feat: proper routing

android/app/build.gradle

@@ -25,6 +25,7 @@ if (flutterVersionName == null) {
 android {
     namespace "com.example.uninav"
     compileSdk flutter.compileSdkVersion
+    compileSdkVersion 34
     ndkVersion flutter.ndkVersion
 
     compileOptions {
@@ -45,7 +46,8 @@ android {
         applicationId "com.example.uninav"
         // You can update the following values to match your application needs.
         // For more information, see: https://docs.flutter.dev/deployment/android#reviewing-the-gradle-build-configuration.
-        minSdkVersion flutter.minSdkVersion
+        // minSdkVersion flutter.minSdkVersion
+        minSdkVersion 20
         targetSdkVersion flutter.targetSdkVersion
         versionCode flutterVersionCode.toInteger()
         versionName flutterVersionName

android/app/src/main/AndroidManifest.xml

@@ -41,4 +41,6 @@
             <data android:mimeType="text/plain"/>
         </intent>
     </queries>
+    <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
+    <uses-permission android:name="android.permission.INTERNET" />
 </manifest>

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/colorful_chips.dart

@@ -0,0 +1,57 @@
+import 'package:flutter/material.dart';
+
+class ColorfulChip extends StatelessWidget {
+  final String label;
+
+  const ColorfulChip({Key? key, required this.label}) : super(key: key);
+
+  @override
+  Widget build(BuildContext context) {
+    final color = Color(((label.hashCode) & 0xFFFFFF) | 0xFF000000);
+    return Chip(
+      label: Text(label),
+      backgroundColor: color,
+      labelStyle: TextStyle(
+        color: color.computeLuminance() > 0.5 ? Colors.black : Colors.white,
+      ),
+      shape: RoundedRectangleBorder(
+        borderRadius: BorderRadius.circular(8),
+        side: BorderSide.none,
+      ),
+    );
+  }
+}
+
+class ColorfulActionChip extends StatelessWidget {
+  final String label;
+  final VoidCallback onPressed;
+  final double? size;
+
+  const ColorfulActionChip({
+    Key? key,
+    required this.label,
+    required this.onPressed,
+    this.size,
+  }) : super(key: key);
+
+  @override
+  Widget build(BuildContext context) {
+    final color = Color(
+        ((label.hashCode - 5 /* randomness - */) & 0xFFFFFF) | 0xFF000000);
+    return ActionChip(
+      label: Text(label),
+      backgroundColor: color,
+      labelStyle: TextStyle(
+        color: color.computeLuminance() > 0.5 ? Colors.black : Colors.white,
+        fontSize: size,
+      ),
+      shape: RoundedRectangleBorder(
+        borderRadius: BorderRadius.circular(8),
+        side: BorderSide.none,
+      ),
+      onPressed: onPressed,
+      padding: EdgeInsets.symmetric(
+          horizontal: (size ?? 16) / 2, vertical: (size ?? 8.0) / 2),
+    );
+  }
+}

lib/components/feature_bottom_sheet.dart

@@ -0,0 +1,356 @@
+import 'package:flutter/material.dart';
+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(
+  color: Colors.black,
+  border: Border.all(color: Colors.orange, width: 2),
+  borderRadius: BorderRadius.circular(10),
+);
+
+Future<void> showFeatureBottomSheet(
+    Feature feature, List<Feature>? closestFeatures) {
+  return Get.bottomSheet(
+    Theme(
+      data: ThemeData.light(),
+      child: Container(
+        constraints: const BoxConstraints(
+            // minHeight: 300,
+            ),
+        width: Get.mediaQuery.size.width,
+        decoration: const BoxDecoration(
+          color: Colors.black,
+          borderRadius: BorderRadius.only(
+              topLeft: Radius.circular(30), topRight: Radius.circular(30)),
+        ),
+        padding: const EdgeInsets.all(20),
+        child: Column(mainAxisSize: MainAxisSize.min, children: [
+          Center(
+            child: Container(
+              width: 50,
+              height: 5,
+              decoration: BoxDecoration(
+                color: Colors.white,
+                borderRadius: BorderRadius.circular(10),
+              ),
+            ),
+          ),
+          const SizedBox(height: 10),
+          Text(formatFeatureTitle(feature),
+              style:
+                  const TextStyle(fontSize: 24, fontWeight: FontWeight.bold)),
+          const SizedBox(height: 14),
+          if (closestFeatures != null) ...[
+            const Text('Did you mean:'),
+            Wrap(
+              spacing: 8,
+              children: closestFeatures
+                  .map((nearFeature) => ColorfulActionChip(
+                        label: formatFeatureTitle(nearFeature),
+                        onPressed: () {
+                          Get.back();
+                          final newClosestFeatures = closestFeatures
+                              .where((element) => element != nearFeature)
+                              .toList();
+                          newClosestFeatures.add(feature);
+
+                          Get.find<MyMapController>().focusOnFeature(
+                              nearFeature,
+                              closestFeatures: newClosestFeatures);
+                        },
+                      ))
+                  .toList(),
+            ),
+            const SizedBox(height: 14),
+          ],
+          if (feature.description != null) ...[
+            Text(feature.description!),
+            const SizedBox(height: 10),
+          ],
+          ..._buildFeatureContent(feature),
+          const SizedBox(height: 20),
+          Row(
+            mainAxisAlignment: MainAxisAlignment.end,
+            children: [
+              ElevatedButton(
+                child: const Row(
+                  children: [
+                    Icon(
+                      Icons.share_location,
+                      color: Colors.black,
+                    ),
+                    SizedBox(width: 4),
+                    Text(
+                      "Start Navigation",
+                      style: TextStyle(color: Colors.black),
+                    ),
+                  ],
+                ),
+                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");
+                },
+              ),
+            ],
+          )
+        ]),
+      ),
+    ),
+    isScrollControlled: true,
+    enterBottomSheetDuration: const Duration(milliseconds: 150),
+    exitBottomSheetDuration: const Duration(milliseconds: 200),
+  );
+}
+
+List<Widget> _buildFeatureContent(Feature feature) {
+  return feature.type.when(
+    building: () => _buildBuildingContent(feature),
+    lectureHall: () => _buildLectureHallContent(feature),
+    room: (number) => _buildRoomContent(feature, number),
+    pcPool: (number) => _buildPcPoolContent(feature, number),
+    foodDrink: () => _buildFoodAndDrinkContent(feature),
+    door: (connects) => _buildDoorContent(feature, connects),
+    toilet: (toiletType) => _buildToiletContent(feature, toiletType),
+    stairs: (connectsLevels) => _buildStairsContent(feature, connectsLevels),
+    lift: (connectsLevels) => _buildLiftContent(feature, connectsLevels),
+    publicTransport: (busLines, tramLines) =>
+        _buildPublicTransportContent(feature, busLines, tramLines),
+  );
+}
+
+/// Builds the content for the Building feature type.
+List<Widget> _buildBuildingContent(Feature feature) {
+  return [
+    Text(feature.name),
+  ];
+}
+
+/// Builds the content for the LectureHall feature type.
+List<Widget> _buildLectureHallContent(Feature feature) {
+  return [Text('Lecture Hall: ${feature.name}')];
+}
+
+/// Builds the content for the Room feature type.
+List<Widget> _buildRoomContent(Feature feature, String roomNumber) {
+  return [Text('Room: ${feature.name}')];
+}
+
+List<Widget> _buildPcPoolContent(Feature feature, String roomNumber) {
+  return [Text('PC Pool: ${feature.name}')];
+}
+
+List<Widget> _buildFoodAndDrinkContent(Feature feature) {
+  return [Text('${feature.name} (Food/Drink)')];
+}
+
+/// Builds the content for the Door feature type.
+List<Widget> _buildDoorContent(Feature feature, List<String> connects) {
+  return [
+    Text(
+      feature.name,
+      style: const TextStyle(fontSize: 18),
+    ),
+    const SizedBox(height: 10),
+    if (connects.isNotEmpty) ...[
+      const Align(
+        alignment: Alignment.centerLeft,
+        child: Padding(
+          padding: EdgeInsets.only(right: 4),
+          child: Text(
+            'Connects:',
+            style: TextStyle(fontWeight: FontWeight.bold),
+          ),
+        ),
+      ),
+      Align(
+        alignment: Alignment.centerLeft,
+        child: Wrap(
+          spacing: 8,
+          runSpacing: 4,
+          children: connects.map((place) {
+            return ColorfulChip(label: place.toString());
+          }).toList(),
+        ),
+      ),
+    ],
+  ];
+}
+
+/// Builds the content for the Toilet feature type.
+List<Widget> _buildToiletContent(Feature feature, String toiletType) {
+  return [
+    Row(
+      mainAxisAlignment: MainAxisAlignment.center,
+      children: [
+        const Icon(
+          Icons.wc,
+          size: 60,
+          color: Colors.white,
+        ),
+        Icon(
+          findToiletIcon(toiletType),
+          size: 60,
+          color: Colors.white,
+        )
+      ],
+    )
+  ];
+}
+
+/// Builds the content for the Stairs feature type.
+List<Widget> _buildStairsContent(Feature feature, List<int> connectsLevels) {
+  return [
+    Text(
+      feature.name,
+      style: const TextStyle(fontSize: 18),
+    ),
+    const SizedBox(height: 10),
+    if (connectsLevels.isNotEmpty) ...[
+      const Align(
+        alignment: Alignment.centerLeft,
+        child: Padding(
+          padding: EdgeInsets.only(right: 4),
+          child: Text(
+            'Connects Levels:',
+            style: TextStyle(fontWeight: FontWeight.bold),
+          ),
+        ),
+      ),
+      Align(
+        alignment: Alignment.centerLeft,
+        child: Wrap(
+          spacing: 8,
+          runSpacing: 4,
+          children: connectsLevels.map((level) {
+            return ColorfulChip(label: level.toString());
+          }).toList(),
+        ),
+      ),
+    ],
+  ];
+}
+
+/// Builds the content for the Lift feature type.
+List<Widget> _buildLiftContent(Feature feature, List<int> connectsLevels) {
+  return [
+    Text(
+      feature.name,
+      style: const TextStyle(fontSize: 18),
+    ),
+    const SizedBox(height: 10),
+    if (connectsLevels.isNotEmpty) ...[
+      const Align(
+        alignment: Alignment.centerLeft,
+        child: Padding(
+          padding: EdgeInsets.only(right: 4),
+          child: Text(
+            'Connects Levels:',
+            style: TextStyle(fontWeight: FontWeight.bold),
+          ),
+        ),
+      ),
+      Align(
+        alignment: Alignment.centerLeft,
+        child: Wrap(
+          spacing: 8,
+          runSpacing: 4,
+          children: connectsLevels.map((level) {
+            return ColorfulChip(label: level.toString());
+          }).toList(),
+        ),
+      ),
+    ],
+  ];
+}
+
+/// Builds the content for the PublicTransport feature type.
+List<Widget> _buildPublicTransportContent(
+    Feature feature, List<String> busLines, List<String> tramLines) {
+  return [
+    Text(
+      feature.name,
+      style: const TextStyle(fontSize: 18),
+    ),
+    const SizedBox(height: 10),
+    if (busLines.isNotEmpty) ...[
+      const Align(
+        alignment: Alignment.centerLeft,
+        child: Padding(
+          padding: EdgeInsets.only(right: 4),
+          child: Text(
+            'Bus Lines:',
+            style: TextStyle(fontWeight: FontWeight.bold),
+          ),
+        ),
+      ),
+      Align(
+        alignment: Alignment.centerLeft,
+        child: Wrap(
+          spacing: 8,
+          runSpacing: 4,
+          children: busLines.map((line) {
+            return ColorfulChip(label: line);
+          }).toList(),
+        ),
+      ),
+      const SizedBox(height: 10),
+    ],
+    if (tramLines.isNotEmpty) ...[
+      const Align(
+        alignment: Alignment.centerLeft,
+        child: Padding(
+          padding: EdgeInsets.only(right: 4),
+          child: Text(
+            'Tram Lines:',
+            style: TextStyle(fontWeight: FontWeight.bold),
+          ),
+        ),
+      ),
+      Align(
+        alignment: Alignment.centerLeft,
+        child: Wrap(
+          spacing: 8,
+          runSpacing: 4,
+          children: tramLines.map((line) {
+            return ColorfulChip(label: line);
+          }).toList(),
+        ),
+      ),
+    ],
+  ];
+}

lib/components/map_render_level.dart

@@ -1,4 +1,6 @@
+import 'package:flutter/cupertino.dart';
 import 'package:flutter/material.dart';
+import 'package:flutter/widgets.dart';
 import 'package:flutter_map/flutter_map.dart';
 import 'package:get/get.dart';
 import 'package:latlong2/latlong.dart';
@@ -6,9 +8,13 @@ import 'package:uninav/controllers/map_controller.dart';
 import 'package:uninav/data/geo/model.dart';
 import 'package:uninav/map.dart';
 import 'package:uninav/util/geomath.dart';
+import 'package:uninav/util/util.dart';
 
-List<Widget> renderLevel(int level) {
+List<Widget> renderLevel(
+  int level,
+) {
   return <Widget>[
+    // Lecture Halls
     LevelLayer(
       filter: (feature) =>
           feature.level == level && feature.type is LectureHall,
@@ -18,16 +24,14 @@ List<Widget> renderLevel(int level) {
               points: pts,
               color: Colors.orange.withOpacity(0.2),
               borderColor: Colors.orange,
-                isFilled: true,
-                borderStrokeWidth: 1,
+              borderStrokeWidth: 2,
             ),
           )
           .unwrap(),
       markerConstructor: (feature) => Marker(
-              width: 150,
-              height: 60,
+        width: 50,
+        height: 20,
         point: feature.getPoint().unwrap(),
-              builder: (cx) => Center(
         child: Column(
           children: [
             Icon(
@@ -37,73 +41,144 @@ List<Widget> renderLevel(int level) {
             Text('${feature.name}'),
           ],
         ),
+        alignment: Alignment.center,
       ),
-            )),
+    ),
+
+    // Rooms (Seminar Rooms)
     LevelLayer(
         filter: (feature) => feature.level == level && feature.type is Room,
         polyConstructor: (feature) => feature
             .getPolygon(
               constructor: (pts) => Polygon(
                 points: pts,
-              color: Colors.green.withOpacity(0.2),
+                color: Colors.green.withOpacity(1.2),
                 borderColor: Colors.green,
-              isFilled: true,
-              borderStrokeWidth: 1,
+                borderStrokeWidth: 2,
               ),
             )
             .unwrap(),
+        markerConstructor: (feature) => Marker(
+              width: 100,
+              height: 70,
+              point: feature.getPoint().unwrap(),
+              child: Column(
+                children: [
+                  const Icon(
+                    Icons.co_present_rounded,
+                    color: Colors.amber,
                   ),
+                  Text(
+                    (feature.type as Room).roomNumber,
+                    style: const TextStyle(color: Colors.black),
+                  ),
+                ],
+              ),
+              alignment: Alignment.center,
+            )),
+    // Doors Layer
     LevelLayer(
       filter: (feature) => feature.level == level && feature.type is Door,
       markerConstructor: (feature) {
         final point = feature.getPoint().unwrap();
         return Marker(
-          width: 20,
-          height: 20,
+          width: 21,
+          height: 21,
           point: point,
-          builder: (ctx) => const Icon(
+          child: const Icon(
             Icons.door_front_door,
             color: Colors.brown,
           ),
+          alignment: Alignment.center,
         );
       },
     ),
+
+    // Food and Drink Layer
+    LevelLayer(
+      filter: (feature) => feature.level == level && feature.type is FoodDrink,
+      markerConstructor: (feature) {
+        final point = feature.getPoint().unwrap();
+        return Marker(
+          width: 21,
+          height: 21,
+          point: point,
+          child: const Icon(
+            Icons.restaurant,
+            color: Colors.deepOrange,
+          ),
+          alignment: Alignment.center,
+        );
+      },
+      polyConstructor: (feature) => feature
+          .getPolygon(
+            constructor: (pts) => Polygon(
+              points: pts,
+              color: Colors.deepOrange.withOpacity(0.2),
+              borderColor: Colors.deepOrange,
+              borderStrokeWidth: 2,
+            ),
+          )
+          .unwrap(),
+    ),
+
+    // PC Pools layer
+    LevelLayer(
+      filter: (feature) => feature.level == level && feature.type is PcPool,
+      markerConstructor: (feature) {
+        final point = feature.getPoint().unwrap();
+        return Marker(
+          width: 100,
+          height: 70,
+          point: point,
+          child: Column(
+            children: [
+              const Icon(
+                Icons.computer,
+                color: Colors.cyan,
+              ),
+              Text(
+                (feature.type as PcPool).roomNumber,
+                style: const TextStyle(color: Colors.black),
+              ),
+            ],
+          ),
+          alignment: Alignment.center,
+        );
+      },
+      polyConstructor: (feature) => feature
+          .getPolygon(
+            constructor: (pts) => Polygon(
+              points: pts,
+              color: Colors.cyan.withOpacity(0.2),
+              borderColor: Colors.cyan,
+              borderStrokeWidth: 2,
+            ),
+          )
+          .unwrap(),
+    ),
+
+    // Toilets Layer
     LevelLayer(
       filter: (feature) => feature.level == level && feature.type is Toilet,
       markerConstructor: (feature) {
         final type = (feature.type as Toilet).toilet_type;
-        IconData icon;
-        switch (type.toLowerCase()) {
-          case 'male':
-            icon = Icons.male;
-            break;
-          case 'female':
-            icon = Icons.female;
-            break;
-          case 'handicap':
-            icon = Icons.wheelchair_pickup;
-            break;
-          default:
-            print("WARN: Toilet didn't have recognizable type! "
-                "(Level ${feature.level}, Name ${feature.name}, "
-                "Location: ${feature.getPoint().unwrap()})");
-            icon = Icons.wc;
-            break;
-        }
 
         final point = feature.getPoint().unwrap();
         return Marker(
-          width: 20,
-          height: 20,
+          width: 21,
+          height: 21,
           point: point,
-          builder: (ctx) => Icon(
-            icon,
-            color: Colors.purple,
+          child: Icon(
+            findToiletIcon(type),
+            color: Colors.blue.shade700,
           ),
-          rotateAlignment: Alignment.center,
+          alignment: Alignment.center,
         );
       },
     ),
+
+    // Stairs layer
     LevelLayer(
       filter: (feature) =>
           feature.type is Stairs &&
@@ -111,16 +186,19 @@ List<Widget> renderLevel(int level) {
       markerConstructor: (feature) {
         final point = feature.getPoint().unwrap();
         return Marker(
-          width: 20,
-          height: 20,
+          width: 21,
+          height: 21,
           point: point,
-          builder: (ctx) => Icon(
+          child: Icon(
             Icons.stairs_outlined,
             color: Colors.deepPurple.shade300,
           ),
+          alignment: Alignment.center,
         );
       },
     ),
+
+    // Lift layer
     LevelLayer(
       filter: (feature) =>
           feature.type is Lift &&
@@ -128,13 +206,14 @@ List<Widget> renderLevel(int level) {
       markerConstructor: (feature) {
         final point = feature.getPoint().unwrap();
         return Marker(
-          width: 20,
-          height: 20,
+          width: 21,
+          height: 21,
           point: point,
-          builder: (ctx) => const Icon(
+          child: const Icon(
             Icons.elevator_outlined,
             color: Colors.deepPurple,
           ),
+          alignment: Alignment.center,
         );
       },
     ),
@@ -172,7 +251,14 @@ class LevelLayer extends StatelessWidget {
             if (polyConstructor != null) {
               filteredPolygons.add(polyConstructor!(feature));
             } else {
-              filteredPolygons.add(feature.getPolygon().unwrap());
+              filteredPolygons.add(feature
+                  .getPolygon(
+                      constructor: (points) => Polygon(
+                            points: points,
+                            borderColor: Colors.black26,
+                            borderStrokeWidth: 2.0,
+                          ))
+                  .unwrap());
             }
 
             // calculate polygon center
@@ -186,7 +272,7 @@ class LevelLayer extends StatelessWidget {
                 width: 100,
                 height: 100,
                 point: center,
-                builder: (cx) => Center(
+                child: Center(
                   child: Text(
                     feature.name,
                     style: const TextStyle(
@@ -195,6 +281,7 @@ class LevelLayer extends StatelessWidget {
                     ),
                   ),
                 ),
+                alignment: Alignment.center,
               ));
             }
           } else if (feature.isPoint()) {
@@ -206,7 +293,7 @@ class LevelLayer extends StatelessWidget {
                 width: 100,
                 height: 100,
                 point: point,
-                builder: (cx) => Center(
+                child: Center(
                   child: Text(
                     feature.name,
                     style: const TextStyle(
@@ -215,6 +302,7 @@ class LevelLayer extends StatelessWidget {
                     ),
                   ),
                 ),
+                alignment: Alignment.center,
               ));
             }
           }
@@ -226,28 +314,37 @@ class LevelLayer extends StatelessWidget {
       // print(filteredPolygons[0].points[0]);
       // print(myMapController.features.length);
 
+      // filteredPolygons.forEach((element) {
+      //   print(element.hitValue);
+      // });
+
       final List<Widget> widgets = [];
       if (filteredPolygons.isNotEmpty) {
         if (polyConstructor != null) {
-          widgets.add(PolygonLayer(polygons: filteredPolygons));
+          widgets.add(TranslucentPointer(
+            child: PolygonLayer(
+              polygons: filteredPolygons,
+            ),
+          ));
         } else {
-          widgets.add(PolygonLayer(
-              polygons: filteredPolygons
-                  .map((poly) => Polygon(
-                        points: poly.points,
-                        borderColor: Colors.black26,
-                        borderStrokeWidth: 2.0,
-                      ))
-                  .toList()));
+          widgets.add(TranslucentPointer(
+            child: PolygonLayer(
+              polygons: filteredPolygons,
+            ),
+          ));
         }
-        widgets.add(MarkerLayer(
+        widgets.add(TranslucentPointer(
+          child: MarkerLayer(
             markers: polygonCenterMarkers,
             rotate: true,
+          ),
         ));
       }
 
       if (filteredMarkers.isNotEmpty) {
-        widgets.add(MarkerLayer(markers: filteredMarkers, rotate: true));
+        widgets.add(TranslucentPointer(
+          child: MarkerLayer(markers: filteredMarkers, rotate: true),
+        ));
       }
 
       return Stack(children: widgets);

