509 lines
17 KiB
Dart
509 lines
17 KiB
Dart
import 'dart:async';
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import 'package:flutter/material.dart';
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import 'package:flutter_test/flutter_test.dart';
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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 'package:motorcycle_dash/models/telemetry_sample.dart';
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import 'package:motorcycle_dash/features/dashboard/widgets/dashboard_map_panel.dart';
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import 'package:motorcycle_dash/features/dashboard/widgets/gps_status_indicator.dart';
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import 'package:motorcycle_dash/services/telemetry_service.dart';
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import 'package:motorcycle_dash/services/location_service.dart';
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import 'package:motorcycle_dash/services/sensor_fusion_service.dart';
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import 'package:motorcycle_dash/services/compass_service.dart';
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import 'package:motorcycle_dash/services/field_test/field_test_logger.dart';
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import 'package:motorcycle_dash/services/validation/telemetry_validator.dart';
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import 'package:motorcycle_dash/services/alerts/road_alert_service.dart';
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import 'package:motorcycle_dash/services/alerts/road_alert_models.dart';
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import 'package:motorcycle_dash/services/map/unified_map_view.dart';
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import 'package:motorcycle_dash/database/database.dart'
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hide TelemetrySample, FieldTestSummary, FieldTestEvent;
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import 'package:drift/native.dart';
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class FakeLocationService extends Fake implements LocationService {
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final StreamController<Position> _controller =
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StreamController<Position>.broadcast();
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@override
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void Function(Position position, bool accepted, String? rejectionReason)?
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onGpsDiagnostic;
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@override
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Stream<Position> getFilteredPositionStream() => _controller.stream;
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void emitPosition(Position position) => _controller.add(position);
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@override
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void dispose() => _controller.close();
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}
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class FakeCompassService extends Fake implements CompassService {
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final StreamController<double> _controller =
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StreamController<double>.broadcast();
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@override
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Stream<double> get headingStream => _controller.stream;
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void emitHeading(double heading) => _controller.add(heading);
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@override
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void dispose() => _controller.close();
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}
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class _NullSensorFusionService extends Fake implements SensorFusionService {
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@override
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Stream<double> get leanAngleStream => const Stream.empty();
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@override
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Stream<double> get pitchAngleStream => const Stream.empty();
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@override
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Stream<GForceData> get gForceStream => const Stream.empty();
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@override
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double get latestRollRateDegPerSec => 0.0;
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@override
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double get latestRawAccelX => 0.0;
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@override
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double get latestRawAccelY => 0.0;
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@override
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double get latestRawAccelZ => 0.0;
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@override
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double get latestRawGyroX => 0.0;
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@override
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double get latestRawGyroY => 0.0;
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@override
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double get latestRawGyroZ => 0.0;
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}
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void main() {
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TestWidgetsFlutterBinding.ensureInitialized();
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late AppDatabase db;
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late FieldTestLogger logger;
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late TelemetryValidator validator;
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late FakeLocationService fakeLocation;
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late FakeCompassService fakeCompass;
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late TelemetryService telemetryService;
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setUp(() {
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db = AppDatabase.forTesting(NativeDatabase.memory());
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logger = FieldTestLogger(db);
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validator = TelemetryValidator();
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fakeLocation = FakeLocationService();
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fakeCompass = FakeCompassService();
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telemetryService = TelemetryService(
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fakeLocation,
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_NullSensorFusionService(),
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fakeCompass,
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logger,
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validator,
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);
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});
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tearDown(() async {
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telemetryService.dispose();
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fakeLocation.dispose();
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fakeCompass.dispose();
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logger.dispose();
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await db.close();
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});
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Position createPosition({
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required DateTime timestamp,
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double speedMps = 20.0, // ~45 MPH
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double heading = 90.0,
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double lat = 34.0522,
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double lon = -118.2437,
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double accuracy = 5.0,
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}) {
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return Position(
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latitude: lat,
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longitude: lon,
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timestamp: timestamp,
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altitude: 100.0,
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altitudeAccuracy: 1.0,
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accuracy: accuracy,
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heading: heading,
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headingAccuracy: 1.0,
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speed: speedMps,
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speedAccuracy: 1.0,
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);
