269 lines
9.7 KiB
Dart
269 lines
9.7 KiB
Dart
import 'dart:math' as math;
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import 'package:flutter_riverpod/flutter_riverpod.dart';
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import '../../models/telemetry_sample.dart';
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enum ValidationStatus {
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valid,
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suspect,
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rejected,
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}
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class TelemetryQuality {
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final ValidationStatus status;
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final List<String> reasons;
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final double gpsConfidence; // 0.0 - 1.0
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final double speedConfidence; // 0.0 - 1.0
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final double leanConfidence; // 0.0 - 1.0
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final double gForceConfidence; // 0.0 - 1.0
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final double headingConfidence; // 0.0 - 1.0
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final double overallConfidence; // 0.0 - 1.0
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final bool isStationary;
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final bool isAccelerating;
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final bool isBraking;
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final bool isMountCalibrated;
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final bool isSensorSaturated;
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final int timestampDeltaMs;
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const TelemetryQuality({
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this.status = ValidationStatus.valid,
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this.reasons = const [],
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this.gpsConfidence = 1.0,
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this.speedConfidence = 1.0,
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this.leanConfidence = 1.0,
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this.gForceConfidence = 1.0,
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this.headingConfidence = 1.0,
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this.overallConfidence = 1.0,
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this.isStationary = true,
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this.isAccelerating = false,
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this.isBraking = false,
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this.isMountCalibrated = true,
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this.isSensorSaturated = false,
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this.timestampDeltaMs = 50,
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});
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bool get isValid => status == ValidationStatus.valid;
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bool get isSuspect => status == ValidationStatus.suspect;
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bool get isRejected => status == ValidationStatus.rejected;
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}
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final telemetryValidatorProvider = Provider<TelemetryValidator>((ref) {
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return TelemetryValidator();
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});
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class TelemetryValidator {
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DateTime? _lastTimestamp;
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double? _lastSpeedMph;
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double? _lastLeanAngle;
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double? _lastLat;
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double? _lastLng;
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// Diagnostic counters
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int _totalValidated = 0;
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int _validCount = 0;
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int _suspectCount = 0;
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int _rejectedCount = 0;
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int _timestampGapCount = 0;
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int get totalValidated => _totalValidated;
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int get validCount => _validCount;
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int get suspectCount => _suspectCount;
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int get rejectedCount => _rejectedCount;
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int get timestampGapCount => _timestampGapCount;
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void reset() {
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_lastTimestamp = null;
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_lastSpeedMph = null;
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_lastLeanAngle = null;
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_lastLat = null;
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_lastLng = null;
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_totalValidated = 0;
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_validCount = 0;
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_suspectCount = 0;
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_rejectedCount = 0;
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_timestampGapCount = 0;
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}
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TelemetryQuality validate(TelemetrySample sample) {
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_totalValidated++;
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final reasons = <String>[];
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var status = ValidationStatus.valid;
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// 1. Numeric Sanity (NaN / Infinity)
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if (_hasInvalidNumeric(sample)) {
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status = ValidationStatus.rejected;
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reasons.add('Numeric error: sample contains NaN or Infinity');
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_rejectedCount++;
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return TelemetryQuality(
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status: status,
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reasons: reasons,
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gpsConfidence: 0.0,
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speedConfidence: 0.0,
