fix: implement stationary lean-angle calibration recovery for right-pinned or remounted sensors
- Permit recovery from stale or right-pinned lean angle calibration when motorcycle is physically upright
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ab4b322d85
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082b22fe00
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@ -82,26 +82,71 @@ class LeanAngleIndicator extends ConsumerWidget {
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return;
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}
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// 3. Reject tilted/kickstand condition (> 12.0 degrees)
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if (currentLean > 12.0) {
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ScaffoldMessenger.of(context).showSnackBar(
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SnackBar(
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key: const ValueKey('lean_calibrate_tilted_warning'),
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content: Text('Motorcycle is tilted (${currentLean.toStringAsFixed(0)}°). Hold the bike upright and level to calibrate.'),
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backgroundColor: const Color(0xFFEF4444),
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),
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);
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return;
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}
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final isTiltedReading = currentLean > 12.0;
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bool confirmedUpright = !isTiltedReading;
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showDialog(
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context: context,
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builder: (ctx) => AlertDialog(
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builder: (ctx) => StatefulBuilder(
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builder: (dialogContext, setDialogState) => AlertDialog(
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key: const ValueKey('lean_calibrate_dialog'),
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title: const Text('Calibrate Lean Angle (Upright)'),
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content: const Text(
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title: Text(
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isTiltedReading
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? 'Calibrate Lean Angle (Upright Recovery)'
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: 'Calibrate Lean Angle (Upright)',
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),
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content: SingleChildScrollView(
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child: Column(
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mainAxisSize: MainAxisSize.min,
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crossAxisAlignment: CrossAxisAlignment.start,
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children: [
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if (isTiltedReading) ...[
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Container(
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key: const ValueKey('lean_calibrate_tilted_warning_container'),
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padding: const EdgeInsets.all(10),
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decoration: BoxDecoration(
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color: Colors.amber.withValues(alpha: 0.15),
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borderRadius: BorderRadius.circular(8),
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border: Border.all(color: Colors.amber.withValues(alpha: 0.5)),
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),
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child: Row(
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crossAxisAlignment: CrossAxisAlignment.start,
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children: [
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const Icon(Icons.warning_amber_rounded, color: Colors.amber, size: 20),
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const SizedBox(width: 8),
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Expanded(
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child: Text(
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'Gauge reads ${currentLean.toStringAsFixed(0)}° (stale calibration, remount, or kickstand tilt).\n\nTo recover 0° upright, ensure the motorcycle is held vertically level and off the kickstand.',
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style: const TextStyle(fontSize: 12, color: Colors.amber),
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),
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),
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],
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),
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),
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const SizedBox(height: 12),
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CheckboxListTile(
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key: const ValueKey('confirm_physically_upright_checkbox'),
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value: confirmedUpright,
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contentPadding: EdgeInsets.zero,
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dense: true,
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title: const Text(
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'I confirm motorcycle is physically upright',
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style: TextStyle(fontSize: 13, fontWeight: FontWeight.w600),
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),
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onChanged: (val) {
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setDialogState(() {
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confirmedUpright = val ?? false;
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});
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},
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),
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] else ...[
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const Text(
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'Ensure your motorcycle is completely upright and centered (off kickstand or on level ground).\n\nThis will calibrate 0° upright roll.',
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),
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],
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],
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),
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),
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actions: [
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TextButton(
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onPressed: () => Navigator.pop(ctx),
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@ -111,6 +156,16 @@ class LeanAngleIndicator extends ConsumerWidget {
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key: const ValueKey('confirm_lean_calibrate_button'),
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style: FilledButton.styleFrom(backgroundColor: colors.brandCyan),
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onPressed: () async {
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if (!confirmedUpright) {
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ScaffoldMessenger.of(context).showSnackBar(
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SnackBar(
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key: const ValueKey('lean_calibrate_tilted_warning'),
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content: Text('Motorcycle is tilted (${currentLean.toStringAsFixed(0)}°). Hold the bike upright and check the confirmation box.'),
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backgroundColor: const Color(0xFFEF4444),
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),
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);
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return;
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}
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Navigator.pop(ctx);
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await ref.read(sensorFusionServiceProvider).calibrateUpright();
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if (context.mounted) {
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@ -123,10 +178,14 @@ class LeanAngleIndicator extends ConsumerWidget {
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);
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}
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},
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child: const Text('Calibrate Upright', style: TextStyle(color: Colors.black, fontWeight: FontWeight.bold)),
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child: Text(