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}
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group('Phase 1G — Heading Selection Truthfulness in TelemetryService', () {
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test('1. Fresh moving GPS heading remains usable and preferred over compass', () async {
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final now = DateTime.now();
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// Emit live compass = 180°
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fakeCompass.emitHeading(180.0);
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// Emit fresh GPS fix moving at 45 MPH heading 90°
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fakeLocation.emitPosition(createPosition(
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timestamp: now,
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speedMps: 20.0,
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heading: 90.0,
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));
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await Future<void>.delayed(const Duration(milliseconds: 100));
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final sample = await telemetryService.telemetryStream.first;
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// Moving GPS heading (90°) should override compass (180°)
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expect(sample.heading, 90.0);
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expect(sample.speed, greaterThan(3.0));
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expect(sample.isGpsFresh, isTrue);
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});
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test('2. Normal duplicate GPS fixes (10 Hz / 20 Hz) do not cause heading flicker', () async {
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final now = DateTime.now();
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fakeCompass.emitHeading(220.0);
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// Fix arrives 100ms ago (simulating 10 Hz acquisition sampled at 20 Hz)
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fakeLocation.emitPosition(createPosition(
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timestamp: now.subtract(const Duration(milliseconds: 100)),
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speedMps: 15.0,
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heading: 75.0,
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));
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await Future<void>.delayed(const Duration(milliseconds: 100));
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final sample = await telemetryService.telemetryStream.first;
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// Within 4000ms bound, duplicate fix heading remains stable
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expect(sample.heading, 75.0);
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expect(sample.isGpsFresh, isTrue);
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});
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test('3. Stale GPS heading stops overriding live compass after 4000ms', () async {
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final now = DateTime.now();
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// Live compass is 270° West
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fakeCompass.emitHeading(270.0);
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// GPS fix is stale (> 4000ms ago, e.g. 5000ms ago) with heading 90° East
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fakeLocation.emitPosition(createPosition(
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timestamp: now.subtract(const Duration(milliseconds: 5000)),
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speedMps: 20.0,
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heading: 90.0,
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));
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await Future<void>.delayed(const Duration(milliseconds: 100));
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final sample = await telemetryService.telemetryStream.first;
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// Stale GPS must NOT override compass! Heading must fall back to 270°
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expect(sample.heading, 270.0);
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expect(sample.isGpsFresh, isFalse);
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});
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test('4. Heading recovers automatically when fresh GPS resumes', () async {
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final now = DateTime.now();
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fakeCompass.emitHeading(180.0);
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// Initially stale GPS (5000ms ago, heading 90°)
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fakeLocation.emitPosition(createPosition(
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timestamp: now.subtract(const Duration(milliseconds: 5000)),
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speedMps: 20.0,
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heading: 90.0,
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));
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await Future<void>.delayed(const Duration(milliseconds: 100));
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final staleSample = await telemetryService.telemetryStream.first;
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expect(staleSample.heading, 180.0); // Compass used
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expect(staleSample.isGpsFresh, isFalse);
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// Now fresh GPS fix arrives: heading 120°, moving
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final freshNow = DateTime.now();
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fakeLocation.emitPosition(createPosition(
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timestamp: freshNow,
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speedMps: 22.0,
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heading: 120.0,
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));
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await Future<void>.delayed(const Duration(milliseconds: 100));
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final recoveredSample = await telemetryService.telemetryStream.first;
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// Fresh GPS automatically becomes eligible again!
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expect(recoveredSample.heading, 120.0);
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expect(recoveredSample.isGpsFresh, isTrue);
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});
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test('5. Heading and GPS boundary condition at 3999ms, 4000ms, and 4001ms', () {
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final base = DateTime(2026, 9, 19, 12, 0, 0);
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// A. 3999 ms -> FRESH
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final sample3999 = TelemetrySample(
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timestamp: base,
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latitude: 34.0,
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longitude: -85.0,
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speed: 40.0,
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heading: 45.0,
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gpsTimestamp: base.subtract(const Duration(milliseconds: 3999)),
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gpsAgeMs: 3999,
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);
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expect(sample3999.isGpsFresh, isTrue);
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// B. 4000 ms -> FRESH (inclusive canonical bound)
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final sample4000 = TelemetrySample(
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timestamp: base,
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latitude: 34.0,
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longitude: -85.0,
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speed: 40.0,
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heading: 45.0,
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gpsTimestamp: base.subtract(const Duration(milliseconds: 4000)),
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gpsAgeMs: 4000,
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);
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expect(sample4000.isGpsFresh, isTrue);
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// C. 4001 ms -> STALE (exceeds canonical bound)
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final sample4001 = TelemetrySample(
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timestamp: base,
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latitude: 34.0,
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longitude: -85.0,
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speed: 40.0,
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heading: 45.0,
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gpsTimestamp: base.subtract(const Duration(milliseconds: 4001)),
