725 lines
23 KiB
Dart
725 lines
23 KiB
Dart
import 'dart:async';
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import 'dart:math' as math;
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import 'package:flutter/foundation.dart';
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import 'package:flutter/services.dart';
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import 'package:flutter_riverpod/flutter_riverpod.dart';
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import 'package:flutter_tts/flutter_tts.dart';
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import 'package:geolocator/geolocator.dart';
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import 'package:rxdart/rxdart.dart';
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import '../location_service.dart';
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import '../sensor_fusion_service.dart';
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import '../map/map_provider_interface.dart';
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import '../navigation/navigation_session_service.dart';
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import 'road_alert_models.dart';
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import 'road_alert_providers.dart';
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import 'road_alert_compliance.dart';
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import 'multi_source_alert_deduplicator.dart';
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import '../field_test/field_test_logger.dart';
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import '../../models/field_test_event.dart';
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final leanStreamOverrideProvider = Provider<Stream<double>?>((ref) => null);
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final roadAlertServiceProvider = Provider<RoadAlertService>((ref) {
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final customLeanStream = ref.watch(leanStreamOverrideProvider);
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final service = RoadAlertService(ref, leanStream: customLeanStream);
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ref.onDispose(() => service.dispose());
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return service;
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});
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final activeAlertsStreamProvider = StreamProvider<List<RoadAlert>>((ref) {
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return ref.watch(roadAlertServiceProvider).alertsStream;
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});
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class RoadAlertService {
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final Ref _ref;
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final FlutterTts _tts;
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final _alertsController = BehaviorSubject<List<RoadAlert>>.seeded([]);
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StreamSubscription<Position>? _locationSub;
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StreamSubscription<double>? _leanSub;
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DateTime? _lastFetchTime;
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Position? _lastFetchPosition;
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Position? _lastObservedPosition;
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bool _isFetching = false; // Request serialization lock
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DateTime? _lastSpeechTime; // Audio cooldown timer
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double _currentLeanAngle = 0.0;
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DateTime? _lastSteepLeanTime;
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RoadAlert? _deferredAudioAlert;
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List<RoadAlert> _cachedAlerts = [];
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final Set<String> _announcedAlertIds = {};
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final Set<String> _dismissedAlertIds = {};
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Timer? _cleanupTimer;
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Stream<List<RoadAlert>> get alertsStream => _alertsController.stream;
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double get currentLeanAngle => _currentLeanAngle;
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bool get isCornering =>
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_currentLeanAngle > 15.0 ||
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(_lastSteepLeanTime != null &&
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DateTime.now().difference(_lastSteepLeanTime!).inMilliseconds < 1500);
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RoadAlert? get deferredAudioAlert => _deferredAudioAlert;
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RoadAlertService(this._ref, {FlutterTts? tts, Stream<double>? leanStream})
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: _tts = tts ?? FlutterTts() {
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_initTts();
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_startListening(leanStream: leanStream);
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_cleanupTimer = Timer.periodic(const Duration(seconds: 2), (_) {
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_pruneExpiredAlerts();
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});
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}
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void _initTts() {
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try {
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_tts.setLanguage("en-US").catchError((_) => null);
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_tts.setSpeechRate(0.5).catchError((_) => null);
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_tts.setVolume(1.0).catchError((_) => null);
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} catch (e) {
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if (kDebugMode) {
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debugPrint('[RoadAlerts] TTS init warning: $e');
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}
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}
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}
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void _startListening({Stream<double>? leanStream}) {
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if (kDebugMode) {
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debugPrint('[RoadAlerts] Service initialized');
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}
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_locationSub = _ref.read(locationServiceProvider).getFilteredPositionStream().listen((position) {
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_processPosition(position);
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});
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final stream = leanStream ?? (() {
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try {
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return _ref.read(sensorFusionServiceProvider).leanAngleStream;
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} catch (e) {
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if (kDebugMode) {
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debugPrint('[RoadAlerts] Sensor fusion not available: $e');
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}
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return null;
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}
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})();
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if (stream != null) {
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_leanSub = stream.listen(
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(lean) {
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_processLean(lean);
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},
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onError: (err) {
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if (kDebugMode) {
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debugPrint('[RoadAlerts] Lean stream error: $err');
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}
