dmc/app/lib/ui/screens/plan/plan_screen.dart

import 'dart:async';
import 'dart:math' as math;

import 'package:flutter/material.dart';
import 'package:flutter_map/flutter_map.dart';
import 'package:flutter_riverpod/flutter_riverpod.dart';
import 'package:latlong2/latlong.dart';

import '../../../domain/waypoint/flat_waypoint_list.dart';
import '../../providers/current_mission_provider.dart';
import '../../widgets/halo_menu.dart';
import '../../widgets/mission_map.dart';
import '../../widgets/reticle_button.dart';

/// Reticle-Zustand (HTML-Demonstrator: Variable `mode`).
/// idle: kein Wegpunkt in der Naehe, Tap legt einen neuen an.
/// snapped: Kartenmitte ist auf einen bestehenden Wegpunkt eingerastet.
/// editing: Wegpunkt wird bearbeitet - Kartenverschieben repositioniert ihn
/// live, das Halo-Menue (Loiter/Landing/Entfernen) ist sichtbar.
enum _ReticleMode { idle, snapped, editing }

/// Missionsplanung: Karte + Wegpunktliste (Architektur-Doku 3.6/3.7).
/// Kein eigenes Scaffold - die Kopfleiste (Plan/Fly-Umschalter) und der
/// gemeinsame Scaffold-Rahmen liegen im AppShell darueber.
class PlanScreen extends ConsumerStatefulWidget {
  const PlanScreen({super.key});

  @override
  ConsumerState<PlanScreen> createState() => _PlanScreenState();
}

class _PlanScreenState extends ConsumerState<PlanScreen> {
  final _mapController = MapController();
  StreamSubscription<MapEvent>? _mapEventSub;

  _ReticleMode _mode = _ReticleMode.idle;
  int _targetIndex = -1;
  bool _mapReady = false;

  // TODO: aus dem aktiven Drohnen-Profil (Doku 3.5) uebernehmen, sobald die
  // Profilverwaltung existiert. Werte entsprechen dem Default-Profil
  // T1 Ranger im HTML-Demonstrator (curAlt=60, cruiseSpeed=15, catchRadius=60).
  static const _defaultAltitudeM = 60.0;
  static const _defaultSpeedMs = 15.0;
  static const _defaultCatchRadiusM = 60.0;

  // Radius des Reticle-Buttons (siehe ReticleButton: 55px Durchmesser).
  static const _reticleRadiusPx = 55 / 2;

  static const _distance = Distance(roundResult: false);

  @override
  void initState() {
    super.initState();
    _mapEventSub = _mapController.mapEventStream.listen(_onMapEvent);
  }

  @override
  void dispose() {
    _mapEventSub?.cancel();
    _mapController.dispose();
    super.dispose();
  }

  void _onMapEvent(MapEvent event) {
    if (event is MapEventMoveEnd) {
      _handleMoveEnd();
    } else if (event is MapEventMove) {
      if (_mode == _ReticleMode.editing && _targetIndex >= 0) {
        final waypoints = ref.read(currentMissionProvider);
        if (_targetIndex < waypoints.length) {
          final center = _mapController.camera.center;
          ref.read(currentMissionProvider.notifier).moveWaypoint(
                _targetIndex,
                center.latitude,
                center.longitude,
              );
        }
      } else if (_mode == _ReticleMode.idle) {
        // Nur fuer die gestrichelte Vorschaulinie neu zeichnen.
        setState(() {});
      }
    }
  }

  /// Metergenauer Fangradius des Reticle bei aktuellem Zoom/Breitengrad
  /// (HTML-Demonstrator: currentSnapMeters()).
  double _currentSnapMeters() {
    final camera = _mapController.camera;
    final metersPerPixel = 156543.03392 *
        math.cos(camera.center.latitude * math.pi / 180) /
        math.pow(2, camera.zoom);
    return _reticleRadiusPx * metersPerPixel;
  }

  void _handleMoveEnd() {
    if (_mode == _ReticleMode.editing) return;

    final waypoints = ref.read(currentMissionProvider);
    final center = _mapController.camera.center;
    final snapMeters = _currentSnapMeters();

    var bestIndex = -1;
    var bestDist = snapMeters;
    for (var i = 0; i < waypoints.length; i++) {
      final d = _distance(center, LatLng(waypoints[i].lat, waypoints[i].lon));
      if (d < bestDist) {
        bestDist = d;
        bestIndex = i;
      }
    }

