475 lines
14 KiB
Dart
475 lines
14 KiB
Dart
import 'dart:async';
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import 'dart:io';
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import 'package:flutter/material.dart';
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import 'dart:ffi';
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import 'package:flutter_map/flutter_map.dart';
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import 'package:latlong2/latlong.dart';
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import 'package:ju_rc_app/lib/boxes.dart';
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import 'package:ju_rc_app/lib/sensors.dart';
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import 'package:ju_rc_app/lib/serial.dart';
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// c-structs
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base class GnssLocData extends Struct {
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@Uint8()
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external int type;
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@Uint8()
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external int command;
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@Uint8()
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external int isValid;
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@Double()
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external double lat;
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@Double()
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external double lng;
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}
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base class SpeedLocData extends Struct {
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@Uint8()
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external int type;
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@Uint8()
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external int command;
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@Uint8()
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external int isValid;
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@Double()
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external double speed;
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}
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base class CourseLocData extends Struct {
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@Uint8()
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external int type;
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@Uint8()
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external int command;
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@Uint8()
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external int isValid;
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@Double()
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external double course;
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}
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base class AltLocData extends Struct {
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@Uint8()
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external int type;
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@Uint8()
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external int command;
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@Uint8()
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external int isValid;
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@Double()
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external double alt;
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}
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base class SatLocData extends Struct {
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@Uint8()
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external int type;
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@Uint8()
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external int command;
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@Uint8()
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external int isValid;
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@Uint32()
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external int n;
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}
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base class HdopLocData extends Struct {
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@Uint8()
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external int type;
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@Uint8()
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external int command;
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@Uint8()
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external int isValid;
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@Double()
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external double hdop;
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}
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// c-structs end
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class Maps extends JuBox {
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const Maps({super.key});
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@override
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State<StatefulWidget> createState() => _MapsState();
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}
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class _MapsState extends State<Maps> with TickerProviderStateMixin {
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USerial serial = getSerial();
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late Timer timer;
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double _lat = 51.1667, _long = 10.4500;
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int _state = 0;
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bool _wasVaild = false;
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final _mapController = MapController();
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@override
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void initState() {
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super.initState();
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SensorReader.listen(serialListen);
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timer = Timer.periodic(const Duration(seconds: 1), (_) async {
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serial.sprintln("<rfSystemSensor>2300", system: true);
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});
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}
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@override
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void dispose() {
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SensorReader.removeListen(serialListen);
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timer.cancel();
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super.dispose();
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}
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void serialListen(int type, int command, Pointer<ArrayCStruct> ptr) {
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if (type != 0x23 || command != 0x00) return;
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var loc = ptr as Pointer<GnssLocData>;
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setState(() {
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_lat = loc.ref.lat;
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_long = loc.ref.lng;
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_state = loc.ref.isValid;
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//_mapController.move(LatLng(_lat, _long), _wasVaild ? 17 : 6);
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_animatedMapMove(
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_mapController, this, LatLng(_lat, _long), _wasVaild ? 17 : 6);
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if (_state & 1 > 0) _wasVaild = true;
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});
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}
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@override
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Widget build(BuildContext context) => FlutterMap(
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options: MapOptions(
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center: LatLng(_lat, _long),
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zoom: _wasVaild ? 17 : 6,
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maxZoom: _wasVaild ? 17 : 6,
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minZoom: _wasVaild ? 17 : 6,
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interactiveFlags: InteractiveFlag.none,
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onTap: (TapPosition pos, LatLng ll) {
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Navigator.push(
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context,
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MaterialPageRoute(
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builder: (context) => const SerialDetailPage()),
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);
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}),
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mapController: _mapController,
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children: [
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TileLayer(
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urlTemplate: 'https://tile.openstreetmap.de/{z}/{x}/{y}.png',
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userAgentPackageName: 'de.jusax.ju_rc_app',
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),
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MarkerLayer(
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markers: [
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Marker(
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point: LatLng(_lat, _long),
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width: 100,
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height: 100,
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builder: (context) => Icon(
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switch (_state) {
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3 => Icons.location_on,
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2 => Icons.location_off,
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1 => Icons.location_on_outlined,
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int() => Icons.location_off_outlined,