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gpsAgeMs: 4001,
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);
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expect(sample4001.isGpsFresh, isFalse);
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});
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test('6. Fresh GPS at stationary/low speed (<= 3.0 MPH) uses compass', () async {
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fakeCompass.emitHeading(42.0);
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fakeLocation.emitPosition(createPosition(
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timestamp: DateTime.now(),
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speedMps: 0.5, // ~1.1 MPH <= 3.0 MPH
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heading: 90.0,
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));
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await Future<void>.delayed(const Duration(milliseconds: 100));
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final sample = await telemetryService.telemetryStream.first;
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// Low speed correctly preserves compass fallback
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expect(sample.heading, 42.0);
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});
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test('7. Raw telemetry values (lat, lon, gpsTimestamp, gpsAgeMs) remain preserved during stale GPS', () async {
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final fixTime = DateTime.now().subtract(const Duration(milliseconds: 7000));
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fakeCompass.emitHeading(180.0);
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fakeLocation.emitPosition(createPosition(
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timestamp: fixTime,
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lat: 37.7749,
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lon: -122.4194,
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speedMps: 20.0,
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heading: 90.0,
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));
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await Future<void>.delayed(const Duration(milliseconds: 100));
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final sample = await telemetryService.telemetryStream.first;
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// Raw values must NOT be nulled or altered
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expect(sample.latitude, 37.7749);
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expect(sample.longitude, -122.4194);
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expect(sample.gpsTimestamp, fixTime);
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expect(sample.gpsAgeMs, greaterThanOrEqualTo(7000));
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// But freshness flags truthful status
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expect(sample.isGpsFresh, isFalse);
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expect(sample.isSpeedFresh, isFalse);
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});
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});
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group('Phase 1G — DashboardMapPanel & Location Presentation Truthfulness', () {
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late StreamController<TelemetrySample> testStreamController;
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setUp(() {
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testStreamController = StreamController<TelemetrySample>.broadcast();
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});
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tearDown(() async {
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await testStreamController.close();
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});
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Widget buildTestWidget({required Stream<TelemetrySample> stream}) {
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return ProviderScope(
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overrides: [
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telemetryStreamProvider.overrideWith((ref) => stream),
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activeAlertsStreamProvider.overrideWith((ref) => Stream.value(<RoadAlert>[])),
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],
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child: const MaterialApp(
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home: Scaffold(
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body: SizedBox(
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width: 400,
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height: 400,
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child: DashboardMapPanel(),
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),
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),
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),
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);
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}
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testWidgets('8. Fresh map coordinate renders normal active marker without stale badge', (tester) async {
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final now = DateTime.now();
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final freshSample = TelemetrySample(
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timestamp: now,
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latitude: 34.0522,
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longitude: -118.2437,
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heading: 90.0,
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speed: 35.0,
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gpsTimestamp: now,
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gpsAgeMs: 50,
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);
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await tester.pumpWidget(buildTestWidget(stream: testStreamController.stream));
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testStreamController.add(freshSample);
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await tester.pumpAndSettle();
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// Stale pill badge must NOT be present
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expect(find.byKey(const ValueKey('stale_gps_pill')), findsNothing);
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expect(find.text('LAST KNOWN LOCATION'), findsNothing);
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// Map view is rendered
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expect(find.byType(UnifiedMapView), findsOneWidget);
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});
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testWidgets('9. Stale map coordinate renders LAST KNOWN LOCATION pill badge and dimmed marker', (tester) async {
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final now = DateTime.now();
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final staleSample = TelemetrySample(
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timestamp: now,
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latitude: 34.0522,
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longitude: -118.2437,
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heading: 90.0,
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speed: 35.0,
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gpsTimestamp: now.subtract(const Duration(milliseconds: 6000)),
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gpsAgeMs: 6000, // > 4000ms -> STALE
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);
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await tester.pumpWidget(buildTestWidget(stream: testStreamController.stream));
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testStreamController.add(staleSample);
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await tester.pumpAndSettle();
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// Stale pill badge MUST be present
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expect(find.byKey(const ValueKey('stale_gps_pill')), findsOneWidget);
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expect(find.text('LAST KNOWN LOCATION'), findsOneWidget);
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expect(find.byIcon(Icons.location_off), findsOneWidget);
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});
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testWidgets('10. Stale coordinate does NOT move artificially (no dead reckoning / fake drift)', (tester) async {
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final now = DateTime.now();
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const initialLat = 34.0522;
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const initialLon = -118.2437;
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// 5 seconds of stale samples at 20 Hz
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await tester.pumpWidget(buildTestWidget(stream: testStreamController.stream));
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for (int i = 0; i < 10; i++) {