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/isar_controller.dart.old

@@ -0,0 +1,74 @@
+import 'package:get/get.dart';
+import 'package:isar/isar.dart';
+import 'package:path_provider/path_provider.dart';
+
+part 'isar_controller.g.dart';
+
+/// Manages the initialization and access to the Isar database instance.
+///
+/// The `IsarController` class is responsible for initializing the Isar database
+/// and providing access to the database instance. It ensures that the Isar
+/// instance is properly initialized before it can be accessed.
+///
+/// The `initializeIsar()` method is used to initialize the Isar instance by
+/// opening the database with the provided schema. Make sure to call this before
+/// calling anything else!. The `isar` getter returns the
+/// Isar instance, throwing an exception if the instance is not yet initialized.
+class IsarController {
+  late Isar _isar;
+
+  late final Rx<Settings> settings;
+
+  IsarController();
+
+  Future<void> initializeIsar() async {
+    final dir = await getApplicationDocumentsDirectory();
+    _isar = await Isar.open(
+      [SettingsSchema],
+      directory: dir.path,
+    );
+    settings = (await _isar.settings.get(1) ?? Settings()).obs;
+    _isar.settings.watchObject(1).forEach((element) {
+      if (element != null) settings.value = element;
+    });
+  }
+
+  Future<void> persistSettings() async {
+    await _isar.writeTxn(() async {
+      await _isar.settings.put(settings.value);
+    });
+  }
+
+  Isar get isar {
+    if (_isar == null) {
+      throw Exception('Isar is not initialized');
+    }
+    return _isar;
+  }
+}
+
+@collection
+class Settings {
+  Id id = 1;
+
+  bool showIcons = true;
+
+  bool showElevators = true;
+  bool showFoodAndDrink = true;
+  bool showLectureHalls = true;
+  bool showComputerPools = true;
+  bool showSeminarRooms = true;
+  bool showToilets = true;
+  bool showStairs = true;
+  bool showDoors = true;
+
+  bool maleToilets = false;
+  bool femaleToilets = false;
+  bool handicapToilets = false;
+}
+
+enum ToiletPreference {
+  male,
+  female,
+  disabled,
+}

lib/controllers/map_controller.dart

@@ -1,16 +1,29 @@
+import 'dart:async';
 import 'dart:convert';
 
 import 'package:anyhow/anyhow.dart';
-import 'package:geojson/geojson.dart';
+import 'package:flutter_map/flutter_map.dart';
+import 'package:geojson_vi/geojson_vi.dart';
+import 'package:geolocator/geolocator.dart';
 import 'package:get/get.dart';
+import 'package:latlong2/latlong.dart';
+import 'package:uninav/components/feature_bottom_sheet.dart';
 import 'package:uninav/data/geo/model.dart';
 import 'package:uninav/data/geo/parser.dart';
+import 'package:uninav/util/geojson_util.dart';
+import 'package:uninav/util/geolocator.dart';
+import 'package:uninav/util/geomath.dart';
 
 class MyMapController extends GetxController {
-  // constructor that calls loadgeojson with a default geojson string
+  final MapController mapController = MapController();
+
   final RxList<Feature> features = <Feature>[].obs;
   final currentLevel = 1.obs;
   final levels = <int>[1].obs;
+  final Rx<Position?> position = null.obs;
+
+  bool _locationEnsured = false;
+
   @override
   onInit() async {
     print("init");
@@ -28,6 +41,7 @@ class MyMapController extends GetxController {
     }
     newLevels.sort();
     levels.value = newLevels;
+    update();
   }
 
   Result<void> setLevel(int level) {
@@ -37,31 +51,144 @@ class MyMapController extends GetxController {
     }
 
     currentLevel.value = level;
+    update();
     return const Ok(());
   }
 
+  List<Feature> computeHits(LatLng position, {bool Function(Feature)? filter}) {
+    final hits = <(Feature, double)>[];
+    for (final feature in features) {
+      if (filter != null && !filter(feature)) {
+        continue;
+      }
+      if (feature.isPolygon()) {
+        if ((feature.geometry as GeoJSONPolygon)
+            .isPointInside(latLonToGeoJSON(position))) {
+          // compute distance to center of polygon
+          final distance = distanceBetweenLatLng(
+              polygonCenterMinmax((feature.geometry as GeoJSONPolygon)
+                  .coordinates[0]
+                  .map(geoJSONToLatLon)
+                  .toList()),
+              position,
+              'meters');
+          hits.add((feature, distance));
+        }
+      } else if (feature.isPoint()) {
+        final distance = distanceBetweenLatLng(
+            geoJSONToLatLon((feature.geometry as GeoJSONPoint).coordinates),
+            position,
+            'meters');
+        if (distance <= 5) {
+          hits.add((feature, distance));
+        }
+      }
+    }
+    hits.sort((a, b) => a.$2.compareTo(b.$2));
+    return hits.map((e) => e.$1).toList();
+  }
+
   Future<void> loadGeoJson(String geoJsonString) async {
     try {
       // print(geoJsonString);
 
       final featuresList = <Feature>[];
 
-      final geojson = GeoJson();
-
-      await geojson.parse(geoJsonString);
+      // print('doing');
+      final geojson = GeoJSONFeatureCollection.fromJSON(geoJsonString);
+      // print('done');
 
       for (final feature in geojson.features) {
-        print(feature.properties);
-        final parsed =
-            parseFeature(feature.properties ?? <String, dynamic>{}, feature);
+        // print(feature);
+        // print(feature?.properties);
+        if (feature == null) continue;
+        // print(feature.properties);
+        final parsed = parseFeature(feature.properties ?? <String, dynamic>{},
+            feature.geometry, feature.id);
         if (parsed case Ok(:final ok)) {
           featuresList.add(ok);
+        } else {
+          print('Error parsing feature: $parsed');
         }
       }
 
       features.value = featuresList;
+      update();
     } catch (e) {
       print('Error parsing GeoJSON: $e');
     }
   }
+
+  void handleTap(TapPosition tapPosition, LatLng point) {
+    final hits = Get.find<MyMapController>().computeHits(point,
+        filter: (feature) =>
+            feature.isOnLevel(null) /* is not on a level */ ||
+            feature.isOnLevel(Get.find<MyMapController>().currentLevel.value));
+    print('Hits: ${hits.map((e) => e.name)}');
+    if (hits.isNotEmpty) {
+      focusOnFeature(hits[0],
+          move: false,
+          closestFeatures:
+              hits.length > 1 ? hits.skip(1).toList() : null); // closest match
+    }
+  }
+
+  void focusOnFeature(Feature feature,
+      {bool move = true, List<Feature>? closestFeatures}) {
+    try {
+      if (move) {
+        mapController.move(
+          feature
+              .getCenterPoint()
+              .expect("Couldn't find Center Point of target geometry"),
+          mapController.camera.zoom,
+        );
+      }
+    } catch (e) {
+      print("Error moving map controller: $e");
+    }
+    showFeatureBottomSheet(feature, closestFeatures);
+  }
+
+  Future<Result<Position>> getCurrentPosition() async {
+    if (!_locationEnsured) {
+      final ensureRes = await ensureLocationPermission();
+      if (ensureRes is Err) {
+        // TODO: check that it works
+        return ensureRes as Err<Position>;
+      }
+    }
+    _locationEnsured = true;
+    try {
+      final pos = await Geolocator.getCurrentPosition(
+        // desiredAccuracy: LocationAccuracy.high,
+        timeLimit: Duration(minutes: 1),
+      );
+      position.value = pos;
+      return Ok(pos);
+    } on TimeoutException catch (e) {
+      return bail("Timeout while waiting for location lock: $e");
+    }
+  }
+
+  Future<Result<()>> subscribePosition() async {
+    if (!_locationEnsured) {
+      final ensureRes = await ensureLocationPermission();
+      if (ensureRes is Err) {
+        // TODO: check that it works
+        return ensureRes;
+      }
+    }
+    _locationEnsured = true;
+    Geolocator.getPositionStream(
+      locationSettings: const LocationSettings(
+        accuracy: LocationAccuracy.high,
+        distanceFilter: 100,
+        //timeLimit: Duration(minutes: 10)
+      ),
+    ).listen((pos) {
+      position.value = pos;
+    });
+    return const Ok(());
+  }
 }

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/controllers/shared_prefs_controller.dart

@@ -0,0 +1,72 @@
+import 'dart:convert';
+
+import 'package:get/get.dart';
+import 'package:path_provider/path_provider.dart';
+import 'package:shared_preferences/shared_preferences.dart';
+import 'package:freezed_annotation/freezed_annotation.dart';
+
+part 'shared_prefs_controller.freezed.dart';
+part 'shared_prefs_controller.g.dart';
+
+class SharedPrefsController {
+  late SharedPreferences _sharedPrefs;
+
+  final Rx<Settings> settings = Settings().obs;
+
+  SharedPrefsController();
+
+  Future<void> initialize() async {
+    _sharedPrefs = await SharedPreferences.getInstance();
+    try {
+      final settingsJson = _sharedPrefs.getString("settings");
+      if (settingsJson != null) {
+        settings.value = Settings.fromJson(jsonDecode(settingsJson));
+      } else {
+        settings.value = const Settings();
+      }
+    } catch (e) {
+      settings.value = const Settings();
+    }
+  }
+
+  Future<void> persistSettings() async {
+    final prefs = await SharedPreferences.getInstance();
+    await prefs.setString('settings', jsonEncode(settings.value));
+  }
+
+  Future<Settings> loadSettings() async {
+    final prefs = await SharedPreferences.getInstance();
+    final settingsJson = prefs.getString('settings');
+    return settingsJson != null
+        ? Settings.fromJson(jsonDecode(settingsJson))
+        : const Settings();
+  }
+}
+
+@freezed
+class Settings with _$Settings {
+  const factory Settings({
+    @Default(1) int id,
+    @Default(true) bool showIcons,
+    @Default(true) bool showElevators,
+    @Default(true) bool showFoodAndDrink,
+    @Default(true) bool showLectureHalls,
+    @Default(true) bool showComputerPools,
+    @Default(true) bool showSeminarRooms,
+    @Default(true) bool showToilets,
+    @Default(true) bool showStairs,
+    @Default(true) bool showDoors,
+    @Default(false) bool maleToilets,
+    @Default(false) bool femaleToilets,
+    @Default(false) bool handicapToilets,
+  }) = _Settings;
+
+  factory Settings.fromJson(Map<String, dynamic> json) =>
+      _$SettingsFromJson(json);
+}
+
+enum ToiletPreference {
+  male,
+  female,
+  disabled,
+}

lib/controllers/shared_prefs_controller.freezed.dart

@@ -0,0 +1,433 @@
+// coverage:ignore-file
+// GENERATED CODE - DO NOT MODIFY BY HAND
+// ignore_for_file: type=lint
+// ignore_for_file: unused_element, deprecated_member_use, deprecated_member_use_from_same_package, use_function_type_syntax_for_parameters, unnecessary_const, avoid_init_to_null, invalid_override_different_default_values_named, prefer_expression_function_bodies, annotate_overrides, invalid_annotation_target, unnecessary_question_mark
+
+part of 'shared_prefs_controller.dart';
+
+// **************************************************************************
+// FreezedGenerator
+// **************************************************************************
+
+T _$identity<T>(T value) => value;
+
+final _privateConstructorUsedError = UnsupportedError(
+    'It seems like you constructed your class using `MyClass._()`. This constructor is only meant to be used by freezed and you are not supposed to need it nor use it.\nPlease check the documentation here for more information: https://github.com/rrousselGit/freezed#adding-getters-and-methods-to-our-models');
+
+Settings _$SettingsFromJson(Map<String, dynamic> json) {
+  return _Settings.fromJson(json);
+}
+
+/// @nodoc
+mixin _$Settings {
+  int get id => throw _privateConstructorUsedError;
+  bool get showIcons => throw _privateConstructorUsedError;
+  bool get showElevators => throw _privateConstructorUsedError;
+  bool get showFoodAndDrink => throw _privateConstructorUsedError;
+  bool get showLectureHalls => throw _privateConstructorUsedError;
+  bool get showComputerPools => throw _privateConstructorUsedError;
+  bool get showSeminarRooms => throw _privateConstructorUsedError;
+  bool get showToilets => throw _privateConstructorUsedError;
+  bool get showStairs => throw _privateConstructorUsedError;
+  bool get showDoors => throw _privateConstructorUsedError;
+  bool get maleToilets => throw _privateConstructorUsedError;
+  bool get femaleToilets => throw _privateConstructorUsedError;
+  bool get handicapToilets => throw _privateConstructorUsedError;
+
+  Map<String, dynamic> toJson() => throw _privateConstructorUsedError;
+  @JsonKey(ignore: true)
+  $SettingsCopyWith<Settings> get copyWith =>
+      throw _privateConstructorUsedError;
+}
+
+/// @nodoc
+abstract class $SettingsCopyWith<$Res> {
+  factory $SettingsCopyWith(Settings value, $Res Function(Settings) then) =
+      _$SettingsCopyWithImpl<$Res, Settings>;
+  @useResult
+  $Res call(
+      {int id,
+      bool showIcons,
+      bool showElevators,
+      bool showFoodAndDrink,
+      bool showLectureHalls,
+      bool showComputerPools,
+      bool showSeminarRooms,
+      bool showToilets,
+      bool showStairs,
+      bool showDoors,
+      bool maleToilets,
+      bool femaleToilets,
+      bool handicapToilets});
+}
+
+/// @nodoc
+class _$SettingsCopyWithImpl<$Res, $Val extends Settings>
+    implements $SettingsCopyWith<$Res> {
+  _$SettingsCopyWithImpl(this._value, this._then);
+
+  // ignore: unused_field
+  final $Val _value;
+  // ignore: unused_field
+  final $Res Function($Val) _then;
+
+  @pragma('vm:prefer-inline')
+  @override
+  $Res call({
+    Object? id = null,
+    Object? showIcons = null,
+    Object? showElevators = null,
+    Object? showFoodAndDrink = null,
+    Object? showLectureHalls = null,
+    Object? showComputerPools = null,
+    Object? showSeminarRooms = null,
+    Object? showToilets = null,
+    Object? showStairs = null,
+    Object? showDoors = null,
+    Object? maleToilets = null,
+    Object? femaleToilets = null,
+    Object? handicapToilets = null,
+  }) {
+    return _then(_value.copyWith(
+      id: null == id
+          ? _value.id
+          : id // ignore: cast_nullable_to_non_nullable
+              as int,
+      showIcons: null == showIcons
+          ? _value.showIcons
+          : showIcons // ignore: cast_nullable_to_non_nullable
+              as bool,
+      showElevators: null == showElevators
+          ? _value.showElevators
+          : showElevators // ignore: cast_nullable_to_non_nullable
+              as bool,
+      showFoodAndDrink: null == showFoodAndDrink
+          ? _value.showFoodAndDrink
+          : showFoodAndDrink // ignore: cast_nullable_to_non_nullable
+              as bool,
+      showLectureHalls: null == showLectureHalls
+          ? _value.showLectureHalls
+          : showLectureHalls // ignore: cast_nullable_to_non_nullable
+              as bool,
+      showComputerPools: null == showComputerPools
+          ? _value.showComputerPools
+          : showComputerPools // ignore: cast_nullable_to_non_nullable
+              as bool,
+      showSeminarRooms: null == showSeminarRooms
+          ? _value.showSeminarRooms
+          : showSeminarRooms // ignore: cast_nullable_to_non_nullable
+              as bool,
+      showToilets: null == showToilets
+          ? _value.showToilets
+          : showToilets // ignore: cast_nullable_to_non_nullable
+              as bool,
+      showStairs: null == showStairs
+          ? _value.showStairs
+          : showStairs // ignore: cast_nullable_to_non_nullable
+              as bool,
+      showDoors: null == showDoors
+          ? _value.showDoors
+          : showDoors // ignore: cast_nullable_to_non_nullable
+              as bool,
+      maleToilets: null == maleToilets
+          ? _value.maleToilets
+          : maleToilets // ignore: cast_nullable_to_non_nullable
+              as bool,
+      femaleToilets: null == femaleToilets
+          ? _value.femaleToilets
+          : femaleToilets // ignore: cast_nullable_to_non_nullable
+              as bool,
+      handicapToilets: null == handicapToilets
+          ? _value.handicapToilets
+          : handicapToilets // ignore: cast_nullable_to_non_nullable
+              as bool,
+    ) as $Val);
+  }
+}
+
+/// @nodoc
+abstract class _$$SettingsImplCopyWith<$Res>
+    implements $SettingsCopyWith<$Res> {
+  factory _$$SettingsImplCopyWith(
+          _$SettingsImpl value, $Res Function(_$SettingsImpl) then) =
+      __$$SettingsImplCopyWithImpl<$Res>;
+  @override
+  @useResult
+  $Res call(
+      {int id,
+      bool showIcons,
+      bool showElevators,
+      bool showFoodAndDrink,
+      bool showLectureHalls,
+      bool showComputerPools,
+      bool showSeminarRooms,
+      bool showToilets,
+      bool showStairs,
+      bool showDoors,
+      bool maleToilets,
+      bool femaleToilets,
+      bool handicapToilets});
+}
+
+/// @nodoc
+class __$$SettingsImplCopyWithImpl<$Res>
+    extends _$SettingsCopyWithImpl<$Res, _$SettingsImpl>
+    implements _$$SettingsImplCopyWith<$Res> {
+  __$$SettingsImplCopyWithImpl(
+      _$SettingsImpl _value, $Res Function(_$SettingsImpl) _then)
+      : super(_value, _then);
+
+  @pragma('vm:prefer-inline')
+  @override
+  $Res call({
+    Object? id = null,
+    Object? showIcons = null,
+    Object? showElevators = null,
+    Object? showFoodAndDrink = null,
+    Object? showLectureHalls = null,
+    Object? showComputerPools = null,
+    Object? showSeminarRooms = null,
+    Object? showToilets = null,
+    Object? showStairs = null,
+    Object? showDoors = null,
+    Object? maleToilets = null,
+    Object? femaleToilets = null,
+    Object? handicapToilets = null,
+  }) {
+    return _then(_$SettingsImpl(
+      id: null == id
+          ? _value.id
+          : id // ignore: cast_nullable_to_non_nullable
+              as int,
+      showIcons: null == showIcons
+          ? _value.showIcons
+          : showIcons // ignore: cast_nullable_to_non_nullable
+              as bool,
+      showElevators: null == showElevators
+          ? _value.showElevators
+          : showElevators // ignore: cast_nullable_to_non_nullable
+              as bool,
+      showFoodAndDrink: null == showFoodAndDrink
+          ? _value.showFoodAndDrink
+          : showFoodAndDrink // ignore: cast_nullable_to_non_nullable
+              as bool,
+      showLectureHalls: null == showLectureHalls
+          ? _value.showLectureHalls
+          : showLectureHalls // ignore: cast_nullable_to_non_nullable
+              as bool,
+      showComputerPools: null == showComputerPools
+          ? _value.showComputerPools
+          : showComputerPools // ignore: cast_nullable_to_non_nullable
+              as bool,
+      showSeminarRooms: null == showSeminarRooms
+          ? _value.showSeminarRooms
+          : showSeminarRooms // ignore: cast_nullable_to_non_nullable
+              as bool,
+      showToilets: null == showToilets
+          ? _value.showToilets
+          : showToilets // ignore: cast_nullable_to_non_nullable
+              as bool,
+      showStairs: null == showStairs
+          ? _value.showStairs
+          : showStairs // ignore: cast_nullable_to_non_nullable
+              as bool,
+      showDoors: null == showDoors
+          ? _value.showDoors
+          : showDoors // ignore: cast_nullable_to_non_nullable
+              as bool,
+      maleToilets: null == maleToilets
+          ? _value.maleToilets
+          : maleToilets // ignore: cast_nullable_to_non_nullable
+              as bool,
+      femaleToilets: null == femaleToilets
+          ? _value.femaleToilets
+          : femaleToilets // ignore: cast_nullable_to_non_nullable
+              as bool,
+      handicapToilets: null == handicapToilets
+          ? _value.handicapToilets
+          : handicapToilets // ignore: cast_nullable_to_non_nullable
+              as bool,
+    ));
+  }
+}
+
+/// @nodoc
+@JsonSerializable()
+class _$SettingsImpl implements _Settings {
+  const _$SettingsImpl(
+      {this.id = 1,
+      this.showIcons = true,
+      this.showElevators = true,
+      this.showFoodAndDrink = true,
+      this.showLectureHalls = true,
+      this.showComputerPools = true,
+      this.showSeminarRooms = true,
+      this.showToilets = true,
+      this.showStairs = true,
+      this.showDoors = true,
+      this.maleToilets = false,
+      this.femaleToilets = false,
+      this.handicapToilets = false});
+
+  factory _$SettingsImpl.fromJson(Map<String, dynamic> json) =>
+      _$$SettingsImplFromJson(json);
+
+  @override
+  @JsonKey()
+  final int id;
+  @override
+  @JsonKey()
+  final bool showIcons;
+  @override
+  @JsonKey()
+  final bool showElevators;
+  @override
+  @JsonKey()
+  final bool showFoodAndDrink;
+  @override
+  @JsonKey()
+  final bool showLectureHalls;
+  @override
+  @JsonKey()
+  final bool showComputerPools;
+  @override
+  @JsonKey()
+  final bool showSeminarRooms;
+  @override
+  @JsonKey()
+  final bool showToilets;
+  @override
+  @JsonKey()
+  final bool showStairs;
+  @override
+  @JsonKey()
+  final bool showDoors;
+  @override
+  @JsonKey()
+  final bool maleToilets;
+  @override
+  @JsonKey()
+  final bool femaleToilets;
+  @override
+  @JsonKey()
+  final bool handicapToilets;
+
+  @override
+  String toString() {
+    return 'Settings(id: $id, showIcons: $showIcons, showElevators: $showElevators, showFoodAndDrink: $showFoodAndDrink, showLectureHalls: $showLectureHalls, showComputerPools: $showComputerPools, showSeminarRooms: $showSeminarRooms, showToilets: $showToilets, showStairs: $showStairs, showDoors: $showDoors, maleToilets: $maleToilets, femaleToilets: $femaleToilets, handicapToilets: $handicapToilets)';
+  }
+
+  @override
+  bool operator ==(Object other) {
+    return identical(this, other) ||
+        (other.runtimeType == runtimeType &&
+            other is _$SettingsImpl &&
+            (identical(other.id, id) || other.id == id) &&
+            (identical(other.showIcons, showIcons) ||
+                other.showIcons == showIcons) &&
+            (identical(other.showElevators, showElevators) ||
+                other.showElevators == showElevators) &&
+            (identical(other.showFoodAndDrink, showFoodAndDrink) ||
+                other.showFoodAndDrink == showFoodAndDrink) &&
+            (identical(other.showLectureHalls, showLectureHalls) ||
+                other.showLectureHalls == showLectureHalls) &&
+            (identical(other.showComputerPools, showComputerPools) ||
+                other.showComputerPools == showComputerPools) &&
+            (identical(other.showSeminarRooms, showSeminarRooms) ||
+                other.showSeminarRooms == showSeminarRooms) &&
+            (identical(other.showToilets, showToilets) ||
+                other.showToilets == showToilets) &&
+            (identical(other.showStairs, showStairs) ||
+                other.showStairs == showStairs) &&
+            (identical(other.showDoors, showDoors) ||
+                other.showDoors == showDoors) &&
+            (identical(other.maleToilets, maleToilets) ||
+                other.maleToilets == maleToilets) &&
+            (identical(other.femaleToilets, femaleToilets) ||
+                other.femaleToilets == femaleToilets) &&
+            (identical(other.handicapToilets, handicapToilets) ||
+                other.handicapToilets == handicapToilets));
+  }
+
+  @JsonKey(ignore: true)
+  @override
+  int get hashCode => Object.hash(
+      runtimeType,
+      id,
+      showIcons,
+      showElevators,
+      showFoodAndDrink,
+      showLectureHalls,
+      showComputerPools,
+      showSeminarRooms,
+      showToilets,
+      showStairs,
+      showDoors,
+      maleToilets,
+      femaleToilets,
+      handicapToilets);
+
+  @JsonKey(ignore: true)
+  @override
+  @pragma('vm:prefer-inline')
+  _$$SettingsImplCopyWith<_$SettingsImpl> get copyWith =>
+      __$$SettingsImplCopyWithImpl<_$SettingsImpl>(this, _$identity);
+
+  @override
+  Map<String, dynamic> toJson() {
+    return _$$SettingsImplToJson(
+      this,
+    );
+  }
+}
+
+abstract class _Settings implements Settings {
+  const factory _Settings(
+      {final int id,
+      final bool showIcons,
+      final bool showElevators,
+      final bool showFoodAndDrink,
+      final bool showLectureHalls,
+      final bool showComputerPools,
+      final bool showSeminarRooms,
+      final bool showToilets,
+      final bool showStairs,
+      final bool showDoors,
+      final bool maleToilets,
+      final bool femaleToilets,
+      final bool handicapToilets}) = _$SettingsImpl;
+
+  factory _Settings.fromJson(Map<String, dynamic> json) =
+      _$SettingsImpl.fromJson;
+
+  @override
+  int get id;
+  @override
+  bool get showIcons;
+  @override
+  bool get showElevators;
+  @override
+  bool get showFoodAndDrink;
+  @override
+  bool get showLectureHalls;
+  @override
+  bool get showComputerPools;
+  @override
+  bool get showSeminarRooms;
+  @override
+  bool get showToilets;
+  @override
+  bool get showStairs;
+  @override
+  bool get showDoors;
+  @override
+  bool get maleToilets;
+  @override
+  bool get femaleToilets;
+  @override
+  bool get handicapToilets;
+  @override
+  @JsonKey(ignore: true)
+  _$$SettingsImplCopyWith<_$SettingsImpl> get copyWith =>
+      throw _privateConstructorUsedError;
+}

