Endian.little);
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return d.buffer.asUint8List();
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}
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test('dekodiert lat/lon (1e-7 deg) und Hoehe (cm -> m)', () {
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final home = parseMspHomePoint(encodeFakeWpResponse(
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lat: 525000000,
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lon: 134000000,
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altCm: 6050,
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));
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expect(home, isNotNull);
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expect(home!.lat, closeTo(52.5, 1e-9));
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expect(home.lon, closeTo(13.4, 1e-9));
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expect(home.altitudeM, closeTo(60.5, 1e-9));
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});
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test('liefert null bei (0,0) - FCs eigener "kein Homepoint gesetzt"-Wert '
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'(STATE(GPS_FIX_HOME) noch nicht erreicht)', () {
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final home = parseMspHomePoint(encodeFakeWpResponse(
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lat: 0,
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lon: 0,
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altCm: 0,
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));
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expect(home, isNull);
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});
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test('lat == 0 alleine (echter Punkt auf dem Aequator) zaehlt NICHT als '
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'unset - nur (0,0) gemeinsam ist der Sonderfall', () {
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final home = parseMspHomePoint(encodeFakeWpResponse(
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lat: 0,
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lon: 134000000,
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altCm: 0,
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));
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expect(home, isNotNull);
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expect(home!.lon, closeTo(13.4, 1e-9));
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});
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});
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}
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@@ -0,0 +1,200 @@
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import 'dart:async';
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import 'package:flutter_riverpod/flutter_riverpod.dart';
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import 'package:flutter_test/flutter_test.dart';
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import 'package:dmc_app/domain/waypoint/flat_waypoint_list.dart';
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import 'package:dmc_app/transport/flight_controller_link.dart';
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import 'package:dmc_app/ui/providers/home_point_provider.dart';
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import 'package:dmc_app/ui/providers/telemetry_provider.dart';
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/// Zaehlt readHomePoint()-Aufrufe statt sie tatsaechlich per MSP zu
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/// beantworten - alle anderen Mitglieder sind fuer diesen Test irrelevant
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/// und werfen bei Gebrauch bewusst.
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class _FakeLink implements FlightControllerLink {
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int readHomePointCalls = 0;
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HomePoint? nextHomePoint;
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@override
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Future<HomePoint?> readHomePoint() async {
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readHomePointCalls++;
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return nextHomePoint;
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}
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@override
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FcCapabilities get capabilities => throw UnimplementedError();
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@override
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Future<void> connect() => throw UnimplementedError();
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@override
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Future<void> disconnect() => throw UnimplementedError();
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@override
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Future<void> uploadMission(FlatWaypointList mission) => throw UnimplementedError();
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@override
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Future<bool> verifyMission(FlatWaypointList mission) => throw UnimplementedError();
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@override
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Future<void> setFlightMode(FlightMode mode) => throw UnimplementedError();
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@override
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Future<void> arm() => throw UnimplementedError();
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@override
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Stream<TelemetryFrame> subscribeTelemetry() => throw UnimplementedError();
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@override
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Future<int?> readActiveWaypointIndex() => throw UnimplementedError();
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}
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TelemetryFrame _frame({bool hasFix = true, bool armed = false}) => TelemetryFrame(
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lat: 52.5,
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lon: 13.4,
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hasFix: hasFix,
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fixType: hasFix ? 2 : 0,
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numSat: 10,
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altitudeM: 100,
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gpsAltitudeM: 100,
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speedMs: 15,
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headingDeg: 0,
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armed: armed,
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batteryPercent: 80,
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batteryVoltage: 22.0,
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currentA: 10.0,
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linkQuality: 90,
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snrDb: 5,
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hdop: 1.0,
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navMode: 0,
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flightMode: 'Idle',
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sensorStatusBits: 0,
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temperaturesC: const [null, null, null],
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verticalSpeedMs: 0,
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);
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void main() {
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test('fragt den Homepoint beim ersten Telemetrie-Frame ab (Verbindungsaufbau)',
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() async {
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final controller = StreamController<TelemetryFrame>();
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addTearDown(controller.close);
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final link = _FakeLink()
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..nextHomePoint = const HomePoint(lat: 52.5, lon: 13.4, altitudeM: 60);
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final container = ProviderContainer(overrides: [
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telemetryProvider.overrideWith((ref) => controller.stream),
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flightControllerLinkProvider.overrideWithValue(link),
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]);
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addTearDown(container.dispose);
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container.listen(homePointAutoRefreshProvider, (previous, next) {});
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controller.add(_frame(hasFix: false));
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await Future<void>.delayed(Duration.zero);
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expect(link.readHomePointCalls, 1);
