feat: the robot's trip meter on the drive screen, hold to reset it (2.7.0)

README.md

@@ -9,7 +9,7 @@ them, watch through their camera, teach routes and run their AI inspection, from
 Pocket 4 or any Android device in landscape.**
 
 [![CI](https://github.com/DarmawanRobotics/PashupatiController/actions/workflows/ci.yml/badge.svg?branch=main)](https://github.com/DarmawanRobotics/PashupatiController/actions/workflows/ci.yml)
-![Version](https://img.shields.io/badge/version-2.6.1-4FD1C5)
+![Version](https://img.shields.io/badge/version-2.7.0-4FD1C5)
 ![Flutter](https://img.shields.io/badge/Flutter-3.35%2B-02569B?logo=flutter&logoColor=white)
 ![Android](https://img.shields.io/badge/Android-11%2B-3DDC84?logo=android&logoColor=white)
 ![Robot](https://img.shields.io/badge/robot-ROS%202%20Humble-22314E?logo=ros&logoColor=white)
@@ -66,6 +66,9 @@ and takes the video over WebRTC. There is no ROS on the handheld.
 - Battery, link quality, protective field, health and the localization source (identity, tag or
   pose).
 - The robot's CPU, GPU and RAM use and its temperature, at a glance, for development.
+- Trip meter under the glance panel: distance and moving time, speed now, average and top speed
+  since the last reset. The robot counts (also with no handheld connected) and keeps it across
+  restarts; hold the panel to reset it to zero. Needs Pashupati with `odometry/trip`.
 
 **Everything else**
 - Finds robots on the LAN by itself, and connects with a token.
@@ -79,7 +82,7 @@ and takes the video over WebRTC. There is no ROS on the handheld.
 browser or file manager once), or from a computer:
 
 ```bash
-adb install -r pashupati-controller-2.6.2.apk     # -r: update in place, settings kept
+adb install -r pashupati-controller-2.7.0.apk     # -r: update in place, settings kept
 ```
 
 Releases are signed with one release key, so a newer release installs over an older one.
@@ -171,7 +174,7 @@ lib/
 ├── net/        teleop_client.dart (session, commands, joystick), discovery.dart,
 │               webrtc_video.dart + whep.dart (camera over WebRTC)
 ├── input/      gamepad_input.dart (gamepads, normalized)
-├── widgets/    hud, camera (tag and person boxes), map, glance (AI, people, load)
+├── widgets/    hud, camera (tag and person boxes), map, glance (AI, people, load), trip
 ├── screens/    connect, drive (home), patrol (inspection), routes, settings
 ├── robot_actions.dart   icons and labels of known robot commands
 └── l10n.dart            Indonesian and English text
@@ -192,11 +195,11 @@ Bump `version` in `pubspec.yaml` (the name and the `+` build number), merge it t
 that commit with the same version:
 
 ```bash
-git tag v2.6.2 && git push origin v2.6.2
+git tag v2.7.0 && git push origin v2.7.0
 ```
 
-The `release` workflow tests, builds and publishes `pashupati-controller-2.6.2.apk` (and its
-SHA-256) as the GitHub Release `v2.6.2`. A tag that differs from `pubspec.yaml` fails the run.
+The `release` workflow tests, builds and publishes `pashupati-controller-2.7.0.apk` (and its
+SHA-256) as the GitHub Release `v2.7.0`. A tag that differs from `pubspec.yaml` fails the run.
 
 The release key lives in four repository secrets (Settings → Secrets and variables → Actions):
 `ANDROID_KEYSTORE_BASE64` (the keystore, `base64 -w0 release.jks`), `ANDROID_KEYSTORE_PASSWORD`,