lib/controllers/shared_prefs_controller.g.dart

@@ -0,0 +1,41 @@
+// GENERATED CODE - DO NOT MODIFY BY HAND
+
+part of 'shared_prefs_controller.dart';
+
+// **************************************************************************
+// JsonSerializableGenerator
+// **************************************************************************
+
+_$SettingsImpl _$$SettingsImplFromJson(Map<String, dynamic> json) =>
+    _$SettingsImpl(
+      id: json['id'] as int? ?? 1,
+      showIcons: json['showIcons'] as bool? ?? true,
+      showElevators: json['showElevators'] as bool? ?? true,
+      showFoodAndDrink: json['showFoodAndDrink'] as bool? ?? true,
+      showLectureHalls: json['showLectureHalls'] as bool? ?? true,
+      showComputerPools: json['showComputerPools'] as bool? ?? true,
+      showSeminarRooms: json['showSeminarRooms'] as bool? ?? true,
+      showToilets: json['showToilets'] as bool? ?? true,
+      showStairs: json['showStairs'] as bool? ?? true,
+      showDoors: json['showDoors'] as bool? ?? true,
+      maleToilets: json['maleToilets'] as bool? ?? false,
+      femaleToilets: json['femaleToilets'] as bool? ?? false,
+      handicapToilets: json['handicapToilets'] as bool? ?? false,
+    );
+
+Map<String, dynamic> _$$SettingsImplToJson(_$SettingsImpl instance) =>
+    <String, dynamic>{
+      'id': instance.id,
+      'showIcons': instance.showIcons,
+      'showElevators': instance.showElevators,
+      'showFoodAndDrink': instance.showFoodAndDrink,
+      'showLectureHalls': instance.showLectureHalls,
+      'showComputerPools': instance.showComputerPools,
+      'showSeminarRooms': instance.showSeminarRooms,
+      'showToilets': instance.showToilets,
+      'showStairs': instance.showStairs,
+      'showDoors': instance.showDoors,
+      'maleToilets': instance.maleToilets,
+      'femaleToilets': instance.femaleToilets,
+      'handicapToilets': instance.handicapToilets,
+    };

lib/data/geo/model.dart

@@ -2,8 +2,10 @@ import 'package:anyhow/anyhow.dart';
 import 'package:flutter/material.dart';
 import 'package:flutter_map/flutter_map.dart';
 import 'package:freezed_annotation/freezed_annotation.dart';
-import 'package:geojson/geojson.dart';
+import 'package:geojson_vi/geojson_vi.dart';
 import 'package:latlong2/latlong.dart';
+import 'package:uninav/util/geojson_util.dart';
+import 'package:uninav/util/geomath.dart';
 
 part 'model.freezed.dart';
 
@@ -15,27 +17,32 @@ class Feature with _$Feature {
     required String name,
     required FeatureType type,
     String? description,
-    required dynamic geometry,
+    required GeoJSONGeometry geometry,
     int? level,
+    String? building,
+    required String id,
   }) = _Feature;
 
   bool isPolygon() {
-    return geometry is GeoJsonFeature<GeoJsonPolygon>;
+    return geometry is GeoJSONPolygon;
   }
 
   bool isPoint() {
-    return geometry is GeoJsonFeature<GeoJsonPoint>;
+    return geometry is GeoJSONPoint;
   }
 
   Result<Polygon> getPolygon({Polygon Function(List<LatLng>)? constructor}) {
     if (isPolygon()) {
       constructor ??= (pts) => Polygon(
-          points: pts, borderColor: Colors.black26, borderStrokeWidth: 2.0);
-      final polygon = geometry as GeoJsonFeature<GeoJsonPolygon>;
+            points: pts,
+            borderColor: Colors.black26,
+            borderStrokeWidth: 2.0,
+          );
+      final polygon = geometry as GeoJSONPolygon;
       // print(polygon.geometry!.geoSeries[0].geoPoints);
-      final points = polygon.geometry!.geoSeries[0].geoPoints
-          .map((e) => LatLng(e.latitude, e.longitude))
-          .toList();
+      final points =
+          // polygon.coordinates[0].map((e) => LatLng(e[0], e[1])).toList();
+          polygon.coordinates[0].map(geoJSONToLatLon).toList();
 
       // print(points);
       return Ok(constructor(points));
@@ -46,13 +53,58 @@ class Feature with _$Feature {
 
   Result<LatLng> getPoint() {
     if (isPoint()) {
-      final point = geometry as GeoJsonFeature<GeoJsonPoint>;
-      return Ok(LatLng(point.geometry!.geoPoint.latitude,
-          point.geometry!.geoPoint.longitude));
+      final point = geometry as GeoJSONPoint;
+      return Ok(geoJSONToLatLon(point.coordinates));
     } else {
       return bail("Feature Geometry is not a Point");
     }
   }
+
+  /// Checks if the current feature is on the specified layer.
+  ///
+  /// For features that represent lifts or stairs, this method checks if the
+  /// feature's `connects_levels` list contains the specified layer.
+  ///
+  /// For other feature types, this method simply checks if the feature's `level`
+  /// property matches the specified layer.
+  ///
+  /// @param layer The layer to check for. **Layer can be `null`!**
+  ///        `null` matches things such as Buildings without a layer.
+  /// @return `true` if the feature is on the specified layer, `false` otherwise.
+  bool isOnLevel(int? layer) {
+    if (type is Lift) {
+      return (type as Lift).connects_levels.contains(layer);
+    } else if (type is Stairs) {
+      return (type as Stairs).connects_levels.contains(layer);
+    }
+    return level == layer;
+  }
+
+  Result<LatLng> getCenterPoint() {
+    if (isPolygon()) {
+      final polygon = geometry as GeoJSONPolygon;
+      final points = polygon.coordinates[0].map(geoJSONToLatLon).toList();
+      return Ok(polygonCenterMinmax(points));
+    } else if (isPoint()) {
+      final point = geometry as GeoJSONPoint;
+      return Ok(geoJSONToLatLon(point.coordinates));
+    } else {
+      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
@@ -60,11 +112,13 @@ class FeatureType with _$FeatureType {
   // multiple feature types like lecture hall, toliet, ...
   const factory FeatureType.building() = Building;
   const factory FeatureType.lectureHall() = LectureHall;
-  const factory FeatureType.room() = Room;
+  const factory FeatureType.room(String roomNumber) = Room;
   const factory FeatureType.door(List<String> connects) = Door;
   const factory FeatureType.toilet(String toilet_type) = Toilet;
   const factory FeatureType.stairs(List<int> connects_levels) = Stairs;
   const factory FeatureType.lift(List<int> connects_levels) = Lift;
+  const factory FeatureType.foodDrink() = FoodDrink;
   const factory FeatureType.publicTransport(
       List<String> bus_lines, List<String> tram_lines) = PublicTransport;
+  const factory FeatureType.pcPool(String roomNumber) = PcPool;
 }

lib/data/geo/parser.dart

@@ -1,10 +1,10 @@
 import 'package:anyhow/anyhow.dart';
-import 'package:geojson/geojson.dart';
+import 'package:geojson_vi/geojson_vi.dart';
 import 'package:uninav/data/geo/model.dart';
 import 'package:yaml/yaml.dart';
 
 Result<Feature> parseFeature(
-    Map<String, dynamic> properties, dynamic geometry) {
+    Map<String, dynamic> properties, GeoJSONGeometry geometry, String id) {
   final name = properties['name'] as String?;
   final description_yaml = properties['description'] as String? ?? '';
   final layer = properties['layer'] as String?;
@@ -20,23 +20,30 @@ Result<Feature> parseFeature(
 
   // try parse yaml
   if (description_yaml == null) {
-    print("warn: Description key is missing for feature $name");
+    print(
+        "warn: Description key is missing for feature $name\n\n$geometry\n\n$properties");
   }
 
   if (layer == null) {
-    return bail("Layer key \'layer\' is missing for feature $name");
+    return bail(
+        "Layer key \'layer\' is missing for feature $name\n\n$geometry\n\n$properties");
   }
   dynamic yaml;
   try {
     yaml = loadYaml(description_yaml);
   } on YamlException catch (e) {
-    return bail("Couldn't parse YAML in description for feature $name: $e");
+    return bail(
+        "Couldn't parse YAML in description for feature $name\n\n$description_yaml\n\nError: $e");
   }
 
   yaml = yaml as YamlMap? ?? {};
-  final description = yaml['desription'] as String?;
+  final description = yaml['description'] as String?;
 
-  print("yaml: $yaml");
+  // if (description != null) print("================ $description");
+
+  final building = yaml['building'] as String?;
+
+  // print("yaml: $yaml");
 
   var raw_type = yaml['type'] as String?;
   if (raw_type == null && layer?.toLowerCase() == 'buildings') {
@@ -66,8 +73,16 @@ Result<Feature> parseFeature(
       case 'lecture_hall':
         type = FeatureType.lectureHall();
         break;
-      case 'room':
-        type = FeatureType.room();
+      case 'seminar_room':
+        type = FeatureType.room(getYamlKeyStringify(yaml, 'number')
+            .expect("Couldn't parse 'number' for seminar_room feature $name"));
+        break;
+      case 'pc_pool':
+        type = FeatureType.pcPool(getYamlKeyStringify(yaml, 'number')
+            .expect("Couldn't parse 'number' for PcPool feature $name"));
+        break;
+      case 'food_drink':
+        type = FeatureType.foodDrink();
         break;
       case 'door':
         final list = getYamlList<String>(yaml, 'connects')
@@ -80,10 +95,8 @@ Result<Feature> parseFeature(
         type = FeatureType.toilet(toiletType);
         break;
       case 'public_transport':
-        final busLines = getYamlList<dynamic>(yaml, 'bus_lines')
-            .expect("Couldn't parse 'bus_lines' for feature $name");
-        final tramLines = getYamlList<dynamic>(yaml, 'tram_lines')
-            .expect("Couldn't parse 'tram_lines' for feature $name");
+        final busLines = getYamlList<dynamic>(yaml, 'bus_lines').unwrapOr([]);
+        final tramLines = getYamlList<dynamic>(yaml, 'tram_lines').unwrapOr([]);
 
         type = FeatureType.publicTransport(
           stringifyList(busLines)
@@ -105,6 +118,8 @@ Result<Feature> parseFeature(
     description: description,
     geometry: geometry,
     level: level,
+    building: building,
+    id: id,
   ));
 }
 
@@ -118,7 +133,7 @@ Result<List<String>> stringifyList(List<dynamic> tramLines) {
 
 Result<List<T>> getYamlList<T>(YamlMap yaml, String key) {
   try {
-    print('yaml is ${yaml[key]}');
+    // print('yaml is ${yaml[key]}');
     final val = (yaml[key] as YamlList?);
     if (val == null) {
       return bail("Key $key is missing in yaml");
@@ -140,3 +155,15 @@ Result<T> getYamlKey<T>(YamlMap yaml, String key) {
     return bail("Failed to parse yaml key $key as ${T.toString()}: $e");
   }
 }
+
+Result<String> getYamlKeyStringify<T>(YamlMap yaml, String key) {
+  try {
+    final val = yaml[key] as T?;
+    if (val == null) {
+      return bail("Key $key is missing in yaml");
+    }
+    return Ok(val.toString());
+  } catch (e) {
+    return bail("Failed to parse yaml key $key as ${T.toString()}: $e");
+  }
+}

lib/main.dart

@@ -1,11 +1,26 @@
 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';
 
+// TODO: maybe make not async?
 void main() {
   Get.put(MyMapController());
+  rootBundle
+      .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();
+    return controller;
+  });
   runApp(const MyApp());
 }
 
@@ -18,117 +33,22 @@ class MyApp extends StatelessWidget {
     return GetMaterialApp(
       title: 'Flutter Demo',
       theme: ThemeData(
-        // This is the theme of your application.
-        //
-        // TRY THIS: Try running your application with "flutter run". You'll see
-        // the application has a purple toolbar. Then, without quitting the app,
-        // try changing the seedColor in the colorScheme below to Colors.green
-        // and then invoke "hot reload" (save your changes or press the "hot
-        // reload" button in a Flutter-supported IDE, or press "r" if you used
-        // the command line to start the app).
-        //
-        // Notice that the counter didn't reset back to zero; the application
-        // state is not lost during the reload. To reset the state, use hot
-        // restart instead.
-        //
-        // This works for code too, not just values: Most code changes can be
-        // tested with just a hot reload.
         colorScheme: ColorScheme.fromSeed(seedColor: Colors.deepPurple),
         useMaterial3: true,
       ),
+      darkTheme: ThemeData.dark(
+        useMaterial3: true,
+      ).copyWith(
+        colorScheme: ColorScheme.fromSeed(
+          brightness: Brightness.dark,
+          seedColor: Colors.deepPurple,
+        ),
+      ),
       initialRoute: '/map',
       getPages: [
-        GetPage(name: '/map', page: () => const MapPage()),
+        GetPage(name: '/map', page: () => MapPage()),
         GetPage(name: '/settings', page: () => const SettingsPage()),
       ],
     );
   }
 }
-
-class MyHomePage extends StatefulWidget {
-  const MyHomePage({super.key, required this.title});
-
-  // This widget is the home page of your application. It is stateful, meaning
-  // that it has a State object (defined below) that contains fields that affect
-  // how it looks.
-
-  // This class is the configuration for the state. It holds the values (in this
-  // case the title) provided by the parent (in this case the App widget) and
-  // used by the build method of the State. Fields in a Widget subclass are
-  // always marked "final".
-
-  final String title;
-
-  @override
-  State<MyHomePage> createState() => _MyHomePageState();
-}
-
-class _MyHomePageState extends State<MyHomePage> {
-  int _counter = 0;
-
-  void _incrementCounter() {
-    setState(() {
-      // This call to setState tells the Flutter framework that something has
-      // changed in this State, which causes it to rerun the build method below
-      // so that the display can reflect the updated values. If we changed
-      // _counter without calling setState(), then the build method would not be
-      // called again, and so nothing would appear to happen.
-      _counter++;
-    });
-  }
-
-  @override
-  Widget build(BuildContext context) {
-    // This method is rerun every time setState is called, for instance as done
-    // by the _incrementCounter method above.
-    //
-    // The Flutter framework has been optimized to make rerunning build methods
-    // fast, so that you can just rebuild anything that needs updating rather
-    // than having to individually change instances of widgets.
-    return Scaffold(
-      appBar: AppBar(
-        // TRY THIS: Try changing the color here to a specific color (to
-        // Colors.amber, perhaps?) and trigger a hot reload to see the AppBar
-        // change color while the other colors stay the same.
-        backgroundColor: Theme.of(context).colorScheme.inversePrimary,
-        // Here we take the value from the MyHomePage object that was created by
-        // the App.build method, and use it to set our appbar title.
-        title: Text(widget.title),
-      ),
-      body: Center(
-        // Center is a layout widget. It takes a single child and positions it
-        // in the middle of the parent.
-        child: Column(
-          // Column is also a layout widget. It takes a list of children and
-          // arranges them vertically. By default, it sizes itself to fit its
-          // children horizontally, and tries to be as tall as its parent.
-          //
-          // Column has various properties to control how it sizes itself and
-          // how it positions its children. Here we use mainAxisAlignment to
-          // center the children vertically; the main axis here is the vertical
-          // axis because Columns are vertical (the cross axis would be
-          // horizontal).
-          //
-          // TRY THIS: Invoke "debug painting" (choose the "Toggle Debug Paint"
-          // action in the IDE, or press "p" in the console), to see the
-          // wireframe for each widget.
-          mainAxisAlignment: MainAxisAlignment.center,
-          children: <Widget>[
-            const Text(
-              'You have pushed the button this many times:',
-            ),
-            Text(
-              '$_counter',
-              style: Theme.of(context).textTheme.headlineMedium,
-            ),
-          ],
-        ),
-      ),
-      floatingActionButton: FloatingActionButton(
-        onPressed: _incrementCounter,
-        tooltip: 'Increment',
-        child: const Icon(Icons.add),
-      ), // This trailing comma makes auto-formatting nicer for build methods.
-    );
-  }
-}

lib/map.dart

@@ -1,20 +1,50 @@
 import 'package:anim_search_bar/anim_search_bar.dart';
+import 'package:anyhow/anyhow.dart';
 import 'package:flutter/material.dart';
 import 'package:flutter/services.dart';
 import 'package:flutter_map/flutter_map.dart';
-import 'package:flutter_map/plugin_api.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 {
-  const MapPage({Key? key}) : super(key: key);
+class MapPage extends StatefulWidget {
+  @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) {
@@ -41,46 +71,58 @@ class MapPage extends StatelessWidget {
         floatingActionButton: FloatingActionButton(
           onPressed: () async {
             // Add onPressed logic here
-            await Get.find<MyMapController>().loadGeoJson(
-                await rootBundle.loadString('assets/geo/uulm_beta.geojson'));
+            var future = Get.find<MyMapController>().getCurrentPosition();
+            locationBottomSheet();
           },
-          child: const Icon(Icons.add),
+          child: const Icon(Icons.location_searching),
         ),
         body: Stack(
           children: [
             FlutterMap(
-              mapController: MapController(),
+              mapController: Get.find<MyMapController>().mapController,
               options: MapOptions(
-                center: LatLng(48.422766, 9.9564),
-                zoom: 16.0,
+                initialCenter: const LatLng(48.422766, 9.9564),
+                initialZoom: 16.0,
                 // camera constraints
                 maxZoom: 19,
+                onTap: (tapPosition, point) {
+                  print('Tap: $tapPosition, $point');
+                  Get.find<MyMapController>().handleTap(tapPosition, point);
+                },
               ),
               children: [
                 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,
                     ),
-
-                // buildings
-                LevelLayer(
+                    child: tile,
+                  ),
+                ),
+                TranslucentPointer(
+                  child: LevelLayer(
                     filter: (feature) => feature.type is Building,
                   ),
+                ),
 
                 // public transport
-                LevelLayer(
+                TranslucentPointer(
+                  child: LevelLayer(
                     filter: (feature) =>
-                      feature.level == null && feature.type is PublicTransport,
+                        feature.level == null &&
+                        feature.type is PublicTransport,
                     polyCenterMarkerConstructor: (center, name) => Marker(
                       width: 100,
                       height: 100,
                       point: center,
-                    builder: (cx) => const Center(
-                      child: Icon(
+                      child: const Icon(
                         Icons.train,
                         color: Colors.black,
                       ),
-                    ),
+                      alignment: Alignment.center,
                     ),
                     polyConstructor: (feature) => feature
                         .getPolygon(
@@ -88,29 +130,40 @@ class MapPage extends StatelessWidget {
                                   points: pts,
                                   color: Colors.green.withOpacity(0.2),
                                   borderColor: Colors.green,
-                                isFilled: true,
                                   borderStrokeWidth: 1,
                                 ))
                         .unwrap(),
                   ),
+                ),
 
