116 lines
3.5 KiB
Dart
116 lines
3.5 KiB
Dart
import 'dart:async';
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import 'package:flutter_riverpod/flutter_riverpod.dart';
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import 'package:geolocator/geolocator.dart';
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import '../models/telemetry_sample.dart';
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import 'location_service.dart';
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import 'sensor_fusion_service.dart';
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import 'compass_service.dart';
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final telemetryServiceProvider = Provider<TelemetryService>((ref) {
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final locationService = ref.watch(locationServiceProvider);
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final sensorFusionService = ref.watch(sensorFusionServiceProvider);
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final compassService = ref.watch(compassServiceProvider);
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final service = TelemetryService(locationService, sensorFusionService, compassService);
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ref.onDispose(() => service.dispose());
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return service;
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});
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final telemetryStreamProvider = StreamProvider<TelemetrySample>((ref) {
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return ref.watch(telemetryServiceProvider).telemetryStream;
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});
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class TelemetryService {
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final LocationService _locationService;
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final SensorFusionService _sensorFusionService;
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final CompassService _compassService;
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final _telemetryController = StreamController<TelemetrySample>.broadcast();
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Stream<TelemetrySample> get telemetryStream => _telemetryController.stream;
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StreamSubscription? _locationSub;
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StreamSubscription? _leanSub;
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StreamSubscription? _pitchSub;
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StreamSubscription? _gForceSub;
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Timer? _samplingTimer;
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StreamSubscription? _compassSub;
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// Latest states
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Position? _latestPosition;
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double? _latestLean;
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double? _latestPitch;
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GForceData? _latestGForce;
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double _latestCompassHeading = 0.0;
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TelemetryService(this._locationService, this._sensorFusionService, this._compassService) {
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_init();
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}
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void _init() {
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_locationSub = _locationService.getFilteredPositionStream().listen((pos) {
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_latestPosition = pos;
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});
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_leanSub = _sensorFusionService.leanAngleStream.listen((lean) {
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_latestLean = lean;
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});
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_pitchSub = _sensorFusionService.pitchAngleStream.listen((pitch) {
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_latestPitch = pitch;
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});
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_gForceSub = _sensorFusionService.gForceStream.listen((gForce) {
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_latestGForce = gForce;
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});
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_compassSub = _compassService.headingStream.listen((heading) {
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_latestCompassHeading = heading;
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});
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// Sample at 5Hz (200ms)
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_samplingTimer = Timer.periodic(const Duration(milliseconds: 200), (_) {
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_emitSample();
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});
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}
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void _emitSample() {
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final speedMph = _latestPosition != null ? _latestPosition!.speed * 2.23694 : 0.0;
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// Use GPS heading if moving, otherwise fallback to compass
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double finalHeading = _latestCompassHeading;
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if (_latestPosition != null && _latestPosition!.heading >= 0 && speedMph > 3.0) {
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finalHeading = _latestPosition!.heading;
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}
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final sample = TelemetrySample(
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timestamp: DateTime.now(),
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latitude: _latestPosition?.latitude,
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longitude: _latestPosition?.longitude,
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altitude: _latestPosition?.altitude,
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speed: _latestPosition != null ? _latestPosition!.speed * 2.23694 : null, // m/s to mph
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heading: finalHeading,
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gpsAccuracy: _latestPosition?.accuracy,
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leanAngle: _latestLean,
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pitchAngle: _latestPitch,
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accelX: _latestGForce?.accelX,
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accelY: _latestGForce?.accelY,
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accelZ: _latestGForce?.accelZ,
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longitudinalG: _latestGForce?.longitudinal,
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lateralG: _latestGForce?.lateral,
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);
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_telemetryController.add(sample);
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}
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void dispose() {
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_locationSub?.cancel();
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_leanSub?.cancel();
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_pitchSub?.cancel();
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_gForceSub?.cancel();
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_compassSub?.cancel();
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_samplingTimer?.cancel();
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_telemetryController.close();
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}
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}
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