lib/l10n.dart

@@ -179,6 +179,11 @@ const _en = <String, String>{
   'speed_unavailable': 'Navigation is not running (teach mode, or starting).',
   'speed_unsupported': 'This robot cannot set its patrol speed yet: update Pashupati.',
   'glance_waiting': 'AI: waiting for a result',
+  'trip_distance': '{d} · moving {t}',
+  'trip_speed': 'Now {v} m/s',
+  'trip_average': 'Avg {a} · top {m} m/s',
+  'trip_hold': 'Hold to reset to zero',
+  'trip_reset': 'Trip reset to zero',
   'ai_loading': 'AI: loading the model…',
   'ai_off': 'AI off',
   'ai_error': 'AI: error',
@@ -196,6 +201,7 @@ const _en = <String, String>{
   'people_missing': 'No person detection here: PEOPLE=true in pashupati.env, then restart.',
   'people_detail': '{n} in view · {ms} ms · {backend}',
   'show_load': 'Robot CPU, GPU and RAM on screen',
+  'show_trip': 'Distance and speed on screen',
   // routes
   'routes': 'Routes',
   'refresh': 'Refresh',
@@ -400,6 +406,11 @@ const _id = <String, String>{
   'speed_unavailable': 'Navigasi tidak jalan (mode teach, atau sedang mulai).',
   'speed_unsupported': 'Robot ini belum bisa atur kecepatan patroli: update Pashupati.',
   'glance_waiting': 'AI: menunggu hasil',
+  'trip_distance': '{d} · jalan {t}',
+  'trip_speed': 'Sekarang {v} m/s',
+  'trip_average': 'Rata² {a} · maks {m} m/s',
+  'trip_hold': 'Tahan untuk nol-kan',
+  'trip_reset': 'Trip di-nol-kan',
   'ai_loading': 'AI: memuat model…',
   'ai_off': 'AI mati',
   'ai_error': 'AI: error',
@@ -417,6 +428,7 @@ const _id = <String, String>{
   'people_missing': 'Deteksi orang tidak jalan: set PEOPLE=true di pashupati.env lalu restart.',
   'people_detail': '{n} terlihat · {ms} ms · {backend}',
   'show_load': 'CPU, GPU dan RAM robot di layar',
+  'show_trip': 'Jarak dan kecepatan di layar',
   'routes': 'Rute',
   'refresh': 'Muat ulang',
   'no_routes': 'Belum ada rute. Rekam satu dulu.',

lib/protocol/messages.dart

@@ -23,6 +23,7 @@ const pashupatiCommands = {
   'inspection_categories',
   'people_set',
   'nav_speed',
+  'trip_reset',
 };
 
 double? _num(Object? value) => value is num && value.isFinite ? value.toDouble() : null;
@@ -191,6 +192,7 @@ class RobotState {
     this.people,
     this.load,
     this.speed,
+    this.trip,
   });
 
   factory RobotState.fromJson(Map<String, dynamic> json) {
@@ -232,6 +234,7 @@ class RobotState {
       people: PeopleStatus.fromJson(json['people']),
       load: SystemLoad.fromJson(health),
       speed: PatrolSpeed.fromJson(json['speed']),
+      trip: TripStatus.fromJson(json['trip']),
     );
   }
 
@@ -273,6 +276,10 @@ class RobotState {
   /// Patrol speed of the navigation; null when navigation does not run.
   final PatrolSpeed? speed;
 
+  /// Distance and speeds since the last trip_reset, counted on the robot; null on a robot
+  /// without the trip meter.
+  final TripStatus? trip;
+
   bool get remote => mode == 'remote';
   bool get localized => localization.isNotEmpty && localization != 'none';
 
@@ -465,6 +472,65 @@ class PatrolSpeed {
   final double max;
 }
 
+/// `state.trip`: distance and speeds since the last `trip_reset`, counted on the robot from its
+/// LiDAR odometry (dharma_odometry), also while no handheld is connected.
+class TripStatus {
+  const TripStatus({
+    required this.distance,
+    required this.movingSeconds,
+    required this.speed,
+    required this.average,
+    required this.top,
+    this.since,
+  });
+
+  /// Null unless the distance and the speeds are numbers.
+  static TripStatus? fromJson(Object? json) {
+    if (json is! Map) return null;
+    final distance = _num(json['m']);
+    final speed = _num(json['v']);
+    if (distance == null || speed == null) return null;
+    final since = _num(json['since']);
+    return TripStatus(
+      distance: distance,
+      movingSeconds: _num(json['s']) ?? 0,
+      speed: speed,
+      average: _num(json['avg']) ?? 0,
+      top: _num(json['max']) ?? 0,
+      since: since != null && since > 0
+          ? DateTime.fromMillisecondsSinceEpoch((since * 1000).round())
+          : null,
+    );
+  }
+
+  /// m travelled.
+  final double distance;
+
+  /// s spent moving.
+  final double movingSeconds;
+
+  /// m/s now, average while moving, and the highest.
+  final double speed;
+  final double average;
+  final double top;
+
+  /// When the trip was last reset.
+  final DateTime? since;
+}
+
+/// "12.3 m" below a kilometre, "1.24 km" above.
+String formatDistance(double metres) =>
+    metres < 1000 ? '${metres.toStringAsFixed(1)} m' : '${(metres / 1000).toStringAsFixed(2)} km';
+
+/// "m:ss" below an hour, "h:mm:ss" above.
+String formatDuration(double seconds) {
+  final s = seconds.floor();
+  final h = s ~/ 3600;
+  final m = (s % 3600) ~/ 60;
+  final rest = (s % 60).toString().padLeft(2, '0');
+  return h > 0 ? '$h:${m.toString().padLeft(2, '0')}:$rest' : '$m:$rest';
+}
+
 /// `state.people`: the robot's person detection (person_detector_node).
 class PeopleStatus {
   const PeopleStatus({