                 // current level
                 Obx(
                   () => Stack(
                       children: renderLevel(
-                        Get.find<MyMapController>().currentLevel.value),
+                    Get.find<MyMapController>().currentLevel.value,
+                  )),
                 ),
-                )
-
-                // RichAttributionWidget(attributions: [
-                //   TextSourceAttribution(
-                //     'OpenStreetMap contributors',
-                //     onTap: () =>
-                //         launchUrl(Uri.parse('https://openstreetmap.org/copyright')),
-                //   )
-                // ]),
+                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,
@@ -125,7 +178,9 @@ class MapPage extends StatelessWidget {
                   ),
                   padding:
                       const EdgeInsets.symmetric(horizontal: 8, vertical: 4),
-                  child: Obx(
+                  child: Row(
+                    children: [
+                      Obx(
                         () => DropdownButton<int>(
                           value: Get.find<MyMapController>().currentLevel.value,
                           style: TextStyle(
@@ -147,256 +202,282 @@ class MapPage extends StatelessWidget {
                           }).toList(),
                         ),
                       ),
+                      IconButton(
+                        icon: const Icon(Icons.arrow_upward),
+                        onPressed: () {
+                          int currentLevel =
+                              Get.find<MyMapController>().currentLevel.value;
+                          if (currentLevel <
+                              Get.find<MyMapController>().levels.last) {
+                            Get.find<MyMapController>()
+                                .setLevel(currentLevel + 1);
+                          }
+                        },
+                      ),
+                      IconButton(
+                        icon: const Icon(Icons.arrow_downward),
+                        onPressed: () {
+                          int currentLevel =
+                              Get.find<MyMapController>().currentLevel.value;
+                          if (currentLevel >
+                              Get.find<MyMapController>().levels.first) {
+                            Get.find<MyMapController>()
+                                .setLevel(currentLevel - 1);
+                          }
+                        },
+                      ),
+                    ],
+                  ),
                 )),
           ],
         ));
   }
 }
 
-List<Widget> renderLevel(int level) {
-  return <Widget>[
-    LevelLayer(
-        filter: (feature) =>
-            feature.level == level && feature.type is LectureHall,
-        polyConstructor: (feature) => feature
-            .getPolygon(
-              constructor: (pts) => Polygon(
-                points: pts,
-                color: Colors.orange.withOpacity(0.2),
-                borderColor: Colors.orange,
-                isFilled: true,
-                borderStrokeWidth: 1,
+void locationBottomSheet() {
+  print(Get.find<MyMapController>().position.value);
+  String buttonText = "Search for Location";
+  IconData locationIcon = Icons.location_searching;
+  bool spinner = false;
+  Get.bottomSheet(
+    Theme(
+      data: ThemeData.light(),
+      child: Container(
+        constraints: const BoxConstraints(
+            // minHeight: 300,
             ),
-            )
-            .unwrap(),
-        markerConstructor: (feature) => Marker(
-              width: 150,
-              height: 60,
-              point: feature.getPoint().unwrap(),
-              builder: (cx) => Center(
+        width: Get.mediaQuery.size.width,
+        decoration: const BoxDecoration(
+          color: Colors.black,
+          borderRadius: BorderRadius.only(
+            topLeft: Radius.circular(30),
+            topRight: Radius.circular(30),
+          ),
+        ),
+        padding: const EdgeInsets.all(20),
+        child: Column(
+          mainAxisSize: MainAxisSize.min,
+          children: [
+            Center(
+              child: Container(
+                width: 50,
+                height: 5,
+                decoration: BoxDecoration(
+                  color: Colors.white,
+                  borderRadius: BorderRadius.circular(10),
+                ),
+              ),
+            ),
+            const SizedBox(height: 10),
+            const Text(
+              'Select Location',
+              style: TextStyle(
+                fontSize: 24,
+                fontWeight: FontWeight.bold,
+                color: Colors.white,
+              ),
+            ),
+            const SizedBox(height: 20),
+            Row(
+              children: [
+                Expanded(
+                  flex: 2,
+                  child: Container(
+                      height: 300,
+                      color: Colors.transparent,
                       child: Column(
                         children: [
-                    Icon(
-                      Icons.class_,
-                      color: Colors.black,
+                          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) {
+                    // TODO: make this persist closing the bottom sheet
+                    return ElevatedButton(
+                      style: ElevatedButton.styleFrom(
+                        fixedSize: const Size(300, 300),
+                        backgroundColor: Colors.white,
+                        shape: RoundedRectangleBorder(
+                          borderRadius: BorderRadius.circular(30),
+                        ),
+                        padding: const EdgeInsets.all(15),
+                      ),
+                      onPressed: () async {
+                        if (spinner) {
+                          return;
+                        }
+                        setState(() {
+                          buttonText = "Searching...";
+                          locationIcon = Icons.location_searching;
+                          spinner = true;
+                        });
+                        final pos = await Get.find<MyMapController>()
+                            .getCurrentPosition();
+                        if (!context.mounted) {
+                          return;
+                        }
+                        if (pos case Ok(:final ok)) {
+                          setState(() {
+                            buttonText = "Location found!";
+                            locationIcon = Icons.my_location;
+                            spinner = false;
+                          });
+                        } else {
+                          setState(() {
+                            buttonText = "Location not found! Try again";
+                            locationIcon = Icons.error;
+                            spinner = false;
+                          });
+                        }
+                      },
+                      child: Column(
+                        mainAxisAlignment: MainAxisAlignment.center,
+                        children: [
+                          Stack(
+                            alignment: Alignment.center,
+                            children: [
+                              Icon(locationIcon,
+                                  size: 80,
+                                  color: Get.theme.colorScheme.inversePrimary),
+                              if (spinner)
+                                CircularProgressIndicator(
+                                  color: Get.theme.colorScheme.inversePrimary,
+                                ),
+                            ],
+                          ),
+                          const SizedBox(
+                            height: 12,
+                          ),
+                          Text(
+                            buttonText,
+                            softWrap: true,
+                            textAlign: TextAlign.center,
+                            style: const TextStyle(
+                                color: Colors.black,
+                                fontSize: 16,
+                                fontWeight: FontWeight.bold),
+                          ),
+                        ],
+                      ),
+                    );
+                  }),
+                ),
+              ],
+            ),
+            /*
+            ListTile(
+              title: const Text(
+                'Current Location',
+                style: TextStyle(color: Colors.white),
+              ),
+              onTap: () {
+                Get.back();
+              },
+            ),
+            ListTile(
+              title: const Text(
+                'Search Location',
+                style: TextStyle(color: Colors.white),
+              ),
+              onTap: () {
+                Get.back();
+              },
+            ),
+            const SizedBox(height: 20),
+            */
+            ElevatedButton(
+              child: const Text(
+                'Cancel',
+                style: TextStyle(color: Colors.black),
+              ),
+              onPressed: () {
+                Get.back();
+              },
             ),
-                    Text('${feature.name}'),
           ],
         ),
       ),
-            )),
-    LevelLayer(
-      filter: (feature) => feature.level == level && feature.type is Room,
-      polyConstructor: (feature) => feature
-          .getPolygon(
-            constructor: (pts) => Polygon(
-              points: pts,
-              color: Colors.green.withOpacity(0.2),
-              borderColor: Colors.green,
-              isFilled: true,
-              borderStrokeWidth: 1,
-            ),
-          )
-          .unwrap(),
-    ),
-    LevelLayer(
-      filter: (feature) => feature.level == level && feature.type is Door,
-      markerConstructor: (feature) {
-        final point = feature.getPoint().unwrap();
-        return Marker(
-          width: 20,
-          height: 20,
-          point: point,
-          builder: (ctx) => const Icon(
-            Icons.door_front_door,
-            color: Colors.brown,
     ),
+    isScrollControlled: true,
+    enterBottomSheetDuration: const Duration(milliseconds: 150),
+    exitBottomSheetDuration: const Duration(milliseconds: 200),
   );
-      },
-    ),
-    LevelLayer(
-      filter: (feature) => feature.level == level && feature.type is Toilet,
-      markerConstructor: (feature) {
-        final type = (feature.type as Toilet).toilet_type;
-        IconData icon;
-        switch (type.toLowerCase()) {
-          case 'male':
-            icon = Icons.male;
-            break;
-          case 'female':
-            icon = Icons.female;
-            break;
-          case 'handicap':
-            icon = Icons.wheelchair_pickup;
-            break;
-          default:
-            print("WARN: Toilet didn't have recognizable type! "
-                "(Level ${feature.level}, Name ${feature.name}, "
-                "Location: ${feature.getPoint().unwrap()})");
-            icon = Icons.wc;
-            break;
-        }
-
-        final point = feature.getPoint().unwrap();
-        return Marker(
-          width: 20,
-          height: 20,
-          point: point,
-          builder: (ctx) => Icon(
-            icon,
-            color: Colors.purple,
-          ),
-          rotateAlignment: Alignment.center,
-        );
-      },
-    ),
-    LevelLayer(
-      filter: (feature) =>
-          feature.type is Stairs &&
-          (feature.type as Stairs).connects_levels.contains(level),
-      markerConstructor: (feature) {
-        final point = feature.getPoint().unwrap();
-        return Marker(
-          width: 20,
-          height: 20,
-          point: point,
-          builder: (ctx) => Icon(
-            Icons.stairs_outlined,
-            color: Colors.deepPurple.shade300,
-          ),
-        );
-      },
-    ),
-    LevelLayer(
-      filter: (feature) =>
-          feature.type is Lift &&
-          (feature.type as Lift).connects_levels.contains(level),
-      markerConstructor: (feature) {
-        final point = feature.getPoint().unwrap();
-        return Marker(
-          width: 20,
-          height: 20,
-          point: point,
-          builder: (ctx) => const Icon(
-            Icons.elevator_outlined,
-            color: Colors.deepPurple,
-          ),
-        );
-      },
-    ),
-  ];
-}
-
-class LevelLayer extends StatelessWidget {
-  final bool Function(Feature)? filter;
-  final Polygon Function(Feature)? polyConstructor;
-  final Marker Function(LatLng, String)? polyCenterMarkerConstructor;
-  final Marker Function(Feature)? markerConstructor;
-  final int? level;
-
-  const LevelLayer({
-    this.level,
-    this.filter,
-    this.polyConstructor,
-    this.polyCenterMarkerConstructor,
-    this.markerConstructor,
-    super.key,
-  });
-
-  @override
-  Widget build(BuildContext context) {
-    final myMapController = Get.find<MyMapController>();
-
-    return Obx(() {
-      final List<Polygon> filteredPolygons = [];
-      final List<Marker> polygonCenterMarkers = [];
-      final List<Marker> filteredMarkers = [];
-
-      for (final feature in myMapController.features) {
-        if (filter == null || filter!(feature)) {
-          if (feature.isPolygon()) {
-            if (polyConstructor != null) {
-              filteredPolygons.add(polyConstructor!(feature));
-            } else {
-              filteredPolygons.add(feature.getPolygon().unwrap());
-            }
-
-            // calculate polygon center
-            final center =
-                polygonCenterMinmax(feature.getPolygon().unwrap().points);
-            if (polyCenterMarkerConstructor != null) {
-              polygonCenterMarkers
-                  .add(polyCenterMarkerConstructor!(center, feature.name));
-            } else {
-              polygonCenterMarkers.add(Marker(
-                width: 100,
-                height: 100,
-                point: center,
-                builder: (cx) => Center(
-                  child: Text(
-                    feature.name,
-                    style: const TextStyle(
-                      color: Colors.black54,
-                      // backgroundColor: Colors.white,
-                    ),
-                  ),
-                ),
-              ));
-            }
-          } else if (feature.isPoint()) {
-            if (markerConstructor != null) {
-              filteredMarkers.add(markerConstructor!(feature));
-            } else {
-              final point = feature.getPoint().unwrap();
-              filteredMarkers.add(Marker(
-                width: 100,
-                height: 100,
-                point: point,
-                builder: (cx) => Center(
-                  child: Text(
-                    feature.name,
-                    style: const TextStyle(
-                      color: Colors.black54,
-                      // backgroundColor: Colors.white,
-                    ),
-                  ),
-                ),
-              ));
-            }
-          }
-        }
-      }
-      // print(filteredPolygons.length);
-      // print(filteredPolygons);
-
-      // print(filteredPolygons[0].points[0]);
-      // print(myMapController.features.length);
-
-      final List<Widget> widgets = [];
-      if (filteredPolygons.isNotEmpty) {
-        if (polyConstructor != null) {
-          widgets.add(PolygonLayer(polygons: filteredPolygons));
-        } else {
-          widgets.add(PolygonLayer(
-              polygons: filteredPolygons
-                  .map((poly) => Polygon(
-                        points: poly.points,
-                        borderColor: Colors.black26,
-                        borderStrokeWidth: 2.0,
-                      ))
-                  .toList()));
-        }
-        widgets.add(MarkerLayer(
-          markers: polygonCenterMarkers,
-          rotate: true,
-        ));
-      }
-
-      if (filteredMarkers.isNotEmpty) {
-        widgets.add(MarkerLayer(markers: filteredMarkers, rotate: true));
-      }
-
-      return Stack(children: widgets);
-    });
-  }
 }

lib/nav/graph.dart

@@ -0,0 +1,382 @@
+import 'package:anyhow/anyhow.dart';
+import 'package:collection/collection.dart';
+import 'package:fast_immutable_collections/fast_immutable_collections.dart';
+import 'package:flutter/foundation.dart';
+import 'package:freezed_annotation/freezed_annotation.dart';
+import 'package:get/get.dart';
+import 'package:latlong2/latlong.dart';
+import 'package:rust_core/iter.dart';
+import 'package:uninav/data/geo/model.dart';
+import 'package:uninav/util/geojson_util.dart';
+import 'package:uninav/util/util.dart';
+import 'dart:collection';
+
+part 'graph.freezed.dart';
+
+@freezed
+class GraphFeature with _$GraphFeature {
+  const factory GraphFeature.buildingFloor(int floor, Feature building) =
+      BuildingFloor;
+  const factory GraphFeature.portal(int fromFloor, String from, int toFloor,
+      String to, Feature baseFeature) = Portal;
+  const factory GraphFeature.basicFeature(
+      int floor, String building, Feature feature) = BasicFeature;
+
+  const GraphFeature._();
+
+  Result<LatLng> getCenter() {
+    return when(
+      buildingFloor: (floor, building) => building.getCenterPoint(),
+      portal: (fromFloor, from, toFloor, to, baseFeature) =>
+          baseFeature.getCenterPoint(),
+      basicFeature: (floor, building, feature) => feature.getCenterPoint(),
+    );
+  }
+
+  double distanceTo(GraphFeature other, String unit) => distanceBetweenLatLng(
+      getCenter().unwrap(), other.getCenter().unwrap(), unit);
+
+  double metersTo(GraphFeature other) => distanceTo(other, "meters");
+
+  String get id => when(
+        buildingFloor: (floor, building) => building.id,
+        portal: (fromFloor, from, toFloor, to, baseFeature) => baseFeature.id,
+        basicFeature: (floor, building, feature) => feature.id,
+      );
+
+  // String? get buildingName => when(
+  //       buildingFloor: (floor, building) => building.name,
+  //       portal: (fromFloor, from, toFloor, to, baseFeature) =>
+  //           baseFeature.type.maybeWhen(
+  //         door: (_) => null,
+  //         orElse: () => baseFeature.building,
+  //       ),
+  //       basicFeature: (floor, building, feature) => feature.type.maybeWhen(
+  //         door: (_) => null,
+  //         orElse: () => building,
+  //       ),
+  //     );
+
+  @override
+  String toString() {
+    return when(
+      buildingFloor: (floor, building) => 'Floor (${building.name}:$floor)',
+      portal: (fromFloor, from, toFloor, to, _) =>
+          'Portal ($from:$fromFloor -> $to:$toFloor)',
+      basicFeature: (floor, building, feature) =>
+          'Feature (${formatFeatureTitle(feature)} ($building:$floor))',
+    );
+  }
+
+  @override
+  int get hashCode {
+    return when(
+      buildingFloor: (floor, building) => Object.hash(floor, building),
+      portal: (fromFloor, from, toFloor, to, baseFeature) =>
+          Object.hash(fromFloor, from, toFloor, to, baseFeature),
+      basicFeature: (floor, building, feature) =>
+          Object.hash(floor, building, feature),
+    );
+  }
+
+  @override
+  bool operator ==(Object other) {
+    if (identical(this, other)) return true;
+
+    return other is GraphFeature &&
+        other.when(
+          buildingFloor: (floor, building) =>
+              this is BuildingFloor &&
+              (this as BuildingFloor).floor == floor &&
+              (this as BuildingFloor).building == building,
+          portal: (fromFloor, from, toFloor, to, baseFeature) =>
+              this is Portal &&
+              (this as Portal).fromFloor == fromFloor &&
+              (this as Portal).from == from &&
+              (this as Portal).toFloor == toFloor &&
+              (this as Portal).to == to &&
+              (this as Portal).baseFeature == baseFeature,
+          basicFeature: (floor, building, feature) =>
+              this is BasicFeature &&
+              (this as BasicFeature).floor == floor &&
+              (this as BasicFeature).building == building &&
+              (this as BasicFeature).feature == feature,
+        );
+  }
+}
+
+class Graph {
+  final List<(GraphFeature, double, GraphFeature)> _edges = [];
+  final HashSet<GraphFeature> _nodes = HashSet();
+  final HashSet<(GraphFeature, GraphFeature)> _edgesSet = HashSet();
+
+  Iterable<GraphFeature> get nodes => _nodes.iter();
+
+  void addNode(GraphFeature node) {
+    _nodes.add(node);
+    if (node is BasicFeature && node.feature.name == 'H22') {
+      print(node);
+      print(node.hashCode);
+    }
+  }
+
+  void addEdge(GraphFeature from, GraphFeature to, double weight) {
+    addNode(from);
+    addNode(to);
+    if (!_edgesSet.contains((from, to))) {
+      _edgesSet.add((from, to));
+      _edges.add((from, weight, to));
+    }
+    if (!_edgesSet.contains((to, from))) {
+      _edgesSet.add((to, from));
+      _edges.add((to, weight, from));
+    }
+  }
+
+  List<(GraphFeature, double, GraphFeature)> getEdges(GraphFeature node) {
+    return _edges.where((edge) => edge.$1 == node).toList();
+  }
+
+  bool contains(GraphFeature node) {
+    return _nodes.contains(node);
+  }
+
+  bool containsEdge(GraphFeature from, GraphFeature to) {
+    return _edgesSet.contains((from, to));
+  }
+
+  @override
+  String toString() {
+    return 'Graph(_edges: $_edges, _nodes: $_nodes, _edgesSet: $_edgesSet)';
+  }
+
+  @override
+  bool operator ==(Object other) {
+    if (identical(this, other)) return true;
+
+    return other is Graph &&
+        listEquals(other._edges, _edges) &&
+        setEquals(other._nodes, _nodes) &&
+        setEquals(other._edgesSet, _edgesSet);
+  }
+
+  @override
+  int get hashCode => _edges.hashCode ^ _nodes.hashCode ^ _edgesSet.hashCode;
+}
+
+IList<GraphFeature> wrap(Feature feature, int floor, String buildingFrom) {
+  return feature.type
+      .maybeWhen(
+        building: () => [GraphFeature.buildingFloor(floor, feature)],
+        stairs: (floors) => stairPortalGenerator(floors, floor, feature),
+        lift: (floors) => stairPortalGenerator(floors, floor, feature, 99),
+        door: (connections) =>
+            doorPortalGenerator(connections, floor, buildingFrom, feature),
+        orElse: () => [
+          GraphFeature.basicFeature(
+              floor, feature.building ?? buildingFrom, feature)
+        ],
+      )
+      .lock;
+}
+
+List<GraphFeature> doorPortalGenerator(
+    List<String> connections, int floor, String from, Feature feature) {
+  final portals = <GraphFeature>[];
+
+  for (final connection in connections.where((c) => !eq(c, from))) {
+    portals.add(GraphFeature.portal(floor, from, floor, connection, feature));
+  }
+
+  return portals;
+}
+
+List<GraphFeature> stairPortalGenerator(
+    List<int> floors, int floor, Feature feature,
+    [int maxDist = 1]) {
+  final portals = <GraphFeature>[];
+  for (int i = 1; i <= maxDist; i++) {
+    if (floors.contains(floor - i)) {
+      portals.add(GraphFeature.portal(
+          floor, feature.building!, floor - i, feature.building!, feature));
+    }
+    if (floors.contains(floor + i)) {
+      portals.add(GraphFeature.portal(
+          floor, feature.building!, floor + i, feature.building!, feature));
+    }
+  }
+  return portals;
+}
+
+Feature unwrap(GraphFeature feature) {
+  return feature.when(
+    buildingFloor: (floor, building) => building,
+    portal: (fromFloor, from, toFloor, to, baseFeature) => baseFeature,
+    basicFeature: (floor, building, f) => f,
+  );
+}
+
+double sum(double left, double right) => left + right;
+
+// WeightedDirectedGraph createGraph(Feature origin, List<Feature> allFeatures) {
+//
+// }
+
+List<GraphFeature> findAdjacent(
+    GraphFeature feature, Iterable<Feature> allFeatures) {
+  List<GraphFeature> adjacentFeatures = [];
+
+  if (feature is BuildingFloor) {
+    // find all features in the building on the right floor
+    adjacentFeatures = allFeatures
+        .where((f) => eq(f.building, feature.building.name) || f.type is Door)
+        .where((f) => f.type.maybeWhen(
+            lift: (levels) => levels.contains(feature.floor),
+            stairs: (levels) => levels.contains(feature.floor),
+            door: (connections) =>
+                f.level == feature.floor &&
+                connections
+                    .map((e) => e.toLowerCase())
+                    .contains(feature.building.name.toLowerCase()),
+            orElse: () => f.level == feature.floor))
+        .mapMany((f) => wrap(f, feature.floor, feature.building.name))
+        .toList();
+  } else if (feature is Portal) {
+    adjacentFeatures = allFeatures
+        .where((f) => eq(f.name, feature.to) && f.type is Building)
+        .mapMany((f) => wrap(f, feature.toFloor, feature.to))
+        .toList();
+  } else if (feature is BasicFeature) {
+    adjacentFeatures = allFeatures
+        .where(
+            (f) => eq(f.name, feature.feature.building) && f.type is Building)
+        .mapMany((f) => wrap(f, feature.feature.level!, f.name))
+        .toList();
+  }
+  return adjacentFeatures;
+}
+
+Graph makeGraph(GraphFeature origin, List<Feature> allFeatures,
+    [Graph? graph]) {
+  // final usedFeatures = <GraphFeature>[origin];
+
+  graph ??= Graph();
+  graph.addNode(origin);
+
+  final adjacent = findAdjacent(origin, allFeatures);
+  for (final feature in adjacent.asSet()..removeAll(graph.nodes)) {
+    graph.addEdge(origin, feature, origin.metersTo(feature));
+    final _ = makeGraph(feature, allFeatures, graph);
+    // graph.addAll(deeper);
+  }
+
+  return graph;
+}
+
+Result<List<(GraphFeature, double)>> findShortestPath(GraphFeature origin,
+    bool Function(GraphFeature) destinationSelector, List<Feature> allFeatures,
+    {heuristicVariant = "zero", heuristicMultiplier = 0.2}) {
+  Graph graph = makeGraph(origin, allFeatures);
+
+  final GraphFeature? destination =
+      graph.nodes.firstWhereOrNull(destinationSelector);
+
+  if (!(graph.contains(origin) &&
+      destination != null &&
+      graph.contains(destination))) {
+    return bail("Origin or destination not in graph");
+  }
+
+  // euclidean distance heuristic
+
+  double Function(GraphFeature) heuristic =
+      (GraphFeature node) => 0.0; // standard zero
+  if (heuristicVariant == "zero") {
+    heuristic = (GraphFeature node) => 0.0;
+  } else if (heuristicVariant == "euclidean") {
+    heuristic =
+        (GraphFeature node) => node.metersTo(destination) * heuristicMultiplier;
+  }
+
+  //heuristic(GraphFeature node) => 0.0;
+
+  // openlist
+  // format: (heuristic, g-val, parent?, node)
+  PriorityQueue<(double, double, GraphFeature?, GraphFeature)> openlist =
+      HeapPriorityQueue(
+    // reverse order (cmp b to a) because lower f-val (shorter distance) is better
+    (a, b) => (b.$1 + b.$2).compareTo((a.$1 + a.$2)),
+  );
+
+  final Map<GraphFeature, (GraphFeature?, double)> bestPathMap = {
+    origin: (null, 0.0)
+  };
+
+  openlist.add((heuristic(origin), 0.0, null, origin));
+
+  // closed list
+  Set<GraphFeature> closedlist = {};
+
+  var cost = 0.0;
+
+  while (openlist.isNotEmpty) {
+    final (f, g, parent, node) = openlist.removeFirst();
+    closedlist.add(node);
+    bestPathMap[node] = (parent, g);
+    if (node == destination) {
+      cost = g;
+      break;
+      // TODO: restore path
+    }
+
+    // expand node
+    final edges = graph.getEdges(node);
+    for (final entry in edges) {
+      final adjNode = entry.$3;
+      final adjCost = entry.$2;
+
+      if (closedlist.contains(adjNode)) {
+        continue;
+      }
+
+      bool found = false;
+      for (final open in openlist.unorderedElements) {
+        if (open.$4 == adjNode) {
+          found = true;
+          if (g + adjCost < open.$2) {
+            openlist.remove(open);
+            openlist.add((
+              open.$1 /* heuristic stays the same */,
+              g + adjCost,
+              adjNode,
+              open.$4
+            ));
+          }
+          break;
+        }
+      }
+
+      if (!found) {
+        openlist.add((
+          f + heuristic(adjNode),
+          g + adjCost,
+          node,
+          adjNode,
+        ));
+      }
+    }
+  }
+  if (bestPathMap.isNotEmpty) {
+    final path = <(GraphFeature, double)>[];
+    (GraphFeature?, double)? currentNode = (destination, cost);
+    while (currentNode?.$1 != null) {
+      final nextNode = bestPathMap[currentNode!.$1];
+      path.insert(
+          0, (currentNode!.$1!, currentNode.$2 - (nextNode?.$2 ?? 0.0)));
+      currentNode = nextNode;
+    }
+    return Ok(path);
+  }
+
+  return bail("No path found");
+}

