hondavert-dev/lib/core/bluetooth/bt_poller.dart

import 'dart:async';
import 'dart:typed_data';

import '../protocol/neg8.dart';
import 'bt_service.dart';

enum EcuType { s300, kpro }

/// Sends the ECU request byte every [pollingInterval] ms,
/// accumulates raw bytes into 128-byte frames, validates NEG8,
/// and emits the newest usable frame on [frameStream].
class BtPoller {
  final BtService _service;
  EcuType ecuType;
  final Duration pollingInterval;

  // S300 request: [0x1B, 0x00, 0xE5]
  static final Uint8List _s300Request = Uint8List.fromList([0x1B, 0x00, 0xE5]);
  // KPro request: [0x1B, 0x01, 0xE4]
  static final Uint8List _kproRequest = Uint8List.fromList([0x1B, 0x01, 0xE4]);

  final StreamController<Uint8List> _frameController =
      StreamController<Uint8List>.broadcast();

  Stream<Uint8List> get frameStream => _frameController.stream;

  final List<int> _rxBuf = [];
  Timer? _pollTimer;
  StreamSubscription<Uint8List>? _rxSub;

  int droppedFrames = 0;
  int validFrames = 0;

  // Tracks whether a request is still awaiting its response, so the poller
  // never pipelines more than one request ahead of the device. Without this,
  // a device that answers slower than [pollingInterval] falls permanently
  // behind — every displayed frame ends up answering a stale, already-queued
  // request instead of the most recent one, and the dashboard visibly lags
  // real engine changes by a growing amount.
  bool _awaitingResponse = false;
  DateTime? _lastRequestSentAt;

  BtPoller(
    this._service, {
    this.ecuType = EcuType.s300,
    this.pollingInterval = const Duration(milliseconds: 50),
  });

  void start() {
    _rxBuf.clear();
    _awaitingResponse = false;
    _lastRequestSentAt = null;

    // Listen to raw bytes from BT and accumulate into 128-byte frames
    _rxSub = _service.rawStream.listen(
      (Uint8List chunk) {
        _rxBuf.addAll(chunk);
        _processBuffer();
      },
      onError: (Object e) {
        _frameController.addError(e);
        stop();
      },
    );

    // Check every pollingInterval whether it's time to send the next
    // request — but only actually send once the prior one has been
    // answered (or has clearly been lost).
    _pollTimer = Timer.periodic(pollingInterval, (_) => _maybeSendRequest());
    _maybeSendRequest();
  }

  void _maybeSendRequest() {
    if (!_service.isConnected) return;

    final stalled = _lastRequestSentAt != null &&
        DateTime.now().difference(_lastRequestSentAt!) > pollingInterval * 4;
    if (_awaitingResponse && !stalled) return;

    _awaitingResponse = true;
    _lastRequestSentAt = DateTime.now();
    _service
        .write(ecuType == EcuType.s300 ? _s300Request : _kproRequest)
        .catchError((Object _) {
      // A failed write must not leave the poller permanently waiting for a
      // response that was never actually requested — let the next tick retry.
      _awaitingResponse = false;
    });
  }

  void _processBuffer() {
    // Extract as many 128-byte frames as possible.
    // Frame start sync: first byte should be 0x1B (header marker).
    // If we have a misaligned buffer, scan forward.
    Uint8List? latestUsableFrame;

    while (_rxBuf.length >= 128) {
      // Scan for 0x1B frame header
      int startIdx = 0;
      while (startIdx < _rxBuf.length && _rxBuf[startIdx] != 0x1B) {
        startIdx++;
      }

      // Not enough data after sync byte
      if (_rxBuf.length - startIdx < 128) {
        // Discard bytes before potential header
        if (startIdx > 0) {
          _rxBuf.removeRange(0, startIdx);
        }
        break;
      }

      final Uint8List frame =
          Uint8List.fromList(_rxBuf.sublist(startIdx, startIdx + 128));

      final checksumOk = validateFrame(frame);

      if (checksumOk) {
        validFrames++;
        latestUsableFrame = frame;
        _rxBuf.removeRange(0, startIdx + 128);
      } else {
        // Bad checksum — the window is misaligned (or the frame was
        // corrupted in transit). Drop one byte and rescan for the next
        // 0x1B so the stream resynchronizes instead of permanently
        // sliding a fixed-size window over garbage.
        droppedFrames++;
        _rxBuf.removeRange(0, startIdx + 1);
      }
    }

    if (latestUsableFrame != null) {
      _frameController.add(latestUsableFrame);
      // The device answered — clear the road for the next request. Wait out
      // the configured pollingInterval before sending it rather than firing
      // immediately: back-to-back requests with no gap can outrun the ECU's
      // own tach input-capture timing, which needs a moment to latch a fresh
      // RPM count between reads — hammering it faster than that makes it
      // fall back to reporting "no fresh count yet" on every subsequent
      // request instead of a real reading. pollingInterval is also what the
      // Settings screen exposes, so this makes that control actually pace
      // the link instead of just being a stalled-request fallback.
      _awaitingResponse = false;
      Timer(pollingInterval, _maybeSendRequest);
    }
  }

  void stop() {
    _pollTimer?.cancel();
    _pollTimer = null;
    _rxSub?.cancel();
    _rxSub = null;
    _rxBuf.clear();
  }

  void dispose() {
    stop();
    _frameController.close();
  }
}