feat: proper routing

lib/components/EventLog.dart

@@ -0,0 +1,98 @@
+import 'package:flutter/material.dart';
+import 'package:uninav/nav/graph.dart';
+import 'package:uninav/util/util.dart';
+
+class EventLog extends StatefulWidget {
+  final List<GraphFeature> events;
+
+  const EventLog({Key? key, required this.events}) : super(key: key);
+
+  @override
+  _EventLogState createState() => _EventLogState();
+}
+
+class _EventLogState extends State<EventLog> {
+  int _selectedIndex = -1;
+
+  void _onEventTapped(int index) {
+    setState(() {
+      _selectedIndex = index;
+    });
+    _scrollController.animateTo(
+      index * _itemExtent,
+      duration: const Duration(milliseconds: 500),
+      curve: Curves.easeInOut,
+    );
+  }
+
+  final ScrollController _scrollController = ScrollController();
+  static const double _itemExtent = 60.0;
+
+  @override
+  Widget build(BuildContext context) {
+    return Theme(
+      data: ThemeData.light(),
+      child: SizedBox(
+        height: 200,
+        child: ListView.builder(
+          controller: _scrollController,
+          itemExtent: _itemExtent + 8.0,
+          itemCount: widget.events.length,
+          itemBuilder: (BuildContext context, int index) {
+            final event = widget.events[index];
+            final isActive = index >= _selectedIndex;
+            return GestureDetector(
+              onTap: () => _onEventTapped(index),
+              child: Container(
+                margin: const EdgeInsets.symmetric(vertical: 4.0),
+                padding: const EdgeInsets.all(4.0),
+                decoration: BoxDecoration(
+                  color:
+                      isActive ? Colors.white : Colors.white.withOpacity(0.6),
+                  borderRadius: BorderRadius.circular(8.0),
+                  boxShadow: [
+                    BoxShadow(
+                      color: Colors.black.withOpacity(0.1),
+                      blurRadius: 4.0,
+                      offset: const Offset(0, 2),
+                    ),
+                  ],
+                ),
+                child: Row(
+                  children: [
+                    Icon(getIconForEvent(event)),
+                    const SizedBox(width: 8.0),
+                    Text(
+                      getLabelForEvent(event),
+                      style: TextStyle(color: Colors.black),
+                    ),
+                  ],
+                ),
+              ),
+            );
+          },
+        ),
+      ),
+    );
+  }
+}
+
+IconData getIconForEvent(GraphFeature event) => event.when(
+      buildingFloor: (level, feature) => Icons.directions_walk,
+      portal: (fromFloor, from, toFloor, to, baseFeature) =>
+          baseFeature.type.maybeWhen(
+        door: (connects) => Icons.door_front_door,
+        stairs: (connects) => Icons.stairs,
+        lift: (connects_levels) => Icons.elevator,
+        orElse: () => Icons.question_mark,
+      ),
+      basicFeature: (level, building, baseFeature) => Icons.location_on,
+    );
+
+String getLabelForEvent(GraphFeature event) => event.when(
+      buildingFloor: (level, feature) => feature.name,
+      portal: (fromFloor, from, toFloor, to, baseFeature) =>
+          "$from:$fromFloor -> $to:$toFloor",
+      basicFeature: (level, building, baseFeature) =>
+          formatFeatureTitle(baseFeature),
+    );

lib/components/feature_bottom_sheet.dart

@@ -3,7 +3,9 @@ import 'package:flutter/widgets.dart';
 import 'package:get/get.dart';
 import 'package:uninav/components/colorful_chips.dart';
 import 'package:uninav/controllers/map_controller.dart';
+import 'package:uninav/controllers/navigation_controller.dart';
 import 'package:uninav/data/geo/model.dart';
+import 'package:uninav/nav/graph.dart';
 import 'package:uninav/util/util.dart';
 