    setState(() {
      if (bestIndex >= 0) {
        _mode = _ReticleMode.snapped;
        _targetIndex = bestIndex;
        final target = waypoints[bestIndex];
        final targetLatLng = LatLng(target.lat, target.lon);
        if (_distance(center, targetLatLng) > 0.5) {
          // flutter_map's MapController.move() emits MapEventMove, nicht
          // MoveEnd - anders als Leaflets panTo() droht hier also keine
          // Rekursion in _handleMoveEnd, ein Guard ist nicht noetig.
          _mapController.move(targetLatLng, _mapController.camera.zoom);
        }
      } else {
        _mode = _ReticleMode.idle;
        _targetIndex = -1;
      }
    });
  }

  void _onReticleTap() {
    switch (_mode) {
      case _ReticleMode.idle:
        final center = _mapController.camera.center;
        final waypoints = ref.read(currentMissionProvider);
        ref.read(currentMissionProvider.notifier).addWaypoint(
              Waypoint(
                lat: center.latitude,
                lon: center.longitude,
                altitudeM: _defaultAltitudeM,
                speedMs: _defaultSpeedMs,
                catchRadiusM: _defaultCatchRadiusM,
              ),
            );
        setState(() {
          _targetIndex = waypoints.length;
          _mode = _ReticleMode.snapped;
        });
      case _ReticleMode.snapped:
        setState(() => _mode = _ReticleMode.editing);
      case _ReticleMode.editing:
        setState(() => _mode = _ReticleMode.snapped);
    }
  }

  void _onHaloAction(HaloAction action) {
    if (_mode != _ReticleMode.editing || _targetIndex < 0) return;
    final notifier = ref.read(currentMissionProvider.notifier);

    switch (action) {
      case HaloAction.loiter:
        notifier.toggleAction(_targetIndex, WaypointAction.loiter);
        setState(() => _mode = _ReticleMode.snapped);
      case HaloAction.landing:
        notifier.toggleAction(_targetIndex, WaypointAction.landing);
        setState(() => _mode = _ReticleMode.snapped);
      case HaloAction.remove:
        notifier.removeAt(_targetIndex);
        setState(() {
          _mode = _ReticleMode.idle;
          _targetIndex = -1;
        });
    }
  }

  @override
  Widget build(BuildContext context) {
    final waypoints = ref.watch(currentMissionProvider);

    final routePoints = [
      for (final wp in waypoints) LatLng(wp.lat, wp.lon),
    ];

    List<LatLng>? rubberBand;
    if (_mapReady && _mode == _ReticleMode.idle && waypoints.isNotEmpty) {
      final last = waypoints.last;
      rubberBand = [
        LatLng(last.lat, last.lon),
        _mapController.camera.center,
      ];
    }

    final targetWaypoint =
        (_targetIndex >= 0 && _targetIndex < waypoints.length)
            ? waypoints[_targetIndex]
            : null;

    return Stack(
      children: [
        MissionMap(
          mapController: _mapController,
          onMapReady: () => setState(() => _mapReady = true),
          routeLine: routePoints,
          rubberBandLine: rubberBand,
          waypointMarkers: [
            for (var i = 0; i < waypoints.length; i++)
              _markerFor(waypoints[i], isTarget: i == _targetIndex),
          ],
        ),
        if (_mode == _ReticleMode.editing && targetWaypoint != null)
          Align(
            alignment: Alignment.center,
            child: HaloMenu(
              loiterActive: targetWaypoint.action == WaypointAction.loiter,
              landingActive: targetWaypoint.action == WaypointAction.landing,
              onAction: _onHaloAction,
            ),
          ),
        Align(
          alignment: Alignment.center,
          child: ReticleButton(icon: _reticleIcon, onTap: _onReticleTap),
        ),
      ],
    );
  }

  IconData get _reticleIcon => switch (_mode) {
        _ReticleMode.idle => Icons.add,
        _ReticleMode.snapped => Icons.edit,
        _ReticleMode.editing => Icons.check,
      };

  CircleMarker _markerFor(Waypoint wp, {required bool isTarget}) {
    final highlighted = isTarget && _mode != _ReticleMode.idle;
    return CircleMarker(
      point: LatLng(wp.lat, wp.lon),
      radius: highlighted ? 9 : 6,
      color: const Color(0xFF2B2B28),
      borderStrokeWidth: highlighted ? 3 : 1.5,
      borderColor: Colors.white,
    );
  }
}