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},
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color: Theme.of(context).colorScheme.primary,
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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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}
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class SerialDetailPage extends StatefulWidget {
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const SerialDetailPage({super.key});
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@override
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State<StatefulWidget> createState() => _SerialDetailPageState();
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}
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class _SerialDetailPageState extends State<SerialDetailPage>
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with TickerProviderStateMixin {
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USerial serial = getSerial();
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late Timer timer;
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final _mapController = MapController();
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double _lat = 51.1667, _long = 10.4500;
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int _state = 0;
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double _mps = -1, _course = -1, _alt = -1, _hdop = -1;
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bool _mpsState = false,
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_courseState = false,
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_altState = false,
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_satNState = false,
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_hdopState = false;
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int _satN = -1;
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bool _follow = true;
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@override
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void initState() {
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super.initState();
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timer = Timer.periodic(const Duration(seconds: 2), (_) async {
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serial.sprintln("<rfSystemSensor>2303", system: true);
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sleep(const Duration(milliseconds: 200));
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serial.sprintln("<rfSystemSensor>2304", system: true);
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sleep(const Duration(milliseconds: 200));
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serial.sprintln("<rfSystemSensor>2305", system: true);
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sleep(const Duration(milliseconds: 200));
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serial.sprintln("<rfSystemSensor>2306", system: true);
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sleep(const Duration(milliseconds: 200));
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serial.sprintln("<rfSystemSensor>2307", system: true);
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});
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SensorReader.listen(serialListen);
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}
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@override
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void dispose() {
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SensorReader.removeListen(serialListen);
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timer.cancel();
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super.dispose();
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}
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void serialListen(int type, int command, Pointer<ArrayCStruct> ptr) {
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if (type != 0x23) return;
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switch (command) {
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case 0:
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{
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var loc = ptr as Pointer<GnssLocData>;
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setState(() {
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_lat = loc.ref.lat;
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_long = loc.ref.lng;
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_state = loc.ref.isValid;
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if (_follow) {
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_animatedMapMove(_mapController, this, LatLng(_lat, _long),
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_mapController.zoom,
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currentZoom: true);
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}
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});
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}
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break;
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case 3:
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{
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var loc = ptr as Pointer<SpeedLocData>;
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setState(() {
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_mps = loc.ref.speed;
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_mpsState = loc.ref.isValid == 3;
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});
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}
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break;
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case 4:
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{
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var loc = ptr as Pointer<CourseLocData>;
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setState(() {
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_course = loc.ref.course;
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_courseState = loc.ref.isValid == 3;
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});
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}
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break;
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case 5:
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{
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var loc = ptr as Pointer<AltLocData>;
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setState(() {
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_alt = loc.ref.alt;
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_altState = loc.ref.isValid == 3;
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});
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}
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break;
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case 6:
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{
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var loc = ptr as Pointer<SatLocData>;
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setState(() {
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_satN = loc.ref.n;
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_satNState = loc.ref.isValid == 3;
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});
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}
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break;
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case 7:
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{
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var loc = ptr as Pointer<HdopLocData>;
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setState(() {
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_hdop = loc.ref.hdop;
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_hdopState = loc.ref.isValid == 3;
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});
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}
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break;
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case 0xff:
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{}
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break;
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}
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}
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int shade() {
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return MediaQuery.of(context).platformBrightness == Brightness.light
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? 100
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: 800;
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}
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@override
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Widget build(BuildContext context) => Scaffold(
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appBar: AppBar(
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backgroundColor: Theme.of(context).colorScheme.inversePrimary,
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title: const Text(
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"Maps",
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style: TextStyle(
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fontSize: 16,
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),
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),
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toolbarHeight: 40,
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),
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floatingActionButton: FloatingActionButton(
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onPressed: () {
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setState(() {
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if (!_follow) _mapController.move(LatLng(_lat, _long), 17);
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_follow = !_follow;
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});
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},
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child: Icon(_follow ? Icons.near_me : Icons.near_me_outlined),
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),
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body: Column(children: [
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Row(
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mainAxisAlignment: MainAxisAlignment.center,
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children: [
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Text(
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"Speed: ${_mps.toStringAsPrecision(3)}m/s",