 final _colorfulBoxDeco = BoxDecoration(
@@ -90,7 +92,39 @@ Future<void> showFeatureBottomSheet(
                     ),
                   ],
                 ),
-                onPressed: () => {},
+                onPressed: () {
+                  print("trying to start navigation...");
+                  final navController = Get.find<NavigationController>();
+                  final mapController = Get.find<MyMapController>();
+
+                  // make feature into graphFeature
+                  final wrapped = wrap(
+                          feature,
+                          mapController.currentLevel.value,
+                          feature.buildingName ?? "")
+                      .first;
+
+                  print("1");
+                  Get.back();
+                  if (navController.position.value == null) {
+                    print("2");
+                    Get.snackbar(
+                      "Navigation failed!",
+                      "Please set your position first!",
+                      snackPosition: SnackPosition.BOTTOM,
+                      margin: const EdgeInsets.only(
+                          bottom: 20, left: 10, right: 10),
+                      colorText: Colors.white,
+                      backgroundColor: Colors.red,
+                      duration: const Duration(seconds: 3),
+                    );
+                  } else {
+                    print("3");
+                    navController.navigate(navController.position.value!,
+                        (feature) => feature.id == wrapped.id);
+                  }
+                  print("4");
+                },
               ),
             ],
           )

lib/components/render_route.dart

@@ -0,0 +1,34 @@
+import 'package:flutter/material.dart';
+import 'package:flutter_map/flutter_map.dart';
+import 'package:get/get.dart';
+import 'package:latlong2/latlong.dart';
+import 'package:rust_core/iter.dart';
+import 'package:uninav/controllers/navigation_controller.dart';
+import 'package:uninav/nav/graph.dart';
+
+class NavigationPathLayer extends StatelessWidget {
+  const NavigationPathLayer({super.key});
+
+  @override
+  Widget build(BuildContext context) {
+    return Obx(() {
+      // compute the polylines and markers
+      List<(GraphFeature, double)> route =
+          Get.find<NavigationController>().nav.iter().toList();
+
+      // distance-position pairs
+      // List<Polyline> polylines = [];
+
+      List<LatLng> polylinePoints =
+          route.map((e) => e.$1.getCenter().unwrap()).toList();
+
+      return PolylineLayer(polylines: [
+        Polyline(
+          points: polylinePoints,
+          strokeWidth: 4.0,
+          color: Colors.blue,
+        ),
+      ]);
+    });
+  }
+}

lib/controllers/map_controller.dart

@@ -41,6 +41,7 @@ class MyMapController extends GetxController {
     }
     newLevels.sort();
     levels.value = newLevels;
+    update();
   }
 
   Result<void> setLevel(int level) {
@@ -50,6 +51,7 @@ class MyMapController extends GetxController {
     }
 
     currentLevel.value = level;
+    update();
     return const Ok(());
   }
 
@@ -111,6 +113,7 @@ class MyMapController extends GetxController {
       }
 
       features.value = featuresList;
+      update();
     } catch (e) {
       print('Error parsing GeoJSON: $e');
     }

lib/controllers/navigation_controller.dart

@@ -0,0 +1,72 @@
+import 'package:anyhow/anyhow.dart';
+import 'package:flutter/foundation.dart';
+import 'package:flutter/material.dart';
+import 'package:get/get.dart';
+import 'package:rust_core/iter.dart';
+import 'package:uninav/controllers/map_controller.dart';
+import 'package:uninav/data/geo/model.dart';
+import 'package:uninav/nav/graph.dart';
+
+class NavigationController extends GetxController {
+  // Add controller logic and variables here
+
+  final RxList<(GraphFeature, double)> nav = RxList();
+
+  final Rx<GraphFeature?> position = Rx(null);
+
+  void navigate(
+      GraphFeature start, bool Function(GraphFeature) endSelector) async {
+    position.value = start;
+
+    final path = await compute(
+      (data) {
+        final start = data.$1;
+        final endSelector = data.$2;
+        final features = data.$3;
+
+        final path = findShortestPath(start, endSelector, features);
+
+        return path;
+      },
+      (
+        start,
+        endSelector,
+        Get.find<MyMapController>().features.iter().toList()
+      ),
+    );
+
+    if (path.isErr()) {
+      Get.snackbar(
+        'Navigation Error',
+        'Unable to find a path to the destination\nMessage: ${path.unwrapErr().toString().split('\n')[0]}',
+        snackPosition: SnackPosition.BOTTOM,
+        margin: const EdgeInsets.only(bottom: 20, left: 10, right: 10),
+        colorText: Colors.white,
+        backgroundColor: Colors.red,
+        duration: const Duration(seconds: 3),
+      );
+      return;
+    }
+
+    nav.value = path.unwrap();
+    update();
+  }
+
+  void updatePosition(GraphFeature? newPosition) {
+    position.value = newPosition;
+    update();
+  }
+}
+
+class _PathFindingData {
+  final GraphFeature start;
+  final bool Function(GraphFeature) endSelector;
+  final List<Feature> features;
+
+  _PathFindingData(this.start, this.endSelector, this.features);
+}
+
+Result<List<(GraphFeature, double)>> _findShortestPathIsolate(
+    _PathFindingData data) {
+  return findShortestPath(data.start, data.endSelector, data.features);
+}