lib/nav/graph.dart.old

@@ -0,0 +1,647 @@
+import 'package:anyhow/anyhow.dart';
+import 'package:collection/collection.dart';
+import 'package:directed_graph/directed_graph.dart';
+import 'package:fast_immutable_collections/fast_immutable_collections.dart';
+import 'package:flutter/foundation.dart';
+import 'package:freezed_annotation/freezed_annotation.dart';
+import 'package:geojson_vi/geojson_vi.dart';
+import 'package:get/get.dart';
+import 'package:latlong2/latlong.dart';
+import 'package:rust_core/iter.dart';
+import 'package:uninav/data/geo/model.dart';
+import 'package:uninav/util/geojson_util.dart';
+import 'package:uninav/util/util.dart';
+import 'dart:collection';
+
+part 'graph.freezed.dart';
+
+@freezed
+class GraphFeature with _$GraphFeature {
+  const factory GraphFeature.buildingFloor(int floor, Feature building) =
+      BuildingFloor;
+  const factory GraphFeature.portal(int fromFloor, String from, int toFloor,
+      String to, Feature baseFeature) = Portal;
+  const factory GraphFeature.basicFeature(
+      int floor, String building, Feature feature) = BasicFeature;
+
+  const GraphFeature._();
+
+  Result<LatLng> getCenter() {
+    return when(
+      buildingFloor: (floor, building) => building.getCenterPoint(),
+      portal: (fromFloor, from, toFloor, to, baseFeature) =>
+          baseFeature.getCenterPoint(),
+      basicFeature: (floor, building, feature) => feature.getCenterPoint(),
+    );
+  }
+
+  double distanceTo(GraphFeature other, String unit) => distanceBetweenLatLng(
+      getCenter().unwrap(), other.getCenter().unwrap(), unit);
+
+  double metersTo(GraphFeature other) => distanceTo(other, "meters");
+
+  @override
+  String toString() {
+    return when(
+      buildingFloor: (floor, building) => 'Floor (${building.name}:$floor)',
+      portal: (fromFloor, from, toFloor, to, _) =>
+          'Portal ($from:$fromFloor -> $to:$toFloor)',
+      basicFeature: (floor, building, feature) =>
+          'Feature (${formatFeatureTitle(feature)} ($building:$floor))',
+    );
+  }
+
+  @override
+  int get hashCode {
+    return when(
+      buildingFloor: (floor, building) => Object.hash(floor, building),
+      portal: (fromFloor, from, toFloor, to, baseFeature) =>
+          Object.hash(fromFloor, from, toFloor, to, baseFeature),
+      basicFeature: (floor, building, feature) =>
+          Object.hash(floor, building, feature),
+    );
+  }
+
+  @override
+  bool operator ==(Object other) {
+    if (identical(this, other)) return true;
+
+    return other is GraphFeature &&
+        other.when(
+          buildingFloor: (floor, building) =>
+              this is BuildingFloor &&
+              (this as BuildingFloor).floor == floor &&
+              (this as BuildingFloor).building == building,
+          portal: (fromFloor, from, toFloor, to, baseFeature) =>
+              this is Portal &&
+              (this as Portal).fromFloor == fromFloor &&
+              (this as Portal).from == from &&
+              (this as Portal).toFloor == toFloor &&
+              (this as Portal).to == to &&
+              (this as Portal).baseFeature == baseFeature,
+          basicFeature: (floor, building, feature) =>
+              this is BasicFeature &&
+              (this as BasicFeature).floor == floor &&
+              (this as BasicFeature).building == building &&
+              (this as BasicFeature).feature == feature,
+        );
+  }
+}
+
+class Graph {
+  final List<(GraphFeature, double, GraphFeature)> _edges = [];
+  final HashSet<GraphFeature> _nodes = HashSet();
+  final HashSet<(GraphFeature, GraphFeature)> _edgesSet = HashSet();
+
+  Iterable<GraphFeature> get nodes => _nodes.iter();
+
+  void addNode(GraphFeature node) {
+    _nodes.add(node);
+    if (node is BasicFeature && node.feature.name == 'H22') {
+      print(node);
+      print(node.hashCode);
+    }
+  }
+
+  void addEdge(GraphFeature from, GraphFeature to, double weight) {
+    addNode(from);
+    addNode(to);
+    if (!_edgesSet.contains((from, to))) {
+      _edgesSet.add((from, to));
+      _edges.add((from, weight, to));
+    }
+    if (!_edgesSet.contains((to, from))) {
+      _edgesSet.add((to, from));
+      _edges.add((to, weight, from));
+    }
+  }
+
+  List<(GraphFeature, double, GraphFeature)> getEdges(GraphFeature node) {
+    return _edges.where((edge) => edge.$1 == node).toList();
+  }
+
+  bool contains(GraphFeature node) {
+    return _nodes.contains(node);
+  }
+
+  bool containsEdge(GraphFeature from, GraphFeature to) {
+    return _edgesSet.contains((from, to));
+  }
+
+  @override
+  String toString() {
+    return 'Graph(_edges: $_edges, _nodes: $_nodes, _edgesSet: $_edgesSet)';
+  }
+
+  @override
+  bool operator ==(Object other) {
+    if (identical(this, other)) return true;
+
+    return other is Graph &&
+        listEquals(other._edges, _edges) &&
+        setEquals(other._nodes, _nodes) &&
+        setEquals(other._edgesSet, _edgesSet);
+  }
+
+  @override
+  int get hashCode => _edges.hashCode ^ _nodes.hashCode ^ _edgesSet.hashCode;
+}
+
+IList<GraphFeature> wrap(Feature feature, int floor, String buildingFrom) {
+  return feature.type
+      .maybeWhen(
+        building: () => [GraphFeature.buildingFloor(floor, feature)],
+        stairs: (floors) => stairPortalGenerator(floors, floor, feature),
+        lift: (floors) => stairPortalGenerator(floors, floor, feature, 99),
+        door: (connections) =>
+            doorPortalGenerator(connections, floor, buildingFrom, feature),
+        orElse: () => [
+          GraphFeature.basicFeature(
+              floor, feature.building ?? buildingFrom, feature)
+        ],
+      )
+      .lock;
+}
+
+List<GraphFeature> doorPortalGenerator(
+    List<String> connections, int floor, String from, Feature feature) {
+  final portals = <GraphFeature>[];
+
+  for (final connection in connections.where((c) => !eq(c, from))) {
+    portals.add(GraphFeature.portal(floor, from, floor, connection, feature));
+  }
+
+  return portals;
+}
+
+List<GraphFeature> stairPortalGenerator(
+    List<int> floors, int floor, Feature feature,
+    [int maxDist = 1]) {
+  final portals = <GraphFeature>[];
+  for (int i = 1; i <= maxDist; i++) {
+    if (floors.contains(floor - i)) {
+      portals.add(GraphFeature.portal(
+          floor, feature.building!, floor - i, feature.building!, feature));
+    }
+    if (floors.contains(floor + i)) {
+      portals.add(GraphFeature.portal(
+          floor, feature.building!, floor + i, feature.building!, feature));
+    }
+  }
+  return portals;
+}
+
+Feature unwrap(GraphFeature feature) {
+  return feature.when(
+    buildingFloor: (floor, building) => building,
+    portal: (fromFloor, from, toFloor, to, baseFeature) => baseFeature,
+    basicFeature: (floor, building, f) => f,
+  );
+}
+
+double sum(double left, double right) => left + right;
+
+// WeightedDirectedGraph createGraph(Feature origin, List<Feature> allFeatures) {
+//
+// }
+
+List<GraphFeature> findAdjacent(
+    GraphFeature feature, Iterable<Feature> allFeatures) {
+  List<GraphFeature> adjacentFeatures = [];
+
+  if (feature is BuildingFloor) {
+    // find all features in the building on the right floor
+    adjacentFeatures = allFeatures
+        .where((f) => eq(f.building, feature.building.name) || f.type is Door)
+        .where((f) => f.type.maybeWhen(
+            lift: (levels) => levels.contains(feature.floor),
+            stairs: (levels) => levels.contains(feature.floor),
+            door: (connections) =>
+                f.level == feature.floor &&
+                connections
+                    .map((e) => e.toLowerCase())
+                    .contains(feature.building.name.toLowerCase()),
+            orElse: () => f.level == feature.floor))
+        .mapMany((f) => wrap(f, feature.floor, feature.building.name))
+        .toList();
+  } else if (feature is Portal) {
+    adjacentFeatures = allFeatures
+        .where((f) => eq(f.name, feature.to) && f.type is Building)
+        .mapMany((f) => wrap(f, feature.toFloor, feature.to))
+        .toList();
+  } else if (feature is BasicFeature) {
+    adjacentFeatures = allFeatures
+        .where(
+            (f) => eq(f.name, feature.feature.building) && f.type is Building)
+        .mapMany((f) => wrap(f, feature.feature.level!, f.name))
+        .toList();
+  }
+  return adjacentFeatures;
+}
+
+Graph makeGraph(GraphFeature origin, List<Feature> allFeatures,
+    [Graph? graph]) {
+  // final usedFeatures = <GraphFeature>[origin];
+
+  graph ??= Graph();
+  graph.addNode(origin);
+
+  final adjacent = findAdjacent(origin, allFeatures);
+  for (final feature in adjacent.asSet()..removeAll(graph.nodes)) {
+    graph.addEdge(origin, feature, origin.metersTo(feature));
+    final _ = makeGraph(feature, allFeatures, graph);
+    // graph.addAll(deeper);
+  }
+
+  return graph;
+}
+
+List<GraphFeature> createGraphList(
+    GraphFeature origin, List<Feature> allFeatures,
+    [Set<GraphFeature>? visited]) {
+  // final usedFeatures = <GraphFeature>[origin];
+
+  visited ??= <GraphFeature>{origin};
+
+  final adjacent = findAdjacent(origin, allFeatures);
+  for (final feature in adjacent.asSet()..removeAll(visited)) {
+    visited.add(feature);
+    final deeper = createGraphList(feature, allFeatures, visited);
+    visited.addAll(deeper);
+  }
+
+  return visited.toList();
+}
+
+Map<GraphFeature, Map<GraphFeature, double>> createGraphMap(
+    GraphFeature origin, List<Feature> allFeatures) {
+  final graphList = createGraphList(origin, allFeatures);
+  final graphMap = <GraphFeature, Map<GraphFeature, double>>{};
+  for (final node in graphList) {
+    final adjacents = node.when(
+      buildingFloor: (floor, building) {
+        return graphList
+            .where((f) =>
+                f is Portal &&
+                    eq(f.from, building.name) &&
+                    f.fromFloor == floor ||
+                f is BasicFeature &&
+                    eq(f.building, building.name) &&
+                    f.floor == floor)
+            .map((f) => f.when(
+                  portal: (fromFloor, from, toFloor, to, baseFeature) => (
+                    f,
+                    f.metersTo(node),
+                  ),
+                  basicFeature: (floor, building, feature) =>
+                      (f, f.metersTo(node)),
+                  buildingFloor: (floor, building) => throw StateError(
+                      "BUG: createGraphMap(): BuildingFloors shouldn't "
+                      "be matched by BuildingFloors"),
+                ));
+      },
+      portal: (fromFloor, from, toFloor, to, baseFeature) {
+        return graphList
+            .where((f) =>
+                f is BuildingFloor &&
+                eq(f.building.name, to) &&
+                f.floor == toFloor)
+            .map((f) => f.when(
+                  portal: (fromFloor, from, toFloor, to, baseFeature) =>
+                      throw StateError(
+                          "BUG: createGraphMap(): Portals shouldn't "
+                          "be matched by Portals"),
+                  basicFeature: (floor, building, feature) => throw StateError(
+                      "BUG: createGraphMap(): BasicFeatures shouldn't "
+                      "be matched by BasicFeatures"),
+                  buildingFloor: (floor, building) => (
+                    f,
+                    f.metersTo(node) +
+                        5 /* 5 extra meters for all portals. TODO: smarter!*/
+                  ),
+                ));
+      },
+      basicFeature: (floor, building, feature) {
+        return graphList
+            .where((f) =>
+                f is BuildingFloor &&
+                eq(f.building.name, building) &&
+                f.floor == floor)
+            .map((f) => f.when(
+                  portal: (fromFloor, from, toFloor, to, baseFeature) =>
+                      throw StateError(
+                          "BUG: createGraphMap(): Portal shouldn't be matched "
+                          "by BasicFeature"),
+                  basicFeature: (floor, building, feature) => throw StateError(
+                      "BUG: createGraphMap(): BasicFeatures shouldn't "
+                      "be matched by BasicFeatures"),
+                  buildingFloor: (floor, building) => (f, f.metersTo(node)),
+                ));
+      },
+    );
+
+    graphMap[node] =
+        Map.fromEntries(adjacents.map((tup) => MapEntry(tup.$1, tup.$2)));
+  }
+
+  return graphMap;
+}
+
+WeightedDirectedGraph<GraphFeature, double> createGraph(
+    GraphFeature origin, List<Feature> allFeatures) {
+  final map = createGraphMap(origin, allFeatures);
+  final graph = WeightedDirectedGraph<GraphFeature, double>(
+    map,
+    summation: sum,
+    zero: 0.0,
+    comparator: (a, b) => compareGraphFeatures(a, b),
+  );
+  return graph;
+}
+
+Result<List<(GraphFeature, double)>> findShortestPathUndir(GraphFeature origin,
+    bool Function(GraphFeature) destinationSelector, List<Feature> allFeatures,
+    {heuristicVariant = "zero", heuristicMultiplier = 0.2}) {
+  Graph graph = makeGraph(origin, allFeatures);
+
+  final GraphFeature? destination =
+      graph.nodes.firstWhereOrNull(destinationSelector);
+
+  if (!(graph.contains(origin) &&
+      destination != null &&
+      graph.contains(destination))) {
+    return bail("Origin or destination not in graph");
+  }
+
+  // euclidean distance heuristic
+
+  double Function(GraphFeature) heuristic =
+      (GraphFeature node) => 0.0; // standard zero
+  if (heuristicVariant == "zero") {
+    heuristic = (GraphFeature node) => 0.0;
+  } else if (heuristicVariant == "euclidean") {
+    heuristic =
+        (GraphFeature node) => node.metersTo(destination) * heuristicMultiplier;
+  }
+
+  //heuristic(GraphFeature node) => 0.0;
+
+  // openlist
+  // format: (heuristic, g-val, parent?, node)
+  PriorityQueue<(double, double, GraphFeature?, GraphFeature)> openlist =
+      HeapPriorityQueue(
+    // reverse order (cmp b to a) because lower f-val (shorter distance) is better
+    (a, b) => (b.$1 + b.$2).compareTo((a.$1 + a.$2)),
+  );
+
+  final Map<GraphFeature, (GraphFeature?, double)> bestPathMap = {
+    origin: (null, 0.0)
+  };
+
+  openlist.add((heuristic(origin), 0.0, null, origin));
+
+  // closed list
+  Set<GraphFeature> closedlist = {};
+
+  var cost = 0.0;
+
+  while (openlist.isNotEmpty) {
+    final (f, g, parent, node) = openlist.removeFirst();
+    closedlist.add(node);
+    bestPathMap[node] = (parent, g);
+    if (node == destination) {
+      cost = g;
+      break;
+      // TODO: restore path
+    }
+
+    // expand node
+    final edges = graph.getEdges(node);
+    for (final entry in edges) {
+      final adjNode = entry.$3;
+      final adjCost = entry.$2;
+
+      if (closedlist.contains(adjNode)) {
+        continue;
+      }
+
+      bool found = false;
+      for (final open in openlist.unorderedElements) {
+        if (open.$4 == adjNode) {
+          found = true;
+          if (g + adjCost < open.$2) {
+            openlist.remove(open);
+            openlist.add((
+              open.$1 /* heuristic stays the same */,
+              g + adjCost,
+              adjNode,
+              open.$4
+            ));
+          }
+          break;
+        }
+      }
+
+      if (!found) {
+        openlist.add((
+          f + heuristic(adjNode),
+          g + adjCost,
+          node,
+          adjNode,
+        ));
+      }
+    }
+  }
+  if (bestPathMap.isNotEmpty) {
+    final path = <(GraphFeature, double)>[];
+    (GraphFeature?, double)? currentNode = (destination, cost);
+    while (currentNode?.$1 != null) {
+      final nextNode = bestPathMap[currentNode!.$1];
+      path.insert(
+          0, (currentNode!.$1!, currentNode.$2 - (nextNode?.$2 ?? 0.0)));
+      currentNode = nextNode;
+    }
+    return Ok(path);
+  }
+
+  return bail("No path found");
+}
+
+Result<List<(GraphFeature, double)>> findShortestPath(
+    GraphFeature origin, GraphFeature destination, List<Feature> allFeatures,
+    [heuristicVariant = "zero", heuristicMultiplier = 0.2]) {
+  var graph = createGraphMap(origin, allFeatures);
+
+  if (!(graph.keys.contains(origin) &&
+      graph.values.firstWhereOrNull((vals) => vals.containsKey(destination)) !=
+          null)) {
+    return bail("Origin or destination not in graph");
+  }
+
+  // euclidean distance heuristic
+
+  double Function(GraphFeature) heuristic =
+      (GraphFeature node) => 0.0; // standard zero
+  if (heuristicVariant == "zero") {
+    heuristic = (GraphFeature node) => 0.0;
+  } else if (heuristicVariant == "euclidean") {
+    heuristic =
+        (GraphFeature node) => node.metersTo(destination) * heuristicMultiplier;
+  }
+
+  //heuristic(GraphFeature node) => 0.0;
+
+  // openlist
+  // format: (heuristic, g-val, parent?, node)
+  PriorityQueue<(double, double, GraphFeature?, GraphFeature)> openlist =
+      HeapPriorityQueue(
+    // reverse order (cmp b to a) because lower f-val (shorter distance) is better
+    (a, b) => (b.$1 + b.$2).compareTo((a.$1 + a.$2)),
+  );
+
+  final Map<GraphFeature, (GraphFeature?, double)> bestPathMap = {
+    origin: (null, 0.0)
+  };
+
+  openlist.add((heuristic(origin), 0.0, null, origin));
+
+  // closed list
+  Set<GraphFeature> closedlist = {};
+
+  var cost = 0.0;
+
+  while (openlist.isNotEmpty) {
+    final (f, g, parent, node) = openlist.removeFirst();
+    closedlist.add(node);
+    bestPathMap[node] = (parent, g);
+    if (node == destination) {
+      cost = g;
+      break;
+      // TODO: restore path
+    }
+
+    // expand node
+    final adjacents = graph[node]!;
+    for (final entry in adjacents.entries) {
+      final adjNode = entry.key;
+      final adjCost = entry.value;
+
+      if (closedlist.contains(adjNode)) {
+        continue;
+      }
+
+      bool found = false;
+      for (final open in openlist.unorderedElements) {
+        if (open.$4 == adjNode) {
+          found = true;
+          if (g + adjCost < open.$2) {
+            openlist.remove(open);
+            openlist.add((
+              open.$1 /* heuristic stays the same */,
+              g + adjCost,
+              adjNode,
+              open.$4
+            ));
+          }
+          break;
+        }
+      }
+
+      if (!found) {
+        openlist.add((
+          f + heuristic(adjNode),
+          g + adjCost,
+          node,
+          adjNode,
+        ));
+      }
+    }
+  }
+  if (bestPathMap.isNotEmpty) {
+    final path = <(GraphFeature, double)>[];
+    (GraphFeature?, double)? currentNode = (destination, cost);
+    while (currentNode?.$1 != null) {
+      final nextNode = bestPathMap[currentNode!.$1];
+      path.insert(
+          0, (currentNode!.$1!, currentNode.$2 - (nextNode?.$2 ?? 0.0)));
+      currentNode = nextNode;
+    }
+    return Ok(path);
+  }
+
+  return bail("No path found");
+}
+
+/// Compares two [GraphFeature] instances and determines their relative order.
+///
+/// The comparison is based on the specific subtypes and properties of the
+/// [GraphFeature] instances. The comparison logic is as follows:
+///
+/// 1. If both instances are [BuildingFloor], they are compared first by the
+///    building name and then by the floor number.
+/// 2. If one instance is a [Portal] and the other is a [BuildingFloor] or
+///    [BasicFeature], the [Portal] is considered greater.
+/// 3. If both instances are [Portal], they are compared first by the `from`
+///    property, then by the `to` property, and finally by the `baseFeature` name.
+/// 4. If one instance is a [BasicFeature] and the other is a [BuildingFloor] or
+///    [Portal], the [BasicFeature] is considered greater.
+/// 5. If both instances are [BasicFeature], they are compared first by the
+///    building name, then by the floor number, and finally by the feature name.
+///
+/// Returns a negative value if [a] is considered "less than" [b], a positive
+/// value if [a] is considered "greater than" [b], and zero if they are considered
+/// equal.
+///
+/// This function can be used as a comparator for sorting or ordering
+/// [GraphFeature] instances.
+int compareGraphFeatures(GraphFeature a, GraphFeature b) {
+  return a.when(
+    buildingFloor: (floorA, buildingA) {
+      return b.when(
+        buildingFloor: (floorB, buildingB) {
+          final buildingComparison = buildingA.name.compareTo(buildingB.name);
+          if (buildingComparison != 0) {
+            return buildingComparison;
+          }
+          return floorA.compareTo(floorB);
+        },
+        portal: (fromFloorB, fromB, toFloorB, toB, baseFeatureB) => -1,
+        basicFeature: (floorB, buildingB, featureB) => -1,
+      );
+    },
+    portal: (fromFloorA, fromA, toFloorA, toA, baseFeatureA) {
+      return b.when(
+        buildingFloor: (floorB, buildingB) => 1,
+        portal: (fromFloorB, fromB, toFloorB, toB, baseFeatureB) {
+          final fromComparison = fromA.compareTo(fromB);
+          if (fromComparison != 0) {
+            return fromComparison;
+          }
+          final toComparison = toA.compareTo(toB);
+          if (toComparison != 0) {
+            return toComparison;
+          }
+          return baseFeatureA.name.compareTo(baseFeatureB.name);
+        },
+        basicFeature: (floorB, buildingB, featureB) => -1,
+      );
+    },
+    basicFeature: (floorA, buildingA, featureA) {
+      return b.when(
+        buildingFloor: (floorB, buildingB) => 1,
+        portal: (fromFloorB, fromB, toFloorB, toB, baseFeatureB) => 1,
+        basicFeature: (floorB, buildingB, featureB) {
+          final buildingComparison = buildingA.compareTo(buildingB);
+          if (buildingComparison != 0) {
+            return buildingComparison;
+          }
+          final floorComparison = floorA.compareTo(floorB);
+          if (floorComparison != 0) {
+            return floorComparison;
+          }
+          return featureA.name.compareTo(featureB.name);
+        },
+      );
+    },
+  );
+}