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leanConfidence: 0.0,
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gForceConfidence: 0.0,
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headingConfidence: 0.0,
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overallConfidence: 0.0,
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);
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}
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// 2. Timestamp Validation
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int deltaMs = 50;
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if (_lastTimestamp != null) {
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deltaMs = sample.timestamp.difference(_lastTimestamp!).inMilliseconds;
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if (deltaMs <= 0) {
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status = ValidationStatus.suspect;
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reasons.add('Duplicate or reverse timestamp (delta: ${deltaMs}ms)');
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} else if (deltaMs > 300) {
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_timestampGapCount++;
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if (deltaMs > 2000) {
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status = ValidationStatus.suspect;
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reasons.add('Large telemetry gap (${(deltaMs / 1000).toStringAsFixed(1)}s)');
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}
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}
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}
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// 3. GPS Confidence & Quality
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double gpsConf = 1.0;
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if (sample.gpsAccuracy != null) {
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if (sample.gpsAccuracy! <= 5.0) {
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gpsConf = 1.0;
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} else if (sample.gpsAccuracy! <= 15.0) {
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gpsConf = 0.85;
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} else if (sample.gpsAccuracy! <= 35.0) {
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gpsConf = 0.60;
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if (status == ValidationStatus.valid) status = ValidationStatus.suspect;
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reasons.add('Degraded GPS accuracy (${sample.gpsAccuracy!.toStringAsFixed(1)}m)');
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} else {
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gpsConf = 0.25;
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status = ValidationStatus.suspect;
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reasons.add('Poor GPS accuracy (${sample.gpsAccuracy!.toStringAsFixed(1)}m > 35m)');
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}
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} else {
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gpsConf = 0.50;
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}
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// GPS Position Teleportation Check
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if (_lastLat != null && _lastLng != null && sample.latitude != null && sample.longitude != null && deltaMs > 0 && deltaMs < 3000) {
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final latDiff = (sample.latitude! - _lastLat!).abs() * 111139.0;
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final lngDiff = (sample.longitude! - _lastLng!).abs() * 111139.0 * math.cos(sample.latitude! * (math.pi / 180.0));
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final distMeters = math.sqrt(latDiff * latDiff + lngDiff * lngDiff);
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final derivedSpeedMps = distMeters / (deltaMs / 1000.0);
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if (derivedSpeedMps > 110.0 && distMeters > 50.0) {
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status = ValidationStatus.rejected;
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gpsConf = 0.0;
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reasons.add('GPS position jump detected (${distMeters.toStringAsFixed(0)}m in ${deltaMs}ms)');
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}
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}
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// 4. Speed Plausibility & Confidence
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double speedConf = gpsConf;
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final currentSpeed = sample.speed ?? 0.0;
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if (currentSpeed > 220.0) {
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status = ValidationStatus.rejected;
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speedConf = 0.0;
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reasons.add('Impossible vehicle speed (${currentSpeed.toStringAsFixed(1)} MPH > 220 MPH)');
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} else if (_lastSpeedMph != null && deltaMs > 0 && deltaMs < 2000) {
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final deltaSpeedMph = (currentSpeed - _lastSpeedMph!).abs();
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final dtSec = deltaMs / 1000.0;
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final accelMps2 = (deltaSpeedMph / 2.23694) / dtSec;
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// Realistic motorcycle acceleration ceiling: ~15 m/s² (~1.5g), spike ceiling: 25 m/s²
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if (accelMps2 > 25.0 && dtSec >= 0.1) {
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status = ValidationStatus.rejected;
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speedConf = 0.1;
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reasons.add('Impossible acceleration (${accelMps2.toStringAsFixed(1)} m/s² > 25 m/s²)');
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} else if (accelMps2 > 16.0) {
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if (status == ValidationStatus.valid) status = ValidationStatus.suspect;
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speedConf = math.min(speedConf, 0.5);
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reasons.add('Suspicious acceleration spike (${accelMps2.toStringAsFixed(1)} m/s²)');
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}
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}
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// 5. Lean Angle Plausibility & Confidence
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double leanConf = 1.0;
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final currentLean = sample.leanAngle ?? 0.0;
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if (currentLean.abs() > 65.0) {
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status = ValidationStatus.suspect;
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leanConf = 0.3;