lib/data/geo/model.dart

@@ -92,6 +92,19 @@ class Feature with _$Feature {
       return bail("Feature Geometry is not a Polygon or Point");
     }
   }
+
+  String? get buildingName => type.when(
+        building: () => name,
+        lectureHall: () => building,
+        room: (_) => building,
+        door: (_) => null,
+        toilet: (_) => building,
+        stairs: (_) => building,
+        lift: (_) => building,
+        foodDrink: () => building,
+        publicTransport: (_, __) => null,
+        pcPool: (_) => building,
+      );
 }
 
 @freezed

lib/main.dart

@@ -2,6 +2,7 @@ import 'package:flutter/material.dart';
 import 'package:flutter/services.dart';
 import 'package:get/get.dart';
 import 'package:uninav/controllers/map_controller.dart';
+import 'package:uninav/controllers/navigation_controller.dart';
 import 'package:uninav/controllers/shared_prefs_controller.dart';
 import 'package:uninav/map.dart';
 import 'package:uninav/settings.dart';
@@ -13,6 +14,8 @@ void main() {
       .loadString('assets/geo/uulm_beta.geojson')
       .then((value) => Get.find<MyMapController>().loadGeoJson(value));
 
+  Get.put(NavigationController());
+
   Get.putAsync(() async {
     final controller = SharedPrefsController();
     await controller.initialize();
@@ -43,7 +46,7 @@ class MyApp extends StatelessWidget {
       ),
       initialRoute: '/map',
       getPages: [
-        GetPage(name: '/map', page: () => const MapPage()),
+        GetPage(name: '/map', page: () => MapPage()),
         GetPage(name: '/settings', page: () => const SettingsPage()),
       ],
     );

lib/map.dart

@@ -6,18 +6,45 @@ import 'package:flutter_map/flutter_map.dart';
 import 'package:flutter_map_location_marker/flutter_map_location_marker.dart';
 import 'package:get/get.dart';
 import 'package:latlong2/latlong.dart';
+import 'package:rust_core/iter.dart';
 import 'package:rust_core/slice.dart';
+import 'package:uninav/components/EventLog.dart';
 import 'package:uninav/components/drawer.dart';
 import 'package:uninav/components/hamburger_menu.dart';
 import 'package:uninav/components/map_render_level.dart';
+import 'package:uninav/components/render_route.dart';
 import 'package:uninav/controllers/map_controller.dart';
+import 'package:uninav/controllers/navigation_controller.dart';
 import 'package:uninav/data/geo/model.dart';
+import 'package:uninav/nav/graph.dart';
 import 'package:uninav/util/geojson_util.dart';
 import 'package:uninav/util/geomath.dart';
+import 'package:uninav/util/util.dart';
 import 'package:url_launcher/url_launcher.dart';
 
-class MapPage extends StatelessWidget {
+class MapPage extends StatefulWidget {
-  const MapPage({Key? key}) : super(key: key);
+  @override
+  State<MapPage> createState() => _MapPageState();
+}
+
+class _MapPageState extends State<MapPage> {
+  late final Stream<LocationMarkerPosition?> _positionStream;
+  late final Stream<LocationMarkerHeading?> _headingStream;
+
+  /*
+  @override
+  void initState() {
+    super.initState();
+    const factory = LocationMarkerDataStreamFactory();
+    _positionStream =
+        factory.fromGeolocatorPositionStream().asBroadcastStream();
+    _headingStream = factory.fromCompassHeadingStream().asBroadcastStream();
+
+    _geolocatorStream =
+        factory.defaultPositionStreamSource().asBroadcastStream();
+    _compassStream = factory.defaultHeadingStreamSource().asBroadcastStream();
+  }
+  */
 