lib/nav/graph.freezed.dart

@@ -0,0 +1,586 @@
+// coverage:ignore-file
+// GENERATED CODE - DO NOT MODIFY BY HAND
+// ignore_for_file: type=lint
+// ignore_for_file: unused_element, deprecated_member_use, deprecated_member_use_from_same_package, use_function_type_syntax_for_parameters, unnecessary_const, avoid_init_to_null, invalid_override_different_default_values_named, prefer_expression_function_bodies, annotate_overrides, invalid_annotation_target, unnecessary_question_mark
+
+part of 'graph.dart';
+
+// **************************************************************************
+// FreezedGenerator
+// **************************************************************************
+
+T _$identity<T>(T value) => value;
+
+final _privateConstructorUsedError = UnsupportedError(
+    'It seems like you constructed your class using `MyClass._()`. This constructor is only meant to be used by freezed and you are not supposed to need it nor use it.\nPlease check the documentation here for more information: https://github.com/rrousselGit/freezed#adding-getters-and-methods-to-our-models');
+
+/// @nodoc
+mixin _$GraphFeature {
+  @optionalTypeArgs
+  TResult when<TResult extends Object?>({
+    required TResult Function(int floor, Feature building) buildingFloor,
+    required TResult Function(int fromFloor, String from, int toFloor,
+            String to, Feature baseFeature)
+        portal,
+    required TResult Function(int floor, String building, Feature feature)
+        basicFeature,
+  }) =>
+      throw _privateConstructorUsedError;
+  @optionalTypeArgs
+  TResult? whenOrNull<TResult extends Object?>({
+    TResult? Function(int floor, Feature building)? buildingFloor,
+    TResult? Function(int fromFloor, String from, int toFloor, String to,
+            Feature baseFeature)?
+        portal,
+    TResult? Function(int floor, String building, Feature feature)?
+        basicFeature,
+  }) =>
+      throw _privateConstructorUsedError;
+  @optionalTypeArgs
+  TResult maybeWhen<TResult extends Object?>({
+    TResult Function(int floor, Feature building)? buildingFloor,
+    TResult Function(int fromFloor, String from, int toFloor, String to,
+            Feature baseFeature)?
+        portal,
+    TResult Function(int floor, String building, Feature feature)? basicFeature,
+    required TResult orElse(),
+  }) =>
+      throw _privateConstructorUsedError;
+  @optionalTypeArgs
+  TResult map<TResult extends Object?>({
+    required TResult Function(BuildingFloor value) buildingFloor,
+    required TResult Function(Portal value) portal,
+    required TResult Function(BasicFeature value) basicFeature,
+  }) =>
+      throw _privateConstructorUsedError;
+  @optionalTypeArgs
+  TResult? mapOrNull<TResult extends Object?>({
+    TResult? Function(BuildingFloor value)? buildingFloor,
+    TResult? Function(Portal value)? portal,
+    TResult? Function(BasicFeature value)? basicFeature,
+  }) =>
+      throw _privateConstructorUsedError;
+  @optionalTypeArgs
+  TResult maybeMap<TResult extends Object?>({
+    TResult Function(BuildingFloor value)? buildingFloor,
+    TResult Function(Portal value)? portal,
+    TResult Function(BasicFeature value)? basicFeature,
+    required TResult orElse(),
+  }) =>
+      throw _privateConstructorUsedError;
+}
+
+/// @nodoc
+abstract class $GraphFeatureCopyWith<$Res> {
+  factory $GraphFeatureCopyWith(
+          GraphFeature value, $Res Function(GraphFeature) then) =
+      _$GraphFeatureCopyWithImpl<$Res, GraphFeature>;
+}
+
+/// @nodoc
+class _$GraphFeatureCopyWithImpl<$Res, $Val extends GraphFeature>
+    implements $GraphFeatureCopyWith<$Res> {
+  _$GraphFeatureCopyWithImpl(this._value, this._then);
+
+  // ignore: unused_field
+  final $Val _value;
+  // ignore: unused_field
+  final $Res Function($Val) _then;
+}
+
+/// @nodoc
+abstract class _$$BuildingFloorImplCopyWith<$Res> {
+  factory _$$BuildingFloorImplCopyWith(
+          _$BuildingFloorImpl value, $Res Function(_$BuildingFloorImpl) then) =
+      __$$BuildingFloorImplCopyWithImpl<$Res>;
+  @useResult
+  $Res call({int floor, Feature building});
+
+  $FeatureCopyWith<$Res> get building;
+}
+
+/// @nodoc
+class __$$BuildingFloorImplCopyWithImpl<$Res>
+    extends _$GraphFeatureCopyWithImpl<$Res, _$BuildingFloorImpl>
+    implements _$$BuildingFloorImplCopyWith<$Res> {
+  __$$BuildingFloorImplCopyWithImpl(
+      _$BuildingFloorImpl _value, $Res Function(_$BuildingFloorImpl) _then)
+      : super(_value, _then);
+
+  @pragma('vm:prefer-inline')
+  @override
+  $Res call({
+    Object? floor = null,
+    Object? building = null,
+  }) {
+    return _then(_$BuildingFloorImpl(
+      null == floor
+          ? _value.floor
+          : floor // ignore: cast_nullable_to_non_nullable
+              as int,
+      null == building
+          ? _value.building
+          : building // ignore: cast_nullable_to_non_nullable
+              as Feature,
+    ));
+  }
+
+  @override
+  @pragma('vm:prefer-inline')
+  $FeatureCopyWith<$Res> get building {
+    return $FeatureCopyWith<$Res>(_value.building, (value) {
+      return _then(_value.copyWith(building: value));
+    });
+  }
+}
+
+/// @nodoc
+
+class _$BuildingFloorImpl extends BuildingFloor {
+  const _$BuildingFloorImpl(this.floor, this.building) : super._();
+
+  @override
+  final int floor;
+  @override
+  final Feature building;
+
+  @JsonKey(ignore: true)
+  @override
+  @pragma('vm:prefer-inline')
+  _$$BuildingFloorImplCopyWith<_$BuildingFloorImpl> get copyWith =>
+      __$$BuildingFloorImplCopyWithImpl<_$BuildingFloorImpl>(this, _$identity);
+
+  @override
+  @optionalTypeArgs
+  TResult when<TResult extends Object?>({
+    required TResult Function(int floor, Feature building) buildingFloor,
+    required TResult Function(int fromFloor, String from, int toFloor,
+            String to, Feature baseFeature)
+        portal,
+    required TResult Function(int floor, String building, Feature feature)
+        basicFeature,
+  }) {
+    return buildingFloor(floor, building);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult? whenOrNull<TResult extends Object?>({
+    TResult? Function(int floor, Feature building)? buildingFloor,
+    TResult? Function(int fromFloor, String from, int toFloor, String to,
+            Feature baseFeature)?
+        portal,
+    TResult? Function(int floor, String building, Feature feature)?
+        basicFeature,
+  }) {
+    return buildingFloor?.call(floor, building);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult maybeWhen<TResult extends Object?>({
+    TResult Function(int floor, Feature building)? buildingFloor,
+    TResult Function(int fromFloor, String from, int toFloor, String to,
+            Feature baseFeature)?
+        portal,
+    TResult Function(int floor, String building, Feature feature)? basicFeature,
+    required TResult orElse(),
+  }) {
+    if (buildingFloor != null) {
+      return buildingFloor(floor, building);
+    }
+    return orElse();
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult map<TResult extends Object?>({
+    required TResult Function(BuildingFloor value) buildingFloor,
+    required TResult Function(Portal value) portal,
+    required TResult Function(BasicFeature value) basicFeature,
+  }) {
+    return buildingFloor(this);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult? mapOrNull<TResult extends Object?>({
+    TResult? Function(BuildingFloor value)? buildingFloor,
+    TResult? Function(Portal value)? portal,
+    TResult? Function(BasicFeature value)? basicFeature,
+  }) {
+    return buildingFloor?.call(this);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult maybeMap<TResult extends Object?>({
+    TResult Function(BuildingFloor value)? buildingFloor,
+    TResult Function(Portal value)? portal,
+    TResult Function(BasicFeature value)? basicFeature,
+    required TResult orElse(),
+  }) {
+    if (buildingFloor != null) {
+      return buildingFloor(this);
+    }
+    return orElse();
+  }
+}
+
+abstract class BuildingFloor extends GraphFeature {
+  const factory BuildingFloor(final int floor, final Feature building) =
+      _$BuildingFloorImpl;
+  const BuildingFloor._() : super._();
+
+  int get floor;
+  Feature get building;
+  @JsonKey(ignore: true)
+  _$$BuildingFloorImplCopyWith<_$BuildingFloorImpl> get copyWith =>
+      throw _privateConstructorUsedError;
+}
+
+/// @nodoc
+abstract class _$$PortalImplCopyWith<$Res> {
+  factory _$$PortalImplCopyWith(
+          _$PortalImpl value, $Res Function(_$PortalImpl) then) =
+      __$$PortalImplCopyWithImpl<$Res>;
+  @useResult
+  $Res call(
+      {int fromFloor,
+      String from,
+      int toFloor,
+      String to,
+      Feature baseFeature});
+
+  $FeatureCopyWith<$Res> get baseFeature;
+}
+
+/// @nodoc
+class __$$PortalImplCopyWithImpl<$Res>
+    extends _$GraphFeatureCopyWithImpl<$Res, _$PortalImpl>
+    implements _$$PortalImplCopyWith<$Res> {
+  __$$PortalImplCopyWithImpl(
+      _$PortalImpl _value, $Res Function(_$PortalImpl) _then)
+      : super(_value, _then);
+
+  @pragma('vm:prefer-inline')
+  @override
+  $Res call({
+    Object? fromFloor = null,
+    Object? from = null,
+    Object? toFloor = null,
+    Object? to = null,
+    Object? baseFeature = null,
+  }) {
+    return _then(_$PortalImpl(
+      null == fromFloor
+          ? _value.fromFloor
+          : fromFloor // ignore: cast_nullable_to_non_nullable
+              as int,
+      null == from
+          ? _value.from
+          : from // ignore: cast_nullable_to_non_nullable
+              as String,
+      null == toFloor
+          ? _value.toFloor
+          : toFloor // ignore: cast_nullable_to_non_nullable
+              as int,
+      null == to
+          ? _value.to
+          : to // ignore: cast_nullable_to_non_nullable
+              as String,
+      null == baseFeature
+          ? _value.baseFeature
+          : baseFeature // ignore: cast_nullable_to_non_nullable
+              as Feature,
+    ));
+  }
+
+  @override
+  @pragma('vm:prefer-inline')
+  $FeatureCopyWith<$Res> get baseFeature {
+    return $FeatureCopyWith<$Res>(_value.baseFeature, (value) {
+      return _then(_value.copyWith(baseFeature: value));
+    });
+  }
+}
+
+/// @nodoc
+
+class _$PortalImpl extends Portal {
+  const _$PortalImpl(
+      this.fromFloor, this.from, this.toFloor, this.to, this.baseFeature)
+      : super._();
+
+  @override
+  final int fromFloor;
+  @override
+  final String from;
+  @override
+  final int toFloor;
+  @override
+  final String to;
+  @override
+  final Feature baseFeature;
+
+  @JsonKey(ignore: true)
+  @override
+  @pragma('vm:prefer-inline')
+  _$$PortalImplCopyWith<_$PortalImpl> get copyWith =>
+      __$$PortalImplCopyWithImpl<_$PortalImpl>(this, _$identity);
+
+  @override
+  @optionalTypeArgs
+  TResult when<TResult extends Object?>({
+    required TResult Function(int floor, Feature building) buildingFloor,
+    required TResult Function(int fromFloor, String from, int toFloor,
+            String to, Feature baseFeature)
+        portal,
+    required TResult Function(int floor, String building, Feature feature)
+        basicFeature,
+  }) {
+    return portal(fromFloor, from, toFloor, to, baseFeature);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult? whenOrNull<TResult extends Object?>({
+    TResult? Function(int floor, Feature building)? buildingFloor,
+    TResult? Function(int fromFloor, String from, int toFloor, String to,
+            Feature baseFeature)?
+        portal,
+    TResult? Function(int floor, String building, Feature feature)?
+        basicFeature,
+  }) {
+    return portal?.call(fromFloor, from, toFloor, to, baseFeature);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult maybeWhen<TResult extends Object?>({
+    TResult Function(int floor, Feature building)? buildingFloor,
+    TResult Function(int fromFloor, String from, int toFloor, String to,
+            Feature baseFeature)?
+        portal,
+    TResult Function(int floor, String building, Feature feature)? basicFeature,
+    required TResult orElse(),
+  }) {
+    if (portal != null) {
+      return portal(fromFloor, from, toFloor, to, baseFeature);
+    }
+    return orElse();
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult map<TResult extends Object?>({
+    required TResult Function(BuildingFloor value) buildingFloor,
+    required TResult Function(Portal value) portal,
+    required TResult Function(BasicFeature value) basicFeature,
+  }) {
+    return portal(this);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult? mapOrNull<TResult extends Object?>({
+    TResult? Function(BuildingFloor value)? buildingFloor,
+    TResult? Function(Portal value)? portal,
+    TResult? Function(BasicFeature value)? basicFeature,
+  }) {
+    return portal?.call(this);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult maybeMap<TResult extends Object?>({
+    TResult Function(BuildingFloor value)? buildingFloor,
+    TResult Function(Portal value)? portal,
+    TResult Function(BasicFeature value)? basicFeature,
+    required TResult orElse(),
+  }) {
+    if (portal != null) {
+      return portal(this);
+    }
+    return orElse();
+  }
+}
+
+abstract class Portal extends GraphFeature {
+  const factory Portal(
+      final int fromFloor,
+      final String from,
+      final int toFloor,
+      final String to,
+      final Feature baseFeature) = _$PortalImpl;
+  const Portal._() : super._();
+
+  int get fromFloor;
+  String get from;
+  int get toFloor;
+  String get to;
+  Feature get baseFeature;
+  @JsonKey(ignore: true)
+  _$$PortalImplCopyWith<_$PortalImpl> get copyWith =>
+      throw _privateConstructorUsedError;
+}
+
+/// @nodoc
+abstract class _$$BasicFeatureImplCopyWith<$Res> {
+  factory _$$BasicFeatureImplCopyWith(
+          _$BasicFeatureImpl value, $Res Function(_$BasicFeatureImpl) then) =
+      __$$BasicFeatureImplCopyWithImpl<$Res>;
+  @useResult
+  $Res call({int floor, String building, Feature feature});
+
+  $FeatureCopyWith<$Res> get feature;
+}
+
+/// @nodoc
+class __$$BasicFeatureImplCopyWithImpl<$Res>
+    extends _$GraphFeatureCopyWithImpl<$Res, _$BasicFeatureImpl>
+    implements _$$BasicFeatureImplCopyWith<$Res> {
+  __$$BasicFeatureImplCopyWithImpl(
+      _$BasicFeatureImpl _value, $Res Function(_$BasicFeatureImpl) _then)
+      : super(_value, _then);
+
+  @pragma('vm:prefer-inline')
+  @override
+  $Res call({
+    Object? floor = null,
+    Object? building = null,
+    Object? feature = null,
+  }) {
+    return _then(_$BasicFeatureImpl(
+      null == floor
+          ? _value.floor
+          : floor // ignore: cast_nullable_to_non_nullable
+              as int,
+      null == building
+          ? _value.building
+          : building // ignore: cast_nullable_to_non_nullable
+              as String,
+      null == feature
+          ? _value.feature
+          : feature // ignore: cast_nullable_to_non_nullable
+              as Feature,
+    ));
+  }
+
+  @override
+  @pragma('vm:prefer-inline')
+  $FeatureCopyWith<$Res> get feature {
+    return $FeatureCopyWith<$Res>(_value.feature, (value) {
+      return _then(_value.copyWith(feature: value));
+    });
+  }
+}
+
+/// @nodoc
+
+class _$BasicFeatureImpl extends BasicFeature {
+  const _$BasicFeatureImpl(this.floor, this.building, this.feature) : super._();
+
+  @override
+  final int floor;
+  @override
+  final String building;
+  @override
+  final Feature feature;
+
+  @JsonKey(ignore: true)
+  @override
+  @pragma('vm:prefer-inline')
+  _$$BasicFeatureImplCopyWith<_$BasicFeatureImpl> get copyWith =>
+      __$$BasicFeatureImplCopyWithImpl<_$BasicFeatureImpl>(this, _$identity);
+
+  @override
+  @optionalTypeArgs
+  TResult when<TResult extends Object?>({
+    required TResult Function(int floor, Feature building) buildingFloor,
+    required TResult Function(int fromFloor, String from, int toFloor,
+            String to, Feature baseFeature)
+        portal,
+    required TResult Function(int floor, String building, Feature feature)
+        basicFeature,
+  }) {
+    return basicFeature(floor, building, feature);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult? whenOrNull<TResult extends Object?>({
+    TResult? Function(int floor, Feature building)? buildingFloor,
+    TResult? Function(int fromFloor, String from, int toFloor, String to,
+            Feature baseFeature)?
+        portal,
+    TResult? Function(int floor, String building, Feature feature)?
+        basicFeature,
+  }) {
+    return basicFeature?.call(floor, building, feature);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult maybeWhen<TResult extends Object?>({
+    TResult Function(int floor, Feature building)? buildingFloor,
+    TResult Function(int fromFloor, String from, int toFloor, String to,
+            Feature baseFeature)?
+        portal,
+    TResult Function(int floor, String building, Feature feature)? basicFeature,
+    required TResult orElse(),
+  }) {
+    if (basicFeature != null) {
+      return basicFeature(floor, building, feature);
+    }
+    return orElse();
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult map<TResult extends Object?>({
+    required TResult Function(BuildingFloor value) buildingFloor,
+    required TResult Function(Portal value) portal,
+    required TResult Function(BasicFeature value) basicFeature,
+  }) {
+    return basicFeature(this);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult? mapOrNull<TResult extends Object?>({
+    TResult? Function(BuildingFloor value)? buildingFloor,
+    TResult? Function(Portal value)? portal,
+    TResult? Function(BasicFeature value)? basicFeature,
+  }) {
+    return basicFeature?.call(this);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult maybeMap<TResult extends Object?>({
+    TResult Function(BuildingFloor value)? buildingFloor,
+    TResult Function(Portal value)? portal,
+    TResult Function(BasicFeature value)? basicFeature,
+    required TResult orElse(),
+  }) {
+    if (basicFeature != null) {
+      return basicFeature(this);
+    }
+    return orElse();
+  }
+}
+
+abstract class BasicFeature extends GraphFeature {
+  const factory BasicFeature(
+          final int floor, final String building, final Feature feature) =
+      _$BasicFeatureImpl;
+  const BasicFeature._() : super._();
+
+  int get floor;
+  String get building;
+  Feature get feature;
+  @JsonKey(ignore: true)
+  _$$BasicFeatureImplCopyWith<_$BasicFeatureImpl> get copyWith =>
+      throw _privateConstructorUsedError;
+}

lib/settings copy.dart

@@ -1,21 +0,0 @@
-import 'package:flutter/material.dart';
-import 'package:uninav/components/drawer.dart';
-import 'package:uninav/components/hamburger_menu.dart';
-
-class SettingsPage extends StatelessWidget {
-  const SettingsPage({super.key});
-
-  @override
-  Widget build(BuildContext context) {
-    return Scaffold(
-      appBar: AppBar(
-        title: const Text('Settings'),
-        leading: HamburgerMenu(),
-      ),
-      drawer: MyDrawer(),
-      body: const Center(
-        child: Text('TODO'),
-      ),
-    );
-  }
-}

lib/settings.dart

@@ -1,20 +1,171 @@
 import 'package:flutter/material.dart';
+import 'package:get/get.dart';
 import 'package:uninav/components/drawer.dart';
 import 'package:uninav/components/hamburger_menu.dart';
+import 'package:uninav/controllers/shared_prefs_controller.dart';
 
 class SettingsPage extends StatelessWidget {
   const SettingsPage({super.key});
 