lib/screens/connect_screen.dart

@@ -1,6 +1,6 @@
 import 'dart:math' as math;
 
 import 'package:flutter/material.dart';
 
 import '../net/teleop_client.dart';
 import '../protocol/messages.dart';
@@ -10,7 +10,7 @@
 import 'drive_screen.dart';
 import 'settings_screen.dart';
 
-const appVersion = '2.6.1'; // the version in pubspec.yaml (test/version_test.dart)
+const appVersion = '2.7.0'; // the version in pubspec.yaml (test/version_test.dart)
 
 /// Robot picker: the main robot from the settings plus every robot that answers on the LAN.
 class ConnectScreen extends StatefulWidget {

lib/screens/drive_screen.dart

@@ -1,7 +1,7 @@
 import 'dart:async';
 import 'dart:math' as math;
 
 import 'package:flutter/material.dart';
 import 'package:flutter/services.dart';
 import 'package:gamepads/gamepads.dart';
 
@@ -15,6 +15,7 @@
 import '../widgets/camera_view.dart';
 import '../widgets/glance.dart';
 import '../widgets/hud.dart';
+import '../widgets/trip_panel.dart';
 import '../widgets/map_view.dart';
 import 'patrol_screen.dart';
 import 'routes_screen.dart';
@@ -228,6 +229,12 @@
     return result;
   }
 
+  /// Holding the trip panel: the robot starts its trip meter again from zero.
+  void _resetTrip() {
+    HapticFeedback.mediumImpact();
+    _run('trip_reset', label: s.t('trip_reset'));
+  }
+
   void _estop() {
     HapticFeedback.heavyImpact();
     _show(Toast(s.t('estop_sent'), color: Palette.stop, icon: Icons.pan_tool_rounded));
@@ -515,7 +522,7 @@
           // the map listens to the viewport itself: a pinch does not rebuild the whole screen
           child: ListenableBuilder(listenable: _viewport, builder: (context, _) => _viewButtons()),
         ),
-        // last inspection, people in view and the robot's load, above the toolbar
+        // last inspection, people in view, the robot's load and its trip, above the toolbar
         if (size.height - (top + insetHeight + 52) - 70 > 30)
           Positioned(
             key: const ValueKey('glance'),
@@ -527,11 +534,25 @@
               alignment: Alignment.topLeft,
               child: SingleChildScrollView(
                 physics: const NeverScrollableScrollPhysics(),
-                child: GlancePanel(
-                  state: state,
-                  language: s.settings.language,
-                  showLoad: s.settings.showLoad,
-                  onTap: (client.welcome?.has('inspection_set') ?? false) ? _openPatrol : null,
+                child: Column(
+                  mainAxisSize: MainAxisSize.min,
+                  crossAxisAlignment: CrossAxisAlignment.start,
+                  children: [
+                    GlancePanel(
+                      state: state,
+                      language: s.settings.language,
+                      showLoad: s.settings.showLoad,
+                      onTap: (client.welcome?.has('inspection_set') ?? false) ? _openPatrol : null,
+                    ),
+                    if (s.settings.showTrip && state.trip != null) ...[
+                      const SizedBox(height: 6),
+                      TripPanel(
+                        trip: state.trip!,
+                        language: s.settings.language,
+                        onReset: (client.welcome?.has('trip_reset') ?? false) ? _resetTrip : null,
+                      ),
+                    ],
+                  ],
                 ),
               ),
             ),

lib/screens/settings_screen.dart

@@ -1,4 +1,4 @@
 import 'package:flutter/material.dart';
 import 'package:gamepads/gamepads.dart';
 
 import '../net/webrtc_video.dart';
@@ -154,6 +154,7 @@
         ),
         _switch(t('lidar_on_map'), _settings.lidar, (value) => _settings.update(lidar: value)),
         _switch(t('show_load'), _settings.showLoad, (value) => _settings.update(showLoad: value)),
+        _switch(t('show_trip'), _settings.showTrip, (value) => _settings.update(showTrip: value)),
         _choice(
           t('language'),
           SegmentedButton<String>(

lib/settings.dart

@@ -1,3 +1,3 @@
 import 'package:flutter/foundation.dart';
 import 'package:shared_preferences/shared_preferences.dart';
 