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reasons.add('Extreme lean angle beyond physical motorcycle limit (${currentLean.toStringAsFixed(1)}° > 65°)');
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} else if (_lastLeanAngle != null && deltaMs > 0 && deltaMs < 1000) {
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final deltaLean = (currentLean - _lastLeanAngle!).abs();
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final rollRateDegPerSec = deltaLean / (deltaMs / 1000.0);
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// Motorcycle flick roll-rate ceiling is ~120 deg/sec
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if (rollRateDegPerSec > 180.0) {
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if (status == ValidationStatus.valid) status = ValidationStatus.suspect;
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leanConf = 0.4;
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reasons.add('Excessive roll rate (${rollRateDegPerSec.toStringAsFixed(0)}°/s)');
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}
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}
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// 6. G-Force Plausibility & Sensor Saturation
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double gConf = 1.0;
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bool isSaturated = false;
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if (sample.accelX != null && sample.accelY != null && sample.accelZ != null) {
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final maxRawAccel = math.max(sample.accelX!.abs(), math.max(sample.accelY!.abs(), sample.accelZ!.abs()));
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// Typical mobile accelerometer saturates around ~78 m/s² (8g) or 156 m/s² (16g)
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if (maxRawAccel > 120.0) {
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isSaturated = true;
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gConf = 0.3;
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reasons.add('IMU accelerometer near saturation (${maxRawAccel.toStringAsFixed(1)} m/s²)');
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}
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}
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// 7. Motion State Classification
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final isStationary = currentSpeed < 1.3;
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final isAccelerating = (sample.longitudinalG ?? 0.0) > 0.15 && currentSpeed >= 1.3;
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final isBraking = (sample.longitudinalG ?? 0.0) < -0.20 && currentSpeed >= 1.3;
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// 8. Overall Telemetry Confidence
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final overallConf = (gpsConf * 0.40 + speedConf * 0.30 + leanConf * 0.20 + gConf * 0.10).clamp(0.0, 1.0);
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if (status == ValidationStatus.valid) {
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_validCount++;
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} else if (status == ValidationStatus.suspect) {
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_suspectCount++;
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} else {
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_rejectedCount++;
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}
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// Update state tracking
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_lastTimestamp = sample.timestamp;
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if (status != ValidationStatus.rejected) {
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_lastSpeedMph = currentSpeed;
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_lastLeanAngle = currentLean;
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if (sample.latitude != null) _lastLat = sample.latitude;
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if (sample.longitude != null) _lastLng = sample.longitude;
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}
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return TelemetryQuality(
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status: status,
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reasons: reasons,
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gpsConfidence: gpsConf,
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speedConfidence: speedConf,
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leanConfidence: leanConf,
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gForceConfidence: gConf,
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headingConfidence: sample.heading != null ? 0.95 : 0.50,
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overallConfidence: overallConf,
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isStationary: isStationary,
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isAccelerating: isAccelerating,
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isBraking: isBraking,
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isMountCalibrated: true,
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isSensorSaturated: isSaturated,
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timestampDeltaMs: deltaMs,
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);
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}
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bool _hasInvalidNumeric(TelemetrySample s) {
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if (s.latitude != null && (s.latitude!.isNaN || s.latitude!.isInfinite)) return true;
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if (s.longitude != null && (s.longitude!.isNaN || s.longitude!.isInfinite)) return true;
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if (s.speed != null && (s.speed!.isNaN || s.speed!.isInfinite)) return true;
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if (s.leanAngle != null && (s.leanAngle!.isNaN || s.leanAngle!.isInfinite)) return true;
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if (s.pitchAngle != null && (s.pitchAngle!.isNaN || s.pitchAngle!.isInfinite)) return true;
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if (s.accelX != null && (s.accelX!.isNaN || s.accelX!.isInfinite)) return true;
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if (s.accelY != null && (s.accelY!.isNaN || s.accelY!.isInfinite)) return true;
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if (s.accelZ != null && (s.accelZ!.isNaN || s.accelZ!.isInfinite)) return true;
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if (s.longitudinalG != null && (s.longitudinalG!.isNaN || s.longitudinalG!.isInfinite)) return true;
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if (s.lateralG != null && (s.lateralG!.isNaN || s.lateralG!.isInfinite)) return true;
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return false;
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}
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}
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