MotorSignal-App/lib/services/location_service.dart

import 'dart:async';
import 'package:flutter/foundation.dart';
import 'package:flutter_riverpod/flutter_riverpod.dart';
import 'package:geolocator/geolocator.dart';
import 'package:permission_handler/permission_handler.dart';

final locationServiceProvider = Provider<LocationService>((ref) {
  final service = LocationService();
  ref.onDispose(() => service.dispose());
  return service;
});

final locationStreamProvider = StreamProvider<Position>((ref) {
  final service = ref.watch(locationServiceProvider);
  return service.getFilteredPositionStream();
});

final locationPermissionGrantedProvider = FutureProvider<bool>((ref) async {
  final service = ref.watch(locationServiceProvider);
  return await service.hasPermissions();
});

class LocationService {
  Position? _lastValidPosition;
  double? _emaSpeed;

  final StreamController<Position> _controller = StreamController<Position>.broadcast();
  StreamSubscription<Position>? _rawPositionSub;
  Timer? _watchdogTimer;
  bool _isDisposed = false;

  // Filtering thresholds
  static const double _maxRealisticSpeed = 100.0; // roughly 223 MPH in m/s
  static const double _maxAcceleration = 30.0; // m/s^2 (allows extreme superbike launch / braking while rejecting GPS teleportation)

  void Function(Position position, bool accepted, String? rejectionReason)? onGpsDiagnostic;

  LocationService() {
    _initStream();
  }

  Future<bool> requestPermissions() async {
    try {
      // 1. Geolocator native permission check & request
      LocationPermission geoPermission = await Geolocator.checkPermission();
      if (geoPermission == LocationPermission.denied) {
        geoPermission = await Geolocator.requestPermission();
      }

      // 2. Permission handler check & request
      final locStatus = await Permission.locationWhenInUse.request();
      await Permission.notification.request();

      if (geoPermission == LocationPermission.whileInUse ||
          geoPermission == LocationPermission.always ||
          locStatus.isGranted) {
        try {
          await Permission.locationAlways.request();
        } catch (_) {}
        // Restart/refresh GPS stream now that permissions are granted
        _startListening();
        return true;
      }
    } catch (_) {}
    return false;
  }

  Future<bool> hasPermissions() async {
    try {
      final geoPermission = await Geolocator.checkPermission();
      if (geoPermission == LocationPermission.whileInUse ||
          geoPermission == LocationPermission.always) {
        return true;
      }
      final status = await Permission.locationWhenInUse.status;
      return status.isGranted;
    } catch (_) {
      return false;
    }
  }

  Stream<Position> getFilteredPositionStream() {
    return _controller.stream;
  }

  void _initStream() {
    _startListening();
    _startWatchdog();
  }

  Future<void> _startListening() async {
    if (_isDisposed) return;
    await _rawPositionSub?.cancel();
    _rawPositionSub = null;

    try {
      final isServiceEnabled = await Geolocator.isLocationServiceEnabled();
      if (!isServiceEnabled) {
        return;
      }

      // Immediately bootstrap with last known position if available
      final lastPos = await Geolocator.getLastKnownPosition();
      if (lastPos != null && !_isDisposed) {
        _handleRawPosition(lastPos);
      }

      // Platform-specific LocationSettings
      LocationSettings locationSettings;
      if (defaultTargetPlatform == TargetPlatform.android) {
        locationSettings = AndroidSettings(
          accuracy: LocationAccuracy.bestForNavigation,
          distanceFilter: 0,
          intervalDuration: const Duration(milliseconds: 100),
          forceLocationManager: false, // Use Google Fused Location Provider for best accuracy & responsiveness
        );
      } else {
        locationSettings = const LocationSettings(
          accuracy: LocationAccuracy.bestForNavigation,
          distanceFilter: 0,
        );
      }

      _rawPositionSub = Geolocator.getPositionStream(locationSettings: locationSettings).listen(
        (pos) {
          _handleRawPosition(pos);
        },
        onError: (err) {
          onGpsDiagnostic?.call(
            Position(
              longitude: _lastValidPosition?.longitude ?? 0.0,
              latitude: _lastValidPosition?.latitude ?? 0.0,
              timestamp: DateTime.now(),
              accuracy: 999.0,
              altitude: 0.0,
              heading: 0.0,
              speed: 0.0,
              speedAccuracy: 0.0,
              altitudeAccuracy: 0.0,
              headingAccuracy: 0.0,
            ),
            false,
            'GPS Stream Error: $err',
          );
          // Try to reconnect in 2 seconds
          Future.delayed(const Duration(seconds: 2), () {
            if (!_isDisposed) _startListening();
          });
        },
        cancelOnError: false,
      );
    } catch (_) {}
  }

  void _startWatchdog() {
    _watchdogTimer?.cancel();
    // Watchdog every 1000ms: if stream has gone quiet (>2s since last fix), poll getCurrentPosition actively
    _watchdogTimer = Timer.periodic(const Duration(milliseconds: 1000), (_) async {
      if (_isDisposed) return;
      final now = DateTime.now();
      final lastFixAge = _lastValidPosition == null
          ? 999
          : now.difference(_lastValidPosition!.timestamp).inMilliseconds;

      if (lastFixAge > 2000) {
        try {
          final hasPerm = await hasPermissions();
          if (!hasPerm) return;

