feat(ui): localization-aware map view and auto nav-done state transition

app/backend/node_manager.py

@@ -146,6 +146,7 @@ def __init__(self, tinynav_db_path: str = '/tinynav/tinynav_db'):
         self._cmd_vel_proc: subprocess.Popen | None = None
 
         self.create_subscription(Float32, '/battery', self._on_battery, 10)
+        self.create_subscription(Bool, '/mapping/nav_done', self._on_nav_done, 10)
         self._detect_and_init_sensor()
         self._start_unitree_if_configured()
 
@@ -157,6 +158,11 @@ def _on_battery(self, msg: Float32):
         with self._lock:
             self._battery = float(msg.data)
 
+    def _on_nav_done(self, msg: Bool):
+        if msg.data and self.state == 'navigation':
+            self.state = 'idle'
+            self._pub_state()
+
     def _on_mapping_percent(self, msg: Float32):
         with self._lock:
             self.mapping_percent = float(msg.data)
@@ -186,7 +192,9 @@ def _on_pose_in_map(self, msg: Odometry):
                 pass
 
     def _on_relocalization(self, msg: Odometry):
+        pose = self._odom_to_dict(msg, source='map')
         with self._lock:
+            self._map_pose = pose
             self._localized = True
 
     def _on_nav_target_pose(self, msg: Odometry):

app/frontend/lib/core/providers.dart

@@ -98,6 +98,9 @@ final imageTopicsProvider = FutureProvider.autoDispose<List<String>>((ref) async
 /// Currently selected bag name for map building (null = use last verified).
 final selectedBagProvider = StateProvider<String?>((ref) => null);
 
+/// POIs currently being navigated (set when Go is pressed, cleared when nav done).
+final activeNavPoisProvider = StateProvider<List<Poi>>((ref) => const []);
+
 /// Currently selected preview topic (null = preview closed).
 final selectedPreviewTopicProvider = StateProvider<String?>((ref) => null);
 

app/frontend/lib/pages/operate_tab.dart

@@ -32,6 +32,7 @@ class _OperateTabState extends ConsumerState<OperateTab> {
   bool _showEsdf = true;
   bool _showTrajectory = true;
   bool _showGlobalPath = true;
+  bool _showGlobalMap = false;
 
   @override
   void initState() {
@@ -85,9 +86,20 @@ class _OperateTabState extends ConsumerState<OperateTab> {
   @override
   Widget build(BuildContext context) {
     final poisAsync = ref.watch(poisProvider);
-    final poseAsync = ref.watch(poseStreamProvider);
     final planningAsync = ref.watch(planningStreamProvider);
     final planning = planningAsync.valueOrNull;
+    final localized = planning?.localized ?? false;
+    final activeNavPois = ref.watch(activeNavPoisProvider);
+    final mapInfo = ref.watch(mapInfoProvider).valueOrNull;
+    final baseUrl = ref.watch(baseUrlProvider);
+
+    ref.listen<AsyncValue<DeviceStatus>>(deviceStatusProvider, (prev, next) {
+      final prevState = prev?.valueOrNull?.rawState;
+      final nextState = next.valueOrNull?.rawState;
+      if (prevState == 'navigation' && nextState != 'navigation') {
+        ref.read(activeNavPoisProvider.notifier).state = const [];
+      }
+    });
 