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},
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);
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}
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}
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void _processLean(double lean) {
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_currentLeanAngle = lean.abs();
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final now = DateTime.now();
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if (_currentLeanAngle > 15.0) {
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_lastSteepLeanTime = now;
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} else if (_currentLeanAngle < 10.0) {
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final isUpright = _lastSteepLeanTime == null ||
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now.difference(_lastSteepLeanTime!).inMilliseconds >= 1500;
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if (isUpright && _deferredAudioAlert != null) {
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final alert = _deferredAudioAlert!;
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_deferredAudioAlert = null;
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final pos = _lastObservedPosition;
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if (pos != null) {
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final dist = Geolocator.distanceBetween(
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pos.latitude,
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pos.longitude,
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alert.latitude,
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alert.longitude,
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);
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final isAhead = _isAlertAheadOfRider(pos, alert);
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if (dist <= 400.0 && isAhead) {
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_lastSpeechTime = now;
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_announceAlertAudio(alert);
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}
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}
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}
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}
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}
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Future<void> _processPosition(Position position) async {
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_lastObservedPosition = position;
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final isEnabled = _ref.read(roadAlertsEnabledProvider);
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if (!isEnabled) {
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if (_cachedAlerts.isNotEmpty) {
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_cachedAlerts = [];
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_alertsController.add([]);
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}
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return;
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}
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final now = DateTime.now();
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final radiusMeters = _ref.read(alertRadiusMetersProvider);
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final audioEnabled = _ref.read(audioAlertsEnabledProvider);
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final enabledCategories = _ref.read(enabledCategoriesProvider);
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final tomtomApiKey = _ref.read(tomtomApiKeyProvider);
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final communityApiKey = _ref.read(communityApiKeyProvider);
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final hereApiKey = _ref.read(hereApiKeyProvider);
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final wazeApiKey = _ref.read(wazeApiKeyProvider);
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final complianceEnabled = _ref.read(jurisdictionComplianceEnabledProvider);
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final leanInterlockEnabled = _ref.read(leanInterlockEnabledProvider);
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// Request serialization check: prevent overlapping queries
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bool shouldFetch = false;
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if (!_isFetching) {
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if (_lastFetchTime == null || now.difference(_lastFetchTime!).inSeconds >= 45) {
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shouldFetch = true;
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} else if (_lastFetchPosition != null) {
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final dist = Geolocator.distanceBetween(
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_lastFetchPosition!.latitude,
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_lastFetchPosition!.longitude,
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position.latitude,
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position.longitude,
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);
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if (dist > 500.0) {
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shouldFetch = true;
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}
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}
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}
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if (shouldFetch) {
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_isFetching = true;
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_lastFetchTime = now;
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_lastFetchPosition = position;
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try {
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await _fetchAlertsFromProviders(
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position.latitude,
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position.longitude,
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radiusMeters,
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tomtomApiKey: tomtomApiKey,
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communityApiKey: communityApiKey,
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hereApiKey: hereApiKey,
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wazeApiKey: wazeApiKey,
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);
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} finally {
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_isFetching = false;
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}
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}
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// Process cached alerts & filter out expired ones
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final List<RoadAlert> inRangeAlerts = [];
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for (var alert in _cachedAlerts) {
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if (alert.expiresAt != null && alert.expiresAt!.isBefore(now)) {
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continue;
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}
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if (!enabledCategories.contains(alert.category)) {
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continue;
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}
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final dist = Geolocator.distanceBetween(
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position.latitude,
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position.longitude,
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alert.latitude,
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alert.longitude,
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);
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if (dist <= radiusMeters * 1.5) {
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inRangeAlerts.add(alert.copyWith(distanceFromUser: dist));
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}
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}
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// Deduplicate across heterogeneous sources (Swarm, Zyla, GA511, OSM, etc.)