   @override
   Widget build(BuildContext context) {
@@ -67,6 +94,13 @@ class MapPage extends StatelessWidget {
                 TileLayer(
                   urlTemplate: "https://tile.openstreetmap.org/{z}/{x}/{y}.png",
                   maxZoom: 19,
+                  tileBuilder: (context, tile, child) => ColorFiltered(
+                    colorFilter: ColorFilter.mode(
+                      Colors.white.withOpacity(0.7),
+                      BlendMode.srcATop,
+                    ),
+                    child: tile,
+                  ),
                 ),
                 TranslucentPointer(
                   child: LevelLayer(
@@ -110,8 +144,26 @@ class MapPage extends StatelessWidget {
                   )),
                 ),
                 CurrentLocationLayer(),
+                NavigationPathLayer(),
               ],
             ),
+            Positioned(
+                left: 16,
+                top: 16,
+                child: Container(
+                  height: 450,
+                  width: 150,
+                  child: GetBuilder<NavigationController>(
+                    builder: (controller) {
+                      if (controller.nav.isNotEmpty) {
+                        return EventLog(
+                            events: controller.nav.map((e) => e.$1).toList());
+                      } else {
+                        return SizedBox();
+                      }
+                    },
+                  ),
+                )),
             Positioned(
                 left: 16,
                 bottom: 16,
@@ -233,8 +285,88 @@ void locationBottomSheet() {
                   child: Container(
                       height: 300,
                       color: Colors.transparent,
+                      child: Column(
+                        children: [
+                          const Text(
+                            'Level',
+                            style: TextStyle(
+                              fontSize: 18,
+                              fontWeight: FontWeight.bold,
+                              color: Colors.white,
                             ),
                           ),
+                          const SizedBox(height: 10),
+                          GetBuilder<MyMapController>(
+                            builder: (controller) {
+                              return Wrap(
+                                spacing: 8,
+                                runSpacing: 8,
+                                children: [
+                                  for (final level in controller.levels)
+                                    GestureDetector(
+                                      onTap: () => controller.setLevel(level),
+                                      child: Chip(
+                                        label: Text("$level"),
+                                        backgroundColor:
+                                            controller.currentLevel == level
+                                                ? Colors.blue
+                                                : Colors.grey[800],
+                                      ),
+                                    ),
+                                  Obx(() {
+                                    final navController =
+                                        Get.find<NavigationController>();
+                                    String? curBuilding;
+                                    if (navController.position.value
+                                        is BuildingFloor) {
+                                      curBuilding = (navController
+                                              .position.value as BuildingFloor)
+                                          .building
+                                          .name;
+                                    }
+
+                                    final buildingList = controller.features
+                                        .where((f) => f.type is Building);
+
+                                    return Wrap(
+                                      spacing: 8,
+                                      runSpacing: 8,
+                                      children: [
+                                        for (final building in buildingList)
+                                          GestureDetector(
+                                            onTap: () {
+                                              // print(building.name);
+                                              // print(curBuilding);
+                                              // print(navController.position);
+                                              navController.updatePosition(wrap(
+                                                      building,
+                                                      controller
+                                                          .currentLevel.value,
+                                                      building.name)
+                                                  .firstOrNull);
+                                            },
+                                            child: Chip(
+                                              label: Text(building.name),
+                                              backgroundColor:
+                                                  eq(curBuilding, building.name)
+                                                      ? building.level ==
+                                                              controller
+                                                                  .currentLevel
+                                                          ? Colors.blue
+                                                          : Colors.orange
+                                                      : Colors.grey[800],
+                                            ),
+                                          ),
+                                      ],
+                                    );
+                                  })
+                                ],
+                              );
+                            },
+                          ),
+                        ],
+                      )),
+                ),
                 Expanded(
                   flex: 1,
                   child: StatefulBuilder(builder: (context, setState) {

lib/nav/graph.dart

@@ -44,6 +44,19 @@ class GraphFeature with _$GraphFeature {
         basicFeature: (floor, building, feature) => feature.id,
       );
 
+  // String? get buildingName => when(
+  //       buildingFloor: (floor, building) => building.name,
+  //       portal: (fromFloor, from, toFloor, to, baseFeature) =>
+  //           baseFeature.type.maybeWhen(
+  //         door: (_) => null,
+  //         orElse: () => baseFeature.building,
+  //       ),
+  //       basicFeature: (floor, building, feature) => feature.type.maybeWhen(
+  //         door: (_) => null,
+  //         orElse: () => building,
+  //       ),
+  //     );
+
   @override
   String toString() {
     return when(