     return Column(
       children: [
@@ -100,43 +112,62 @@ class _OperateTabState extends ConsumerState<OperateTab> {
           child: Stack(
             children: [
               Positioned.fill(
-                child: _LocalPlanningView(
-                  planning: planning,
-                  showObstacle: _showObstacle,
-                  showEsdf: _showEsdf,
-                  showTrajectory: _showTrajectory,
-                  showGlobalPath: _showGlobalPath,
-                ),
+                child: (_showGlobalMap && localized && mapInfo != null && baseUrl != null)
+                    ? _GlobalMapView(
+                        mapInfo: mapInfo,
+                        baseUrl: baseUrl,
+                        planning: planning,
+                        pois: activeNavPois,
+                      )
+                    : _LocalPlanningView(
+                        planning: planning,
+                        showObstacle: _showObstacle,
+                        showEsdf: _showEsdf,
+                        showTrajectory: _showTrajectory,
+                        showGlobalPath: _showGlobalPath,
+                      ),
               ),
               if (planning != null)
                 Positioned(
                   top: 8,
                   left: 8,
-                  child: _LocalizationChip(localized: planning.localized),
+                  child: Row(
+                    mainAxisSize: MainAxisSize.min,
+                    children: [
+                      _LocalizationChip(localized: localized),
+                      if (localized) ...[
+                        const SizedBox(width: 6),
+                        _MapToggleButton(
+                          showGlobalMap: _showGlobalMap,
+                          onTap: () => setState(() => _showGlobalMap = !_showGlobalMap),
+                        ),
+                      ],
+                    ],
+                  ),
                 ),
-              Positioned(
-                top: 8,
-                right: 8,
-                child: _LayerTogglePanel(
-                  showObstacle: _showObstacle,
-                  showEsdf: _showEsdf,
-                  showTrajectory: _showTrajectory,
-                  showGlobalPath: _showGlobalPath,
-                  onChanged: (obs, esdf, traj, gp) => setState(() {
-                    _showObstacle = obs;
-                    _showEsdf = esdf;
-                    _showTrajectory = traj;
-                    _showGlobalPath = gp;
-                  }),
+              if (!_showGlobalMap)
+                Positioned(
+                  top: 8,
+                  right: 8,
+                  child: _LayerTogglePanel(
+                    showObstacle: _showObstacle,
+                    showEsdf: _showEsdf,
+                    showTrajectory: _showTrajectory,
+                    showGlobalPath: _showGlobalPath,
+                    onChanged: (obs, esdf, traj, gp) => setState(() {
+                      _showObstacle = obs;
+                      _showEsdf = esdf;
+                      _showTrajectory = traj;
+                      _showGlobalPath = gp;
+                    }),
+                  ),
                 ),
-              ),
               Positioned(
                 bottom: 10,
                 left: 10,
                 child: _PoiButton(
                   poisAsync: poisAsync,
                   statusAsync: ref.watch(deviceStatusProvider),
-                  pose: poseAsync.valueOrNull,
                 ),
               ),
               Positioned(
@@ -414,6 +445,46 @@ class _LayerRow extends StatelessWidget {
   }
 }
 
+// ── Map toggle button ─────────────────────────────────────────────────────────
+
+class _MapToggleButton extends StatelessWidget {
+  final bool showGlobalMap;
+  final VoidCallback onTap;
+
+  const _MapToggleButton({required this.showGlobalMap, required this.onTap});
+
+  @override
+  Widget build(BuildContext context) {
+    return GestureDetector(
+      onTap: onTap,
+      child: Container(
+        padding: const EdgeInsets.symmetric(horizontal: 10, vertical: 6),
+        decoration: BoxDecoration(
+          color: showGlobalMap
+              ? Colors.blueAccent.withOpacity(0.85)
+              : Colors.black54,
+          borderRadius: BorderRadius.circular(20),
+        ),
+        child: Row(
+          mainAxisSize: MainAxisSize.min,
+          children: [
+            Icon(
+              showGlobalMap ? Icons.map_rounded : Icons.grid_view_rounded,
+              color: Colors.white,
+              size: 14,
+            ),
+            const SizedBox(width: 4),
+            Text(
+              showGlobalMap ? 'Global' : 'Local',
+              style: const TextStyle(color: Colors.white, fontSize: 12),
+            ),
+          ],
+        ),
+      ),
+    );
+  }
+}
+
 // ── Localization chip ─────────────────────────────────────────────────────────
 
 class _LocalizationChip extends StatelessWidget {
@@ -452,12 +523,10 @@ class _LocalizationChip extends StatelessWidget {
 class _PoiButton extends ConsumerStatefulWidget {
   final AsyncValue<List<Poi>> poisAsync;
   final AsyncValue<DeviceStatus> statusAsync;
-  final Pose? pose;
 
   const _PoiButton({
     required this.poisAsync,
     required this.statusAsync,
-    this.pose,
   });
 
   @override
@@ -510,7 +579,7 @@ class _PoiButtonState extends ConsumerState<_PoiButton> {
         shape: const RoundedRectangleBorder(
           borderRadius: BorderRadius.vertical(top: Radius.circular(20)),
         ),
-        builder: (_) => _PoiSheet(pose: widget.pose),
+        builder: (_) => const _PoiSheet(),
       ),
       style: FilledButton.styleFrom(
         backgroundColor: Colors.black87,
@@ -524,8 +593,7 @@ class _PoiButtonState extends ConsumerState<_PoiButton> {
 }
 
 class _PoiSheet extends ConsumerStatefulWidget {
-  final Pose? pose;
-  const _PoiSheet({this.pose});
+  const _PoiSheet();
 