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final deduplicatedAlerts = MultiSourceAlertDeduplicator.deduplicate(
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inRangeAlerts,
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dismissedIds: _dismissedAlertIds,
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);
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// Apply jurisdictional regulatory compliance (US standard, France danger zone, Germany/Switzerland prohibited)
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final compliantList = RoadAlertCompliance.applyCompliance(
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deduplicatedAlerts,
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userLat: position.latitude,
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userLng: position.longitude,
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complianceEnabled: complianceEnabled,
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);
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final navSession = _ref.read(navigationSessionProvider);
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final hasActiveRoute = navSession.isNavigating &&
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navSession.calculationResult != null &&
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navSession.calculationResult!.geometry.length >= 2;
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compliantList.sort((a, b) {
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if (hasActiveRoute) {
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final geom = navSession.calculationResult!.geometry;
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final aOnRoute = RouteCorridorAlertFilter.isAlertAheadOnRoute(
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userLat: position.latitude,
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userLng: position.longitude,
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alertLat: a.latitude,
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alertLng: a.longitude,
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geometry: geom,
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);
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final bOnRoute = RouteCorridorAlertFilter.isAlertAheadOnRoute(
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userLat: position.latitude,
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userLng: position.longitude,
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alertLat: b.latitude,
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alertLng: b.longitude,
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geometry: geom,
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);
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if (aOnRoute && !bOnRoute) return -1;
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if (!aOnRoute && bOnRoute) return 1;
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}
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return (a.distanceFromUser ?? 0).compareTo(b.distanceFromUser ?? 0);
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});
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_cachedAlerts = compliantList;
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_alertsController.add(compliantList);
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// Approach Audio Warning with lean-angle cornering safety interlock and speech cooldown
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for (var updatedAlert in compliantList) {
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final key = '${updatedAlert.providerId}_${updatedAlert.id}';
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final dist = updatedAlert.distanceFromUser ?? 999999.0;
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if (audioEnabled && dist <= 400.0 && !_announcedAlertIds.contains(key)) {
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final isAhead = _isAlertAheadOfRider(position, updatedAlert);
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if (isAhead) {
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final isCornering = _currentLeanAngle > 15.0 ||
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(_lastSteepLeanTime != null &&
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now.difference(_lastSteepLeanTime!).inMilliseconds < 1500);
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if (leanInterlockEnabled && isCornering) {
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_deferredAudioAlert = updatedAlert;
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_announcedAlertIds.add(key);
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try {
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_ref.read(fieldTestLoggerProvider).log(
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eventType: FieldTestEventType.roadAlertReceived,
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severity: EventSeverity.info,
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message: 'Alert audio deferred: cornering at ${_currentLeanAngle.toStringAsFixed(1)}° lean',
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metadata: {
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'category': updatedAlert.category.displayName,
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'leanAngle': _currentLeanAngle,
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'distance': dist,
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},
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);
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} catch (_) {}
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} else {
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final speechTime = DateTime.now();
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if (_lastSpeechTime == null || speechTime.difference(_lastSpeechTime!).inSeconds >= 4) {
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_lastSpeechTime = speechTime;
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_announcedAlertIds.add(key);
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_announceAlertAudio(updatedAlert);
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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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bool _isAlertAheadOfRider(Position userPos, RoadAlert alert) {
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if (userPos.speed < 2.0) return true;
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final riderHeading = userPos.heading;
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final bearingToAlert = Geolocator.bearingBetween(
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userPos.latitude,
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userPos.longitude,
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alert.latitude,
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alert.longitude,
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);
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double delta = (bearingToAlert - riderHeading).abs();
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if (delta > 180) delta = 360 - delta;
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return delta <= 100.0;
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}
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Future<void> _fetchAlertsFromProviders(
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double lat,
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double lng,
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double radiusMeters, {
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required String tomtomApiKey,
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required String communityApiKey,
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required String hereApiKey,
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required String wazeApiKey,
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}) async {
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final providers = _ref.read(activeRoadAlertProviders);
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final List<RoadAlert> newAlerts = [];
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if (kDebugMode) {
