feat: integrate YOLO runtime, update screens, and sync docs

2026-05-24 10:26:58 +07:00
parent aa3dc4560e
commit 6ca89ca896
14 changed files with 1352 additions and 107 deletions
@@ -33,9 +33,16 @@ class _WalkGuideScreenState extends State<WalkGuideScreen> {
  String _status = 'Ready';
  CameraController? _camera;
  DetectionResult? _lastDetection;
+  bool _processingFrame = false;
+  DateTime _lastInferenceAt = DateTime.fromMillisecondsSinceEpoch(0);
+  DateTime _lastAlertAt = DateTime.fromMillisecondsSinceEpoch(0);

  @override
  void dispose() {
+    final camera = _camera;
+    if (camera != null && camera.value.isStreamingImages) {
+      unawaited(camera.stopImageStream().catchError((Object _) {}));
+    }
    _camera?.dispose();
    sl<LocationReporterService>().stop();
    super.dispose();
@@ -47,8 +54,7 @@ class _WalkGuideScreenState extends State<WalkGuideScreen> {
      await _startCamera();
      await sl<LocationReporterService>().start(walkGuideActive: true);
    } else {
-      await _camera?.dispose();
-      _camera = null;
+      await _stopCamera();
      await sl<LocationReporterService>().stop();
    }
    setState(() {
@@ -67,35 +73,89 @@ class _WalkGuideScreenState extends State<WalkGuideScreen> {
      final cameras = await availableCameras();
      if (cameras.isEmpty) return;
      final controller = CameraController(
-          cameras.first, ResolutionPreset.medium,
-          enableAudio: false);
+        cameras.first,
+        ResolutionPreset.medium,
+        enableAudio: false,
+        imageFormatGroup: ImageFormatGroup.yuv420,
+      );
      await controller.initialize();
      if (!mounted) {
        await controller.dispose();
        return;
      }
+      try {
+        await controller.startImageStream(_onCameraImage);
+      } catch (_) {
+        // Preview still works; manual Demo Detect remains available.
+      }
      setState(() => _camera = controller);
    } catch (_) {
      setState(() => _status = 'Camera unavailable. Demo mode active.');
    }
  }

+  Future<void> _stopCamera() async {
+    final camera = _camera;
+    _camera = null;
+    if (camera == null) return;
+    try {
+      if (camera.value.isStreamingImages) {
+        await camera.stopImageStream();
+      }
+    } catch (_) {}
+    await camera.dispose();
+  }
+
+  void _onCameraImage(CameraImage image) {
+    if (!_active || _processingFrame) return;
+    final now = DateTime.now();
+    if (now.difference(_lastInferenceAt) < const Duration(milliseconds: 900)) {
+      return;
+    }
+    _lastInferenceAt = now;
+    _processingFrame = true;
+    unawaited(_runYolo(image).whenComplete(() => _processingFrame = false));
+  }
+
+  Future<void> _runYolo(CameraImage image) async {
+    final detection = await sl<YoloDetector>().detect(image);
+    if (detection == null || !mounted) return;
+    await _handleDetection(detection);
+  }
+
  Future<void> _simulateObstacle() async {
    final detection = await sl<YoloDetector>().detectFallback();
    if (detection == null) return;
+    await _handleDetection(detection, forceAlert: true);
+  }
+
+  Future<void> _handleDetection(
+    DetectionResult detection, {
+    bool forceAlert = false,
+  }) async {
    _lastDetection = detection;
-    await sl<ApiClient>().dio.post('/user/obstacle', data: {
-      'label': detection.label,
-      'confidence': detection.confidence,
-      'direction': detection.directionName,
-      'estimatedDist': detection.estimatedDistance,
-      'lat': null,
-      'lng': null,
-    });
-    await sl<HapticService>().obstacleClose();
-    await sl<TtsService>().speakImmediate(detection.spokenId);
    setState(() => _status =
        'Obstacle: ${detection.label} ${detection.directionName} ${detection.estimatedDistance}');
+
+    final now = DateTime.now();
+    if (!forceAlert &&
+        now.difference(_lastAlertAt) < const Duration(seconds: 4)) {
+      return;
+    }
+    _lastAlertAt = now;
+
+    try {
+      await sl<ApiClient>().dio.post('/user/obstacle', data: {
+        'label': detection.label,
+        'confidence': detection.confidence,
+        'direction': detection.directionName,
+        'estimatedDist': detection.estimatedDistance,
+        'lat': null,
+        'lng': null,
+      });
+    } catch (_) {}
+    await sl<HapticService>().obstacleClose();
+    await sl<TtsService>().speakImmediate(detection.spokenId);
  }

  @override
@@ -235,12 +295,8 @@ class _AiBenchmarkScreenState extends State<AiBenchmarkScreen> {
    String label = 'person';
    String direction = 'CENTER';
    String distance = 'Demo';
-    var modelLoaded = false;
-    try {
-      await rootBundle.load(_selectedModel).timeout(const Duration(seconds: 3));
-      modelLoaded = true;
-    } catch (_) {}
-    final detection = await sl<YoloDetector>().detectFallback();
+    final modelLoaded = sl<YoloDetector>().isReady;
+    final detection = await sl<YoloDetector>().detectSynthetic();
    if (detection != null) {
      label = detection.label;
      direction = detection.directionName;
@@ -507,9 +563,7 @@ class _EmptyPanel extends StatelessWidget {
  final String title;
  final String message;
  const _EmptyPanel(
-      {required this.icon,
-      required this.title,
-      required this.message});
+      {required this.icon, required this.title, required this.message});

  @override
  Widget build(BuildContext context) {