   @override
   ConsumerState<_PoiSheet> createState() => _PoiSheetState();
@@ -566,13 +634,14 @@ class _PoiSheetState extends ConsumerState<_PoiSheet> {
   }
 
   Future<void> _startNav(List<Poi> pois) async {
-    final ids = pois
-        .where((p) => _checkedIds.contains(p.id))
-        .map((p) => p.id)
-        .toList();
-    if (ids.isEmpty) return;
+    final selectedPois = pois.where((p) => _checkedIds.contains(p.id)).toList();
+    if (selectedPois.isEmpty) return;
     try {
-      await ref.read(dioProvider).post('/nav/send-pois', data: {'poi_ids': ids});
+      await ref.read(dioProvider).post(
+        '/nav/send-pois',
+        data: {'poi_ids': selectedPois.map((p) => p.id).toList()},
+      );
+      ref.read(activeNavPoisProvider.notifier).state = selectedPois;
     } on DioException catch (e) {
       if (mounted) {
         ScaffoldMessenger.of(context).showSnackBar(SnackBar(
@@ -615,7 +684,7 @@ class _PoiSheetState extends ConsumerState<_PoiSheet> {
             const Spacer(),
             FilledButton.icon(
               onPressed: (canGo && _checkedIds.isNotEmpty)
-                  ? () => poisAsync.whenData((pois) => _startNav(pois))
+                  ? () => _startNav(poisAsync.valueOrNull ?? [])
                   : null,
               icon: const Icon(Icons.navigation_rounded, size: 16),
               label: const Text('Go'),
@@ -891,7 +960,11 @@ class _CameraPanelState extends ConsumerState<_CameraPanel> {
               planning.localized && baseUrl != null)
             Positioned(
               top: 8, left: 8,
-              child: _MapPip(mapInfo: mapInfo, planning: planning, baseUrl: baseUrl),
+              child: _MapPip(
+                mapInfo: mapInfo,
+                planning: planning,
+                baseUrl: baseUrl,
+              ),
             ),
           // ── Topic selector ───────────────────────────────────────────
           Positioned(
@@ -1013,7 +1086,11 @@ class _MapPip extends StatelessWidget {
   final PlanningState planning;
   final String baseUrl;
 
-  const _MapPip({required this.mapInfo, required this.planning, required this.baseUrl});
+  const _MapPip({
+    required this.mapInfo,
+    required this.planning,
+    required this.baseUrl,
+  });
 
   @override
   Widget build(BuildContext context) {

tinynav/core/map_node.py

@@ -249,9 +249,11 @@ def __init__(self, tinynav_db_path: str, tinynav_map_path: str, verbose_timer: b
 
         self.pois = {}
         self.poi_index = -1
+        self._nav_completed = False
 
         self.poi_pub = self.create_publisher(Odometry, "/mapping/poi", 10)
         self.poi_change_pub = self.create_publisher(Odometry, "/mapping/poi_change", 10)
+        self.nav_done_pub = self.create_publisher(Bool, '/mapping/nav_done', 10)
 
         self.current_pose_pub = self.create_publisher(Odometry, "/mapping/current_pose", 10)
         self.global_plan_pub = self.create_publisher(Path, '/mapping/global_plan', 10)
@@ -281,6 +283,7 @@ def pois_callback(self, msg: String):
                 return
 
             self.poi_index = min(0, len(self.pois) - 1)
+            self._nav_completed = False
             self.get_logger().info(f"Parsed POIs: {self.pois}")
         except json.JSONDecodeError as e:
             self.get_logger().error(f"Failed to parse POIs JSON: {e}")
@@ -613,7 +616,10 @@ def try_publish_nav_path(self, timestamp: int):
                 break
 
         if self.poi_index >= len(self.pois):
-            self.get_logger().info("All POIs have been visited, skip publishing nav path")
+            if not self._nav_completed:
+                self._nav_completed = True
+                self.get_logger().info("All POIs have been visited, nav done")
+                self.nav_done_pub.publish(Bool(data=True))
             return
 
         target_poi = self.pois[self.poi_index]