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debugPrint('[RoadAlerts] Fetching alerts from ${providers.length} providers...');
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}
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for (var provider in providers) {
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try {
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String? key;
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if (provider.id == 'tomtom') key = tomtomApiKey;
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if (provider.id == 'community_traffic') key = communityApiKey;
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if (provider.id == 'here_safety_cameras') key = hereApiKey;
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if (provider.id == 'waze') key = wazeApiKey;
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final fetched = await provider.getAlerts(
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latitude: lat,
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longitude: lng,
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radiusMeters: radiusMeters,
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apiKey: key,
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);
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newAlerts.addAll(fetched);
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try {
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for (var a in fetched) {
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_ref.read(fieldTestLoggerProvider).log(
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eventType: FieldTestEventType.roadAlertReceived,
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severity: EventSeverity.info,
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message: '[${provider.id}] ${a.category.displayName}: ${a.description}',
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metadata: {
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'providerId': provider.id,
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'category': a.category.displayName,
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'distanceMeters': a.distanceFromUser,
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},
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);
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}
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} catch (_) {}
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} catch (e) {
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if (kDebugMode) {
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debugPrint('[RoadAlerts] Provider ${provider.id} error: $e');
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}
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try {
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_ref.read(fieldTestLoggerProvider).log(
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eventType: FieldTestEventType.networkError,
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severity: EventSeverity.warning,
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message: 'Road alert provider ${provider.id} failure: $e',
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);
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} catch (_) {}
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}
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}
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_cachedAlerts = newAlerts;
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if (kDebugMode) {
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debugPrint('[RoadAlerts] Active cached alerts count: ${_cachedAlerts.length}');
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}
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}
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void _announceAlertAudio(RoadAlert alert) {
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final audioMode = _ref.read(roadAlertAudioModeProvider);
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if (audioMode == RoadAlertAudioMode.tacticalTone) {
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_playTacticalTone(alert);
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return;
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}
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String phrase;
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switch (alert.category) {
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case RoadAlertCategory.police:
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phrase = "Police report ahead.";
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break;
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case RoadAlertCategory.speedCamera:
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phrase = "Speed camera reported ahead.";
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break;
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case RoadAlertCategory.accident:
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phrase = "Accident reported ahead.";
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break;
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case RoadAlertCategory.hazard:
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phrase = "Road hazard ahead.";
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break;
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case RoadAlertCategory.roadClosure:
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phrase = "Road closure ahead.";
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break;
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case RoadAlertCategory.construction:
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phrase = "Construction zone ahead.";
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break;
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case RoadAlertCategory.traffic:
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phrase = "Traffic delay ahead.";
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break;
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case RoadAlertCategory.pothole:
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phrase = "Severe pothole ahead.";
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break;
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case RoadAlertCategory.debris:
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phrase = "Road debris ahead.";
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break;
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case RoadAlertCategory.disabledVehicle:
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phrase = "Disabled vehicle reported ahead.";
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break;
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case RoadAlertCategory.weatherHazard:
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phrase = "Weather hazard reported ahead.";
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break;
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case RoadAlertCategory.other:
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phrase = "Traffic alert ahead.";
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break;
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}
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if (kDebugMode) {
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debugPrint('[RoadAlerts] Announcing audio alert: $phrase');
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}
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try {
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_tts.speak(phrase).catchError((e) {
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if (kDebugMode) {
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debugPrint('[RoadAlerts] TTS speak error: $e');
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}
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return null;
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});
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_ref.read(fieldTestLoggerProvider).log(
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eventType: FieldTestEventType.ttsAnnounced,
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severity: EventSeverity.info,
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message: 'TTS Announced: "$phrase"',
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);