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testStreamController.add(TelemetrySample(
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timestamp: now.add(Duration(milliseconds: i * 50)),
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latitude: initialLat,
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longitude: initialLon,
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heading: 90.0,
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speed: 45.0, // Cached speed
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gpsTimestamp: now.subtract(const Duration(milliseconds: 5000)),
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gpsAgeMs: 5000 + (i * 50),
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));
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}
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await tester.pumpAndSettle();
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// Map center must remain exactly initialLat, initialLon
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final mapWidget = tester.widget<UnifiedMapView>(find.byType(UnifiedMapView));
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expect(mapWidget.center.latitude, initialLat);
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expect(mapWidget.center.longitude, initialLon);
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expect(find.text('LAST KNOWN LOCATION'), findsOneWidget);
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});
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testWidgets('11. Map presentation recovers automatically when fresh GPS resumes', (tester) async {
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final now = DateTime.now();
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await tester.pumpWidget(buildTestWidget(stream: testStreamController.stream));
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// 1. Emit stale sample
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testStreamController.add(TelemetrySample(
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timestamp: now,
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latitude: 34.0522,
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longitude: -118.2437,
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heading: 90.0,
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speed: 35.0,
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gpsTimestamp: now.subtract(const Duration(milliseconds: 6000)),
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gpsAgeMs: 6000,
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));
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await tester.pumpAndSettle();
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expect(find.byKey(const ValueKey('stale_gps_pill')), findsOneWidget);
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// 2. Emit fresh sample (GPS recovered)
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final recoveredNow = DateTime.now();
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testStreamController.add(TelemetrySample(
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timestamp: recoveredNow,
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latitude: 34.0530,
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longitude: -118.2430,
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heading: 95.0,
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speed: 35.0,
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gpsTimestamp: recoveredNow,
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gpsAgeMs: 10,
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));
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await tester.pumpAndSettle();
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// Stale badge disappears automatically
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expect(find.byKey(const ValueKey('stale_gps_pill')), findsNothing);
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expect(find.text('LAST KNOWN LOCATION'), findsNothing);
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// Coordinates updated to fresh location
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final mapWidget = tester.widget<UnifiedMapView>(find.byType(UnifiedMapView));
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expect(mapWidget.center.latitude, 34.0530);
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expect(mapWidget.center.longitude, -118.2430);
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});
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testWidgets('12. Truthfulness operates independently of ride state (outside an active ride)', (tester) async {
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// Without any ride session started or active, freshness and stale badge work directly from telemetry stream
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final now = DateTime.now();
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final staleSample = TelemetrySample(
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timestamp: now,
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latitude: 40.7128,
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longitude: -74.0060,
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heading: 180.0,
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speed: 0.0,
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gpsTimestamp: now.subtract(const Duration(milliseconds: 5500)),
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gpsAgeMs: 5500,
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);
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await tester.pumpWidget(buildTestWidget(stream: testStreamController.stream));
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testStreamController.add(staleSample);
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await tester.pumpAndSettle();
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expect(find.text('LAST KNOWN LOCATION'), findsOneWidget);
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});
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testWidgets('13. GPSStatusIndicator truthfully shows NO GPS when fix is stale (> 4000ms)', (tester) async {
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final now = DateTime.now();
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Widget buildGpsWidget({required Stream<TelemetrySample> stream}) {
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return ProviderScope(
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overrides: [
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telemetryStreamProvider.overrideWith((ref) => stream),
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],
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child: const MaterialApp(
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home: Scaffold(
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body: GPSStatusIndicator(),
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),
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),
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);
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}
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// 1. Fresh fix with accuracy = 5.0 -> GPS 3D FIX
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await tester.pumpWidget(buildGpsWidget(stream: testStreamController.stream));
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testStreamController.add(TelemetrySample(
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timestamp: now,
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latitude: 34.0,
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longitude: -85.0,
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gpsAccuracy: 5.0,
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gpsTimestamp: now,
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gpsAgeMs: 50,
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));
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await tester.pumpAndSettle();
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expect(find.text('GPS 3D FIX'), findsOneWidget);
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// 2. Stale fix with accuracy = 5.0 (> 4000ms) -> NO GPS
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testStreamController.add(TelemetrySample(
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timestamp: now.add(const Duration(seconds: 5)),
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latitude: 34.0,
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longitude: -85.0,
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gpsAccuracy: 5.0, // cached accuracy
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gpsTimestamp: now,
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gpsAgeMs: 5000, // STALE
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));
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await tester.pumpAndSettle();
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expect(find.text('NO GPS'), findsOneWidget);
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expect(find.byIcon(Icons.gps_off), findsOneWidget);
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});
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});
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}
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