          Position? pos;
          try {
            pos = await Geolocator.getCurrentPosition(
              locationSettings: const LocationSettings(
                accuracy: LocationAccuracy.bestForNavigation,
                timeLimit: Duration(seconds: 2),
              ),
            );
          } catch (_) {}

          if (pos != null && !_isDisposed) {
            _handleRawPosition(pos);
          }
        } catch (_) {}
      }
    });
  }

  void _handleRawPosition(Position position) {
    if (_isValidPosition(position)) {
      final filtered = _applyEmaFilter(position);
      if (!_controller.isClosed) {
        _controller.add(filtered);
      }
    }
  }

  bool _isValidPosition(Position position) {
    // Allow valid GPS readings with accuracy up to 100m during initial lock
    final currentSpeed = _emaSpeed ?? position.speed;
    final maxAcceptableAccuracy = _lastValidPosition == null ? 120.0 : (currentSpeed > 10.0 ? 80.0 : 65.0);

    if (position.accuracy > maxAcceptableAccuracy) {
      onGpsDiagnostic?.call(
        position,
        false,
        'Accuracy poor (${position.accuracy.toStringAsFixed(1)}m > ${maxAcceptableAccuracy.toStringAsFixed(1)}m)',
      );
      return false;
    }

    if (position.speed > _maxRealisticSpeed) {
      onGpsDiagnostic?.call(
        position,
        false,
        'Impossible speed (${(position.speed * 2.23694).toStringAsFixed(1)} MPH > 223 MPH)',
      );
      return false;
    }

    if (_lastValidPosition != null) {
      final timeDiff = (position.timestamp.difference(_lastValidPosition!.timestamp)).inMilliseconds / 1000.0;

      // If signal was lost for > 8 seconds, treat as new baseline fix
      if (timeDiff > 8.0) {
        _lastValidPosition = position;
        _emaSpeed = position.speed;
        onGpsDiagnostic?.call(position, true, 'Baseline reset after ${timeDiff.toStringAsFixed(1)}s gap');
        return true;
      }

      if (timeDiff >= 0.2) {
        // Acceleration check
        final accel = (position.speed - _lastValidPosition!.speed).abs() / timeDiff;
        if (accel > _maxAcceleration) {
          onGpsDiagnostic?.call(
            position,
            false,
            'Impossible acceleration (${accel.toStringAsFixed(1)} m/s² > $_maxAcceleration m/s²)',
          );
          return false;
        }
      }
    }

    _lastValidPosition = position;
    onGpsDiagnostic?.call(position, true, null);
    return true;
  }

  Position _applyEmaFilter(Position position) {
    final rawSpeed = position.speed;

    // Stationary jitter deadband: Speeds under 0.6 m/s (~1.3 MPH) are treated as stationary 0.0 MPH
    if (rawSpeed < 0.6) {
      _emaSpeed = 0.0;
    } else {
      if (_emaSpeed == null || _emaSpeed == 0.0) {
        _emaSpeed = rawSpeed;
      } else {
        // Fast dynamic alpha: 0.90 when accelerating/braking so speedometer tracks instantly, 0.75 when cruising
        final delta = (rawSpeed - _emaSpeed!).abs();
        final alpha = delta > 0.4 ? 0.90 : 0.75;
        _emaSpeed = alpha * rawSpeed + (1 - alpha) * _emaSpeed!;
      }
    }

    return Position(
      longitude: position.longitude,
      latitude: position.latitude,
      timestamp: position.timestamp,
      accuracy: position.accuracy,
      altitude: position.altitude,
      heading: position.heading,
      speed: _emaSpeed ?? 0.0,
      speedAccuracy: position.speedAccuracy,
      altitudeAccuracy: position.altitudeAccuracy,
      headingAccuracy: position.headingAccuracy,
      isMocked: position.isMocked,
      floor: position.floor,
    );
  }

  void dispose() {
    _isDisposed = true;
    _watchdogTimer?.cancel();
    _rawPositionSub?.cancel();
    _controller.close();
  }
}