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expect(container.read(homePointProvider)?.lat, closeTo(52.5, 1e-9));
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});
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test('fragt NICHT bei jedem Frame erneut ab, solange sich Fix-/Arm-Status '
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'nicht aendern (keine kontinuierliche Abfrage)', () async {
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final controller = StreamController<TelemetryFrame>();
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addTearDown(controller.close);
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final link = _FakeLink();
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final container = ProviderContainer(overrides: [
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telemetryProvider.overrideWith((ref) => controller.stream),
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flightControllerLinkProvider.overrideWithValue(link),
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]);
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addTearDown(container.dispose);
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container.listen(homePointAutoRefreshProvider, (previous, next) {});
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controller.add(_frame());
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await Future<void>.delayed(Duration.zero);
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controller.add(_frame());
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controller.add(_frame());
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controller.add(_frame());
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await Future<void>.delayed(Duration.zero);
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expect(link.readHomePointCalls, 1, reason: 'nur der erste Frame (Connect) loest aus');
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});
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test('fragt beim Uebergang auf einen GPS-Fix erneut ab', () async {
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final controller = StreamController<TelemetryFrame>();
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addTearDown(controller.close);
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final link = _FakeLink();
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final container = ProviderContainer(overrides: [
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telemetryProvider.overrideWith((ref) => controller.stream),
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flightControllerLinkProvider.overrideWithValue(link),
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]);
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addTearDown(container.dispose);
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container.listen(homePointAutoRefreshProvider, (previous, next) {});
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controller.add(_frame(hasFix: false));
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await Future<void>.delayed(Duration.zero);
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expect(link.readHomePointCalls, 1, reason: 'erster Frame = Connect-Trigger');
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controller.add(_frame(hasFix: true));
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await Future<void>.delayed(Duration.zero);
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expect(link.readHomePointCalls, 2, reason: 'Fix-Erwerb ist ein eigener Trigger');
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controller.add(_frame(hasFix: true));
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await Future<void>.delayed(Duration.zero);
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expect(link.readHomePointCalls, 2, reason: 'weiterhin Fix loest nicht erneut aus');
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});
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test('fragt beim Uebergang auf armed erneut ab', () async {
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final controller = StreamController<TelemetryFrame>();
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addTearDown(controller.close);
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final link = _FakeLink();
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final container = ProviderContainer(overrides: [
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telemetryProvider.overrideWith((ref) => controller.stream),
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flightControllerLinkProvider.overrideWithValue(link),
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]);
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addTearDown(container.dispose);
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container.listen(homePointAutoRefreshProvider, (previous, next) {});
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controller.add(_frame(armed: false));
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await Future<void>.delayed(Duration.zero);
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expect(link.readHomePointCalls, 1, reason: 'erster Frame = Connect-Trigger');
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controller.add(_frame(armed: true));
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await Future<void>.delayed(Duration.zero);
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expect(link.readHomePointCalls, 2, reason: 'Armen ist ein eigener Trigger');
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controller.add(_frame(armed: true));
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await Future<void>.delayed(Duration.zero);
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expect(link.readHomePointCalls, 2, reason: 'weiterhin armed loest nicht erneut aus');
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});
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test('fragt nach einem Verbindungsverlust bei Wiederverbindung erneut ab',
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() async {
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final controller = StreamController<TelemetryFrame>();
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addTearDown(controller.close);
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final link = _FakeLink();
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final container = ProviderContainer(overrides: [
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telemetryProvider.overrideWith((ref) => controller.stream),
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flightControllerLinkProvider.overrideWithValue(link),
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]);
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addTearDown(container.dispose);
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container.listen(homePointAutoRefreshProvider, (previous, next) {});
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controller.add(_frame());
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await Future<void>.delayed(Duration.zero);
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expect(link.readHomePointCalls, 1);
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controller.addError(StateError('link down'));
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await Future<void>.delayed(Duration.zero);
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expect(link.readHomePointCalls, 1, reason: 'ein Fehler alleine fragt nichts ab');
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controller.add(_frame());
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await Future<void>.delayed(Duration.zero);
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expect(link.readHomePointCalls, 2, reason: 'erster Frame nach Reconnect ist wieder ein Trigger');
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});
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test('speichert null, wenn der FC (noch) keinen Homepoint gesetzt hat', () async {
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final controller = StreamController<TelemetryFrame>();
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addTearDown(controller.close);
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final link = _FakeLink()..nextHomePoint = null;
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final container = ProviderContainer(overrides: [
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telemetryProvider.overrideWith((ref) => controller.stream),
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flightControllerLinkProvider.overrideWithValue(link),
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]);
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addTearDown(container.dispose);
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container.listen(homePointAutoRefreshProvider, (previous, next) {});
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controller.add(_frame());
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await Future<void>.delayed(Duration.zero);
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expect(container.read(homePointProvider), isNull);
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});
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}
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