   @override
   Widget build(BuildContext context) {
+    final persistenceController = Get.find<SharedPrefsController>();
+    final settings = persistenceController.settings;
+
     return Scaffold(
       appBar: AppBar(
         title: const Text('Settings'),
         leading: HamburgerMenu(),
       ),
       drawer: MyDrawer(),
-      body: const Center(
-        child: Text('TODO'),
+      body: SingleChildScrollView(
+        child: Column(
+          children: [
+            Obx(
+              () => Column(
+                children: [
+                  SwitchListTile(
+                    title: const Text('Show Icons'),
+                    subtitle: const Text(
+                      'Warning: disables ALL icons',
+                      style: TextStyle(color: Colors.red, fontSize: 12),
+                    ),
+                    value: settings.value.showIcons,
+                    onChanged: (value) {
+                      settings.value = settings.value.copyWith(
+                        showIcons: value,
+                      );
+                      persistenceController.persistSettings();
+                    },
+                  ),
+                  SwitchListTile(
+                    title: const Text('Show Elevators'),
+                    value: settings.value.showElevators,
+                    onChanged: (value) {
+                      settings.value = settings.value.copyWith(
+                        showElevators: value,
+                      );
+                      persistenceController.persistSettings();
+                    },
+                  ),
+                  SwitchListTile(
+                    title: const Text('Show Food and Drink'),
+                    value: settings.value.showFoodAndDrink,
+                    onChanged: (value) {
+                      settings.value = settings.value.copyWith(
+                        showFoodAndDrink: value,
+                      );
+                      persistenceController.persistSettings();
+                    },
+                  ),
+                  SwitchListTile(
+                    title: const Text('Show Lecture Halls'),
+                    value: settings.value.showLectureHalls,
+                    onChanged: (value) {
+                      settings.value = settings.value.copyWith(
+                        showLectureHalls: value,
+                      );
+                      persistenceController.persistSettings();
+                    },
+                  ),
+                  SwitchListTile(
+                    title: const Text('Show Computer Pools'),
+                    value: settings.value.showComputerPools,
+                    onChanged: (value) {
+                      settings.value = settings.value.copyWith(
+                        showComputerPools: value,
+                      );
+                      persistenceController.persistSettings();
+                    },
+                  ),
+                  SwitchListTile(
+                    title: const Text('Show Seminar Rooms'),
+                    value: settings.value.showSeminarRooms,
+                    onChanged: (value) {
+                      settings.value = settings.value.copyWith(
+                        showSeminarRooms: value,
+                      );
+                      persistenceController.persistSettings();
+                    },
+                  ),
+                  SwitchListTile(
+                    title: const Text('Show Toilets'),
+                    value: settings.value.showToilets,
+                    onChanged: (value) {
+                      settings.value = settings.value.copyWith(
+                        showToilets: value,
+                      );
+                      persistenceController.persistSettings();
+                    },
+                  ),
+                  SwitchListTile(
+                    title: const Text('Show Stairs'),
+                    value: settings.value.showStairs,
+                    onChanged: (value) {
+                      settings.value = settings.value.copyWith(
+                        showStairs: value,
+                      );
+                      persistenceController.persistSettings();
+                    },
+                  ),
+                  SwitchListTile(
+                    title: const Text('Show Doors'),
+                    value: settings.value.showDoors,
+                    onChanged: (value) {
+                      settings.value = settings.value.copyWith(
+                        showDoors: value,
+                      );
+                      persistenceController.persistSettings();
+                    },
+                  ),
+                  const SizedBox(height: 12),
+                  const Padding(
+                    padding: EdgeInsets.only(left: 8.0),
+                    child: Text('Toilet Preference'),
+                  ),
+                  CheckboxListTile(
+                    title: const Text('Male Toilets'),
+                    value: settings.value.maleToilets,
+                    onChanged: (value) {
+                      settings.value = settings.value.copyWith(
+                        maleToilets: value ?? false,
+                      );
+                      persistenceController.persistSettings();
+                    },
+                  ),
+                  CheckboxListTile(
+                    title: const Text('Female Toilets'),
+                    value: settings.value.femaleToilets,
+                    onChanged: (value) {
+                      settings.value = settings.value.copyWith(
+                        femaleToilets: value ?? false,
+                      );
+                      persistenceController.persistSettings();
+                    },
+                  ),
+                  CheckboxListTile(
+                    title: const Text('Handicap Toilets'),
+                    value: settings.value.handicapToilets,
+                    onChanged: (value) {
+                      settings.value = settings.value.copyWith(
+                        handicapToilets: value ?? false,
+                      );
+                      persistenceController.persistSettings();
+                    },
+                  ),
+                  const SizedBox(height: 12),
+                  ElevatedButton(
+                    onPressed: () {
+                      settings.value = const Settings();
+                      persistenceController.persistSettings();
+                    },
+                    child: const Text("Reset Settings"),
+                  ),
+                ],
+              ),
+            ),
+          ],
+        ),
       ),
     );
   }

lib/util/geojson_util.dart

@@ -0,0 +1,96 @@
+import 'package:geojson_vi/geojson_vi.dart';
+import 'package:latlong2/latlong.dart';
+import 'dart:math';
+
+void swapLatLonGeojsonGeometry(GeoJSONGeometry geometry) {
+  if (geometry is GeoJSONPolygon) {
+    geometry.coordinates[0] =
+        geometry.coordinates[0].map((e) => [e[1], e[0]]).toList();
+  } else if (geometry is GeoJSONPoint) {
+    geometry.coordinates = [geometry.coordinates[1], geometry.coordinates[0]];
+  } else {
+    throw UnimplementedError(
+        "Geometry of type ${geometry.runtimeType} point swapping is unimplemented");
+  }
+}
+
+List<double> latLonToGeoJSON(LatLng point) {
+  return [point.longitude, point.latitude];
+}
+
+LatLng geoJSONToLatLon(List<double> point) {
+  return LatLng(point[1], point[0]);
+}
+
+double degreesToRadians(double degrees) {
+  return degrees * (pi / 180);
+}
+
+double radiansToDegrees(double radians) {
+  return radians * (180 / pi);
+}
+
+double bearingBetweenLatLng(LatLng point1, LatLng point2) {
+  return bearingBetween(
+    point1.latitude,
+    point1.longitude,
+    point2.latitude,
+    point2.longitude,
+  );
+}
+
+double bearingBetween(double lat1, double lon1, double lat2, double lon2) {
+  var dLon = degreesToRadians(lon2 - lon1);
+  var y = sin(dLon) * cos(degreesToRadians(lat2));
+  var x = cos(degreesToRadians(lat1)) * sin(degreesToRadians(lat2)) -
+      sin(degreesToRadians(lat1)) * cos(degreesToRadians(lat2)) * cos(dLon);
+  var angle = atan2(y, x);
+  return (radiansToDegrees(angle) + 360) % 360;
+}
+
+double distanceBetweenLatLng(LatLng point1, LatLng point2, String unit) {
+  return distanceBetween(point1.latitude, point1.longitude, point2.latitude,
+      point2.longitude, unit);
+}
+
+double distanceBetween(
+    double lat1, double lon1, double lat2, double lon2, String unit) {
+  const earthRadius = 6371; // in km
+  // assuming earth is a perfect sphere(it's not)
+
+  // Convert degrees to radians
+  final lat1Rad = degreesToRadians(lat1);
+  final lon1Rad = degreesToRadians(lon1);
+  final lat2Rad = degreesToRadians(lat2);
+  final lon2Rad = degreesToRadians(lon2);
+
+  final dLat = lat2Rad - lat1Rad;
+  final dLon = lon2Rad - lon1Rad;
+
+  // Haversine formula
+  final a = pow(sin(dLat / 2), 2) +
+      cos(lat1Rad) * cos(lat2Rad) * pow(sin(dLon / 2), 2);
+  final c = 2 * atan2(sqrt(a), sqrt(1 - a));
+
+  final distance = earthRadius * c;
+
+  return toRequestedUnit(unit, distance);
+
+  // return distance; // in km
+}
+
+double toRequestedUnit(String unit, double distanceInKm) {
+  switch (unit) {
+    case 'kilometers':
+      return distanceInKm;
+    case 'meters':
+      return distanceInKm * 1000;
+    case 'miles':
+      return (distanceInKm * 1000) / 1609.344;
+    case 'yards':
+      return distanceInKm * 1093.61;
+    case '':
+      return distanceInKm;
+  }
+  return distanceInKm;
+}

lib/util/geolocator.dart

@@ -0,0 +1,48 @@
+import 'package:anyhow/anyhow.dart';
+import 'package:geolocator/geolocator.dart';
+
+/// Determine the current position of the device.
+///
+/// When the location services are not enabled or permissions
+/// are denied the `Future` will return an error.
+
+Future<Result<()>> ensureLocationPermission() async {
+  try {
+    bool serviceEnabled;
+    LocationPermission permission;
+
+    // Test if location services are enabled.
+    serviceEnabled = await Geolocator.isLocationServiceEnabled();
+    if (!serviceEnabled) {
+      // Location services are not enabled don't continue
+      // accessing the position and request users of the
+      // App to enable the location services.
+      return bail('Location services are disabled.');
+    }
+
+    permission = await Geolocator.checkPermission();
+    if (permission == LocationPermission.denied) {
+      permission = await Geolocator.requestPermission();
+      if (permission == LocationPermission.denied) {
+        // Permissions are denied, next time you could try
+        // requesting permissions again (this is also where
+        // Android's shouldShowRequestPermissionRationale
+        // returned true. According to Android guidelines
+        // your App should show an explanatory UI now.
+        return bail('Location permissions are denied');
+      }
+    }
+
+    if (permission == LocationPermission.deniedForever) {
+      // Permissions are denied forever, handle appropriately.
+      return bail(
+          'Location permissions are permanently denied, we cannot request permissions.');
+    }
+
+    // When we reach here, permissions are granted and we can
+    // continue accessing the position of the device.
+    return const Ok(());
+  } catch (e) {
+    return bail("Ensuring Location Permission failed: $e");
+  }
+}

lib/util/geomath.dart

@@ -35,3 +35,24 @@ LatLng polygonCenterAvg(List<LatLng> polygon) {
 
   return LatLng(centerLat, centerLng);
 }
+
+bool isPointInPolygonRaycast(LatLng point, List<LatLng> polygon) {
+  bool inside = false;
+  int len = polygon.length;
+
+  for (int i = 0, j = len - 1; i < len; j = i++) {
+    LatLng pi = polygon[i];
+    LatLng pj = polygon[j];
+
+    if (((pi.latitude > point.latitude) != (pj.latitude > point.latitude)) &&
+        (point.longitude <
+            (pj.longitude - pi.longitude) *
+                    (point.latitude - pi.latitude) /
+                    (pj.latitude - pi.latitude) +
+                pi.longitude)) {
+      inside = !inside;
+    }
+  }
+
+  return inside;
+}

lib/util/util.dart

@@ -0,0 +1,86 @@
+import 'package:flutter/material.dart';
+import 'package:uninav/data/geo/model.dart';
+
+bool eq(String? a, String? b) => a?.toLowerCase() == b?.toLowerCase();
+
+String formatDuration(Duration duration) {
+  final days = duration.inDays;
+  final hours = duration.inHours.remainder(24);
+  final minutes = duration.inMinutes.remainder(60);
+  final seconds = duration.inSeconds.remainder(60);
+
+  String plural(int thing) => thing == 1 ? '' : 's';
+
+  if (days > 0) {
+    return '$days day${plural(days)}, $hours hour${plural(hours)}';
+  } else if (hours > 0) {
+    return '$hours hour${plural(hours)}, $minutes minute${plural(minutes)}';
+  } else if (minutes > 0) {
+    return '$minutes minute${plural(minutes)}, $seconds second${plural(seconds)}';
+  } else {
+    return '$seconds second${plural(seconds)}';
+  }
+}
+
+String formatFeatureTitle(Feature feature) {
+  return feature.type.when(
+    building: () => '${feature.name} (Building)',
+    lectureHall: () => '${feature.name} (Lecture Hall)',
+    room: (number) => 'Room ${feature.building ?? "??"}/$number',
+    pcPool: (number) => 'PC Pool ${feature.name}',
+    foodDrink: () => '${feature.name} (Food/Drink)',
+    door: (_) => 'Door',
+    toilet: (type) => 'Toilet (${formatToiletType(feature.type as Toilet)})',
+    stairs: (_) => 'Stairs',
+    lift: (_) => 'Lift',
+    publicTransport: (_, __) => 'Public Transport',
+  );
+}
+
+String formatToiletType(Toilet toilet) {
+  final type = toilet.toilet_type.toLowerCase();
+  switch (type) {
+    case 'male':
+      return 'Male';
+    case 'female':
+      return 'Female';
+    case 'handicap':
+      return 'Handicap';
+    default:
+      return 'Unknown';
+  }
+}
+
+String formatDistance(int distanceInMeters) {
+  if (distanceInMeters < 1000) {
+    // If the distance is less than 1 kilometer, display it in meters.
+    return '${distanceInMeters}m';
+  } else {
+    // If the distance is 1 kilometer or more, display it in kilometers and meters.
+    final kilometers =
+        distanceInMeters ~/ 1000; // Integer division to get whole kilometers.
+    final meters =
+        distanceInMeters % 1000; // Remainder to get the remaining meters.
+    if (meters == 0) {
+      // If there are no remaining meters, display only kilometers.
+      return '${kilometers}km';
+    } else {
+      // If there are remaining meters, display both kilometers and meters.
+      return '${kilometers}km ${meters}m';
+    }
+  }
+}
+
+IconData findToiletIcon(String type) {
+  switch (type.toLowerCase()) {
+    case 'male':
+      return Icons.male;
+    case 'female':
+      return Icons.female;
+    case 'handicap':
+      return Icons.accessible;
+    default:
+      print("WARN: Toilet didn't have recognizable type! Type was '$type'");
+      return Icons.wc;
+  }
+}

linux/flutter/generated_plugin_registrant.cc

@@ -6,9 +6,13 @@
 
 #include "generated_plugin_registrant.h"
 
+#include <isar_flutter_libs/isar_flutter_libs_plugin.h>
 #include <url_launcher_linux/url_launcher_plugin.h>
 
 void fl_register_plugins(FlPluginRegistry* registry) {
+  g_autoptr(FlPluginRegistrar) isar_flutter_libs_registrar =
+      fl_plugin_registry_get_registrar_for_plugin(registry, "IsarFlutterLibsPlugin");
+  isar_flutter_libs_plugin_register_with_registrar(isar_flutter_libs_registrar);
   g_autoptr(FlPluginRegistrar) url_launcher_linux_registrar =
       fl_plugin_registry_get_registrar_for_plugin(registry, "UrlLauncherPlugin");
   url_launcher_plugin_register_with_registrar(url_launcher_linux_registrar);

linux/flutter/generated_plugins.cmake

@@ -3,6 +3,7 @@
 #
 
 list(APPEND FLUTTER_PLUGIN_LIST
+  isar_flutter_libs
   url_launcher_linux
 )
 

macos/Flutter/GeneratedPluginRegistrant.swift

@@ -5,8 +5,16 @@
 import FlutterMacOS
 import Foundation
 
+import geolocator_apple
+import isar_flutter_libs
+import path_provider_foundation
+import shared_preferences_foundation
 import url_launcher_macos
 
 func RegisterGeneratedPlugins(registry: FlutterPluginRegistry) {
+  GeolocatorPlugin.register(with: registry.registrar(forPlugin: "GeolocatorPlugin"))
+  IsarFlutterLibsPlugin.register(with: registry.registrar(forPlugin: "IsarFlutterLibsPlugin"))
+  PathProviderPlugin.register(with: registry.registrar(forPlugin: "PathProviderPlugin"))
+  SharedPreferencesPlugin.register(with: registry.registrar(forPlugin: "SharedPreferencesPlugin"))
   UrlLauncherPlugin.register(with: registry.registrar(forPlugin: "UrlLauncherPlugin"))
 }