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} catch (e) {
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if (kDebugMode) {
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debugPrint('[RoadAlerts] TTS speak error: $e');
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}
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_ref.read(fieldTestLoggerProvider).log(
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eventType: FieldTestEventType.audioFailure,
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severity: EventSeverity.warning,
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message: 'TTS error speaking "$phrase": $e',
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);
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}
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}
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void _playTacticalTone(RoadAlert alert) {
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if (kDebugMode) {
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debugPrint('[RoadAlerts] Playing tactical tone chirp for ${alert.category.displayName}');
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}
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try {
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SystemSound.play(SystemSoundType.alert);
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if (alert.category == RoadAlertCategory.police ||
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alert.severity == RoadAlertSeverity.high ||
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alert.severity == RoadAlertSeverity.critical) {
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Future.delayed(const Duration(milliseconds: 140), () {
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SystemSound.play(SystemSoundType.alert);
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});
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}
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_ref.read(fieldTestLoggerProvider).log(
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eventType: FieldTestEventType.ttsAnnounced,
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severity: EventSeverity.info,
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message: 'Tactical tone chirp played for ${alert.category.displayName}',
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metadata: {
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'category': alert.category.displayName,
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'severity': alert.severity.name,
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'distance': alert.distanceFromUser,
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},
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);
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} catch (e) {
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if (kDebugMode) {
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debugPrint('[RoadAlerts] Tactical tone error: $e');
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}
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}
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}
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void triggerTestAlert({RoadAlertCategory category = RoadAlertCategory.police}) {
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final now = DateTime.now();
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final pos = _lastFetchPosition;
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// 150 meters ahead of current location
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final lat = pos != null ? pos.latitude + 0.0012 : 34.0620;
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final lng = pos != null ? pos.longitude + 0.0008 : -85.2330;
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final testAlert = RoadAlert(
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id: 'test_alert_${now.millisecondsSinceEpoch}',
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providerId: 'diagnostic_test',
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category: category,
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latitude: lat,
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longitude: lng,
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description: 'TEST ALERT: ${category.displayName} reported ahead (Diagnostic Verification)',
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roadName: 'Test Way / Simulation',
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reportedAt: now,
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expiresAt: now.add(const Duration(seconds: 12)),
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lastUpdated: now,
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distanceFromUser: 150.0,
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source: 'Internal Pipeline Test',
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sourceType: RoadAlertSourceType.providerReported,
|
|
);
|
|
|
|
if (kDebugMode) {
|
|
debugPrint('[RoadAlerts] [TEST ALERT] Injected: ${testAlert.description}');
|
|
}
|
|
|
|
_cachedAlerts = [testAlert, ..._cachedAlerts.where((a) => !a.id.startsWith('test_alert_'))];
|
|
_alertsController.add(_cachedAlerts);
|
|
|
|
final phrase = "TEST ALERT: ${category.displayName} reported ahead.";
|
|
try {
|
|
_tts.speak(phrase).catchError((_) => null);
|
|
_ref.read(fieldTestLoggerProvider).log(
|
|
eventType: FieldTestEventType.ttsAnnounced,
|
|
severity: EventSeverity.info,
|
|
message: 'TTS Test Alert: "$phrase"',
|
|
);
|
|
} catch (e) {
|
|
if (kDebugMode) {
|
|
debugPrint('[RoadAlerts] TTS speak error for test alert: $e');
|
|
}
|
|
}
|
|
}
|
|
|
|
/// Dismisses a specific alert by ID and prevents it from re-appearing
|
|
void dismissAlert(String alertId) {
|
|
_dismissedAlertIds.add(alertId);
|
|
_cachedAlerts = _cachedAlerts.where((a) => a.id != alertId && '${a.providerId}_${a.id}' != alertId).toList();
|
|
_alertsController.add(_cachedAlerts);
|
|
if (kDebugMode) {
|
|
debugPrint('[RoadAlerts] Manually dismissed alert $alertId');
|
|
}
|
|
}
|
|
|
|
/// Clears all cached alerts immediately
|
|
void clearAllAlerts() {
|
|
_cachedAlerts = [];
|
|
_alertsController.add([]);
|
|
if (kDebugMode) {
|
|
debugPrint('[RoadAlerts] Cleared all cached alerts');
|
|
}
|
|
}
|
|
|
|
/// Periodically prunes expired or dismissed alerts even when stationary
|
|
void _pruneExpiredAlerts() {
|
|
if (_cachedAlerts.isEmpty) return;
|
|
final now = DateTime.now();
|
|
final initialCount = _cachedAlerts.length;
|
|
|
|
_cachedAlerts = _cachedAlerts.where((alert) {
|
|
final key = '${alert.providerId}_${alert.id}';
|
|
if (_dismissedAlertIds.contains(alert.id) || _dismissedAlertIds.contains(key)) {
|
|
return false;
|
|
}
|
|
if (alert.expiresAt != null && alert.expiresAt!.isBefore(now)) {
|
|
return false;
|
|
}
|
|
return true;
|
|
}).toList();
|
|
|
|
if (_cachedAlerts.length != initialCount) {
|
|
if (kDebugMode) {
|
|
debugPrint('[RoadAlerts] Pruned expired/dismissed alerts (remaining: ${_cachedAlerts.length})');
|
|
}
|
|
_alertsController.add(_cachedAlerts);
|
|
}
|
|
}
|
|
|
|
void simulateAlert(RoadAlert alert) {
|
|
if (!_ref.read(roadAlertsEnabledProvider)) return;
|
|
final now = DateTime.now();
|
|
final key = '${alert.providerId}_${alert.id}';
|
|
if ((alert.expiresAt != null && alert.expiresAt!.isBefore(now)) ||
|
|
_dismissedAlertIds.contains(alert.id) ||
|
|
_dismissedAlertIds.contains(key)) {
|
|
return;
|
|
}
|
|
_cachedAlerts = [
|
|
alert,
|
|
..._cachedAlerts.where(
|
|
(existing) =>
|
|
existing.id != alert.id || existing.providerId != alert.providerId,
|
|
),
|
|
];
|
|
_alertsController.add(_cachedAlerts);
|
|
if (_ref.read(audioAlertsEnabledProvider)) {
|
|
final leanInterlock = _ref.read(leanInterlockEnabledProvider);
|
|
if (leanInterlock && isCornering) {
|
|
_deferredAudioAlert = alert;
|
|
} else {
|
|
_announceAlertAudio(alert);
|
|
}
|
|
}
|
|
}
|
|
|
|
void dispose() {
|
|
if (kDebugMode) {
|
|
debugPrint('[RoadAlerts] Disposing service resources');
|
|
}
|
|
_cleanupTimer?.cancel();
|
|
_locationSub?.cancel();
|
|
_leanSub?.cancel();
|
|
_alertsController.close();
|
|
try {
|
|
_tts.stop().catchError((_) => null);
|
|
} catch (_) {}
|
|
}
|
|
}
|
|
|
|
/// Helper to evaluate route corridor proximity and ahead-of-rider geometry.