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style: TextStyle(
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backgroundColor:
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_mpsState ? Colors.green[shade()] : Colors.red[shade()]),
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),
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const VerticalDivider(width: 5),
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Text("Course: ${_course.toStringAsFixed(0)}°",
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style: TextStyle(
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backgroundColor: _courseState
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? Colors.green[shade()]
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: Colors.red[shade()])),
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const VerticalDivider(width: 5),
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Text("Alt: ${_alt.toStringAsPrecision(4)}m",
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style: TextStyle(
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backgroundColor: _altState
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? Colors.green[shade()]
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: Colors.red[shade()])),
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const VerticalDivider(width: 5),
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Text("Sats: $_satN",
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style: TextStyle(
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backgroundColor: _satNState
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? Colors.green[shade()]
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: Colors.red[shade()])),
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const VerticalDivider(width: 5),
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Text("Hdop: ${_hdop.toStringAsPrecision(2)}",
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style: TextStyle(
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backgroundColor: _hdopState
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? Colors.green[shade()]
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: Colors.red[shade()])),
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],
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),
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Expanded(
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child: FlutterMap(
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mapController: _mapController,
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options: MapOptions(
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center: const LatLng(51.1667, 10.4500),
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zoom: 6,
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maxZoom: 18,
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interactiveFlags: InteractiveFlag.drag |
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InteractiveFlag.flingAnimation |
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InteractiveFlag.pinchMove |
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InteractiveFlag.pinchZoom |
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InteractiveFlag.doubleTapZoom,
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onPositionChanged: (MapPosition pos, bool user) {
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if (user) {
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setState(() {
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_follow = false;
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});
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}
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}),
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children: [
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TileLayer(
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urlTemplate: 'https://tile.openstreetmap.de/{z}/{x}/{y}.png',
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//urlTemplate: 'https://sgx.geodatenzentrum.de/wmts_basemapde/tile/1.0.0/de_basemapde_web_raster_farbe/default/GLOBAL_WEBMERCATOR/{z}/{y}/{x}.png',
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userAgentPackageName: 'de.jusax.ju_rc_app',
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),
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MarkerLayer(
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markers: [
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Marker(
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point: LatLng(_lat, _long),
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width: 100,
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height: 100,
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builder: (context) => Transform.rotate(
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angle: _course *
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(pi / 180), // Convert degrees to radians
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child: Icon(
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switch (_state) {
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3 => Icons.navigation,
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2 => Icons.location_off,
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1 => Icons.navigation_outlined,
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int() => Icons.location_off_outlined,
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},
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color: Theme.of(context).colorScheme.primary,
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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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]));
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}
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// animated Map from Map lib provider
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void _animatedMapMove(MapController mapController, TickerProvider ticker,
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LatLng destLocation, double destZoom,
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{bool currentZoom = false}) {
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const startedId = 'AnimatedMapController#MoveStarted';
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const inProgressId = 'AnimatedMapController#MoveInProgress';
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const finishedId = 'AnimatedMapController#MoveFinished';
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// Create some tweens. These serve to split up the transition from one location to another.
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// In our case, we want to split the transition be<tween> our current map center and the destination.
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final camera = mapController;
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final latTween =
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Tween<double>(begin: camera.center.latitude, end: destLocation.latitude);
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final lngTween = Tween<double>(
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begin: camera.center.longitude, end: destLocation.longitude);
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final zoomTween = Tween<double>(begin: camera.zoom, end: destZoom);
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// Create a animation controller that has a duration and a TickerProvider.
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final controller = AnimationController(
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duration: const Duration(milliseconds: 500), vsync: ticker);
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// The animation determines what path the animation will take. You can try different Curves values, although I found
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// fastOutSlowIn to be my favorite.
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final Animation<double> animation =
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CurvedAnimation(parent: controller, curve: Curves.fastOutSlowIn);
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// Note this method of encoding the target destination is a workaround.
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// When proper animated movement is supported (see #1263) we should be able
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// to detect an appropriate animated movement event which contains the
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// target zoom/center.
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final startIdWithTarget =
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'$startedId#${destLocation.latitude},${destLocation.longitude},$destZoom';
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bool hasTriggeredMove = false;
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controller.addListener(() {
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final String id;
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if (animation.value == 1.0) {
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id = finishedId;
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} else if (!hasTriggeredMove) {
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id = startIdWithTarget;
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} else {
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id = inProgressId;
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}
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hasTriggeredMove |= mapController.move(
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LatLng(latTween.evaluate(animation), lngTween.evaluate(animation)),
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currentZoom ? mapController.zoom : zoomTween.evaluate(animation),
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id: id,
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);
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});
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animation.addStatusListener((status) {
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if (status == AnimationStatus.completed) {
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controller.dispose();
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} else if (status == AnimationStatus.dismissed) {
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controller.dispose();
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}
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});
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controller.forward();
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}
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