@@ -49,6 +49,9 @@
   /// The robot computer's CPU, GPU and memory use on the drive screen (for development).
   bool get showLoad => _prefs.getBool('show_load') ?? true;
 
+  /// The robot's trip meter (distance, speeds) on the drive screen.
+  bool get showTrip => _prefs.getBool('show_trip') ?? true;
+
   /// Inspection time of a stop point marked from the handheld, seconds.
   double get stopDwell => _prefs.getDouble('dwell') ?? 10;
 
@@ -69,6 +72,7 @@
     String? mainView,
     bool? deadman,
     bool? showLoad,
+    bool? showTrip,
     double? stopDwell,
     int? gear,
   }) async {
@@ -84,6 +88,7 @@
       if (mainView != null) _prefs.setString('main_view', mainView),
       if (deadman != null) _prefs.setBool('deadman', deadman),
       if (showLoad != null) _prefs.setBool('show_load', showLoad),
+      if (showTrip != null) _prefs.setBool('show_trip', showTrip),
       if (stopDwell != null) _prefs.setDouble('dwell', stopDwell),
       if (gear != null) _prefs.setInt('gear', _gear(gear)),
     ];

lib/widgets/trip_panel.dart

@@ -0,0 +1,93 @@
+import 'package:flutter/material.dart';
+
+import '../l10n.dart';
+import '../protocol/messages.dart';
+import '../theme.dart';
+import 'hud.dart';
+
+/// The robot's trip meter under the glance panel: distance and moving time, the speed now, the
+/// average and the top speed since the last reset. The robot counts (also while no handheld is
+/// connected); holding the panel asks it to start again from zero.
+class TripPanel extends StatelessWidget {
+  const TripPanel({super.key, required this.trip, required this.language, this.onReset});
+
+  final TripStatus trip;
+  final String language;
+
+  /// Hold to reset; null on a robot that cannot (no trip_reset command).
+  final VoidCallback? onReset;
+
+  String t(String key, [Map<String, Object> args = const {}]) => tr(language, key, args);
+
+  @override
+  Widget build(BuildContext context) {
+    return GestureDetector(
+      key: const ValueKey('trip'),
+      behavior: HitTestBehavior.opaque,
+      onLongPress: onReset,
+      child: Glass(
+        radius: 12,
+        padding: const EdgeInsets.symmetric(horizontal: 8, vertical: 5),
+        child: Column(
+          mainAxisSize: MainAxisSize.min,
+          crossAxisAlignment: CrossAxisAlignment.start,
+          children: [
+            _row(
+              Icons.route_rounded,
+              Palette.text,
+              t('trip_distance', {
+                'd': formatDistance(trip.distance),
+                't': formatDuration(trip.movingSeconds),
+              }),
+              strong: true,
+            ),
+            _row(
+              Icons.speed_rounded,
+              trip.speed > 0 ? Palette.auto : Palette.muted,
+              t('trip_speed', {'v': trip.speed.toStringAsFixed(2)}),
+            ),
+            _row(
+              Icons.show_chart_rounded,
+              Palette.muted,
+              t('trip_average', {
+                'a': trip.average.toStringAsFixed(2),
+                'm': trip.top.toStringAsFixed(2),
+              }),
+            ),
+            if (onReset != null)
+              Padding(
+                padding: const EdgeInsets.only(top: 1),
+                child: Text(
+                  t('trip_hold'),
+                  maxLines: 1,
+                  overflow: TextOverflow.ellipsis,
+                  style: Txt.small.copyWith(color: Palette.muted, fontSize: 10),
+                ),
+              ),
+          ],
+        ),
+      ),
+    );
+  }
+
+  Widget _row(IconData icon, Color color, String text, {bool strong = false}) {
+    return Padding(
+      padding: const EdgeInsets.symmetric(vertical: 1.5),
+      child: Row(
+        mainAxisSize: MainAxisSize.min,
+        children: [
+          Icon(icon, size: 14, color: color),
+          const SizedBox(width: 5),
+          Flexible(
+            child: Text(
+              text,
+              maxLines: 1,
+              overflow: TextOverflow.ellipsis,
+              style: strong ? Txt.label.copyWith(color: color) : Txt.small,
+            ),
+          ),
+        ],
+      ),
+    );
+  }
+}

pubspec.yaml

@@ -1,7 +1,7 @@
 name: flutter_teleop
 description: Handheld teleop for Pashupati robots (Retroid Pocket and other Android devices).
 publish_to: none
-version: 2.6.1+29
+version: 2.7.0+30
 
 environment:
   sdk: ^3.9.0