|
|
class RouteCorridorAlertFilter {
|
|
/// Computes minimum cross-track perpendicular distance in meters from point to route polyline.
|
|
static double minDistanceToPolyline(
|
|
double alertLat,
|
|
double alertLng,
|
|
List<AppLatLng> geometry,
|
|
) {
|
|
if (geometry.isEmpty) return double.infinity;
|
|
if (geometry.length == 1) {
|
|
return Geolocator.distanceBetween(
|
|
alertLat,
|
|
alertLng,
|
|
geometry.first.latitude,
|
|
geometry.first.longitude,
|
|
);
|
|
}
|
|
|
|
double minDistance = double.infinity;
|
|
final cosLat = math.cos(alertLat * math.pi / 180.0);
|
|
|
|
for (int i = 0; i < geometry.length - 1; i++) {
|
|
final p1 = geometry[i];
|
|
final p2 = geometry[i + 1];
|
|
|
|
final dx = (p2.longitude - p1.longitude) * 111320.0 * cosLat;
|
|
final dy = (p2.latitude - p1.latitude) * 111320.0;
|
|
final segLengthSq = dx * dx + dy * dy;
|
|
|
|
final ax = (alertLng - p1.longitude) * 111320.0 * cosLat;
|
|
final ay = (alertLat - p1.latitude) * 111320.0;
|
|
|
|
if (segLengthSq == 0.0) {
|
|
final dist = math.sqrt(ax * ax + ay * ay);
|
|
if (dist < minDistance) minDistance = dist;
|
|
continue;
|
|
}
|
|
|
|
final t = ((ax * dx + ay * dy) / segLengthSq).clamp(0.0, 1.0);
|
|
final projX = t * dx;
|
|
final projY = t * dy;
|
|
|
|
final dist = math.sqrt((ax - projX) * (ax - projX) + (ay - projY) * (ay - projY));
|
|
if (dist < minDistance) {
|
|
minDistance = dist;
|
|
}
|
|
}
|
|
return minDistance;
|
|
}
|
|
|
|
/// Evaluates whether an alert is along and ahead of the user's active route corridor.
|
|
static bool isAlertAheadOnRoute({
|
|
required double userLat,
|
|
required double userLng,
|
|
required double alertLat,
|
|
required double alertLng,
|
|
required List<AppLatLng> geometry,
|
|
double maxCrossTrackMeters = 80.0,
|
|
double maxAheadMeters = 1200.0,
|
|
}) {
|
|
if (geometry.length < 2) return false;
|
|
|
|
final crossTrack = minDistanceToPolyline(alertLat, alertLng, geometry);
|
|
if (crossTrack > maxCrossTrackMeters) return false;
|
|
|
|
int userSeg = 0;
|
|
double minUserDist = double.infinity;
|
|
int alertSeg = 0;
|
|
double minAlertDist = double.infinity;
|
|
|
|
for (int i = 0; i < geometry.length; i++) {
|
|
final du = Geolocator.distanceBetween(userLat, userLng, geometry[i].latitude, geometry[i].longitude);
|
|
if (du < minUserDist) {
|
|
minUserDist = du;
|
|
userSeg = i;
|
|
}
|
|
final da = Geolocator.distanceBetween(alertLat, alertLng, geometry[i].latitude, geometry[i].longitude);
|
|
if (da < minAlertDist) {
|
|
minAlertDist = da;
|
|
alertSeg = i;
|
|
}
|
|
}
|
|
|
|
if (alertSeg < userSeg) return false;
|
|
|
|
final directDist = Geolocator.distanceBetween(userLat, userLng, alertLat, alertLng);
|
|
return directDist <= maxAheadMeters;
|
|
}
|
|
}
|