pubspec.lock

@@ -5,18 +5,18 @@ packages:
     dependency: transitive
     description:
       name: _fe_analyzer_shared
-      sha256: "0b2f2bd91ba804e53a61d757b986f89f1f9eaed5b11e4b2f5a2468d86d6c9fc7"
+      sha256: ae92f5d747aee634b87f89d9946000c2de774be1d6ac3e58268224348cd0101a
       url: "https://pub.dev"
     source: hosted
-    version: "67.0.0"
+    version: "61.0.0"
   analyzer:
     dependency: transitive
     description:
       name: analyzer
-      sha256: "37577842a27e4338429a1cbc32679d508836510b056f1eedf0c8d20e39c1383d"
+      sha256: ea3d8652bda62982addfd92fdc2d0214e5f82e43325104990d4f4c4a2a313562
       url: "https://pub.dev"
     source: hosted
-    version: "6.4.1"
+    version: "5.13.0"
   anim_search_bar:
     dependency: "direct main"
     description:
@@ -154,7 +154,7 @@ packages:
     source: hosted
     version: "4.10.0"
   collection:
-    dependency: transitive
+    dependency: "direct main"
     description:
       name: collection
       sha256: ee67cb0715911d28db6bf4af1026078bd6f0128b07a5f66fb2ed94ec6783c09a
@@ -189,18 +189,26 @@ packages:
     dependency: transitive
     description:
       name: dart_style
-      sha256: "99e066ce75c89d6b29903d788a7bb9369cf754f7b24bf70bf4b6d6d6b26853b9"
+      sha256: "1efa911ca7086affd35f463ca2fc1799584fb6aa89883cf0af8e3664d6a02d55"
       url: "https://pub.dev"
     source: hosted
-    version: "2.3.6"
-  extra_pedantic:
+    version: "2.3.2"
+  directed_graph:
+    dependency: "direct main"
+    description:
+      name: directed_graph
+      sha256: fcb45029b4a5089d383b79056b6716d6bf5af79b8e7dbac4b61d26af46410548
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.4.3"
+  exception_templates:
     dependency: transitive
     description:
-      name: extra_pedantic
-      sha256: eb9cc0842dc1c980f00fd226364456d2169d54f7118b8ae16443188063edce0b
+      name: exception_templates
+      sha256: "517f7c770da690073663f867ee2057ae2f4ffb28edae9da9faa624aa29ac76eb"
       url: "https://pub.dev"
     source: hosted
-    version: "1.5.0"
+    version: "0.3.1"
   fake_async:
     dependency: transitive
     description:
@@ -209,6 +217,22 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "1.3.1"
+  fast_immutable_collections:
+    dependency: "direct main"
+    description:
+      name: fast_immutable_collections
+      sha256: "38fbc50df5b219dcfb83ebbc3275ec09872530ca1153858fc56fceadb310d037"
+      url: "https://pub.dev"
+    source: hosted
+    version: "10.2.2"
+  ffi:
+    dependency: transitive
+    description:
+      name: ffi
+      sha256: "493f37e7df1804778ff3a53bd691d8692ddf69702cf4c1c1096a2e41b4779e21"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.1.2"
   file:
     dependency: transitive
     description:
@@ -230,6 +254,14 @@ packages:
     description: flutter
     source: sdk
     version: "0.0.0"
+  flutter_compass:
+    dependency: transitive
+    description:
+      name: flutter_compass
+      sha256: be642484f9f6975c1c6edff568281b001f2f1e604de27ecea18d97eebbdef22f
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.8.0"
   flutter_lints:
     dependency: "direct dev"
     description:
@@ -242,10 +274,18 @@ packages:
     dependency: "direct main"
     description:
       name: flutter_map
-      sha256: "52c65a977daae42f9aae6748418dd1535eaf27186e9bac9bf431843082bc75a3"
+      sha256: cda8d72135b697f519287258b5294a57ce2f2a5ebf234f0e406aad4dc14c9399
       url: "https://pub.dev"
     source: hosted
-    version: "4.0.0"
+    version: "6.1.0"
+  flutter_map_location_marker:
+    dependency: "direct main"
+    description:
+      name: flutter_map_location_marker
+      sha256: "5873a47606b092bf181b6d17dd42a124e9a8d5d9caad58b5f98fc182e799994f"
+      url: "https://pub.dev"
+    source: hosted
+    version: "8.0.8"
   flutter_test:
     dependency: "direct dev"
     description: flutter
@@ -280,30 +320,62 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "4.0.0"
-  geodesy:
-    dependency: transitive
-    description:
-      name: geodesy
-      sha256: d9959000de938adf760f946546ccbf9ebdff8f4f6d0b5c54e8b8b1ed350b1028
-      url: "https://pub.dev"
-    source: hosted
-    version: "0.4.0-nullsafety.0"
-  geojson:
+  geojson_vi:
     dependency: "direct main"
     description:
-      name: geojson
-      sha256: "8aab8116d074e92ef2d1ade25ec5ae90ea8bf024a920ab46703c433ffe08878f"
+      name: geojson_vi
+      sha256: ffba1991df4d3f98cfd7fee02bcde00b76a39d4daa838ba8a0ba8b83cbff0705
       url: "https://pub.dev"
     source: hosted
-    version: "1.0.0"
-  geopoint:
+    version: "2.2.3"
+  geolocator:
+    dependency: "direct main"
+    description:
+      name: geolocator
+      sha256: "694ec58afe97787b5b72b8a0ab78c1a9244811c3c10e72c4362ef3c0ceb005cd"
+      url: "https://pub.dev"
+    source: hosted
+    version: "11.0.0"
+  geolocator_android:
     dependency: transitive
     description:
-      name: geopoint
-      sha256: "594afb50a689e6584b80b7de8332c83a78e50725dc4324b2c014d19c56de5e3f"
+      name: geolocator_android
+      sha256: f15d1536cd01b1399578f1da1eb5d566e7a718db6a3648f2c24d2e2f859f0692
       url: "https://pub.dev"
     source: hosted
-    version: "1.0.0"
+    version: "4.5.4"
+  geolocator_apple:
+    dependency: transitive
+    description:
+      name: geolocator_apple
+      sha256: bc2aca02423ad429cb0556121f56e60360a2b7d694c8570301d06ea0c00732fd
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.3.7"
+  geolocator_platform_interface:
+    dependency: transitive
+    description:
+      name: geolocator_platform_interface
+      sha256: "009a21c4bc2761e58dccf07c24f219adaebe0ff707abdfd40b0a763d4003fab9"
+      url: "https://pub.dev"
+    source: hosted
+    version: "4.2.2"
+  geolocator_web:
+    dependency: transitive
+    description:
+      name: geolocator_web
+      sha256: "49d8f846ebeb5e2b6641fe477a7e97e5dd73f03cbfef3fd5c42177b7300fb0ed"
+      url: "https://pub.dev"
+    source: hosted
+    version: "3.0.0"
+  geolocator_windows:
+    dependency: transitive
+    description:
+      name: geolocator_windows
+      sha256: "53da08937d07c24b0d9952eb57a3b474e29aae2abf9dd717f7e1230995f13f0e"
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.2.3"
   get:
     dependency: "direct main"
     description:
@@ -332,10 +404,10 @@ packages:
     dependency: transitive
     description:
       name: http
-      sha256: "5895291c13fa8a3bd82e76d5627f69e0d85ca6a30dcac95c4ea19a5d555879c2"
+      sha256: "761a297c042deedc1ffbb156d6e2af13886bb305c2a343a4d972504cd67dd938"
       url: "https://pub.dev"
     source: hosted
-    version: "0.13.6"
+    version: "1.2.1"
   http_multi_server:
     dependency: transitive
     description:
@@ -368,22 +440,30 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "1.0.4"
-  iso:
-    dependency: transitive
+  isar:
+    dependency: "direct main"
     description:
-      name: iso
-      sha256: "7030a1a096f7924deb6cccde6c7d80473dddd54eeedf20402e3d6e51b1672b27"
+      name: isar
+      sha256: "99165dadb2cf2329d3140198363a7e7bff9bbd441871898a87e26914d25cf1ea"
       url: "https://pub.dev"
     source: hosted
-    version: "1.0.0"
+    version: "3.1.0+1"
+  isar_flutter_libs:
+    dependency: "direct main"
+    description:
+      name: isar_flutter_libs
+      sha256: bc6768cc4b9c61aabff77152e7f33b4b17d2fc93134f7af1c3dd51500fe8d5e8
+      url: "https://pub.dev"
+    source: hosted
+    version: "3.1.0+1"
   js:
     dependency: transitive
     description:
       name: js
-      sha256: c1b2e9b5ea78c45e1a0788d29606ba27dc5f71f019f32ca5140f61ef071838cf
+      sha256: f2c445dce49627136094980615a031419f7f3eb393237e4ecd97ac15dea343f3
       url: "https://pub.dev"
     source: hosted
-    version: "0.7.1"
+    version: "0.6.7"
   json_annotation:
     dependency: "direct main"
     description:
@@ -404,10 +484,18 @@ packages:
     dependency: "direct main"
     description:
       name: latlong2
-      sha256: "08ef7282ba9f76e8495e49e2dc4d653015ac929dce5f92b375a415d30b407ea0"
+      sha256: "98227922caf49e6056f91b6c56945ea1c7b166f28ffcd5fb8e72fc0b453cc8fe"
       url: "https://pub.dev"
     source: hosted
-    version: "0.8.2"
+    version: "0.9.1"
+  lazy_memo:
+    dependency: transitive
+    description:
+      name: lazy_memo
+      sha256: dcb30b4184a6d767e1d779d74ce784d752d38313b8fb4bad6b659ae7af4bb34d
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.2.3"
   leak_tracker:
     dependency: transitive
     description:
@@ -448,6 +536,14 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "1.0.1"
+  logger:
+    dependency: transitive
+    description:
+      name: logger
+      sha256: "8c94b8c219e7e50194efc8771cd0e9f10807d8d3e219af473d89b06cc2ee4e04"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.2.0"
   logging:
     dependency: transitive
     description:
@@ -512,14 +608,62 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "1.9.0"
-  pedantic:
-    dependency: transitive
+  path_provider:
+    dependency: "direct main"
     description:
-      name: pedantic
-      sha256: "67fc27ed9639506c856c840ccce7594d0bdcd91bc8d53d6e52359449a1d50602"
+      name: path_provider
+      sha256: c9e7d3a4cd1410877472158bee69963a4579f78b68c65a2b7d40d1a7a88bb161
       url: "https://pub.dev"
     source: hosted
-    version: "1.11.1"
+    version: "2.1.3"
+  path_provider_android:
+    dependency: transitive
+    description:
+      name: path_provider_android
+      sha256: a248d8146ee5983446bf03ed5ea8f6533129a12b11f12057ad1b4a67a2b3b41d
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.2.4"
+  path_provider_foundation:
+    dependency: transitive
+    description:
+      name: path_provider_foundation
+      sha256: "5a7999be66e000916500be4f15a3633ebceb8302719b47b9cc49ce924125350f"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.3.2"
+  path_provider_linux:
+    dependency: transitive
+    description:
+      name: path_provider_linux
+      sha256: f7a1fe3a634fe7734c8d3f2766ad746ae2a2884abe22e241a8b301bf5cac3279
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.2.1"
+  path_provider_platform_interface:
+    dependency: transitive
+    description:
+      name: path_provider_platform_interface
+      sha256: "88f5779f72ba699763fa3a3b06aa4bf6de76c8e5de842cf6f29e2e06476c2334"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.1.2"
+  path_provider_windows:
+    dependency: transitive
+    description:
+      name: path_provider_windows
+      sha256: "8bc9f22eee8690981c22aa7fc602f5c85b497a6fb2ceb35ee5a5e5ed85ad8170"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.2.1"
+  platform:
+    dependency: transitive
+    description:
+      name: platform
+      sha256: "12220bb4b65720483f8fa9450b4332347737cf8213dd2840d8b2c823e47243ec"
+      url: "https://pub.dev"
+    source: hosted
+    version: "3.1.4"
   plugin_platform_interface:
     dependency: transitive
     description:
@@ -568,6 +712,14 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "1.2.3"
+  quote_buffer:
+    dependency: transitive
+    description:
+      name: quote_buffer
+      sha256: c4cd07e55ed1b1645a1cc74278a03b2a642c9f6ea3c0528d51827fdd320acf87
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.2.6"
   rust_core:
     dependency: "direct main"
     description:
@@ -576,6 +728,62 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "0.5.3"
+  shared_preferences:
+    dependency: "direct main"
+    description:
+      name: shared_preferences
+      sha256: d3bbe5553a986e83980916ded2f0b435ef2e1893dfaa29d5a7a790d0eca12180
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.2.3"
+  shared_preferences_android:
+    dependency: transitive
+    description:
+      name: shared_preferences_android
+      sha256: "1ee8bf911094a1b592de7ab29add6f826a7331fb854273d55918693d5364a1f2"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.2.2"
+  shared_preferences_foundation:
+    dependency: transitive
+    description:
+      name: shared_preferences_foundation
+      sha256: "7708d83064f38060c7b39db12aefe449cb8cdc031d6062280087bc4cdb988f5c"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.3.5"
+  shared_preferences_linux:
+    dependency: transitive
+    description:
+      name: shared_preferences_linux
+      sha256: "9f2cbcf46d4270ea8be39fa156d86379077c8a5228d9dfdb1164ae0bb93f1faa"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.3.2"
+  shared_preferences_platform_interface:
+    dependency: transitive
+    description:
+      name: shared_preferences_platform_interface
+      sha256: "22e2ecac9419b4246d7c22bfbbda589e3acf5c0351137d87dd2939d984d37c3b"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.3.2"
+  shared_preferences_web:
+    dependency: transitive
+    description:
+      name: shared_preferences_web
+      sha256: "9aee1089b36bd2aafe06582b7d7817fd317ef05fc30e6ba14bff247d0933042a"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.3.0"
+  shared_preferences_windows:
+    dependency: transitive
+    description:
+      name: shared_preferences_windows
+      sha256: "841ad54f3c8381c480d0c9b508b89a34036f512482c407e6df7a9c4aa2ef8f59"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.3.2"
   shelf:
     dependency: transitive
     description:
@@ -597,14 +805,6 @@ packages:
     description: flutter
     source: sdk
     version: "0.0.99"
-  slugify:
-    dependency: transitive
-    description:
-      name: slugify
-      sha256: b272501565cb28050cac2d96b7bf28a2d24c8dae359280361d124f3093d337c3
-      url: "https://pub.dev"
-    source: hosted
-    version: "2.0.0"
   source_gen:
     dependency: transitive
     description:
@@ -701,14 +901,6 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "1.0.1"
-  tuple:
-    dependency: transitive
-    description:
-      name: tuple
-      sha256: a97ce2013f240b2f3807bcbaf218765b6f301c3eff91092bcfa23a039e7dd151
-      url: "https://pub.dev"
-    source: hosted
-    version: "2.0.2"
   typed_data:
     dependency: transitive
     description:
@@ -837,6 +1029,14 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "2.4.5"
+  win32:
+    dependency: transitive
+    description:
+      name: win32
+      sha256: "0a989dc7ca2bb51eac91e8fd00851297cfffd641aa7538b165c62637ca0eaa4a"
+      url: "https://pub.dev"
+    source: hosted
+    version: "5.4.0"
   wkt_parser:
     dependency: transitive
     description:
@@ -845,6 +1045,14 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "2.0.0"
+  xdg_directories:
+    dependency: transitive
+    description:
+      name: xdg_directories
+      sha256: faea9dee56b520b55a566385b84f2e8de55e7496104adada9962e0bd11bcff1d
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.0.4"
   yaml:
     dependency: "direct main"
     description:

pubspec.yaml

@@ -38,15 +38,28 @@ dependencies:
   get: ^4.6.6
   yaml: ^3.1.2
   surrealdb: ^0.8.0
-  geojson: ^1.0.0
-  flutter_map: 7.0.0-dev.1
-  # latlong2: ^0.9.0
+  # geojson: ^1.0.0
+  # flutter_map: 7.0.0-dev.1
+  flutter_map: ^6.0.0
+  # flutter_map: ^4.0.0
+  latlong2: ^0.9.0
+  # latlong2: ^0.8.0
+  geojson_vi: ^2.2.3
   url_launcher: ^6.2.6
   anim_search_bar: ^2.0.3
   freezed_annotation: ^2.4.1
   json_annotation: ^4.8.1
   rust_core: ^0.5.3
   anyhow: ^1.3.0
+  # isar: ^3.1.0+1
+  # isar_flutter_libs: ^3.1.0+1
+  path_provider: ^2.1.3
+  directed_graph: ^0.4.3
+  fast_immutable_collections: ^10.2.2
+  collection: ^1.18.0
+  flutter_map_location_marker: ^8.0.8
+  geolocator: ^11.0.0
+  shared_preferences: ^2.2.3
 
 dev_dependencies:
   flutter_test:
@@ -61,6 +74,7 @@ dev_dependencies:
   build_runner: ^2.4.9
   freezed: ^2.5.2
   json_serializable: ^6.7.1
+  # isar_generator: ^3.1.0+1
 
 # For information on the generic Dart part of this file, see the
 # following page: https://dart.dev/tools/pub/pubspec

test/graph_tests.dart

@@ -0,0 +1,241 @@
+import 'dart:async';
+
+import 'package:flutter/material.dart';
+import 'package:flutter/services.dart';
+import 'package:flutter_test/flutter_test.dart';
+import 'package:get/get.dart';
+import 'package:uninav/controllers/map_controller.dart';
+import 'package:uninav/data/geo/model.dart';
+import 'package:uninav/nav/graph.dart';
+import 'package:uninav/util/util.dart';
+
+String formatGraphFeature(GraphFeature feature) {
+  return feature.when(
+    buildingFloor: (floor, building) => "(bfl ${building.name}:$floor)",
+    portal: (fromFloor, from, toFloor, to, baseFeat) {
+      return "(p ${formatFeatureTitle(baseFeat)} $from:$fromFloor -> $to:$toFloor)";
+    },
+    basicFeature: (lv, building, bf) =>
+        "(bf ${formatFeatureTitle(bf)} $building:$lv)",
+  );
+}
+
+void main() {
+  TestWidgetsFlutterBinding.ensureInitialized();
+
+  group('findAdjacent', () {
+    late MyMapController mapController;
+    late List<Feature> allFeatures;
+
+    setUp(() async {
+      // Initialize the MyMapController and load the GeoJSON data
+      mapController = MyMapController();
+      await mapController.loadGeoJson(
+          await rootBundle.loadString('assets/geo/uulm_beta.geojson'));
+      allFeatures = mapController.features;
+    });
+
+    test('generates a graph (new)', () {
+      // Find a building feature
+      // final buildingFeature = allFeatures.firstWhere((f) => f.type is Building);
+      final buildingFeature = allFeatures
+          .firstWhere((f) => f.type is Building && eq(f.name, 'o28'));
+
+      // final endFeature = allFeatures
+      //     .firstWhere((f) => f.type is Building && eq(f.name, 'o25'));
+
+      // final targetFeature = allFeatures
+      //     .firstWhere((f) => f.type is LectureHall && eq(f.name, 'H22'));
+
+      // final wrapped =
+      //     wrap(targetFeature, targetFeature.level!, targetFeature.building!);
+      // print(wrapped);
+
+      final graph = makeGraph(
+          wrap(buildingFeature, 2, buildingFeature.name).first, allFeatures);
+
+      final wrapped = [
+        graph.nodes.firstWhere((element) =>
+            element is BasicFeature && eq(element.feature.name, "H22"))
+      ];
+
+      print(graph.contains(wrapped.first)); // print(graph);
+      print(wrapped.first.hashCode); // print(graph);
+      // print(wrap(targetFeature, targetFeature.level!, targetFeature.building!)
+      //     .first
+      //     .hashCode);
+      // print(wrapped.first ==
+      //     wrap(targetFeature, targetFeature.level!, targetFeature.building!)
+      //         .first);
+
+      // print(graph.toString());
+    });
+
+    test('tries to find a path through the graph using own method', () async {
+      // Find a building feature
+      // final buildingFeature = allFeatures.firstWhere((f) => f.type is Building);
+      final startFeature = allFeatures
+          .firstWhere((f) => f.type is Building && eq(f.name, 'o25'));
+
+      // final endFeature = allFeatures
+      //     .firstWhere((f) => f.type is Building && eq(f.name, 'o25'));
+
+      final endFeature = allFeatures
+          .firstWhere((f) => f.type is LectureHall && eq(f.name, 'H22'));
+
+      print(endFeature);
+
+      final path = findShortestPath(
+        wrap(startFeature, 4, startFeature.name).first,
+        (f) => f is BasicFeature && eq(f.feature.name, 'H1'),
+        // wrap(endFeature, 2, "o28").first,
+        allFeatures,
+      );
+      print(path
+          .unwrap()
+          .map((e) => "${formatGraphFeature(e.$1)} (${e.$2}m)")
+          .join(' -> '));
+    });
+
+/*
+    test('generates a graph', () {
+      // Find a building feature
+      // final buildingFeature = allFeatures.firstWhere((f) => f.type is Building);
+      final buildingFeature = allFeatures
+          .firstWhere((f) => f.type is Building && eq(f.name, 'o28'));
+
+      final graph = createGraph(
+          wrap(buildingFeature, 2, buildingFeature.name).first, allFeatures);
+      // print(graph);
+    });
+
+    test('generates a graph map', () {
+      // Find a building feature
+      // final buildingFeature = allFeatures.firstWhere((f) => f.type is Building);
+      final buildingFeature = allFeatures
+          .firstWhere((f) => f.type is Building && eq(f.name, 'o28'));
+
+      final graph = createGraphMap(
+          wrap(buildingFeature, 2, buildingFeature.name).first, allFeatures);
+
+      print(graph.entries
+          .map((entry) => "${formatGraphFeature(entry.key)}: "
+              "{${entry.value.entries.map((e) => "${formatGraphFeature(entry.key)}: ${entry.value.map((key, value) => MapEntry(formatGraphFeature(key), value))}").join(', ')}")
+          .join('\n'));
+    });
+
+    test('generates a graph list', () {
+      // Find a building feature
+      // final buildingFeature = allFeatures.firstWhere((f) => f.type is Building);
+      final buildingFeature = allFeatures
+          .firstWhere((f) => f.type is Building && eq(f.name, 'o28'));
+
+      final graph = createGraphList(
+          wrap(buildingFeature, 2, buildingFeature.name).first, allFeatures);
+      var text = graph.map(formatGraphFeature).join(' ');
+      print(text);
+    });
+
+    test('finds adjacent features for a building', () {
+      // Find a building feature
+      // final buildingFeature = allFeatures.firstWhere((f) => f.type is Building);
+      final buildingFeature = allFeatures
+          .firstWhere((f) => f.type is Building && eq(f.name, 'o28'));
+
+      // Find adjacent features for the building
+      final adjacentFeatures = findAdjacent(
+          wrap(buildingFeature, 2, buildingFeature.name).first, allFeatures);
+
+      final doorPortal = adjacentFeatures
+          .firstWhere((f) => f is Portal && f.baseFeature.type is Door);
+      print(
+          "adjacent for building ${buildingFeature.name}: \n${adjacentFeatures.map((e) => "${e.toString()}\n")}");
+      print(adjacentFeatures.map(unwrap).map(formatFeatureTitle));
+
+      final doorAdjacentFeatures = findAdjacent(doorPortal, allFeatures);
+
+      print("\n\ndoor $doorPortal : ");
+      print(doorAdjacentFeatures.map((e) => "${e.toString()}\n"));
+      print(doorAdjacentFeatures.map(unwrap).map(formatFeatureTitle));
+
+      final stairsPortal = adjacentFeatures
+          .firstWhere((f) => f is Portal && f.baseFeature.type is Stairs);
+
+      final stairsAdjacentFeatures = findAdjacent(stairsPortal, allFeatures);
+
+      print("\n\nstairs $stairsPortal : ");
+      print(stairsAdjacentFeatures.map((e) => "${e.toString()}\n"));
+      print(stairsAdjacentFeatures.map(unwrap).map(formatFeatureTitle));
+
+      final baseFeature = adjacentFeatures.firstWhere((f) => f is BasicFeature);
+
+      final baseAdjacentFeatures = findAdjacent(baseFeature, allFeatures);
+
+      print("\n\nbase $baseFeature : ");
+      print(baseAdjacentFeatures.map((e) => "${e.toString()}\n"));
+      print(baseAdjacentFeatures.map(unwrap).map(formatFeatureTitle));
+
+      // Check if all adjacent features are in the same building
+      expect(
+          true, // TODO
+          true);
+    });
+
+    test('tries to find a path through the graph using own method', () async {
+      // Find a building feature
+      // final buildingFeature = allFeatures.firstWhere((f) => f.type is Building);
+      final startFeature = allFeatures
+          .firstWhere((f) => f.type is Building && eq(f.name, 'o28'));
+
+      // final endFeature = allFeatures
+      //     .firstWhere((f) => f.type is Building && eq(f.name, 'o25'));
+
+      final endFeature = allFeatures
+          .firstWhere((f) => f.type is LectureHall && eq(f.name, 'H1'));
+
+      print(endFeature);
+
+      final path = findShortestPath(
+        wrap(startFeature, 2, startFeature.name).first,
+        // wrap(endFeature, 2, endFeature.name).first,
+        wrap(endFeature, endFeature.level!, endFeature.building!).first,
+        allFeatures,
+      );
+      print(path
+          .unwrap()
+          .map((e) => "${formatGraphFeature(e.$1)} (${e.$2}m)")
+          .join(' -> '));
+    });
+
+    /*
+    test('tries to find a path through the graph', () async {
+      // Find a building feature
+      // final buildingFeature = allFeatures.firstWhere((f) => f.type is Building);
+      final startFeature = allFeatures
+          .firstWhere((f) => f.type is Building && eq(f.name, 'o28'));
+
+      final endFeature = allFeatures
+          .firstWhere((f) => f.type is Building && eq(f.name, 'o25'));
+
+      // final endFeature = allFeatures
+      //     .firstWhere((f) => f.type is LectureHall && eq(f.name, 'H1'));
+
+      final graph = createGraph(
+          wrap(startFeature, 2, startFeature.name).first, allFeatures);
+
+      final path = await Future.any([
+        Future.delayed(const Duration(seconds: 5),
+            () => throw TimeoutException('Test timed out after 5 seconds')),
+        Future(() => graph.shortestPath(
+              wrap(startFeature, 1, startFeature.name).first,
+              wrap(endFeature, 2, endFeature.name).first,
+              //wrap(endFeature, endFeature.level!, endFeature.building!).first,
+            )),
+      ]);
+
+      print(path.map(formatGraphFeature).join('\n'));
+    });
+    */
+    */
+  });
+}

windows/flutter/generated_plugin_registrant.cc

@@ -6,9 +6,15 @@
 
 #include "generated_plugin_registrant.h"
 
+#include <geolocator_windows/geolocator_windows.h>
+#include <isar_flutter_libs/isar_flutter_libs_plugin.h>
 #include <url_launcher_windows/url_launcher_windows.h>
 
 void RegisterPlugins(flutter::PluginRegistry* registry) {
+  GeolocatorWindowsRegisterWithRegistrar(
+      registry->GetRegistrarForPlugin("GeolocatorWindows"));
+  IsarFlutterLibsPluginRegisterWithRegistrar(
+      registry->GetRegistrarForPlugin("IsarFlutterLibsPlugin"));
   UrlLauncherWindowsRegisterWithRegistrar(
       registry->GetRegistrarForPlugin("UrlLauncherWindows"));
 }

windows/flutter/generated_plugins.cmake

@@ -3,6 +3,8 @@
 #
 
 list(APPEND FLUTTER_PLUGIN_LIST
+  geolocator_windows
+  isar_flutter_libs
   url_launcher_windows
 )