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isTiltedReading ? 'Recalibrate Upright (0°)' : 'Calibrate Upright',
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style: const TextStyle(color: Colors.black, fontWeight: FontWeight.bold),
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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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}
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@ -147,13 +147,15 @@ void main() {
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expect(find.byKey(const ValueKey('confirm_lean_calibrate_button')), findsOneWidget);
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});
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testWidgets('LeanAngleIndicator tap while tilted on kickstand (> 12.0°) blocks calibration with warning', (tester) async {
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testWidgets('LeanAngleIndicator tap while tilted on kickstand (> 12.0°) requires explicit upright confirmation and blocks unconfirmed calibration', (tester) async {
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final sample = TelemetrySample(
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timestamp: DateTime.now(),
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leanAngle: 15.0, // Resting on kickstand
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speed: 0.0,
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);
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var calibrated = false;
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await tester.pumpWidget(
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ProviderScope(
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overrides: [
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@ -165,6 +167,9 @@ void main() {
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RideSession(state: RideState.idle),
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),
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),
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sensorFusionServiceProvider.overrideWith((ref) => SensorFusionServiceMock(() {
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calibrated = true;
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})),
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],
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child: const MaterialApp(
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home: Scaffold(
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@ -179,14 +184,81 @@ void main() {
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await tester.pumpAndSettle();
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await tester.tap(find.byKey(const ValueKey('lean_angle_indicator_tap')));
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await tester.pumpAndSettle();
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// Verify recovery dialog appears with tilted warning container
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expect(find.byKey(const ValueKey('lean_calibrate_dialog')), findsOneWidget);
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expect(find.byKey(const ValueKey('lean_calibrate_tilted_warning_container')), findsOneWidget);
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// Attempt calibration without checking the upright confirmation box
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await tester.tap(find.byKey(const ValueKey('confirm_lean_calibrate_button')));
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await tester.pump();
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// Verify kickstand/tilted warning snackbar is shown
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// Calibration must NOT occur and unconfirmed warning snackbar must be shown
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expect(calibrated, isFalse);
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expect(find.byKey(const ValueKey('lean_calibrate_tilted_warning')), findsOneWidget);
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expect(find.textContaining('Motorcycle is tilted (15°). Hold the bike upright'), findsOneWidget);
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});
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// Calibration dialog must NOT appear
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expect(find.byKey(const ValueKey('lean_calibrate_dialog')), findsNothing);
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testWidgets('Right-pinned lean gauge defect (42.0° right while upright) recovers via stationary upright confirmation', (tester) async {
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final sample = TelemetrySample(
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timestamp: DateTime.now(),
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leanAngle: 42.0, // Right-pinned defect on Pixel 8a while Yamaha R6 is upright
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speed: 0.0,
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);
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var calibrated = false;
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await tester.pumpWidget(
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ProviderScope(
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overrides: [
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telemetryStreamProvider.overrideWith(
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(ref) => Stream.value(sample),
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),
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rideStateMachineProvider.overrideWith(
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(ref) => MockRideStateMachine(
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RideSession(state: RideState.idle),
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),
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),
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sensorFusionServiceProvider.overrideWith((ref) => SensorFusionServiceMock(() {
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calibrated = true;
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})),
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],
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child: const MaterialApp(
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home: Scaffold(
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body: Center(
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child: LeanAngleIndicator(),
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),
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),
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),
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),
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);
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await tester.pumpAndSettle();
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// Verify gauge is showing tilted / right-pinned value
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expect(find.text('42°'), findsOneWidget);
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// Tap indicator to initiate recovery
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await tester.tap(find.byKey(const ValueKey('lean_angle_indicator_tap')));
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await tester.pumpAndSettle();
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// Verify recovery dialog opened
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expect(find.byKey(const ValueKey('lean_calibrate_dialog')), findsOneWidget);
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expect(find.text('Calibrate Lean Angle (Upright Recovery)'), findsOneWidget);
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expect(find.byKey(const ValueKey('confirm_physically_upright_checkbox')), findsOneWidget);
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// Check the confirmation box confirming bike is physically upright
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await tester.tap(find.byKey(const ValueKey('confirm_physically_upright_checkbox')));
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await tester.pumpAndSettle();
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// Tap recalibrate button
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await tester.tap(find.byKey(const ValueKey('confirm_lean_calibrate_button')));
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await tester.pumpAndSettle();
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// Verify calibration succeeded
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expect(calibrated, isTrue, reason: 'Right-pinned gauge must successfully recalibrate upright');
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expect(find.byKey(const ValueKey('lean_calibrate_success_snackbar')), findsOneWidget);
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});
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testWidgets('LeanAngleIndicator tap while acceleration is unstable (> 0.25G) blocks calibration with warning', (tester) async {
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